KR20220036923A - Method, apparatus and computer program for providing service of allocation of automatic driving vehicle - Google Patents

Abstract

Provided are a method, apparatus, and computer program for providing an autonomous vehicle allocation service. According to various embodiments of the present invention, the method for providing the autonomous vehicle allocation service performed by a computing device comprises: a step of receiving a vehicle calling request from a passenger; a step of allocating a vehicle according to the vehicle calling request; and a step of determining a boarding location of the vehicle based on at least one among a location of the passenger, a location of a destination, and a driving path from the location of the passenger to the location of the destination.

Description

Method, apparatus and computer program for providing autonomous vehicle dispatch service

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

BACKGROUND ART In general, an autonomous driving vehicle is a vehicle that drives by itself without a driver's manipulation of the vehicle, and refers to a vehicle capable of autonomously driving to a set destination by detecting road conditions by itself without manipulation.

Recently, the development of unmanned vehicles that can move without a driver is accelerating, and it is predicted that commercial autonomous taxis will emerge as next-generation public transportation with the development of autonomous vehicles.

Currently, various taxi calling, dispatch service, and car sharing services are commercialized, but these services are not applicable to autonomous vehicles such as autonomous taxis because they are for vehicles with actual drivers, not autonomous vehicles. there is.

For example, the conventional taxi call and dispatch service is set so that the passenger directly selects his or her boarding location and destination. When the position of the occupant is not suitable for boarding the vehicle, the occupant has to manually adjust and select the position.

In addition, when the boarding location is not clear in the conventional taxi call and dispatch service, the driver and the passenger must make a direct call to ask for the location and find it. There is a problem in that it is difficult to determine the exact riding position.

In addition, in the case of the conventional taxi call and dispatch service, a detailed drop-off location can be determined by discussing with the driver upon arrival at the destination, but in the case of a fully autonomous vehicle without an assistant driver, there is a problem in that the detailed drop-off location cannot be determined. .

Therefore, in response to the emergence of autonomous taxis as next-generation public transportation due to the development of autonomous vehicles, it is necessary to develop a service for calling and dispatching vehicles 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 a method, apparatus and computer program for providing an autonomous driving vehicle dispatch service that can provide a call and dispatch service for a vehicle suitable for an autonomous driving taxi in response to the emergence of an autonomous driving taxi as a next-generation public transportation will provide

Another problem to be solved by the present invention is to determine the riding position using any one or more of the position of the occupant, the position of the vehicle, and the driving route. An object of the present invention is to provide a method, apparatus and computer program for providing an autonomous vehicle dispatch service that can automatically determine an optimal riding position for a passenger without the need to reset the vehicle.

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

A method of providing an autonomous vehicle dispatch service according to an embodiment of the present invention for solving the above-described problems is a method performed by a computing device, comprising: obtaining a vehicle call request from a passenger; and determining the boarding position of the vehicle based on at least one of a location of the 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. may include

In various embodiments, the determining of the boarding position includes determining the boarding area and the boarding impossible area according to a preset criterion, map data including information on the boarding available area and the boarding impossible area, and the occupant's determining whether the position of the occupant is located within the non-boarding area by using the location; and determining, as a boarding position of the vehicle, a boarding area having the shortest distance from the occupant or a boarding area located on the driving path.

In various embodiments, the determining of the boarding position includes using at least one of road traffic information for a predetermined area including the predetermined boarding position and image data of the predetermined area to determine the boarding position determining whether it is possible to get on at the boarding position; if it is determined that boarding at the predetermined boarding position is impossible, adjusting the predetermined boarding position to a boarding position; and information on the adjusted boarding position; The method may include providing guide information including movement route information from the current location of the passenger to the adjusted boarding location.

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

In various embodiments, the determining of the riding position may include: receiving a priority for determining the riding position from the passenger; based on the input priority, each of a plurality of factors considered for 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 to which the weight is set.

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

In various embodiments, providing a user interface (UI), when the distance between the location of the vehicle in which the passenger is boarded and the location of a preset destination from the passenger is within a preset distance, through the UI providing information on a plurality of disembarkation possible areas located within a predetermined distance from the location of the destination; a first user selecting one of the plurality of disembarking available 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 a disembarking area corresponding to the first user input; When it is determined that the area has been entered, at least one of front image data photographed in front of the vehicle in which the passenger is boarded through the UI and map data including information on a 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 position corresponding to the second user input as the disembarkation position of the vehicle in which the passenger is boarded may include collecting external environment information on the dismountable area corresponding to the first user input , determining whether getting off at the location corresponding to the second user input is possible based on the external environment information, and when it is determined that getting off at the location corresponding to the second user input is impossible, the second user Changing any one of a plurality of positions adjacent to the input position as a disembarkation position of the vehicle in which the passenger is boarded is determined to be a disembarkation position among a plurality of positions adjacent to the input position, and information on the changed disembarkation position and information on the disembarkation position through the UI It may include the step of providing guide information including the reason for the change.

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

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

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

According to various embodiments of the present disclosure, in response to the emergence of autonomous taxis as next-generation public transportation, it is possible to provide a service for calling and dispatching vehicles suitable for autonomous taxis.

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

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 an autonomous vehicle dispatch service providing system according to an embodiment of the present invention.
2 is a hardware configuration diagram of an apparatus for providing an autonomous driving 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 exemplarily illustrating map data applicable to various embodiments.
5 and 6 are views exemplarily illustrating a form in which a riding position is determined according to a position of an occupant, a position of a vehicle, and a driving route, according to various embodiments of the present disclosure;
7 is a flow chart of a method of determining a disembarkation location of a vehicle, in various embodiments.
8 is a diagram temporally illustrating front image data of a vehicle provided by an apparatus for providing an autonomous driving vehicle dispatch service, according to various embodiments of the present disclosure;

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only the present embodiments allow the disclosure of the present invention to be complete, and those of ordinary skill in the art to which the present invention pertains. It is provided to fully understand the scope of the present invention to those skilled in the art, and the present invention is only defined by the scope of the claims.

The terminology used herein is for the purpose of describing the embodiments and 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, “comprises” and/or “comprising” does not exclude the presence or addition of one or more other components in addition to the stated components. Like reference numerals refer to like elements throughout, and "and/or" includes each and every combination of one or more of the recited elements. Although "first", "second", etc. are used to describe various elements, these elements are not limited by these terms, of course. These terms are only used to distinguish one component from another. Accordingly, it goes without saying that the first component mentioned below may be the second component within the spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used herein will have the meaning commonly understood by those of ordinary skill in the art to which this invention belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless specifically defined explicitly.

As used herein, the term “unit” or “module” refers to a hardware component such as software, FPGA, or ASIC, and “unit” or “module” performs certain roles. However, “part” or “module” is not meant to be limited to software or hardware. A “unit” or “module” may be configured to reside on an addressable storage medium or to reproduce one or more processors. Thus, as an example, “part” or “module” refers to components such as software components, object-oriented software components, class components and task components, processes, functions, properties, Includes procedures, subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, and variables. Components and functionality provided within “parts” or “modules” may be combined into a smaller number of components and “parts” or “modules” or as additional components and “parts” or “modules”. can be further separated.

Spatially relative terms "below", "beneath", "lower", "above", "upper", etc. 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, when a component shown in the drawing is turned over, a component described as “beneath” or “beneath” of another component may be placed “above” of the other component. can Accordingly, the exemplary term “below” may include both directions below and above. Components may also be oriented in other orientations, and thus spatially relative terms may be interpreted according to orientation.

In this specification, a computer refers to all types of hardware devices including at least one processor, and may be understood as encompassing software configurations operating in the corresponding hardware device according to embodiments. For example, a computer may be understood to include, but is not limited to, smart phones, tablet PCs, desktops, notebooks, and user clients and applications running on each device.

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

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

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

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

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

Here, the autonomous vehicle dispatch service providing system 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 autonomous driving vehicle dispatch service providing apparatus 100 may provide the autonomous driving vehicle dispatch service to the passenger terminal 200 in response to receiving a request for dispatch of the autonomous driving vehicle from the passenger.

Here, the autonomous driving vehicle dispatch service includes destination information obtained from the occupant (eg, the location of the destination input through a user interface (UI) provided by the autonomous driving vehicle dispatch service providing apparatus 100 ) and the occupant's current Autonomous based on location (eg, occupant's position information obtained from a position sensor (eg, GPS sensor) provided in the occupant's terminal 200 , WiFi AP, communication base station, Bluetooth signal, and occupant's position information based on the occupant's movement history) It may mean a service for dispatching a driving vehicle. However, the present invention is not limited thereto.

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

In various embodiments, the autonomous driving vehicle dispatch service providing apparatus 100 displays a UI for outputting various information related to the autonomous driving vehicle dispatch service (eg, boarding location information, getting off location information, current location information, driving route information, etc.) can provide For example, the autonomous driving vehicle dispatch service providing apparatus 100 may be connected to the display device or the occupant terminal 200 provided inside the vehicle (eg, at least a portion of the passenger seat) through the network 400 , and may be connected to the inside of the vehicle. 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 on at least a portion of the passenger terminal 200 . However, the present invention is not limited thereto.

According to various embodiments, the autonomous driving vehicle dispatch service providing apparatus 100 responds to a user input input through a display device provided inside a vehicle or a display provided on at least a part of the passenger terminal 200 through a UI output. You can decide where to get off.

In an embodiment, the occupant terminal 200 may be connected to the autonomous driving vehicle dispatch service providing apparatus 100 through the network 400 , and related to the autonomous driving vehicle dispatching service from the autonomous driving vehicle dispatching 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 information provided by the autonomous driving vehicle dispatch service providing device 100 (eg, information on dispatched vehicles, boarding location information, travel route information to the boarding location, etc.) ) can be provided.

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

For example, the external server 300 may be a storage server separately provided outside the autonomous driving vehicle dispatch service providing device 100 , and the autonomous driving vehicle dispatch service providing device 100 provides an autonomous driving vehicle dispatch service. It is possible to store and manage data (eg, multiple member information, etc.) 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 autonomous vehicle dispatch service providing apparatus 100 . Hereinafter, a hardware configuration of the autonomous driving vehicle dispatch service providing apparatus 100 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 autonomous driving vehicle dispatch service providing apparatus 100 (hereinafter, “computing device 100”) according to another embodiment of the present invention 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), storage (not shown), and a bus (not shown).

In an embodiment, the processor 110 may control the overall operation of each component of the computing device 100 . The processor 110 may include a central processing unit (CPU), a micro processor unit (MPU), a micro controller unit (MCU), or any type of processor well known in the art.

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, etc.) for transmitting and receiving signals to and from other components. can do.

In various embodiments, the processor 110 temporarily and/or permanently stores a signal (or data) processed inside the processor 110 , a random access memory (RAM) and a read access memory (ROM). -Only Memory, not shown) may be further 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, a RAM, and a ROM.

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

For example, the processor 110 executes one or more instructions stored in the memory 120, thereby obtaining a vehicle call request from a passenger, distributing a vehicle according to the vehicle call request, and the location of the passenger, the location of the destination, The method of providing an autonomous driving vehicle dispatch service may include determining a boarding position of the vehicle based on at least one of the dispatched vehicle position and a driving route from the occupant's position to the destination position. However, the present invention is not limited thereto.

In one embodiment, the memory 120 may store various 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, as a software module executed by hardware, or by a combination thereof. A software module may contain 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 in any type of computer-readable recording medium well known in the art to which the present invention pertains.

The components of the present invention may be implemented as a program (or application) to be executed in combination with a computer, which is hardware, and stored in a medium. Components of the present invention may be implemented as software programming or software components, and similarly, embodiments may include various algorithms implemented as data structures, processes, routines, or combinations of other programming constructs, including C, C++ , may be implemented in a programming or scripting language such as Java, assembler, or the like. Functional aspects may be implemented in 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, when the passenger executes an application installed in his/her own passenger terminal 200 , the computing device 100 may provide an autonomous vehicle dispatch service UI to the passenger terminal 200 , and the autonomous vehicle dispatch service A vehicle call request can be directly input from the passenger through the UI.

In various embodiments, the computing device 100 determines the type of vehicle to be dispatched through the autonomous vehicle dispatch service UI (eg, light, small, semi-medium, medium, semi-large, large, etc.), the time at which the vehicle is to be dispatched, 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 for which the vehicle is to be dispatched from the passenger, the computing device 100 may correct the vehicle call request according to preset vehicle dispatch information. For example, when the computing device 100 obtains a vehicle call request including only the location information of the destination from the occupant, the type of vehicle is set to a medium-sized vehicle according to the preset vehicle dispatch information and the time to receive the vehicle call is performed. It can be set to the current point in time as requested. However, the present invention is not limited thereto.

In various embodiments, the computing device 100 may obtain a vehicle call request in the form of a voice (eg, “dispatched a taxi with 6 or more seats to destination A now”) through the autonomous vehicle dispatch service UI, and the voice data By analyzing the vehicle call request in voice form using the analysis module, the type of vehicle to be dispatched, the time to receive the vehicle dispatch, and the location of the destination can be extracted in text form. However, the present invention is not limited thereto.

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

Here, the vehicle dispatching process may refer to a process of selecting and distributing one vehicle from among a plurality of autonomous driving vehicles adjacent to the passenger based on the location of the passenger.

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

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 driving vehicles within a predetermined distance from the occupant, and the corresponding vehicle dispatches the vehicle to the occupant. It may be determined whether the vehicle can be dispatched at a desired time, and the corresponding vehicle may be dispatched to the occupant according to the determination result.

In various embodiments, the computing device 100 provides a plurality of devices within a predetermined distance from the occupant based on road traffic information (eg, road traffic information including congestion section information) for a predetermined area including the occupant's location. Among the autonomous vehicles, any one autonomous vehicle determined to have the shortest time to reach the occupant's location may be dispatched to the occupant.

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

For example, when the number of occupants input from the occupants is 6, the computing device 100 may preferentially arrange a vehicle that seats 6 or more among the plurality of autonomous driving vehicles to the occupants. At this time, if there is no vehicle with 6 or more seats among a plurality of autonomous driving vehicles that can be deployed to the occupant (e.g., if there is no vehicle capable of dispatching 6 or more, or even if dispatch is possible, it takes a long time for the vehicle to arrive due to the distance from the occupant If judged), 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 of a plurality of autonomous vehicles to a passenger may be applied.

In step S130 , when the dispatch of the vehicle is determined through step S120 , the computing device 100 determines 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. A boarding position of the vehicle may be determined based on the . Hereinafter, it will be described with reference to FIGS. 4 to 6 .

4 is a view exemplarily showing map data applicable to various embodiments, and FIGS. 5 and 6 exemplarily show a form in which the riding position is determined according to the position of the occupant, the position of the vehicle, and the 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 location of the passenger (or the desired boarding position 13 directly input from the passenger) is the boarding area 12 or the boarding unavailable area. (11) It is possible to determine the boarding position 15 of the dispatched vehicle based on the recognition.

For example, the computing device 100 may include a non-riding area 11 (eg, a safety fence installation area, a parking and stopping prohibited area (eg, a fire-fighting facility parking and no stopping area), etc.) and a rideable area. Map data (10) including information on (12) (eg, an area where a separate protective device is not installed such as a safety fence, parking and stopping area, etc.) and the location of the occupant (13) (or desired ride position) can be used to determine whether the position 13 (or the desired riding position) of the occupant is located within the non-rideable area 11 or within the boarding-accessible area 12 .

In the disclosed embodiment, the step of determining the rideable area and the boarding impossible area according to a preset criterion may be performed. For example, the non-riding area 11 may mean an area that is not impossible to ride but is uncomfortable or somewhat dangerous. In addition, the non-riding area 11 may include a location where the vehicle must unnecessarily turn 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 cross the crosswalk and board, or it may be more desirable for the passenger to board without crossing the crosswalk. If it is more desirable to cross the crosswalk, the current position at which the crosswalk is not crossed may be determined as the non-rideable area, and the position where the crosswalk has been crossed may be determined as the boarding area. That is, when the non-rideable area 11 does not necessarily mean a location where boarding is impossible, the boarding area 12 may mean an area where boarding and boarding are easy to reach the destination in consideration of the location of the destination. The method of setting the non-riding area 11 is not limited, but different criteria may be applied according to the user's selection. For example, when the user wants to minimize the user's walking movement and requests a setting according to the request, the non-riding area 11 may mean only an area in which boarding is not possible. As another example, when the user requests for the fastest and most efficient movement to the destination and thus requests the setting, the non-boarding area 11 is set comprehensively and wide, and the remaining areas except for the boarding position that are easy to arrive at the destination become the boarding-free area. may be decided. (Example: A small alley that is not a main road, in an apartment complex, a boarding location opposite to the destination, etc.)

Thereafter, when it is determined that the position 13 (or the desired riding position) of the occupant is located in the non-boarding area 11 , the computing device 100 determines a position adjacent to the non-boarding area 11 (eg, a predetermined distance). Among the plurality of rideable areas 12 arranged in A specific point included in 12) may be determined as the riding 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 boarding points included in the boarding 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 sets the occupant's position 13 (or the desired riding position) to that of the vehicle. It can be determined by the riding position (15).

Next, referring to FIG. 6 , the computing device 100 determines whether the position 13 (or the desired riding position) of the occupant is the non-rideable area 11 and the driving route 16 to the destination. It is possible to determine the riding position 15 .

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

Thereafter, when it is determined that the position 13 (or the desired riding position) of the occupant is located in the non-boarding area 11 , the computing device 100 performs a plurality of boarding positions disposed adjacent to the boarding-free area 11 . One or more rideable areas 12 located on the driving route are selected from among the available areas 12 , and a location closest to the location 13 (or desired boarding location) of the occupant among the selected one or more rideable areas 12 . It is possible to determine the boarding area 12 located in the vehicle boarding position.

Considering only the distance between the occupant's position 13 (or the desired riding position) and the rideable area 12, the rideable area (eg, the first ride) having the shortest distance from the occupant's position 13 (or the desired riding position) When the possible region 12-1) is selected, the driving distance to the destination does not coincide with the driving route 16 to the destination, so the mileage increases after the vehicle is boarded, and accordingly, the time to arrive at the destination may increase. In particular, there is a problem that the time required to arrive at a destination may increase exponentially when traffic congestion is severe in the corresponding area.

For example, as shown in FIG. 6 , although the driving route 16 to the destination is a straight-line route based on the location 14 of the vehicle, only the location 13 of the occupant is considered in the first rideable area When (12-1) is determined as the riding position 15, it is necessary to turn right instead of going straight according to the driving route 16, and accordingly, the driving route may be changed and the time to arrive at the destination may increase.

In order to solve this problem, when it is determined that the position 13 (or the desired riding position) of the occupant is located in the non-boarding area 11 , the computing device 100 provides a plurality of devices located on the driving route to the destination. By selecting a boarding area having the shortest distance from the passenger's location 13 (or desired boarding location) among the boarding areas 12 of The problem that this may increase can be solved.

In addition, the computing device 100 determines that the position 13 (or the desired riding position) of the occupant is not located on the driving route even if the position 13 (or the desired riding position) of the occupant is the rideable area 12 , A boarding area having the shortest distance from the position 13 (or the desired boarding position) of the occupant may be selected from among the plurality of boarding areas 12 located on the travel route to the destination.

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

In various embodiments, computing device 100 may determine a travel route to a destination based on the determined ride position 15 on the rideable area 12 having the shortest distance to the occupant's location 13 (or desired ride location). is changed, the first required time required to arrive at the destination according to the changed travel route and the second required time required to arrive at the destination according to the preset travel route are compared, and the first required time and the second required It is possible to adjust the riding position 15 based on the difference between the times.

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

However, when the difference between the first required time and the second required time exceeds the first difference value (when the difference is determined to be large), the computing device 100 determines the position 13 of the passenger (or the desired boarding position). ), the boarding position 15 determined on the boarding area 12 having the shortest distance may be changed to a location on the boarding area 12 disposed on the travel route to prevent variations in the travel route.

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

For example, if the distance to the boarding location 15 has a higher priority than the time to arrive at the destination, the computing device 100 based on the priority for determining the boarding location 15 input from the user, The weight for the distance to the location 15 can be set higher than the weight for the time to arrive at the destination, and accordingly, whether it has the shortest distance from the passenger's location (or the passenger's desired riding position 15) rather than the driving route. It is possible to determine the riding position 15 of the vehicle in consideration of whether or not preferentially.

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

For example, the passenger may prefer to travel less even if it takes a long time to board, and may prefer to board and depart quickly even if the passenger moves a lot. Such information may be determined according to the passenger's existing history or choices, or the time information to arrive at the destination (for example, information about the case of traveling quickly or if there is time to spare, etc. may be received or determined in advance). there is.

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

For example, the computing device 100 determines the boarding position 15 based on the location of the passenger, the location of the destination, the location of the dispatched vehicle, and the driving route from the location of the passenger to the location of the destination, but the determined boarding When it is determined that it is difficult to stop and wait at the location because many cars are parked or stopped at the location 15, or it is determined that it is difficult to reach the predetermined boarding position 15 because the cars are congested, the predetermined boarding position ( 15) and it is possible to adjust the riding position 15 to a position where it is determined that riding is possible 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 including movement route information from the current position of the passenger to the adjusted riding position 15 . By providing the information, it is possible for the occupant to recognize a change in the riding position 15 and to avoid wasting time by not finding the vehicle.

In various embodiments, the computing device 100 may include a vehicle and an occupant in at least one of a location of a occupant, a location of a destination, a location of the dispatched vehicle, and a driving path from the location of the occupant to the location of the destination. The predetermined boarding position 15 may be adjusted according to the time required to reach the boarding position 15 determined based on .

For example, when the riding position 15 of the vehicle is determined close to the occupant but far from the vehicle position, the occupant may reach the riding position 15 quickly, but the vehicle may take a relatively long time. . In this case, there is a problem in that the time the passenger waits for the vehicle to arrive becomes longer, and accordingly, the time to arrive at the destination is delayed.

In addition, when the riding 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 riding position 15 and wait, but the occupant reaches the riding position 15 As it takes a long time to complete, the time to reach the destination may be delayed as above.

In order to solve this problem, the computing device 100 determines the riding 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 riding position 15. The ride position ( 15), it is possible to prevent the time to reach the destination from being delayed due to the waiting time.

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

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

In various embodiments, the computing device 100 may display a UI for determining a disembarkation position of the vehicle on a display device (eg, a display device provided on at least a portion of a passenger seat) separately provided in the vehicle or an occupant terminal ( 200), and it is possible to determine the disembarkation position of the vehicle through the UI for determining the disembarkation position of the vehicle. Hereinafter, a method in which the computing device 100 determines a vehicle disembarkation location will be described with reference to FIG. 7 .

7 is a flow chart of a method of determining a disembarkation location of a vehicle, in various embodiments.

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

For example, the computing device 100 performs at least one of a occupant authentication method based on whether the position of the occupant and the vehicle position are the same, a occupant authentication method using vision recognition, and a occupant authentication method using a tag operation of the occupant terminal 200 . Using one method, it may be determined whether the occupant who applied for dispatch to the corresponding vehicle is correct. However, the present invention is not limited thereto.

In various embodiments, when it is determined that the passenger who has performed the authentication procedure according to the authentication procedure for the passenger is the passenger who requested the dispatch, the computing device 100 controls the unlocking of the door of the vehicle so that the vehicle can be boarded. to generate a control command, and transmit the generated control command to the vehicle to unlock the door of the vehicle.

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 the autonomous vehicle), and the Through this, the external server 300 may control the operation (eg, unlocking operation) of the autonomous vehicle. However, the present invention is not limited thereto.

In operation S220 , the computing device 100 may obtain vehicle location information from the vehicle in which the passenger is boarded in real time. For example, location information may be collected for each preset unit time from a location sensor provided separately in the vehicle or a location sensor provided in the passenger terminal 200 . However, the present invention is not limited thereto.

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

In step S240, if the computing device 100 determines that the distance between the location of the vehicle in which the occupant is boarded and the location of the preset destination from the occupant is within a preset distance through step S230, the 1 You can get user input.

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 is provided in the display device or the occupant terminal 200 provided in the vehicle. Information on a plurality of disembarkation areas located within a predetermined distance from the location of the destination may be provided through the UI output on the display, and any one of the plurality of disembarkation possible areas may be selected from the passenger through the UI to obtain a first user input.

Thereafter, the computing device 100 may set the destination according to the driving route of the vehicle as the get-off area corresponding to the first user input so that the vehicle can move to the get-off area corresponding to the first user input.

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

In operation S260 , when it is determined that the vehicle in which the occupant rides has entered the get-off area corresponding to the first user input, the computing device 100 may obtain the second user input from the occupant terminal 200 .

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

In step S270 , the computing device 100 may determine a location corresponding to the second user input obtained through step S260 as a disembarkation location of the vehicle in which the passenger is boarded.

In various embodiments, the computing device 100 is located at a position corresponding to the second user input through Inverse Perspective Transform or point mapping through Lidar-Camera Calibration. 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 in which the occupant is boarded.

In various embodiments, the computing device 100 may adjust the disembarkation position in consideration of the surrounding environment of the predetermined disembarkation position.

For example, the computing device 100 may collect external environment information (eg, obstacle information, information about a parked and stopped vehicle, etc.) on the get-off area corresponding to the first user input, and collect the collected external information. Based on the environment information, it may be determined whether it is possible to get off at a location corresponding to the second user input. For example, when it is determined that there is a parked and stopped vehicle at the location corresponding to the second user input, the computing device 100 may determine that getting off at the location corresponding to the second user input is impossible. However, the present invention is not limited thereto.

Thereafter, when it is determined that getting off at the location corresponding to the second user input is impossible, the computing device 100 selects any one location from among a plurality of locations adjacent to the location of the second user input where it is determined that getting off is possible. It can be changed to the disembarkation location of the vehicle in which the

Thereafter, the computing device 100 provides guidance 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 passenger terminal 200. can

In various embodiments, the computing device 100 may obtain a request for detailed adjustment of a predetermined disembarkation position through a display device provided in the vehicle or a UI output to a display provided on the passenger terminal 200, and perform detailed adjustment In response to the request, a predetermined disembarkation position may be adjusted.

For example, in various embodiments of the computing device 100 , the computing device 100 adjusts a predetermined disembarkation position through a display device provided in a vehicle or a UI output to a display provided in the passenger terminal 200 . Up, down, left, and right direction buttons may be provided for this purpose, and a predetermined disembarkation position may be adjusted in detail by receiving a detailed adjustment request using the up, down, left and right direction buttons from the passenger.

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

For example, the occupant input unit may include a user interface for communicating the intention of the occupant and enabling control of the autonomous vehicle accordingly.

In addition, a display device for providing entertainment to passengers and various services to passengers 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 together.

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

In an embodiment, the passenger may call the autonomous vehicle by using his/her mobile terminal, and when the vehicle is near, the mobile terminal and the short-distance communication unit of the autonomous vehicle may be paired with each other.

According to an 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 in the form of a touch button displayed on a display provided in the vehicle. Also, the passenger input unit may be displayed on the passenger's mobile terminal.

For example, when the autonomous vehicle arrives at its destination, the passenger may wish to somewhat adjust the location of the autonomous vehicle to a specific location where he/she wants to get off or a location where other passengers want to join the vehicle.

In the case of a typical taxi, such coordination is performed through 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 occupant's intention, and for example, the occupant input unit may be provided with forward and reverse buttons.

Here, when the occupant presses the forward or reverse button, the autonomous vehicle may slowly autonomously travel 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 avoiding obstacles, avoidance and stop operations, etc. based on the autonomous driving system.

If the occupant releases the button, the autonomous vehicle can stop.

That is, after the autonomous vehicle arrives at the pre-inputted destination of the occupant, the autonomous driving vehicle may move forward or backward at a preset speed or less so as to change the stopping position of the autonomous driving 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 less than or equal to a preset distance.

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

The information on the passenger may be transmitted from the passenger or may be received in advance from the passenger through the network.

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

According to an embodiment, while the passenger calls the autonomous driving taxi, information on the 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, starts from the passenger's calling location, and generates a driving route that moves to the destination via the passenger's boarding location. You may.

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

The above-described self-driving vehicle dispatch service providing method has been described with reference to the flowchart shown in the drawings. For the sake of simplicity, the autonomous vehicle dispatch service providing method has been described with a series of blocks, but the present invention is not limited to the order of the blocks, and some blocks may be performed in an order different from that illustrated and operated in this specification, or or simultaneously. In addition, new blocks not described in the present 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 realize that the present invention can be embodied in other specific forms without changing the technical spirit or essential features thereof. you will be able to understand Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

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

Claims (7)

A method performed by a computing device, comprising:
obtaining a vehicle call request from an occupant;
distributing a vehicle according to the vehicle call request; and
determining the boarding position of the vehicle based on at least one of a location of the 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 step of determining the riding position includes:
Determining the boarding position of the vehicle by determining whether the location of the passenger is located within the non-boarding area based on the location of the passenger and the map data including information on the rideable area and the boarding unavailable area containing,
How to provide autonomous vehicle dispatch service. According to claim 1,
The step of determining the riding position of the vehicle by determining whether the position of the occupant is located in the non-boarding area includes:
When it is determined that the position of the occupant is located within the non-rideable area, a boarding position of the vehicle is determined by determining a boarding area having the shortest distance from the location of the passenger among a plurality of boarding areas adjacent to the boarding unavailable area comprising steps,
How to provide self-driving vehicle dispatch service. 3. The method of claim 2,
The step of determining a boarding area having the shortest distance from the location of the passenger as the boarding location of the vehicle,
When the driving path of the vehicle is changed from the first driving path to the second driving path as the riding position of the vehicle is determined as the riding position having the shortest distance from the position of the occupant, the vehicle moves to the second driving path calculating a difference between a second required time to arrive at a destination according to , and a first required time to reach the destination according to the first driving route; and
When the calculated difference is less than or equal to a preset value, the determined riding position of the vehicle is determined, and when the calculated difference exceeds the preset value, the determined among a plurality of rideable areas located on the first driving path. Including the step of changing the determined riding position of the vehicle to a rideable area having the shortest distance from the riding position of the vehicle,
How to provide autonomous vehicle dispatch service. According to claim 1,
The step of determining the riding position of the vehicle by determining whether the position of the occupant is located in the non-boarding area includes:
When it is determined that the position of the occupant is located within the non-rideable area, select a boarding area located on the driving path from among a plurality of boarding areas adjacent to the boarding unavailable area, and select the boarding area from the selected boarding area Comprising the step of determining a boarding area having the shortest distance from the occupant as the boarding position of the vehicle,
How to provide self-driving vehicle dispatch service. According to claim 1,
The step of determining the riding position of the vehicle by determining whether the position of the occupant is located in the non-boarding area includes:
When it is determined that the position of the occupant is located within the rideable area, the position of the occupant is determined as the riding position of the vehicle, and when the determined riding position of the vehicle is not located on the driving route, the driving Changing the boarding position of the vehicle to a boarding area that is the shortest distance from the determined boarding position of the vehicle among a plurality of boarding areas located on a route;
How to provide self-driving vehicle dispatch service. processor;
network interface;
Memory; and
A computer program loaded into the memory and executed by the processor,
The computer program is
an instruction for obtaining a vehicle call request from a passenger;
instructions for distributing a vehicle according to the vehicle call request; and
and instructions for determining a boarding position of the vehicle based on at least one of a location of the 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 instruction for determining the riding position is,
an instruction for determining a boarding position of the vehicle by judging whether the location of the passenger is located within the non-rideable area based on the location of the passenger and the map data including information on the boarding area and the boarding impossible area; containing,
A computing device that provides a method for providing an autonomous vehicle dispatch service. combined with a computing device,
obtaining a vehicle call request from an occupant;
distributing a vehicle according to the vehicle call request; and
determining the boarding position of the vehicle based on at least one of a location of the 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 step of determining the riding position includes:
Determining the boarding position of the vehicle by determining whether the location of the passenger is located within the non-boarding area based on the location of the passenger and the map data including information on the rideable area and the boarding unavailable area A computer program stored in a recording medium readable by a computing device to execute a method for providing an autonomous vehicle dispatch service comprising:

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