KR20230033155A - DELIVERY system using self-driving vehicles - Google Patents

Abstract

The present invention provides a delivery system using an autonomous vehicle for strengthening security to prevent mis-delivery accidents while maximizing purchase convenience by shortening delivery time by remotely purchasing a product and moving an autonomous vehicle to a store. Accordingly, the delivery system using an autonomous vehicle according to an aspect of the present invention comprises: a user terminal to order a product; and a control server that drives an autonomous vehicle to a store when ordering the product. The autonomous vehicle stops in a delivery certification area to deliver the product to a user.

Description

Delivery system using self-driving vehicles {DELIVERY system using self-driving vehicles}

The present invention relates to a delivery system, and more particularly to a delivery system using an autonomous vehicle.

Vehicles may be classified into internal combustion engine vehicles, external combustion engine vehicles, gas turbine vehicles, electric vehicles, and the like, depending on the type of prime mover used.

Autonomous vehicles are vehicles that can drive automatically without human intervention. Self-driving vehicles drive autonomously by designating a destination by recognizing the surrounding environment with radar, LIDAR (light detection and ranging), GPS, and camera. Examples of self-driving vehicles that are already in practical use include unmanned vehicles operated by the Israeli military that patrol preset routes and unmanned operation systems such as dump trucks operated at overseas mines and construction sites.

The first core technology of these self-driving vehicles is the self-driving vehicle system and the actual system. It is a technology that builds autonomous vehicle systems in practice as well as simulations in the laboratory. Accelerators, decelerators, and steering devices, which are driving devices, are implemented to suit unmanned operation, and control is performed using computers, software, and hardware installed in autonomous vehicles. make it possible

The second key technology is to receive and process visual information using vision and sensors. It is the basis of autonomous driving for unmanned operation, and it is a technology that accepts image information and extracts necessary information from the image. This uses not only a CCD (charge-coupled device) camera, but also sensors such as ultrasonic sensors and range filters to fuse information necessary for distance and driving, allowing obstacle avoidance and unexpected situations to be dealt with through analysis and processing.

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

The fourth key technology is intelligent control and intelligent driving devices. This technology generates control commands based on mathematical analysis using actual vehicle models as an unmanned driving technique, and the first applied technology currently being applied to autonomous vehicles is the Adaptive Cruise Control (ACC) system. Intelligent forward control is a system based on radar guide technology that maintains the distance from the vehicle in front or obstacles by adjusting the speed on its own without the driver manipulating the pedals. When the driver inputs the distance to the vehicle in front, the long-range radar attached to the front of the vehicle detects the location of the vehicle in front, maintains a constant speed, decelerates or accelerates, and comes to a complete stop if necessary, which is useful in poor visibility weather.

The fifth applied technology is the lane departure prevention system. This is a technology in which a camera installed inside detects the lane and informs the driver of an unintentional deviation situation. In an autonomous vehicle, it distinguishes between walking and the center line so that the vehicle can safely drive along the lane.

The sixth applied technology is a parking assist system. When the driver searches for the assist button, puts the reverse gear in and presses the brake pedal, the car adjusts the steering to assist in parallel parking in reverse. It automatically guides the vehicle from the starting point to the parking space based on infrastructure as well as vehicle-mounted sensors to save unnecessary time and energy when parking, thereby minimizing cost and environmental pollution.

The seventh applied technology is an automatic parking system. This is a technology in which the driver stops the car in front of the parking lot, turns off the engine, gets off, and presses the remote control lock switch twice in a row. am.

The eighth applied technology is a blind spot information guidance system. Sensors mounted on both sides of the car determine if there is another vehicle in the blind spot that is not visible through the side mirror and warn the driver. .

The biggest advantage of autonomous driving is that driving speed and traffic management data match, so it helps fuel efficiency by avoiding repeated stops by adjusting the control device more evenly, and that it can be used by people who cannot drive, such as the elderly, children, and the disabled. will be. In addition, it has the advantage of solving fatigue caused by long-time driving, greatly reducing the risk of traffic accidents, speeding up traffic flow on the road and reducing traffic congestion.

Accordingly, it is predicted that various businesses using autonomous vehicles will emerge. In particular, it can be expected that the courier delivery of goods or goods receipt service using autonomous driving will increase explosively, but related standards or research have not yet been actively conducted.

Korean Patent Registration No. 10-1981105 (May 22, 2019), Title of Invention: Vehicle and Autonomous Delivery System Using Vehicle {VEHICLE AND AUTONOMOUS DELIVERY SYSTEM USING THE VEHICLE}

The present invention is to solve the above problems of the prior art, and the object of the present invention is to remotely purchase a product and move an autonomous vehicle to a store to shorten the delivery time and maximize purchase convenience while mis-delivery. It provides a delivery system using an autonomous vehicle that strengthens security to prevent accidents.

A delivery system using an autonomous vehicle according to an aspect of the present invention includes a user terminal for ordering a product and a control server for driving the autonomous vehicle to a store when ordering a product, and the autonomous vehicle stops in a delivery authentication area. so that the product is delivered to the user.

At this time, the delivery authentication area may vary for each delivery.

In addition, the delivery authentication area can be designated separately for each delivery by the user or the control server.

In addition, the delivery authentication area can be designated by the control server in a one-time password method.

In addition, the delivery authentication area may be set so that it cannot be consecutively designated the same number of delivery times or more.

In addition, the control server transmits a receipt code to the self-driving vehicle and the store, and when the store inputs the receipt code, the storage unit of the self-driving vehicle may be opened.

The present invention maximizes purchase convenience by remotely purchasing products and moving an autonomous vehicle to a store to reduce delivery time. In this case, since the user receives the product from a vehicle stopped in the delivery authentication zone for security, it is possible to safely deliver the product to an autonomous vehicle.

1 is a configuration diagram of a delivery system using an autonomous vehicle according to an embodiment of the present invention.
FIG. 2 is a configuration diagram showing the self-driving vehicle in FIG. 1 in more detail.
FIG. 3 is a configuration diagram showing the sensing unit in FIG. 2 in more detail.
4 is a configuration diagram showing the control unit in FIG. 2 in more detail.
5 is a configuration diagram showing the communication unit in FIG. 2 in more detail.
FIG. 6 is a configuration diagram showing a store in FIG. 1 in more detail.
7 is a configuration diagram showing the control server in FIG. 1 in more detail.
8 to 13 are diagrams illustrating the operation of a delivery system using an autonomous vehicle according to an embodiment of the present invention.

Hereinafter, the embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings, but the same or similar components are given the same reference numerals regardless of reference numerals, and redundant description thereof will be omitted.

The suffixes "module" and "unit" for components used in the following description are given or used together in consideration of ease of writing the specification, and do not have meanings or roles that are distinct from each other by themselves.

In addition, in describing the embodiments disclosed in this specification, if it is determined that a detailed description of a related known technology may obscure the gist of the embodiment disclosed in this specification, the detailed description thereof will be omitted.

In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in this specification, the technical idea disclosed in this specification is not limited by the accompanying drawings, and all changes included in the spirit and technical scope of the present invention , it should be understood to include equivalents or substitutes.

Terms including ordinal numbers, such as first and second, may be used to describe various components, but the components are not limited by the terms. These terms are only used for the purpose of distinguishing one component from another.

It is understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may exist in the middle. It should be. On the other hand, when an element is referred to as “directly connected” or “directly connected” to another element, it should be understood that no other element exists in the middle.

Singular expressions include plural expressions unless the context clearly dictates otherwise.

In this application, terms such as "comprise" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

Hereinafter, a delivery system 1000 using an autonomous vehicle according to an embodiment of the present invention will be described. 1 is a configuration diagram of a delivery system using an autonomous vehicle according to an embodiment of the present invention, FIG. 2 is a configuration diagram showing the autonomous vehicle in FIG. 1 in more detail, and FIG. 3 is a configuration diagram showing the detection in FIG. 2 A configuration diagram showing the unit in more detail, FIG. 4 is a configuration diagram showing the control unit in FIG. 2 in more detail, FIG. 5 is a configuration diagram showing the communication unit in FIG. 2 in more detail, and FIG. 6 is a configuration diagram showing the communication unit in FIG. It is a configuration diagram showing a store in more detail, and FIG. 7 is a configuration diagram showing a control server in FIG. 1 in more detail.

Referring to the drawings, an autonomous delivery system 1000 according to an embodiment of the present invention includes an autonomous vehicle 100, a user terminal 200, a store 300 and a control server 400.

The user terminal 200 serves to order a product, and the control server 400 is in charge of ordering and delivery-related control processing. The control server 400 generates a receipt code when ordering a product, This is transmitted to the autonomous vehicle 100, the user terminal 200, and the store 400.

In addition, the control server 400 moves the self-driving vehicle 100 to a store when ordering a product to receive the product. Accordingly, the control server 400 transmits a driving signal to the self-driving vehicle 100 when a product is ordered by the user terminal 200 . The driving signal here refers to a signal for moving to the store 300 as a destination. To this end, the user terminal 200 may register the self-driving vehicle in advance in the product ordering application and allow the product receipt command to be directly received from the control server. Alternatively, the user terminal 200 can of course designate a delivery vehicle so that any self-driving vehicle performs delivery.

Thereafter, the self-driving vehicle 100 arrives at the product store 300, receives the product by inputting the receipt code received in advance, and reaches the delivery authentication area designated by the user or the control server 400, and then the user receives the product. and delivery is complete. On the other hand, here, it is exemplified that the vehicle is moved after ordering, but it is also possible to further reduce the arrival time of the vehicle by confirming the order immediately before the vehicle arrives after the order is reserved and the vehicle is sent.

At this time, the delivery authentication area is prepared to enhance the security of delivery, and the user can select and designate any one of the areas where the vehicle can be stopped in the vicinity of the address. For stronger security, each delivery in the control server 400 Each delivery authentication area can be designated separately. That is, it is preferable for security to set the delivery authentication area so that the area varies for each delivery.

In addition, if the user does not designate the delivery authentication area, the control server 400 can further strengthen security by adjusting the location coordinates of the delivery authentication area in a one-time password (OTP) method.

Furthermore, for security, it is more preferable for security to prevent the same delivery authentication area from being continuously designated more than the set number of delivery times in the case of the same user.

As such, the self-driving delivery system according to the present embodiment allows a user to order a product and directly move a vehicle owned or controlled by the user to a store to receive the product.

Meanwhile, the autonomous vehicle 100 includes an input unit 110, a sensing unit 120, an output unit 130, a control unit 140, a communication unit 150, a driving unit 160, and a storage unit 170.

The input unit 110 is a device that receives a user input for driving. In the manual mode, the input unit of the autonomous vehicle 100 may include a steering input device, an acceleration input device, and a brake input device. In addition, the input unit 110 serves to input a travel destination of the autonomous vehicle, receives information from the server 200 according to the input destination, and continuously sets a travel route.

However, in this embodiment, when a product order is completed by the user terminal 200, the control server 400 transmits a driving control signal having the destination as a store, so in this case, input of the destination can be omitted.

The detector 120 may include a radar 121 and a lidar 122, and may further include a camera 123. First, the radar 121 may generate information about an object outside the self-driving vehicle 100 by using radio waves. The radar 121 may include an electromagnetic wave transmitter, an electromagnetic wave receiver, and at least one processor electrically connected to the electromagnetic wave transmitter and electromagnetic wave receiver, processing a received signal, and generating data about an object based on the processed signal. there is.

The radar 121 may be implemented in a pulse radar method or a continuous wave radar method in terms of radio wave emission principles. The radar 121 may be implemented in a frequency modulated continuous wave (FMCW) method or a frequency shift keyong (FSK) method according to a signal waveform among continuous wave radar methods. The radar 121 detects an object based on a Time of Flight (TOF) method or a phase-shift method through electromagnetic waves, and measures the position of the detected object, the distance to the detected object, and the relative speed. can be detected. In this case, the radar 121 may be disposed at an appropriate location outside the vehicle to detect an object located in front, rear or side of the vehicle.

Next, the lidar 122 may generate information about an object including a specific target outside the self-driving vehicle 100 using laser light. The LIDAR 122 is electrically connected to the light transmitter (not shown), the light receiver (not shown), and the light transmitter and the light receiver, processes the received signal, and generates data for an object based on the processed signal. It may include at least one processor that

The lidar 122 may be implemented in a Time of Flight (TOF) method or a phase-shift method. The lidar 122 may be implemented as a driven or non-driven type. When implemented as a driven type, the lidar 122 is rotated by a motor and detects an object that is a specific object of a travel destination around the autonomous vehicle 100. can do. When implemented as a non-driving type, the lidar 122 may detect an object located within a predetermined range with respect to the vehicle by light steering. The autonomous vehicle 100 may include a plurality of non-driven lidars.

The lidar 122 detects an object based on a time of flight (TOF) method or a phase-shift method using a laser light medium, and calculates the position of the detected object, the distance to the detected object, and the relative speed. can be detected. At this time, the lidar 122 may be disposed at an appropriate location outside the vehicle to detect an object located in the front, rear, or side of the vehicle.

Meanwhile, the camera 123 may generate information about an object that is a specific target outside the self-driving vehicle 100 by using an image. The camera 123 may include at least one lens, at least one image sensor, and at least one processor electrically connected to the image sensor to process a received signal and to generate object data based on the processed signal. can

The camera 123 may be at least one of a mono camera, a stereo camera, and an AVM (Around View Monitoring) camera. The camera 123 may obtain position information of an object, distance information with respect to the object, or relative speed information with the object by using various image processing algorithms.

For example, the camera 123 may obtain distance information and relative speed information with respect to the object based on a change in the size of the object over time in the obtained image. In addition, the camera 123 may obtain distance information and relative speed information with an object through a pinhole model, road profiling, and the like.

In addition, the camera 123 may obtain distance information and relative speed information with respect to an object based on disparity information in a stereo image obtained from a stereo camera. The camera 123 may be mounted in a position where a field of view (FOV) can be secured in the vehicle in order to photograph the exterior of the vehicle.

The camera 123 may be disposed close to the front windshield inside the vehicle to obtain an image of the front of the vehicle. Furthermore, the camera 123 may be disposed around a front bumper or a radiator grill. The camera 123 may be disposed close to the rear glass inside the vehicle to obtain an image behind the vehicle. In this case, the camera 123 may be disposed around a rear bumper, a trunk, or a tailgate. The camera 123 may be disposed close to at least one of the side windows in the interior of the vehicle in order to acquire an image of the side of the vehicle. Alternatively, the camera 123 may be disposed around side mirrors, fenders, or doors. In addition, since the camera 123 also serves to take an image of the purchased product, it can be disposed in the storage unit 170 of the vehicle.

In addition, since the sensing unit 120 needs to use location information, a GPS 124 is necessarily further included. The GPS 124 may include at least one of a general Global Positioning System (GPS) and a Differential Global Positioning System (DGPS) to generate location data of the autonomous vehicle 100 . Location data of the self-driving vehicle 10 may be generated based on a signal generated by at least one of the GPS and DGPS.

In this case, the GPS 124 may correct the location data based on at least one of an Inertial Measurement Unit (IMU) and the camera 123 of the sensing unit 120 . Also, the GPS 124 may be referred to as a Global Navigation Satellite System (GNSS).

Meanwhile, the output unit 130 is normally disposed inside or outside the self-driving vehicle 100 to display a driving-related situation. Furthermore, any one of shape, shape, and color may be displayed on the outside of the vehicle to provide predictability to the owner of the vehicle and people around.

Meanwhile, the controller 140 includes a drive control module 141 and an input/output control module 142. First, the driving control module 141 may be configured as a main ECU and controls the driving unit 160 of the autonomous vehicle 100 . In this case, the drive control module 141 may include a power train drive control device, a chassis drive control device, a door/window drive control device, a safety device drive control device, a lamp drive control device, and an air conditioning drive control device. The power train driving control device may include a power source driving control device and a transmission driving control device. The chassis drive control device may include a steering drive control device, a brake drive control device, and a suspension drive control device. Meanwhile, the safety device drive control device may include a seat belt drive control device for controlling seat belts.

In addition, the drive control module 141 includes at least one electronic control device (eg, a control ECU (Electronic Control Unit)). In particular, the vehicle driving device may be controlled based on the received signal. For example, the driving control module 141 may control a power train, a steering device, and a brake device based on a signal received from the sensing unit 120 . Meanwhile, the input/output control module 142 serves to control the output unit 130 described above.

Meanwhile, the communication unit 150 may exchange a signal with a device located outside the autonomous vehicle 100, and may exchange a signal with at least one of an infrastructure (eg, a server, a broadcasting station), another vehicle, and a terminal. there is. The communication unit 150 may include at least one of a transmission antenna, a reception antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element to perform communication.

For example, the communication device may exchange signals with an external device based on C-V2X (Cellular V2X) technology. In addition, the communication unit 150 transmits external devices and signals based on Dedicated Short Range Communications (DSRC) technology based on IEEE 802.11p PHY/MAC layer technology and IEEE 1609 Network/Transport layer technology or Wireless Access in Vehicular Environment (WAVE) standard. can be exchanged.

Accordingly, the communication unit 150 is composed of a remote communication module 151 and a short-distance communication module 152, while the remote communication module 151 performs communication with the control server 400 and the user terminal 200, The short-distance communication module 152 may be used when the store 300 recognizes the self-driving vehicle 100 or receives a standby control signal directly.

Meanwhile, the store 300 refers to a management system of a store that sells products, and includes a vehicle recognition module 310 and a receipt confirmation module 320 . In addition, the control server 400 includes an order confirmation module 410, a vehicle control module 420, a delivery certification area creation module 430, and a completion confirmation module 440.

The vehicle recognition module 310 serves to identify the self-driving vehicle 100 arriving at the store. That is, after the order is completed, the order confirmation module 410 generates a receipt code and the vehicle control module 420 transmits a control signal for moving the autonomous vehicle 100 to the store 300. In this case, the vehicle control module In 420 , information of a moving vehicle is transmitted together to identify the autonomous vehicle 100 . At this time, it is preferable to use fixed identification information such as registration number and vehicle identification number as vehicle information. In addition, the vehicle recognition module 100 may check and identify the receipt code received by the vehicle 100 .

When the product is delivered thereafter, the store 300 re-enters the received receipt code into the vehicle, and the vehicle in which the receipt code is received again opens the storage unit 170. Receipt confirmation module 320 then confirms that product delivery has been completed at the store level when the storage unit 160 recognizes that a product matching the receipt code is loaded in the vehicle, and transmits it to a control server or the like.

The delivery authentication area generation module 430 plays a role of generating the aforementioned delivery authentication area when the control server directly designates it. As described above, the delivery authentication area is prepared to enhance the security of delivery, and the user can select and designate any one of the areas where the vehicle can be stopped in the vicinity of the address, but for stronger security, the delivery authentication area creation module ( 430) may designate a delivery authentication area separately for each delivery. Furthermore, for security, the delivery authentication area may be prevented from being continuously designated the same for more than a set number of delivery times in the case of the same user.

On the other hand, the completion confirmation module 430 of the control server determines that delivery of the product is completed when a confirmation signal that the completion is confirmed is received from the user terminal 200 after the vehicle loaded with the product is finally delivered to the user. do. Therefore, the risk of product error or non-receipt is transferred to the user.

Hereinafter, the operation of the present invention is exemplified and described. 8 to 13 are diagrams illustrating the operation of a delivery system using an autonomous vehicle according to an embodiment of the present invention.

First, referring to FIG. 8, ordering a product and sending a vehicle using a user terminal is exemplified, and here, it is exemplified that a user's vehicle or another vehicle is allocated and sent to a store.

In this case, referring to FIG. 9 , a vehicle number to receive the product is written down and a password for opening the compartment of the vehicle is also written down, which is transmitted to the store.

Thereafter, as shown in FIG. 10 , order information is transmitted to the store and the selected autonomous vehicle moves to the store.

Afterwards, as shown in FIG. 11 , the goods are loaded onto the self-driving vehicle arriving at the store.

After that, as shown in FIG. 12, the vehicle loaded with the goods moves to the user to receive it, which can be confirmed at the user terminal.

After that, as shown in FIG. 13, after the vehicle stops in the delivery authentication area designated by the user or the control server, the product is finally received.

As such, those skilled in the art to which the present invention pertains will be able to understand that the present invention may be embodied in other specific forms without changing its technical spirit or essential features.

In addition, the present specification and drawings disclose preferred embodiments of the present invention, and although specific terms are used, they are only used in a general sense to easily explain the technical content of the present invention and help understanding of the present invention. It is not intended to limit the scope of the invention. It is obvious to those skilled in the art that other modified examples based on the technical spirit of the present invention can be implemented in addition to the embodiments disclosed herein.

1000: Delivery system using autonomous vehicles
100: autonomous vehicle
130: output unit
140: control unit
150: communication department
160: driving unit
170: storage unit
200: user terminal
300: store
400: control server

Claims (6)

A user terminal to order a product; and
A control server that drives an autonomous vehicle to a store when ordering products;
including,
The self-driving vehicle is a delivery system using an autonomous vehicle, characterized in that to stop in the delivery authentication area and deliver the product to the user.
According to claim 1,
The delivery authentication area is a delivery system using an autonomous vehicle, characterized in that the area can be changed for each delivery.
According to claim 1,
The delivery authentication area is a delivery system using an autonomous vehicle, characterized in that the user or the control server specifies separately for each delivery.
According to claim 1,
The delivery authentication area is a delivery system using an autonomous vehicle, characterized in that the control server designates a one-time password method.
According to claim 1,
The delivery authentication area is a delivery system using a self-driving vehicle, characterized in that the same cannot be consecutively designated more than the set number of deliveries.
According to claim 1,
The control server transmits a receipt code to the autonomous vehicle and the store, and when the store inputs the receipt code, the storage unit of the autonomous vehicle is opened.

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