Controlling method of purpose built vehicle
Patent Information
- Application Number
- KR1020260161664
- Authority / Receiving Office
- KR · KR
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2026-08-27
- Publication Date
- 2026-09-04
Smart Images
Figure PAT00005_ABST
Abstract
Description
Technology Field
[0001] The embodiments disclosed in this document relate to a method for controlling a purpose-based vehicle. Background Technology
[0002] Purpose-built vehicles (PBVs) are mobility solutions designed or manufactured for specific purposes, referring to means of transportation that move based on autonomous or remote driving. PBVs can be optimized to perform specific tasks or functions depending on the purpose and can be utilized not only as a means of transportation but also in various fields such as logistics delivery, construction, and ports. PBVs need to adapt to diverse environments and situations, and to this end, the vehicles can collect and analyze various data to perform learning. The problem to be solved
[0003] The objective-based vehicle can be operated in conjunction with various work modules (e.g., trailers, containers, robot arms, etc.), and the various work modules can be controlled through the control of the objective-based vehicle.
[0004] Based on the discussion above, the present disclosure provides an apparatus and method for efficiently controlling various work modules that can be connected to a purpose-based vehicle. means of solving the problem
[0005] A purpose-built vehicle (PBV) according to one embodiment of the present disclosure comprises a memory storing one or more instructions for controlling the purpose-built vehicle and at least one work module connected to the purpose-built vehicle, and at least one processor for executing the one or more instructions stored in the memory, wherein the at least one processor identifies that the work module is connected to the purpose-built vehicle by executing the one or more instructions, activates at least one control node among a plurality of control nodes for controlling the connected work module, generates at least one instruction for performing at least one function through the activated at least one node, and is configured to control the purpose-built vehicle based on the at least one instruction, wherein the at least one control node corresponds to at least one actuator of the purpose-built vehicle, and the at least one instruction may include information regarding the rotational direction and speed of the at least one actuator.
[0006] In one embodiment, the at least one processor is configured to select the at least one control node to be activated among the plurality of control nodes based on work information of the work module, and the work information can be identified based on information regarding the type of the work module and the work environment.
[0007] In one embodiment, the purpose-based vehicle further includes a communication unit, and the at least one processor may be configured to receive work information of the work module from a control device.
[0008] In one embodiment, the purpose-based vehicle includes a sensing unit comprising a plurality of sensors, and the at least one processor is configured to identify information regarding the type of the work module and the work environment based on sensing data identified through the sensing unit, and the plurality of sensors may include a camera, a LiDAR sensor, an IMU (inertial measurement) sensor, and a proximity sensor.
[0009] In one embodiment, the at least one processor may be configured to receive information regarding the work environment from the work module.
[0010] In one embodiment, the at least one processor may be configured to identify a user input that inputs work information of the work module and to activate the at least one control node based on the user input.
[0011] In one embodiment, the at least one function may include at least one of a steering function, a driving function, and a lift function.
[0012] In one embodiment, the at least one processor may be configured to generate data regarding an autonomous driving path of the objective-based vehicle based on information regarding the work module and information regarding the work environment.
[0013] A method of operating a purpose-built vehicle (PBV) according to one embodiment of the present disclosure comprises: identifying that a work module is connected to the purpose-built vehicle; activating at least one control node among a plurality of control nodes for controlling the identified work module; generating at least one command to perform at least one function through the activated at least one node; and controlling the purpose-built vehicle based on the at least one command, wherein the at least one control node corresponds to at least one actuator of the purpose-built vehicle, and the at least one command may include information regarding the rotational direction and speed of the actuator.
[0014] In one embodiment, a method for operating a purpose-based vehicle includes an operation of selecting at least one control node to be activated among a plurality of control nodes based on work information of the work module, and the work information may be identified based on information regarding the type of the work module and the work environment.
[0015] In one embodiment, the operation method of the objective-based vehicle may include the operation of receiving the operation information from the control device.
[0016] In one embodiment, a method for operating a purpose-based vehicle may include an operation of acquiring sensing data, and an operation of identifying information regarding the type of the work module and the work environment based on the sensing data.
[0017] In one embodiment, the operation method of a purpose-based vehicle may include receiving information regarding the work environment from the work module.
[0018] In one embodiment, the operation method of a purpose-based vehicle may include an operation of identifying a user input that inputs work information of the work module, and an operation of activating the at least one node based on the user input.
[0019] A computer-readable recording medium having a program to be executed on a computer according to one embodiment of the present disclosure can perform the operation methods of the purpose-based vehicle described above. Effects of the invention
[0020] The embodiments of the present disclosure provide the effect of being able to control various types of work modules through a single software.
[0021] The effects obtainable in the present disclosure are not limited to those mentioned in the various embodiments, and other unmentioned effects will be clearly understood by those skilled in the art to which the present disclosure pertains from the description below. Brief explanation of the drawing
[0022] FIG. 1 illustrates an example of a driving environment for a purpose-based vehicle according to one embodiment. FIG. 2 illustrates an example of a purpose-based vehicle and a work module that can be connected to the purpose-based vehicle according to one embodiment. FIG. 3 illustrates a block configuration of a purpose-based vehicle according to one embodiment. FIG. 4 illustrates the block configuration of a control device according to one embodiment. FIG. 5 illustrates the operation flow of a purpose-based vehicle according to one embodiment. FIG. 6 illustrates an example of a control node of a purpose-based vehicle according to one embodiment. FIG. 7 illustrates an example of control node activation of a work module according to one embodiment. FIG. 8 illustrates an example of a work module control system according to one embodiment. In relation to the description of the drawings, the same or similar reference numerals may be used for identical or similar components. Specific details for implementing the invention
[0023] Hereinafter, embodiments of the present disclosure are described in detail with reference to the drawings so that those skilled in the art can easily practice them. However, the present disclosure may be embodied in various different forms and is not limited to the embodiments described herein. In relation to the description of the drawings, the same or similar reference numerals may be used for identical or similar components. Furthermore, in the drawings and related descriptions, descriptions of well-known functions and configurations may be omitted for clarity and brevity.
[0024] FIG. 1 illustrates an example of a driving environment for a purpose-based vehicle according to one embodiment.
[0025] According to one embodiment, the driving environment (100) of a purpose-based vehicle may include one or more purpose-based vehicles (110), a control device (120), one or more relay devices (130), and a work module (140) connected to the purpose-based vehicle (110).
[0026] In one embodiment, the objective-based vehicle (110) may include a vehicle capable of remote driving based on signals received from an autonomous driving and control device (e.g., a control device (120)). The objective-based vehicle (110) may be connected to various types of work modules to perform various functions. The objective-based vehicle (110) may be referred to as a “base module.”
[0027] In one embodiment, although not shown in the drawings, the purpose-based vehicle (110) may include at least one receiving portion (e.g., loading portion, fastening portion, receiving groove, etc.) for connecting to a work module.
[0028] In one embodiment, the control device (120) may include a control device for controlling a target-based vehicle (110). The control device (120) may be referred to as a “control device” or a “control server”.
[0029] In one embodiment, the control device (120) can transmit data necessary for driving the purpose-based vehicle (110) to the purpose-based vehicle (110). For example, the control device (120) can transmit data regarding an autonomous driving model to the purpose-based vehicle (110). For example, the control device (120) can transmit information regarding the driving mode of the purpose-based vehicle (110) (e.g., individual driving mode, collaborative driving mode, etc.) to the purpose-based vehicle (110). For example, the control device (120) can transmit information regarding another purpose-based vehicle that is in collaborative driving to the purpose-based vehicle (110). For example, the control device (120) can transmit to the target-based vehicle (110) driving information necessary for driving the target-based vehicle (110), such as: specification information of the target-based vehicle (110), specification information of a work module connected to the target-based vehicle (110), and information regarding the area where the target-based vehicle (110) is operating.
[0030] In one embodiment, the control device (120) may receive driving-related data of the purpose-based vehicle (110) from the purpose-based vehicle (110). For example, the control device (120) may receive information regarding driving data of the purpose-based vehicle (110) (e.g., driving time, driving speed, driving distance, driving route, driving environment, output of the purpose-based vehicle (110), etc.) from the control device (120). For example, the control device (120) may receive data obtained by the purpose-based vehicle (110) from other vehicles (e.g., other purpose-based vehicles driving in collaboration, other vehicles operating on the road, etc.) from the purpose-based vehicle (110).
[0031] In one embodiment, the control device (120) can perform learning of a plurality of autonomous driving models required for driving the purpose-based vehicle (110) based on driving-related data received from the purpose-based vehicle (110). The plurality of autonomous driving models may be multiple depending on the driving environment of the purpose-based vehicle (110) and the type of connected work module, and the control device (120) can perform learning for each autonomous driving model.
[0032] In one embodiment, the drawing is illustrated as having only one control device (120), but this is merely an example, and one or more control devices may be included in the driving environment (100). The control device (120) may be controlled by a controller, and one control device (120) may control one or more purpose-based vehicles (110).
[0033] In one embodiment, although not illustrated in the drawings, the driving environment (100) may include one or more network devices (e.g., base stations) for data communication between the control device (120) and the target-based vehicle (110). Communication between the control device (120) and the target-based vehicle (110) in a short-distance area, such as a logistics center, may be performed without using existing communication infrastructure; however, since the target-based vehicle (110) and the control device (120) may use a cellular network for communication outside the range where short-distance wireless communication (e.g., WiFi, BLE) is possible, the driving environment may include an externally installed base station (e.g., eNB, gNB).
[0034] In one embodiment, the relay device (130) may refer to a device for identifying information regarding a driving environment (100) that is difficult to identify solely by the target-based vehicle (110) and the control device (120), and for transmitting this information to the target-based vehicle (110) and the control device (120).
[0035] In one embodiment, the relay device (130) may transmit information regarding the driving environment (100) to the target-based vehicle (110) and the control device (120). For example, the relay device (130) may include information regarding the target-based vehicle present in the current driving environment and the work module connected to the target-based vehicle (e.g., information regarding the size of the work module, the number of target-based vehicles present in the driving environment (100), information regarding the vehicle present at the docking station, information regarding the driving zone, information regarding the driving restricted zone).
[0036] In one embodiment, the work module (140) may include a device connected to a purpose-based vehicle (110) to perform one or more functions.
[0037] In one embodiment, the work module (140) may be connected to the destination-based vehicle (110) based on one or more methods. For example, the work module (140) may be connected to the destination-based vehicle (110) in a manner such as being loaded onto the destination-based vehicle (110). For example, the work module (140) may be connected to the destination-based vehicle (110) through a connection part (e.g., a coupler) present on the destination-based vehicle (110) (e.g., a coupling pin and a coupler are connected).
[0038] According to various embodiments of the present disclosure, various types of work modules may be connected to the purpose-based vehicle (110), and a detailed description thereof may be provided in FIG. 2 below.
[0039] FIG. 2 illustrates an example of a purpose-based vehicle and a work module according to one embodiment.
[0040] According to one embodiment, the purpose-based vehicle (110) may be connected to various types of work modules (210). The work modules shown in FIG. 2 are examples, and the various types of work modules that may be connected to the purpose-based vehicle (110) are not limited to those shown in the drawings.
[0041] In one embodiment, the objective-based vehicle (110) may be connected to a work module (210). Through the control of the objective-based vehicle (110), the work module (210) connected to the objective-based vehicle (110) may perform at least one function.
[0042] In one embodiment, the work module (210) may be connected to the purpose-based vehicle (110) in a manner that is coupled to the purpose-based vehicle (110). For example, the work module (210) may be connected to the purpose-based vehicle (110) by coupling a coupling portion (e.g., a coupler) formed on the purpose-based vehicle (110) with a coupling portion (e.g., a coupling pin) of the work module (210).
[0043] In one embodiment, the work module (210) may be connected to the destination-based vehicle (110) in a manner such that it is loaded onto the destination-based vehicle (110). For example, the work module (210) may be connected to the destination-based vehicle (110) in a manner such that it is coupled to a loading portion (e.g., a portion including a receiving groove (recess)) formed on the destination-based vehicle (110).
[0044] In one embodiment, the first work module (211) may include a device that includes a space for storing items for transporting items. For example, the first work module (211) may include a space for loading items inside, and the space may have a structure that is safely separated from the outside. The first work module (211) may be used to transport parcels and courier services.
[0045] In one embodiment, the second work module (212) may include a device having the form of a robot arm capable of performing various tasks. The second work module (212) may have a flexible structure having multiple joints. Various types of tasks (e.g., assembly, packaging, sorting, or operation of specific equipment, etc.) can be performed at various angles and positions through the second work module (212). The second work module (212) may include a sensor capable of precise position control, a motor, and an interface that allows for the interchangeable use of various tools.
[0046] In one embodiment, the third work module (213) may include a device comprising a loading space for logistics transport. The third work module (213) may have a size and structure suitable for stably transporting large cargo (e.g., containers). The third work module (213) may include a fastening part (e.g., coupling pin) and a driving part (e.g., wheel) so as to be connected to and move with the purpose-based vehicle (110). The third work module (213) may include a lift mechanism for automatic loading and unloading of logistics, a fixing device for the safe transport of goods, etc.
[0047] In one embodiment, the fourth work module (214) may include a trailer for port transport. The fourth work module (214) may include a strong frame capable of carrying large containers and a large loading space. The fourth work module (214) may be connected to a plurality of purpose-based vehicles (110).
[0048] In one embodiment, the fifth work module (215) may include a device for cleaning the road. The fifth work module (215) may include additional equipment such as a space for mounting cleaning equipment, a water tank, or a trash collection bin. Additionally, the fifth work module (215) may include various cleaning tools such as a rotating brush, a high-pressure water sprayer, and a vacuum suction port.
[0049] In one embodiment, the sixth work module (216) may include a tank lorry. The sixth work module (216) may include a sturdy tank capable of safely transporting liquid or gas. The sixth work module (216) may include a pressure management device, etc., for the safe transport of loaded material.
[0050] In one embodiment, the seventh work module (217) may include a logistics transport device used at an airport. The seventh work module (217) may include a space capable of transporting passengers, luggage, and air cargo. The seventh work module (217) may include high maneuverability to operate on various terrains within the airport, a door opening and closing system to facilitate boarding and disembarking, and the like.
[0051] In one embodiment, the eighth work module (218) may include a device for waste collection. The eighth work module (218) may include a large loading space capable of collecting a large amount of waste. The eighth work module (218) may include a device capable of automatically loading and compressing waste, and a device for separating and collecting waste.
[0052] The work module (210) illustrated in FIG. 2 is merely an example, and various types of work modules can be connected to the purpose-based vehicle (110).
[0053] FIG. 3 illustrates a block configuration of a purpose-based vehicle according to one embodiment.
[0054] According to one embodiment, the purpose-based vehicle (110) may include a control unit (310), a memory (320), a communication unit (330), a sensing unit (340), and a driving unit (350).
[0055] According to one embodiment, the memory (320) is a storage medium used by the purpose-based vehicle (110) and can store data such as at least one instruction (321) or setting information corresponding to at least one program. The program may include an operating system (OS) program and various application programs.
[0056] In one embodiment, the memory (320) may store data received from an external electronic device (e.g., another purpose-based vehicle) located adjacent to the purpose-based vehicle (110). For example, the data received from the external electronic device may include information regarding a work module, information regarding a work environment, etc.
[0057] In one embodiment, the memory (320) may include at least one type of storage medium among a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (e.g., SD or XD memory, etc.), RAM (random access memory, RAM), SRAM (static random access memory), ROM (read only memory, ROM), EEPROM (electrically erasable programmable ROM), PROM (programmable ROM), magnetic memory, a magnetic disk, and an optical disk.
[0058] According to one embodiment, the communication unit (330) may provide a wired or wireless communication interface that enables communication with an external device (e.g., another vehicle, control device, relay device, etc.).
[0059] In one embodiment, the communication unit (330) may include at least one of a local area network (LAN) communication unit and a short-range wireless communication unit. The wireless LAN communication unit may include, for example, Wi-Fi and may support the IEEE wireless LAN standard (IEEE802.11x).
[0060] In one embodiment, the communication unit (330) may be wirelessly connected to an Access Point (AP) under the control of the control unit (310). The AP may include a device that enables devices to be connected using relevant standards using Wi-Fi in a computer network. For example, a relay device (130) may perform the function of an AP.
[0061] In one embodiment, the communication unit (330) can wirelessly communicate with an external device in a short range under the control of the control unit (310). The short range communication may include Bluetooth, Bluetooth Low Energy, Infrared Data Association (IrDA), Ultra WideBand (UWB), and Near Field Communication (NFC). The external device may include a control device, another purpose-based vehicle, a relay device, and a user device (e.g., a smartphone, a tablet PC, etc.).
[0062] In one embodiment, the purpose-based vehicle (110) can receive various types of data (e.g., data regarding an autonomous driving model) from the control device (120) through the communication unit (330).
[0063] In one embodiment, the purpose-based vehicle (110) can transmit various types of data (e.g., driving-related data of the purpose-based vehicle (110), requests for work environment information, requests for work module information, etc.) to the control device (120) through the communication unit (330).
[0064] According to one embodiment, the control unit (310) can execute operations or data processing regarding the control and / or communication of at least one other component of the objective-based vehicle (110) by executing at least one instruction (321) stored in the memory (320).
[0065] In one embodiment, the control unit (310) may include at least one of a central processing unit (CPU), a graphics processing unit (GPU), a microcontroller unit (MCU), a sensor hub, a supplementary processor, a communication processor, an application processor, an application specific integrated circuit (ASIC), or a field programmable gate array (FPGA), and may have multiple cores.
[0066] In one embodiment, the control unit (310) can, for example, execute software to control at least one other component (e.g., hardware or software component) of the purpose-based vehicle (110) connected to the control unit (310) and can perform various data processing or operations.
[0067] According to one embodiment, as at least part of the data processing or operation, the control unit (310) may store commands or data received from other components in volatile memory, process the commands or data stored in volatile memory, and store result data in non-volatile memory.
[0068] According to one embodiment, the control unit (310) may include a main control unit (e.g., a central processing unit or an application control unit) or an auxiliary control unit that can be operated independently or together with it (e.g., a graphics processing unit, a neural processing unit (NPU), an image signal control unit, a sensor hub control unit, or a communication control unit). For example, if the purpose-based vehicle (110) includes a main control unit and an auxiliary control unit, the auxiliary control unit may be configured to use less power than the main control unit or to be specialized for a designated function. The auxiliary control unit may be implemented separately from the main control unit or as part thereof.
[0069] According to one embodiment, the control unit (310) can identify (determine) the type of work module connected to the target-based vehicle (110). The type of work module may include the first work module (211) to the eighth work module (218) described in detail in FIG. 2. Information regarding the work module may include information that the target-based vehicle (110) has received in advance from a control device (120), etc. and stored.
[0070] In one embodiment, the sensing unit (340) may include various types of sensors for detecting objects adjacent to the target-based vehicle (110) and identifying the state of the target-based vehicle (110). For example, the target-based vehicle (110) may include one or more cameras, a LiDAR sensor, an IMU sensor, a load sensor, a proximity sensor, etc.
[0072] In one embodiment, the purpose-based vehicle (110) can acquire data regarding images or video of the surrounding environment of the purpose-based vehicle (110) through a camera. Based on the data regarding images or video of the surrounding environment acquired through the camera, the purpose-based vehicle (110) can generate information regarding the working environment of the purpose-based vehicle (110). For example, the purpose-based vehicle (110) can analyze images of the surrounding environment acquired through the camera to identify objects adjacent to the purpose-based vehicle (110) (e.g., people, other vehicles, work modules, trailers, etc.) and generate information regarding the working environment of the purpose-based vehicle (110) based on the information regarding the identified objects.
[0073] In one embodiment, the purpose-based vehicle (110) can identify objects close to the purpose-based vehicle (110) through a proximity sensor. For example, the purpose-based vehicle (110) can detect the presence of objects such as other vehicles, pedestrians, animals, and objects located around the purpose-based vehicle (110) through a proximity sensor. For example, the purpose-based vehicle (110) can identify the distance between the purpose-based vehicle (110) and surrounding objects through a proximity sensor. Through this, the purpose-based vehicle (110) can perform actions such as avoiding collisions with surrounding objects, changing lanes, and performing tasks. For example, the purpose-based vehicle (110) can identify the speed and direction of surrounding objects through a proximity sensor. For example, the purpose-based vehicle (110) can generate a 3D map of the surrounding environment of the purpose-based vehicle (110) based on data obtained from the proximity sensor and data obtained from other sensors of the sensing unit (340).
[0074] In one embodiment, the objective-based vehicle (110) can generate information about the surrounding environment of the objective-based vehicle (110) through a light detection and ranging (LiDAR) sensor. For example, the objective-based vehicle (110) can identify the distance and location of surrounding objects and the objective-based vehicle (110) through the LiDAR sensor, and can generate 3D environment map information based on data obtained from other sensors. Additionally, for example, the objective-based vehicle (110) can identify and classify objects around the objective-based vehicle (110) through the LiDAR sensor, and can track the speed and movement of surrounding objects. Additionally, for example, the objective-based vehicle (110) can accurately recognize the driving and working environment of the objective-based vehicle (110) (e.g., lanes, road boundaries, obstacles, etc.) through the LiDAR sensor.
[0075] In one embodiment, the goal-based vehicle (110) can acquire data regarding the movement and direction of the goal-based vehicle (110) through an IMU sensor. The goal-based vehicle (110) can acquire information regarding the linear acceleration, angular velocity, and magnetic field of the work module, including an accelerometer, gyroscope, or magnetometer, through an IMU sensor. For example, the goal-based vehicle (110) can acquire information regarding changes in the speed (acceleration, deceleration) of the goal-based vehicle (110) through an IMU sensor. For example, the goal-based vehicle (110) can acquire information regarding the angular velocity (change in direction, rotation, or tilt of the vehicle) of the goal-based vehicle (110) through an IMU sensor. Based on the information regarding the acceleration and angular velocity of the goal-based vehicle (110) acquired through the IMU sensor, the goal-based vehicle (110) can generate information regarding the current pose and tilt of the goal-based vehicle (110). The IMU sensor can be used with GPS (not shown).
[0076] In one embodiment, the drive unit (350) may include configurations for the movement of the objective-based vehicle (110) and the control of the work module. The objective-based vehicle (110) can control the driving, direction adjustment, speed control, and specific operation of the work module of the objective-based vehicle (110) through the drive unit (350).
[0077] In one embodiment, the drive unit (350) may include an electric motor. For example, the drive unit (350) may include a drive motor for driving the target-based vehicle (110). For example, the drive unit (350) may include an actuator for controlling various mechanical movements of the work module. The drive unit (350) may include a predetermined number (e.g., 8). The target-based vehicle (110) may control the actuator of the drive unit (350) to move the joints of the robot arm (e.g., the second work module (212)) or operate other work modules. For example, the drive unit (350) may transmit power generated from the motor of the target-based vehicle (110) to the wheels or other components (e.g., actuators) of the target-based vehicle (110). The drive unit (350) may optimize speed and torque as needed by adjusting the gear ratio. For example, the drive unit (350) may include a steering actuator used to adjust the direction of the vehicle. Through the steering actuator, the destination-based vehicle (110) can adjust the direction of the vehicle and drive along an accurate path. For example, the drive unit (350) may include a braking device. The destination-based vehicle (110) can reduce the speed of the destination-based vehicle (110) or stop it through the braking device.
[0078] FIG. 4 illustrates the block configuration of a control device according to one embodiment.
[0079] According to one embodiment, the control device (400) may include a control unit (410), a memory (420), a communication unit (430), a display unit (440), and an input unit (450). The control device (400) may include the control device (120) of FIG. 1.
[0080] According to one embodiment, the memory (420) is a storage medium used by the purpose-based vehicle (110) and can store data such as at least one instruction (421) or setting information corresponding to at least one program. The program may include an operating system (OS) program and various application programs.
[0081] In one embodiment, the memory (420) may store data received from an external electronic device (e.g., another purpose-based vehicle) located adjacent to the purpose-based vehicle (110). For example, the data received from the external electronic device may include information regarding a work module, information regarding a work environment, etc.
[0082] In one embodiment, the memory (420) may include at least one type of storage medium among a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (e.g., SD or XD memory, etc.), RAM (random access memory, RAM), SRAM (static random access memory), ROM (read only memory, ROM), EEPROM (electrically erasable programmable ROM), PROM (programmable ROM), magnetic memory, a magnetic disk, and an optical disk.
[0083] According to one embodiment, the communication unit (430) may provide a wired or wireless communication interface that enables communication with an external device (e.g., another vehicle, control device, relay device, etc.).
[0084] In one embodiment, the communication unit (430) may include at least one of a local area network (LAN) communication unit and a short-range wireless communication unit. The wireless LAN communication unit may include, for example, Wi-Fi and may support the IEEE wireless LAN standard (IEEE802.11x).
[0085] In one embodiment, the communication unit (430) may be wirelessly connected to an Access Point (AP) under the control of the control unit (410). The AP may include a device that enables devices to be connected using relevant standards using Wi-Fi in a computer network. For example, a relay device (130) may perform the function of an AP.
[0086] In one embodiment, the communication unit (430) can wirelessly communicate near-field with the target-based vehicle (110) under the control of the control unit (410). Near-field communication may include Bluetooth, Bluetooth Low Energy, Infrared Data Association (IrDA), Ultra WideBand (UWB), and Near Field Communication (NFC). The external device may include the target-based vehicle, a relay device, and a user device (e.g., a smartphone, a tablet PC, etc.).
[0087] In one embodiment, the control device (400) can receive various types of data (e.g., driving data, information about a work module connected to the goal-based vehicle (110), information about the surrounding environment of the goal-based vehicle (110), etc.) from the goal-based vehicle (110) through the communication unit (430).
[0088] In one embodiment, the control device (400) can transmit various types of data (e.g., information regarding a work module, information regarding the driving path of the target-based vehicle (110), an autonomous driving model, etc.) to the target-based vehicle (110) through the communication unit (430).
[0089] According to one embodiment, the control unit (410) can execute operations or data processing regarding the control and / or communication of at least one other component of the objective-based vehicle (110) by executing at least one instruction (421) stored in the memory (420).
[0090] In one embodiment, the control unit (410) may include at least one of a central processing unit (CPU), a graphics processing unit (GPU), a micro controller unit (MCU), a sensor hub, a supplementary processor, a communication processor, an application processor, an application specific integrated circuit (ASIC), or a field programmable gate array (FPGA), and may have multiple cores.
[0091] In one embodiment, the control unit (410) can, for example, execute software to control at least one other component (e.g., hardware or software component) of the purpose-based vehicle (110) connected to the control unit (410) and can perform various data processing or operations.
[0092] According to one embodiment, as at least part of the data processing or operation, the control unit (410) may store commands or data received from other components in volatile memory, process the commands or data stored in volatile memory, and store result data in non-volatile memory.
[0093] According to one embodiment, the control unit (410) may include a main control unit (e.g., a central processing unit or an application control unit) or an auxiliary control unit that can operate independently or together with it (e.g., a graphics processing unit, a neural processing unit (NPU), an image signal control unit, a sensor hub control unit, or a communication control unit). For example, if the purpose-based vehicle (110) includes a main control unit and an auxiliary control unit, the auxiliary control unit may be configured to use less power than the main control unit or to be specialized for a designated function. The auxiliary control unit may be implemented separately from the main control unit or as part thereof.
[0094] According to one embodiment, the display unit (440) can perform functions for outputting information in the form of numbers, characters, images, and / or graphics. The display unit (440) may include at least one hardware module for output. The at least one hardware module may include, for example, at least one of an LCD (Liquid Crystal Display), an LED (Light Emitting Diode), an LPD (Light Emitting Polymer Display), an OLED (Organic Light Emitting Diode), an AMOLED (Active Matrix Organic Light Emitting Diode), or an FLED (Flexible LED). The display unit (440) can display a screen corresponding to data received from the control unit (410). The display unit (440) may be referred to as an 'output unit', 'display', or other terms having an equivalent technical meaning.
[0095] In one embodiment, the control device (400) can display information related to the operation of the purpose-based vehicle (110) through the display unit (440). For example, the control device (400) may include information regarding the driving route, speed, driving environment, work module, and work environment of the purpose-based vehicle (110) through the display unit (440).
[0096] In one embodiment, the purpose-based vehicle (110) can identify user input for controlling the control device (400) and the purpose-based vehicle (110) through an input unit (450). For example, the user input may include user input for adjusting the direction of the purpose-based vehicle (110) controlled by the control device (400) (e.g., steering). For example, the user input may include user input for adjusting the speed of the purpose-based vehicle (110) controlled by the control device (400) (e.g., pedal).
[0097] FIG. 5 illustrates the operation flow of a destination-based vehicle according to one embodiment. FIG. 6 illustrates an example of a control node according to one embodiment. FIG. 7 illustrates an example of the activation of a control node of a work module according to one embodiment. The destination-based vehicle of FIG. 5 to 7 may include a device corresponding to the destination-based vehicle of FIG. 1 to 4.
[0098] According to one embodiment, in operation 510, the objective-based vehicle can identify that the work module is connected to the objective-based vehicle.
[0099] According to one embodiment, a purpose-based vehicle can identify that a work module is connected to the purpose-based vehicle. The purpose-based vehicle can identify that a work module is loaded or attached to the purpose-based vehicle. For example, the purpose-based vehicle can identify that a work module is attached to the purpose-based vehicle (e.g., a trailer). For example, the purpose-based vehicle can identify that a work module is loaded onto the purpose-based vehicle (e.g., a work module for parcel transport).
[0100] In one embodiment, the purpose-based vehicle may include a component (e.g., electrical wiring) capable of identifying that a connection part (e.g., coupling pin) of a work module is connected to a connection part (e.g., coupler) included in the purpose-based vehicle. If a signal indicating that the work module is connected through the connection part is identified, the purpose-based vehicle may determine that the work module is connected to the purpose-based vehicle.
[0101] In one embodiment, the purpose-based vehicle may include a component (e.g., electrical wiring formed in the receiving groove or a load sensor included in the vehicle) capable of identifying that a work module is loaded in a loading portion (e.g., a receiving groove or a vehicle top plate) included in the purpose-based vehicle. For example, if an electrical signal is detected when a work module is coupled to the receiving groove, the purpose-based vehicle may determine that a work module is connected to the purpose-based vehicle. For example, if a weight greater than a predetermined value is identified through the load sensor of the purpose-based vehicle, the purpose-based vehicle may detect an electrical signal through the load sensor, and accordingly, the purpose-based vehicle may determine that a work module is connected to the purpose-based vehicle.
[0102] In one embodiment, the purpose-based vehicle may determine that a work module is loaded or attached to the purpose-based vehicle through at least one sensor included in the purpose-based vehicle. For example, if a weight exceeding a certain threshold is sensed through a load sensor included in the purpose-based vehicle, the purpose-based vehicle may determine that a work module is loaded or attached to the purpose-based vehicle. For example, based on image data acquired through a camera included in the purpose-based vehicle, the purpose-based vehicle may determine that a work module is loaded or attached to the purpose-based vehicle. For example, if an object larger than a predetermined size is identified as approaching the purpose-based vehicle through a proximity sensor included in the purpose-based vehicle, the purpose-based vehicle may determine that a work module is loaded or attached to the purpose-based vehicle.
[0103] In one embodiment, the purpose-based vehicle may determine that a work module has been loaded or attached to the purpose-based vehicle based on user input identified in the purpose-based vehicle. For example, if, after the work module has been attached or loaded, the user inputs user input to the purpose-based vehicle to indicate that the work module has been attached or loaded, the purpose-based vehicle may determine that the work module has been loaded or attached to the purpose-based vehicle.
[0104] According to one embodiment, in operation 520, the objective-based vehicle can activate at least one control node to control a connected work module among a plurality of control nodes.
[0105] In one embodiment, the destination-based vehicle may include a plurality of control nodes. The control nodes may include nodes for controlling the destination-based vehicle and a work module connected to the destination-based vehicle.
[0106] In one embodiment, a plurality of control nodes may correspond to (map) a plurality of actuators included in a goal-based vehicle. The goal-based vehicle may include a plurality of actuators. The actuators may include components (e.g., motors, pumps, lift actuators, etc.) for controlling the goal-based vehicle and work modules connected to the goal-based vehicle. Activating a control node by the goal-based vehicle may include the process of generating commands necessary to operate a specific actuator in the control system of the goal-based vehicle.
[0107] In one embodiment, the objective-based vehicle may select a control node to activate based on information regarding a work module and information regarding a work environment. Information regarding a work module may include information regarding functions that the work module can perform, tasks that the work module will perform, requirements for the work module to perform tasks, etc. Information regarding a work environment may include information regarding the overall environment in which the objective-based vehicle and the work module connected to the objective-based vehicle perform tasks.
[0108] In one embodiment, the objective-based vehicle can obtain information regarding a work module and information regarding a work environment from a control device. The objective-based vehicle can receive information regarding a work module and information regarding a work environment from a control device. Information regarding a work module and information regarding a work environment can be received from the control device upon a request from the objective-based vehicle.
[0109] In one embodiment, a purpose-based vehicle can obtain information regarding a work module and information regarding a work environment based on user input that inputs a work module and work content. The user input entered after the purpose-based vehicle and the work module are connected, or during the connection process, may include the work module and the work content of the work module. In such cases, the purpose-based vehicle can obtain information regarding the work module and information regarding a work environment based on the user input.
[0110] Objective-based vehicles selectively activate control nodes according to the work situation, allowing the vehicle's control system to adaptively control the vehicle and work modules based on the type of work module, the surrounding environment, and work requirements. For example, if a robot arm connected to an object is to move to a specific location to grab and move an object, various types of actuators (e.g., servo motors, linear actuators, etc.) may need to be coordinated simultaneously; therefore, the object-based vehicle can selectively activate control nodes by considering the type of work module, the work environment, and work requirements.
[0111] Referring to FIG. 6, the objective-based vehicle may include a plurality of control nodes (601, 602, 603, 604, 605, 606, 607, 608). Each of the plurality of control nodes may be mapped to a specific actuator and may be optionally activated. As illustrated in FIG. 6, only the first node (601), the second node (602), the fifth node (605), the sixth node (606), and the eighth node (608) may be activated, while the remaining control nodes (603, 604, 607) may be deactivated. In the description regarding FIG. 6, the objective-based vehicle is described as including eight control nodes as an example, but this is merely an example, and a greater or smaller number of control nodes may be included in the objective-based vehicle.
[0112] According to one embodiment, in operation 530, at least one instruction can be generated to perform at least one function.
[0113] In one embodiment, at least one function may be determined based on information regarding the type of work module and the work environment.
[0114] In one embodiment, the purpose-based vehicle can generate at least one instruction to perform at least one function.
[0115] In one embodiment, at least one command may include information regarding the rotational direction and speed of the at least one actuator. Additionally, it may include control information for the actuator required depending on the type of actuator, such as a pump or a lift actuator.
[0116] Referring to FIG. 7, a goal-based vehicle (110) connected to a first work module (211) according to one embodiment can activate two control nodes to perform steering and forward functions. Accordingly, the goal-based vehicle (110) can operate as a two-axis robot. The goal-based vehicle (110) can generate commands to perform forward functions and steering functions.
[0117] A goal-based vehicle (110) connected to a second work module (212) according to one embodiment can activate seven control nodes to perform the functions of a robot arm, steering functions, and forward functions. Accordingly, the goal-based vehicle (110) can operate as a 7-axis robot. The goal-based vehicle (110) can generate commands to perform the functions of a robot arm, steering functions, and forward functions.
[0118] A target-based vehicle (110) connected to a third work module (213) according to one embodiment can activate eight control nodes to perform the functions of a kingpin (coupling pin), steering, and forward. Accordingly, the target-based vehicle (110) can operate as an 8-axis robot. The target-based vehicle (110) can generate commands to perform the functions of a kingpin (coupling pin), steering, and forward.
[0119] A goal-based vehicle (110) connected to a fourth work module (214) according to one embodiment can activate six control nodes to perform a lift function, a steering function, and a forward function. Accordingly, the goal-based vehicle (110) can operate as a 6-axis robot. The goal-based vehicle (110) can generate commands to perform a lift function, a steering function, and a forward function.
[0120] A target-based vehicle (110) connected to a fifth work module (215) according to one embodiment can activate four control nodes to perform a pump function, a brush function, a steering function, and a forward function. Accordingly, the target-based vehicle (110) can operate as a four-axis robot. The target-based vehicle (110) can generate commands to perform a pump function, a brush function, a steering function, and a forward function.
[0121] A goal-based vehicle (110) connected to a sixth work module (216) according to one embodiment can activate three control nodes to perform pumping, steering, and forward functions. Accordingly, the goal-based vehicle (110) can operate as a three-axis robot. The goal-based vehicle (110) can generate commands to perform pumping, steering, and forward functions.
[0122] A target-based vehicle (110) connected to a seventh work module (217) according to one embodiment can activate three control nodes to perform a lift function, a steering function, and a forward function. Accordingly, the target-based vehicle (110) can operate as a three-axis robot. The target-based vehicle (110) can generate commands to perform a lift function, a steering function, and a forward function.
[0123] According to one embodiment, the eighth work module (218) connected to the objective-based vehicle (110) can activate four control nodes to perform a lift function, a steering function, and a forward function. Accordingly, the objective-based vehicle (110) can operate as a four-axis robot. The objective-based vehicle (110) can generate commands to perform a lift function, a steering function, and a forward function.
[0124] According to one embodiment, in operation 540, a destination-based vehicle can be controlled based on at least one command. According to at least one command, the destination-based vehicle and the work module can perform at least one function.
[0125] FIG. 8 illustrates an example of a work module control system according to one embodiment.
[0126] Referring to FIG. 8, the control system (800) may include a target-based vehicle (300), a control device (400), and a user interface for controlling the same.
[0127] A control system (800) according to one embodiment may be composed of a plurality of control nodes (812), a robot operating system (ROS) application (822, 824) that generates data for controlling a target-based vehicle based on data obtained from the control nodes, a message bus (830) for securely transmitting and receiving data between software modules or nodes, a programmable logical controller (PLC) (826) for controlling a work module, a PBV control application (840) for processing packaged and encrypted integrated messages and controlling the target-based vehicle and work module through a message relay and decoding program, and an operating system (850).
[0128] In one embodiment, a plurality of control nodes can each obtain specific data from a specific configuration and transmit it to a ROS application. The ROS application (824) can perform functions such as object recognition and autonomous driving path setting. The ROS application (824) is connected to the ROS application (822) through a ROS bridge, so that compatibility between the ROS1 node and the ROS2 node can be ensured.
[0129] The Client Library may include a set of Application Programming Interfaces (APIs) that enable software to communicate with other services or applications on a network. Network communication can be performed via TCP / UDP protocols, and it may include Nodelet APIs to enable message exchange between various processes.
[0130] A purpose-built vehicle (PBV) according to one embodiment of the present disclosure comprises a memory storing one or more instructions for controlling the purpose-built vehicle and at least one work module connected to the purpose-built vehicle, and at least one processor for executing the one or more instructions stored in the memory, wherein the at least one processor identifies that the work module is connected to the purpose-built vehicle by executing the one or more instructions, activates at least one control node among a plurality of control nodes for controlling the connected work module, generates at least one instruction for performing at least one function through the activated at least one node, and is configured to control the purpose-built vehicle based on the at least one instruction, wherein the at least one control node corresponds to at least one actuator of the purpose-built vehicle, and the at least one instruction may include information regarding the rotational direction and speed of the at least one actuator.
[0131] In one embodiment, the at least one processor is configured to select the at least one control node to be activated among the plurality of control nodes based on work information of the work module, and the work information can be identified based on information regarding the type of the work module and the work environment.
[0132] In one embodiment, the purpose-based vehicle further includes a communication unit, and the at least one processor may be configured to receive work information of the work module from a control device.
[0133] In one embodiment, the purpose-based vehicle includes a sensing unit comprising a plurality of sensors, and the at least one processor is configured to identify information regarding the type of the work module and the work environment based on sensing data identified through the sensing unit, and the plurality of sensors may include a camera, a LiDAR sensor, an IMU (inertial measurement) sensor, and a proximity sensor.
[0134] In one embodiment, the at least one processor may be configured to receive information regarding the work environment from the work module.
[0135] In one embodiment, the at least one processor may be configured to identify a user input that inputs work information of the work module and to activate the at least one control node based on the user input.
[0136] In one embodiment, the at least one function may include at least one of a steering function, a driving function, and a lift function.
[0137] In one embodiment, the at least one processor may be configured to generate data regarding an autonomous driving path of the objective-based vehicle based on information regarding the work module and information regarding the work environment.
[0138] A method of operating a purpose-built vehicle (PBV) according to one embodiment of the present disclosure comprises: identifying that a work module is connected to the purpose-built vehicle; activating at least one control node among a plurality of control nodes for controlling the identified work module; generating at least one command to perform at least one function through the activated at least one node; and controlling the purpose-built vehicle based on the at least one command, wherein the at least one control node corresponds to at least one actuator of the purpose-built vehicle, and the at least one command may include information regarding the rotational direction and speed of the actuator.
[0139] In one embodiment, a method for operating a purpose-based vehicle includes an operation of selecting at least one control node to be activated among a plurality of control nodes based on work information of the work module, and the work information may be identified based on information regarding the type of the work module and the work environment.
[0140] In one embodiment, the operation method of the objective-based vehicle may include the operation of receiving the operation information from the control device.
[0141] In one embodiment, a method for operating a purpose-based vehicle may include an operation of acquiring sensing data, and an operation of identifying information regarding the type of the work module and the work environment based on the sensing data.
[0142] In one embodiment, the operation method of a purpose-based vehicle may include receiving information regarding the work environment from the work module.
[0143] In one embodiment, the operation method of a purpose-based vehicle may include an operation of identifying a user input that inputs work information of the work module, and an operation of activating the at least one node based on the user input.
[0144] A computer-readable recording medium having a program to be executed on a computer according to one embodiment of the present disclosure can perform the operation methods of the purpose-based vehicle described above.
[0145] The electronic device according to the various embodiments disclosed in this document may be of various forms. The electronic device may include, for example, a display device, a portable communication device (e.g., a smartphone), a computer device, a portable multimedia device, a portable medical device, a camera, a wearable device, or a consumer electronics device. The electronic device according to the embodiments of this document is not limited to the devices described above.
[0146] The various embodiments of this document and the terms used therein are not intended to limit the technical features described in this document to specific embodiments, and should be understood to include various modifications, equivalents, or substitutions of said embodiments. For example, a component expressed in the singular should be understood as a concept including a plural component unless the context clearly implies only the singular. It should be understood that the term "and / or" as used in this document encompasses any possible combination of one or more of the listed items. Terms such as "comprising," "having," and "consisting of" used in this disclosure are intended merely to indicate the existence of the features, components, parts, or combinations thereof described in this disclosure, and the use of such terms is not intended to exclude the existence or addition of one or more other features, components, parts, or combinations thereof. In this document, each of the phrases such as “A or B,” “at least one of A and B,” “at least one of A or B,” “A, B or C,” “at least one of A, B and C,” and “at least one of A, B, or C” may include any one of the items listed together in the corresponding phrase, or all possible combinations thereof. Terms such as “first,” “second,” or “first” or “second” may be used simply to distinguish a component from another component and do not limit the components in any other aspect (e.g., importance or order).
[0147] The terms “part” or “module” as used in the various embodiments of this document may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit, for example. The “part” or “module” may be a component formed integrally, or a minimum unit of said component or a part thereof that performs one or more functions. For example, according to one embodiment, the “part” or “module” may be implemented in the form of an application-specific integrated circuit (ASIC).
[0148] As used in the various embodiments of this document, the term “in case” may be interpreted, depending on the context, to mean “when” or “at the time” or “in response to a decision” or “in response to a detection.” Similarly, “in case it is determined” or “in case this is detected” may be interpreted, depending on the context, to mean “at the time of determination” or “in response to a decision” or “at the time of detection” or “in response to a detection.”
[0149] The program executed by the control device (200) described in this document may be implemented as a hardware component, a software component, and / or a combination of a hardware component and a software component. The program may be executed by any system capable of executing computer-readable instructions.
[0150] Software may include computer programs, code, instructions, or a combination of one or more of these, and may configure a processing unit to operate as desired or command the processing unit independently or collectively. Software may be implemented as a computer program containing instructions stored on computer-readable storage media. Examples of computer-readable storage media include magnetic storage media (e.g., ROM (Read-Only Memory), RAM (Random-Access Memory), floppy disks, hard disks, etc.) and optical reading media (e.g., CD-ROMs, DVDs (Digital Versatile Discs)). Computer-readable storage media may be distributed across networked computer systems, allowing computer-readable code to be stored and executed in a distributed manner. Computer programs may be distributed online (e.g., download or upload) through an application store (e.g., Play Store™) or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily created on a device-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.
[0151] According to various embodiments, each component (e.g., module or program) of the components described above may include a singular or multiple entities, and some of the multiple entities may be separated and placed in other components. According to various embodiments, one or more of the components or operations of the aforementioned components may be omitted, or one or more other components or operations may be added. Generally or additionally, multiple components (e.g., module or program) may be integrated into a single component. In this case, the integrated component may perform one or more functions of each of the multiple components in the same or similar manner as those performed by the corresponding component among the multiple components prior to integration. According to various embodiments, operations performed by the module, program, or other components may be executed sequentially, in parallel, iteratively, or heuristically, or one or more of the operations may be executed in a different order, omitted, or one or more other operations may be added.
Claims
Claim 1 A control device for communicating with a purpose-built vehicle (PBV), comprising: a memory for storing one or more instructions for the operation of the control device; a communication unit for transmitting and receiving data with the purpose-built vehicle; and at least one processor for executing the one or more instructions, wherein the at least one processor is configured to receive driving-related data of the purpose-built vehicle from the purpose-built vehicle, perform learning for each of a plurality of autonomous driving models for driving the purpose-built vehicle based on the driving-related data, and transmit data regarding at least one of the plurality of autonomous driving models to the purpose-built vehicle, wherein the plurality of autonomous driving models are distinguished from one another according to the driving environment of the purpose-built vehicle and the type of work module connected to the purpose-built vehicle. Claim 2 A control device according to claim 1, wherein the driving-related data includes information regarding at least one of the driving time, driving speed, driving distance, driving path, driving environment, and output of the purpose-based vehicle. Claim 3 A control device according to claim 1, wherein the driving-related data includes data obtained from another purpose-based vehicle with which the purpose-based vehicle is driving in cooperation or from another vehicle operating on the road. Claim 4 A control device according to claim 1, wherein at least one processor is configured to further receive, from the purpose-based vehicle, information regarding the connected work module and information regarding the surrounding environment of the purpose-based vehicle, select an autonomous driving model corresponding to the type of the work module identified by the information regarding the work module and the surrounding environment from among the plurality of autonomous driving models, and transmit data regarding the selected autonomous driving model to the purpose-based vehicle. Claim 5 A control device according to claim 1, wherein the at least one processor is configured to transmit to the purpose-based vehicle operation information comprising at least one of specification information of the purpose-based vehicle, specification information of the work module, and information regarding the area in which the purpose-based vehicle is operating. Claim 6 A control device according to claim 1, wherein at least one processor is configured to transmit driving mode information to the purpose-based vehicle indicating whether the driving mode of the purpose-based vehicle is an individual driving mode or a cooperative driving mode. Claim 7 In claim 6, the at least one processor is configured to transmit information regarding another object-based vehicle that is cooperating with the object-based vehicle to the object-based vehicle when the driving mode is the cooperating driving mode. Claim 8 A control device according to claim 1, wherein at least one processor is configured to receive driving-related data from each of a plurality of purpose-based vehicles and to perform learning for each of the plurality of autonomous driving models based on the driving-related data received from each of the plurality of purpose-based vehicles. Claim 9 A method of operation of a control device communicating with a purpose-built vehicle (PBV), comprising: receiving driving-related data of the purpose-built vehicle from the purpose-built vehicle; performing learning for each of a plurality of autonomous driving models for driving the purpose-built vehicle based on the driving-related data; and transmitting data regarding at least one of the plurality of autonomous driving models to the purpose-built vehicle, wherein the plurality of autonomous driving models are distinguished from one another according to the driving environment of the purpose-built vehicle and the type of work module connected to the purpose-built vehicle. Claim 10 A method according to claim 9, wherein the driving-related data comprises information regarding at least one of the driving time, driving speed, driving distance, driving path, driving environment, and output of the purpose-based vehicle. Claim 11 A method according to claim 9, wherein the driving-related data comprises data obtained from another purpose-based vehicle with which the purpose-based vehicle is driving in cooperation or from another vehicle operating on the road. Claim 12 A method according to claim 9, further comprising: receiving from the purpose-based vehicle information regarding the connected work module and information regarding the surrounding environment of the purpose-based vehicle; selecting from the plurality of autonomous driving models an autonomous driving model corresponding to the type of the work module identified by the information regarding the work module and the surrounding environment; and transmitting data regarding the selected autonomous driving model to the purpose-based vehicle. Claim 13 A method according to claim 9, further comprising: an operation of transmitting driving mode information to the goal-based vehicle indicating whether the driving mode of the goal-based vehicle is an individual driving mode or a collaborative driving mode; and, if the driving mode is the collaborative driving mode, an operation of transmitting information regarding another goal-based vehicle that is in collaborative driving with the goal-based vehicle to the goal-based vehicle.