Movement determination system of vehicle on virtual track and method therefor

Abstract

To provide a movement determination system of a vehicle on a virtual track.SOLUTION: A movement determination system of a vehicle on a virtual track is provided for determining a movement track of the vehicle on a road. A positioning module includes a wireless tag device for generating a tag message and a magnetic device for generating a magnetic sensing message. A vehicle dynamic detection module is installed in the vehicle and used for generating a vehicle dynamic message corresponding to the vehicle. A calculation determination module is installed in the vehicle and is signally connected to the positioning module and the vehicle dynamic detection module. The calculation determination module calculates a deviation value between a magnetic sensing message and a vehicle dynamic message and determines a movement track of the vehicle based on the tag message and the deviation value. In this way, by performing tracking control through distance estimation between tags, a magnetic nail yaw correction method, and track prediction, the number of magnetic nails to be laid can be reduced, and cost of laying magnetic nails can be reduced.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a system and method for determining movement of a vehicle, and more particularly to a system and method for determining movement of a vehicle on a virtual track. [Background technology]

[0002] Currently, the general positioning technologies on the market (e.g., Real Time Kinematic (RTK) and Simultaneous Localization And Mapping (SLAM)) are easily affected by poor environments and weather, which may cause unstable positioning or accuracy problems, resulting in excessive tracking errors. In addition, the traditional virtual track technology on the market is based on road signs to perform image tracking driving, and supports positioning by magnetic induction technology and wireless networks, and is currently in field operation in various regions. In addition, current international research focuses on driving on fixed routes, which requires the laying of dedicated tracks and power transmission lines, which requires the laying of a large amount of related auxiliary equipment (e.g., ground signal transmission stations and radio frequency devices around lanes), and the laying costs are too high. As can be seen, currently, there is no system and method for determining the movement of a vehicle on a virtual track that is less susceptible to weather, has controllable tracking, and is low in laying costs, so the relevant industry is looking for a solution. Summary of the Invention

[0003] Therefore, the objective of the present invention is to provide a system and a method for determining the movement of a vehicle on a virtual track, which can effectively correct the yaw situation by performing tracking control through distance estimation between tags, a magnetic nail yaw compensation method, and trajectory prediction, not only to realize controllable tracking, but also to reduce the number of magnetic nails installed, reduce the installation cost of the magnetic nails, and solve the problem of the traditional installation cost being too high.

[0004] According to one embodiment of the configuration aspect of the present invention, there is provided a vehicle movement determination system on a virtual track for determining a vehicle's movement trajectory on a road, the system comprising: a positioning module including a wireless tag device for generating a tag message and a magnetic device for generating a magnetic sensing message; a vehicle dynamic detection module installed on the vehicle for generating a vehicle dynamic message corresponding to the vehicle; and a calculation determination module installed on the vehicle and signally connected to the positioning module and the vehicle dynamic detection module, receiving the magnetic sensing message, the tag message, and the vehicle dynamic message, calculating a deviation value between the magnetic sensing message and the vehicle dynamic message, and determining the vehicle's movement trajectory based on the tag message and the deviation value.

[0005] As a result, the vehicle movement determination system on the virtual track of the present invention performs tracking control through distance estimation between tags, magnetic nail yaw correction method, and trajectory prediction, which not only effectively corrects the yaw situation to realize controllable tracking, but also reduces the number of magnetic nails installed and reduces the installation costs of the magnetic nails.

[0006] According to another example of the embodiment, the magnetic device includes a plurality of magnetic nails installed at intervals on the road and transmitting a plurality of magnetic signals, and a magnetic rod installed on the vehicle and receiving one of the magnetic signals to generate a magnetic sensing message.

[0007] According to another example of the embodiment, when the vehicle passes one of the magnetic nails, a magnetic rod senses the one of the magnetic nails and generates a corresponding magnetic sensing message, so that the calculation and determination module calculates a deviation value between the magnetic sensing message and the vehicle dynamic message, the deviation value is less than or equal to a predetermined deviation threshold, and a magnetic nail interval between two adjacent magnetic nails is determined based on the deviation value.

[0008] According to another embodiment of the present invention, the wireless tag device includes a plurality of wireless tags installed on a road and transmitting a plurality of tag signals, and a wireless receiving device installed on a vehicle and receiving one of the tag signals to generate a tag message, the tag message includes a current coordinate, a target coordinate, and a driving route, and the driving route is formed between the current coordinate and the target coordinate. The calculation and determination module drives the vehicle to move from the current coordinate to the target coordinate according to the driving route.

[0009] According to another example of the embodiment, there is a magnetic nail interval between adjacent ones of the plurality of magnetic nails, and there is a tag interval between adjacent ones of the plurality of wireless tags, the magnetic nail interval being smaller than the tag interval.

[0010] According to another example of the embodiment, when the vehicle passes one of these wireless tags, the wireless receiving device detects this one of these wireless tags, and the calculation and determination module receives the tag message by the wireless receiving device, thereby the vehicle obtains the current coordinates, the target coordinates and the driving route.

[0011] According to another embodiment of the present invention, the calculation determination module checks whether a request message is received to generate a request confirmation result, and determines whether to modify the tag message according to the request confirmation result. If the request confirmation result is YES, the calculation determination module changes the tag message to another tag message, and determines the movement trajectory of the vehicle according to the another tag message and the deviation value.

[0012] According to another embodiment of the present invention, the vehicle dynamic detection module includes an inertial element installed in the vehicle, which detects the vehicle and generates a vehicle dynamic message corresponding to the vehicle. The calculation and determination module includes an On Board Unit (OBU) installed in the vehicle and signally connected to the magnetic rod, the wireless receiving device, and the inertial element, which receives the magnetic sensing message, the tag message, and the vehicle dynamic message, calculates the deviation value between the magnetic sensing message and the vehicle dynamic message, and determines the movement trajectory of the vehicle according to the tag message and the deviation value.

[0013] According to one embodiment of the method aspect of the present invention, there is provided a method for determining vehicle movement on a virtual track for determining a movement trajectory of a vehicle on a road, comprising: a magnetic sensing step including driving a magnetic receiving device of a magnetic device to sense at least one magnetic device and generate a magnetic sensing message; a tag sensing step including driving a wireless receiving device of a wireless tag device to sense at least one wireless tag and generate a tag message; a vehicle dynamic sensing step including driving a vehicle dynamic detection module to sense a vehicle and generate a vehicle dynamic message corresponding to the vehicle; and a computation determination step including driving a computation determination module to calculate a deviation value between the magnetic sensing message and the vehicle dynamic message, and determine a movement trajectory of the vehicle based on the tag message and the deviation value, wherein the at least one wireless tag and the at least one magnetic device are installed on the road, and the wireless receiving device, the magnetic receiving device, the vehicle dynamic detection module, and the computation determination module are installed on the vehicle.

[0014] As a result, the method for determining vehicle movement on a virtual track of the present invention performs tracking control through distance estimation between tags, a magnetic nail yaw correction method, and trajectory prediction, and not only effectively corrects the yaw situation to realize controllable tracking, but also reduces the number of magnetic nails to be installed and reduces the installation costs of the magnetic nails.

[0015] According to another embodiment of the present invention, in the magnetic sensing step, the at least one magnetic device is a plurality of magnetic devices that are installed at intervals on the road and transmit a plurality of magnetic signals, and a magnetic receiving device receives one of the magnetic signals to generate a magnetic sensing message.

[0016] According to another embodiment of the present invention, in the magnetic sensing step, when the vehicle passes one of the magnetic devices, the magnetic receiving device senses the one of the magnetic devices and generates a corresponding magnetic sensing message, so that the calculation and determination module calculates a deviation value between the magnetic sensing message and the vehicle dynamic message, the deviation value is less than or equal to a predetermined deviation threshold, and the interval between both adjacent magnetic devices is determined based on the deviation value.

[0017] According to another embodiment of the present invention, in the tag sensing step, the at least one wireless tag is a plurality of tags, the wireless tags transmit a plurality of tag signals, and the wireless receiving device receives one of the tag signals to generate a tag message. The tag message includes a current coordinate, a target coordinate, and a driving path, and the driving path is formed between the current coordinate and the target coordinate. The calculation and determination module drives the vehicle to move from the current coordinate to the target coordinate according to the driving path.

[0018] According to another example of the embodiment, there is a gap between adjacent ones of the plurality of magnetic devices and there is another gap between adjacent ones of the wireless tags, the gap being smaller than the another gap.

[0019] According to another example of the embodiment, in the tag sensing step, when the vehicle passes one of these wireless tags, the wireless receiving device senses this one of these wireless tags, and the calculation and determination module receives the tag message by the wireless receiving device, thereby the vehicle obtains the current coordinates, the target coordinates and the driving route.

[0020] According to another embodiment of the embodiment, the calculation and determination step drives the calculation and determination module to check whether a request message is received to generate a request confirmation result, and determine whether to modify the tag message according to the request confirmation result. If the request confirmation result is YES, the calculation and determination module changes the tag message to another tag message, and determines the movement trajectory of the vehicle according to the another tag message and the deviation value.

[0021] According to another embodiment of the present invention, in the vehicle dynamics sensing step, an inertial element of the vehicle dynamics detection module detects a vehicle and generates a vehicle dynamics message corresponding to the vehicle. In the calculation and determination step, an On Board Unit (OBU) of the calculation and determination module calculates a deviation value between the magnetic sensing message and the vehicle dynamics message, and determines a moving trajectory of the vehicle based on the tag message and the deviation value. [Brief description of the drawings]

[0022] [Figure 1] FIG. 1 is a schematic diagram showing a vehicle movement determination system on a virtual track according to a first embodiment of the present invention. [Diagram 2] 10 is a flowchart showing a method for determining vehicle movement on a virtual track according to a second embodiment of the present invention. [Diagram 3] FIG. 13 is a schematic diagram showing a vehicle movement determination system on a virtual track according to a third embodiment of the present invention. [Figure 4] FIG. 4 is a schematic diagram showing a case where the vehicle movement determination system in the virtual trajectory of FIG. 3 is applied to vehicles and roads. [Diagram 5] FIG. 2 is a schematic diagram showing a comparison between a first magnetic nail interval and a second magnetic nail interval. [Figure 6] FIG. 4 is a schematic diagram showing a case where the vehicle movement determination system in the virtual track of FIG. 3 is applied to vehicles and stations. [Figure 7] 1 shows a schematic diagram of a wireless tag device and a computational decision module of the present invention. [Figure 8] 13 is a flowchart showing a method for determining vehicle movement on a virtual track according to a fourth embodiment of the present invention. [Figure 9] 13 is a flowchart showing a method for determining vehicle movement on a virtual track according to a fifth embodiment of the present invention. [Figure 10] 1 is a schematic diagram showing a vehicle travel route and movement trajectory on a straight road section according to the present invention; [Figure 11] FIG. 11 is a diagram showing the deviation value between the travel route and the movement trajectory in FIG. 10 and the movement distance. [Figure 12] 1 is a schematic diagram showing a travel route and a movement trajectory of a vehicle on a curved road section according to the present invention; [Figure 13] 13 is a schematic diagram showing the deviation value between the travel route and the movement trajectory in FIG. 12 and the movement distance. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] Hereinafter, several embodiments of the present invention will be described with reference to the drawings. For clarity of explanation, numerous practical details are described in the following description. However, it should be understood that these practical details are not intended to limit the present invention. That is, in some embodiments of the present invention, these practical details are not necessary. In addition, in order to simplify the drawings, certain conventional structures and components are simply and diagrammatically shown in the drawings, and overlapping components may be indicated by the same or similar numbers.

[0024] In addition, in this specification, a part (or a unit, a module, etc.) being "connected" to another part may refer to the part being directly connected to the other part, or may refer to the part being indirectly connected to the other part, i.e., another part is interposed between the part and the other part. Only when it is specified that a part is "directly connected" to another part, it indicates that no other part is interposed between the part and the other part. The terms first, second, third, etc. are merely for describing different parts and do not limit the parts themselves, and therefore the first part may be rephrased as the second part. The combinations of parts / units / circuits in this specification are not well-known, conventional, or known combinations in this field, and whether the combination relationship can be easily made by a person skilled in the art cannot be determined depending on whether the parts / units / circuits themselves are known or not.

[0025] Please refer to FIG. 1. FIG. 1 shows a schematic diagram of a system 100 for determining the movement of a vehicle on a virtual track according to a first embodiment of the present invention. The system 100 for determining the movement of a vehicle on a virtual track is used to determine the movement trajectory of a vehicle on a road, and includes a positioning module 200, a vehicle dynamic detection module 300, and a calculation determination module 400. The positioning module 200 includes a wireless tag device 210 and a magnetic device 220, where the wireless tag device 210 is used to generate a tag message, and the magnetic device 220 is used to generate a magnetic sensing message. The vehicle dynamic detection module 300 is installed in a vehicle and is used to generate a vehicle dynamic message corresponding to the vehicle. The calculation determination module 400 is installed in a vehicle and is signally connected to the positioning module 200 and the vehicle dynamic detection module 300, and receives the magnetic sensing message, the tag message, and the vehicle dynamic message. The calculation determination module 400 calculates a deviation value between the magnetic sensing message and the vehicle dynamic message, and determines the movement trajectory of the vehicle according to the tag message and the deviation value.

[0026] Please refer to Fig. 1 and Fig. 2 together. Fig. 2 shows a flow chart of a method S0 for determining the movement of a vehicle on a virtual track according to a second embodiment of the present invention. The method S0 for determining the movement of a vehicle on a virtual track may be applied to the system 100 for determining the movement of a vehicle on a virtual track, and is used to determine the movement trajectory of a vehicle on a road. The method S0 for determining the movement of a vehicle on a virtual track includes a magnetic sensing step S02, a tag sensing step S04, a vehicle dynamic sensing step S06, and a calculation determination step S08. The magnetic sensing step S02 includes driving a magnetic receiving device (not shown) of the magnetic device 220 to sense at least one magnetic device (not shown) and generate a magnetic sensing message. The tag sensing step S04 includes driving a wireless receiving device (not shown) of the wireless tag device 210 to sense at least one wireless tag (not shown) and generate a tag message. The vehicle dynamic sensing step S06 includes driving a vehicle dynamic detection module 300 to sense a vehicle and generate a vehicle dynamic message corresponding to the vehicle. The calculation and determination step S08 includes: calculating a deviation value between the magnetic sensing message and the vehicle dynamic message, and driving the calculation and determination module 400 to determine the vehicle movement trajectory according to the tag message and the deviation value. The at least one wireless tag and the at least one magnetic device are installed on the road, and the wireless receiving device, the magnetic receiving device, the vehicle dynamic detection module 300 and the calculation and determination module 400 are installed in the vehicle.

[0027] As a result, the system 100 for determining vehicle movement on a virtual track and the method S0 for determining vehicle movement on a virtual track of the present invention perform tracking control through distance estimation between tags, a magnetic nail yaw correction method, and trajectory prediction, which not only effectively corrects the yaw situation to realize controllable tracking, but also reduces the number of magnetic nails to be installed and reduces the installation costs of the magnetic nails.

[0028] Please refer to Figures 3, 4, 5, 6, and 7. Figure 3 shows a schematic diagram of a vehicle movement determination system 100a on a virtual track according to a third embodiment of the present invention, Figure 4 shows a schematic diagram of the vehicle movement determination system 100a on a virtual track of Figure 3 applied to a vehicle 110 and a road 120, Figure 5 shows a schematic diagram of a comparison between the first magnetic nail interval DM1 and the second magnetic nail interval DM2, Figure 6 shows a schematic diagram of the vehicle movement determination system 100a on a virtual track of Figure 3 applied to a vehicle 110 and a station 102, and Figure 7 shows a schematic diagram of a wireless tag device 210 and a calculation determination module 400a of the present invention. As shown in the figure, the vehicle movement determination system 100a on the virtual track is used to determine the movement trajectory of the vehicle 110 on the road 120, and includes a positioning module 200a, a vehicle dynamic detection module 300a, a calculation determination module 400a, a sensing module 500a, and a vehicle control module 600a. The vehicle dynamic detection module 300a is signal-connected to the positioning module 200a. The calculation determination module 400a is signal-connected to the positioning module 200a, the vehicle dynamic detection module 300a, the sensing module 500a, and the vehicle control module 600a.

[0029] The positioning module 200a includes a wireless tag device 210, a magnetic device 220, and a high-precision map message 230, where the wireless tag device 210 is used to generate a tag message 2142, and the magnetic device 220 is used to generate a magnetic sensing message. The high-precision map message 230 is a high-precision map message. In detail, the wireless tag device 210 includes a plurality of wireless tags 212 and one wireless receiving device 214. These wireless tags 212 are installed on the road 120 and transmit a plurality of tag signals 2122. The wireless receiving device 214 is installed in the vehicle 110 and receives one of these tag signals 2122 to generate a tag message 2142. The tag message 2142 includes a current coordinate CC, a target coordinate TC, and a travel route DP, where the current coordinate CC represents the current coordinate position of the wireless tag 212, the target coordinate TC represents the coordinate position of the next wireless tag 212 to which the vehicle 110 is heading, and the travel route DP is formed between the current coordinate CC and the target coordinate TC. The calculation and determination module 400a drives the vehicle 110 to move from the current coordinate CC to the target coordinate TC according to the travel route DP. In one embodiment, the wireless tag device 210 may be a radio-frequency identification (Radio-Frequency IDentification; RFID) device, the wireless tag 212 may be a radio-frequency identification tag (RFID Tag), and the wireless receiving device 214 may be a reader corresponding to the wireless tag 212, but the present invention is not limited thereto. Also, when the vehicle 110 passes one of these wireless tags 212, the wireless receiving device 214 detects the wireless tag 212, and the calculation determination module 400a receives the tag message 2142 by the wireless receiving device 214, thereby obtaining the current coordinate CC, the target coordinate TC, and the driving route DP of the vehicle 110.

[0030] The magnetic device 220 includes at least one magnetic device 222 and one magnetic receiving device 224. The magnetic device 222 is installed on the road 120 and transmits a magnetic signal. The magnetic receiving device 224 is installed on the vehicle 110 and receives the magnetic signal to generate a magnetic sensing message. In one embodiment, the magnetic device 222 can be a plurality of magnetic nails, and the magnetic device 222 can be installed at intervals on the road 120 and transmits a plurality of magnetic signals. The magnetic receiving device 224 can be a magnetic rod, and receives one of the magnetic signals to generate a magnetic sensing message, but the present invention is not limited thereto. In addition, when the vehicle 110 passes one of the magnetic nails, the magnetic rod senses the magnetic nail and generates a corresponding magnetic sensing message, so that the calculation determination module 400a calculates the deviation value between the magnetic sensing message and the vehicle dynamic message.

[0031] The vehicle dynamic detection module 300a is installed in the vehicle 110 and is used to generate a vehicle dynamic message corresponding to the vehicle 110. The vehicle dynamic detection module 300a may include various vehicle dynamic sensors. Specifically, the vehicle dynamic detection module 300a includes an inertial element 310 and a speedometer 320. The inertial element 310 is installed in the vehicle 110 and senses the vehicle 110 to generate a vehicle dynamic message (i.e., vehicle parameters 312) corresponding to the vehicle 110, and the inertial element 310 may be an inertial measurement unit (IMU). The speedometer 320 is also installed in the vehicle 110 and is used to obtain a vehicle speed 322 of the vehicle 110. In addition, the vehicle dynamic detection module 300a can perform a trajectory prediction 330, which includes combining the vehicle dynamic message, the vehicle speed 322, and the vehicle kinematics to predict a path of the vehicle 110 during its movement.

[0032] The computation and determination module 400a is installed in the vehicle 110 and can perform route selection 410, sensory fusion 420, and trajectory determination 430. The route selection 410 includes selecting a driving route DP corresponding to the vehicle 110 based on the tag message 2142. The sensory fusion 420 includes fusing the sensory messages of various sensors of the sensing module 500a. The trajectory determination 430 includes determining the movement trajectory of the vehicle 110 based on the tag message 2142 and the deviation value.

[0033] The sensing module 500a is installed on the vehicle 110 and includes a radar 510, a camera 520, and a lidar 530, all of which are used to sense the environmental conditions around the vehicle 110.

[0034] The vehicle control module 600a is installed in the vehicle 110 and includes a steering wheel / throttle 610. The steering wheel / throttle 610 includes a steering wheel and a throttle, and is used to control the movement of the vehicle 110 based on the driving route DP. Furthermore, the vehicle control module 600a can perform route change 620 and entry / exit 630. The route change 620 includes changing the driving route DP according to a request message. The entry / exit 630 includes controlling the entry and exit of the vehicle 110 according to the driving route DP.

[0035] 4, a first wireless tag T1, a second wireless tag T2, a third wireless tag T3, a first magnetic nail M1, a second magnetic nail M2, a third magnetic nail M3, and a fourth magnetic nail M4 are installed on a road 120. The first wireless tag T1 is located at the same position as the first magnetic nail M1, the second wireless tag T2 is located at the same position as the second magnetic nail M2, the third wireless tag T3 is located at the same position as the fourth magnetic nail M4, and the third magnetic nail M3 is located between the first magnetic nail M1 and the fourth magnetic nail M4.

[0036] When the vehicle 110 passes the first radio tag T1 and the first magnetic nail M1, the calculation and determination module 400a of the vehicle 110 receives a message from the first radio tag T1 and matches the message with the database in the vehicle 110 to obtain a map message of the current coordinates CC and the next coordinates (the coordinates of the second radio tag T2) and a driving route DP, and then determines to head to the next tag based on the original driving route DP.

[0037] At the same time, if a passenger in the vehicle 110 wants to go to the destination third wireless tag T3, the calculation and determination module 400a checks whether a request message is received to generate a request confirmation result, and determines whether to change the tag message 2142 based on the request confirmation result. If the request confirmation result is YES, the calculation and determination module 400a changes the tag message 2142 to another tag message, and determines the movement trajectory of the vehicle 110 based on the other tag message and the deviation value. In other words, if the request confirmation result is YES, the calculation and determination module 400a modifies the original driving route DP to another driving route DP toward the third wireless tag T3. Also, when the vehicle 110 passes the third magnetic nail M3, it checks whether the vehicle 110 is currently deviating from the other driving route DP toward the third wireless tag T3, and makes adjustments until the vehicle 110 receives a message from the fourth magnetic nail M4 and the third wireless tag T3. The vehicle 110 finally reaches the location specified by the passenger (i.e., the position of the third wireless tag T3). This allows the vehicle 110 to convert the driving route DP according to the request based on the currently acquired message to match other passenger requirements, greatly enhancing the route driving flexibility of the public autonomous vehicle (i.e., vehicle 110), thereby improving the transportation efficiency of the vehicle 110.

[0038] As can be seen from another travel route DP from the first radio tag T1 to the third radio tag T3, there is a magnetic nail interval between adjacent magnetic nails (e.g., "the first magnetic nail M1 and the third magnetic nail M3" or "the third magnetic nail M3 and the fourth magnetic nail M4"), and there is a tag interval between adjacent radio tags 212 (e.g., the first radio tag T1 and the third radio tag T3), and the magnetic nail interval is smaller than the tag interval.

[0039] In FIG. 5, the first magnetic nail interval DM1 and the second magnetic nail interval DM2 each represent the interval between two adjacent magnetic nails. The first magnetic nail interval DM1 may be 1m, and the second magnetic nail interval DM2 may be 10m. In the vehicle movement determination system 100a on the virtual track of the present invention, the original construction of the first magnetic nail interval DM1 may be changed to the construction of the second magnetic nail interval DM2. When the magnetic nail interval is increased, the trajectory prediction 330 and control can move the vehicle 110 along the travel path DP under the condition of an allowable deviation value, thereby effectively reducing the construction cost of the virtual track magnetic nails.

[0040] In Fig. 6, a plurality of wireless tags 212 and a plurality of magnetic devices 222 are laid on the ground. The vehicle 110 stops at one of a plurality of stations 102 (the stations 102 include stops A, B, C, and D) and detours along a certain route according to a map message, for example, a loop of "Stop Station A -> Stop Station D -> Stop Station C" or "Stop Station A -> Stop Station B -> Stop Station C", where "Stop Station A -> Stop Station D" represents moving from stop station A to stop station D. When the vehicle 110 passes any of the wireless tags 212 during movement, the vehicle 110 can obtain the coordinates of the vehicle 110's current location (i.e., current coordinates CC) and move to the next stop according to a predetermined map message. Table 1 shows example directions and destinations for a vehicle 110 in FIG. 6 to travel between any two stations 102, which represents the initial path that the system originally set to each station 102 (direction can be derived from the tag order upon entry). [Table 1]

[0041] 7, the wireless tag device 210 includes a wireless tag 212 and a wireless receiving device 214. The wireless receiving device 214 receives a tag signal 2122 from the wireless tag 212. The computation and determination module 400a is signally connected to the wireless receiving device 214 and receives a tag message 2142. Thus, the present invention utilizes the characteristics of the radio frequency tag (capable of reading a large amount of data, capable of operating at a long distance, readable and writable, and does not require additional batteries) to enable the wireless tag device 210 to interact with other related hardware to obtain the current location of the vehicle 110 and move to the next stop according to a predetermined map message.

[0042] Please refer to Figures 1, 3, 4, 5, 7 and 8. Figure 8 shows a flow chart of a method S2 for determining the movement of a vehicle on a virtual track according to a fourth embodiment of the present invention. The method S2 for determining the movement of a vehicle on a virtual track may be applied to the system 100, 100a for determining the movement of a vehicle on a virtual track, and is used to determine the movement trajectory of a vehicle 110 on a road 120. The method S2 for determining the movement of a vehicle on a virtual track includes a magnetic sensing step S22, a sensing calculation step S23, a determination step S284, and a target confirmation step S29. The following steps will be described based on the system 100a for determining the movement of a vehicle on a virtual track.

[0043] The magnetic sensing step S22 is "magnetic nail detected or not?" and includes driving the magnetic receiving device 224 of the magnetic device 220 to sense at least one magnetic device 222 and generate a magnetic sensing message. If the magnetic nail is detected, execute the sensing calculation step S23, and conversely, if the magnetic nail is not detected, execute the decision step S284. In detail, in the magnetic sensing step S22, the magnetic devices 222 are multiple, and these magnetic devices 222 are installed at intervals on the road 120 and transmit multiple magnetic signals. The magnetic receiving device 224 receives one of these magnetic signals and generates a magnetic sensing message. When the vehicle 110 passes one of these magnetic devices 222, the magnetic receiving device 224 senses this one of the magnetic devices 222 and generates a corresponding magnetic sensing message, so that the calculation decision module 400a calculates the deviation value between the magnetic sensing message and the vehicle dynamic message.

[0044] The sensing calculation step S23 is "perform sensing and calculation" and includes a tag sensing step S24, a vehicle dynamic sensing step S26, and a calculation step S282. The tag sensing step S24 includes driving the wireless receiving device 214 of the wireless tag device 210 to sense at least one wireless tag 212 and generate a tag message 2142. In detail, in the tag sensing step S24, the wireless tags 212 are multiple, and these wireless tags 212 transmit multiple tag signals 2122. The wireless receiving device 214 receives one of these tag signals 2122 and generates a tag message 2142. The tag message 2142 includes a current coordinate CC, a target coordinate TC, and a driving route DP, and the driving route DP is formed between the current coordinate CC and the target coordinate TC, and the calculation determination module 400a drives the vehicle 110 to move from the current coordinate CC to the target coordinate TC based on the driving route DP. When the vehicle 110 passes one of these wireless tags 212, the wireless receiving device 214 senses this one of these wireless tags 212, and the calculation and determination module 400a receives the tag message 2142 by the wireless receiving device 214, thereby the vehicle 110 obtains the current coordinate CC, the target coordinate TC, and the driving route DP. In other words, when the vehicle 110 passes the wireless tag 212, the calculation and determination module 400a of the vehicle 110 receives the message from the wireless tag 212, and matches this message with the database 130 in the vehicle 110 to obtain the map message of the current coordinate CC and the next coordinate, and the driving route DP.

[0045] The vehicle dynamic sensing step S26 includes driving the inertial element 310 of the vehicle dynamic detection module 300a to sense the vehicle 110 and generate a vehicle dynamic message of the corresponding vehicle 110. The calculation step S282 is "offset calculation and error control", and includes driving the calculation determination module 400a to calculate a deviation value between the magnetic sensing message and the vehicle dynamic message. The deviation value is less than a predetermined deviation threshold, and the interval between the adjacent two of these magnetic devices 222 is determined based on the deviation value. In the sensing calculation step S23, the calculation determination module 400a receives the tag message 2142, the body message 140, the vehicle dynamic message, the map message of the current coordinate CC and the next coordinate (target coordinate TC), the driving route DP, and the deviation value to perform the subsequent steps.

[0046] The determining step S284 is "trajectory determination" and includes driving the calculation and determination module 400a to determine the movement trajectory of the vehicle 110 based on the tag message 2142 and the deviation value. The combination of the above calculation step S282 and determination step S284 may be considered as the calculation and determination step S08 of FIG. 2.

[0047] The target confirmation step S29 is "has the target coordinate been reached or not?" and includes driving the calculation determination module 400a to confirm whether the vehicle 110 has reached the target coordinate TC or not. If the vehicle 110 has reached the target coordinate TC, the execution of the step is terminated; conversely, if the vehicle 110 has not reached the target coordinate TC, the magnetic sensing step S22 is repeatedly executed.

[0048] As a result, the system 100a for determining vehicle movement on a virtual track and the method S2 for determining vehicle movement on a virtual track of the present invention perform tracking control through distance estimation between tags, the magnetic nail yaw correction method, and trajectory prediction 330, so that not only can the yaw situation be effectively corrected to realize controllable tracking, but also the number of magnetic nails to be installed can be reduced, and the installation costs of the magnetic nails can be reduced.

[0049] Please refer to Figures 1, 3, 4, 5, 7 and 9. Figure 9 shows a flowchart of a method S4 for determining movement of a vehicle on a virtual track according to a fifth embodiment of the present invention. The method S4 for determining movement of a vehicle on a virtual track may be applied to the system 100, 100a for determining movement of a vehicle on a virtual track, and is used to determine the movement trajectory of a vehicle 110 on a road 120. The method S4 for determining movement of a vehicle on a virtual track includes a tag sensing step S42, a calculation determining step S44, and a vehicle control step S46. The following steps will be described based on the system 100a for determining movement of a vehicle on a virtual track.

[0050] The tag sensing step S42 includes steps S422 and S424. Step S422 is "autonomous vehicle passes tag", which includes driving the calculation and determination module 400a and the vehicle control module 600a to control the vehicle 110 to pass the wireless tag 212. Step S424 is "vehicle obtains real-time location and map message", which includes driving the calculation and determination module 400a to allow the vehicle 110 to obtain the current coordinate CC, the target coordinate TC, and the driving route DP by receiving the tag message 2142 by the wireless receiving device 214.

[0051] The calculation and determination step S44 is "check whether the target position, the predetermined route needs to be changed", which includes: driving the calculation and determination module 400a to calculate the deviation value between the magnetic sensing message and the vehicle dynamic message, and determining the movement trajectory of the vehicle 110 according to the tag message 2142 and the deviation value; and driving the calculation and determination module 400a to check whether a request message is received to generate a request confirmation result, and determine whether to change the tag message 2142 according to the request confirmation result. If the request confirmation result is YES, the calculation and determination module 400a changes the tag message 2142 to another tag message, and determines the movement trajectory of the vehicle 110 according to the other tag message and the deviation value. The target position represents the target coordinate TC.

[0052] Vehicle control step S46 is "vehicle moves to next tag" and includes driving the vehicle control module 600a to control the movement of the vehicle 110 based on one of the tag message 2142 and the other tag message to move the vehicle 110 to a target coordinate TC, which corresponds to one of the tag message 2142 and the other tag message.

[0053] As a result, according to the vehicle movement determination method S4 on a virtual track of the present invention, the autonomous vehicle (i.e., vehicle 110) can convert the driving route DP according to the requirements based on the currently acquired message and in accordance with other passenger requirements, thereby greatly enhancing the flexibility of route driving of the autonomous public transportation vehicle, and thereby improving the transportation efficiency of the autonomous vehicle.

[0054] Please refer to Figures 10, 11, 12, and 13. Figure 10 is a schematic diagram showing the driving route and movement trajectory of the vehicle 110 on a straight road section of the present invention, Figure 11 is a diagram showing the deviation value and movement distance between the driving route and movement trajectory of Figure 10, Figure 12 is a schematic diagram showing the driving route and movement trajectory of the vehicle 110 on a curved road section of the present invention, and Figure 13 is a schematic diagram showing the deviation value and movement distance between the driving route and movement trajectory of Figure 12. The driving route represents the route that the vehicle 110 intends to travel, and can be estimated by a predicted route algorithm based on information such as Ackermann steering geometry, real time kinematic (RTK) latitude and longitude, acceleration, and vehicle speed, and the movement trajectory represents the actual movement trajectory of the vehicle 110. When the vehicle 110 moves a certain vertical distance, a deviation in the lateral distance occurs between the driving route and the movement trajectory. For example, if the magnetic nail interval is set to 1m to 10m before the movement trajectory is corrected, experimental results show that a deviation value of 25cm occurs for a moving distance of 10m when traveling in a straight line, and a deviation value of 50cm occurs for a moving distance of 10m when traveling in a curved line. If the allowable deviation value is 25cm, the magnetic nail interval of the straight road section may be set to 10m, and the magnetic nail interval of the curved road section may be set to 5m, so that the vehicle 110 can effectively correct the yaw situation while traveling and realize controllable tracking. As can be seen from the above, the deviation value of the present invention is less than a predetermined deviation threshold (the upper limit of the allowable deviation value), and the magnetic nail interval between the two adjacent magnetic devices 222 is determined based on the deviation value.

[0055] In the embodiment, the vehicle 110 may be a small bus. Any of the calculation and determination modules 400, 400a may be a processor, a microprocessor, an electronic control unit (ECU), a computer, a motion device processor, a cloud processor, or other computing processors. Any of the calculation and determination modules 400, 400a may include an on-board unit (OBU), which is installed in the vehicle 110 and is signal-connected to the magnetic rod, the wireless receiving device 214, and the inertial element 310, and receives the magnetic sensing message, the tag message 2142, and the vehicle dynamic message. The on-board unit calculates a deviation value between the magnetic sensing message and the vehicle dynamic message, and determines the movement trajectory of the vehicle 110 based on the tag message 2142 and the deviation value. However, the present invention is not limited to the above.

[0056] From the above embodiment, it can be seen that the present invention has the following advantages: 1. By performing tracking control through the distance estimation between tags, the magnetic nail yaw compensation method, and trajectory prediction, the yaw situation can be effectively compensated to realize controllable tracking, and the reliability and stability of the automatic driving system control can be improved and the positioning error can be improved. 2. By setting the optimal magnetic nail spacing according to the allowable deviation value, the number of magnetic nails can be reduced, the installation cost of magnetic nails can be reduced, and the problem of the traditional installation cost being too high can be solved. 3. According to the currently acquired message, the automatic driving vehicle can convert the driving route according to the requirements according to other requirements of the passengers, which can greatly enhance the flexibility of route driving of the public automatic driving transport vehicle, and thereby improve the transportation efficiency of the automatic driving vehicle.

[0057] The present invention has been disclosed above based on the embodiments, but this does not limit the present invention, and a person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and therefore the protection scope of the present invention is based on the scope defined in the appended claims. [Explanation of symbols]

[0058] 100, 100a Vehicle movement determination system on virtual track 102 Station 110 vehicles 120 Road 130 Databases 140 Body Message 200, 200a Positioning Module 210 Wireless tag device 212 Wireless Tag 2122 Tag Signal 214 Radio receiving equipment 2142 Tag Message 220 Magnetic Device 222 Magnetic devices 224 Magnetic Receiving Equipment 230 High-precision map messages 300, 300a Vehicle Dynamic Detection Module 310 Inertial element 312 Vehicle parameters 320 speedometer 322 Vehicle speed 330 Trajectory Prediction 400, 400a Computational decision module 410 Route Selection 420 Sensing Fusion 430 Locus determination 500a sensing module 510 Radar 520 Camera 530 Rider 600a Vehicle Control Module 610 Steering Wheel / Throttle 620 Route Change 630 Entrance / Exit A, B, C, D Stations CC Current coordinates DM1 First magnetic nail spacing DM2 Second magnetic nail spacing DP Travel Route M1 First magnetic nail M2 2nd magnetic nail M3 3rd magnetic nail M4 4th magnetic nail S0, S2, S4 Vehicle movement decision method on virtual trajectory S02, S22 Magnetic sensing step S04, S24, S42 Tag detection steps S06, S26 Vehicle dynamic detection step S08, S44 Calculation decision step S23 Sensing calculation step S282 Calculation Step S284 Decision Step S29 Goal Confirmation Step S422, S424 steps S46 Vehicle control step T1 1st radio tag T2 Second radio tag T3 3rd radio tag TC target coordinates

Claims

1. A system for determining movement of a vehicle on a virtual trajectory for determining a movement trajectory of a vehicle on a road, comprising: a radio tag device for generating a tag message; a magnetic device for generating a magnetic sensing message; a positioning module including: a vehicle dynamic detection module installed in the vehicle for generating a vehicle dynamic message corresponding to the vehicle; A calculation and determination module is installed in the vehicle, signally connected to the positioning module and the vehicle dynamic detection module, receives the magnetic sensing message, the tag message, and the vehicle dynamic message, calculates a deviation value between the magnetic sensing message and the vehicle dynamic message, and determines the movement trajectory of the vehicle according to the tag message and the deviation value; A system for determining movement of a vehicle on a virtual trajectory comprising:

2. The magnetic device comprises: a plurality of magnetic nails spaced apart on the roadway and transmitting a plurality of magnetic signals; a magnetic rod installed in the vehicle, receiving one of the plurality of magnetic signals and generating the magnetic sensing message; 2. The system for determining movement of a vehicle on a virtual track according to claim 1, comprising:

3. When the vehicle passes one of the plurality of magnetic nails, the magnetic rod senses the one of the plurality of magnetic nails and generates the corresponding magnetic sensing message, so that the calculation and determination module calculates the deviation value between the magnetic sensing message and the vehicle dynamic message; 3. The system for determining movement of a vehicle on a virtual track according to claim 2, wherein the deviation value is equal to or less than a predetermined deviation threshold value, and a magnetic nail interval between adjacent ones of the plurality of magnetic nails is determined based on the deviation value.

4. The wireless tag device A plurality of wireless tags that are installed on the road and transmit a plurality of tag signals; a radio receiving device installed in the vehicle for receiving one of the tag signals and generating the tag message; Including, 3. The system for determining movement of a vehicle on a virtual track as described in claim 2, wherein the tag message includes a current coordinate, a target coordinate, and a driving path, the driving path being formed between the current coordinate and the target coordinate, and the calculation determination module drives the vehicle to move from the current coordinate to the target coordinate based on the driving path.

5. 5. The system for determining movement of a vehicle on a virtual track as described in claim 4, wherein adjacent ones of the plurality of magnetic nails have a magnetic nail interval, adjacent ones of the plurality of wireless tags have a tag interval, and the magnetic nail interval is smaller than the tag interval.

6. The vehicle movement determination system on a virtual track as described in claim 4, wherein when the vehicle passes one of the plurality of wireless tags, the wireless receiving device detects the one of the plurality of wireless tags, and the calculation determination module receives the tag message by the wireless receiving device, thereby the vehicle obtains the current coordinates, the target coordinates, and the driving route.

7. The computation decision module checks whether a request message is received, generates a request confirmation result, and decides whether to modify the tag message based on the request confirmation result; The system for determining movement of a vehicle on a virtual track as described in claim 1, wherein if the request confirmation result is YES, the calculation determination module changes the tag message to another tag message and determines the movement trajectory of the vehicle based on the another tag message and the deviation value.

8. the vehicle dynamic detection module includes an inertial element mounted on the vehicle and configured to sense the vehicle and generate the vehicle dynamic message corresponding to the vehicle; 5. The vehicle movement determination system according to claim 4, wherein the calculation and determination module includes an on-board unit (OBU) that is installed in the vehicle and is signal-connected to the magnetic rod, the wireless receiving device, and the inertial element, receives the magnetic sensing message, the tag message, and the vehicle dynamic message, calculates the deviation value between the magnetic sensing message and the vehicle dynamic message, and determines the movement trajectory of the vehicle based on the tag message and the deviation value.

9. A method for determining a movement path of a vehicle on a virtual trajectory for determining a movement path of a vehicle on a road, comprising: a magnetic sensing step including driving a magnetic receiving device of the magnetic device to sense at least one magnetic device and generate a magnetic sensing message; a tag sensing step including activating a radio receiver of the radio tag device to sense at least one radio tag and generate a tag message; a vehicle dynamic sensing step including driving a vehicle dynamic detection module to sense the vehicle and generate a vehicle dynamic message corresponding to the vehicle; and a calculation and determination step including driving a calculation and determination module to calculate a deviation value between the magnetic sensing message and the vehicle dynamic message, and to determine the movement trajectory of the vehicle based on the tag message and the deviation value; The at least one wireless tag and the at least one magnetic device are installed on the road, and the wireless receiving device, the magnetic receiving device, the vehicle dynamic detection module, and the calculation and determination module are installed in the vehicle. A method for determining vehicle movement on a virtual track.

10. In the magnetic sensing step, the at least one magnetic device is a plurality of magnetic devices, the plurality of magnetic devices being installed at intervals on the roadway and transmitting a plurality of magnetic signals; 10. The method of claim 9, wherein the magnetic receiving device receives one of the plurality of magnetic signals to generate the magnetic sensing message.

11. In the magnetic sensing step, when the vehicle passes one of the plurality of magnetic devices, the magnetic receiving device senses the one of the plurality of magnetic devices and generates the corresponding magnetic sensing message, so that the calculation and determination module calculates the deviation value between the magnetic sensing message and the vehicle dynamic message; 11. The method for determining movement of a vehicle on a virtual track according to claim 10, wherein the deviation value is equal to or less than a predetermined deviation threshold value, and an interval between adjacent ones of the plurality of magnetic devices is determined based on the deviation value.

12. 11. The method for determining movement of a vehicle on a virtual track as described in claim 10, wherein, in the tag sensing step, the at least one wireless tag is multiple, the wireless tag transmits multiple tag signals, the wireless receiving device receives one of the multiple tag signals to generate the tag message, the tag message includes a current coordinate, a target coordinate, and a driving path, the driving path is formed between the current coordinate and the target coordinate, and the calculation determination module drives the vehicle to move from the current coordinate to the target coordinate based on the driving path.

13. The method for determining vehicle movement on a virtual track as described in claim 12, wherein there is a gap between adjacent ones of the plurality of magnetic devices and another gap between adjacent ones of the plurality of wireless tags, the gap being smaller than the other gap.

14. The method for determining movement of a vehicle on a virtual track as described in claim 12, wherein in the tag sensing step, when the vehicle passes one of the plurality of wireless tags, the wireless receiving device senses the one of the plurality of wireless tags, and the calculation determination module receives the tag message by the wireless receiving device, thereby causing the vehicle to obtain the current coordinates, the target coordinates, and the driving route.

15. The calculation and determination step includes: and driving the computational decision module to determine whether a request message is received, generate a request confirmation result, and determine whether to modify the tag message based on the request confirmation result; 10. The method for determining movement of a vehicle on a virtual track as described in claim 9, wherein if the request confirmation result is YES, the calculation determination module changes the tag message to another tag message, and determines the movement trajectory of the vehicle based on the another tag message and the deviation value.

16. In the vehicle dynamic sensing step, an inertial element of the vehicle dynamic detection module senses the vehicle and generates the vehicle dynamic message corresponding to the vehicle; 13. The method for determining movement of a vehicle on a virtual track according to claim 12, wherein in the calculation and determination step, an on-board unit (OBU) of the calculation and determination module calculates the deviation value between the magnetic sensing message and the vehicle dynamic message, and determines the movement trajectory of the vehicle based on the tag message and the deviation value.

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