KR20200140193A - Method, apparatus and computer program for providing service of allocation of automatic driving vehicle - Google Patents

Abstract

Provided are a method, a device, and a computer program for providing an autonomous vehicle dispatch service. According to various embodiments of the present invention, the method for providing the autonomous vehicle display service is a method performed by a computing device, wherein the method comprises the steps of: obtaining a vehicle call request from an occupant; distributing a vehicle in accordance with the vehicle call request; and determining a boarding location of the vehicle based on at least one of a location of the occupant, a location of a destination, and a driving route from the location of the occupant to the location of the destination.

Description

Method, device, and computer program for provision of self-driving vehicle dispatch service {METHOD, APPARATUS AND COMPUTER PROGRAM FOR PROVIDING SERVICE OF ALLOCATION OF AUTOMATIC DRIVING VEHICLE}

Various embodiments of the present invention relate to a method, an apparatus, and a computer program for providing an autonomous vehicle dispatch service.

In general, an automatic driving vehicle refers to a vehicle that runs on its own without a driver manipulating the vehicle, and refers to a vehicle that can autonomously drive to a set destination by grasping road conditions without manipulation.

Recently, development of unmanned vehicles that can move without a driver's boarding is accelerating, and commercial autonomous taxis are expected to emerge as the next generation of public transportation with the development of autonomous vehicles.

Currently, various taxi calls, dispatch services, and vehicle sharing services are commercially available, but these services are not for autonomous vehicles, but for vehicles with real drivers.Therefore, it is difficult to apply them to autonomous vehicles such as autonomous taxis. have.

For example, in the conventional taxi call and dispatch service, the occupant is set to directly select his boarding location and destination, and although the occupant's location is automatically designated based on GPS, the location is not correct or If the occupant's position is not appropriate for boarding the vehicle, there is an inconvenience that the occupant must adjust the position and select it.

In addition, in the case of the conventional taxi call and dispatch service, when the boarding position is not clear, the driver and the occupant must make a direct call to ask for the location, but in the case of an autonomous vehicle, in particular, in the case of a fully autonomous vehicle without an auxiliary driver. There is a problem in that it is difficult to determine the exact riding position.

In addition, in the case of a conventional taxi call and dispatch service, a detailed disembarkation location can be determined by discussing with the driver after arriving at the destination, but in the case of a fully autonomous vehicle without an auxiliary driver, there is a problem that a detailed disembarkation location cannot be determined. .

Therefore, in response to the emergence of autonomous taxis as the next generation of public transportation with the development of autonomous vehicles, it is necessary to develop vehicle calling and dispatch services applicable to autonomous taxis.

Korean Patent Publication No. 10-1941120 (2019.01.16)

The problem to be solved by the present invention is to provide an autonomous vehicle dispatch service providing method, apparatus, and computer program that can provide a vehicle calling and dispatch service suitable for an autonomous taxi in response to the emergence of an autonomous taxi as a next-generation public transportation. To provide.

Another problem to be solved by the present invention is to determine the boarding position using one or more of the position of the occupant, the position of the vehicle, and the driving route, so that the boarding position is incorrectly designated or the boarding position is designated as an impossible position, so that the occupant is directly boarding position. It is to provide a method, an apparatus, and a computer program for providing an autonomous vehicle dispatch service capable of automatically determining an optimal riding position for an occupant without the need to reset.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems that are not mentioned will be clearly understood by those skilled in the art from the following description.

In the method of providing an autonomous vehicle dispatch service according to an embodiment of the present invention for solving the above-described problem, in a method performed by a computing device, obtaining a vehicle call request from the occupant, and a vehicle according to the vehicle call request And determining a boarding position of the vehicle based on at least one of a location of the occupant, a location of a destination, a location of the dispatched vehicle, and a driving route from the location of the occupant to the location of the destination. Can include.

In various embodiments, the determining of the boarding position includes determining a rideable area and a non-rideable area according to a preset criterion, map data including information on the rideable area and the non-rideable area, and the passenger's Determining whether the occupant's position is located within the non-rideable area using a location, and when it is determined that the occupant's position is located within the non-rideable area, a plurality of boardable areas adjacent to the non-rideable area Among them, a rideable area having the shortest distance from the occupant or a rideable area located on the driving path may be determined as a boarding position of the vehicle.

In various embodiments, the determining of the boarding position comprises the predetermined boarding position using at least one of road traffic information for a predetermined area including a predetermined boarding position and image data photographing the predetermined area. Determining whether the ride is possible at, if it is determined that the ride at the predetermined ride position is impossible, adjusting the predetermined ride position to a rideable position, and information on the adjusted ride position, the It may include providing guide information including moving route information from the current position of the occupant to the adjusted riding position.

In various embodiments, the determining of the boarding position includes determining the boarding position of the vehicle based on the position of the vehicle and the position of the occupant, indicating a time required for the vehicle to reach the determined boarding position. It may include adjusting the determined riding position so that a difference between the first time and a second time indicating a time required for the passenger to reach the determined boarding position has a minimum value.

In various embodiments, the determining of the riding position includes receiving a priority for determining the riding position from the passenger, based on the input priority, based on each of a plurality of factors considered in determining the riding position. It may include setting a weight for the vehicle and determining a boarding position of the vehicle using a plurality of factors in which the weight is set.

In various embodiments, when it is determined that the vehicle first reaches the determined riding position before the occupant reaches the determined riding position based on the position of the vehicle and the position of the occupant, the vehicle It may further include providing a user interface (UI) for outputting one or more image data photographed from one or more camera modules provided in the vehicle to the terminal of the passenger.

In various embodiments, the step of providing a user interface (UI), when the distance between the position of the vehicle on which the occupant is boarded and the position of the predetermined destination from the occupant is within a predetermined distance, through the UI Providing information on a plurality of possible disembarkation areas located within a predetermined distance from the location of the destination, a first user selecting any one of the plurality of possible disembarkation areas from the passenger through the UI Obtaining an input and setting the driving route so that the vehicle in which the occupant is boarded moves to an unloadable area corresponding to the first user input, and the vehicle in which the occupant is boarded can get off in response to the first user input When it is determined that the vehicle has entered the area, at least one of front image data photographing the front of the vehicle in which the occupant is boarded through the UI and map data including information on an available disembarkation area corresponding to the first user input And obtaining a second user input from the occupant through the UI, and determining a location corresponding to the second user input as a disembarkation position of the vehicle in which the occupant is boarded.

In various embodiments, the determining of the location corresponding to the second user input as the disembarkation location of the vehicle in which the occupant is boarded comprises: collecting external environment information on the possible disembarkation area corresponding to the first user input , Determining whether or not getting off at a location corresponding to the second user input is possible based on the external environment information, when it is determined that getting off at a location corresponding to the second user input is determined to be impossible, the second user Changing any one location determined to be possible to get off among a plurality of locations adjacent to the location of the input to the getting off location of the vehicle on which the occupant is boarded, and information on the changed getting off location and the getting off location through the UI It may include the step of providing guide information including the reason for the change.

An autonomous vehicle dispatch service providing apparatus according to another embodiment of the present invention for solving the above-described problem includes a memory for storing one or more instructions and a processor for executing the one or more instructions stored in the memory, and the processor By executing the one or more instructions, the method for providing an autonomous vehicle dispatch service according to an embodiment of the present invention may be performed.

A computer program according to another embodiment of the present invention for solving the above-described problems is combined with a computer as hardware, and in a computer to perform the method for providing an autonomous vehicle dispatch service according to an embodiment of the present invention. It can be stored on a readable recording medium.

Other specific details of the present invention are included in the detailed description and drawings.

According to various embodiments of the present invention, in response to the emergence of an autonomous taxi as a next-generation public transportation, it is possible to provide a vehicle calling and dispatch service suitable for an autonomous taxi.

In addition, by determining the boarding position using one or more of the occupant's position, the position of the vehicle, and the driving route, the boarding position is incorrectly designated or designated as a position where boarding is impossible, so that the occupant does not need to reset the boarding position. It can automatically determine the optimal riding position for the vehicle.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a diagram illustrating a system for providing an autonomous vehicle dispatch service according to an embodiment of the present invention.
2 is a hardware configuration diagram of an apparatus for providing an autonomous vehicle dispatch service according to another embodiment of the present invention.
3 is a flowchart of a method for providing an autonomous vehicle dispatch service according to another embodiment of the present invention.
4 is a diagram illustrating map data applicable to various embodiments by way of example.
5 and 6 are views exemplarily illustrating a form in which a boarding position is determined according to a position of a passenger, a position of a vehicle, and a driving route in various embodiments.
7 is a flowchart of a method of determining a vehicle disembarkation location according to various embodiments.
8 is a diagram temporally illustrating front image data of a vehicle provided by an apparatus for providing an autonomous vehicle dispatch service in various embodiments.

Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in a variety of different forms, only the present embodiments are intended to complete the disclosure of the present invention, It is provided to fully inform the technician of the scope of the present invention, and the present invention is only defined by the scope of the claims.

The terms used in the present specification are for describing exemplary embodiments and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used in the specification, “comprises” and/or “comprising” do not exclude the presence or addition of one or more other elements other than the mentioned elements. Throughout the specification, the same reference numerals refer to the same elements, and “and/or” includes each and all combinations of one or more of the mentioned elements. Although "first", "second", and the like are used to describe various elements, it goes without saying that these elements are not limited by these terms. These terms are only used to distinguish one component from another component. Therefore, it goes without saying that the first component mentioned below may be the second component within the technical idea of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used as meanings that can be commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not interpreted ideally or excessively unless explicitly defined specifically.

The term "unit" or "module" used in the specification refers to a hardware component such as software, FPGA or ASIC, and the "unit" or "module" performs certain roles. However, "unit" or "module" is not meant to be limited to software or hardware. The “unit” or “module” may be configured to be in an addressable storage medium, or may be configured to reproduce one or more processors. Thus, as an example, "sub" or "module" refers to components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, It includes procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays and variables. Components and functions provided within "sub" or "module" may be combined into a smaller number of components and "sub" or "modules" or into additional components and "sub" or "modules". Can be further separated.

Spatially relative terms "below", "beneath", "lower", "above", "upper", etc., as shown in the figure It can be used to easily describe the correlation between a component and other components. Spatially relative terms should be understood as terms including different directions of components during use or operation in addition to the directions shown in the drawings. For example, if a component shown in a drawing is turned over, a component described as "below" or "beneath" of another component will be placed "above" the other component. I can. Accordingly, the exemplary term “below” may include both directions below and above. Components may be oriented in other directions, and thus spatially relative terms may be interpreted according to orientation.

In the present specification, a computer refers to all kinds of hardware devices including at least one processor, and may be understood as encompassing a software configuration operating in a corresponding hardware device according to embodiments. For example, the computer may be understood as including all of a smartphone, a tablet PC, a desktop, a laptop, and a user client and an application running on each device, but is not limited thereto.

In this specification, an autonomous vehicle dispatch service for autonomous taxis is described, but this is only an example, and vehicle dispatch for semi-autonomous taxis accompanied by an assistant driver and general taxis operated by the driver It can also be applied to services.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Each of the steps described herein is described as being performed by a computer, but the subject of each step is not limited thereto, and at least some of the steps may be performed by different devices according to embodiments.

1 is a diagram illustrating a system for providing an autonomous vehicle dispatch service according to an embodiment of the present invention.

Referring to FIG. 1, a system for providing an autonomous vehicle dispatch service according to an embodiment of the present invention may include an autonomous vehicle dispatch service providing apparatus 100, a passenger terminal 200, and an external server 300.

Here, the system for providing an autonomous vehicle dispatch service shown in FIG. 1 is according to an embodiment, and its components are not limited to the embodiment shown in FIG. 1, and may be added, changed, or deleted as necessary. .

In an embodiment, the apparatus 100 for providing an autonomous vehicle dispatch service may provide an autonomous vehicle dispatch service to the occupant terminal 200 in response to receiving a request for dispatch of the autonomous vehicle from the occupant.

Here, the autonomous vehicle dispatch service includes destination information obtained from the occupant (e.g., the location of the destination entered through a user interface (UI) provided by the autonomous vehicle dispatch service providing device 100) and the current of the occupant. Autonomy based on location (eg, location information of the occupant obtained from a location sensor (eg, GPS sensor) provided in the occupant terminal 200, WiFi AP, communication base station, Bluetooth signal, occupant location information based on the occupant's movement history) It may mean a service that dispatches a traveling vehicle. However, it is not limited thereto.

In various embodiments, the apparatus 100 for providing an autonomous vehicle dispatch service may determine an optimal riding position for a passenger to board a vehicle dispatched through the autonomous vehicle dispatch service. For example, the autonomous vehicle dispatch service providing apparatus 100 rides a vehicle based on at least one of a location of a passenger, a location of a destination, a location of the dispatched vehicle, and a driving route from the location of the occupant to the location of the destination. The location can be determined, but is not limited thereto.

In various embodiments, the apparatus 100 for providing an autonomous vehicle dispatch service provides a UI that outputs various information related to the autonomous vehicle dispatch service (eg, ride location information, alight location information, current location information, driving route information, etc.). Can provide. For example, the autonomous vehicle dispatch service providing device 100 may be connected to a display device or a passenger terminal 200 provided inside the vehicle (eg, at least a portion of the passenger seat) through the network 400, and A UI for outputting various information related to an autonomous vehicle dispatch service may be provided through a display device provided or a display provided in at least a portion of the occupant terminal 200. However, it is not limited thereto.

In various embodiments, the apparatus 100 for providing an autonomous vehicle dispatch service includes a vehicle according to a user input input through a display device provided inside a vehicle or a UI output through a display provided in at least a portion of the passenger terminal 200. You can decide where to get off.

In one embodiment, the occupant terminal 200 may be connected to the autonomous vehicle dispatch service providing apparatus 100 through the network 400, and related to the autonomous vehicle dispatch service from the autonomous vehicle dispatch service providing apparatus 100. Various information can be provided.

In various embodiments, the occupant terminal 200 may include at least one of a smartphone, a tablet PC, a desktop, and a laptop having a display on at least a portion of the occupant terminal 200, and an autonomous vehicle dispatch service through the display By outputting the UI provided by the providing device 100, various types of information provided by the autonomous vehicle dispatch service providing device 100 (e.g., information on the dispatched vehicle, boarding position information, moving route information to the boarding position, etc.) ) Can be provided.

In one embodiment, the external server 300 may be connected to the autonomous vehicle dispatch service providing device 100 through the network 400, and the autonomous vehicle dispatch service providing device 100 provides the autonomous vehicle dispatch service. Various data necessary for the following (eg, map data including information on a rideable area and a non-rideable area, image data captured from a camera module provided in a vehicle, etc.) may be provided.

For example, the external server 300 may be a storage server separately provided outside the autonomous vehicle dispatch service providing device 100, and the autonomous vehicle dispatch service providing device 100 provides an autonomous vehicle dispatch service. It is possible to store and manage data (eg, information on a plurality of members) generated by providing necessary data and autonomous vehicle dispatch service. However, the present invention is not limited thereto, and the external server 300 may be provided inside the apparatus 100 for providing an autonomous vehicle dispatch service. Hereinafter, a hardware configuration of the apparatus 100 for providing an autonomous vehicle dispatch service will be described with reference to FIG. 2.

2 is a hardware configuration diagram of an apparatus for providing an autonomous vehicle dispatch service according to another embodiment of the present invention.

Referring to FIG. 2, an apparatus 100 for providing an autonomous vehicle dispatch service according to another embodiment of the present invention (hereinafter, “computing apparatus 100”) may include a processor 110 and a memory 120. . In various embodiments, the computing device 100 may further include a network interface (or communication interface) (not shown), a storage (not shown), and a bus (not shown).

In one embodiment, the processor 110 may control the overall operation of each component of the computing device 100. The processor 110 may be configured to include a CPU (Central Processing Unit), MPU (Micro Processor Unit), MCU (Micro Controller Unit), or any type of processor well known in the technical field of the present invention.

In various embodiments, the processor 110 may perform an operation on at least one application or program for executing the method according to the embodiments of the present invention. In various embodiments, the processor 110 includes one or more cores (not shown) and a graphic processing unit (not shown), and/or a connection path (eg, a bus) for transmitting and receiving signals with other components. can do.

In various embodiments, the processor 110 temporarily and/or permanently stores a signal (or data) processed inside the processor 110, and a RAM (Random Access Memory, not shown) and a ROM (ROM). -Only Memory, not shown) may further be included. In addition, the processor 110 may be implemented in the form of a system on chip (SoC) including at least one of a graphic processing unit, RAM, and ROM.

In one embodiment, the processor 110 executes one or more instructions stored in the memory 120 to perform a method (for example, a method of providing an autonomous vehicle dispatch service) to be described with respect to FIGS. 3 to 8. I can.

For example, the processor 110 executes one or more instructions stored in the memory 120 to obtain a vehicle call request from the occupant, dispatching the vehicle according to the vehicle call request, and the position of the occupant, the position of the destination, A method of providing an autonomous vehicle dispatch service including determining a boarding position of the vehicle based on at least one of a location of the dispatched vehicle and a driving route from a location of a passenger to a location of a destination may be performed. However, it is not limited thereto.

In one embodiment, the memory 120 may store various types of data, commands, and/or information. The memory 120 may store programs (one or more instructions) for processing and controlling the processor 110. Programs stored in the memory 120 may be divided into a plurality of modules according to functions.

In various embodiments, steps of a method or algorithm described in connection with an embodiment of the present invention may be implemented directly in hardware, implemented as a software module executed by hardware, or a combination thereof. Software modules include Random Access Memory (RAM), Read Only Memory (ROM), Erasable Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), Flash Memory, hard disk, removable disk, CD-ROM, or It may reside on any type of computer-readable recording medium well known in the art to which the present invention pertains.

Components of the present invention may be implemented as a program (or application) and stored in a medium in order to be executed in combination with a computer that is hardware. Components of the present invention may be implemented as software programming or software elements, and similarly, embodiments include various algorithms implemented with a combination of data structures, processes, routines or other programming elements, including C, C++ , Java, assembler, or the like may be implemented in a programming or scripting language. Functional aspects can be implemented with an algorithm running on one or more processors. Hereinafter, a method of providing an autonomous vehicle dispatch service performed by the computing device 100 will be described with reference to FIG. 3.

3 is a flowchart of a method for providing an autonomous vehicle dispatch service according to another embodiment of the present invention.

Referring to FIG. 3, in step S110, the computing device 100 may obtain a vehicle call request from a passenger. For example, the computing device 100 may provide an autonomous vehicle dispatch service UI to the occupant terminal 200 when the occupant executes an application installed on the occupant terminal 200 of the occupant, and the autonomous vehicle dispatch service The vehicle call request can be directly input from the passenger through the UI.

In various embodiments, the computing device 100 includes the type of vehicle to be dispatched through the autonomous vehicle dispatch service UI (eg, light, small, semi-medium, medium, semi-large, large, etc.), time to receive the vehicle, A vehicle call request including the number of passengers and the location of the destination may be input in text form, and vehicle dispatch information may be generated according to the received vehicle call request.

In this case, when there is no separate input for the type of vehicle and the time at which the vehicle is to be dispatched from the occupant, the computing device 100 may correct the vehicle call request according to preset vehicle dispatch information. For example, when obtaining a vehicle call request including only the location information of the destination from the occupant, the computing device 100 sets the type of vehicle as a medium-sized vehicle according to the preset vehicle dispatch information, and makes a vehicle call for the time to receive the dispatch. It can be set to the current time of request. However, it is not limited thereto.

In various embodiments, the computing device 100 may obtain a vehicle call request in the form of a voice through the autonomous vehicle dispatch service UI (for example, "Please dispatch a taxi with more than 6 passengers to destination A now"), and voice data By analyzing the vehicle call request in the form of a voice using the analysis module, the type of vehicle to be dispatched, the time at which the vehicle is to be dispatched, and the location of the destination can be extracted in text form. However, it is not limited thereto.

In step S120, when obtaining a vehicle call request from the occupant in step S110, the computing device 100 may perform a vehicle dispatch process for the occupant who requested the vehicle call.

Here, the vehicle dispatching process may refer to a process of selecting any one of a plurality of autonomous vehicles located adjacent to the occupant based on the occupant's position and distributing it to the occupant.

In various embodiments, the computing device 100 may dispatch a vehicle located at a location closest to the occupant's current position among a plurality of autonomous vehicles within a predetermined distance from the occupant based on the occupant's location.

In various embodiments, the computing device 100 dispatches any one vehicle corresponding to the type of vehicle input from the occupant among a plurality of autonomous vehicles within a predetermined distance from the occupant, wherein the vehicle is the occupant dispatches the vehicle. It is determined whether or not the vehicle can be dispatched at the desired time, and the vehicle can be dispatched to the occupant according to the determination result.

In various embodiments, the computing device 100 is based on road traffic information for a predetermined area including the location of the occupant (eg, road traffic information including congestion section information). Among autonomous vehicles, any one autonomous vehicle that is judged to have the shortest time to reach the occupant's position can be dispatched to the occupant.

In various embodiments, the computing device 100 may arrange one or more vehicles among a plurality of autonomous vehicles to the occupant based on the number of occupants input by the occupant.

For example, when the number of occupants input from the occupants is 6, the computing device 100 may preferentially arrange a vehicle with 6 or more passengers among the plurality of autonomous vehicles. At this time, if there is no vehicle with more than 6 passengers among the plurality of autonomous vehicles that can be arranged for the occupant (e.g., there is no vehicle with 6 passengers or more that can be dispatched, or even if the vehicle can be dispatched, the distance from the occupant is far and it takes a long time to reach the vehicle If determined), two or more vehicles may be arranged to accommodate 6 passengers. However, the present invention is not limited thereto, and any method of distributing any one vehicle among a plurality of autonomous vehicles to an occupant may be applied.

In step S130, when the vehicle dispatch is determined through the step S120, at least one of the location of the occupant, the location of the destination, the location of the dispatched vehicle, and the driving route from the location of the occupant to the location of the destination. It is possible to determine the riding position of the vehicle based on. Hereinafter, it will be described with reference to FIGS. 4 to 6.

4 is a diagram illustrating map data applicable to various embodiments by way of example, and FIGS. 5 and 6 are examples of a form in which a boarding position is determined according to a location of a passenger, a location of a vehicle, and a driving route in various embodiments. It is a drawing shown as.

First, referring to FIGS. 4 and 5, in various embodiments, the computing device 100 determines whether the current position of the occupant (or the desired riding position 13 directly input from the occupant is a rideable area 12 or a non-rideable area). (11) It is possible to determine the boarding position 15 of the dispatched vehicle based on whether or not.

For example, the computing device 100 may include a non-rideable area 11 (e.g., a safety fence installation area, a parking and stopping prohibited area (eg, a fire fighting facility parking and stopping prohibited area), etc.) and a rideable area. Map data (10) and occupant's location (13) (or desired ride area) including information on (12) (e.g., areas where no separate protective devices are installed, such as safety fences, areas where parking and stopping are possible, etc.) Position) can be used to determine whether the occupant's position 13 (or a desired riding position) is located within the non-rideable area 11 or within the rideable area 12.

In the disclosed embodiment, the step of determining a rideable area and a non-rideable area may be performed according to a preset criterion. For example, the non-rideable area 11 may mean an uncomfortable or somewhat dangerous area, although it is not impossible to ride. In addition, the non-rideable area 11 may include a location at which the vehicle should turn unnecessarily in consideration of the location of the destination. For example, depending on the location of the destination, it may be more desirable for the occupant to board the crosswalk, or it may be more desirable to board without crossing the crosswalk. If it is more desirable to cross the crosswalk, the current position without crossing the crosswalk may be determined as the non-rideable area, and the position crossing the crosswalk may be determined as the rideable area. That is, when the non-rideable area 11 does not necessarily mean a location where boarding is not possible, the rideable area 12 may mean an area that is easy to move to the destination after boarding and boarding in consideration of the location of the destination. The method of setting the non-rideable area 11 is not limited, but different criteria may be applied according to the user's selection. For example, when a user desires to minimize his or her walking movement and requests setting accordingly, the non-rideable area 11 may mean only an area in which boarding is actually impossible. As another example, when the user wants the fastest and most efficient movement to the destination and requests the setting accordingly, the non-boarding area 11 is broadly set, so that the rest of the area except the boarding position that is easy to arrive at the destination is the non-ride area. It may be decided. (Example: small alleyways, not large roads, in apartment complexes, boarding locations in the opposite direction to the destination, etc.)

Thereafter, when it is determined that the occupant's position 13 (or the desired riding position) is located within the non-rideable area 11, the computing device 100 is positioned at a position adjacent to the non-rideable area 11 (for example, a predetermined distance). The rideable area 12 having the shortest distance to the occupant's location 13 (or the desired ride location) can be selected from among a plurality of rideable areas 12 arranged in the location), and the selected rideable area ( A specific point included in 12) may be determined as the boarding position 15 of the vehicle. In this case, the specific point may be a point having the closest distance to a passenger among a plurality of rideable points included in the rideable area 12, but is not limited thereto.

On the other hand, when it is determined that the occupant's position 13 (or the desired riding position) is located within the rideable area 12, the computing device 100 determines the occupant's position 13 (or the desired riding position) of the vehicle. It can be determined by the riding position 15.

Next, referring to FIG. 6, the computing device 100 determines whether the occupant's position 13 (or a desired riding position) is the non-rideable area 11 and the driving route 16 to the destination. The riding position 15 can be determined.

For example, the computing device 100 uses the map data 10 and the occupant's position 13 to determine whether or not the occupant's position 13 (or the desired boarding position) is located within the currently non-rideable area 11 or boarding. Whether or not it is located within the possible area 12 may be determined.

Thereafter, when it is determined that the occupant's position 13 (or the desired riding position) is located in the non-rideable area 11, the computing device 100 uses a plurality of rides disposed adjacent to the non-rideable area 11 Among the available areas 12, one or more rideable areas 12 located on the driving route are selected, and among the selected one or more rideable areas 12, a location closest to the occupant's location 13 (or a desired ride location) The rideable area 12 located at may be determined as a ride position of the vehicle.

Considering only the distance between the occupant's position 13 (or desired boarding position) and the boarding area 12, the boarding area having the shortest distance from the occupant's position 13 (or desired boarding position) (e.g., the first boarding position) When the available area 12-1) is selected, the driving distance to the destination may increase since it does not coincide with the driving route 16 to the destination, so that the driving distance increases after the vehicle is boarded, and thus the time to arrive to the destination may increase. In particular, there is a problem in that the time required to reach the destination may increase exponentially when traffic congestion is severe in the corresponding area.

For example, as shown in FIG. 6, although the driving path 16 to the destination is a straight path based on the position 14 of the vehicle, the first rideable area considering only the position 13 of the occupant If (12-1) is determined as the boarding position 15, it is necessary to turn right without going straight according to the driving route 16, and accordingly, the driving route may be changed and the time to arrive to the destination may increase.

In order to solve this problem, when it is determined that the occupant's position 13 (or the desired riding position) is located within the non-rideable area 11, the computing device 100 is The time at which the determined ride location does not match the driving route 16 to the destination by selecting the rideable area having the shortest distance from the passenger’s location 13 (or desired ride location) among the available ride areas 12 This can solve the problem of increasing.

In addition, the computing device 100, even if the occupant's position 13 (or the desired riding position) is the rideable area 12, when the occupant's position 13 (or the desired riding position) is not located on the driving route, Among the plurality of rideable areas 12 located on the driving route to the destination, a rideable area having the shortest distance from the occupant's location 13 (or a desired ride location) may be selected.

In various embodiments, the computing device 100 may determine a rideable area 12 adjacent to the location 14 of the vehicle as the ride location of the vehicle based on the location 14 of the vehicle.

In various embodiments, the computing device 100 is a driving route to the destination based on the ride location 15 determined on the rideable area 12 having the shortest distance to the passenger's location 13 (or a desired ride location). When is changed, the first time required to arrive to the destination according to the changed driving route is compared with the second time required to reach the destination according to the preset driving route, and the first time required and the second required time The ride position 15 can be adjusted based on the difference between time.

For example, when the difference value between the first and second required time is within the first difference value (if it is determined that there is little difference), the computing device 100 may determine the occupant's position 13 (or desired). The ride position 15 determined on the rideable area 12 having the shortest distance to the ride position) may be determined as the ride position 15 of the vehicle.

However, when the difference between the first and second required times exceeds the first difference (when it is determined that the difference is large), the computing device 100 may determine the occupant's location 13 (or the desired ride location). The ride position 15 determined on the rideable area 12 having the shortest distance to) may be changed to a location on the rideable area 12 disposed on the driving route, so that a change in the driving route does not occur.

In various embodiments, the computing device 100 may input a priority for determining the ride location 15 from the occupant, and the input priority is based on each of a plurality of factors considered in determining the ride location 15. A weight for the vehicle may be set, and the riding position 15 of the vehicle may be determined using a plurality of factors for which the weight is set.

For example, when the distance to the boarding position 15 has a higher priority than the time of arrival at the destination, based on the priority for determining the boarding position 15 input by the user, the computing device 100 The weight for the distance to the location (15) can be set higher than the weight for the time of arrival at the destination, and accordingly, whether it has the shortest distance to the location of the occupant (or the desired riding location (15) of the occupant) than the driving route. In consideration of whether or not, the boarding position 15 of the vehicle may be determined.

In various embodiments, the computing device 100 may determine the riding position 15 of the vehicle based on the passenger's taste, history, status information, and preset setting information.

For example, the occupant may prefer to move less even if it takes a long time to board, and may prefer a quick boarding and departure even if he moves a lot. This information may be determined according to the passenger's existing history or selection, or information on the time to arrive to the destination (for example, information on the case of moving quickly or if there is time allowance, etc. can be received or determined in advance). have.

In various embodiments, the computing device 100 may determine the ride location 15 determined based on at least one of a location of a passenger, a location of a destination, a location of the dispatched vehicle, and a driving route from the location of the passenger to the location of the destination. The predetermined riding position 15 may be adjusted by using at least one of road traffic information for a predetermined area to be included (eg, road traffic information including congestion section information) and image data photographing a predetermined area.

For example, the computing device 100 determines the boarding position 15 based on the position of the occupant, the position of the destination, the position of the dispatched vehicle, and the driving route from the position of the occupant to the position of the destination. When it is judged that it is difficult to stop and wait at the location because many cars are parked or stopped at the location 15, or when it is judged that it is difficult to reach the predetermined ride location 15 because the cars are congested, a predetermined riding location ( The boarding position 15 may be adjusted to a position adjacent to 15) and determined to be boardable according to road traffic information or image data.

In this case, when the riding position 15 is adjusted, the computing device 100 provides information on the adjusted riding position 15, and information on the movement route from the current position of the occupant to the adjusted riding position 15 By providing the information, it is possible for the occupant to recognize the change in the riding position 15 and prevent wasted time due to not finding the vehicle.

In various embodiments, the computing device 100 includes at least one of a vehicle and a passenger's location, a location of a destination, a location of the dispatched vehicle, and a driving route from the location of the occupant to the location of the destination. It is possible to adjust the predetermined ride position 15 according to the time required to reach the ride position 15 determined based on.

For example, if the boarding position 15 of the vehicle is determined to be close to the occupant but far from the position of the vehicle, the occupant can quickly reach the boarding position 15, but the vehicle may take a relatively long time. . In this case, there is a problem that the time for the occupant to wait for the vehicle to arrive becomes longer, and accordingly, the time to reach the destination is delayed.

In addition, when the boarding position 15 of the vehicle is determined to be close to the vehicle but far from the occupant's position, the vehicle can quickly reach the boarding position 15 and wait, but the occupant reaches the boarding position 15 As it takes a long time, the time to reach the destination may be delayed as above.

In order to solve this problem, the computing device 100 determines the ride position 15 of the vehicle based on the position of the vehicle and the position of the occupant, but indicates the time required for the vehicle to reach the ride position 15. The ride position (the difference between 1 hour and the second time indicating the time it takes for the passenger to reach the determined ride position 15 has a minimum value, that is, the passenger and the vehicle arrive at the ride position 15 at a similar time) By adjusting 15), it is possible to prevent the delay in reaching the destination due to the waiting time.

In various embodiments, the computing device 100 determines that the vehicle first reaches the boarding position 15 before the occupant reaches the boarding position 15 based on the position of the vehicle and the position of the occupant. A user interface (UI) for outputting one or more image data photographed from one or more camera modules provided in the vehicle may be provided to the occupant terminal 200.

Through this, by allowing the occupant to accurately identify the vehicle at the boarding position 15, it is possible to prevent unnecessary time wasted because a vehicle waiting at the boarding position 15 is not found.

In various embodiments, the computing device 100 may provide a display device (eg, a display device provided in at least a portion of a passenger seat) or a passenger terminal of a vehicle occupant ( 200), and the vehicle getting off location can be determined through a UI that determines the vehicle getting off location. Hereinafter, with reference to FIG. 7, a method of determining a vehicle disembarkation location by the computing device 100 will be described.

7 is a flowchart of a method of determining a vehicle disembarkation location according to various embodiments.

Referring to FIG. 7, in step S210, when the occupant desires to board the vehicle dispatched from the boarding position, the computing device 100 may perform an authentication procedure for the occupant.

For example, the computing device 100 may perform at least one of an occupant authentication method based on whether the occupant's position and the vehicle position are the same, an occupant authentication method using vision recognition, and a occupant authentication method through a tag operation of the occupant terminal 200. Using one method, it is possible to determine whether or not the occupant who applied for dispatch of the vehicle is correct. However, it is not limited thereto.

In various embodiments, the computing device 100 controls to unlock the door of the vehicle so that the vehicle can be boarded when it is determined that the occupant who has performed the authentication procedure according to the authentication procedure for the occupant is the occupant who requested the vehicle. A control command to be executed may be generated, and the generated control command may be transmitted to the vehicle so that the door of the vehicle is unlocked.

In various embodiments, the computing device 100 may provide the authentication result data extracted by performing an authentication procedure for the occupant to the external server 300 (eg, a server that controls the operation of an autonomous vehicle). Through this, the external server 300 may control an operation of the autonomous vehicle (eg, an unlock operation). However, it is not limited thereto.

In step S220, the computing device 100 may acquire vehicle location information from the vehicle in which the occupant is boarded in real time. For example, location information may be collected at each preset unit time from a location sensor separately provided in the vehicle or a location sensor provided in the occupant terminal 200. However, it is not limited thereto.

In step S230, based on the real-time location information of the vehicle collected in step S220, the computing device 100 determines whether the distance between the position of the vehicle on which the occupant is boarded and the position of the preset destination from the occupant is within a preset distance. I can judge.

In step S240, when it is determined that the distance between the position of the vehicle on which the occupant is boarded and the position of the predetermined destination from the occupant through step S230 is within a predetermined distance, the computing device 100 1 User input can be obtained.

For example, when it is determined that the distance between the location of the vehicle and the location of a preset destination from the occupant is within a preset distance, the computing device 100 may provide a display device provided in the vehicle or the occupant terminal 200. Information on a plurality of possible disembarkation areas located within a predetermined distance from the location of the destination can be provided through the UI output on the display, and any one of the plurality of possible disembarkation areas can be selected from the passenger through the UI It is possible to obtain a first user input.

Thereafter, the computing device 100 may set a destination according to the driving route of the vehicle as a possible disembarkation area corresponding to the first user input so that the vehicle can move to the disembarkable area corresponding to the first user input.

In operation S250, the computing device 100 may determine whether the vehicle on which the occupant enters the disembarkable area corresponding to the first user input based on the location information of the vehicle collected in real time.

In step S260, when it is determined that the vehicle in which the occupant is boarded has entered the disembarkation area corresponding to the first user input, the computing device 100 may obtain a second user input from the occupant terminal 200.

For example, when it is determined that the vehicle in which the occupant is boarded has entered the disembarkable area corresponding to the first user input, the computing device 100 may display a display device provided in the vehicle or a display provided in the occupant terminal 200. Output at least one of front image data (eg, FIG. 8) photographing the front of the vehicle in which the occupant is boarded through the UI output to and map data including information on the disembarkation area corresponding to the first user input. I can.

In step S270, the computing device 100 may determine a location corresponding to the second user input obtained through step S260 as the disembarkation location of the vehicle occupied by the occupant.

In various embodiments, the computing device 100 is positioned at a location corresponding to the second user input through point mapping through Inverse Perspective Transform or Lidar-Camera Calibration. On the other hand, a three-dimensional position on the map data may be obtained, and the obtained three-dimensional position may be determined as the disembarkation position of the vehicle occupied by the occupant.

In various embodiments, the computing device 100 may adjust the getting off location in consideration of the surrounding environment of the predetermined getting off location.

For example, the computing device 100 may collect external environment information (eg, obstacle information, information on parked and stopped vehicles, etc.) on an available disembarkation area corresponding to a first user input. It is possible to determine whether or not to get off at a location corresponding to the second user input based on the environment information. As an example, when it is determined that there is a vehicle parked and stopped at a location corresponding to the second user input, the computing device 100 may determine that it is impossible to get off at a location corresponding to the second user input. However, it is not limited thereto.

Thereafter, when it is determined that it is impossible to get off at a location corresponding to the second user input, the computing device 100 selects any one location that is judged to be possible to get off from among a plurality of locations adjacent to the location of the second user input. Can change to the disembarkation position of the vehicle on which the vehicle boarded.

Thereafter, the computing device 100 may provide guide information including information on the changed disembarkation location and the reason for the change of the disembarkation location through a display device provided in the vehicle or a UI output on a display provided in the occupant terminal 200. I can.

In various embodiments, the computing device 100 may obtain a detailed adjustment request for a predetermined disembarkation location through a display device provided in a vehicle or a UI output on a display provided in the occupant terminal 200, and make detailed adjustments. In response to the request, a predetermined drop-off location can be adjusted.

For example, in various embodiments, the computing device 100 may adjust a predetermined disembarkation position through a display device provided in a vehicle or a UI output on a display provided in the occupant terminal 200. Buttons in the up, down, left and right directions may be provided, and a detailed adjustment request using the up, down, left and right buttons from the occupant may be provided to adjust a predetermined disembarkation position in detail.

The autonomous vehicle according to the disclosed embodiment may be configured to include a passenger input unit capable of receiving a passenger input according to the method described above.

For example, the occupant input unit may include a user interface for transmitting the occupant's intention and controlling the autonomous vehicle accordingly.

In addition, a display device for providing entertainment of the occupant and various services to the occupant while driving may be provided. The display device may also be used to provide a user interface, and accordingly, an input unit or a touch panel may be provided.

In addition, the display device can be used in communication and interlocking with the passenger's mobile terminal, and the occupant transmits an input to the autonomous vehicle through a display device or a separate occupant input unit, or connects his or her mobile terminal with the autonomous vehicle. Input can be transmitted through a mobile terminal and related information can be provided.

In one embodiment, the occupant may call an autonomous vehicle using his or her mobile terminal, and when the vehicle comes nearby, the mobile terminal and the short-range communication unit of the autonomous vehicle may be paired with each other.

Depending on the embodiment, the mobile terminal and the autonomous vehicle may communicate with each other through a network instead of performing pairing.

In various embodiments, the occupant input unit may be configured in the form of a physical button or may be configured in the form of a touch button displayed on a display provided in a vehicle. In addition, the occupant input unit may be displayed on the occupant's mobile terminal.

For example, when an autonomous vehicle arrives at its destination, the occupant may wish to adjust the position of the autonomous vehicle to a specific place where he or she wants to get off or where another passenger who wants to share a ride is.

In the case of a general taxi, such adjustment is performed through a conversation with the driver, but in the case of an autonomous taxi, such detailed communication may be difficult.

Accordingly, the vehicle may be provided with an occupant input unit for receiving the intention of the occupant, and, for example, the occupant input unit may include forward and reverse buttons.

Here, when the occupant presses the forward or reverse button, the autonomous vehicle may slowly autonomously drive at a speed less than a preset speed in the corresponding direction only while the occupant presses the button.

During the driving process, the autonomous vehicle may perform steering wheel manipulation, speed control for obstacle avoidance, avoidance and stop operations, etc. based on the autonomous driving system.

If the occupant releases the button, the autonomous vehicle can be stopped.

That is, after arriving at the previously inputted destination of the occupant, the autonomous vehicle may move forward or backward at a preset speed or lower to change the stop position of the autonomous vehicle according to the input of the occupant input unit.

According to an embodiment, the distance that can be moved through the occupant input unit may be limited to a preset distance or less.

In an embodiment, the autonomous vehicle may receive information about a passenger in advance from a passenger, and when a passenger's face image is obtained in advance, when a passenger is recognized within the field of view of the autonomous vehicle at the destination, the passenger's You can run and stop in position.

Information on such a passenger may be transmitted from the passenger or may be received in advance from the passenger through the network.

In addition, a passenger and a passenger are subscribed to the autonomous taxi service according to the disclosed embodiment, and a face image of the passenger may be previously stored in the subscription information. In this case, while calling an autonomous taxi, the occupant may transmit information about the passenger and the location where the passenger will board, and the autonomous vehicle may acquire a previously stored image of the passenger.

According to an embodiment, while a passenger calls an autonomous taxi, information on a passenger may be provided together. In this case, the server queries the passenger's user terminal for the boarding location, obtains information about the boarding location from the passenger, departs from the passenger's calling position, and creates a driving route that travels to the destination via the passenger's boarding position. You may.

A method of determining a boarding position of a passenger may use a method of determining a boarding position of a passenger according to the disclosed embodiment, but is not limited thereto.

The above-described method of providing an autonomous vehicle dispatch service has been described with reference to the flowchart shown in the drawings. For the sake of simplicity, the method of providing an autonomous vehicle dispatch service has been described by showing a series of blocks, but the present invention is not limited to the order of the blocks, and some blocks are performed in a different order from those shown and described herein, or Or can be performed simultaneously. In addition, new blocks not described in the specification and drawings may be added, or some blocks may be deleted or changed.

In the above, embodiments of the present invention have been described with reference to the accompanying drawings, but those of ordinary skill in the art to which the present invention pertains can be implemented in other specific forms without changing the technical spirit or essential features. You can understand. Therefore, the embodiments described above are illustrative in all respects, and should be understood as non-limiting.

100: autonomous vehicle dispatch service providing device (or computing device)
200: passenger terminal
300: external server
400: network

Claims (10)

In the method performed by the computing device,
Obtaining a vehicle call request from the occupant;
Distributing a vehicle according to the vehicle call request; And
Including the step of determining a boarding position of the vehicle based on at least one of a location of the occupant, a location of a destination, and a driving route from the location of the occupant to the location of the destination,
How to provide autonomous vehicle dispatch service. The method of claim 1,
The step of determining the ride position,
Determining whether the occupant's position is located within the non-rideable area by using map data including information on a rideable area and a non-rideable area and the position of the occupant; And
When it is determined that the position of the occupant is located within the non-rideable area, a rideable area having the shortest distance from the passenger among a plurality of rideable areas adjacent to the non-rideable area, or a rideable area located on the driving route Including the step of determining the ride position of the vehicle,
How to provide autonomous vehicle dispatch service. The method of claim 1,
The step of determining the ride position,
Determining whether a ride is possible at the predetermined riding position using at least one of road traffic information for a predetermined area including a predetermined riding position and image data photographing the predetermined area;
If it is determined that the ride at the predetermined ride position is impossible, adjusting the predetermined ride position to a rideable position; And
Including the step of providing guide information including information on the adjusted boarding position and movement route information from the current position of the occupant to the adjusted boarding position,
How to provide autonomous vehicle dispatch service. The method of claim 1,
The step of determining the ride position,
Determining the riding position of the vehicle based on the position of the vehicle and the position of the occupant, a first time indicating a time required for the vehicle to reach the determined riding position and the occupant reaching the determined riding position Including the step of adjusting the determined riding position so that the difference between the second time indicating the required time has a minimum value,
How to provide autonomous vehicle dispatch service. The method of claim 1,
The step of determining the ride position,
Receiving a priority for determining a boarding position from the passenger;
Setting a weight for each of a plurality of factors considered in determining the riding position based on the input priority; And
Including the step of determining the boarding position of the vehicle using a plurality of factors in which the weight is set,
How to provide autonomous vehicle dispatch service. The method of claim 1,
When it is determined that the vehicle first reaches the determined riding position before the vehicle reaches the determined riding position based on the position of the vehicle and the position of the occupant, at least one provided in the vehicle Further comprising the step of providing a user interface (UI) for outputting one or more image data photographed from the camera module to the terminal of the passenger,
How to provide autonomous vehicle dispatch service. The method of claim 1,
Providing a user interface (UI);
When the distance between the position of the vehicle on which the occupant is boarded and the position of the predetermined destination from the occupant is within a predetermined distance, a plurality of possible alighting areas located within a predetermined distance from the position of the destination through the UI Providing information;
Obtaining a first user input for selecting any one of the plurality of possible disembarkation areas from the passenger through the UI, and moving the vehicle in which the occupant is boarded to the disembarkable area corresponding to the first user input Setting the travel path to be performed;
When it is determined that the vehicle in which the occupant is boarded has entered the disembarkation area corresponding to the first user input, front image data photographed in front of the vehicle in which the occupant is boarded and the first user input Outputting at least one of map data including information on an available disembarkation area corresponding to; And
Further comprising the step of obtaining a second user input from the occupant through the UI, and determining a location corresponding to the second user input as a disembarkation location of the vehicle in which the occupant boarded,
How to provide autonomous vehicle dispatch service. The method of claim 7,
The step of determining a location corresponding to the second user input as an alighting location of the vehicle in which the occupant is boarded,
Collecting external environment information on a possible disembarkation area corresponding to the first user input;
Determining whether a disembarkation is possible at a location corresponding to the second user input based on the external environment information;
When it is determined that it is impossible to get off at a location corresponding to the second user input, one of a plurality of locations adjacent to the location of the second user input is determined to be available for getting off the vehicle. Changing to the disembarkation position; And
Including the step of providing guide information including information on the changed getting off location and a reason for changing the getting off location through the UI,
How to provide autonomous vehicle dispatch service. A memory for storing one or more instructions; And
And a processor that executes the one or more instructions stored in the memory,
The processor executes the one or more instructions,
An apparatus for performing the method of claim 1. A computer program that is combined with a computer as hardware and stored in a recording medium readable by a computer to perform the method of claim 1.

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