KR20220018110A - Grouping system for self driving vehicles - Google Patents

Abstract

The present invention provides a system for grouping autonomous driving vehicles, which allows vehicles, performing autonomous driving, to recognize obstacles and to set driving paths on sidewalks or the like, not roads. In addition, the present invention provides a system for grouping autonomous driving vehicles, which improves driving smoothness and promotes the safety of pedestrians by grouping a plurality of autonomous driving vehicles and allowing the grouped autonomous driving vehicles to drive on sidewalks. A system for grouping autonomous driving vehicles according to one aspect of the present invention comprises: a control unit calculating a driving path and controlling driving; and a sensing unit detecting obstacles and other vehicles on the driving path. A first autonomous driving vehicle, which is any one among the autonomous driving vehicles, calculates a first driving path to perform autonomous driving and thus a second autonomous driving vehicle, which is another autonomous vehicle forming the same driving direction in a set range, drives in group with the first autonomous driving vehicle.

Description

Group system for autonomous driving means {GROUPING SYSTEM FOR SELF DRIVING VEHICLES}

The present invention relates to autonomous driving means, and more particularly, to a clustering system of autonomous driving means performing autonomous driving in a group in India.

An autonomous vehicle is a vehicle that can drive automatically without human driving. Autonomous vehicles drive autonomously by recognizing their surroundings using radar, light detection and ranging (LIDAR), GPS, and cameras and specifying a destination. Unmanned vehicles that are already being put into practical use include unmanned vehicles that patrol preset routes operated by the Israeli military, and unmanned driving systems such as dump trucks operated in overseas mines and construction sites.

The first core technologies of these autonomous vehicles are the driverless vehicle system and the actual system. It is a technology that not only simulates in the laboratory, but also actually builds an unmanned vehicle system. It implements the accelerator, reducer and steering device, which are driving devices, to suit unmanned operation, and enables control using the computer, software and hardware installed in the unmanned vehicle. do.

The second core technology is to receive and process visual information using vision and sensors. As the basis of autonomous driving for unmanned operation, it is a technology that accepts image information and extracts necessary information from the image. It uses not only CCD (charge-coupled device) cameras but also ultrasonic sensors and range filters to fuse information necessary for distance and driving, so that it can avoid obstacles and cope with unexpected situations through analysis and processing.

The third core technology is the integrated control system and operation monitoring fault diagnosis system technology. This technology establishes a driving monitoring system that monitors vehicle operation and gives appropriate commands according to changing situations, and provides appropriate information to the operator by diagnosing system failures by analyzing various situations occurring from individual processors and sensors. or to perform the function of notifying an alarm.

The fourth core technology is intelligent control and intelligent operation devices. This technology is an unmanned driving technique that generates control commands based on mathematical analysis using real vehicle models. Intelligent Forward Control is a system that maintains the distance from the vehicle in front or obstacles by adjusting the speed by itself without the driver operating the pedals based on radar guide technology. When the driver inputs the distance to the vehicle in front, the long-distance radar attached to the front of the vehicle detects the position of the vehicle in front, maintains a constant speed, decelerates or accelerates, and stops completely if necessary, which is useful in weather where visibility is difficult.

The fifth applied technology is the lane departure prevention system. This is a technology that notifies the driver of an unintended departure situation by detecting the lane with a camera installed inside.

The sixth application technology is the parking assistance system. This is a system that helps the car park in reverse by adjusting the steering system when the driver finds the assist button, puts in reverse gear, and presses the brake pedal. By automatically guiding the vehicle from the departure point to the parking space based on infrastructure as well as vehicle-mounted sensors, it saves unnecessary time and energy when parking, thereby minimizing cost and environmental pollution.

The seventh application technology is the automatic parking system. This is a technology in which the driver stops the car in front of the parking lot, turns off the engine, gets off, and presses the remote control lock switch twice in succession. to be.

The eighth application technology is a blind spot information guidance system. It is used to change lanes by checking obstacles and vehicles on both sides in complex road conditions, as sensors mounted on both sides of the car determine whether there is another vehicle in the blind spot that is not visible through the side mirrors and warn the driver. .

The biggest advantage of driverless cars is that they help fuel efficiency by avoiding repeated stops by making the control device more even because the driving speed and traffic management data match. will be. In addition, it has the advantages of solving fatigue caused by long-term driving, greatly reducing the risk of traffic accidents, speeding up road traffic flow, and reducing traffic congestion.

However, until now, autonomous vehicles have been focused only on driving on roadways. That is, when the 5th level of autonomous driving is generalized, it can be naturally assumed that various means of transportation are operated by autonomous driving in addition to vehicles traveling on the road. However, as in Prior Art Document 1, in-depth research on autonomous driving technology in sidewalks, etc., not on roads, has not been made so far. In this case, in the case of a sidewalk other than a road, it will be necessary to approach from a different perspective in avoiding obstacles and setting a driving route.

[Prior art literature]

Korean Patent Registration No. 10-2031757 (2019. 10. 15.)

The present invention is to solve the problems of the prior art, and an object of the present invention is a cluster system of autonomous driving means in which the means of autonomous driving recognizes obstacles and sets the driving route on the sidewalk, etc., not on the road. provides

In addition, the present invention provides a clustering system of autonomous driving means for improving driving smoothness and promoting pedestrian safety by clustering a plurality of autonomous driving means and driving on the sidewalk.

A cluster system of autonomous driving means according to an aspect of the present invention is a plurality of autonomous driving means including a controller for calculating a driving path and controlling driving, and a sensing unit for detecting obstacles and other moving means on the driving path. A first autonomous driving moving means, which is one of the autonomous driving moving means, is another autonomous driving moving means that calculates a first driving route to perform autonomous driving and forms the same driving direction within a set range. 2 The autonomous driving means and the first autonomous driving means are collectively driven.

In this case, in the second autonomous driving moving means, a sensing unit may detect the first autonomous driving moving means to control the distance between vehicles and the driving direction.

In addition, the swarming system of the autonomous driving means may further include a server, and the server may transmit a control signal to group the first and second autonomous driving means for platooning.

In addition, the first autonomous driving moving means calculates and operates a second driving path separated by a set distance from the first driving path, and the second autonomous driving moving unit also moves to the second driving path and the first autonomous driving It can run in groups with a means of transportation.

In addition, the plurality of autonomous driving means is divided into an autonomous driving means in which the user is boarded and an autonomous driving means in which the user is not boarded, and the autonomous driving means in which the user is not boarded is separated by a set distance from the driving route. It may be formed by clustering the first stopping areas in the area.

In addition, in the first stopping area, the autonomous driving means stopped in the stopping area may move to form a second stopping area.

In addition, the autonomous driving moving means further includes a display unit, and the display unit is at least one of the same shape, shape, and color when the first autonomous driving moving unit and the second autonomous driving moving unit are collectively driven or parked. can be displayed inside or outside the autonomous driving means.

The present invention harmonizes the safety of autonomous driving with the safety of pedestrians and surroundings by recognizing obstacles in a plurality of autonomous driving means, setting a driving route on the sidewalk, not on the road, and performing platoon driving there.

1 is a diagram schematically illustrating a cluster system of an autonomous driving means according to an embodiment of the present invention.
2 is a block diagram of a cluster system of an autonomous driving means according to an embodiment of the present invention.
FIG. 3 is a configuration diagram illustrating the sensing unit of FIG. 2 in more detail.
4 is a configuration diagram illustrating the output unit of FIG. 2 in more detail.
FIG. 5 is a configuration diagram illustrating the control unit in FIG. 2 in more detail.
6 is a configuration diagram illustrating the server in FIG. 2 in more detail.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Since the present invention can have various changes and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the present invention to specific embodiments, and it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention.

Terms including an ordinal number such as 1st, 2nd, etc. may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. and/or includes a combination of a plurality of related listed items or any of a plurality of related listed items.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

Hereinafter, the cluster system 1000 of the autonomous driving means according to an embodiment of the present invention will be schematically described. 1 is a diagram schematically illustrating a cluster system of an autonomous driving means according to an embodiment of the present invention.

First, the cluster system 1000 of autonomous driving means according to an embodiment of the present invention is characterized in that autonomous driving is possible in general sidewalks rather than on automobile roads.

That is, in FIG. 1, a general automobile road R on which a conventional automobile 10 runs is illustrated on the left side, and a sidewalk P is schematically illustrated on the right side. The platooning system 1000 of the autonomous driving means according to an embodiment of the present invention relates to the group operation of the autonomous driving means in the sidewalk (P).

At this time, the autonomous driving means 100 is not limited to driving only in India, and it is natural that all of them that can be driven in India, including roads, fall within the scope of the present invention.

At this time, the autonomous driving means 100 is driven while detecting an obstacle in front when driving on the sidewalk. In this case, the autonomous driving means 100 travels on the first driving path 20, which is the main route, and the autonomous driving means 100 detects an obstacle on the driving path and divides a part of the sidewalk into the first driving path 20. to be specified as

In other words, in a typical navigation system, when a route is designated, the entire lane is designated as a route regardless of the lane. After entering, a specific part of a sidewalk or road having a low frequency of detecting obstacles is specified as the first driving path 20, and driving is performed by controlling the driving around this area.

Accordingly, the autonomous driving means 100 travels on the first driving route route1 on which the arrangement of obstacles is determined to be low, and detects people 1 to n (P1, P2, Pn) that are obstacles on the driving route. 1 exemplifies a case in which the left side of the sidewalk farthest away from people 1,2,n (P1, P2, Pn) is set as the first driving path 20 . At this time, according to the additional detection of the obstacle in front, the first driving path 20 may be changed to a second driving path (not shown) spaced from here.

However, the autonomous driving means 100 according to the present embodiment performs group driving based on any one of a plurality of autonomous driving means or under the control of the server 200 . In FIG. 1 , three autonomous driving means for driving the first driving route 20 are exemplified. The autonomous driving means operated at the top or middle becomes the reference vehicle for group driving, or the server 200 without such a reference vehicle. ) communicates with the autonomous driving means, overlapping route information, and grouping the autonomous driving means arranged in a short distance to transmit a control signal to perform platooning. Of course, it goes without saying that even in this case, the reference vehicle can be set in the grouping process.

On the other hand, the clustering system 1000 of the autonomous driving means according to the present embodiment may set the stopping area by grouping the autonomous driving means 100b in which the user does not board or get off. That is, as shown in FIG. 1 , the stopping area 30 is set in an area spaced apart from the first travel path 20 by a set distance. That is, the autonomous driving means 100b from which the user got off enters the stopping area (direction (b)).

In the stopping area 30 , the waiting person Wn can sequentially board the autonomous driving means 100b to serve as a stop. At this time, the autonomous driving means 100a, which the user has just boarded, enters the first driving route again (direction (a))) and performs platoon driving.

However, as described above, as the first driving path 20 is changed, the stopping area 30 may be moved together or the area may be moved due to other circumstances. 1 shows that the stop area 30 has been moved to the right due to a later reason.

As described above, the system for clustering autonomous driving means according to an embodiment of the present invention can secure pedestrian safety and smooth movement speed by clustering and driving autonomous vehicles running on sidewalks. Furthermore, because the means of transportation are not parked indiscriminately, but are parked in groups by forming a separate parking and stopping area, it is possible to not only promote pedestrian safety but also to derive a new business of a separate sidewalk stop.

Hereinafter, a cluster system of autonomous driving means according to an embodiment of the present invention will be described in more detail. FIG. 2 is a configuration diagram of a cluster system of autonomous driving means according to an embodiment of the present invention, FIG. 3 is a configuration diagram showing the sensing unit in FIG. 2 in more detail, and FIG. 4 is a diagram showing the output unit in FIG. 2 more It is a configuration diagram showing in detail, FIG. 5 is a configuration diagram showing the control unit in FIG. 2 in more detail, and FIG. 6 is a configuration diagram showing the server in FIG. 2 in more detail.

Referring to the drawings, a clustering system 1000 of autonomous driving means according to an embodiment of the present invention includes an autonomous driving means 100 and a server 200 . At this time, for group driving, a plurality of autonomous driving means 100 are provided. The autonomous driving means 100 includes an input unit 110 , a sensing unit 120 , an output unit 130 , a control unit 140 , a communication unit 150 , and a driving unit 160 .

The input unit 110 mainly serves to input the destination of the autonomous vehicle. The sensing unit 120 may include a radar 121 and a lidar 122 , and may further include a camera 123 . The radar 121 refers to a device capable of moving unmanned while performing a radar detection operation by mounting an antenna in an autonomous vehicle. The radar 121 is not limited to performing only a radar detection operation using the provided antenna, and such as a plurality of sensors or complex sensors capable of sensing the surrounding environment, such as the lidar 122 and the camera 123 . It can be implemented in the form

The radar 121 senses the surrounding environment to generate surrounding sensing information, and determines inanimate objects such as roads, other vehicles, people, and buildings that are obstacles in the driving direction based on the surrounding sensing information. Accordingly, the radar 121 may detect the fixed and moving objects and the speed of the moving objects existing on the driving path. Accordingly, through the radar 121, the autonomous driving means 100 detects the distance between other vehicles and the driving direction of the other vehicle, and controls the driving unit 160 to forward or follow the other vehicle at regular intervals to enable group driving. can make it

The lidar 122 is a device that precisely draws a surrounding state by emitting a laser pulse, receiving the light reflected from the surrounding target object, and measuring the distance to the object. The lidar 122 emits a laser pulse to the ground surface and measures the return time by analyzing the spatial location of the reflection point and surveying the topography. A difficult three-dimensional model can be obtained.

The lidar 122 is composed of a laser, a scanner, a receiver, and a positioning system, and the wavelength of the laser is 600-1000 nm. The scanner is the part that lets you quickly scan your surroundings to get information. The receiver is a part that detects the returning light, and the sensitivity to the light of the receiver is a major factor influencing the performance of the lidar 122 .

In addition, since the sensing unit 120 needs to utilize the location information of the autonomous vehicle, it essentially further includes a GPS 124 , and even if the user does not explicitly perform a steering operation, a microphone is used to intervene in autonomous driving with voice or the like. (125) may be further provided.

The output unit 130 is disposed inside or outside the autonomous vehicle to display various states. The output unit 130 includes a driving condition display module 131 , a driving assistance display module 132 , a driving group display module 133 , a group change display module 134 , and a parking and stopping display module 135 .

The driving condition display module 131 performs a function of stably continuously flickering by using an indicator (not shown), etc. when the driving route of the autonomous driving means 1000 is determined and the straight driving continues according to the driving route. . In other words, it is confirmed that the continuous blinking of a person or vehicle located on the driving path is checked and that the autonomous driving means 100 continues to operate in the same direction. Accordingly, it is possible to secure the predictability of pedestrians and to safely drive pedestrians and autonomous driving means.

Furthermore, the driving condition display module 131 is further activated even when the sensing unit 120 detects the presence and proximity of a pedestrian present in the driving path. In this case, since it is difficult to completely predict the final arrival position of the pedestrian, it is possible to set the indicator to light up repeatedly when it is calculated that the pedestrian can approach within a set distance within a set time.

That is, the driving condition display module 131 serves to indicate that the possibility that the driving route will be changed is calculated by the controller 140 . By confirming the lighting, it can be seen that the position of the autonomous driving means can also be changed by pedestrians or other nearby vehicles, thereby increasing the predictability of safety.

On the other hand, the driving condition display module 131 starts blinking at the time when the possibility that a change in the driving route occurs initially, but may also blink while the driving route is actually changed. Accordingly, it is possible to recognize that the driving route is changing in the surrounding pedestrians or vehicles.

The driving assistance display module 132 assists the driving condition display module 131 . That is, the driving assistance display module 132 may apply sound or vibration to the autonomous driving means 100, and when there is a possibility that the driving path is changed or the driving path is actually changed, the external sound is generated. alarm to ensure the safety of people and vehicles around you.

In addition, the driving assistance display module 132 outputs a warning sound when an obstacle is closer to the autonomous driving means within a set distance when the possibility of a change in the driving route is calculated by the control unit 140 to output a user-side assistance It can also perform a role, and when the possibility of a change in the driving route is calculated, vibration is applied so that the user can feel it, thereby separately notifying that there is a nearby obstacle. In this case, the vibration or sound also serves as a signal that the user can manually intervene in the steering of the autonomous vehicle. In this case, the control intervention module 144 to be described later may convert all or part of the control right of autonomous driving to the user.

The driving group display module 133 expresses the appearance of the entire autonomous driving vehicle in the same way when the server 200 controls it or when a reference vehicle is set and a plurality of autonomous driving means 100 are driven in a cluster. . For example, the same color, shape, or color is output on the exterior of the autonomous driving means for group driving so that it can be intuitively recognized that the group is driven.

The group change display module 134 serves to display a color, shape, and color different from the same color, shape, and color as described above on the exterior of an autonomous vehicle that joins or leaves a group for group driving. Accordingly, pedestrians or passengers of other autonomous vehicles can intuitively know that the change in the formation of the group is accompanied by a predictability that the autonomous vehicle will join or leave the group.

The parking and parking display module 135 serves to output the same appearance of the autonomous driving means parked in a cluster or parked in a clustered and stopped area. That is, the parking and parking display module 135 serves to display the same color, shape, and color different from the above-described color, shape and color on the exterior of the autonomous driving means 100b that is stopped in groups like the driving group display module 133 . carry out

The controller 140 calculates a driving route and controls driving. In more detail, the control unit 140 of the autonomous driving means 1000 according to an embodiment of the present invention includes a route calculation module 141 , a group tracking module 142 , a display control module 143 , and a control intervention module 145 . ) is included.

The route calculation module 141 first calculates a main driving route from the destination information first input from the input unit 110 . Here, the main driving route refers to a driving route in which the entire specific road (without considering the width of the road) is used as in a typical navigation system.

Next, the path calculation module 141 converts a portion of the road or sidewalk with the least complexity to the first driving path 20 based on data of fixed and moving objects that are obstacles on the driving path detected by the sensing unit 120 . will be calculated

Thereafter, the path calculation module 141 calculates a second driving path (not shown) that is an avoidance path by calculating the approach speed of the moving object detected by the sensing unit 120 . The second driving path refers to a path spaced apart from the first driving path by a set distance, and may be formed on the same road or sidewalk. However, in this case, the route calculation module 141 calculates the travel route only when the approach of the moving object is within the set range without immediately changing the route to the second route.

In this case, the display control module 143 controls the aforementioned driving condition display module 131 to indicate that the driving route of the autonomous driving means 100 is determined and the straight-line driving continues according to the driving route, and Furthermore, it controls to display the presence and proximity of a moving object in another expression.

On the other hand, the path calculation module 141 may control the driving to be driven again in the first driving path after controlling the driving in the second driving path. In addition, when it is determined that it is appropriate to stay on the current path according to the detection value of the sensing unit 120 after controlling driving to the second driving path, the path calculation module 141 sets the second driving path to the first driving path as a default value. It can be modified by path (20).

When any one of the plurality of autonomous driving means (referred to as the first autonomous driving means, hereinafter the same) serves as a cluster standard, the group tracking module 142 follows or precedes the other autonomous driving means (second autonomous driving means). It is controlled so that the traveling moving means, hereinafter the same) are grouped together and driven. In more detail, the group tracking module 142 of the second autonomous driving means is based on the speed, direction, and location information of the first autonomous driving means detected by the sensing unit 120 or transmitted by the communication unit 150 . The driving is controlled so as to be driven in a cluster with the first autonomous driving means.

Accordingly, even if the driving path of the first autonomous driving means is changed from the original first driving path to the second driving path, it is possible to continuously perform group driving. On the other hand, the display control module 143 controls the above-described display unit 140, a detailed description will be omitted.

The control intervention module 144 calculates the degree of user intervention when the aforementioned driving assistance display module 132 outputs sound or vibration. That is, when the driving assistance display module 132 outputs sound or vibration, the possibility that the driving route will change is calculated. It is possible to control such that the moving means is switched to manual driving or instantaneous manual driving is possible, such as setting an instantaneous direction of rotation.

In this case, as described above, the driving condition display module 131 is converted to manual driving or partially manual driving is being performed, and it is transmitted to the server 200 through the communication unit 150 to take responsibility for the accident. Materials can also be contested.

The server 200 includes a group operation module 210 , a group maintenance module 220 , a group entry module 230 , a group exit module 240 , and a group stop module 250 .

When it is determined that group driving is possible, the group operation module 210 serves to equally control the entire driving of the plurality of autonomous driving means 100 . That is, the group operation module 210 controls the driving so as to simultaneously start and stop the autonomous driving means forming the group at the same time.

Accordingly, the driving for controlling the distance between the moving means can be omitted, thereby remarkably reducing the possibility of causing congestion. On the other hand, when a plurality of autonomous driving means starts, the speed of reaching the set speed may be different depending on the displacement and performance of the most advanced vehicle and the rearmost vehicle. It would also be desirable to control differential departures or differential stops by gradually granting a set margin to the departure time of .

The group maintenance module 220 serves to control the group to regroup when a set event occurs and at least one autonomous driving means is released from the group. This is because, depending on the traffic or road conditions, some of the group driving may frequently depart from the group. By indicating that the swarm is the intended means of transportation, it is possible to quickly know the overall swarm change situation.

The group entry module 230 finds a junction so that other moving means other than the platoon join the platoon driving, and serves to control the distance or speed of autonomous vehicles around the junction. To this end, the display unit 130 determines which position during the platooning becomes the merging point in the process of joining a plurality of autonomous driving means that are clustered and driven for clustering. It is desirable to mark them on their appearance. Accordingly, users who participate later in platoon driving can predict the exact platoon merging point.

The group leaving module 240 causes any one autonomous driving vehicle having a different destination to leave the group before entering another route, and serves to control the interval and speed between vehicles involved in the withdrawal.

The group stopping module 250 controls to form the first stopping area 30 by allowing the autonomous driving means in which the user does not board or alights to stop in an area spaced apart from the driving route by a set distance. In addition, the group stop module 250 performs the role of a stop by not only forming such an area, but also maintaining a constant interval between the dispatching of the autonomous driving means parked and stopped inside the area, and sequentially withdrawing from this area for re-driving. . Meanwhile, in this case, the above-mentioned parking and parking display module 135 displays at least one of the same shape, shape, and color on the inside or outside of the plurality of autonomous driving means that are parked and stopped.

As described above, preferred embodiments of the present invention have been disclosed in the present specification and drawings, and although specific terms are used, these are only used in a general sense to easily explain the technical content of the present invention and help the understanding of the present invention. , it is not intended to limit the scope of the present invention. It will be apparent to those of ordinary skill in the art to which the present invention pertains that other modifications based on the technical spirit of the present invention can be implemented in addition to the embodiments disclosed herein.

10: road vehicle
20: first driving path
30: first stop area
30': second stop area
100: self-driving vehicle
100a: self-driving vehicle in which the user rides
100b: self-driving vehicle without user boarding
110: input unit
120: detection unit
121: radar
122: lidar
123: camera
124: GPS
125: microphone
130: output unit
131: driving condition display module
132: driving assistance display module
133: driving group display module
134: group change display module
135: parking and parking display module
140: control unit
141: route calculation module
142: cluster tracking module
143: display control module
144: control intervention module
150: communication department
160: driving unit
200: server

Claims (7)

A plurality of autonomous driving moving means including a control unit for calculating a driving path and controlling driving, and a sensing unit for detecting obstacles and other moving means on the driving path,
The first autonomous driving vehicle, which is one of the autonomous driving means, performs autonomous driving by calculating a first driving route, and a second autonomous driving movement that is another autonomous driving moving means that forms the same driving direction within a set range. A cluster system of autonomous driving means, characterized in that the means run in a cluster with the first autonomous driving means.
According to claim 1,
In the second autonomous driving moving means, a sensing unit detects the first autonomous driving moving means to control the distance between vehicles and the driving direction.
According to claim 1,
The swarm system of the autonomous driving means further includes a server, wherein the server groups the first autonomous driving means and the second autonomous driving means and transmits a control signal to group the autonomous driving means A swarm system of vehicles.
According to claim 1,
The first autonomous driving moving means calculates and operates a second driving path separated by a set distance from the first driving path, and the second autonomous driving moving unit also moves to the second driving path, and the first autonomous driving moving means A swarm system of autonomous driving means, characterized in that it runs in a cluster with the
According to claim 1,
The plurality of autonomous driving means is divided into an autonomous driving means in which the user is boarded and an autonomous driving means in which the user is not boarded, and the autonomous driving means in which the user is not boarded is separated from the driving route by a set distance. A clustering system for autonomous driving means, characterized in that the first stop area is formed by clustering.
6. The method of claim 5,
The clustering system of autonomous driving means, characterized in that the first stop area moves the autonomous driving means stopped in the stop area to form a second stop area.
The autonomous driving means further includes a display unit, and the display unit autonomously displays at least one of the same shape, shape, and color when the first autonomous driving means and the second autonomous driving means are collectively driven or parked. A cluster system of autonomous driving means, characterized in that it is displayed inside or outside the driving means.

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