KR20220149103A - Personal mobility having safe driving function - Google Patents

Abstract

The present invention relates to personal mobility having a safe driving function. More particularly, the present invention relates to personal mobility having a safe driving function that prevents negligent accidents by forcing the personal mobility to be within a speed limit when driving on a road exceeding a set inclination angle. Furthermore, the present invention relates to personal mobility having a safe driving function that can provide a high level of safety to both occupants and pedestrians by forcing the speed of the personal mobility within a speed limit even within sidewalks, crosswalks or speed limit areas in addition to the above inclined roads.

Description

Personal mobility with safe driving function {PERSONAL MOBILITY HAVING SAFE DRIVING FUNCTION}

The present invention relates to personal mobility having a safe driving function, and more particularly, to personal mobility having a safe driving function to prevent a safety accident by forcing the personal mobility to be within a speed limit when driving on a road exceeding a set inclination angle. will be.

Furthermore, the present invention is a personal having a safe driving function that can provide a high level of safety to both passengers and pedestrians by forcing the speed of personal mobility within the speed limit even on sidewalks, crosswalks, or speed limit zones in addition to the above slope road. It's about mobility.

Recently, as a means of transportation for one person using electric energy, the supply of personal mobility (PM) such as an electric wheel, an electric kickboard, or an electric bicycle is increasing.

In addition, interest in the sharing economy that allows multiple users to share and use it in the field of personal mobility is also increasing, and related personal mobility-related services are being provided.

In particular, in the case of an electric kickboard, a code (QR code) of a mobility placed in a specific area is recognized by tagging it with a user's mobile terminal, and it can be shared by charging according to the moving distance or time.

However, electric kickboards are capable of high-speed driving without any restrictions on ramps, sidewalks, crosswalks, or child protection areas, and there is a high risk of accidents while driving, so a separate safety system is required to protect users and pedestrians.

Republic of Korea Patent Registration No. 10-2117983 Republic of Korea Patent Registration No. 10-2132411

An object of the present invention is to provide a personal mobility having a safe driving function to prevent a safety accident by forcing the personal mobility to be within the speed limit when driving on a road exceeding a set inclination angle to solve the above problems.

In addition, the present invention is to provide personal mobility having a safe driving function that can provide a high level of safety to both passengers and pedestrians by forcing the speed of personal mobility within the speed limit even in sidewalks, crosswalks or speed limit zones.

To this end, the personal mobility having a safe driving function according to the present invention is mounted on personal mobility, and as the personal mobility drives on the slope of the road, the posture of the personal mobility in the front-rear direction of the vehicle body exceeds the set inclination angle. posture analysis module; and a driving control module for forcing the personal mobility to be less than or equal to a set speed when the posture of the personal mobility exceeds the set inclination angle.

In this case, it is mounted on the personal mobility and further comprises a posture sensor for detecting a change in posture in the front and rear direction of the vehicle body of the personal mobility, wherein the posture analysis module receives the value measured by the posture sensor and the posture of the personal mobility It is desirable to analyze the change.

In addition, the method further comprises an acceleration analysis module that analyzes the acceleration of the personal mobility by detecting the speed change value of the personal mobility, wherein the posture analysis module is a ratio of the acceleration of the personal mobility compared to the amount of operation the user manipulated the operation device of the personal mobility. It is preferable to analyze the change in posture of the personal mobility by comparing the amount of change.

In addition, it is preferable that the driving control module lowers the size of the set speed as the size of the inclination angle increases.

In addition, the vibration sensor is mounted on the personal mobility to detect the vibration generated during the driving of the personal mobility; and a vibration analysis module receiving the sensed value detected by the vibration sensor and analyzing the magnitude of the vibration and the period of occurrence of vibration; If the vibration is repeated at a certain period, it is preferable to determine that the sidewalk block installed on the sidewalk is being driven and to force the personal mobility to be less than or equal to a set speed.

In addition, a video camera mounted on the personal mobility to photograph the front floor surface while driving; and an image analysis module that analyzes whether the pedestrian is driving in the crosswalk by checking whether the white line of the crosswalk repeatedly appears after signal processing the image captured by the video camera; further comprising: the driving control module is the personal mobility When it is read that is driving in a crosswalk, it is preferable to force the personal mobility to be less than or equal to a set speed.

In addition, a GPS module mounted on the personal mobility and receiving a satellite signal to provide absolute location information of the personal mobility; further comprising, wherein the driving control module compares the absolute location information with a location designated as a speed limit zone Accordingly, it is preferable to force the personal mobility to be less than or equal to a set speed when the personal mobility enters the speed limit zone.

In addition, a video camera mounted on the personal mobility to photograph the front floor surface while driving; and an image analysis module that, after signal processing the image captured by the video camera, analyzes whether the vehicle is driving in a speed limit zone through the color of the floor surface of the road; It is preferable to force the personal mobility to be less than or equal to a set speed when entering the .

The present invention as described above forces the personal mobility to be within the speed limit when driving on a road exceeding the set inclination angle. Furthermore, the speed of personal mobility is enforced within the speed limit even on sidewalks, crosswalks or speed limit zones. Thus, it is possible to prevent accidents by providing a high level of safety for both occupants and pedestrians.

1 is a first embodiment (deceleration when driving on an incline) of personal mobility having a safe driving function according to the present invention.
2 is a second embodiment (deceleration when driving on sidewalks) of personal mobility having a safe driving function according to the present invention.
3 is a third embodiment (deceleration during crosswalk driving) of personal mobility having a safe driving function according to the present invention.
4 is a fourth embodiment (deceleration when driving in a speed limit zone) of personal mobility having a safe driving function according to the present invention.
5 is a diagram illustrating an electric kickboard as an embodiment of personal mobility having a safe driving function according to the present invention.
6 is a block diagram illustrating personal mobility having a safe driving function according to the present invention.
7 is a block diagram illustrating the analysis module of FIG. 6 .
8 is a first embodiment illustrating a method for determining a sidewalk entry state according to the present invention.
9 is a second embodiment illustrating a method for determining a sidewalk entry state according to the present invention.

Hereinafter, personal mobility having a safe driving function according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

However, in the following description, an electric kickboard will be described as an example of personal mobility (PM), but the personal mobility to which the present invention is applicable can also be applied to various personal mobility means such as an electric wheel or an electric bicycle.

First, in the personal mobility having a safe driving function according to the present invention, the driving control system is controlled so as to be below a limited speed in a specific area to prevent overspeed of the personal mobility (hereinafter referred to as an electric kickboard) being used.

Therefore, by forcing the speed of the electric scooter to be reduced in specific areas such as ramps, crosswalks and child protection areas and preventing overspeed, safety accidents such as electric scooter users or pedestrians due to overspeeding are prevented.

For example, when the electric kickboard 1 enters a downward slope or an upward slope while driving as shown in FIGS. In particular, it prevents overspeeding and enables safe driving by forcing a speed reduction on a downward slope where speeding is more a concern.

In addition, as shown in FIG. 2 , when the electric kickboard 1 enters a sidewalk with a sidewalk block while driving, the speed of the electric kickboard 1 is forced to be below a set range in the sidewalk for pedestrians. Therefore, avoid entering the sidewalk or speeding even when entering.

In addition, when the electric kickboard 1 enters the crosswalk as shown in FIG. 3 , the speed of the electric kickboard 1 is forced to be below the set range in the crosswalk for pedestrians. Therefore, at the crosswalk, the speed is extremely slowed down, and it is induced to drag after getting off.

In addition, as shown in FIG. 4 , the speed is limited even when the electric kickboard 1 enters the speed limiting zone. In the speed limit zone, there is a child protection zone, etc., and the forced speed is set lower than the specified speed limit (eg 30 km) to protect pedestrians, including children.

To this end, the personal mobility 1 having a speed limit function according to the present invention monitors the road or its surroundings while driving through an attitude sensor, a vibration sensor, and an image camera, and forcibly reduces the speed with a driving control module.

Example 1 - Deceleration when driving on an incline

5 to 7 , the electric kickboard 1 according to the present invention includes a posture analysis module 11a and a driving control module 20 to prevent overspeed when entering a slope as an embodiment.

In addition, as an embodiment to provide a criterion for determining the posture of the electric kickboard 1, it further includes a posture sensor 12a and an acceleration analysis module 11b, and any one or more of these is used for detection.

Here, the posture analysis module 11a is mounted on the electric kickboard 1 to analyze whether the posture of the electric kickboard 1 exceeds a set inclination angle as the electric kickboard 1 travels on the slope of the road.

Since the electric kickboard 1 travels on several paths in which the posture changes, such as in a curved section, including a slope, the posture of the electric scooter 1 in the front-rear direction of the vehicle body can be accurately read out that the change in posture is caused by running on the ramp. can be detected.

For example, when the personal mobility is the electric kickboard 1, the footrest (refer to '1c' in FIG. 5) having a long length and having wheels mounted on the front and rear portions respectively (see '1c' in FIG. 5) serves as a vehicle body, so the front-rear direction of the footrest 1c The attitude (angle) can be used to judge driving on a slope.

This posture analysis module 11a may be implemented electronically by a computing processor, and may be implemented as other semiconductor chips and may be integrally mounted in the box of the mobility controller 1a to be described later, which is another module described below. are also the same

The slope analyzed by the posture analysis module 11a includes the slope angle of the upward slope as well as the downward slope. However, since the electric kickboard 1 enters an acceleration section due to gravity when driving on a downward slope, the risk of an accident is greater, so that the speed limit can be applied more strictly when driving on a downward slope.

On the other hand, the posture of the electric kickboard 1 can be calculated directly from the detected value of the posture sensor 12a or indirectly using a manipulation value manipulated by a user and a change in the actual speed of the electric kickboard 1 .

Among them, in the case of using the posture sensor 12a, the posture sensor 12a is mounted on the electric kickboard 1 that is a personal mobility to detect a change in posture that occurs when driving on a slope. As for the attitude change, it is preferable to detect a change in the front-rear direction of the vehicle body as described above.

The posture sensor 12a may be installed anywhere on the vehicle body, but preferably, it may be integrally mounted on the detection module 12 installed at the bottom of the footrest 1c to effectively and accurately detect the posture of the electric kickboard 1 .

Accordingly, the posture analysis module 11a receives the value measured by the posture sensor 12a and analyzes the posture change of the electric kickboard 1 .

On the other hand, when the speed change is used, the acceleration analysis module 11b detects the speed change value of the personal mobility 1 and analyzes the acceleration of the personal mobility 1 . The speed value can be obtained by detecting the number of revolutions per minute of the electric motor or using a speedometer.

Accordingly, the posture analysis module 11a compares the amount of change in the acceleration of the electric kickboard 1 with the amount of operation the user manipulated the operation device 1b of the electric kickboard 1 to analyze the change in the posture of the electric kickboard 1. can

This takes advantage of the fact that the acceleration varies according to the inclination angle of the road or passage on which the electric kickboard 1 is traveling, and the operating device 1b may typically include an accelerator lever and a brake lever, and the accelerator lever and the brake lever All are manipulation devices 1b provided in the electric kickboard 1, and the speed can be changed by them.

For example, when the accelerator lever of the operating device 1b is pulled, a normal speed increase is detected when the electric kickboard 1 is traveling on a flat ground, but a relatively large speed increase is detected when the electric kickboard 1 is traveling on a downward slope.

Conversely, when the brake lever of the operating device 1b is pulled, a normal speed decrease is detected when the electric kickboard 1 is traveling on flat ground, but a relatively small speed decrease is detected when the electric kickboard 1 is traveling on a downward slope. For this purpose, even on an upward slope, a speed change different from that on a flat surface can be detected.

Accordingly, according to the present invention, it is possible to check the posture (upward or downward) of the electric kickboard 1 even by using the operation amount of the operation device 1b and the change amount of the acceleration.

When the posture of the electric kickboard 1 exceeds the set inclination angle, the driving control module 20 forces the electric kickboard 1 to be less than or equal to a set speed. That is, the electric kickboard 1 limits the speed when driving on a slope exceeding the set angle.

The force (deceleration) of the speed is performed by controlling the actuator used for the driving of the electric kickboard 1 . The speed limit by the driver may be implemented by controlling the power supply, such as controlling an inverter that receives DC power from a battery and operates a driving motor.

In addition, a mechanical method such as forcibly operating the brake may also be applied, and if necessary, a brake operation method may be applied together with the power supply control. Therefore, the speed of the electric kickboard 1 is forcibly limited regardless of the user's operation.

Example 2 - Deceleration on sidewalk driving

As another embodiment, the electric kickboard 1 according to the present invention includes a vibration sensor 12b and a vibration analysis module including the above-described driving control module 20 to prevent overspeed when entering a walkway for pedestrians. 11c).

The vibration sensor 12b is mounted on the electric kickboard 1, which is a personal mobility, and senses vibrations generated during driving. Such a vibration sensor 12b may be installed at the bottom of the footrest 1c to effectively sense vibration, for example.

The vibration analysis module 11c receives the sensed value sensed by the vibration sensor 12b and analyzes the magnitude of the vibration and the vibration generation period. The vibration magnitude can be checked by selecting the vibration caused by sidewalk driving in addition to the noise, and the vibration period can be used to check the vibration caused by the sidewalk block.

When it is read that the electric kickboard 1 is running on a sidewalk block installed on the sidewalk according to the sensed value detected by the vibration sensor 12b, the driving control module 20 determines the speed at which the running speed of the electric kickboard 1 is set. Forced to be below.

The force (deceleration) of the speed is performed by controlling the actuator used for the driving of the electric kickboard 1 . The speed limit by the driver may be implemented by controlling the power supply, such as controlling an inverter that receives DC power from a battery and operates a driving motor.

In addition, a mechanical method such as forcibly operating the brake may also be applied, and if necessary, a brake operation method may be applied together with the power supply control. Therefore, the speed of the electric kickboard 1 is forcibly limited regardless of the user's operation.

More specifically, the vibration analysis module 11c reads that the electric kickboard 1 is driving on the sidewalk when the magnitude of the vibration detected by the vibration sensor 12b is greater than or equal to the set value, and the vibration greater than the set amount is repeated at a regular cycle. do.

Furthermore, the vibration analysis module 11c reads that the electric kickboard 1 travels on the sidewalk block of India when the vibration of the set cycle is maintained for a set time, and when the sidewalk is running, by the driving control module 20 speed is limited

At this time, if the vibration is maintained for a set time regardless of whether the vibration is repeated at a constant period, it can be determined as a sidewalk driving, and if necessary, a more accurate determination can be made by considering the period along with the vibration maintenance time. In addition, even when the fluctuation of the vibration generation period is within the set error range, it can be read as driving on the sidewalk.

In an embodiment, as shown in (a) of FIG. 8 , when each of the sidewalk blocks RB1 installed on the sidewalk has a rhombus shape and several are installed in a shape-fitting manner, the rhombus sidewalk blocks RB1 are repeatedly arranged.

On the other hand, since asphalt or the like is applied to a road or exclusive road (see FIG. 2 ), there is no such pattern. That is, in the case of a road that is flatly coated with asphalt or concrete, there is no gap or groove between them due to the combination of sidewalk blocks.

Accordingly, as shown in (b) of FIG. 8 , the vibrations P1 to P4 that occur when the electric kickboard 1 steps on the gap or groove between them while driving in a straight line on the sidewalk are also constant, and furthermore, since the vibration continues for more than a set time, this It can be read as driving on the sidewalk.

In addition, even when the electric kickboard 1 travels in a curved direction or changes direction as shown in FIG. It can also be read as driving in India.

In another embodiment, even when the sidewalk block RB2 installed on the sidewalk is a narrow rectangle as shown in FIG. are placed

Therefore, as shown in (b) of FIG. 9 , the vibration generated when the electric kickboard 1 steps on the gap or groove between them while driving on the rectangular sidewalk block RB2 is also relatively constant and continues for more than a set time. can be read as driving.

In addition, as shown in FIG. 9( c ), even when the electric kickboard 1 travels in a curved direction or changes direction, the cycle of vibration generation is repeated within the error range, which is a boro-duck lock whose outer surface has a shape such as a wave pattern. The same applies to the case of traveling on (RB3).

As described above, the present invention reads the area designated for sidewalks by using the fact that vibrations over a set size occur periodically due to the regularity in which the sidewalk blocks RB1, RB2, and RB3 are repeatedly arranged, and forces them to be below the set speed when entering the sidewalk. will do

However, in the present invention, when the electric kickboard 1 is driving on the sidewalk, in addition to the method of detecting the above-described vibration, a method for forcing the driving speed to be limited when the road photographed using the video camera 13 is sidewalk is also applicable. can

Because sidewalk blocks of the same shape are laid on the sidewalk, the image captured by the video camera 13 includes the repeated sidewalk block shape or the repeated gap shape or pattern between sidewalk blocks.

Therefore, when the image captured by the video camera 13 is processed by the image analysis module 11d and the image on which the sidewalk block is laid is confirmed, it is determined that the image is being driven on the sidewalk and the speed of the electric kickboard 1 can be limited.

In addition, in the present invention, the above-described vibration sensing method can be applied together in addition to the method of applying the image analysis method alone using the video camera 13 and the image analysis module 11d.

In this case, if it is determined that you are driving on the sidewalk through any one or more of images and vibrations, the speed may be limited. On the other hand, when priority is given to either image or vibration, only when it is determined that the delivery is through the image or vibration of the higher priority, the vibration or image of the lower priority can be read to determine whether it is the delivery driving again.

Example 3 - Deceleration of Crosswalk Driving

On the other hand, the present invention can force the electric kickboard 1 to lower the speed even when trying to drive the crosswalk. In this case, it is possible to induce the user to get off and drag the vehicle by forcing the user to slow down further than in the sidewalk described above.

To this end, the present invention provides an image camera 13 mounted on the electric kickboard 1 to photograph the front floor surface while driving, and analyzing whether the image captured by the image camera 13 is signal-processed and then driving in a crosswalk. It further includes an image analysis module (11d).

At this time, when the driving control module 20 reads that the electric kickboard 1 is traveling in the crosswalk, the driving control module 20 forces the electric kickboard 1 to be below the set speed. That is, the driving control module 20 provides safety in the crosswalk by forcibly controlling the actuator to reduce the speed despite the user's manipulation.

As is known, the electric kickboard 1 includes a box-type mobility controller 1a on the upper part of the vehicle body. A QR code is provided on the upper surface of the mobility controller 1a, and a handle or a manipulation device 1b is provided on the left and right sides thereof.

In addition, the mobility controller 1a controls from the start and end of the use of the electric kickboard 1 to driving under the control of the central control unit (MCU), has a memory to record and provide necessary information, Bluetooth, cellular, Wi-Fi It may include a communication interface (communication I/F), such as.

In addition, a footrest 1c is provided in the lower portion of the electric kickboard 1, and wheels W-F and W-B are provided in front and rear of the footrest 1c, respectively, and are driven by a driver. The driver includes a battery, an inverter, and a driving motor, and driving is performed by the power of the battery.

In this case, the video camera 13 may be installed, for example, in the front part of the frame 1d connecting the front side of the operating device 1b and the footrest 1c up and down so as to photograph the front side of the road surface. Of course, other than that, it may be installed downward in the box of the mobility controller 1a.

The image analysis module 11d may be integrally mounted in the box of the mobility controller 1a together with the driving control module 20, and may be composed of an image processing processor that analyzes the image to determine whether or not the pedestrian has entered the crosswalk.

In particular, the image analysis module 11d reads the crosswalk as being driven when the white line of the crosswalk repeatedly appears in the image taken through the video camera 13, and the crosswalk repeats the white horizontal line at regular intervals. Therefore, it is confirmed through video analysis.

Therefore, when it is confirmed through the image analysis module 11d that the white line constituting the crosswalk is repeated, the driving control module 20 reads that the electric kickboard 1 has entered the current crosswalk and forcibly limits the driving speed. will do

However, in a state in which it is read that the electric kickboard 1 has entered the crosswalk, it can be checked whether the occupant (user) got off the electric kickboard 1 after the driving speed limit starts.

In addition, when the passenger gets off and moves while dragging the electric kickboard 1 as a compensation, the actuator or the brake can be controlled so that the electric kickboard 1 can be pushed with a small force even without pulling the throttle.

Here, a weight sensor 12c may be provided on the electric kickboard 1 in order to determine whether the passenger gets off. If the weight sensor 12c can detect a change in weight by the occupant, the footrest of the electric kickboard 1 may be provided anywhere, such as a wheel shaft connection part.

In another embodiment, the above-described vibration sensor 11 may be used to determine whether the occupant gets off, and by comparing the vibration pattern when the occupant is present with the vibration pattern when the occupant is not present, it is possible to check whether the occupant gets off.

Example 4 - Deceleration in speed limit zone (child protection zone) driving

According to the present invention, it is possible to force the electric kickboard 1 to lower the speed even when it is about to travel in the speed limit area. In this case, the speed enforced above may be lower than the specified speed within the speed limit zone.

For example, if the speed limit zone is a child protection zone and the speed limit of the vehicle operation in the child protection zone is 30 km, the speed limit is lower than that of the electric kickboard 1 that can be driven on the road as well as on the sidewalk. can

To this end, as shown in FIG. 6 , the present invention further includes a GPS module 14 mounted on the electric kickboard 1 and providing absolute position information of the electric kickboard 1 by receiving a satellite signal.

Therefore, the driving control module 20 compares the absolute position information with the position designated as the speed limiting area, and forces the electric kickboard 1 to be below the set speed when the electric kickboard 1 enters the speed limiting area.

In other words, since the location information for the speed limit zone is received in real time by the relevant organization or stored in the memory, the obtained information is compared with the GPS absolute location information to determine whether the speed limit zone has been entered, and the speed is limited when entering. .

As another method of reading speed limit zones, image analysis can be applied. In the case of child-restricted areas, the road floor is painted red or the sidewalk is painted green, so you can read it and limit the speed.

To this end, as described above, the present invention provides an image camera 13 mounted on the electric kickboard 1 to photograph the front floor surface while driving, and after signal processing the image captured by the image camera 13, the road ( It includes an image analysis module 11d that analyzes whether the vehicle is driving in the speed limit area through the color of the floor surface of the sidewalk or road).

Accordingly, the driving control module 20 protects the user of the electric kickboard 1 as well as children walking by forcing the electric kickboard 1 to be below the set speed when the electric kickboard 1 enters the speed limit zone. make it possible

However, the absolute position information of the GPS module 14 can be used together when reading whether the speed limit zone has entered as described above. For example, it is possible to check the proximity approach with the absolute location information (coordinates) of the GPS module 14, and then analyze the road color to read more accurately.

In addition, even when driving on a sidewalk (sidewalk block) within the speed limit zone, the speed can be limited by the detected vibration as described above. can be limited

In addition, when the road in the speed limit zone, sidewalk, and crosswalk as described above exceeds the set inclination angle, as described above, the speed limit according to the inclination angle may also be additionally applied.

In the above, specific embodiments of the present invention have been described above. However, the spirit and scope of the present invention is not limited to these specific embodiments, and various modifications and variations are possible within the scope that does not change the gist of the present invention. You will understand when you grow up.

Therefore, since the embodiments described above are provided to fully inform those of ordinary skill in the art to which the present invention pertains to the scope of the invention, it should be understood that they are exemplary in all respects and not limiting, The invention is only defined by the scope of the claims.

1: Electric kickboard
1a: Mobility Controller
1b: operating device
1c: scaffold
1d: frame
11: Analysis module
11a: Posture analysis module
11b: acceleration analysis module
11c: vibration analysis module
11d: image analysis module
12a: posture sensor
12b: vibration sensor
12c: weight sensor
13: video camera
14: GPS module
20: driving control module

Claims (8)

A posture analysis module (11a) that is mounted on the personal mobility (1) and analyzes whether the posture of the personal mobility (1) in the front-rear direction of the vehicle body exceeds a set inclination angle as the personal mobility (1) travels on the slope of the road ; and
and a driving control module (20) for forcing the personal mobility (1) to be less than or equal to a set speed when the posture of the personal mobility (1) exceeds the set inclination angle; mobility. According to claim 1,
It is mounted on the personal mobility (1), further comprising an attitude sensor (12a) for detecting a change in the attitude of the vehicle body in the front-rear direction of the personal mobility (1),
The posture analysis module (11a) receives the value measured by the posture sensor (12a) and analyzes the change in posture of the personal mobility (1) Personal mobility having a safe driving function. According to claim 1,
Further comprising an acceleration analysis module (11b) for detecting the speed change value of the personal mobility (1) to analyze the acceleration of the personal mobility (1),
The posture analysis module 11a compares the amount of change in the acceleration of the personal mobility 1 with the amount of manipulation the user manipulated the operation device 1b of the personal mobility 1 to analyze the change in the posture of the personal mobility 1 Personal mobility with a safe driving function, characterized in that. According to claim 1,
The driving control module 20,
Personal mobility with a safe driving function, characterized in that the larger the size of the inclination angle, the lower the size of the set speed. 5. The method according to any one of claims 1 to 4,
a vibration sensor (12b) mounted on the personal mobility (1) to sense vibrations generated during driving of the personal mobility (1); and
A vibration analysis module (11c) for receiving the sensed value sensed by the vibration sensor (12b) and analyzing the magnitude of the vibration and the period of occurrence of the vibration;
When the magnitude of the vibration is greater than or equal to a set value, and the vibration greater than the set value is repeated at a constant cycle, the driving control module 20 determines that the user is driving a sidewalk block installed in the sidewalk, and sets the personal mobility 1 at a set speed. Personal mobility with a safe driving function, characterized in that it is forced to be the following. 5. The method according to any one of claims 1 to 4,
an image camera 13 mounted on the personal mobility 1 to photograph the front floor surface while driving; and
The image analysis module 11d for analyzing whether the pedestrian is driving the crosswalk by checking whether the white line of the crosswalk repeatedly appears after signal processing the image taken by the video camera 13;
The driving control module 20, when it is read that the personal mobility 1 is driving in a crosswalk, forcing the personal mobility 1 to be below a set speed. Personal mobility with a safe driving function, characterized in that . 5. The method according to any one of claims 1 to 4,
A GPS module (14) mounted on the personal mobility (1), receiving a satellite signal and providing absolute position information of the personal mobility (1);
The driving control module 20 compares the absolute position information with a position designated as a speed limiting zone, and forcing the personal mobility 1 to be below a set speed when the personal mobility 1 enters the speed limiting zone. Personal mobility with a safe driving function, characterized in that. 5. The method according to any one of claims 1 to 4,
an image camera 13 mounted on the personal mobility 1 to photograph the front floor surface while driving; and
After signal processing the image taken by the video camera 13, the image analysis module 11d for analyzing whether the vehicle is driving in a speed limit zone through the color of the floor surface of the road;
The driving control module (20) is a personal mobility having a safe driving function, characterized in that when the personal mobility (1) enters the speed limit zone, forcing the personal mobility (1) to be below a set speed.

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