Method and apparatus for matching ship maps and port maps

Abstract

A method and apparatus for matching ship maps with harbor maps is provided. [Solution] This embodiment provides a method and device for matching a ship map with a port map to link the map of the moving body, the ship, to the map of the corresponding port terminal device in order to use maps for the port and ship similar to the control of an autonomous vehicle on a road when moving the autonomous vehicle from one port to another using a ship.

Description

Technical Field

[0001] One embodiment of the present invention relates to a method and apparatus for matching a ship map and a port map.

Background Art

[0002] The following description only provides background information related to the embodiments and does not constitute the prior art.

[0003] An autonomous driving system is a system that can automatically drive without the intention of a driver to a specified destination by recognizing the surrounding situation and vehicle state. The autonomous driving system is composed of stages of perception, judgment, route generation, and vehicle control. In the route generation stage, it senses changes in obstacles and generates an avoidance route in real time, and generates a route that reflects the kinematic behavior characteristics of the vehicle.

[0004] In particular, in the route generation stage, when an autonomous driving vehicle attempts to change lanes in an urban area, congested section, or highway where the situation changes in real time, various dangerous situations may occur. Therefore, research continues to generate a stable driving route considering collisions with surrounding dynamic obstacles.

[0005] Generally, an autonomous driving vehicle recognizes the lanes on both sides of the driving lane and travels along the center of the recognized lanes on both sides. The autonomous driving vehicle generates a candidate path within the driving lane considering surrounding vehicles or obstacles, and selects a local path within the range not exceeding the lane (the boundary line of the driving lane) to avoid collisions with obstacles and ensure safety, and travels deviating from the center of the driving lane.

[0006] Generally, for vehicles to be shipped from a factory and loaded onto a ship, firstly, the transport vehicle carrying the vehicles must be driven by a person to the loading dock. Secondly, the vehicles loaded on the transport vehicle must be driven by a person to the loading waiting area. Tertiarily, the vehicles must be driven by a person from the loading waiting area to the ship and loaded onto the ship. [Overview of the Initiative] [Problems that the invention aims to solve]

[0007] The purpose of this embodiment is to provide a method and apparatus for matching a ship map and a port map, which links the map of a moving ship to the map of a port terminal, in order to use maps of ports and ships in a similar manner to controlling an autonomous vehicle on a road when moving an autonomous vehicle from one port to another using a ship. [Means for solving the problem]

[0008] According to one aspect of this embodiment, a map matching device is provided that includes: a pier coordinate extraction unit that extracts multiple pier position coordinates from a port map in conjunction with a port terminal; a ship berthing coordinate determination unit that determines ship berthing center coordinates based on the multiple pier position coordinates; a ship center coordinate extraction unit that extracts ship center coordinates based on a ship map in conjunction with a ship; a coordinate matching unit that matches the ship berthing center coordinates with the ship center coordinates; and a map matching unit that matches the port map with the ship map once it is confirmed that the ship berthing center coordinates and the ship center coordinates match.

[0009] Another aspect of this embodiment provides a map matching method characterized by including: a pier coordinate extraction process for extracting multiple pier location coordinates from a port map in conjunction with a port terminal; a ship berthing coordinate determination process for determining ship berthing center coordinates based on the multiple pier location coordinates; a ship coordinate extraction process for extracting ship center coordinates based on a ship map in conjunction with a ship; a coordinate matching process for matching the ship berthing center coordinates with the ship center coordinates; and a map matching process for matching the port map with the ship map once it has been confirmed that the ship berthing center coordinates and the ship center coordinates match. [Effects of the Invention]

[0010] As explained above, according to this embodiment, when an autonomous vehicle is moved from one port to another using a ship, the ship map can be matched to the terminal map so that the map of the ship, which is a moving object, is linked to the map of the port terminal, in order to use maps of ports and ships in a similar manner to controlling an autonomous vehicle on a road. [Brief explanation of the drawing]

[0011] [Figure 1A] This figure shows a map matching device according to this embodiment. [Figure 1B] This figure shows a map matching device according to this embodiment. [Figure 2] This figure shows the ship map configuration according to this embodiment. [Figure 3] This figure shows the terminal map configuration according to this embodiment. [Figure 4] This figure shows a method for determining the center of a ship's berthing position in order to link a map of a mobile vessel, according to this embodiment, to a map of a fixed terminal. [Figure 5] This figure shows a method for aligning the coordinate center of a ship, which is a mobile object according to this embodiment, with the map of a fixed terminal. [Figure 6]This figure shows a method for linking the map of a mobile vessel according to this embodiment to the map of a fixed terminal by rotating the vessel by the amount of the pier inclination from the center of the vessel's coordinate system. [Figure 7] This figure shows a method for matching the map of a mobile vessel, according to this embodiment, with the map of a fixed terminal. [Modes for carrying out the invention]

[0012] The following embodiment will be described in detail with reference to the attached drawings.

[0013] Figures 1A and 1B show a map matching device according to this embodiment.

[0014] When moving an autonomous vehicle from one port to another using a vessel, maps of the port and the vessel are used in a similar manner to how autonomous vehicles are controlled on roads. The map matching device 130 in this embodiment links the map (including 2D and 3D maps) of the moving vessel 120 to the map of the corresponding port terminal 110.

[0015] When the map matching device 130 constructs ship coordinates in conjunction with the ship 120, it assigns ship center coordinates ("●") as attribute information for the center point of all coordinates of the ship 120. The map matching device 130 also assigns attribute information (" / ") for the inclination value (degree of inclination) of the pier where the ship 120 docks, in conjunction with the port terminal 110. When the ship docking position "X" is determined, the map matching device 130 moves the ship coordinate center "●" of the ship 120 and generates a map in which only the terminal pier inclination information " / " is linked by rotational transformation.

[0016] The map matching device 130 according to this embodiment includes a pier coordinate extraction unit 132, a ship berthing coordinate determination unit 133, a ship center coordinate extraction unit 134, a coordinate matching unit 135, a pier inclination extraction unit 136, an inclination matching unit 137, and a map matching unit 138. The components included in the map matching device 130 are not necessarily limited to these.

[0017] Each component included in the map matching device 130 may be connected to a communication path that connects software modules or hardware modules inside the device, and may operate organically with each other. Such components communicate using one or more communication buses or signal lines.

[0018] Each component of the map matching device 130 shown in FIG. 1B means a unit that processes at least one function or operation, and may be implemented by a software module, a hardware module, or a combination of software and hardware.

[0019] The quay coordinate extraction unit 132 extracts a plurality of quay position coordinates 310 from the harbor map in conjunction with the harbor terminal 110.

[0020] The ship shore approach coordinate determination unit 133 determines the ship shore approach center coordinates 410 based on the plurality of quay position coordinates 310.

[0021] The ship shore approach coordinate determination unit 133 determines, based on the plurality of quay position coordinates 310, a position adjacent to any one quay position of the plurality of quay position coordinates 310 as the ship shore approach center coordinates 410. The ship shore approach coordinate determination unit 133 selects, based on the plurality of quay position coordinates 310, only the quay position information where there is no ship information parked nearby as the candidate quay position coordinates. The ship shore approach coordinate determination unit 133 determines, among the candidate quay position coordinates, a quay having a space corresponding to the size of the ship 120 as the final quay based on the size of the ship. The ship shore approach coordinate determination unit 133 determines a position corresponding to a distance separated by a preset distance from the final quay as the ship shore approach center coordinates 410.

[0022] The ship center coordinate extraction unit 134 extracts the ship center coordinates 210 based on the ship map in conjunction with the ship 120.

[0023] The coordinate matching unit 135 ensures that the ship's berthing center coordinates match the ship's center coordinates. The coordinate matching unit 135 transmits the ship's berthing center coordinates 410 to the ship 120, causing the ship 120 to match its center coordinates with the ship's berthing center coordinates 410.

[0024] The pier inclination extraction unit 136 extracts pier inclination information corresponding to the final pier determined from among multiple pier location coordinates 310 from the harbor map. The pier inclination extraction unit 136 extracts one angle within the range of 0° to 359.9° as pier inclination information.

[0025] The tilt matching unit 137 transmits pier tilt information corresponding to the final pier to the ship 120, causing the ship 120 to rotate only by the amount of the pier tilt information.

[0026] The inclination matching section 137 ensures that the ship 120 maintains a straight line from bow to stern while the ship's berthing center coordinates 410 and the ship's center coordinates 210 coincide, based on berth inclination information corresponding to the final berth.

[0027] When the map matching unit 138 confirms that the ship's berthing center coordinates and the ship's center coordinates match, it matches the port map and the ship map.

[0028] When the map matching unit 138 confirms that the ship's berthing center coordinates 410 and the ship's center coordinates 210 match while the ship 120 has been rotated by the pier inclination information, it matches the port map and the ship map.

[0029] The map matching unit 138 matches the 2D coordinates of the 2D map and the 3D coordinates of the 3D map with respect to the outer perimeter of the ship in the ship map in a 1:1 ratio. The map matching unit 138 also matches the 2D coordinates of the 2D map and the 3D coordinates of the 3D map with respect to the outer perimeter of the port facilities in the port map in a 1:1 ratio.

[0030] The map matching unit 138 matches the 2D map of the ship's perimeter in the ship map with the 2D map of the port map in a 1:1 ratio. The map matching unit 138 also matches the 3D map of the ship's perimeter in the ship map with the 3D map of the port map in a 1:1 ratio.

[0031] Figure 2 shows the ship map configuration according to this embodiment.

[0032] Since the vessel 120 is a moving object, it does not exist on a fixed coordinate system on Earth, and therefore the overall coordinate system of the vessel structure must be changed to display it on Earth according to its moving position. The vessel map includes a 2D map and a 3D map, each composed of 2D (x,y) and 3D (x,y,z) coordinates.

[0033] The 2D and 3D coordinates on the ship map have a 1:1 matching relationship with the outer perimeter of each ship. The 2D and 3D coordinates on the ship map represent the same ship. The ship map includes ship center coordinate values ​​(center point coordinate values) as shown by "●" in Figure 1.

[0034] Figure 3 shows the terminal map configuration according to this embodiment.

[0035] Since the port terminal 110 is located inland, it can obtain fixed coordinates on Earth. The port terminal 110 includes separate attribute information within the port map, such as the position and angle at which the vessel 120 docks. The port map of the port terminal 110 includes a 2D map and a 3D map composed of 2D (x,y) coordinates and 3D (x,y,z) coordinates. The 2D and 3D maps of the port terminal 110 match the coordinates of the port perimeter 1:1 because the port facilities are located at fixed positions on Earth. The 2D map of the port terminal 110 includes information about ship berthing piers, such as the " / " shown in Figure 3, specifically the pier inclination value (0°~360°) information (terminal pier inclination information). The 2D map of the port terminal 110 also includes subdivision molecular coordinate information (terminal pier location information) that displays ship berthing piers in a subdivided manner, such as the "◎" shown in Figure 3.

[0036] Figure 4 shows a method for determining the center of a ship's berthing position in order to link a map of a mobile ship, which is a mobile object according to this embodiment, to a map of a fixed terminal.

[0037] The map matching device 130 refers to pier position information (coordinates) like the "◎" shown in Figure 4 to determine the center of the ship's berthing position (coordinates) "X" for the incoming vessel.

[0038] The map matching device 130 works in conjunction with the port terminal 110 to extract multiple port pier location coordinates 310 from the port map. Based on the multiple port pier location coordinates 310, the map matching device 130 determines the ship berthing center coordinates 410.

[0039] The map matching device 130 determines the ship berthing center coordinate 410 as a location adjacent to one of the multiple pier location coordinates 310, based on the multiple pier location coordinates 310.

[0040] The map matching device 130 selects only the pier location information for which there is no information on ships anchored nearby, based on multiple pier location coordinates 310, as candidate pier location coordinates. From among the candidate pier location coordinates, the map matching device 130 determines the pier that has space corresponding to the size of the ship 120 based on the size of the ship as the final pier. The map matching device 130 determines the ship berthing center coordinate 410 as a position corresponding to a predetermined distance away from the final pier.

[0041] Figure 5 shows a method for aligning the coordinate center of a ship, which is a mobile object according to this embodiment, with the map of a fixed terminal.

[0042] The map matching device 130 aligns the ship's coordinate center "●" with the determined ship's berthing position center (coordinate) "X".

[0043] The map matching device 130 ensures that the ship's berthing center coordinates match the ship's center coordinates. The map matching device 130 transmits the ship's berthing center coordinates 410 to the ship 120, causing the ship 120 to match its center coordinates to the ship's berthing center coordinates 410.

[0044] Figure 6 shows a method for rotating a ship, which is a mobile object according to this embodiment, by the amount of the pier inclination from the ship's coordinate center in order to link the map of the ship to the map of a fixed terminal.

[0045] The map matching device 130 uses terminal pier inclination information " / " (0°~359.9°) to rotate the ship from the ship's berthing position center (coordinates) "X" or the modified ship coordinate center "●" by the amount of the pier inclination.

[0046] The map matching device 130 extracts pier inclination information from the port map that corresponds to the final pier determined from among multiple pier location coordinates 310. The map matching device 130 extracts one angle within the range of 0° to 359.9° as pier inclination information.

[0047] The map matching device 130 transmits pier inclination information corresponding to the final pier to the ship 120, causing the ship 120 to rotate only by the amount of pier inclination information.

[0048] The map matching device 130 ensures that the ship 120 maintains a straight line from bow to stern while matching the ship's berthing center coordinates 410 with the ship's center coordinates 210 based on pier inclination information corresponding to the final pier.

[0049] Figure 7 shows a method for matching the map of a mobile vessel, which is a mobile object in this embodiment, with the map of a fixed terminal.

[0050] The map matching device 130 ensures that the mobile vessel 120 and the stationary port terminal 110 are accurately represented on a single map with the port terminal 110 at the center. Subsequently, the map matching device 130 matches the 2D map and 3D map of either the port terminal 110 or the vessel 120 on a one-to-one basis to complete the linked 2D map and 3D map.

[0051] When the map matching device 130 confirms that the ship's berthing center coordinates and the ship's center coordinates match, it matches the port map with the ship's map.

[0052] When the map matching device 130 confirms that the ship's berthing center coordinates 410 and the ship's center coordinates 210 match while the ship 120 has rotated only by the amount of pier inclination information, it matches the port map and the ship map.

[0053] The map matching device 130 matches the 2D coordinates of the 2D map and the 3D coordinates of the 3D map with respect to the outer perimeter of the ship in the ship map in a 1:1 ratio. The map matching device 130 also matches the 2D coordinates of the 2D map and the 3D coordinates of the 3D map with respect to the outer perimeter of the port facilities in the port map in a 1:1 ratio.

[0054] The map matching device 130 matches the 2D map of the ship's perimeter in the ship map with the 2D map of the port map in a 1:1 ratio. The map matching device 130 also matches the 3D map of the ship's perimeter in the ship map with the 3D map of the port map in a 1:1 ratio.

[0055] The above description is merely illustrative of the technical concept of this embodiment, and any person with ordinary skill in the art to which this embodiment belongs could make various modifications and alterations without departing from the essential characteristics of this embodiment. Therefore, this embodiment is for illustrative purposes only, not to limit the technical concept of this embodiment, and the scope of the technical concept of this embodiment is not limited by such embodiment. The scope of protection of this embodiment should be interpreted in accordance with the attached claims, and all technical concepts within an equivalent scope should be interpreted as being included in the scope of rights of this embodiment. [Explanation of Symbols]

[0056] 110 Port Terminals 120 Ships 130 Map Matching Device 132 Wharf Coordinate Extraction Unit 133 Ship berthing coordinate determination unit 134 Ship center coordinate extraction part 135 Coordinate coincidence section 136 Pier Incline Extraction Section 137 Incline matching part 138 Map Matching Section

Claims

1. A map matching device for matching a ship map and a port map, A pier coordinate extraction unit that works in conjunction with a port terminal to extract the location coordinates of multiple piers from a port map, A ship berthing coordinate determination unit that determines the ship berthing center coordinates based on the position coordinates of the plurality of port piers, A ship center coordinate extraction unit that extracts ship center coordinates based on a ship map in conjunction with the ship, A coordinate matching unit that makes the coordinates of the ship's berthing center and the coordinates of the ship's center coincide, A pier inclination extraction unit extracts pier inclination information corresponding to the final pier determined from the multiple pier location coordinates from the aforementioned pier map, A tilt matching unit transmits the pier tilt information corresponding to the final pier to the vessel, and causes the vessel to rotate by the amount of the pier tilt information; When it is confirmed that the ship's berthing center coordinates and the ship's center coordinates coincide after the ship has rotated by the amount of the pier tilt information, a map matching unit matches the port map and the ship map. A map matching device characterized by including the following:

2. The aforementioned ship berthing coordinate determination unit is: The map matching device according to claim 1, characterized in that, based on the plurality of port pier location coordinates, a location adjacent to any one of the plurality of port pier location coordinates is determined as the ship berthing center coordinate.

3. The aforementioned ship berthing coordinate determination unit is: The map matching device according to claim 1, characterized in that, based on the multiple port pier location coordinates, only port location information for which there is no information on ships anchored nearby is selected as candidate port pier location coordinates, among the candidate port pier location coordinates, a port that has space corresponding to the size of the ship based on the size of the ship is determined as the final port, and a position corresponding to a distance set in advance from the final port is determined as the ship berthing center coordinate.

4. The aforementioned coordinate matching portion is, The map matching device according to claim 1, characterized in that it transmits the ship's berthing center coordinates to the ship, and the ship adjusts its ship's center coordinates to match the ship's berthing center coordinates.

5. The aforementioned pier inclination extraction unit is, The map matching device according to claim 1, characterized in that it extracts one angle from the range of 0° to 359.9° as the pier inclination information.

6. The aforementioned inclined matching portion is, The map matching device according to claim 1, characterized in that, based on pier inclination information corresponding to the final pier, it causes the ship's berthing center coordinates to coincide with the ship's center coordinates while the ship maintains a straight line from bow to stern.

7. The aforementioned map matching unit, The map matching device according to claim 1, characterized in that it matches the 2D coordinates of the 2D map and the 3D coordinates of the 3D map with respect to the outer perimeter of the ship in the ship map in a 1:1 ratio, and matches the 2D coordinates of the 2D map and the 3D coordinates of the 3D map with respect to the outer perimeter of the port facilities in the port map in a 1:1 ratio.

8. The aforementioned map matching unit, The map matching device according to claim 7, characterized in that it matches the 2D map of the ship's outer perimeter in the ship map with the 2D map of the port map in a 1:1 ratio, and matches the 3D map of the ship's outer perimeter in the ship map with the 3D map of the port map in a 1:1 ratio.

9. A map matching method for matching a ship map with a port map, A pier coordinate extraction process that extracts the location coordinates of multiple piers from a pier map in conjunction with a pier terminal, A process for determining ship berthing coordinates, which determines the ship berthing center coordinates based on the position coordinates of the plurality of port piers, A ship coordinate extraction process that extracts the ship's center coordinates based on a ship map in conjunction with the ship, A coordinate matching process to make the coordinates of the ship's berthing center and the coordinates of the ship's center coincide, A pier inclination extraction process that extracts pier inclination information corresponding to the final pier determined from the multiple pier location coordinates from the aforementioned pier map, A tilt matching process that transmits the pier tilt information corresponding to the final pier to the vessel, and causes the vessel to rotate by the amount of the pier tilt information, When it is confirmed that the ship's berthing center coordinates and the ship's center coordinates coincide after the ship has rotated by the amount of the pier tilt information, a map matching process is performed to match the port map and the ship map. A map matching method characterized by including the following.

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