WO2023063743A1

WO2023063743A1 - Autonomous travel method for golf cart and autonomously traveling golf cart

Info

Publication number: WO2023063743A1
Application number: PCT/KR2022/015492
Authority: WO
Inventors: 김수훈; 알리존 우글리 팔바노브아크말존; 쇼브캣 우글리 라크마토브쇼헤루
Original assignee: 주식회사 델타엑스
Priority date: 2021-10-14
Filing date: 2022-10-13
Publication date: 2023-04-20
Also published as: KR102496998B1

Abstract

A golf cart of the present disclosure comprises: a camera for acquiring an image of the front side of the golf cart; a steering device configured to adjust the steering direction of the golf cart; left and right wheels equally steered to the left or right according to the steering of the steering device; a driving device configured to drive the golf cart; and a control unit configured to analyze the image of the front side to acquire information on opposite edges of a road, configure a virtual guide line indicating a traveling path of the golf cart in the road, configure a reference point, and control the steering device on the basis of the difference between distances between the virtual guide line and the reference point. The reference point is configured to be positioned on a straight line having the same angle as the steering angles of the left and right wheels and passing through the center of a line connecting the rotation centers of the left and right wheels.

Description

Golf cart self-driving method and self-driving golf cart

This application is an application claiming priority to Korean Patent Application No. 10-2021-0136856 filed on October 14, 2021, and all contents disclosed in the specification and drawings of the application are incorporated into this application by reference.

The present disclosure relates to a golf cart autonomous driving method and an autonomous driving golf cart, and more particularly, to an autonomous driving method and an autonomous driving golf cart by recognizing a lane and inferring a vehicle position without a guide line.

In general, a golf cart performing autonomous driving is controlled to detect a guide line buried in a cart road and drive along it. However, it is difficult to bury the guide wire in the cart road, and there is a problem in that the guide wire needs to be regularly repaired.

(Patent Document 1) Korean Patent Registration No. 10-2100648

(Patent Document 2) Korean Patent Registration No. 10-2248654

(Patent Document 3) Korean Patent Publication No. 10-2014-0046124

(Patent Document 4) Korean Patent Publication No. 10-2016-0069810

The present disclosure provides a method for smoothly performing autonomous driving without a guide line buried in a cart road and an autonomously driving golf cart.

According to one form of the present disclosure, a golf cart includes a camera for obtaining an image of the front of the golf cart; a steering device configured to adjust a steering direction of the golf cart; left and right wheels equally steered to the left or right according to the steering of the steering device; a drive device configured to drive the golf cart; and obtaining both edges of the road by analyzing the image in front, setting a virtual guide line representing the driving path of the golf cart within the road, setting a reference point, and setting the virtual guide line and the reference point And a control unit configured to control the steering device based on a difference in the distance of, wherein the reference point is on a straight line passing through the center of a line connecting the rotation centers of the left and right wheels and having the same steering angle of the left and right wheels. , and the control unit sets the radius of a virtual circle having a specific radius based on the center of a line connecting the rotation centers of the left and right wheels, and sets the radius according to the speed of the golf cart. In case of wanting to autonomously drive the golf cart to follow the virtual guidance line faster, decrease the radius and to follow the virtual guidance line more slowly. Increase the radius configured to do

In one embodiment, the controller may be configured to generate a signal for steering the steering device at different angles according to a distance between the virtual guide line and the reference point.

In one embodiment, the controller may be configured to steer the steering device so that a voltage corresponding to a distance between the virtual guide line and the reference point becomes zero.

In one embodiment, the golf cart may further include a memory configured to store a distance between the virtual guide line and the reference point and a voltage corresponding thereto.

In one embodiment, the golf cart may further include a sensor configured to measure the steering angle.

In one embodiment, the golf cart may further include a memory configured to store a distance between the virtual guide line and the reference point and a corresponding steering angle of the steering device.

According to one aspect of the present disclosure, an autonomous driving method of a golf cart may include acquiring a front image of the golf cart by a camera; obtaining, by a controller, both edges of the road from the front image and setting a virtual guide line representing a driving path of the golf cart within the road; setting, by the control unit, a reference point located on a straight line passing through the center of a line connecting rotation centers of the left and right front wheels of the golf cart; and controlling, by the control unit, a steering device of the golf cart to position the reference point on the virtual guide line based on a difference in distance between the virtual guide line and the reference point.

In one embodiment, the step of setting a reference point located on a straight line passing through the center of a line connecting the rotation centers of the left front wheel and the right front wheel of the golf cart by the control unit, the rotation center of the left front wheel and the right front wheel and selecting a distance from the center of the connecting line to the reference point by the controller or the driver of the golf cart.

In one embodiment, the step of controlling the steering device of the golf cart so that the reference point is positioned on the virtual guide line based on the difference in distance between the virtual guide line and the reference point, The method may include controlling a voltage corresponding to a distance between the guide line and the reference point to be zero.

In one embodiment, after the controller sets a reference point located on a straight line passing through the center of a line connecting the rotation centers of the front left wheel and the front right wheel of the golf cart, the front image is displayed on the display of the golf cart. , displaying the virtual guide line and the reference point.

The golf cart according to the present disclosure uses an existing golf cart, but can smoothly and autonomously drive on a cart road without a guide line buried in the cart road.

1A to 1C are conceptual diagrams for explaining autonomous driving of a conventional golf cart.

2a to 2c are conceptual diagrams showing problems in autonomous driving of a conventional golf cart.

3 is a conceptual diagram illustrating autonomous driving of a golf cart according to an embodiment of the present disclosure.

4A to 4C are conceptual diagrams for explaining autonomous driving of a golf cart according to an embodiment of the present disclosure.

5 is a conceptual diagram for comparing autonomous driving of a golf cart according to an embodiment of the present disclosure with conventional autonomous driving.

6 is a table for explaining steering control of a golf cart according to an embodiment of the present disclosure.

7 is a block diagram of a golf cart according to one embodiment of the present disclosure.

Hereinafter, the present disclosure will be described in detail with reference to the drawings. In describing the present disclosure, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present disclosure, a detailed description thereof will be omitted. In addition, the following examples may be modified in many different forms, and the scope of the technical spirit of the present disclosure is not limited to the following examples. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the spirit of the disclosure to those skilled in the art.

It should be understood that the techniques described in this disclosure are not intended to be limited to the specific embodiments, and include various modifications, equivalents, and/or alternatives of the embodiments of this disclosure.

In connection with the description of the drawings, like reference numerals may be used for like elements.

In the present disclosure, expressions such as “has,” “can have,” “includes,” or “can include” indicate the presence of a corresponding feature (eg, numerical value, function, operation, or component such as a part). , which does not preclude the existence of additional features. In this disclosure, expressions such as “A or B,” “at least one of A and/and B,” or “one or more of A or/and B” may include all possible combinations of the items listed together. . For example, “A or B,” “at least one of A and B,” or “at least one of A or B” (1) includes at least one A, (2) includes at least one B, Or (3) may refer to all cases including at least one A and at least one B.

Expressions such as "first," "second," "first," or "second," used in the present disclosure may modify various elements regardless of order and/or importance, and may refer to one element as It is used only to distinguish it from other components and does not limit the corresponding components.

A component (e.g., a first component) is "(operatively or communicatively) coupled with/to" another component (e.g., a second component); When referred to as "connected to", it should be understood that the certain component may be directly connected to the other component or connected through another component (eg, a third component). On the other hand, when an element (eg, a first element) is referred to as being “directly connected” or “directly connected” to another element (eg, a second element), the element and the above It may be understood that other components (eg, a third component) do not exist between the other components.

The expression “configured to (or configured to)” as used in this disclosure means, depending on the situation, for example, “suitable for,” “having the capacity to.” ," "designed to," "adapted to," "made to," or "capable of." The term "configured (or set) to" may not necessarily mean only "specifically designed to" hardware. Instead, in some contexts, the phrase "device configured to" may mean that the device is "capable of" in conjunction with other devices or components. For example, the phrase “processor configured (or configured) to perform A, B, and C,” “module configured (or configured) to perform A, B, and C” refers to a dedicated processor (e.g., : embedded processor), or a general-purpose processor (eg, CPU or application processor) capable of performing corresponding operations by executing one or more software programs stored in a memory device.

The prior literature described in this disclosure is incorporated in its entirety into this disclosure. Therefore, the simplified description in this disclosure can be supplemented through prior literature.

1A to 1C are conceptual diagrams for explaining autonomous driving of a conventional golf cart 10. The guide line 20 is embedded in the road 30, and the golf cart 10 is controlled to autonomously drive along the guide line 20. In more detail, referring to FIGS. 1A to 1C , the conventional golf cart 10 uses two sensors M1 and M2 to detect a distance from the guide line 20 and uses it to perform autonomous driving. . Referring to FIG. 1B, the strength of the magnetic field generated from the guide line 20 and detected by the sensors M1 and M2 is inversely proportional to the distance L1 and L2 between the guide line 20 and the sensors M1 and M2. do. Assuming that the heights H1 and H2 between the sensors M1 and M2 and the road 30 are constant, the strength of the magnetic field generated from the guide line 20 and sensed by the sensors M1 and M2 is the sensor M1 , M2) and the horizontal distances L1 and L2 of the guide line 20. For example, as shown in the table shown in FIG. 1C, the voltages generated by the sensors M1 and M2 may be determined according to the left distance L1 and the right distance L2. The controller (not shown) of the golf cart 10 compares the voltages of the sensors M1 and M2 to determine the relative positions of the golf cart 10 and the guide line 20, and controls the steering device 14 to Autonomous driving is performed so that the golf cart 10 follows the guide line 20 . For example, the golf cart 10 can perform autonomous driving by determining the vehicle position from the difference between voltage 1 and voltage 2 and controlling the golf cart 10 to reduce the difference between voltage 1 and voltage 2. . For example, the controller may perform autonomous driving by controlling the golf cart 10 such that a difference between voltage 1 and voltage 2 becomes zero. That is, the control unit may control the steering device 14 so that the difference between the voltages generated by the left sensor M1 and the right sensor M2 becomes zero. In one embodiment, the control unit may control the steering device 14 by transmitting a predetermined signal to the steering device according to the difference between the voltages generated by the left sensor M1 and the right sensor M2.

1B shows a distance D1 from the progress guide line 20 to the center line of the left sensor M1 and a distance D2 from the progress guide line 20 to the center line of the right sensor M2.

However, it is difficult to bury the guide wire 20 in the cart road 30, and there is a problem in that the guide wire 20 needs to be regularly repaired.

2A and 2B are conceptual diagrams showing problems in autonomous driving of a conventional golf cart 10'. Since the autonomous driving of the golf cart 10' described with reference to FIGS. 2A and 2B is different from the autonomous driving of the golf cart 10 described with reference to FIGS. 1A to 1C, it will be briefly described.

While the autonomous driving of the golf cart 10 uses the guide line 20 embedded in the road 30, the autonomous driving of the golf cart 10' interprets and interprets the image captured by the camera through artificial intelligence. This is done using the same information. In more detail, the golf cart 10' obtains a front image and analyzes it to obtain the edges E1 and E2 of the road and a virtual guide line 20'. In addition, the controller (not shown) of the golf cart 10' uses the distances L1' and L2' between the edges E1 and E2 of the road and the virtual guide line 20' to determine the reference point 12 ) controls the golf cart 20' so that it exists on the virtual guide line 20'. The reference point 12 may be set to the center of the front of the golf cart 10'. The distances L1' and L2' may be calculated to correspond to the distances L1 and L2 in the table of FIG. 1C used by the golf cart 10. Accordingly, similar to autonomous driving of the golf cart 10, the control unit of the golf cart 10' controls the steering device 14' so that the difference in voltage calculated according to the difference between the distances L1' and L2' becomes zero. ) can be controlled. For example, the control unit may control the steering device 14' by transmitting a predetermined signal to the steering device 14' according to the voltage calculated according to the difference between the distances L1' and L2'.

However, as shown in FIGS. 2A and 2B, at the moment when the reference point 12 of the golf cart 10' is located on the guide line 20', the steering angle of the steering device 14' is not 0 and is constant. Maintaining the angle may cause the golf cart 10' to deviate from the guide line 20'. This is because, as shown in FIG. 2C, it is difficult for the steering device 14' to be steered smoothly.

2A and 2B, the steering device 14' is shown as rotating, but it will be understood that this is to illustrate the steering direction of the golf cart 10'.

3 is a conceptual diagram illustrating autonomous driving of a golf cart 300 according to an embodiment of the present disclosure. Although the steering device 310 is shown as rotating in FIG. 3 , it will be understood that this is to show the steering direction of the golf cart 300 or the

front wheels

312 and 314 .

Referring to FIG. 3 , a golf cart 300 includes a steering device 310, a sensor 320,

wheels

312, 314, 316, and 318, a controller (not shown), and a camera (not shown). can do. The golf cart 300 may obtain an image of the front of the golf cart 300 using a camera. The controller may receive an image from the camera, obtain a lane, eg, the edge of the road, and obtain the location of the car from the image. The control unit may obtain the location of the lane and the vehicle using artificial intelligence. Also, the control unit may set a virtual guide line 400 . Since a technique of recognizing an object through an image and setting a guide line is well known in the related art, a detailed description thereof will be omitted.

In one embodiment, the

front wheels

312 and 314 may be connected by a rod 322. According to the steering of the steering device 310, the

front wheels

312 and 314 can be steered at the same angle at the same time. In one embodiment, the steering device 310 may be disposed on the centerline 350 of the golf cart 300. However, the steering device 310 may be located on the left or right side like a general vehicle. The sensor 320 may be configured to detect the steering angle of the steering device 310 or the steering angle of the

front wheels

312 and 314 . For example, the sensor 320 may be implemented using a gyro sensor, an angular velocity sensor, or a combination thereof.

In one embodiment, the steering device 310 is a handle for adjusting the direction of the golf cart 300 or other mechanical components including a handle for adjusting the direction of the golf cart 300, for example, a steering column, It may include a rod, an electric motor, and the like. Also, for example, the steering device 310 may include a rack and pinion gear structure. The sensor 320 for detecting the steering angle of the steering device 310 or the steering angles of the

front wheels

312 and 314 may be mounted on a rotating shaft of the steering device 310 .

In one embodiment, the rotation angle of the steering device 310 and the steering angle of the front wheel 312 may be the same or different.

The control unit may obtain a steering angle of the steering device 310 by receiving a signal from the sensor 320 . Conventionally, many methods and sensors for obtaining the rotational angle of a wheel according to the rotation of a steering wheel of a vehicle are known and can be used. The steering device 310 may be physically connected to the center of the rod 322 .

In the present disclosure, the steering angle of the steering device 310 may be understood as the steering angle of the

front wheels

312 and 314. Alternatively, the steering angle of the steering device 310, such as calculating the steering angle of the

front wheels

312 and 314 from the steering angle of the steering device 310 or, conversely, calculating the steering angle of the steering device from the steering angle of the

front wheels

312 and 314. It will be appreciated that the steering angles of the

front wheels

312 and 314 are related to each other. Also, the steering angle of the steering device 310 or the steering angle of the

front wheels

312 and 314 may be understood as an angle θ formed between the center line 350 of the golf cart 300 and the

front wheels

312 and 314.

In one embodiment, the control unit may set a virtual driving guide line 500 passing through the center of the

center lines

510 and 520 of the

front wheels

312 and 314 as a reference for the driving direction. The virtual guide line 500 can be generated by obtaining the steering angle θ and generating a virtual line forward parallel to the

front wheels

312 and 314 from this.

As shown in FIG. 1B, since the guide line 500 passes through the center of the

center lines

510 and 520 of the

front wheels

312 and 314, the distance from the guide line 500 to the center line of the front right wheel 312 It will be understood that (d1) and the distance (d2) from the progress guide line 500 to the center line of the left front wheel 314 are set to be the same. The rod 322 may be a component for explaining the reference of the progress guide line 500 . The rod 322 can be understood as explaining that the progress guide line 500 is set to extend from the center of the line connecting the centers of the two

front wheels

312 and 314.

In one embodiment, the control unit may set the progress guide line 500 to extend from the center of a line connecting the rotation centers of the two

front wheels

312 and 314 to the front of the golf cart 300. In this case, the guide line 500 is set to be the same as the steering angle of the golf cart 300 . Therefore, as shown in FIGS. 3 and 4A , according to the movement of the steering device 310 (eg, left turn or right turn), the guide line 500 may also move together. Accordingly, an angle θ formed between the center line 350 and the guide line 500 may be equal to the steering angle.

In one embodiment, the control unit may set a virtual circle (C) having a specific radius (R) based on the center of a line connecting the rotation centers of the two front wheels (312, 314). For example, the controller may set the radius of a virtual circle having a specific radius R based on the center of a line connecting the rotation centers of the left wheel 312 and the right wheel 314 . The center of the imaginary circle C may coincide with the center of the line connecting the centers of the two

front wheels

312 and 314. The control unit may set a place where the imaginary circle C and the progress guide line 500 touch as the progress reference point 330 . The control unit may be configured to control the golf cart 300 so that the reference point 330 is positioned on the virtual guide line 400 . The reference point 330 may correspond to the reference point of the conventional golf cart 10' shown in FIGS. 2A and 2B. That is, the golf cart 300 may perform autonomous driving using a table similar to the table shown in FIG. 1C using the horizontal deviation of the reference point 330 and the virtual guide line 400. The length of the specific radius R may be adjustable, and the rotation angle of the steering device 310 of the golf cart 300 may be determined according to the length of the specific radius R. The golf cart 300 may perform autonomous driving so that the virtual guide line 400 and the center line 350 of the golf cart coincide, or the virtual guide line 400 and the progress guide line 500 coincide.

In one embodiment, the reference point 330 is set to be located on a straight line passing through the center of a line connecting the centers of the left and

right wheels

312 and 314 and equal to the steering angle of the left and

right wheels

312 and 314. It can be.

4A to 4C are conceptual diagrams for explaining autonomous driving of a golf cart 300 according to an embodiment of the present disclosure.

Referring to FIG. 4A , the golf cart 300 has to move to the left in order for the reference point 330 to be positioned on the virtual guidance line 400 . Accordingly, the

front wheels

312 and 314 must turn left at the first steering angle θ1. Referring to FIG. 4B, the golf cart 300 is in a state of moving toward the virtual guide line 400 rather than the golf cart 300 shown in FIG. 4A. The golf cart 300 is steered to continue moving to the left, and at this time moves to the left at the second steering angle θ2. The golf cart 300 of FIG. 4B is closer to the imaginary guide line 400 than the golf cart 300 of FIG. 4A, and accordingly, the second steering angle θ2 is smaller than the first steering angle θ1. As such, the self-driving golf cart 300 according to an embodiment of the present disclosure may perform autonomous driving while approaching the virtual guide line 400 so that the steering angle θ gradually decreases. According to an embodiment of the present disclosure, the self-driving golf cart 300 performs autonomous driving so that the virtual guide line 400 and the progress guide line 500 coincide with each other so that the steering angle θ gradually decreases. can do. Therefore, smoother autonomous driving is possible.

Referring to FIG. 4C , the radii R1 and R2 of the imaginary circles C1 and C2 are adjustable. For example, the radiuses R1 and R2 of the imaginary circles C1 and C2 may be adjusted or selected by a controller of the golf cart 300 or a driver. In one embodiment, the radii (R1, R2) of the imaginary circles (C1, C2) are changeable according to the speed of the golf cart (300). It is related to the steering angles θ1' and θ2'. As shown in FIG. 4C, the steering angle θ1' in the case of performing autonomous driving by setting a reference point 330' using an imaginary circle C1 having a radius R1 is a virtual circle having a radius R2 longer than the radius R1. The reference point 330 ″ is set using the circle C2 of , which is greater than the steering angle θ2′ in the case of performing autonomous driving. That is, the larger the radius, the smaller the steering angle at the same location. That is, it is possible to adjust the steering angle by setting the radius of the virtual circle. For example, if autonomous driving is to be performed so that the golf cart follows the virtual guidance line more quickly, the radius of the virtual circle may be reduced. Alternatively, when autonomous driving is to be performed so that the golf cart more slowly follows the virtual guidance line, the radius of the virtual circle may be increased. For example, if you want to perform autonomous driving so that the golf cart follows the virtual guide line more quickly, the radius R2 of the virtual circle C2 is reduced to the radius R1 of the virtual circle C1. And, if you want to perform autonomous driving so that the golf cart follows the virtual guide line more slowly, the radius R1 of the virtual circle C1 can be increased from the radius R2 of the virtual circle C2. there is.

5 is a conceptual diagram for comparing autonomous driving according to an embodiment of the present disclosure with conventional autonomous driving. Referring to FIG. 5 , when autonomous driving of the golf cart 10' of FIG. 2A is applied to the golf cart 300 of the present disclosure, since the reference point 12 is located on the right side of the guide line 400, the golf cart 300 ) will be steered to the left. However, when autonomous driving according to an embodiment of the present disclosure is applied, since the reference point 12' is located on the left side of the guide line 400, the golf cart 300 will be steered to the right.

When the golf cart 300 is steered to the left, the guide line 400 and the golf cart 300 are not parallel and driving following the guide line 400 will be difficult. However, when the golf cart 300 is steered to the right, the guide line 400 and the golf cart 300 will slowly change direction so that they are parallel. As such, autonomous driving according to the present disclosure may be performed to follow the guide line 400 better than conventional autonomous driving.

6 is a table for explaining steering control of the golf cart 300 according to an embodiment of the present disclosure. The table in FIG. 6 is an example for explanation, and actual values may vary. For example, for explanatory purposes, portions of the table in FIG. 6 are identical to the table shown in FIG. 1C.

Referring to FIG. 6 ,

voltages

1 and 2 are values measured using the sensors M1 and M2 of FIG. 1 and can therefore be omitted. For steering control of the golf cart 300 according to an embodiment of the present disclosure, a distance between the guide line 400 and the reference point 330 and a control voltage corresponding thereto are required. In addition, a distance between the guide line 400 and the reference point 330 and a corresponding steering angle are required. Since the steering angle may vary according to the radius of the imaginary circle C, it is indicated as steering angle 1 and steering angle 2. At least one imaginary circle (C) may be set.

In one embodiment, the golf cart 300 may be configured to store the distance between the guide line 400 and the reference point 330 and the voltage corresponding thereto in a memory (not shown) as shown in the table shown in FIG. there is. The voltage is a voltage for controlling the steering device. For example, the steering device 310 may be controlled so that the voltage becomes 0. The memory may be configured to store a distance between the guide line 400 and the reference point 330 and a corresponding steering angle in a memory (not shown).

In one embodiment, the golf cart 300 may obtain a distance between the reference point 330 and the guide line 400 through an image, and perform autonomous driving using a voltage and/or a steering angle determined based on the distance.

7 is a block diagram of a golf cart 700 according to one embodiment of the present disclosure. The golf cart 700 of FIG. 7 may correspond to the golf cart 300 described above.

Referring to FIG. 7 , a golf cart 700 includes a camera 710, a controller 720, a memory 730, a steering device 740, a sensor 750, and a driving device 760. The camera 710 acquires an image of the front of the golf cart 700 . The controller 720 analyzes the front image and controls the driving device 760 to control the golf cart 700 to perform autonomous driving. The memory 730 may be configured to store a front image of the golf cart or data necessary for autonomous driving, for example, a table shown in FIG. 6 and information related thereto. The sensor 750 may be configured to collect information necessary for driving the golf cart 700 . For example, the sensor 750 may include a sensor that detects a steering angle of the golf cart 700, a sensor that detects objects in front and rear of the golf cart 700, and the like. The driving device 760 may include, for example, a motor. Driving of the golf cart 700 may be performed by driving the driving device 760 .

In one embodiment, the controller 720 includes hardware running a program, software running on the hardware, and a cloud service, and may be connected to other servers through a network. The controller 720 may include a processor. Processors include application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, and micro-controllers. controllers, microprocessors, or any other type of processor or controller for performing other functions. The memory 730 is configured to store information for operation of the control unit 720. The storage may store a plurality of application programs or applications running in the server, data readable by a processor, and instructions. For example, storage includes various storage spaces such as hard disk drive (HDD), solid state disk (SSD), silicon disk drive (SDD), ROM, RAM, EPROM, flash drive, hard drive, networked cloud, etc. can do. The server may contain an artificial intelligence model. In one embodiment, an artificial intelligence model may be implemented by a combination of a processor, storage, and code stored in the storage. An artificial intelligence model is, in the present disclosure, learning a learning model including an artificial neural network (ANN) through a large amount of learning data, optimizing the parameters inside the artificial neural network, and using the learned learning model to develop a conversation system. It may mean a model involved in the operation of (not shown). In one embodiment, an artificial intelligence module (not shown) may be learned through Machine Reading Comprehension (MRC). In one embodiment, the artificial neural network model used in the artificial intelligence module is a convolutional neural network (CNN), a deep neural network (DNN), a recurrent neural network (RNN), a restricted Boltzmann machine ( Restricted Boltzmann Machine (RBM), Deep Belief Network (DBN), Bidirectional Recurrent Deep Neural Network (BRDNN), Autoencoder, Variational Auto Encoder (VAE) or Deep At least one of Q-Networks (Deep Q-Networks), Generative Adversarial Network (GAN), etc., or a combination thereof and a modified model, but are not limited to the above examples. The artificial intelligence module may be implemented by any artificial intelligence neural network that can be implemented by prior art such as web search at the time of filing of the present disclosure.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer readable medium. Computer readable media may include program instructions, data files, data structures, etc. alone or in combination. Program instructions recorded on the medium may be specially designed and configured for the embodiment, or may be known and usable to a person in charge of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. - includes hardware devices specially configured to store and execute program instructions, such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of program instructions include high-level language codes that can be executed by a computer using an interpreter, as well as machine language codes such as those produced by a compiler. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

As described above, although the embodiments have been described with limited drawings, those skilled in the art can apply various technical modifications and variations based on the above. For example, the described techniques may be performed in an order different from the method described, and/or components of the described system, structure, device, circuit, etc. may be combined or combined in a different form than the method described, or other components may be used. Or even if it is replaced or substituted by equivalents, appropriate results can be achieved.

Therefore, other implementations, other embodiments, and equivalents of the claims are within the scope of the following claims.

10, 10', 300, 700: Golf cart

310: steering device

312, 314, 316, 318: wheels

320: load

330, 330', 330'': reference point

350: center line

400: guide wire

Claims

For golf carts,

a camera acquiring an image of the front of the golf cart;

a steering device configured to adjust a steering direction of the golf cart;

left and right wheels equally steered to the left or right according to the steering of the steering device;

a drive device configured to drive the golf cart; and

Both edges of the road are obtained by analyzing the image in front, a virtual guide line representing the driving path of the golf cart is set in the road, a reference point is set, and the relationship between the virtual guide line and the reference point is determined. A control unit configured to control the steering device based on a difference in distance;

The reference point is set to be located on a straight line that is equal to the steering angles of the left and right wheels and passes through the center of a line connecting the rotation centers of the left and right wheels,

The control unit sets the radius of a virtual circle having a specific radius based on the center of a line connecting the rotation centers of the left and right wheels, changes the radius according to the speed of the golf cart, and the golf cart Decrease the radius when autonomous driving is desired to follow a virtual guidance line faster, and increase the radius when autonomous driving is desired to follow a virtual guidance line more slowly,

golf cart.
According to claim 1,

The control unit is configured to generate a signal for steering the steering device at different angles according to the distance between the virtual guide line and the reference point,

golf cart.
According to claim 1,

The control unit is configured to steer the steering device so that a voltage corresponding to a distance between the virtual guide line and the reference point becomes 0,

golf cart.
According to claim 1,

Further comprising a memory configured to store a distance between the virtual guide line and the reference point and a voltage corresponding thereto,

golf cart.
According to claim 1,

Further comprising a sensor configured to measure the steering angle,

golf cart.
According to claim 1,

Further comprising a memory configured to store a distance between the virtual guide line and the reference point and a steering angle of the steering device corresponding thereto

golf cart.