Method and system for providing visualization interface for monitoring position of autonomous vehicle

Abstract

The present disclosure relates to a method for providing a visualization interface for monitoring an autonomous vehicle, the method being performed by at least one processor of a user terminal. The method for providing a visualization interface comprises the steps of: generating a first visualization interface associated with an estimated position of an autonomous vehicle; generating a second visualization interface associated with uncertainty of the estimated position; and outputting the first visualization interface and the second visualization interface.

Description

Method and system for providing a visualization interface for monitoring the location of an autonomous vehicle

[0001] The present disclosure relates to a method and system for providing a visualization interface for monitoring the position of an autonomous vehicle, and more particularly, to a method and system for generating and outputting a visualization interface associated with an estimated position of an autonomous vehicle and uncertainty in the estimated position.

[0002] Autonomous driving technology refers to a technology that enables autonomous driving with minimal or no human intervention by recognizing the surrounding environment using radar, LiDAR (Light Detection and Ranging), GPS, cameras, and other technologies. Autonomous driving technology minimizes driver intervention, enhancing convenience and safety. Its commercialization potential extends to diverse sectors, including mining, logistics, and construction, and is therefore continuously being researched and developed.

[0003] Meanwhile, autonomous driving technology requires precise location recognition of autonomous vehicles, and its development requires access to a variety of data related to autonomous vehicle location recognition. However, conventional technologies only provide visualized data on autonomous vehicle locations to autonomous driving technology industry professionals (e.g., developers, human operators, etc.) who monitor autonomous vehicle locations, hindering the advancement of autonomous driving technology.

[0004] The present disclosure provides a method for providing a visualization interface for monitoring the location of an autonomous vehicle, a computer program stored in a recording medium, and a system (device) to solve the above-described problem.

[0005] The present disclosure may be implemented in various ways, including as a method, a device (system), or a computer program stored on a readable storage medium.

[0006] According to one embodiment of the present disclosure, a method for providing a visualization interface for monitoring an autonomous vehicle, performed by at least one processor of a user terminal, includes the steps of generating a first visualization interface associated with an estimated position of the autonomous vehicle, generating a second visualization interface associated with uncertainty of the estimated position, and outputting the first visualization interface and the second visualization interface.

[0007] A computer program stored in a computer-readable recording medium is provided for executing a method according to one embodiment of the present disclosure on a computer.

[0008] A user terminal according to one embodiment of the present disclosure includes a communication module, a memory, a display, and at least one processor connected to the memory and configured to execute at least one computer-readable program included in the memory, wherein the at least one program includes instructions for generating a first visualization interface associated with an estimated position of an autonomous vehicle, generating a second visualization interface associated with uncertainty of the estimated position, and outputting the first visualization interface and the second visualization interface.

[0009] According to various embodiments of the present disclosure, a user (e.g., a developer, a human operator, etc.) may be provided with a visualization interface related to the estimated location of an autonomous vehicle and a visualization interface related to the uncertainty of the estimated location. Accordingly, the user may receive information necessary for the development of autonomous driving technology, such as information on the uncertainty of the estimated location calculated by a location recognition algorithm.

[0010] According to various embodiments of the present disclosure, a visualization interface associated with an estimated location may include a marker associated with the estimated location, a component supporting zoom functionality, and a component outputting the delay time of the algorithm. Accordingly, convenience in obtaining data associated with the user's estimated location may be enhanced.

[0011] According to various embodiments of the present disclosure, an additional visualization interface may be provided that includes bar-shaped markers associated with the uncertainty of the estimated location. This allows the user to view real-time data as well as historical data associated with the uncertainty of the estimated location, and to immediately identify trends in the data associated with the uncertainty.

[0012] The effects of the present disclosure are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by a person having ordinary skill in the art to which the present disclosure belongs (referred to as “one skilled in the art”) from the description of the claims.

[0013] Embodiments of the present disclosure will be described below with reference to the accompanying drawings, wherein like reference numerals represent similar elements, but are not limited thereto.

[0014] FIG. 1 is a diagram illustrating an example of a visualization interface provided according to one embodiment of the present disclosure.

[0015] FIG. 2 is a schematic diagram showing a configuration in which an information processing system is connected to enable communication with a plurality of user terminals to provide a visualization interface for monitoring an autonomous vehicle according to one embodiment of the present disclosure.

[0016] FIG. 3 is a block diagram showing the internal configuration of a user terminal and an information processing system according to one embodiment of the present disclosure.

[0017] FIG. 4 is a diagram showing the internal configuration of a processor of a user terminal according to one embodiment of the present disclosure.

[0018] FIG. 5 is a diagram illustrating an example of a visualization interface associated with an estimated position of an autonomous vehicle according to one embodiment of the present disclosure.

[0019] FIG. 6 is a diagram illustrating an example of a visualization interface associated with uncertainty in estimated position according to one embodiment of the present disclosure.

[0020] FIG. 7 is a diagram illustrating an example of a marker displayed within a visualization interface associated with uncertainty in an estimated position according to one embodiment of the present disclosure.

[0021] FIG. 8 is a diagram illustrating an example of a visualization interface associated with uncertainty in estimated position according to another embodiment of the present disclosure.

[0022] FIG. 9 is a diagram illustrating an example of a marker displayed within a visualization interface associated with uncertainty in an estimated position according to another embodiment of the present disclosure.

[0023] FIG. 10 is a diagram illustrating an example of a marker displayed within a visualization interface associated with uncertainty in an estimated position according to another embodiment of the present disclosure.

[0024] FIG. 11 is a diagram showing an example of a visualization interface output according to one embodiment of the present disclosure.

[0025] FIG. 12 is a flowchart illustrating an example of a method for providing a visualization interface for monitoring an autonomous vehicle according to one embodiment of the present disclosure.

[0026] Hereinafter, specific details for implementing the present disclosure will be described in detail with reference to the attached drawings. However, in the following description, specific descriptions of widely known functions or configurations will be omitted if they may unnecessarily obscure the gist of the present disclosure.

[0027] In the attached drawings, identical or corresponding components are assigned the same reference numerals. Furthermore, in the description of the embodiments below, duplicate descriptions of identical or corresponding components may be omitted. However, even if a description of a component is omitted, it is not intended that such component is not included in any embodiment.

[0028] The advantages and features of the disclosed embodiments, and methods for achieving them, will become clearer with reference to the embodiments described below, along with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below and may be implemented in various different forms. These embodiments are provided solely to ensure the completeness of the disclosure and to fully inform those skilled in the art of the scope of the invention.

[0029] The terms used in this specification will be briefly explained, followed by a detailed description of the disclosed embodiments. The terms used in this specification have been selected from widely used, current terms, taking into account the functions of the present disclosure. However, these terms may vary depending on the intentions of engineers working in the relevant field, precedents, the emergence of new technologies, etc. Furthermore, in certain cases, terms may be arbitrarily selected by the applicant, and in such cases, their meanings will be described in detail in the relevant description of the invention. Therefore, the terms used in this disclosure should not be defined simply as names of terms, but rather based on their meanings and the overall content of the present disclosure.

[0030] In this specification, singular expressions include plural expressions unless the context clearly indicates otherwise. Furthermore, plural expressions include singular expressions unless the context clearly indicates otherwise. When a part of the specification is said to include a component, this does not exclude other components, but rather implies that other components may be included, unless otherwise specifically stated.

[0031] The terms first, second, A, B, etc. used in this specification and claims may be used to describe various components, but these components should not be limited by these terms. These terms are used solely to distinguish one component from another.

[0032] Also, the term 'module' or 'part' used in the specification means a software or hardware component, and the 'module' or 'part' performs certain roles. However, the 'module' or 'part' is not limited to software or hardware. The 'module' or 'part' may be configured to reside on an addressable storage medium and may be configured to execute one or more processors. Thus, as an example, the 'module' or 'part' may include at least one of components such as software components, object-oriented software components, class components, and task components, processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, or variables. The functionality provided within the components and 'modules' or 'parts' may be combined into a smaller number of components and 'modules' or 'parts', or further separated into additional components and 'modules' or 'parts'.

[0033] According to one embodiment of the present disclosure, a 'module' or 'unit' may be implemented as a processor and a memory. 'Processor' should be broadly construed to include a general-purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, a state machine, and the like. In some circumstances, a 'processor' may also refer to an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field-programmable gate array (FPGA), and the like. A 'processor' may also refer to a combination of processing devices, such as, for example, a combination of a DSP and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors in conjunction with a DSP core, or any other such combination of configurations. In addition, 'memory' should be broadly construed to include any electronic component capable of storing electronic information. 'Memory' may refer to various types of processor-readable media, such as random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable PROM (EEPROM), flash memory, magnetic or optical data storage, registers, etc. Memory is said to be in electronic communication with the processor if the processor can read information from, and / or write information to, the memory. Memory integrated in a processor is in electronic communication with the processor.

[0034] In the present disclosure, the "system" may include, but is not limited to, at least one of a server device and a cloud device. For example, the system may be comprised of one or more server devices. As another example, the system may be comprised of one or more cloud devices. As yet another example, the system may be configured and operated by a combination of a server device and a cloud device.

[0035] In the present disclosure, 'display' may refer to any display device associated with a computing device, for example, any display device capable of displaying any information / data controlled by or provided from the computing device.

[0036] In the present disclosure, 'each of the plurality of As' or 'each of the plurality of As' may refer to each of all components included in the plurality of As, or may refer to each of some components included in the plurality of As.

[0037] In this disclosure, a "visualization interface" may refer to a user interface that visually represents data and helps users explore and understand the visualized data. A "visualization interface" may include various types of graphs (e.g., line graphs, bar graphs, pie graphs, etc.) that visually represent data, and interactive components that allow users to explore and analyze the data.

[0038] In this disclosure, a "marker" may refer to a visual representation of a specific point or value in data. For example, a "marker" may be displayed on a map based on coordinates for an estimated location derived from a location recognition algorithm. "Markers" can play a crucial role in conveying information through visualization, allowing users to easily understand data and gain insights.

[0039] FIG. 1 is a diagram illustrating an example of a visualization interface provided according to one embodiment of the present disclosure. According to one embodiment, a user (developer, human operator, etc.) (100) may be provided with a visualization interface (120) for monitoring an autonomous vehicle through a user terminal (110). The visualization interface (120) may include various visualization interfaces associated with the autonomous vehicle. For example, the visualization interface (120) may include a visualization interface associated with an estimated position of the autonomous vehicle and / or a visualization interface associated with uncertainty in the estimated position.

[0040] According to one embodiment, the user terminal (110) may generate a visualization interface associated with the estimated location of the autonomous vehicle. In one embodiment, the visualization interface associated with the estimated location of the autonomous vehicle may include a marker associated with the estimated location, a component supporting zoom in and out functions, a component outputting a delay time of a location recognition algorithm, and the like. A detailed example of the visualization interface associated with the estimated location of the autonomous vehicle is described below with reference to FIGS. 5 and 6 .

[0041] According to one embodiment, the user terminal (110) may generate a visualization interface associated with the uncertainty of the estimated location. In one embodiment, the visualization interface associated with the uncertainty of the estimated location may include a marker associated with the estimated location and an oval-shaped marker associated with the uncertainty of the estimated location. In another embodiment, the visualization interface associated with the uncertainty of the estimated location may include a bar-shaped marker associated with the uncertainty of the estimated location. Detailed examples of the visualization interface associated with the uncertainty of the estimated location are described below with reference to FIGS. 7 to 10 .

[0042] According to one embodiment, the user terminal (110) may output a visualization interface (120). For example, the user terminal (110) may arrange a visualization interface associated with an estimated position of an autonomous vehicle included in the visualization interface (120) and a visualization interface associated with uncertainty in the estimated position in a grid layout and output the same to the display of the user terminal (110). In addition, each interface included in the visualization interface (120) may change in size or position in response to a user input.

[0043] Through the above-described configuration, the user (100) can be provided with a visualization interface related to the estimated position of the autonomous vehicle and a visualization interface related to the uncertainty of the estimated position. Accordingly, the user (100) can be provided with information necessary for the development of autonomous driving technology, such as information on the uncertainty of the estimated position calculated by a position recognition algorithm (e.g., GPS, LiDAR-based position recognition, image-based position recognition, EKF (Extended Kalman Filter), etc.). In addition, the convenience in obtaining data related to the user's estimated position can be improved, and the user can check not only real-time data related to the uncertainty of the estimated position but also past data, and can immediately check the trend of data related to the uncertainty.

[0044] FIG. 2 is a schematic diagram showing a configuration in which an information processing system (230) is connected to a plurality of user terminals (210_1, 210_2, 210_3) so as to be able to communicate with each other in order to provide a visualization interface for monitoring an autonomous vehicle according to one embodiment of the present disclosure. As illustrated, the plurality of user terminals (210_1, 210_2, 210_3) may be connected to an information processing system (230) that can provide data associated with a visualization interface for monitoring an autonomous vehicle via a network (220). Here, the plurality of user terminals (210_1, 210_2, 210_3) may be user terminals that receive a request for creating / outputting a visualization interface for monitoring an autonomous vehicle from a user and receive data associated with the visualization interface for monitoring an autonomous vehicle (e.g., an estimated position of an autonomous vehicle calculated by a position recognition algorithm, etc.) from the information processing system (230).

[0045] In one embodiment, the information processing system (230) may include one or more server devices and / or databases, or one or more distributed computing devices and / or distributed databases based on cloud computing services, capable of storing, providing, and executing data associated with the visualization interface and a computer executable program (e.g., a downloadable application) associated with generating / providing data associated with the visualization interface.

[0046] Data associated with the visualization interface provided by the information processing system (230) may be visualized and provided to users through an autonomous vehicle monitoring application, a web browser, or a web browser extension program installed on each of a plurality of user terminals (210_1, 210_2, 210_3). For example, the information processing system (230) may provide corresponding information or perform corresponding processing, such as providing data associated with the visualization interface, in response to a data request associated with the visualization interface received from a user terminal (210_1, 210_2, 210_3) through an autonomous vehicle monitoring application, etc.

[0047] A plurality of user terminals (210_1, 210_2, 210_3) can communicate with an information processing system (230) via a network (220). The network (220) can be configured to enable communication between the plurality of user terminals (210_1, 210_2, 210_3) and the information processing system (230). Depending on the installation environment, the network (220) can be configured as a wired network such as Ethernet, a wired home network (Power Line Communication), a telephone line communication device, and RS-serial communication, a wireless network such as a mobile communication network, WLAN (Wireless LAN), Wi-Fi, Bluetooth, and ZigBee, or a combination thereof. The communication method is not limited, and may include not only a communication method utilizing a communication network (e.g., a mobile communication network, wired Internet, wireless Internet, broadcasting network, satellite network, etc.) that the network (220) may include, but also short-range wireless communication between user terminals (210_1, 210_2, 210_3).

[0048] In FIG. 2, a mobile phone terminal (210_1), a tablet terminal (210_2), and a PC terminal (210_3) are illustrated as examples of user terminals, but are not limited thereto, and the user terminals (210_1, 210_2, 210_3) may be any computing device capable of wired and / or wireless communication and capable of installing and executing an autonomous vehicle monitoring application or a web browser, etc. For example, the user terminal may include an AI speaker, a smartphone, a mobile phone, a navigation device, a computer, a laptop, a digital broadcasting terminal, a PDA (Personal Digital Assistants), a PMP (Portable Multimedia Player), a tablet PC, a game console, a wearable device, an IoT (Internet of Things) device, a VR (virtual reality) device, an AR (augmented reality) device, a set-top box, etc. In addition, although FIG. 2 illustrates three user terminals (210_1, 210_2, 210_3) communicating with the information processing system (230) via the network (220), this is not limited thereto, and a different number of user terminals may be configured to communicate with the information processing system (230) via the network (220).

[0049] FIG. 3 is a block diagram showing the internal configuration of a user terminal (210) and an information processing system (230) according to one embodiment of the present disclosure. The user terminal (210) may refer to any computing device capable of executing applications, web browsers, etc., and capable of wired / wireless communication, and may include, for example, a mobile phone terminal (210_1), a tablet terminal (210_2), a PC terminal (210_3), etc. of FIG. 2. As illustrated, the user terminal (210) may include a memory (312), a processor (314), a communication module (316), and an input / output interface (318). Similarly, the information processing system (230) may include a memory (332), a processor (334), a communication module (336), and an input / output interface (338). As illustrated in FIG. 3, the user terminal (210) and the information processing system (230) may be configured to communicate information and / or data via a network (220) using respective communication modules (316, 336). In addition, the input / output device (320) may be configured to input data associated with a visualization interface to the user terminal (210) or output information and / or data generated from the user terminal (210) via the input / output interface (318).

[0050] The memory (312, 332) may include any non-transitory computer-readable recording medium. According to one embodiment, the memory (312, 332) may include a permanent mass storage device such as a read-only memory (ROM), a disk drive, a solid state drive (SSD), a flash memory, etc. As another example, a permanent mass storage device such as a ROM, an SSD, a flash memory, a disk drive, etc. may be included in the user terminal (210) or the information processing system (230) as a separate permanent storage device distinct from the memory. In addition, the memory (312, 332) may store an operating system and at least one program code (e.g., code for generating / providing data associated with a visualization interface, etc.).

[0051] These software components may be loaded from a computer-readable recording medium separate from the memory (312, 332). This separate computer-readable recording medium may include a recording medium directly connectable to the user terminal (210) and the information processing system (230), and may include, for example, a computer-readable recording medium such as a floppy drive, a disk, a tape, a DVD / CD-ROM drive, a memory card, etc. As another example, the software components may be loaded into the memory (312, 332) through a communication module (316, 336) other than a computer-readable recording medium. For example, at least one program may be loaded into the memory (312, 332) based on a computer program (e.g., a program for generating / providing data associated with a visualization interface) that is installed by files provided by developers or a file distribution system that distributes installation files of applications through a network (220).

[0052] The processor (314, 334) may be configured to process instructions of a computer program by performing basic arithmetic, logic, and input / output operations. Instructions may be provided to the processor (314, 334) by a memory (312, 332) or a communication module (316, 336). For example, the processor (314, 334) may be configured to execute instructions received according to program code stored in a storage device such as the memory (312, 332).

[0053] The communication module (316, 336) may provide a configuration or function for the user terminal (210) and the information processing system (230) to communicate with each other via the network (220), and may provide a configuration or function for the user terminal (210) and / or the information processing system (230) to communicate with another user terminal or another system (e.g., a separate cloud system, etc.). For example, a request or data (e.g., a request for generation / provision of data associated with a visualization interface, etc.) generated by the processor (314) of the user terminal (210) according to a program code stored in a recording device such as a memory (312) may be transmitted to the information processing system (230) via the network (220) under the control of the communication module (316). Conversely, a control signal or command provided under the control of the processor (334) of the information processing system (230) can be received by the user terminal (210) through the communication module (316) of the user terminal (210) via the communication module (336) and the network (220).

[0054] The input / output interface (318) may be a means for interfacing with an input / output device (320). As an example, the input device may include a device such as a camera, keyboard, microphone, mouse, etc., including an audio sensor and / or an image sensor, and the output device may include a device such as a display, a speaker, a haptic feedback device, etc. As another example, the input / output interface (318) may be a means for interfacing with a device that has a configuration or function integrated into one for performing input and output, such as a touch screen. For example, when the processor (314) of the user terminal (210) processes a command of a computer program loaded into the memory (312), a service screen configured using information and / or data provided by the information processing system (230) or another user terminal may be displayed on the display through the input / output interface (318). In FIG. 3, the input / output device (320) is illustrated as not being included in the user terminal (210), but is not limited thereto, and may be configured as a single device with the user terminal (210). In addition, the input / output interface (338) of the information processing system (230) may be a means for interfacing with a device (not shown) for input or output that is connected to the information processing system (230) or that the information processing system (230) may include. In FIG. 3, the input / output interfaces (318, 338) are illustrated as elements configured separately from the processors (314, 334), but are not limited thereto, and the input / output interfaces (318, 338) may be configured to be included in the processors (314, 334).

[0055] The user terminal (210) and the information processing system (230) may include more components than those shown in FIG. 3. However, there is no need to explicitly illustrate most of the conventional components. In one embodiment, the user terminal (210) may be implemented to include at least some of the input / output devices (320) described above. In addition, the user terminal (210) may further include other components, such as a transceiver, a Global Positioning System (GPS) module, a camera, various sensors, a database, and the like. For example, if the user terminal (210) is a smartphone, it may include components that a smartphone generally includes, and various components, such as an acceleration sensor, a gyro sensor, a microphone module, a camera module, various physical buttons, buttons using a touch panel, input / output ports, and a vibrator for vibration, may be implemented to be further included in the user terminal (210).

[0056] While a program for an autonomous vehicle monitoring application, etc. is running, the processor (314) can receive text, images, videos, voices and / or actions, etc. input or selected through input devices such as a camera, microphone, including a touch screen, keyboard, audio sensor and / or image sensor connected to an input / output interface (318), and can store the received text, images, videos, voices and / or actions, etc. in a memory (312) or provide them to an information processing system (230) through a communication module (316) and a network (220).

[0057] The processor (314) of the user terminal (210) may be configured to manage, process, and / or store information and / or data received from an input / output device (320), another user terminal, an information processing system (230), and / or multiple external systems. The information and / or data processed by the processor (314) may be provided to the information processing system (230) via a communication module (316) and a network (220). The processor (314) of the user terminal (210) may output the information and / or data by transmitting it to the input / output device (320) via an input / output interface (318). For example, a visualization interface for monitoring an autonomous vehicle may be displayed or shown on the screen of the user terminal (210).

[0058] The processor (334) of the information processing system (230) may be configured to manage, process, and / or store information and / or data received from a plurality of user terminals (210) and / or a plurality of external systems. The information and / or data processed by the processor (334) may be provided to the user terminal (210) via the communication module (336) and the network (220). In one embodiment, the processor (334) may execute instructions for generating and providing data associated with a visualization interface received from the user terminal (210).

[0059] FIG. 4 is a diagram illustrating the internal configuration of a processor (314) of a user terminal according to one embodiment of the present disclosure. The user terminal may include the user terminal (110) of FIG. 1. As illustrated in FIG. 4, the processor (314) may include a first visualization interface generation unit (410), a second visualization interface generation unit (420), and a visualization interface output unit (430).

[0060] According to one embodiment, the first visualization interface generation unit (410) may generate a first visualization interface associated with an estimated position of an autonomous vehicle. For example, the first visualization interface generation unit (410) may display a first marker associated with the estimated position within the first visualization interface. In this case, the position of the first marker may be determined based on a position recognition algorithm of the first autonomous vehicle. Additionally, the first visualization interface generation unit (410) may display a second marker associated with the estimated position within the visualization interface. In this case, the position of the second marker may be determined based on the position of the first marker. For example, a plurality of estimated positions may be calculated based on a plurality of position recognition algorithms including the first position recognition algorithm used to determine the position of the first marker, and the position of the second marker may be determined by performing a weighted sum of the calculated plurality of estimated positions. In addition, the first visualization interface generation unit (410) may generate and display a first component supporting a zoom-in and zoom-out function of the interface and a second component outputting a delay time of the position recognition algorithm within the visualization interface.

[0061] According to one embodiment, the second visualization interface generation unit (420) may generate a second visualization interface associated with the uncertainty of the estimated location. In one embodiment, the second visualization interface generation unit (420) may generate a third marker associated with the estimated location and a fourth marker associated with the uncertainty of the estimated location and display them within the second visualization interface. In this case, the location of the third marker may be determined based on the second location recognition algorithm. Additionally, the fourth marker may be displayed in the form of an ellipse that includes the third marker within it. In this case, the size of the fourth marker (e.g., the ellipse) may be determined based on the uncertainty of the estimated location.

[0062] Additionally or alternatively, the second visualization interface generation unit (420) may generate a fifth bar-shaped marker associated with the uncertainty of the estimated location and display the same within the second visualization interface. In this case, at least a portion of the fifth marker may be displayed in one or more colors, and the brightness of the corresponding color may be determined based on the uncertainty of the estimated location. For example, the brightness of the corresponding color may be lower as the uncertainty of the estimated location increases, and the brightness of the corresponding color may be higher as the uncertainty of the estimated location decreases. Furthermore, the length or width of the fifth marker may be determined based on the contribution of a third location recognition algorithm associated with the fifth marker. The fifth marker may be displayed within the second visualization interface together with other markers indicating the estimated location, in which case the third location recognition algorithm may determine the location of the other markers indicating the estimated location.

[0063] Additionally or alternatively, the second visualization interface generation unit (420) may generate a sixth marker associated with the estimated position and display it within the second visualization interface. In this case, the position of the sixth marker may be determined based on the fourth position recognition algorithm. Furthermore, the second visualization interface generation unit (420) may generate a seventh marker associated with the estimated position and display it within the second visualization interface. In this case, the position of the seventh marker may be determined based on the position of the sixth marker. For example, a plurality of estimated positions may be calculated based on a plurality of position recognition algorithms including the fourth position recognition algorithm used to determine the position of the sixth marker, and the position of the seventh marker may be determined by performing a weighted sum on the calculated plurality of estimated positions. Furthermore, the second visualization interface generation unit (420) may generate an eighth marker in the form of an arrow connecting the sixth and seventh markers and display it within the second visualization interface, and the eighth marker may be associated with the uncertainty of the estimated position. For example, the length of the eighth marker may indicate the difference between the estimated position associated with the sixth marker and the estimated position associated with the seventh marker, and the longer the length of the eighth marker, the higher the uncertainty in the position recognition result of the fourth position recognition algorithm used to determine the position of the sixth marker. In this case, the sixth marker, the seventh marker, and the eighth marker may be displayed in a time series manner within the second visualization interface, and may remain in the second visualization interface for a certain period of time after being displayed. In the above description, at least some of the first to fourth position recognition algorithms may be the same. In addition, at least some of the first to eighth markers may be the same.

[0064] According to one embodiment, the visualization interface output unit (430) may output the first visualization interface generated by the first visualization interface generation unit (410) and the second visualization interface generated by the second visualization interface generation unit (420) to the display of the user terminal. For example, the visualization interface output unit (430) may output the first visualization interface and the second visualization interface by arranging them in a grid layout on the display of the user terminal. In addition, the visualization interface output unit (430) may change the size or position of the first visualization interface and the second visualization interface, or change the configuration or position of components existing in the first visualization interface and the second visualization interface, in response to a user input.

[0065] In FIG. 4, each component of the processor (314) represents functionally distinct functional elements, and multiple components may be implemented in an integrated manner in an actual physical environment. Alternatively, each component of the processor (314) may be implemented separately from each other in an actual physical environment.

[0066] In addition, the internal configuration of the processor (314) in FIG. 4 is illustrated as being divided into a first visualization interface generation unit (410), a second visualization interface generation unit (420), and a visualization interface output unit (430), but is not limited thereto, and some configurations may be omitted or other configurations may be added.

[0067] FIG. 5 is a diagram illustrating an example of a visualization interface associated with an estimated location of an autonomous vehicle according to one embodiment of the present disclosure. A first drawing (510) illustrates an example of a first visualization interface associated with an estimated location of an autonomous vehicle. The first visualization interface may include a road and a bounding box (511) of the autonomous vehicle displayed on a virtual map. In addition, the first visualization interface may include one or more markers (512, 514, 516) associated with the estimated location and / or one or more markers (513, 515, 517) associated with an estimated direction, inside or outside the bounding box (511) of the autonomous vehicle. The first marker (512) associated with the estimated location and the second marker (513) associated with the estimated direction may be calculated based on a first location recognition algorithm. The location of the first marker (512) associated with the estimated location and the direction of the second marker (513) associated with the estimated direction may be calculated based on the first location recognition algorithm. The position of the third marker (514) associated with the estimated position and the direction of the fourth marker (515) associated with the estimated direction can be calculated based on the second position recognition algorithm.

[0068] According to one embodiment, the position of the fifth marker (516) associated with the estimated position and the direction of the sixth marker (517) associated with the estimated direction can be calculated based on the first to fourth markers (512, 513, 514, 515). For example, the fifth marker (516) indicates the final estimated position, and the position of the fifth marker (516) can be determined by weighting the coordinates of the first marker (512) and the coordinates of the third marker (514). Similarly, the direction of the sixth marker (517) can be determined by weighting the direction angle of the second marker (513) and the direction angle of the fourth marker (515).

[0069] In the first drawing (510), the first to fourth markers (512, 513, 514, 515) have different shapes, but this is not limited to this, and various shapes or expression methods may be used to distinguish between the markers. For example, the first to fourth markers (512, 513, 514, 515) may be distinguished from each other through different colors.

[0070] According to one embodiment, the first visualization interface may include a first component (518) supporting zoom in and zoom out functions. The first component (518) may include a zoom in unit (5 m), a zoom out unit (20 m), a zoom in button (+), and a zoom out button (-). The zoom in and zoom out units may be changed based on user input.

[0071] In one embodiment, the first visualization interface may include a second component (519) that outputs the delay time of one or more position recognition algorithms. In one embodiment, the delay time of the position recognition algorithm may be the deviation between the cycle of calculating the estimated position of the wheel encoder and the cycle of calculating the estimated position of the position recognition algorithm. Through the second component (519), the user can determine the delay time required for the position recognition algorithm to calculate the estimated position and obtain an indicator for determining the reliability of the algorithm.

[0072] The second drawing (520) illustrates an example of a second visualization interface associated with the estimated position of an autonomous vehicle. Like the first visualization interface, the second visualization interface may include a bounding box of a road and an autonomous vehicle displayed on a virtual map, and may include markers associated with the estimated position and markers associated with the estimated direction inside or outside the bounding box. In addition, although not illustrated in FIG. 5 , the second visualization interface may include a first component that supports zoom in and out functions and a second component that outputs a delay time of a position recognition algorithm. Additionally, the second visualization interface may include a direction indicator (522) that can determine the driving direction of the autonomous vehicle, and a user can determine the driving direction of the autonomous vehicle through the direction indicator (522).

[0073] As described above, the visualization interface associated with the estimated location may include a marker associated with the estimated location, a component supporting zooming in / out functionality, and a component outputting the delay time of the algorithm. This can enhance the convenience of obtaining data associated with the user's estimated location.

[0074] FIG. 6 is a diagram illustrating an example of a visualization interface (600) associated with uncertainty of an estimated position according to one embodiment of the present disclosure. The visualization interface (600) may include a bounding box (610) of an autonomous vehicle, a first marker (620) associated with an estimated position, a second marker (630) associated with an estimated position, a third marker (640) associated with an estimated direction, and a fourth marker (650) associated with uncertainty of the estimated position. In this case, the fourth marker (650) associated with uncertainty of the estimated position may be displayed around the second marker (630) while containing the second marker (630) associated with the estimated position within it.

[0075] The fourth marker (650), associated with the uncertainty of the estimated position, can utilize various methods to indicate the uncertainty of the estimated position. For example, the fourth marker (650) may be an oval-shaped marker, and the size of the fourth marker (i.e., the length of the minor or major axis of the oval) may be determined based on the degree of uncertainty. A detailed example of this is described below with reference to FIG. 6.

[0076] Additionally, although not shown in FIG. 6, the visualization interface (600) may additionally include a first component that supports zoom in and zoom out functions and a second component that outputs the delay time of the location recognition algorithm, similar to the visualization interface of FIG. 5.

[0077] FIG. 7 is a diagram illustrating an example of markers displayed within a visualization interface associated with uncertainty of an estimated position according to one embodiment of the present disclosure. A first drawing (710) is a diagram for explaining markers displayed within a visualization interface associated with uncertainty of an estimated position. The visualization interface may include a first marker (711) associated with an estimated position and a second marker (712) associated with an estimated direction. The position of the first marker (711) and the direction or angle of the second marker (712) may be determined by a first position recognition algorithm. The visualization interface may include a third marker (713) associated with an estimated position and a fourth marker (714) associated with an estimated direction. The position of the third marker (713) and the direction or angle of the fourth marker (714) may be determined by a second position recognition algorithm. The visualization interface may include a fifth marker (715) associated with an estimated position. The position of the fifth marker (715) can be determined based on the position of the first marker (711) and the position of the third marker (713). For example, the fifth marker (715) indicates the final estimated position, and the position of the fifth marker (715) can be determined by weighting the coordinates of the first marker (711) and the coordinates of the third marker (713).

[0078] In one embodiment, the visualization interface may include a sixth marker (716) associated with the uncertainty of the estimated position. The sixth marker (716) indicates the uncertainty of the estimated position of the first marker (711) and may be displayed around the first marker (711) so that the first marker (711) is positioned within the sixth marker (716). In addition, the sixth marker (716) may be an oval marker, and the size of each axis (717, 718) may be determined based on the uncertainty of the estimated position of the first marker (711), i.e., the uncertainty of the first position recognition algorithm. For example, as the uncertainty of the estimated position of the first marker (7110) increases, the size of the sixth marker (716) may increase. In this case, the size of each axis (717, 718) of the sixth marker (716) may be determined by the following mathematical equation.

[0079]

[0080]

[0081]

[0082] In mathematical equation 1, is a specific location estimation algorithm (e.g., GPS, Lidar-based position recognition, Image-based position recognition, EKF, etc.) may refer to the standard deviation calculated at a specific time interval (e.g., 10 seconds) for a specific time t. Contour Radius may be a parameter indicating the radius of the reference circle.

[0083] In the first drawing (710), only the sixth marker (716) indicating the uncertainty of the estimated position of the first marker (711) is shown, but this is not limited thereto, and markers associated with the uncertainty of the estimated position for each of the third marker (713) and the fifth marker (715) may be additionally displayed within the visualization interface.

[0084] The second drawing (720) is a drawing showing an example of markers displayed on a visualization interface in a safe situation, and the third drawing (730) shows an example of markers displayed on a visualization interface in a dangerous situation. As shown in the second drawing (720), in a safe situation, all of the plurality of markers indicating the estimated position are within the bounding box of the autonomous vehicle, and the size of the oval-shaped marker associated with the uncertainty of the estimated position may also be displayed relatively small. On the other hand, as shown in the third drawing (730), in a dangerous situation, at least some of the plurality of markers indicating the estimated position are outside the bounding box of the autonomous vehicle, and the size of the oval-shaped marker associated with the uncertainty of the estimated position may also be displayed relatively large. Through the above-described configuration, a user can monitor the autonomous vehicle, immediately judge the safe situation and the dangerous situation, and take follow-up measures.

[0085] FIG. 8 is a diagram illustrating an example of a visualization interface (800) associated with uncertainty in an estimated position according to another embodiment of the present disclosure. According to one embodiment, the visualization interface (800) may include a first bar-shaped marker (810) associated with uncertainty in an estimated position. The first marker may include information regarding the contribution and uncertainty of multiple position recognition algorithms. Further details regarding this are described below with reference to FIG. 9 .

[0086] In one embodiment, the visualization interface (800) may include a bounding box (820) of the autonomous vehicle, a second marker (830) and a third marker (840) associated with the estimated position, and a fourth marker (850) associated with the uncertainty of the estimated position. In this case, the fourth marker (850) may be an arrow-shaped marker connecting the second marker (830) and the third marker (840). Details thereof will be described later with reference to FIG. 10.

[0087] FIG. 9 is a diagram illustrating an example of markers displayed within a visualization interface associated with uncertainty of an estimated position according to another embodiment of the present disclosure. In one embodiment, a marker (900) may be in the form of a bar and may include one or more markers (e.g., a first marker (910), a second marker (920), and a third marker (930)) arranged in parallel along its length. In the example illustrated in FIG. 9 , the first marker (910) may include information about a contribution of the first position recognition algorithm to the final estimated position calculation and an uncertainty of the estimated position. In addition, the second marker (920) may include information about a contribution of the second position recognition algorithm to the final estimated position calculation and an uncertainty of the estimated position. The third marker (930) may include information about a contribution of the third position recognition algorithm to the final estimated position calculation and an uncertainty of the estimated position. In FIG. 9, the marker (900) is illustrated as including first to third markers (910, 920, 930), but is not limited thereto, and some markers may be omitted or additional markers may be included.

[0088] According to one embodiment, the width of the marker (900) may be fixed, and the widths of the first marker (910), the second marker (920), and the third marker (930) may represent the relative contributions of the first position recognition algorithm, the second position recognition algorithm, and the third position recognition algorithm to the calculation of the final estimated position, respectively. For example, a larger width of the first marker (910) may represent a greater contribution of the first position recognition algorithm to the calculation of the final estimated position. The widths of the first marker (910), the second marker (920), and the third marker (930) may be determined by the following mathematical equation.

[0089]

[0090]

[0091] In mathematical expression 2, It may refer to the number of estimated positions observed by a specific position recognition algorithm alg during a specific time point t to t-20. may refer to the number of estimated positions observed by the entire position recognition algorithms during a specific time point t to t-20. Gradient Height may refer to the width of the marker (900). For example, if the number of estimated positions observed by the entire position recognition algorithms during a specific time point t to t-20 is 10, and the number of estimated positions observed by the first position recognition algorithm is 2, the width of the first marker (910) corresponding to the first position recognition algorithm may be 0.2 Gradient Height. Although it is set to a specific time point t to t-20 in Mathematical Expression 2, it is not limited thereto, and the above-described time point may be changed.

[0092] According to one embodiment, the marker (900) may include a plurality of differently colored markers. For example, in the case of FIG. 9, the brightness of the colors of the first marker (910), the second marker (920), and the third marker (930) may represent the uncertainty of the first location recognition algorithm, the second location recognition algorithm, and the third location recognition algorithm, respectively. For example, the higher the brightness of the color included in the first marker (910), the lower the uncertainty of the first location recognition algorithm. The brightness of the colors of each of the first marker (910), the second marker (920), and the third marker (930) may be determined by the following mathematical equation.

[0093]

[0094]

[0095]

[0096] In mathematical expression 3, is a specific location estimation algorithm (e.g., GPS, Lidar-based position recognition, Image-based position recognition, EKF, etc.) can refer to the standard deviation calculated at a specific time interval (e.g., 10 seconds, etc.) for a specific time t.

[0097] In one embodiment, the marker (900) may be generated in a time-series fashion along a predetermined direction. For example, assuming that the marker's length corresponds to the driving direction of the autonomous vehicle, the marker's length may be generated in real time with its length expanding according to the elapsed driving time of the autonomous vehicle. Furthermore, any portion already generated may remain within the visualization interface for a predetermined period of time without disappearing.

[0098] Through the above configuration, users can check real-time data as well as historical data related to the uncertainty of the estimated location, and can immediately check the trend of data related to the uncertainty.

[0099] FIG. 10 is a diagram illustrating an example of markers displayed within a visualization interface associated with uncertainty of an estimated location according to another embodiment of the present disclosure. A first diagram (1010) is a diagram for explaining markers displayed within a visualization interface associated with uncertainty of an estimated location. The visualization interface may include one or more markers associated with an estimated location (e.g., a first marker (1012), a second marker (1016), and a third marker (1014). In the example of FIG. 10, the location of the first marker (1012) may be determined based on a first location recognition algorithm. Additionally, the location of the second marker (1016) may be determined based on a second location recognition algorithm. The location of the third marker (1014) may be determined based on the locations of the first marker (1012) and the second marker (1016). For example, the third marker (1014) represents the final estimated position, and the position of the third marker (1014) can be determined by weighting the coordinates of the first marker (1012) and the coordinates of the second marker (1016).

[0100] According to one embodiment, the visualization interface may additionally include a fourth marker (1013) and a fifth marker (1017) associated with uncertainty in the estimated position. The fourth marker (1013) may be an arrow-shaped marker connecting the first marker (1012) and the third marker (1014). The fifth marker (1017) may be an arrow-shaped marker connecting the second marker (1016) and the third marker (1014). The lengths of the fourth marker (1013) and the fifth marker (1017) may be determined based on the uncertainty of the first position recognition algorithm and the second position recognition algorithm, respectively. For example, the longer the fourth marker (1013), the greater the deviation between the final estimated position and the estimated position of the first position recognition algorithm.

[0101] According to one embodiment, the first to fifth markers (1012, 1013, 1014, 1016, 1017) may be generated in a time-series manner along a predetermined direction. For example, the first to fifth markers (1012, 1013, 1014, 1016, 1017) may be generated in real time according to the driving direction of the autonomous vehicle (i.e., from left to right in the drawing), and the portions that have already been generated may remain within the visualization interface for a predetermined period of time without disappearing.

[0102] In the first drawing (1010), only the first to fifth markers (1012, 1013, 1014, 1016, 1017) are shown, but this is not limited to this, and some markers may be omitted or additional markers may be present in the visualization interface.

[0103] The second drawing (1020) is a drawing showing an example of a marker displayed on a visualization interface in a dangerous situation, and the third drawing (1030) shows an example of a marker displayed on a visualization interface in a safe situation. As shown in the first area (1022) of the second drawing (1020), an arrow-shaped marker indicating uncertainty of an estimated position in a dangerous situation is continuously displayed, and the length of the marker is displayed relatively long. On the other hand, as shown in the second area (1032) of the third drawing (1030), an arrow-shaped marker indicating uncertainty of an estimated position in a dangerous situation is rarely displayed, indicating an estimated position in a safe situation. Through the above-described configuration, a user can monitor an autonomous vehicle, immediately judge a safe situation and a dangerous situation, and take follow-up measures.

[0104] FIG. 11 is a diagram illustrating an example of a visualization interface output according to one embodiment of the present disclosure. The first drawing (1110) illustrates an example of a visualization interface being output in a grid layout format on a display of a user terminal. According to one embodiment, the visualization interface may be output in a grid-like layout, with the first visualization interface (1112) positioned at the upper left, and the second visualization interface (1114) positioned at the lower left.

[0105] The second drawing (1120) shows an example in which the size or position of a visualization interface changes in response to a user input. The first visualization interface (1112) of the first drawing (1110) may change in size in response to a user input (e.g., a user input of dragging the border of the visualization interface, etc.), and the first visualization interface (1122) with the changed size may be output to the display of the user terminal. The second visualization interface (1114) of the first drawing (1110) may change in position in response to a user input (e.g., a user input of dragging the visualization interface to a specific position, etc.), and the second visualization interface (1124) with the changed position to the lower right may be output to the display of the user terminal.

[0106] The third drawing (1130) illustrates an example in which components of a visualization interface change in response to user input. The first visualization interface (1112) of the first drawing (1110) may have its internal configuration changed in response to a user input (e.g., a user input of dragging a specific component of the visualization interface, etc.), and the first visualization interface (1132) with its internal configuration changed may be output to a display of a user terminal. Similarly, the second visualization interface (1114) of the first drawing (1110) may have its internal configuration changed in response to a user input (e.g., a user input of dragging a specific component of the visualization interface, etc.), and the second visualization interface (1134) with its internal configuration changed may be output to a display of a user terminal.

[0107] FIG. 12 is a flowchart illustrating an example of a method (1200) for providing a visualization interface for monitoring an autonomous vehicle according to one embodiment of the present disclosure. In one embodiment, the method (1200) may be performed by at least one processor (e.g., processor (334)) of an information processing system and / or at least one processor (e.g., processor (314)) of a user terminal. The method (1200) may be initiated by generating a first visualization interface associated with an estimated location of the autonomous vehicle (S1210).

[0108] In one embodiment, the processor may display a first marker associated with an estimated location within a first visualization interface, and display a second marker associated with the estimated location within the first visualization interface. The location of the first marker may be determined based on a first location recognition algorithm. The location of the second marker may be determined based on the location of the first marker.

[0109] In one embodiment, the processor may display a first component that supports zoom in and zoom out functions of a first visualization interface within the first visualization interface, and display a second component that outputs a delay time of a first location recognition algorithm within the first visualization interface.

[0110] Then, the processor may generate a second visualization interface associated with the uncertainty of the estimated location (S1220). In one embodiment, the processor may display a third marker associated with the estimated location within the second visualization interface, and display a fourth marker associated with the uncertainty of the estimated location within the second visualization interface around the third marker. The location of the third marker may be determined based on the second location recognition algorithm, and the fourth marker may include the third marker within it. The fourth marker may include an oval-shaped marker, and the size of the fourth marker may be determined based on the uncertainty of the estimated location.

[0111] In one embodiment, the processor may display a fifth bar-shaped marker associated with the uncertainty of the estimated position within the second visualization interface. The fifth marker may include a colored marker, and the intensity of the color of the fifth marker may be determined based on the uncertainty of the estimated position. Additionally, the width of the fifth marker may be determined based on the contribution of a third position recognition algorithm associated with the fifth marker.

[0112] In one embodiment, the processor may display a sixth marker associated with the estimated location within the second visualization interface, a seventh marker associated with the estimated location within the second visualization interface, and an eighth marker in the form of an arrow associated with the uncertainty of the estimated location within the second visualization interface. The location of the sixth marker may be determined based on the fourth location recognition algorithm, the location of the seventh marker may be determined based on the location of the sixth marker, and the eighth marker may connect the sixth marker and the seventh marker. Additionally, the sixth marker, the seventh marker, and the eighth marker may be displayed in a time series manner and displayed on the second visualization interface for a predetermined period of time.

[0113] Finally, the processor may output the first visualization interface and the second visualization interface (S1230). In one embodiment, the processor may output the first visualization interface and the second visualization interface by arranging them in a grid layout. Furthermore, the processor may change the size or position of the output first visualization interface in response to a first user input, or change the size or position of the output second visualization interface in response to a second user input.

[0114] The flowchart illustrated in Figure 12 and the description above are merely examples, and some embodiments may be implemented differently. For example, in some embodiments, the order of each step may be changed, some steps may be repeated, some steps may be omitted, or some steps may be added.

[0115] The above-described method may be provided as a computer program stored on a computer-readable recording medium for execution on a computer. The medium may be one that continuously stores a computer-executable program or one that temporarily stores it for execution or download. In addition, the medium may be various recording means or storage means in the form of a single or multiple hardware combinations, and is not limited to a medium directly connected to a computer system, but may also be distributed over a network. Examples of the medium may include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and those configured to store program instructions, including ROM, RAM, and flash memory. In addition, examples of other media may include recording or storage media managed by app stores that distribute applications, sites that supply or distribute various software, servers, etc.

[0116] The methods, operations, or techniques of the present disclosure may be implemented by various means. For example, these techniques may be implemented in hardware, firmware, software, or a combination thereof. Those skilled in the art will appreciate that the various exemplary logical blocks, modules, circuits, and algorithm steps described in connection with the disclosure herein may be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability of hardware and software, various exemplary components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software will depend on the particular application and the design requirements imposed on the overall system. Those skilled in the art may implement the described functionality in various ways for each particular application, but such implementations should not be construed as departing from the scope of the present disclosure.

[0117] In a hardware implementation, the processing units used to perform the techniques may be implemented within one or more ASICs, DSPs, GPUs, digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, electronic devices, other electronic units designed to perform the functions described herein, a computer, or a combination thereof.

[0118] Accordingly, the various exemplary logical blocks, modules, and circuits described in connection with the present disclosure may be implemented or performed by any combination of a general-purpose processor, a DSP, an ASIC, an FPGA or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or those designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0119] In a firmware and / or software implementation, the techniques may be implemented as instructions stored on a computer-readable medium, such as random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable PROM (EEPROM), flash memory, a compact disc (CD), a magnetic or optical data storage device, etc. The instructions may be executable by one or more processors and may cause the processor(s) to perform certain aspects of the functionality described herein.

[0120] When implemented in software, the techniques may be stored on or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media, including any medium that facilitates transfer of a computer program from one place to another. Storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. In addition, any connection is suitably made to a computer-readable medium.

[0121] For example, if the software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, digital subscriber line, or wireless technologies such as infrared, radio, and microwave are included within the definition of media. Disk and disc, as used herein, includes compact discs, laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and Blu-ray discs, where disks usually reproduce data magnetically, whereas discs reproduce data optically using lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0122] A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium. Alternatively, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. Alternatively, the processor and the storage medium may reside as discrete components in the user terminal.

[0123] While the embodiments described above have been described as utilizing aspects of the presently disclosed subject matter in one or more standalone computer systems, the present disclosure is not limited thereto and may be implemented in conjunction with any computing environment, such as a network or distributed computing environment. Furthermore, aspects of the present disclosure may be implemented in multiple processing chips or devices, and storage may be similarly affected across multiple devices. Such devices may include personal computers, network servers, and portable devices.

[0124] While the present disclosure has been described in connection with certain embodiments herein, various modifications and variations may be made without departing from the scope of the present disclosure, which would be apparent to those skilled in the art. Furthermore, such modifications and variations are intended to fall within the scope of the claims appended to this specification.

Claims

1. A method for providing a visualization interface for monitoring an autonomous vehicle, performed by at least one processor of a user terminal, A step of generating a first visualization interface associated with the estimated position of the autonomous vehicle; generating a second visualization interface associated with the uncertainty of the estimated position; and A step of outputting the first visualization interface and the second visualization interface. A method for providing a visualization interface, including:

2. In paragraph 1, The step of creating the first visualization interface is as follows: A step of displaying a first marker associated with the estimated location within the first visualization interface, wherein the location of the first marker is determined based on a first location recognition algorithm; and A method for providing a visualization interface, comprising the step of displaying a second marker associated with the estimated position within the first visualization interface, wherein the position of the second marker is determined based on the position of the first marker.

3. In paragraph 2, The step of creating the first visualization interface is as follows: A step of displaying a first component that supports the zoom in and zoom out function of the first visualization interface within the first visualization interface; and A step of displaying a second component that outputs the delay time of the first location recognition algorithm within the first visualization interface. A method for providing a visualization interface, further comprising:

4. In paragraph 1, The step of creating the second visualization interface is: A step of displaying a third marker associated with the estimated location within the second visualization interface, wherein the location of the third marker is determined based on a second location recognition algorithm; and A step of displaying a fourth marker associated with the uncertainty of the estimated position within the second visualization interface around the third marker, wherein the fourth marker includes the third marker therein. A method for providing a visualization interface, including:

5. In paragraph 4, The fourth marker above includes an oval-shaped marker, The size of the above fourth marker is: A method for providing a visualization interface, the method being determined based on the uncertainty of the above estimated location.

6. In paragraph 1, The step of creating the second visualization interface is: A step of displaying a fifth bar-shaped marker associated with the uncertainty of the estimated position within the second visualization interface. A method for providing a visualization interface, including:

7. In paragraph 6, The fifth marker above includes a colored marker, The brightness of the color of the above fifth marker is A method for providing a visualization interface, the method being determined based on the uncertainty of the above estimated location.

8. In paragraph 7, The width of the fifth marker above is A method for providing a visualization interface, the method being determined based on the contribution of the third location recognition algorithm associated with the fifth marker.

9. In paragraph 1, The step of creating the second visualization interface is: A step of displaying a sixth marker associated with the estimated location within the second visualization interface, wherein the location of the sixth marker is determined based on a fourth location recognition algorithm; A step of displaying a seventh marker associated with the estimated position within the second visualization interface, wherein the position of the seventh marker is determined based on the position of the sixth marker; and A step of displaying an eighth marker in the form of an arrow associated with the uncertainty of the estimated position within the second visualization interface, wherein the eighth marker connects the sixth marker and the seventh marker; A method for providing a visualization interface, including:

10. In paragraph 9, The sixth marker, the seventh marker and the eighth marker are, It is displayed chronologically, A method for providing a visualization interface, wherein the second visualization interface is displayed for a predetermined period of time.

11. In paragraph 1, The step of outputting the first visualization interface and the second visualization interface comprises: A step of arranging and outputting the first visualization interface and the second visualization interface in a grid layout format. A method for providing a visualization interface, including:

12. In paragraph 1, In response to a first user input, a step of changing the size or position of the output first visualization interface; or A step of changing the size or position of the output second visualization interface in response to a second user input. A method for providing a visualization interface, further comprising:

13. A computer program stored on a computer-readable recording medium for executing the method according to any one of paragraphs 1 to 12 on a computer.

14. As a user terminal, Communication module; memory; display; and At least one processor connected to said memory and configured to execute at least one computer-readable program contained in said memory Including, At least one program above, Create a first visualization interface associated with the estimated position of the autonomous vehicle, Generate a second visualization interface associated with the uncertainty of the above estimated location, A user terminal comprising commands for outputting the first visualization interface and the second visualization interface.

Images