Method for remotely controlling a vehicle and server therefor

Abstract

A server for remotely controlling a vehicle is disclosed, which sets up a session for remotely controlling the vehicle to be transported, receives sensing data from a plurality of sensing devices installed within a specified area, tracks a space corresponding to the specified area based on the received sensing data, acquires vehicle control information according to the position of the vehicle to be transported based on object information related to objects in the tracked space and vehicle information of the vehicle to be transported, and transmits the acquired vehicle control information to the vehicle to be transported.

Description

[Technical field]

[0001] The present invention relates to a method for remotely controlling a vehicle and a server therefor. [Background technology]

[0002] The Fourth Industrial Revolution has raised interest in technology fields such as autonomous vehicles, drones, and robots. Research has been conducted on methods of using various types of sensors to control the operations of the autonomous vehicles, drones, robots, and the like.

[0003] To achieve Level 5 autonomous driving technology, equipping vehicles with high-performance sensors would require significant costs, and achieving Level 5 autonomous driving technology using only sensors installed in individual vehicles has yet to reach a satisfactory level in terms of stability. Summary of the Invention [Problem to be solved by the invention]

[0004] The present invention provides a method and a server for remotely controlling vehicles that track and move around space based on sensing data received from sensing devices installed within a specific area. Vehicles can be remotely controlled based on sensing data received from sensing devices installed within a specific area without the need to install expensive sensors for driving on individual vehicles. [Means for solving the problem]

[0005] According to a first aspect, a method for remotely controlling a vehicle includes a step of setting up a session for remotely controlling a vehicle to be transported, a step of receiving sensing data from a plurality of sensing devices installed within a predetermined area, a step of tracking a space corresponding to the predetermined area based on the received sensing data, a step of acquiring vehicle control information according to a position of the vehicle to be transported based on object information related to an object in the tracked space and vehicle information of the vehicle to be transported, and a step of transmitting the acquired vehicle control information to the vehicle to be transported.

[0006] According to a second aspect, a computer program stored on a recording medium causes a device for remotely controlling a vehicle to perform a method for remotely controlling a vehicle, the method including: setting a session for remotely controlling the vehicle to be transported, receiving sensing data from a plurality of sensing devices installed within a predetermined area, tracking a space corresponding to the predetermined area based on the received sensing data, acquiring vehicle control information according to a position of the vehicle to be transported based on object information related to an object in the tracked space and vehicle information of the vehicle to be transported, and transmitting the acquired vehicle control information to the vehicle to be transported.

[0007] According to a third aspect, a server for remotely controlling a vehicle includes a communication interface unit, a memory for storing instructions, and a processor for setting up a session for remotely controlling a vehicle to be transported by executing the instructions, receiving sensing data from a plurality of sensing devices installed within a predetermined area via the communication interface unit, tracking a space corresponding to the predetermined area based on the received sensing data, acquiring vehicle control information according to a position of the vehicle to be transported based on object information related to an object in the tracked space and vehicle information of the vehicle to be transported, and transmitting the acquired vehicle control information to the vehicle to be transported via the communication interface unit. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram for explaining an infrastructure environment for remotely controlling a vehicle. [Diagram 2] FIG. 2 is a diagram for explaining the configuration and operation of a vehicle. [Diagram 3] 2A and 2B are diagrams for explaining the configuration and operation of a sensing device. [Figure 4] FIG. 2 is a diagram for explaining the configuration and operation of a server. [Diagram 5] 4 is a flowchart for explaining a method for remotely controlling a vehicle. [Figure 6] FIG. 13 is a diagram showing an example in which a server remotely controls a vehicle. [Figure 7] FIG. 13 is a diagram showing an example in which a server remotely controls a vehicle. [Figure 8] FIG. 1 is a diagram showing an example in which a server having a hierarchical structure remotely controls a vehicle. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] In the following, various embodiments will be described in detail with reference to the drawings. In order to more clearly describe the features of the present embodiments, detailed descriptions of matters that are well known to those skilled in the art to which the following embodiments pertain will be omitted.

[0010] In this specification, when a certain component is "connected" to another component, this does not only mean "directly connected" but also "connected via another component in between." Furthermore, when a certain component "includes" another component, this does not mean excluding the other component, but also means including the other component, unless otherwise specified.

[0011] In addition, terms including ordinal numbers such as "first" or "second" may be used in the present specification to describe various components, and the components are not limited by the terms. The terms are used only to distinguish one component from another.

[0012] This embodiment relates to a method for remotely controlling a vehicle and a server therefor, and detailed explanations of matters that are widely known to those having ordinary skill in the technical field to which the following embodiment belongs will be omitted.

[0013] FIG. 1 is a diagram for explaining an infrastructure environment for remotely controlling a vehicle 100. As shown in FIG.

[0014] 1, it can be seen that the vehicle 100 moves from a starting point to a destination within a predetermined area where a plurality of sensing devices 200 are installed. To this end, the server 300 receives sensing data from the plurality of sensing devices 200, transmits vehicle control information to the vehicle 100, and remotely controls the vehicle 100 to be transported. The vehicle 100 to be transported may be a vehicle 100 that is in the process of transportation or is waiting for transportation.

[0015] The vehicle 100 can be a vehicle such as a vehicle that runs on a road or a railroad. However, when the vehicle runs in the air, not on a road or a railroad, the meaning can be expanded to a name that represents an air vehicle such as a drone or an airplane, or when the vehicle runs on the sea, a boat or a ship. In the following, for the sake of convenience, the vehicle 100 will be described as being an automobile.

[0016] In this specification, the vehicle 100 is connected to a network with a server 300 so that it can run through remote control, and can run based on vehicle control information transmitted remotely without a person actually driving it. In this specification, the vehicle 100 is not assumed to be an autonomous vehicle, so the vehicle 100 does not need to be equipped with a separate sensor for autonomous running. In other words, since the vehicle 100 does not need to be for autonomous running, the vehicle 100 does not need to sense and track space while running unmanned through remote control.

[0017] The vehicle control information includes a plurality of commands for controlling the operation of the steering device, acceleration / deceleration device, etc. for the travel of the transport vehicle 100. For example, the vehicle control information may be in the form of numerical information relating to the direction of the steering device, the speed, acceleration, deceleration, etc. of the acceleration / deceleration device, or correction value information relating to the immediately preceding vehicle control information, but is not limited thereto.

[0018] The sensing device 200 is a device capable of scanning a surrounding space and acquiring sensing data, and includes at least one sensor. The sensing device 200 may be installed in various locations within a given area, on the ground or at a given height from the ground. The sensing device 200 may be installed in a manner of being attached or fixed to a traffic light or an existing facility. The sensing device 200 may include at least one of various types of sensors, such as a LiDAR (light detection and ranging) sensor, a radar sensor, a camera sensor, an infrared image sensor, and an ultrasonic sensor. For example, if the sensing device 200 includes a LiDAR sensor, the sensing data may be in the form of point cloud data, and if the sensing device 200 includes a camera sensor, the sensing data may be in the form of image data.

[0019] The server 300 may remotely control the vehicle 100. The server 300 may connect communication between the vehicle 100 and the sensing device 200 for remote control of the vehicle 100 to be transported. The server 300 may store and manage identification information and position information of each of the plurality of sensing devices 200, and receive sensing data from the sensing device 200. The server 300 may store and manage vehicle information including identification information and position information of the vehicle 100 to be transported, and transmit vehicle control information to the vehicle 100.

[0020] The server 300 may be composed of a plurality of servers divided according to functions, such as a session server for managing communication connections with external devices, a sensing data processing server, and a vehicle control information generating server. The server 300 may also be composed of a plurality of servers having a hierarchical structure according to their positions and roles. For convenience of explanation, the server 300 will be collectively referred to as the server 300, but this does not mean a single server, and may also include at least one server.

[0021] In order to transport a plurality of vehicles 100 in a first area (e.g., a parking area at a starting point) to a second area (e.g., a parking area at a destination), the server 300 may receive sensing data from a plurality of sensing devices 200 installed in a predetermined area including the first area and the second area, and track a space corresponding to the predetermined area. The server 300 may receive sensing data from a plurality of sensing devices 200 arranged on a moving path of the vehicles 100 to be transported so that no blind spots are generated in the tracked space. The server 300 may transmit vehicle control information corresponding to each vehicle 100 to each of the plurality of vehicles 100.

[0022] A method for remotely controlling the transport vehicle 100 by the server 300 will be described in detail below.

[0023] FIG. 2 is a diagram for explaining the configuration and operation of the vehicle 100.

[0024] 2, the vehicle 100 includes a memory 110, a processor 120, a user interface unit 130, a communication interface unit 140, and a driving device 150. Although not shown in FIG 2, a GPS (global positioning system) device and the like may be further included, and a person having ordinary skill in the art related to the present embodiment may know that other general-purpose components may be further included in addition to the components shown in FIG 2.

[0025] The memory 110 may store software and / or computer programs. The memory 110 may store instructions executable by the processor 120. The processor 120 may access and use data stored in the memory 110 or store new data in the memory 110. The processor 120 may execute the instructions stored in the memory 110. The processor 120 may include at least one processing module. The processing module may be a dedicated processing module for executing a predetermined program. For example, the processor 120 may be a processing module that executes a program for setting up a session for remote control with an external device, or may include a processing module that executes a vehicle control program by remote control, each of which may be configured in the form of a separate dedicated chip. The processor 120 may control other components included in the vehicle 100 to perform an operation corresponding to a result of execution of the instruction or computer program.

[0026] The user interface unit 130 also includes an input unit for receiving input from a user such as a driver or a manager, and an output unit for providing information. The input unit can receive various types of input from the user, and the output unit also includes a display panel and a controller for controlling the display panel. For example, the user interface unit 130 may be provided in the form of a touch screen in which a display panel and a touch panel are combined.

[0027] The communication interface unit 140 may communicate with another device or the server 300. To this end, the communication interface unit 140 may include a communication module supporting at least one of various communication methods. For example, the communication interface unit 140 may include a communication module performing short-range communication such as Wi-Fi (wireless fidelity), various types of mobile communication such as 4G and 5G, or ultra-wideband communication. The communication interface unit 140 may be connected to a server 300 that remotely controls the vehicle 100, and may transmit and receive data or information.

[0028] The running device 150 also includes a steering device, an acceleration / deceleration device such as an accelerator and a brake, a battery device, a drive motor, a transmission, and the like.

[0029] The processor 120 may execute instructions stored in the memory 110 to perform the following operations: According to one example, the processor 120 may acquire vehicle control information. The processor 120 may acquire data related to the movement and attitude of the vehicle based on the vehicle control information stored in the memory 120 or the vehicle control information received from the server 300, and may control the running of the vehicle 100 by controlling the operation of a steering device, an acceleration / deceleration device, etc. for running the vehicle 100.

[0030] FIG. 3 is a diagram for explaining the configuration and operation of the sensing device 200. As shown in FIG.

[0031] 3, the sensing device 200 according to an embodiment includes a memory 210, a processor 220, a communication interface unit 230, and a sensor unit 240. A person skilled in the art will know that other general components may be included in addition to the components shown in FIG.

[0032] The memory 210 may store software and / or programs. The memory 210 may store instructions executable by the processor 220.

[0033] The processor 220 may access and use data stored in the memory 210, or may store new data in the memory 210. The processor 220 may execute instructions stored in the memory 210. The processor 220 may execute a computer program installed in the sensing device 200. The processor 220 may also install a computer program or application received from the outside into the memory 210. The processor 220 may include at least one processing module. For example, the processor 220 may include a processing module that executes a program for sensing a three-dimensional space. The processor 220 may control other components included in the sensing device 200 to perform an operation corresponding to a result of execution of the instruction or the computer program, etc.

[0034] The communication interface unit 230 may perform wired or wireless communication with other devices or networks. To this end, the communication interface unit 230 may include a communication module supporting at least one of various wired and wireless communication methods. For example, the communication interface unit 230 may include a communication module performing short-range communication such as wireless fidelity (Wi-Fi), wireless communication such as various types of mobile communication, or wired communication using a coaxial cable or an optical cable. The communication interface unit 230 may be connected to a server 300 located outside the sensing device 200 to transmit and receive signals or data. The sensing device 200 may communicate with other sensing devices 200 or may be connected to a server 300 that manages an area where the sensing device 200 is located, via the communication interface unit 230.

[0035] The sensor unit 240 may include at least one sensor for sensing a three-dimensional space. The sensor unit 240 may sense an object located within a sensing range and obtain data capable of generating coordinates of the sensed object in a three-dimensional space. The sensor unit 240 may obtain shape data or distance data related to the object located within the sensing range. The sensor unit 240 may include at least one of various types of sensors, such as a LiDAR sensor, a radar sensor, a camera sensor, an infrared image sensor, and an ultrasonic sensor.

[0036] For example, the sensor unit 240 may include at least one three-dimensional LiDAR sensor to acquire data related to a space in a 360° range, and may further include at least one of a radar sensor and an ultrasonic sensor to acquire data related to a nearby space within a predetermined distance from the sensing device 200.

[0037] The processor 220 may execute instructions stored in the memory 210 to perform operations such as the following: According to one example, the processor 220 may acquire sensing data related to a three-dimensional space using at least one sensor, and the processor 220 may transmit the acquired sensing data to the outside via the communication interface unit 230.

[0038] The processor 220 may process the acquired sensing data and transmit the processed data or information to the outside via the communication interface unit 230. The processor 220 may identify at least one object in a three-dimensional space using an object classification model for the sensing data, and track the three-dimensional space including the identified at least one object. The processor 220 may transmit information related to the tracked space to the outside via the communication interface unit 230.

[0039] FIG. 4 is a diagram for explaining the configuration and operation of the server 300. As shown in FIG.

[0040] 4, the server 300 according to an embodiment also includes a memory 310, a processor 320, and a communication interface unit 330. A person skilled in the art will know that other general components may be included in addition to the components shown in FIG.

[0041] The memory 310 may store software and / or programs. The memory 310 may store instructions executable by the processor 320.

[0042] The processor 320 may use data stored in the memory 310 or store new data in the memory 310. The processor 320 may execute instructions stored in the memory 310. The processor 320 may execute computer programs installed in the server 300. The processor 320 may include at least one processing module. For example, the processor 320 may be a processing module that sets up a session for remote control with an external device, or may include a processing module that executes a program that tracks the three-dimensional space and generates vehicle control information for remote control of the vehicle 100, and each may be configured in the form of a separate dedicated chip. The processor 320 may control other components included in the server 300 to perform operations corresponding to the execution results of the instructions or computer programs, etc.

[0043] The communication interface unit 330 may perform wired or wireless communication with other devices or a network. To this end, the communication interface unit 330 may include a communication module supporting at least one of various wired or wireless communication methods. For example, the communication interface unit 330 may include a communication module performing short-range communication such as wireless fidelity (Wi-Fi), wireless communication such as various types of mobile communication, or wired communication using a coaxial cable or an optical cable. The communication interface unit 330 may be connected to a device located outside the server 300 and may transmit and receive signals or data. The server 300 may communicate with the vehicle 100 or the sensing device 200 through the communication interface unit 330, or may be connected to another server 300 connected to a network.

[0044] The processor 320 may execute instructions stored in the memory 310 to perform the following operations. According to an example, the processor 320 may set up a session for remote control of the vehicle 100 to be transported. The processor 320 may acquire vehicle information including identification information and location information of the vehicle 100 to be transported to a destination within a predetermined area. The processor 320 may acquire the vehicle information by receiving the vehicle information as session setup request information for remote control of the vehicle 100 to be transported from the vehicle 100 to be transported or the terminal 500 of the manager of the server 300 via the communication interface unit 330. The processor 320 may register the vehicle 100 to be transported in the server 300 using the acquired vehicle information, and connect the server 300 and the vehicle 100 to communicate with each other via the communication interface unit 330.

[0045] The processor 320 may receive sensing data from a plurality of sensing devices 200 installed within a predetermined area through the communication interface unit 330. The processor 320 may receive sensing data from a sensing device 200 corresponding to a moving path from a starting point to a destination among a plurality of sensing devices 200 installed within a predetermined area through the communication interface unit 330. The processor 320 may grasp a moving path from a starting point to a destination of the vehicle 100 to be moved, request sensing data from a sensing device 200 located within a predetermined distance from the moving path, and receive sensing data from the sensing device 200 scanning the space on the moving path. This is to prevent the operation of a sensing device 200 that is far from the moving path, reduce the amount of sensing data received by the server 300, and reduce the amount of calculation for spatial tracking in the server 300.

[0046] The processor 320 may track a space corresponding to a predetermined area based on the received sensing data. The processor 320 may track a space corresponding to a predetermined region based on sensing data obtained by scanning a three-dimensional space corresponding to the positions of each of the multiple sensing devices 200. The processor 320 may reconstruct the tracked space using each sensing device 200 and track the space corresponding to the predetermined area.

[0047] For example, when the server 300 receives sensing data in the form of point cloud data from the sensing device 200 having a LiDAR sensor, the processor 320 may extract object regions from the received point cloud data and classify the object regions to separate individual object regions. The processor 320 may identify objects from the received point cloud data using an object classification model and obtain related information of the identified objects. The processor 320 may track a space corresponding to a predetermined area using information related to the objects obtained based on the individual object regions and related information of the identified objects. The processor 320 may apply point cloud data for a three-dimensional space to an object classification model or classify point cloud data related to a three-dimensional space to identify static objects such as ground, buildings, and infrastructure, or dynamic objects such as the vehicle 100 or other vehicles.

[0048] For another example, when the server 300 receives image data from the sensing device 200 having a camera sensor, the processor 320 may perform a reconstruction process to generate a three-dimensional vector space using the received image data and track a space corresponding to a predetermined area. The processor 320 may use an image object classification model to identify objects in the tracked space or to distinguish between static and dynamic objects.

[0049] The processor 320 may detect static objects and dynamic objects using prestored map information and received sensing data for a specific area, and may track a space corresponding to the specific area by predicting the movement of the detected dynamic objects. The processor 320 may determine at least one attribute information of the type, shape, position, size, movement trajectory, and speed of at least one object identified in the tracked space, and may track the space corresponding to the specific area. The object in the tracked space may have a value corresponding to a predetermined coordinate based on a fixed position of the sensing device 200, and may be mapped to a position of a corresponding part of an absolute coordinate system.

[0050] The processor 320 may acquire vehicle control information according to the position of the transporting vehicle 100 based on object information related to the object in the tracked space and vehicle information of the transporting vehicle 100. The processor 320 may acquire vehicle control information based on object information of an object within a predetermined distance from the real-time position of the transporting vehicle 100 on the travel route from the departure point to the destination. The distance between the position of the vehicle 100 and the position of the object is a measure indicating the responsiveness of the vehicle 100 to the object, and the value may be set in a program that generates the vehicle control information.

[0051] According to an example, the processor 320 may acquire first vehicle control information preprogrammed in correspondence with a travel route of the vehicle 100. The processor 320 may acquire second vehicle control information obtained by correcting the first vehicle control information according to object information of an object within a predetermined distance from a real-time position of the vehicle 100 to be transported as the vehicle control information. For example, when the travel route is not a general road or is a dedicated road for the transportation of the vehicle 100, there are no external factors that hinder the transportation of the vehicle 100 or the external factors are limited, such as when the travel route is not a general road or is a dedicated road for the transportation of the vehicle 100, the vehicle control information may be preprogrammed in correspondence with the travel route. In such a case, although the preprogrammed first vehicle control information is used, if there is an object approaching within a predetermined distance from the real-time position of the vehicle 100, the second vehicle control information obtained by correcting the first vehicle control information may be used as the vehicle control information.

[0052] According to another example, the processor 320 may acquire first vehicle control information corresponding to a response measure manual when an emergency situation occurs in the tracked space. The processor 320 may acquire second vehicle control information obtained by correcting the first vehicle control information according to object information of an object within a predetermined distance from the real-time position of the vehicle 100 to be moved as the vehicle control information. For example, when a problem occurs in the vehicle 100, the sensing device 200, or a road and the movement of the vehicle 100 is restricted, the first vehicle control information corresponding to the response measure manual for the problem that has occurred is used, and if there is an object approaching within a predetermined distance to the real-time position of the vehicle 100, the second vehicle control information obtained by correcting the first vehicle control information according to the object may be used as the vehicle control information.

[0053] In addition, when a predetermined area is divided into a plurality of areas and there are servers 300 capable of managing each area, the server 300 may share object information related to objects with other servers 300 in adjacent areas. For example, the processor 320 may receive object information of a dynamic object moving from a second area to a first area managed by the server 300 in the predetermined area from another server 300 managing a second area adjacent to the first area managed by the server 300, and transmit the object information of the dynamic object moving from the first area to the second area to the other server. The server 300 may use the object information of the dynamic object received from the other server 300 for remote control of the vehicle 100 to be transported. For example, when a moving object moving at a very high speed from the second area toward the first area is detected, the server 300 in the first area may receive object information related to the moving object in advance from the server 300 in the second area, and may reflect the object information related to the moving object when generating vehicle control information to prevent a collision accident between the vehicle 100 and the moving object.

[0054] The processor 320 may transmit the acquired vehicle control information to the vehicle 100 to be transported via the communication interface unit 330. When there are multiple vehicles 100 to be transported, the processor 320 may confirm the vehicle control information corresponding to the identification information of each vehicle 100, and transmit the confirmed vehicle control information to each vehicle 100 corresponding to the identification information.

[0055] FIG. 5 is a flowchart for explaining a method for remotely controlling the vehicle 100.

[0056] In S510, the server 300 sets up a session for remote control of the vehicle 100 to be transported. The server 300 may acquire vehicle information including identification information and location information of the vehicle 100 to be transported to a destination within a predetermined area. The server 300 may acquire the vehicle information by receiving the vehicle information from the vehicle 100 to be transported or the terminal 500 of the manager of the server 300 as session setup request information for remote control of the vehicle 100 to be transported. The server 300 may register the vehicle 300 to be transported in the server 300 using the acquired vehicle information, and connect the server 300 and the vehicle 100 to be transported for communication.

[0057] In S520, the server 300 receives sensing data from a plurality of sensing devices 200 installed within a predetermined area. The server 300 may receive sensing data from a sensing device 200 corresponding to a movement route from a departure point to a destination among the plurality of sensing devices 200 installed within the predetermined area. The server 300 may grasp a movement route from a departure point to a destination of the vehicle 100 to be transported, request sensing data from the sensing devices 200 located within a predetermined distance from the movement route, and receive the sensing data from the sensing devices 200 scanning the space on the movement route.

[0058] In S530, the server 300 tracks a space corresponding to a predetermined area based on the received sensing data. The server 300 may track the space corresponding to the predetermined area based on sensing data obtained by scanning a three-dimensional space corresponding to the respective positions of the plurality of sensing devices 200. The server 300 may reconstruct the tracked space using each sensing device 200, and track the space corresponding to the predetermined area. The server 300 may track the space corresponding to the predetermined area by detecting static objects and dynamic objects and predicting the movement of the detected dynamic objects using pre-stored map information and the received sensing data for the predetermined area.

[0059] The server 300 may receive object information of a dynamic object moving from a second area to a first area managed by the server 300 from another server 300 managing a second area adjacent to the first area managed by the server 300 among the predetermined areas. The server 300 may also transmit object information of a dynamic object moving from the first area to the second area to another server 300 managing a second area adjacent to the first area managed by the server 300 among the predetermined areas. The server 300 may use the object information of the dynamic object received from the other server 300 for remote control of the vehicle 100 to be transported.

[0060] In S540, the server 300 acquires vehicle control information according to the position of the transporting vehicle 100 based on object information related to the tracked object in the space and vehicle information of the transporting vehicle 100. The server 300 may acquire vehicle control information based on object information of objects within a predetermined distance from the real-time position of the transporting vehicle 100 on the travel route from the departure point to the destination.

[0061] According to one example, the server 300 may acquire first vehicle control information preprogrammed in correspondence with a travel route of the vehicle 100. The server 300 may acquire second vehicle control information obtained by correcting the first vehicle control information according to object information of an object within a predetermined distance from a real-time position of the vehicle 100 to be transported, as the vehicle control information. According to another example, the server 300 may acquire first vehicle control information corresponding to a response measure manual when an emergency situation occurs in the tracked space. The server 300 may acquire second vehicle control information obtained by correcting the first vehicle control information according to object information of an object within a predetermined distance from a real-time position of the vehicle 100 to be transported, as the vehicle control information.

[0062] In S550, the server 300 transmits the acquired vehicle control information to the vehicle 100 to be transported. When there are multiple vehicles 100 to be transported, the server 300 may confirm the vehicle control information corresponding to the identification information of each vehicle 100, and transmit the confirmed vehicle control information to the vehicle 100 corresponding to the identification information.

[0063] FIG. 6 is a diagram showing an example in which the server 300 remotely controls the vehicles 100-1 and 100-2.

[0064] 6, a plurality of sensing devices 200-1, 200-2, 200-3, and 200-4 are provided on the moving path of the moving vehicles 100-1 and 100-2. Each of the sensing devices 200-1, 200-2, 200-3, and 200-4 has a predetermined sensing range and is disposed at an appropriate interval so as to prevent any blind spots that are not scanned from occurring on the moving path.

[0065] The server 300 may receive sensing data from the plurality of sensing devices 200-1, 200-2, 200-3, and 200-4. Referring to Fig. 6, the first sensing device 200-1 may transmit sensing data corresponding to a sensing area in which a first vehicle 100-1 moving along a moving path is located to the server 300. The third sensing device 200-3 may transmit sensing data corresponding to a sensing area in which a second vehicle 100-2 moving along a moving path is located to the server 300.

[0066] The server 300 tracks a space corresponding to a predetermined area based on sensing data received from the plurality of sensing devices 200-1, 200-2, 200-3, and 200-4. The server 300 may track a space corresponding to a predetermined area based on sensing data obtained by scanning a three-dimensional space corresponding to each position of the plurality of sensing devices 200-1, 200-2, 200-3, and 200-4, reconstruct the tracked space, and track the space corresponding to the predetermined area.

[0067] The server 300 may check whether there is an object that may be an obstacle to the transportation of the vehicles 100-1 and 100-2 based on the positions of the vehicles 100-1 and 100-2. For example, the server 300 may check the road configuration, lanes, etc. on the travel route based on the real-time position of the first vehicle 100-1 to check whether there is an object that may collide with the first vehicle 100-1. The server 300 may check the distance between the first vehicle 100-1 and the second vehicle 100-2 based on the real-time position of the second vehicle 100-2 so that a certain distance or more is maintained between the first vehicle 100-1 and the second vehicle 100-2.

[0068] The server 300 acquires vehicle control information according to the positions of the vehicles 100-1 and 100-2 to be transported based on real-time position information of the vehicles 100-1 and 100-2 to be transported and object information related to the tracked object in the space. The server 300 can confirm vehicle control information corresponding to the identification information of each of the vehicles 100-1 and 100-2 to be transported and transmit the confirmed vehicle control information to each of the vehicles 100-1 and 100-2 to be transported.

[0069] FIG. 7 is a diagram showing an example in which servers 300-1 and 300-2 remotely control vehicles 100-1, 100-2, and 100-3.

[0070] 7, it can be seen that a plurality of servers 300-1 and 300-2 are used to track spaces corresponding to a predetermined area. Each of the plurality of servers 300-1 and 300-2 tracks a space corresponding to each assigned area and transmits vehicle control information to the vehicles 100-1, 100-2, and 100-3 in each area.

[0071] The first server 300-1 may receive sensing data from the first sensing device 200-1 to the sixth sensing device 200-6 in order to track the space corresponding to the first area. At this time, each of the first sensing device 200-1 to the sixth sensing device 200-6 may transmit the sensing data together with the identification information of the sensing device 200 to the first server 300-1. The first server 300-1 may acquire sensing data corresponding to the positions of each of the first sensing device 200-1 to the sixth sensing device 200-6 based on the identification information of the sensing device 200 received together with the sensing data, and may track the space corresponding to the first area. The first server 300-1 may acquire vehicle control information according to the positions of the first vehicle 100-1 and the second vehicle 100-2 entering the first area, and transmit the vehicle control information to each of the first vehicle 100-1 and the second vehicle 100-2.

[0072] The second server 300-1 may receive sensing data from the seventh to eleventh sensing devices 200-7 to 200-11 to track the space corresponding to the second area. In this case, each of the seventh to eleventh sensing devices 200-7 to 200-11 may transmit the sensing data together with the identification information of the sensing device 200 to the second server 300-2. The second server 300-2 may acquire sensing data corresponding to the positions of each of the seventh to eleventh sensing devices 200-7 to 200-11 based on the identification information of the sensing device 200 received together with the sensing data, and track the space corresponding to the second area. The second server 300-2 may acquire vehicle control information based on the respective positions of the third vehicle 100-3 and the second vehicle 100-2 which is in the process of leaving the second area, and transmit the vehicle control information to each of the second vehicle 100-2 and the third vehicle 100-3.

[0073] The first server 300-1 may receive object information of a dynamic object moving from a second area to a first area managed by the first server 300-1 from the second server 300-2 that manages a second area adjacent to the first area managed by the first server 300-1 among the predetermined areas. The first server 300-1 may transmit object information of a dynamic object moving from a first area to a second area to the second server 300-2 that manages a second area adjacent to the first area managed by the first server 300-1 among the predetermined areas. The first server 300-1 may use the object information of the dynamic object received from the second server 300-2 for remote control of the first vehicle 100-1 and the second vehicle 100-2, and the second server 300-2 may use the object information of the dynamic object received from the first server 300-1 for remote control of the second vehicle 100-2 and the third vehicle 100-3.

[0074] FIG. 8 is a diagram showing an example in which servers 300-1, 300-2, and 300-N having a hierarchical structure remotely control vehicles 100-1, 100-2, and 100-3.

[0075] 8, it can be seen that a plurality of servers 300-1, 300-2, and 300-N are used to track a space corresponding to a predetermined area. The plurality of servers 300-1, 300-2, and 300-N may track a space corresponding to a predetermined area and transmit vehicle control information to the vehicles 100-1, 100-2, and 100-3.

[0076] As shown in Fig. 8, the plurality of servers 300-1, 300-2, and 300-N may have a hierarchical structure between them in order to track a space corresponding to a predetermined area. Sensing data collected by the lower level servers 300-1 and 300-2 or information related to the tracked space may be transmitted to the upper level server 300-N and integrated into information related to the space corresponding to a predetermined area. The upper level server 300-N may obtain vehicle control information according to the positions of the transporting vehicles 100-1, 100-2, and 100-3 based on object information related to objects in the tracked space and vehicle information of the transporting vehicles 100-1, 100-2, and 100-3. The upper hierarchical server 300-N can obtain vehicle control information according to the positions of the transporting vehicles 100-1, 100-2, and 100-3, and transmit the vehicle control information to the transporting vehicles 100-1, 100-2, and 100-3, respectively.

[0077] In addition, the upper layer server 300-N may be an external server that provides road information or traffic information, or may be connected to a traffic control system server and generate vehicle control information based on information transmitted and received therefrom. For example, the upper layer server 300-N may receive information related to a location where a traffic accident has occurred from an external server that provides traffic information, and set a detour movement route so that the vehicles 100-1, 100-2, and 100-3 to be transported do not move to the location where the traffic accident has occurred. The upper layer server 300-N may receive sensing data from the sensing device 200 on the detour movement route, and track a space corresponding to the detour movement route based on the received sensing data. The upper hierarchical server 300-N can acquire vehicle control information based on the positions of the transporting vehicles 100-1, 100-2, and 100-3 based on object information related to the object in the tracked space and vehicle information of the transporting vehicles 100-1, 100-2, and 100-3, and transmit the acquired vehicle control information to each of the transporting vehicles 100-1, 100-2, and 100-3.

[0078] Each of the above-described embodiments may be provided in the form of a computer program or application stored in a computer-readable recording medium for causing an apparatus for remotely controlling the vehicle 100 to execute a method for remotely controlling the vehicle 100, including predetermined steps. In other words, each of the above-described embodiments may be provided in the form of a computer program or application stored in a computer-readable recording medium for causing an apparatus for remotely controlling the vehicle 100 to execute a method for remotely controlling the vehicle 100, including predetermined steps.

[0079] The above-described embodiments may be implemented in the form of a computer-readable recording medium storing instructions and data executable by a computer or a processor. At least one of the instructions and data may be stored in the form of program code, and may generate a predetermined program module and perform a predetermined operation when executed by a processor. Such computer readable recording media may be read-only memory (ROM), random access memory (RAM), flash memory, CD-ROMs, CD-Rs, CD+Rs, CD-RWs, CD+RWs, DVD-ROMs, DVD-Rs, DVD+Rs, DVD-RWs, DVD+RWs, DVD-RAMs, BD-ROMs, BD-Rs, BD-RLTHs, BD-REs, magnetic tape, floppy disks, magneto-optical data storage devices, optical data storage devices, hard disks, solid state drives (SSDs), and any device that can store instructions, software, associated data, data files, and data structures and provide instructions, software, associated data, data files, and data structures to a processor or computer so that the processor or computer can execute the instructions.

[0080] The above description focuses on the embodiments. Those skilled in the art to which the disclosed embodiments belong can understand that the disclosed embodiments can be embodied in modified forms without departing from the essential characteristics. Therefore, the disclosed embodiments should be considered from an explanatory perspective, not a limiting one. The scope of the present invention is defined in the claims, not in the description of the embodiments above, and all differences within the scope of the equivalents should be interpreted as being included in the scope of the invention.

Claims

1. 1. A method for remotely controlling a vehicle, comprising: establishing a session for remote control of a vehicle to be transported; receiving sensing data from a plurality of sensing devices installed in a predetermined area; tracking a space corresponding to the predetermined area based on the received sensing data; acquiring vehicle control information according to a position of the vehicle to be transported based on object information related to the object in the tracked space and vehicle information of the vehicle to be transported; transmitting the obtained vehicle control information to the transporting vehicle.

2. The step of acquiring vehicle control information includes: The method of claim 1 , further comprising obtaining the vehicle control information based on object information of an object within a predetermined distance from a real-time position of the transport vehicle on a travel route from a starting point to a destination.

3. The step of acquiring vehicle control information includes: acquiring first preprogrammed vehicle control information corresponding to the travel route; The method of claim 2 , further comprising: correcting the first vehicle control information according to the object information to obtain second vehicle control information as the vehicle control information.

4. The step of acquiring vehicle control information includes: When an emergency situation occurs in the tracked space, acquiring first vehicle control information corresponding to a response manual; The method of claim 2 , further comprising: correcting the first vehicle control information according to the object information to obtain second vehicle control information as the vehicle control information.

5. The step of tracking the space includes: detecting static objects and dynamic objects using prestored map information for the predetermined area and the received sensing data; and predicting a motion of the detected dynamic object.

6. The step of tracking the space includes:

6. The method of claim 5, further comprising receiving object information of a dynamic object moving from a second area to the first area managed by the server from another server managing a second area adjacent to the first area managed by the server among the predetermined regions.

7. The step of receiving the sensing data includes: The method according to claim 1 , wherein the sensing data is received from a sensing device that corresponds to a travel route from a departure point to a destination, among the plurality of sensing devices installed in the predetermined area.

8. The step of establishing the session includes: acquiring vehicle information including identification information and location information of a vehicle to be transported to a destination within the predetermined area; registering the vehicle to be transported in the server using the vehicle information; The method of claim 1 , further comprising: coupling said server in communication with said transport vehicle.

9. The step of acquiring vehicle information includes: The method of claim 8, wherein the vehicle information is obtained by receiving the vehicle information from a terminal of the vehicle to be transported or an administrator of the server as session establishment request information.

10. 1. A device for remotely controlling a vehicle, establishing a session for remote control of a vehicle to be transported; receiving sensing data from a plurality of sensing devices installed in a predetermined area; tracking a space corresponding to the predetermined area based on the received sensing data; acquiring vehicle control information according to a position of the vehicle to be transported based on object information related to the object in the tracked space and vehicle information of the vehicle to be transported; transmitting the acquired vehicle control information to the vehicle to be transported.

11. A communication interface unit; a memory for storing instructions; and a processor that performs the instructions to set up a session for remotely controlling the vehicle to be transported, receives sensing data from a plurality of sensing devices installed within a predetermined area via the communication interface unit, tracks a space corresponding to the predetermined area based on the received sensing data, acquires vehicle control information according to a position of the vehicle to be transported based on object information related to an object in the tracked space and vehicle information of the vehicle to be transported, and transmits the acquired vehicle control information to the vehicle to be transported via the communication interface unit.

12. The processor executes the instructions to: The server of claim 11, further comprising: acquiring the vehicle control information based on object information of an object within a predetermined distance from a real-time position of the transporting vehicle on a travel route from a starting point to a destination.

13. The processor executes the instructions to: The server of claim 12, further comprising: acquiring first vehicle control information preprogrammed in advance in correspondence with the travel route; and acquiring second vehicle control information obtained by correcting the first vehicle control information according to the object information as the vehicle control information.

14. The processor executes the instructions to: The server of claim 12, further comprising: when an emergency situation occurs in the tracked space, first vehicle control information corresponding to a response action manual is acquired; and second vehicle control information obtained by correcting the first vehicle control information according to the object information is acquired as the vehicle control information.

15. The processor executes the instructions to: The server of claim 11, further comprising: detecting static objects and dynamic objects using pre-stored map information for the specific area and the received sensing data; and tracking the space by predicting the movement of the detected dynamic objects.

16. The processor executes the instructions to:

16. The server of claim 15, further comprising: a server that receives, via the communication interface unit, object information of a dynamic object moving from a second area to the first area from another server that manages a second area adjacent to a first area managed by the server in the specified region; and transmits the object information of the dynamic object moving from the first area to the second area to the other server.

17. The processor executes the instructions to: The server according to claim 11 , further comprising: a communication interface unit configured to receive the sensing data from a sensing device that corresponds to a travel route from a departure point to a destination, among the plurality of sensing devices installed within the specified area.

18. The processor executes the instructions to: The server according to claim 11, further comprising: acquiring vehicle information including identification information and location information of a vehicle to be transported to a destination within the specified area; using the vehicle information to register the vehicle to be transported in the server; and connecting the server and the vehicle to communicate with each other via the communication interface unit.

19. The processor executes the instructions to: The server of claim 18, wherein the vehicle information is acquired by receiving the vehicle information as session establishment request information from the vehicle to be transported or a terminal of an administrator of the server via the communication interface unit.

20. The processor executes the instructions to: The server according to claim 11, wherein when there are multiple vehicles to be transported, the server acquires vehicle control information corresponding to the identification information of each vehicle, and transmits the acquired vehicle control information to each vehicle corresponding to the identification information via the communication interface unit.

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