KR20220029837A - Autonomous driving platform based on grid-address system on the basis of digital twin - Google Patents

Abstract

The present invention relates to an autonomous driving platform that constructs a digital twin based on the map information for which a grid-type address system is applied and provides an autonomous driving service through the same. The autonomous driving platform according to one embodiment of the present specification comprises: a digital twin integrated control system that generates and manages the three-dimensional map data by modeling the digital map information in three-dimensions and implementing the real-world environment comprising a road, a building, and a landmark in the same virtual space to form a digital twin; a central control system that receives the spatial information data collected from a mobile device connected to a network, and receives the three-dimensional map data from the digital twin integrated control system to generate the map data in connection with the spatial information data, wherein the map data is divided into a grid type of a predetermined standard and provides the address information and the spatial information comprising a unique coordinate value for each grid to be systematically managed; and a mobility that recognizes a current location by receiving the map data from the central control system, allows autonomous driving by setting a movement route to a destination set by a user, allows the current location to be identified based on a unique coordinate of the map data and searches the autonomous driving route to the destination to determine whether or not to deviate from the route during autonomous driving, and periodically downloads the map data within a predetermined range from the central control system according to a predetermined movement interval, synchronizes thereof with the current location information, and monitors and manages the route for autonomous driving.

Description

An autonomous driving platform operated through a digital twin-based grid address system {AUTONOMOUS DRIVING PLATFORM BASED ON GRID-ADDRESS SYSTEM ON THE BASIS OF DIGITAL TWIN}

The present invention builds a digital twin based on map information to which a grid-type address system is applied and links the coordinate values of map data with an autonomous vehicle in real time to improve safety and reliability and significantly reduce system construction costs It relates to an autonomous driving platform that can provide more accurate and efficient autonomous driving services to the basement or upper floors.

With the rapid aging of the population, the number of people with transportation disabilities who feel uncomfortable in their daily life is gradually increasing. According to the Transportation Vulnerable Act, people with disabilities who feel uncomfortable in the walking environment exist in various classes such as the elderly, pregnant women, people with infants and children, as well as the disabled. Public transportation is the main means of transportation used by the transportation-disabled people when they go out in the area, in the order of bus, foot, and subway. Although physical environment improvement is in progress, such as infrastructure improvement, a lot of time and money are required, and there are many difficulties and limitations in basic walking environment improvement because they are installed individually without considering the movement route of the transportation weak.

On the other hand, with the development of autonomous driving technology, some personal mobility means linked to public transportation, such as smart wheelchairs, are being introduced. This method is very expensive and requires a lot of maintenance cost, so it is difficult to spread it.

In order to improve this point, digital twin technology that implements objects, systems, and environments that exist in the real world in the same virtual space has been introduced, and through this, various monitoring and operation including autonomous driving There is a movement to utilize it in various fields such as , optimization, etc.

However, in the case of a conventional autonomous driving system, particularly a digital twin-based autonomous driving system, the current accurate position is not determined in a place where GPS radio wave reception is difficult, such as underground, through GPS-based path analysis to determine the current position. There was a problem in that accuracy, reliability, and safety were lowered.

In addition, in the case of a conventional autonomous driving system, especially cloud point-based, expensive sensing equipment must be introduced to analyze point-to-point, which increases manufacturing and maintenance costs, and promotes miniaturization and compactness according to complex equipment configuration There was a problem in that it was not possible to promote autonomous driving of small equipment such as mobility or drones.

Therefore, by building a digital twin based on the map information to which the grid-type address system is applied, and by linking the coordinate values of the map data with the autonomous vehicle in real time, low-cost sensing equipment is used to reduce the manufacturing cost of the autonomous driving platform, and the overall There is an urgent need to develop an autonomous driving platform that maximizes accuracy, reliability and safety while reducing the size of equipment.

Korean Patent Registration Publication No. 10-1989982

An object of the present invention is to provide an autonomous driving platform operated through a digital twin-based grid address system that can be used for autonomous driving by building a digital twin of a three-dimensional environment based on spatial information data to which a grid is applied.

In addition, the present invention builds a digital twin based on map information to which a grid-type address system is applied, and applies an autonomous driving platform that interlocks the coordinate values of map data with an autonomous driving vehicle in real time to various equipment for autonomous driving. Its purpose is to promote expandability and convenience of

However, the object of the present invention is not limited to the above, and other objects not mentioned will be clearly understood by those skilled in the art from the following description.

The autonomous driving platform operated through the digital twin-based grid address system according to an embodiment of the present specification models digital map information in three dimensions and implements the real-world environment including roads, buildings, and landmarks in the same virtual space. Digital twin integrated control system that creates and manages 3D map data by forming a digital twin; Receive spatial information data collected from a mobile device connected through a network, receive the 3D map data from the digital twin integrated control system, and generate map data in association with the spatial information data, wherein the map data is a central control system that is divided in a grid form and systematically manages and assigns address information and spatial information including unique coordinate values to each grid; and a GPS sensor, a wireless mobile communication module, a camera, a LIDAR sensor, and a moving means capable of autonomous driving on board, receiving the map data from the central control system to recognize a current location, and a destination set by the user Autonomous driving by setting a moving route to the destination, but determining the current location based on the unique coordinate value of the map data, searching the autonomous driving route to the destination, determining whether or not to deviate from the route during autonomous driving, and controlling the central control according to the predetermined movement interval It includes mobility that periodically downloads map data in a predetermined range from the system, synchronizes it with current location information, and monitors and manages routes for autonomous driving.

Preferably, the spatial information included in the map data of the autonomous driving platform operated through the digital twin-based grid address system according to the present invention includes GPS information of the unique coordinates of each grid, location and size information of obstacles, and road information. It characterized in that it includes at least one or more of location information, location and size information of a braille sidewalk block, location and size information of a subway or bus stop, and landmark information.

Preferably, the map data of the autonomous driving platform operated through the digital twin-based grid address system according to the present invention is divided into a plurality of grids of a predetermined standard horizontally and vertically based on a two-dimensional map, and the two-dimensional It is characterized in that the unique address information is generated for each grid based on the x-axis and the y-axis on the map, and the landmark location information on the map is given to the spatial information based on the grid-type address information.

Preferably, the mobility of the autonomous driving platform operated through the digital twin-based grid address system according to the present invention searches the current location information by matching the coordinate information received from the GPS sensor with the spatial information of the grid. do it with

Preferably, the mobility of the autonomous driving platform operated through the digital twin-based grid address system according to the present invention is a section in which landmarks are concentrated in unit coordinates or in a section where it is difficult to express by 3D image rendering, the mobile communication module It is characterized in that the current location information is searched based on wireless communication using

Preferably, the mobility of the autonomous driving platform operated through the digital twin-based grid address system according to the present invention is characterized in that it downloads map data of a 200-meter radius section according to a 100-meter driving interval from the central control system. .

In addition, an autonomous driving control method operated through a digital twin-based grid address system according to an embodiment of the present specification includes: receiving departure and destination information set by a user; Recognizing the user's boarding by waiting at the departure point set by the user; Recognizing a current location by receiving map data from a central control system, and setting a movement route by referring to the destination setting information; starting autonomous driving when a driving route to the destination is set; synchronizing the current location information by matching the coordinate information obtained from the GPS sensor with the address information included in the map data; downloading map data of a predetermined standard from the central control system according to a predetermined movement interval on the set travel route; synchronizing the changed current location information based on the address information included in the downloaded map data; and terminating the autonomous driving upon arrival at a destination, wherein the map data is divided into grids of a predetermined standard, and address information and spatial information including unique coordinate values are included for each grid. .

According to an embodiment of the autonomous driving platform operated through the digital twin-based grid address system according to the present invention, a cheap sensor is used by forming a digital twin based on three-dimensional spatial information and assigning a grid-type grid address system to the map data. However, as the autonomous driving position recognition is possible more quickly and accurately, the accuracy, reliability and safety are improved, and the manufacturing cost and manufacturing time are reduced.

In addition, the autonomous driving platform operated through the digital twin-based grid address system according to the present invention builds a digital twin based on map information to which the grid-type address system is applied, and links the coordinate values of the map data with the autonomous driving vehicle in real time. Accordingly, by promoting the miniaturization and compactness of the platform, it can be used in various industries and maximize user satisfaction.

Furthermore, the autonomous driving platform operated through the digital twin-based grid address system according to the present invention is applied to mobility such as wheelchairs, method robots, drones, etc. There is an effect that can be improved.

In addition, the autonomous driving platform operated through the digital twin-based grid address system according to the present invention builds a digital twin based on map information to which the grid-type address system is applied, and links the coordinate values of the map data with the autonomous driving vehicle in real time. Therefore, unlike the existing display of only a certain location on the ground as well as underground, it is possible to find the correct address by subdivision through the address system through the grid, even if it is several meters above the ground, thereby maximizing the accuracy and reliability of autonomous driving and transport. This has the effect of maximizing safety and reliability.

1 is a diagram showing a schematic configuration of an autonomous driving platform operated through a digital twin-based grid address system according to an embodiment of the present invention.
2 is a diagram exemplarily modeling a 2D-based electronic map as a 3D map including 3D spatial information.
3 is a reference diagram for explaining grid-type map data according to an embodiment of the present invention.
4 is a reference diagram for explaining a method of searching for an autonomous driving route through a digital twin-based grid address system according to an embodiment of the present invention.
5 is a reference diagram for explaining a method for interworking with real-time map data according to an embodiment of the present invention.
6 is a configuration diagram for sequentially explaining an autonomous driving control method operated through a digital twin-based grid address system according to an embodiment of the present invention.

Hereinafter, it will be described in detail with reference to drawings of an autonomous driving platform operated through a digital twin-based grid address system according to an embodiment of the present invention. The embodiments introduced below are provided as examples so that the spirit of the present invention can be sufficiently conveyed to those skilled in the art. Accordingly, the present invention is not limited to the embodiments described below and may be embodied in other forms. And, in the drawings, the size and thickness of the device may be exaggerated for convenience. Like reference numbers refer to like elements throughout.

Since the present invention can apply various transformations and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail in the detailed description. Effects and features of the present invention, and a method for achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various forms. In the following embodiments, terms such as first, second, etc. are used for the purpose of distinguishing one component from another, not in a limiting sense. Also, the singular expression includes the plural expression unless the context clearly dictates otherwise. In addition, terms such as include or have means that the features or components described in the specification are present, and do not preclude the possibility that one or more other features or components will be added. In addition, in the drawings, the size of the components may be exaggerated or reduced for convenience of description. For example, since the size and thickness of each component shown in the drawings are arbitrarily indicated for convenience of description, the present invention is not necessarily limited to the illustrated bar.

The terminology used herein is for the purpose of describing the embodiments, and thus is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, “comprise” and/or “comprising” refers to the presence of one or more other components, steps, operations, and/or elements mentioned. or addition is not excluded.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and when described with reference to the drawings, the same or corresponding components are given the same reference numerals, and the overlapping description thereof will be omitted. .

As described above, the existing autonomous driving method generates map data and routes through expensive and high-performance hardware such as a large number of LiDAR (Light Detection And Ranging) and sensors, or the mobility recognizes the identification tags installed on the route, such as QR codes. Because the method is used, the price inevitably rises due to excessive use of hardware, so there is a difficulty in disseminating the technology for practical benefits.

However, the autonomous driving method according to the embodiment of the present specification establishes a digital twin system that can provide three-dimensional spatial information in a grid method and shares the unique coordinate values of map data with autonomous driving mobility through wireless communication in real time. By interworking and calibrating, we provide a low-end mobility autonomous driving platform and solution based on address data. Accordingly, it significantly reduces the manufacturing cost and manufacturing time of the autonomous driving platform, leading the spread of autonomous driving and maximizing customer satisfaction. As autonomous driving is possible, accuracy and reliability can be improved, and safety can be maximized.

Hereinafter, embodiments of the autonomous driving platform and solution of the present specification will be described in detail with reference to related drawings.

1 is a diagram showing a schematic configuration of an autonomous driving platform operated through a digital twin-based grid address system according to an embodiment of the present invention.

As shown, the autonomous driving platform according to an embodiment of the present specification includes a user terminal 10 , a mobility 20 that is a means of movement such as a smart wheelchair, a drone, and the like, a central control system 100 and a digital twin control system 200 . ) is included.

The central control system 100 of the autonomous driving platform builds, operates, and manages an autonomous driving mobility operating system to which a digital address system is applied through grid map data.

The user can reserve the mobility 20 through the central control system 100 using the application of the user terminal 10, and the mobility 20, which is an autonomous driving means such as a smart wheelchair, is provided in advance at a public transportation connection point. It can provide an autonomous driving service that waits, picks up users and moves them to the final destination. Hereinafter, each component will be described in more detail.

The user terminal 10 transmits user registration and mobility 20 reservation for using the autonomous driving service to the central control system 100, and any mobile device capable of using a web/app and a network can be typically included. there is. The user may set a public transportation connection point through the user terminal 10 and estimate the arrival time of the connection point. The user may reserve the mobility 20 such as a smart wheelchair by inputting user information through an application program for this service and inputting destination information. For example, Personal Communication System (PCS), Global System for Mobile communications (GSM), Personal Digital Cellular (PDC), Code Division Multiple Access (CDMA)-2000, W-Code Division Multiple Access (W-CDMA), Wireless (Wibro) Broadband Internet) terminals, etc., including all kinds of handheld-based wireless communication devices, or any other operable to communicate with a computer, laptop computer, smart phone, mobile phone, PDA, tablet PC, or platform server. It may include a device. However, the user terminal is not limited thereto, and the user terminal includes processing logic that executes on various machines, interprets and executes instructions stored in a plurality of memories, and graphical information for a graphical user interface (GUI) on an external input/output device may include various other elements, such as processes that display In addition, the user terminal 10 may be connected to an input device (eg, a mouse, a keyboard, a touch-sensitive surface, etc.) and an output device (eg, a monitor, a screen, etc.).

That is, the user terminal 10 is a portable terminal in which a program or application for performing user registration and mobility 20 reservation for using an autonomous driving service is installed, a smart phone, a digital broadcasting terminal, a mobile phone, and personal digital assistants (PDA) ), a portable multimedia player (PMP), navigation, a tablet PC, a wearable device, and a smart glass.

In addition, the user terminal 10 is a service that provides a tire inventory sharing economy platform based on wired/wireless communication, such as a fixed terminal, such as a desktop PC, a laptop computer, and a personal computer such as an ultrabook. It may be formed as a device in which a program for providing

Mobility 20 is a personal mobility means linked to public transportation, which can be used not only by the transportation vulnerable but also by the general public. This may apply.

Although FIG. 1 typically shows a smart wheelchair as an example, the present invention is not limited thereto, and a GPS sensor, a wireless mobile communication module, a camera, a LIDAR (Light Detection And Ranging) sensor, and a movement capable of autonomous driving by a user on board If provided with means, all of them may be included in the mobility 20 .

The digital twin integrated control system 200 forms a digital twin by modeling the digital map information in three dimensions and implementing the real world environment including roads, buildings, and landmarks in the same way in the virtual space, and through this, a three-dimensional Create and manage map data.

The digital twin integrated control system 200 may be an independent system accessible through a network or may be configured in the form of a database within the central control system 100 . Examples of such networks include a 3rd Generation Partnership Project (3GPP) network, a Long Term Evolution (LTE) network, a World Interoperability for Microwave Access (WIMAX) network, the Internet, a Local Area Network (LAN), and a Wireless Local Area Network (LAN). Area Network), WAN (Wide Area Network), PAN (Personal Area Network), Bluetooth (Bluetooth) network, satellite broadcasting network, analog broadcasting network, Digital Multimedia Broadcasting (DMB) network, and the like are included, but are not limited thereto.

The central control system 100 receives spatial information data collected from mobile devices connected through a network, receives 3D map data from the digital twin integrated control system 200, and generates map data in connection with the spatial information data. . The map data is divided into detailed regions in the form of a grid of a predetermined standard, and address information and spatial information including unique coordinate values may be provided to each grid.

The mobility 20 receives map data from the central control system 100, recognizes the current location, sets a movement route to the destination set by the user, and performs autonomous driving. In this case, it is possible to determine the current location of the mobility 20 based on the unique coordinate values of the map data and to search the autonomous driving route to the destination to determine whether or not to deviate from the route during autonomous driving.

According to an embodiment of the present specification, the map data stores data of about several hundred megabytes by periodically downloading map data within a radius of 200 meters from the central control system 100 according to a movement interval of about 100 meters. It is possible to require only the capacity, and through this, the data throughput for image analysis of the server 100 and the mobility 20 of the central control system can also be reduced, thereby reducing overall operating costs.

2 is a diagram illustrating an example of modeling a 2D-based electronic map as a 3D map including 3D spatial information. It can be created as a dimensional map. Such three-dimensional map modeling can be generated by applying general-purpose technology, and detailed description thereof will be omitted.

3 is a reference diagram for explaining grid-type map data according to an embodiment of the present invention. The area including the starting point and the destination point is extracted from the 3D map information as shown in FIG. 2 above, and based on the 2D map information of the 3D map area, a grid in the form of a rectangular grid with approximately 2x2(m) units in width and length. After dividing by , individual address data can be visualized using code codes generated based on the x-axis and y-axis.

In this way, by applying grid-type information to the map, information on the location of landmarks such as stops and obstacles can be embedded, and the distance between the mobility 20 and the obstacle can be measured through the built-in map data to correct the measurement error. .

4 is a reference diagram for explaining a method of searching for an autonomous driving route through a digital twin-based grid address system according to an embodiment of the present invention.

Based on the two-dimensional map including the spatial information on the left as an image, the map data 400 on the right is divided into a plurality of grids (Grid, G10, G20) of a predetermined standard, respectively, horizontally and vertically. Each grid may be given unique address information based on the x-axis and the y-axis on the two-dimensional map.

That is, in one grid, addresses, IDs, coordinate values (X, Y), and other information may be assigned as unique data. As shown, the movement path may be divided as grids G20 displayed in green, and landmarks such as stops and obstacles in the map data may be divided as grids G10 displayed in red. In this way, the landmark location information on the map is given to the spatial information based on the grid-type address information.

On the other hand, the spatial information included in the map data 400 includes GPS information of the unique coordinates of each grid, location and size information of obstacles, road location information, location and size information of a braille sidewalk block, and location of a subway or bus stop. and size information, and landmark information.

5 is a reference diagram for explaining a method for interworking with real-time map data according to an embodiment of the present invention.

The mobility 20 receives the map data as shown in FIG. 4, grasps the current location through the x and y-axis unique code codes included in the grid, and searches the grid corresponding to the movement path through the unique code code for autonomous driving. start

At this time, the mobility 20 downloads the grid-type map data 400 through wireless communication with the central control system 100, and downloads map data of a certain radius at a designated point during mobility driving for efficient data processing.

In the embodiment shown in Fig. 5, map data download points D.P1, D.P2, and D.P3 are set at intervals of 100 m on the moving path of the mobility 20, and the map data downloaded from each point is Map data M1, M2, and M3 with a radius of 200 m based on the points D.P1, D.P2, and D.P3 are sequentially downloaded.

Accordingly, the map data is generated in the order of M1 -> M2 -> M3, and after the M3 map data is generated, the M1 map data may be deleted. In addition, an autonomous driving system can be implemented by recognizing edge information such as landmarks stored in map data, and positioning data can be corrected through various transmission and reception signals such as GPS, AOA, and AOD. In this way, the mobility 20 recognizes a code (x,y) value-based digital address code within the movement range through GPS, synchronizes the location information data with the central control system 100, and detects whether or not a path is deviated.

Meanwhile, in sections where landmarks are concentrated in unit coordinates, such as narrow alleyways, in front of high-rise buildings, and multiple intersections, more precise location information search is required. It is preferable to perform

In addition, it is difficult to express an area such as a large vacant lot such as a playground by 3D rendering, and it is also desirable to perform location tracking and location correction based on LBS (Location Based Service) such as 5G mobile communication in such a 3D rendering vulnerable section. Accordingly, the accuracy and safety of autonomous driving can be maximized by performing accurate position tracking and correction by complementing the accuracy of the grid position, and autonomous driving can be achieved only with little data and low-cost sensing equipment.

6 is a configuration diagram for sequentially explaining an autonomous driving control method operated through a digital twin-based grid address system according to an embodiment of the present invention.

The user accesses the central control system 100 through an application of the user terminal 10, and performs user registration, departure and destination setting, and reservation of the mobility 20 (S10).

The central task system 100 receives a request from the user terminal 10, identifies the user, and allocates mobility (S20).

The assigned mobility 20 recognizes the user's boarding by waiting at the departure point set by the user (S30).

Thereafter, when the user boards and is authenticated, map data is received from the central control system 100 to recognize the current location, and a movement route is set by referring to the destination setting information (S40).

Through step S40, when the driving route to the destination is set, autonomous driving starts (S50). As described above, the mobility 20 receives the map data 400 as shown in FIG. 4 , identifies the current location through the x and y-axis unique code codes included in the grid, and sets the grid corresponding to the movement path to a unique code. It starts autonomous driving by navigating through the code. At this time, the mobility 20 downloads the grid-type map data 400 through wireless communication with the central control system 100, and for the efficiency of data processing, map data of a certain radius at a designated point during mobility driving can be downloaded. .

That is, in paths 1 to n, which are designated points on the moving path, the mobility synchronizes the current position information by matching the coordinate information obtained from the GPS sensor with the address information included in the map data 400, and points on the set driving path. can download map data (map data 1 to map data n) from the central control system and periodically search for location information to check whether or not the route has departed.

In this way, the mobility 20 performs autonomous driving from the starting point to the destination and ends the autonomous driving when arriving at the destination (S70).

Thereafter, the autonomous driving operation ends and operation information is transmitted to the central control system 100 , and the central control system 100 stores the operation information, etc. and then transmits the operation information and the result to the user terminal 10 ( S80 ) .

Even though all the components constituting the embodiment of the present invention described above are described as being combined or operated in combination, the present invention is not necessarily limited to this embodiment. That is, within the scope of the object of the present invention, all the components may operate by selectively combining one or more. In addition, all of the components may be implemented as one independent hardware, but a part or all of each component is selectively combined to perform some or all of the functions of the combined hardware in one or a plurality of hardware program modules It may be implemented as a computer program having In addition, such a computer program is stored in a computer readable media such as a USB memory, a CD disk, a flash memory, etc., read and executed by a computer, thereby implementing an embodiment of the present invention. The computer program recording medium may include a magnetic recording medium, an optical recording medium, a carrier wave medium, and the like.

The specific implementations described in the present invention are only examples, and do not limit the scope of the present invention in any way. For brevity of the specification, descriptions of conventional electronic components, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connection or connection members of the lines between the components shown in the drawings illustratively represent functional connections and/or physical or circuit connections, and in an actual device, various functional connections, physical connections that are replaceable or additional may be referred to as connections, or circuit connections. In addition, unless there is a specific reference such as “essential” or “importantly”, it may not be a necessary component for the application of the present invention.

In addition, all terms including technical or scientific terms have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs, unless otherwise defined in the detailed description. Terms commonly used, such as those defined in the dictionary, should be interpreted as being consistent with the contextual meaning of the related art, and are not interpreted in an ideal or excessively formal meaning unless explicitly defined in the present invention.

The above description is merely illustrative of the technical idea of the present invention, and various modifications, changes, and substitutions are possible within the range that does not depart from the essential characteristics of the present invention by those of ordinary skill in the art to which the present invention pertains. will be. Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are for explaining, not limiting, the technical spirit of the present invention, and the scope of the technical spirit of the present invention is not limited by these embodiments and the accompanying drawings . The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

10: user terminal
20: Mobility
100: central control system
200: digital twin integrated control system

Claims (7)

Digital twin integrated control system that creates and manages 3D map data by modeling digital map information in 3D and realizing the real world environment including roads, buildings and landmarks in the same virtual space to form a digital twin ;
Receive spatial information data collected from a mobile device connected to a network, receive the 3D map data from the digital twin integrated control system, and generate map data in association with the spatial information data, wherein the map data is A central control system that is divided in a grid type and provides address information and spatial information including unique coordinate values for each grid and systematically manages it; and
It has a GPS sensor, a wireless mobile communication module, a camera, a LIDAR sensor, and a moving means that allows the user to board and autonomously drive, and receives the map data from the central control system to recognize the current location, and to reach the destination set by the user. Autonomous driving by setting a movement path, but determining the current location based on the unique coordinate value of the map data, searching the autonomous driving route to the destination, determining whether to deviate from the route during autonomous driving, and the central control system according to a predetermined movement interval An autonomous driving platform operated through a digital twin-based grid address system, including a mobility that periodically downloads map data in a predetermined range from a network, synchronizes it with current location information, and monitors and manages routes for autonomous driving.
According to claim 1,
The spatial information included in the map data includes GPS information of the unique coordinates of each grid, location and size information of obstacles, road location information, location and size information of a braille sidewalk block, location and size information of a subway or bus stop, and an autonomous driving platform operated through a digital twin-based grid address system, characterized in that it includes at least one of landmark information.
According to claim 1,
The map data is divided into a plurality of grids of a predetermined standard each horizontally and vertically based on the two-dimensional map, and unique address information is generated and given for each grid based on the x-axis and the y-axis on the two-dimensional map, , An autonomous driving platform operated through a digital twin-based grid address system, characterized in that the landmark location information on the map is given to the spatial information based on the grid-type address information.
According to claim 1,
The mobility is
An autonomous driving platform operated through a digital twin-based grid address system, characterized in that the current location information is searched by matching the coordinate information received from the GPS sensor with the spatial information of the grid.
The method of claim 1,
The mobility is
Through a digital twin-based grid address system, characterized in that the current location information is searched based on wireless communication using the mobile communication module in a section where landmarks are dense in unit coordinates or in a section that is difficult to express by 3D image rendering An operating autonomous driving platform.
The method of claim 1,
The mobility is
An autonomous driving platform operated through a digital twin-based grid address system, characterized in that it downloads map data of a 200-meter radius section from the central control system according to a 100-meter driving interval.
In autonomous driving mobility that receives map data by interworking with a central control system that generates and manages map data by linking three-dimensional map data and spatial information data, setting a movement route for autonomous driving based on the map data and location information In the autonomous driving control method to search for
receiving departure and destination information set by a user;
Recognizing the user's boarding by waiting at the departure point set by the user;
receiving map data from the central control system, recognizing a current location, and setting a movement route by referring to the destination setting information;
starting autonomous driving when a driving route to the destination is set;
synchronizing the current location information by matching the coordinate information obtained from the GPS sensor with the address information included in the map data;
downloading map data of a predetermined standard from the central control system according to a predetermined movement interval on the set travel route;
synchronizing the changed current location information based on the address information included in the downloaded map data;
Arriving at a destination and terminating the autonomous driving;
The map data is divided into a grid form of a predetermined standard, and for each grid, address information including a unique coordinate value and spatial information are included. An autonomous driving control method operated through a digital twin-based grid address system.

Images