Method for generating score map for mobilities, travel control method for mobilities, and travel control system for mobilities

Abstract

To provide a method of generating a score map for mobilities according to which a final score map is generated by merging a vector map, which depends on a geography, with a score map dependent on an ambient environment.SOLUTION: A method of generating a score map for mobilities includes a step of loading a local map including plural cells, a step of scanning an ambient environment of a mobility, a step of recognizing a geography around the mobility using information concerning the ambient environment of the mobility, a step of generating a first score map dependent on the geography, a step of generating a vector map dependent on the geography, a step of changing the vector map to a second score map, and a step of generating a final score map on the basis of the first score map and second score map.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a method for generating a mobility score map, a travel control method for mobility, and a travel control system for mobility. More specifically, the present invention relates to a method for generating a mobility score map that generates a final score map by merging a vector map according to terrain into a score map corresponding to the surrounding environment, and a travel control method and a travel control system for mobility that generate a travel route using the final score map and control the travel of mobility based on the travel route.

Background Art

[0002] Generally, in autonomous driving mobility, the planning of a travel route is executed by planning possible operations of mobility on a vector map or a 2D map. Such a travel route is planned based on a 2D or 3D lidar. In a stable indoor environment, mobility can plan a sufficiently safe travel route with only a 2D lidar and travel along the planned travel route without accidents. However, when mobility travels outdoors using a 2D lidar-based travel route plan, the terrain on which mobility can travel may be recognized as an obstacle, or the terrain on which mobility cannot travel may not be recognized as an obstacle. The matters described in this background art section are created to enhance the understanding of the background of the invention, and may include matters that are not prior art already known to those having ordinary knowledge in the technical field to which this technology belongs.

Summary of the Invention

Problems to be Solved by the Invention

[0003] The present invention provides a method for generating a mobility score map that generates a final score map by merging a vector map according to terrain into a score map corresponding to the surrounding environment. The present invention also provides a travel control method for mobility and a travel control system that generate a travel route using the final score map and control the travel of mobility based on the travel route.

Means for Solving the Problem

[0004] The method for generating a mobility score map of the present invention includes steps of: loading, by a mobility controller, a local map including a plurality of cells; scanning, by a peripheral environment scan unit mounted on the mobility, the peripheral environment of the mobility; recognizing, by the controller, the terrain around the mobility from information on the peripheral environment of the mobility; generating, by the controller, a first score map corresponding to the terrain; generating, by the controller, a vector map corresponding to the terrain; switching, by the controller, the vector map to a second score map; and generating, by the controller, a final score map based on the first score map and the second score map.

[0005] The terrain includes obstacles defined by all objects physically existing between the lower surface and the upper surface of the mobility, general terrain defined by terrain where all surfaces exist between the bottom surface of the mobility and the lower ends of the wheels, and special terrain defined by terrain where the mobility can move according to the approaching direction and speed. The vector map includes the plurality of cells and a plurality of vectors moving from each of the plurality of cells to surrounding cells. The type of terrain is stored in each cell, and the maximum speed and minimum speed of the mobility when moving in the direction of the vector are stored in each vector. The step of generating a vector map according to the terrain can include steps of collecting performance information of the mobility, calculating a vector map of the terrain around the obstacle, calculating a vector map of the special terrain, and calculating a vector map of the general terrain. The step of switching the vector map to a second score map includes steps of assigning scores based on the obstacle terrain, assigning scores based on the maximum speed, and assigning scores based on the special terrain.

[0006] The step of assigning scores based on the obstacle terrain is executed by assigning a score meaning movement prohibition to the cells containing obstacles, and assigning scores to the surrounding cells in inverse proportion to the distance to the obstacles. The step of assigning scores based on the maximum speed is executed by assigning scores according to the restricted ratio of the maximum speed. The step of generating the final score map based on the first score map and the second score map can include the step of setting the maximum value of at least one score assigned to any cell as the final score of the cell, and the step of setting the maximum value of at least one score assigned to any vector as the final score of the vector.

[0007] The driving control method for mobility of the present invention includes the step of generating a score map by the above method, the step of generating a driving route based on the score map by a controller, the step of generating a driving command based on the driving route by the controller, and the step of controlling the driving of mobility according to the generated driving command by the controller. The step of generating a driving route can include the step of generating at least one route from the current position of the mobility to the destination, the step of deleting inappropriate routes among the at least one route that contain areas where obstacles are located or movement is prohibited, and the step of selecting, as the driving route, the route with the minimum score among the at least one route from which the inappropriate routes have been deleted. The driving command includes a speed command and a torque command.

[0008] The driving control system for mobility of the present invention includes a mobile object capable of traveling, a surrounding environment scanning unit mounted on the mobile object and configured to scan the surrounding environment of the mobile object, a controller that loads a local map including a plurality of cells, receives information on the surrounding environment scanned by the surrounding environment scanning unit, recognizes the terrain around the mobile object from the information on the surrounding environment, generates a first score map corresponding to the recognized terrain, generates a vector map according to the recognized terrain, switches the generated vector map to a second score map, generates a final score map based on the first score map and the second score map, generates a driving route based on the final score map, and is configured to control the driving of the mobile object based on the driving route.

[0009] The terrain includes obstacles defined by all objects physically existing between the lower surface and the upper surface of the mobile object, general terrain defined by terrain where all surfaces exist between the bottom surface of the mobile object and the lower ends of the wheels, and special terrain defined by terrain where the mobile object can move according to the approach direction and speed. The vector map includes the plurality of cells and a plurality of vectors moving from each of the plurality of cells to surrounding cells. The type of terrain is stored in each cell, and the maximum speed and minimum speed of the mobile object when moving in the direction of the vector are stored in each vector. When generating a vector map according to the terrain, the controller is configured to collect performance information of the mobile object, calculate a vector map of the surrounding terrain of the obstacle based on the type of the obstacle, calculate a vector map of the special terrain based on the type of the special terrain and the performance information of the mobile object, and calculate a vector map of the general terrain based on the type of the general terrain and the performance information of the mobile object. When switching the vector map to the second score map, the controller is configured to assign scores based on the obstacle terrain, assign scores based on the maximum speed, and assign scores based on the special terrain.

[0010] The controller is configured to assign scores based on the obstacle terrain by assigning a score indicating movement prohibition to cells containing obstacles and assigning scores to surrounding cells in inverse proportion to the distance to the obstacles. The controller is configured to assign scores based on the maximum speed by assigning scores according to the ratio at which the maximum speed is limited. When generating the final score map based on the first score map and the second score map, the controller is configured to set the maximum value of at least one score assigned to any cell as the final score of that cell and set the maximum value of at least one score assigned to any vector as the final score of that vector. When generating a travel route, the controller is configured to generate at least one route from the current position of the mobility to the destination, delete inappropriate routes among the at least one route that contain areas where obstacles are located or movement is prohibited, and select, as the travel route, the route with the minimum score among the at least one route from which the inappropriate routes have been deleted. When controlling the travel of the mobility based on the travel route, the controller is configured to generate a travel command based on the travel route and control the travel of the mobility according to the generated travel command. The travel command includes a speed command and a torque command.

Advantages of the Invention

[0011] According to the present invention, in a 2D lidar, terrains that cannot be recognized as dangerous areas can also be recognized as terrains where accidents may occur, improving the safety of the mobility. Areas that were once classified as dangerous areas but are conditionally movable can also be generated as travel routes under preset criteria. Without additional sensors, the stability of travel route generation during outdoor travel can be improved using the lidar and camera that were previously used for indoor travel. The lifespan of the mobility can be improved by preferentially avoiding areas that may damage the hardware of the mobility. For other effects obtained or predicted by the present invention, they shall be directly or implicitly disclosed in the detailed description of the embodiments of the present invention. That is, various effects predicted by the embodiments of the present invention will be disclosed within the detailed description hereinafter. The embodiments of this specification will be better understood with reference to the following description in conjunction with the accompanying drawings in which like reference numerals are the same or refer to elements that are functionally similar.

Brief Description of the Drawings

[0012]

Figure 1

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Modes for Carrying Out the Invention

[0013] It should be understood that the above drawings are not necessarily drawn to scale and present somewhat simplified representations of various preferred features illustrating the basic principles of the present disclosure. For example, certain design features of the present disclosure, including specific dimensions, directions, positions, and shapes, will be determined in part by specific intended applications and usage environments. The terms used herein are for the purpose of describing particular embodiments only and are not intended to limit the present invention. As used herein, the singular forms are intended to include the plural forms as well, unless the context clearly dictates otherwise. The terms "comprising" and / or "comprises" when used herein specify the presence of the features, integers, steps, operations, elements, and / or components referred to, but do not preclude the presence or addition of one or more of other features, integers, steps, operations, elements, components, and / or groups thereof. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0014] As used herein, "mobility" or "mobility of" or other similar terms include general land mobility including passenger vehicles such as sports utility vehicles (SUVs), buses, trucks, various commercial vehicles, etc., marine mobility including various boats and ships, and air mobility including aircraft, drones, etc., and all objects that can move powered by a power source. Also, as used herein, "mobility" or "mobility of" or other similar terms are understood to include hybrid mobility, electric mobility, plug-in hybrid mobility, hydrogen-powered mobility, and other alternative fuel (e.g., fuels derived from resources other than petroleum) mobility. As referred to herein, hybrid mobility includes mobility having two or more power sources, e.g., gasoline-powered and electric-powered mobility. Mobility according to embodiments of the present invention includes not only manually driven mobility but also somewhat autonomous and / or automatically driven mobility.

[0015] Additionally, it is understood that the following methods or one or more of these aspects can be executed by at least one controller. The term "controller" can refer to a hardware device that includes a memory and a processor. The memory is configured to store program instructions, and the processor is specially programmed to execute the program instructions to perform one or more processes described in more detail below. The controller can control the operation of units, modules, components, devices, or the like as described herein. Also, as will be recognized by those skilled in the art, it is understood that the following methods can be executed by a device that includes a controller along with one or more other components.

[0016] Also, the controller of the present disclosure can be realized as a non-transitory computer-readable recording medium that includes executable program instructions executed by a processor. Examples of computer-readable recording media include, but are not limited to, ROM, RAM, compact disc (CD) ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage devices. The computer-readable recording medium can also be distributed across an entire computer network such that the program instructions can be stored and executed in a distributed manner, for example, by a telematics server or a Controller Area Network (CAN).

[0017] Hereinafter, the present invention will be described in detail with reference to the drawings. FIG. 1 is a block diagram of a traveling control system for mobility according to the present invention. As shown in FIG. 1, the traveling control system for mobility according to the present invention includes a surrounding environment scanning unit 10, a controller 20, and a mobility 30. The surrounding environment scanning unit 10 is mounted on the mobility 30 and can scan the surrounding environment of the mobility 30. The surrounding environment scanning unit 10 can include a lidar and a camera. After irradiating the periphery of the mobility 30 with laser pulses, the lidar measures the time it takes for the laser pulses reflected from the terrain (such as obstacles, general terrain, and special terrain, etc.) within the measurement range of the lidar to return, and can detect information about the terrain such as the distance from the lidar to the terrain, the direction of the terrain, speed, temperature, substance distribution, and concentration characteristics. The lidar is connected to the controller 20, can detect 2D lidar point data (such as 2D data of a plurality of lidar points) within the measurement range, and can transmit the 2D lidar point data to the controller 20. However, the lidar is not limited to a lidar that detects 2D lidar point data, and can include a lidar that detects 3D lidar point data.

[0018] The camera scans the peripheral image of the mobility 30 within the measurement range of the camera. The camera is connected to the controller 20 and can transmit the scanned image to the controller 20. The image is composed of pixel data including a plurality of pixels. The type of the camera is not particularly limited as long as it can scan a peripheral image capable of recognizing the terrain around the mobility 30. The controller 20 includes a terrain recognition unit 21, a score map generation unit 22, a vector map generation unit 24, a map switching unit 26, a path generation unit 28, and a command generation unit 29. The terrain recognition unit 21 is configured to receive information about the surrounding environment scanned by the surrounding environment scanning unit 10 and recognize the terrain from the information about the surrounding environment. For example, the terrain recognition unit 21 receives 2D lidar point data from the lidar and receives the peripheral image of the mobility 30 from the camera. The terrain recognition unit 21 can recognize the terrain around the mobility 30 from the 2D lidar point data and the peripheral image of the mobility 30. For this purpose, an algorithm capable of recognizing feature points from the image is stored in the terrain recognition unit 21. Here, the terrain is classified into obstacles, general terrain, and special terrain.

[0019] An obstacle means a terrain that may collide with the mobility 30, such as a human, another mobility, or an object. The obstacle is defined as all objects physically present between the lower surface and the upper surface of the mobility 30 recognized by the terrain recognition unit 21. The general terrain means a terrain where the difference between the highest height and the lowest height is smaller than a set value so that it is treated as a plane. The general terrain is defined as a terrain where all surfaces of the terrain are present between the bottom surface of the mobility 30 and the lower ends of the wheels. The special terrain means a terrain where the mobility 30 can move according to the entry direction, speed, etc. For example, as shown in FIG. 8, the road curb corresponds to a special terrain where the mobility 30 can move in the direction of decreasing height but cannot move in the direction of increasing height. As shown in FIG. 9, the puddle corresponds to a special terrain where the mobility 30 can pass at a high speed but cannot pass at a low speed.

[0020] The score map generation unit 22 is configured to receive information about the terrain recognized from the terrain recognition unit 21 and generate a score map in which each area of the map is digitized so that it can be used for other calculations based on the information about the terrain. For example, the score map is used as a cost map for calculating the cost of traveling on a route or as a feature map in which the features of the terrain are scored. For example, as shown in FIG. 6, the local map 40 around the mobility 30 includes a plurality of cells 42 divided in a grid pattern, and information about the position of the cell 42 and information about the score are stored in each cell 42. The score map generation unit 22 can recognize the cell 42 where the terrain is located based on the information about the terrain, and assign a score corresponding to the terrain to the cell 42 to generate a first score map.

[0021] The vector map generation unit 24 is configured to receive information about the terrain recognized by the terrain recognition unit 21 and generate a vector map based on the information about the terrain. For example, as shown in FIG. 7, the vector map includes at least one cell 42 and eight vectors 44 that move from the cell 42 to the surrounding cells 42. The type of terrain is stored in each cell 42, and the maximum speed and minimum speed of the mobility 30 are stored in each vector 44 when moving in the direction of the vector 44. Therefore, the vector map generation unit 24 can input the type of terrain into each cell 42 based on the type of terrain and the relative position of the cell and the terrain, and input the maximum speed and minimum speed into the vectors 44 included in the cell 42 to generate a vector map.

[0022] The map switching unit 26 is configured to receive the vector map from the vector map generation unit 24 and switch the vector map to a second score map according to a preset rule. The second score map includes the score of each cell 42 and the score for the vector 44 that moves from the cell 42 to the surrounding cells 42. In addition, the map switching unit 26 can merge the first score map and the second score map to generate a final score map. At this time, when there are multiple scores assigned to the cell 42 or the vector 44, the maximum value of the multiple scores becomes the final score for the cell 42 or the vector 44. Therefore, the final score map includes the final score of each cell 42 and the final scores of the eight vectors 44 that move from the cell 42 to the surrounding cells 42. As described above, the final score map can be used as a cost map for calculating the cost of traveling along a route or as a feature map that quantifies the features of the terrain. However, the final score map is not limited to being used in the embodiments described here and can be used in various applications that require a map composed of digitized regions.

[0023] The route generation unit 28 is configured to generate a plurality of routes from the current position of the mobility 30 to the destination, calculate a score for each of the plurality of routes, and select the route with the minimum score as the driving route. Such logic for generating the driving route of the mobility 30 is well known to those skilled in the art and is stored in the memory of the controller 20. The command generation unit 29 is configured to generate a driving command for moving along the driving route. The driving command may include a speed command and a torque command. The command generation unit 29 is further configured to perform driving control of the mobility 30 according to the driving command. For such a purpose, the controller 20 is provided with one or more microprocessors, and the one or more microprocessors may be programmed to perform each step of the driving control method for mobility according to an embodiment of the present invention. The mobility 30 is controlled to move according to the route generated by the route generation unit 28 in accordance with the command generated by the command generation unit 29. The mobility 30 may include at least one wheel and at least one drive motor for rotating the at least one wheel. The operation of the drive motor can be controlled according to a speed command and a torque command.

[0024] FIG. 2 is a flowchart of the driving control method for mobility according to the present invention, FIG. 3 is a flowchart of the step S130 in FIG. 2, FIG. 4 is a flowchart of the step S140 in FIG. 2, and FIG. 5 is a flowchart of the step S160 in FIG. 2. As shown in FIG. 2, the driving control method for mobility according to an embodiment of the present invention is started when the start of the mobility 30 is turned on. For example, the user can press the start button of the mobility 30 or turn on the start of the mobility 30 with a remote control device. The mobility 30 receives the destination and the like from the user, and the controller 20 loads the local map 40 from the overall map stored in the memory (S100). The local map 40 may be a map of an area within a set range centered on the mobility 30. As shown in FIG. 6, the local map 40 includes a plurality of cells 42 divided in a grid pattern, and information regarding the position of each cell 42 (for example, the center coordinates of each cell 42 and the size of each cell 42, etc.) is stored in each cell 42.

[0025] When the local map 40 is loaded, the surrounding environment scanning unit 10 can scan the surrounding environment of the mobility 30. For example, the lidar detects 2D lidar point data within the measurement range (for example, 2D data of a plurality of lidar points) and scans the surrounding image of the mobility 30 within the measurement range of the camera. Further, the surrounding environment scanning unit 10 transmits the 2D lidar point data and the surrounding image of the mobility 30 to the controller 20. Upon receiving the information regarding the surrounding environment scanned by the surrounding environment scanning unit 10, the terrain recognition unit 21 of the controller 20 recognizes the terrain around the mobility 30 from the information regarding the surrounding environment (S110). Here, the terrain can include obstacles, general terrain, and special terrain.

[0026] If the terrain recognition unit 21 recognizes the terrain around the mobility 30, the score map generation unit 22 of the controller 20 receives information about the terrain (for example, the type of terrain and the position of the terrain, etc.) from the terrain recognition unit 21, and generates a first score map corresponding to the terrain based on the information about the terrain and the information about the position of the cell 42 (S120). The first score map is generated by assigning scores corresponding to the terrain to each of a plurality of cells. For example, scores from 0 to 255 are assigned to each cell 42. Here, 255 is the score assigned to the cell 42 for which there is insufficient information and is reserved, 254 is the score assigned to the cell 42 with an obstacle where a collision occurs, 128 to 253 are scores assigned to the cell 42 where a collision may occur, and the scores are assigned according to the distance from an obstacle or special terrain. 1 to 127 are scores assigned to the cell 42 where there is no possibility of a collision with an obstacle, and are scores assigned based on the difficulty level (for example, the width of the passable road, the impact applied to the mobility 30 while moving on the passable road, etc.) when the mobility 30 moves to the cell 42, the power consumed (such as the slope of the passable road), etc. 0 is the score assigned to free space. However, it should be recognized that the above scores are not restrictive and are merely illustrative. Also, if the terrain recognition unit 21 recognizes the terrain around the mobility 30, the vector map generation unit 24 of the controller 20 receives information about the terrain (for example, the type of terrain and the position of the terrain, etc.) from the terrain recognition unit 21, and generates a vector map corresponding to the terrain based on the information about the terrain, the information about the position of the cell 42, and the direction of the vector 44 (S130).

[0027] Referring to FIG. 3, the step S130 will be described in more detail. As shown in FIG. 3, the step S130 is started by collecting performance information of the mobility 30 (S200). The performance information of the mobility 30 may include, but is not limited to, the maximum speed of the mobility 30, the types of terrains that can be traveled, the maximum speed of the mobility 30 depending on the type of terrain, the conditions for passing through special terrains, etc. For example, the performance conditions of the mobility 30 are as follows: The mobility 30 can climb a road curb with a height of up to 10 cm at a speed equal to or higher than the set speed, and can vertically climb a road curb with a height of up to 13 cm at the maximum speed; When one side wheel gets stuck in a groove of 5 cm or more, the mobility 30 cannot move; The mobility 30 cannot pass through sandy terrain, and it can pass through asphalt terrain at the maximum speed, through sidewalk block terrain at (0.8 * maximum speed), and through dirt terrain at (0.6 * maximum speed).

[0028] Such performance information of the mobility 30 is pre - stored in the memory of the controller 20, and the controller 20 can read the performance information of the mobility 30 stored in the memory. If the controller 20 collects the performance information of the mobility 30, the vector map generation unit 24 of the controller 20 calculates a vector map of the surrounding terrain of the obstacle (S210). For example, if the terrain recognized by the terrain recognition unit 21 is an obstacle, the vector map generation unit 24 inputs the type of the obstacle into the cell 42 containing the obstacle, inputs 0 for the maximum speed into the vector 44 of the surrounding cells 42 towards the cell 42 containing the obstacle, and can input a maximum speed inversely proportional to the distance to the cell 42 containing the obstacle into the vector of the cell 42 towards the cell 42 containing the obstacle according to the distance. In this case, the minimum speed of each vector 44 is input according to a rule where the value is set to be less than or equal to the maximum speed.

[0029] After that, the vector map generation unit 24 of the controller 20 calculates a vector map of the special terrain (S220). For example, if the terrain recognized by the terrain recognition unit 21 is special terrain, the vector map generation unit 24 inputs the type of the special terrain into the cell 42 to which the special terrain belongs, and collectively inputs the maximum speed and the minimum speed into the vector 44 based on the type of the special terrain and the performance information of the mobility 30. For example, information that the terrain is a boundary stone is stored in the cell 42 containing the boundary stone, and the maximum speed and the minimum speed are input into the vector 44 in the direction of getting off the boundary stone from the cell 42 containing the boundary stone or the peripheral cell 42 of the boundary stone without modification, but the maximum speed and the minimum speed of 0 are input into the vector 44 in the direction of climbing the boundary stone. Also, information that the terrain is a puddle is stored in the cell 42 containing a puddle that can only be passed at a set speed or higher, and the set speed can be input as the minimum speed into the vector to the cell 42 containing the puddle in the peripheral cell 42 of the cell 42 containing the puddle.

[0030] After that, the vector map generation unit 24 of the controller 20 calculates a vector map of the general terrain (S230). For example, if the terrain recognized by the terrain recognition unit 21 is general terrain, the vector map generation unit 24 collectively inputs the maximum speed and the minimum speed based on the type of the general terrain and the performance information of the mobility 30. For example, information that the terrain is asphalt is stored in the cell 42 containing asphalt, and the maximum speed can be input into the vector 44 going to the cell 42 containing asphalt without modification. Also, information that the terrain is a water surface or a sandy area is stored in the cell 42 containing a water surface or a sandy area, and the maximum speed of 0 can be input into the vector 44 going to the cell 42 containing a water surface or a sandy area. Further, information that the terrain is a sidewalk block is stored in the cell 42 containing a sidewalk block, and (0.8 * maximum speed) can be input as the maximum speed into the vector 44 going to the cell 42 containing a sidewalk block. Also, information that the terrain is soil is stored in the cell 42 containing soil, and (0.6 * maximum speed) can be input as the maximum speed into the vector 44 going to the cell 42 containing soil.

[0031] On the one hand, although FIG. 3 describes that the steps S200 to S230 are sequentially executed, it should be understood that the present invention is not particularly limited to this order. Referring further to FIG. 2, if a vector map corresponding to the terrain is generated in step S130, the map switching unit 26 of the controller 20 receives the vector map from the vector map generation unit 24 and switches the vector map to a second score map according to a preset rule (S140).

[0032] Referring to FIG. 4, step S140 will be described in more detail. As shown in FIG. 4, in step S140, the map switching unit 26 of the controller 20 first assigns a score based on the obstacle terrain (S300). For example, the map switching unit 26 can assign a score of 254 to the cell 42 containing the obstacle, and assign scores from 0 to 253 to the surrounding cells 42 in inverse proportion to the distance to the obstacle. If a score is assigned based on the obstacle terrain, the map switching unit 26 of the controller 20 assigns a score based on the maximum speed (S310). In one example, the map switching unit 26 assigns a high score to the vector 44 with a limited maximum speed. For example, a score of 0 is assigned to the vector 44 with an unlimited maximum speed, a score of 254 is assigned to the vector 44 with an input maximum speed of 0, and a score obtained by multiplying the limited ratio by 128 can be assigned to the vector 44 limited at the limited ratio of the maximum speed. Also, scores are assigned to the vectors 44 around the vector 44 according to the distance to the vector 44 with a limited maximum speed.

[0033] If a score is assigned based on the maximum speed, the map switching unit 26 of the controller 20 assigns a score based on the special terrain (S320). In one example, a high score can be assigned to the terrain that may adversely affect the lifespan of the mobility 30. For example, a value obtained by adding 128 to the basic value due to the boundary stone terrain can be assigned as the score to the boundary stone, and a value obtained by adding 64 to the basic value due to the depression terrain can be assigned as the score to the depression.

[0034] On the one hand, although FIG. 4 describes that the steps S300 to S320 are sequentially executed, it should be understood that the present invention is not particularly limited to this order. Furthermore, as shown in FIG. 2, if the vector map is switched to the second score map in step S140, the controller 20 generates a final score map based on the first score map and the second score map (S150). As described above, a plurality of scores are assigned to the cell 42 or the vector 44, and the controller 20 sets the maximum value of the plurality of scores assigned to any cell 42 as the final score of the cell 42, and the maximum value of the plurality of scores assigned to any vector 44 can be set as the final score of the vector 44.

[0035] If the final score map is generated in step S150, the path generation unit 28 of the controller 20 generates a travel path of the mobility 30 based on the final score map (S160). As shown in FIG. 5, the path generation unit 28 of the controller 20 generates a plurality of paths to the destination based on the current position and the destination position of the mobility 30 (S400). For example, as shown in FIG. 10, the path generation unit 28 can generate three paths 50a, 50b, and 50c from the departure place (corresponding to the current position of the mobility 30) to the arrival place (corresponding to the destination).

[0036] If a plurality of paths are generated, the path generation unit 28 of the controller 20 deletes inappropriate paths among the plurality of paths (S410). For example, if the path includes a cell 42 or a vector 44 to which an obstacle or a score of 254 where movement is prohibited is assigned, the controller 20 determines that the path is an inappropriate path and deletes the path from the plurality of paths. If inappropriate paths are deleted from multiple paths, the path generation unit 28 of the controller 20 calculates the score for each path by summing up all the scores of the cells 42 included in each path and the scores of the vectors 44. If the scores for all paths are calculated in such a manner, the path generation unit 28 of the controller 20 selects the path with the minimum score as the driving path (S420). For example, as shown in FIG. 10, the first path 50a only moves on the landform and the total score for the first path 50a is 1500, the second path 50b moves on all the landform and asphalt terrain and the total score for the second path 50b is 500, and the third path 50c only moves on the asphalt terrain and the total score for the third path 50c is 15. Therefore, the path generation unit 28 of the controller 20 selects the third path 50c with the smallest score for the path as the driving path.

[0037] Furthermore, as shown in FIG. 2, if a driving path is generated in step S160, the command generation unit 29 of the controller 20 receives the driving path from the path generation unit 28, generates a driving command for traveling along the generated driving path, and controls the traveling of the mobility 30 according to the generated driving command (S170). The driving command can include a speed command and a torque command. Accordingly, the drive motor included in the mobility 30 is controlled according to the speed command and the torque command. As described above, the preferred embodiments of the present invention have been described. However, the present invention is not limited to the above embodiments, and includes all modifications that can be easily modified by those having ordinary knowledge in the technical field to which the present invention belongs from the embodiments of the present invention and are recognized as equivalent.

Claims

1. Loading a local map including a plurality of cells by a mobility controller; Scanning the surrounding environment of the mobility by a surrounding environment scanning unit mounted on the mobility; Recognizing the terrain around the mobility from the information on the surrounding environment of the mobility by the controller; Generating a first score map corresponding to the terrain by the controller; Generating a vector map corresponding to the terrain by the controller; Switching the vector map to a second score map by the controller; Generating a final score map based on the first score map and the second score map by the controller; A method for generating a score map for mobility, comprising the above steps.

2. The terrain is: Obstacles defined by all objects physically existing between the lower surface and the upper surface of the mobility; General terrain defined by the terrain where all surfaces exist between the bottom surface of the mobility and the lower ends of the wheels; Special terrain defined by the terrain where the mobility can move according to the entry direction and speed; A method for generating a score map for mobility according to claim 1, characterized by including the above.

3. The vector map includes the plurality of cells and a plurality of vectors moving from each of the plurality of cells to surrounding cells. The type of terrain is stored in each cell, and the maximum speed and minimum speed of the mobility when moving in the direction of the vector are stored in each vector. The step of generating a vector map according to the terrain includes: Collecting performance information of the mobility; Calculating a vector map of the surrounding terrain of the obstacle; Calculating a vector map of the special terrain; Calculating a vector map of the general terrain; A method for generating a score map for mobility according to claim 2, characterized by including the above steps.

4. The step of switching the vector map to a second score map includes: Assigning a score based on the obstacle terrain; Assigning a score based on the maximum speed; Assigning a score based on the special terrain; A method for generating a score map for mobility according to claim 3, characterized by including the above steps.

5. The step of assigning scores based on the obstacle terrain is performed by assigning a score meaning movement prohibition to the cells containing obstacles and assigning scores to the surrounding cells in inverse proportion to the distance to the obstacles, according to the method for generating a mobility score map according to claim 4.

6. The step of assigning scores based on the maximum speed is performed by assigning scores according to the ratio at which the maximum speed is limited, according to the method for generating a mobility score map according to claim 4.

7. The step of generating the final score map based on the first score map and the second score map includes: setting the maximum value of at least one score assigned to an arbitrary cell as the final score of the cell; setting the maximum value of at least one score assigned to an arbitrary vector as the final score of the vector; according to the method for generating a mobility score map according to claim 4.

8. The step of generating a score map by the method according to claim 1; the step of generating a travel route based on the score map by a controller; the step of generating a travel command based on the travel route by a controller; the step of controlling the travel of mobility according to the generated travel command by a controller; according to the travel control method for mobility.

9. The step of generating a travel route includes: the step of generating at least one route from the current position of the mobility to the destination; the step of deleting inappropriate routes among the at least one route where obstacles are located or areas where movement is prohibited are included; the step of selecting, as the travel route, the route with the minimum score among the at least one route from which inappropriate routes have been deleted; according to the travel control method for mobility according to claim 8.

10. The travel command includes a speed command and a torque command, according to the travel control method for mobility according to claim 8.

11. a mobility capable of traveling; a surrounding environment scanning unit attached to the mobility and configured to scan the surrounding environment of the mobility; Load a local map containing a plurality of cells, receive information about the surrounding environment scanned by the surrounding environment scanning unit, recognize the terrain around the mobility from the information about the surrounding environment, generate a first score map corresponding to the recognized terrain, generate a vector map corresponding to the recognized terrain, switch the generated vector map to a second score map, generate a final score map based on the first score map and the second score map, generate a driving route based on the final score map, and a controller configured to control the driving of the mobility based on the driving route. A driving control system for mobility, characterized by including the above.

12. The terrain is Obstacles defined by all objects physically present between the lower and upper surfaces of the mobility, General terrain defined by terrain where all surfaces exist between the bottom surface of the mobility and the lower ends of the wheels, Special terrain defined by terrain where the mobility can move according to the entry direction and speed, The driving control system for mobility according to claim 11, characterized by including the above.

13. The vector map includes the plurality of cells and a plurality of vectors moving from each of the plurality of cells to surrounding cells. The type of terrain is stored in each cell, and the maximum speed and minimum speed of the mobility when moving in the direction of the vector are stored in each vector. When generating a vector map according to the terrain, the controller is configured to collect performance information of the mobility, calculate a vector map of the terrain around the obstacle based on the type of the obstacle, calculate a vector map of the special terrain based on the type of the special terrain and the performance information of the mobility, and calculate a vector map of the general terrain based on the type of the general terrain and the performance information of the mobility. The driving control system for mobility according to claim 12, characterized by the above.

14. When switching the vector map to the second score map, the controller is configured to assign scores based on the obstacle terrain, assign scores based on the maximum speed, and assign scores based on the special terrain. The driving control system for mobility according to claim 13, characterized by the above.

15. The controller is configured to assign a score meaning movement prohibition to a cell containing an obstacle, and assign scores to surrounding cells in inverse proportion to the distance to the obstacle, thereby assigning scores based on the obstacle terrain. The driving control system for mobility according to claim 14.

16. The controller is configured to assign a score according to a ratio in which the maximum speed is limited, thereby assigning a score based on the maximum speed. The driving control system for mobility according to claim 14.

17. When generating a final score map based on a first score map and a second score map, the controller is configured to set the maximum value of at least one score assigned to any cell as the final score of the cell, and set the maximum value of at least one score assigned to any vector as the final score of the vector. The driving control system for mobility according to claim 14.

18. When generating a travel route, the controller generates at least one route from the current position of the mobility to the destination, deletes inappropriate routes among the at least one route where obstacles are located or areas where movement is prohibited are included, and selects the route with the minimum score among the at least one route from which inappropriate routes have been deleted as the travel route. The driving control system for mobility according to claim 11.

19. When controlling the travel of the mobility based on the travel route, the controller is configured to generate a travel command based on the travel route and control the travel of the mobility according to the generated travel command. The driving control system for mobility according to claim 11.

20. The travel command includes a speed command and a torque command. The driving control system for mobility according to claim 19.

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