Autonomous driving device, network system of autonomous driving device, and method for controlling autonomous driving device passing through intersection

Abstract

An autonomous driving device according to the present invention comprises: a light-emitting unit including a left light-emitting module and a right light-emitting module; and a control unit for controlling the autonomous driving device so that the autonomous driving device passes through an intersection according to predetermined traffic rules, wherein the control unit controls the operation states of the left light-emitting module and the right light-emitting module to indicate the traveling direction of the autonomous driving device at the intersection.

Description

Autonomous driving device, autonomous driving device network system, and intersection passage control method of autonomous driving device

[0001] The present invention relates to an autonomous driving device, an autonomous driving device network system, and an intersection passage control method of an autonomous driving device.

[0002] Autonomous Mobile Robots (AMRs) are robots that move autonomously and perform tasks, primarily used in industrial and commercial environments. Utilizing various sensors and artificial intelligence (AI) technology, AMRs can perceive their environment in real time, avoid obstacles, and navigate to their destination.

[0003] When multiple AMRs use the same intersection, V2V (Vehicle-to-Vehicle) communication allows them to share location and route information, allowing them to navigate the intersection while avoiding collisions. Alternatively, a centralized control system exists, where a central server coordinates the order in which AMRs pass through the intersection. However, both V2V and central server methods can suffer from communication failures, preventing AMRs from properly navigating the intersection.

[0004] [Prior Art Literature]

[0005] (Patent Document) Korean Patent Publication No. 10-2022-0102694 (July 21, 2022)

[0006] The technical problem to be solved by the present invention is to provide an autonomous driving device that can safely pass through an intersection without colliding with another autonomous driving device, and a method for controlling the intersection passage of the autonomous driving device.

[0007] An autonomous driving device according to the present invention for solving the above-mentioned technical problem includes a light-emitting unit including a first light-emitting module and a second light-emitting module, and a control unit for controlling the autonomous driving device to pass through an intersection according to predetermined traffic rules.

[0008] The above control unit controls the operating states of the first light-emitting module and the second light-emitting module to indicate the direction of travel of the autonomous driving device at an intersection.

[0009] The autonomous driving device may further include a camera.

[0010] The control unit can determine the driving direction of the other autonomous driving device based on the operating states of the first light-emitting module and the second light-emitting module of the other autonomous driving device shown in the image of the intersection captured by the camera, and determine the intersection passage priority between the autonomous driving device and the other autonomous driving device based on the predetermined traffic rules.

[0011] The operating states of the first light-emitting module and the second light-emitting module may include at least one of a color combination of light output from the first light-emitting module and the second light-emitting module, an on-off state combination of the first light-emitting module and the second light-emitting module, and a blinking state combination of the first light-emitting module and the second light-emitting module.

[0012] The control unit may output light of a first color from both the first light-emitting module and the second light-emitting module when the driving direction of the autonomous driving device is straight, output light of a first color from the first light-emitting module and output light of a second color from the second light-emitting module when the driving direction of the autonomous driving device is a left turn, output light of a second color from the first light-emitting module and output light of the first color from the second light-emitting module when the driving direction of the autonomous driving device is a right turn, and output light of a second color from both the first light-emitting module and the second light-emitting module when the autonomous driving device is stopped.

[0013] The control unit may turn on both the first light-emitting module and the second light-emitting module when the driving direction of the autonomous vehicle is a straight line, turn on the first light-emitting module and turn off the second light-emitting module when the driving direction of the autonomous vehicle is a left turn, turn off the first light-emitting module and turn on the second light-emitting module when the driving direction of the autonomous vehicle is a right turn, turn off the first light-emitting module and turn on the second light-emitting module when the autonomous vehicle is stationary, or turn off both the first light-emitting module and the second light-emitting module when the driving direction of the autonomous vehicle is a straight line, turn on the first light-emitting module and turn off the second light-emitting module when the driving direction of the autonomous vehicle is a left turn, turn off the first light-emitting module and turn on the second light-emitting module when the driving direction of the autonomous vehicle is a right turn, and turn on both the first light-emitting module and the second light-emitting module when the autonomous vehicle is stationary.

[0014] The autonomous driving device may further include a communication module that transmits and receives wireless signals with another autonomous driving device.

[0015] The control unit controls the communication module to transmit a wireless signal indicating the direction of travel of the autonomous driving device at an intersection, determines the direction of travel of another autonomous driving device based on a wireless signal received from the other autonomous driving device at the intersection, and determines the priority of crossing the intersection between the autonomous driving device and the other autonomous driving device based on the predetermined traffic rules.

[0016] The control unit can control the wireless signal transmitted from the communication module differently by distinguishing between cases where the driving direction of the autonomous driving device is straight, cases where the driving direction of the autonomous driving device is a left turn, cases where the driving direction of the autonomous driving device is a right turn, and cases where the autonomous driving device is stopped.

[0017] The autonomous driving device network system according to the present invention for solving the above-mentioned technical problem includes a plurality of autonomous driving devices that autonomously drive along a predetermined movement path to perform a given task.

[0018] In order to solve the above-described technical problem, a method for controlling an intersection passage of an autonomous driving device according to the present invention comprises the steps of controlling the operation states of a first light-emitting module and a second light-emitting module to indicate a traveling direction of the autonomous driving device at the intersection when the autonomous driving device approaches the intersection by a predetermined distance, determining the traveling direction of another autonomous driving device according to the operation states of the first light-emitting module and the second light-emitting module of the autonomous driving device shown in an image of the intersection captured by a camera, and determining an intersection passage priority between the autonomous driving device and the other autonomous driving device according to a predetermined traffic rule, and controlling the autonomous driving device to pass through the intersection according to the intersection passage priority.

[0019] According to the present invention, autonomous vehicles can safely pass through intersections without colliding with other autonomous vehicles. In particular, even if communication failures occur within the autonomous vehicle, the vehicle can safely pass through the intersection. Furthermore, the autonomous vehicle network system administrator can intuitively identify any issues with the autonomous vehicle's ability to pass through intersections.

[0020] FIG. 1 is a drawing showing the configuration of an autonomous vehicle according to one embodiment of the present invention.

[0021] FIG. 2 is a drawing provided to explain an example of indicating the direction of travel of an autonomous driving device using a combination of colors of light according to one embodiment of the present invention.

[0022] FIG. 3 is a drawing provided to explain an example of indicating the direction of travel of an autonomous driving device using a combination of colors of light according to another embodiment of the present invention.

[0023] FIG. 4 is a flowchart provided to explain an intersection passage control method of an autonomous driving device according to one embodiment of the present invention.

[0024] Then, with reference to the attached drawings, an embodiment of the present invention will be described in detail so that a person having ordinary skill in the art to which the present invention pertains can easily carry out the present invention.

[0025] The terminology used herein is for the purpose of describing embodiments only and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise. As used herein, the terms "comprises" and / or "comprising" do not exclude the presence or addition of one or more other components in addition to the mentioned components. Like reference numerals refer to like components throughout the specification, and "and / or" includes each and any combination of one or more of the mentioned components. Although "first", "second", etc. are used to describe various components, these components are not limited by these terms. These terms are only used to distinguish one component from another. Therefore, it should be understood that a first component mentioned below may also be a second component within the technical spirit of the present invention.

[0026] FIG. 1 is a drawing showing the configuration of an autonomous driving device according to one embodiment of the present invention.

[0027] Referring to FIG. 1, an autonomous driving device (100) according to one embodiment of the present invention may be a device that recognizes the surrounding environment and moves autonomously, such as an autonomous mobile robot (AMR), an automated guided vehicle (AGV), etc., and may include components such as a driving unit (110), a sensor unit (120), a light emitting unit (130), a communication unit (140), and a control unit (150).

[0028] The driving unit (110) can move the autonomous driving device (100), and for this purpose, can be equipped with elements such as wheels and a motor. Of course, depending on the embodiment, the driving unit (110) may be implemented as an endless track, or may have a structure in which wheels and an endless track are combined.

[0029] The sensor unit (120) performs the function of collecting information about the surrounding environment in which the autonomous driving device (100) is driving, and may include a radar device, a LiDAR device, an ultrasonic sensor, an inertial measurement unit (IMU), a global positioning system (GPS) receiving device, etc.

[0030] In addition, the sensor unit (120) may include a camera (121), and the camera (121) may be implemented as an RGB camera, an infrared camera, etc., depending on the embodiment.

[0031] The light-emitting unit (130) may include a first light-emitting module (130a) and a second light-emitting module (130b), and the first light-emitting module (130a) and the second light-emitting module (130b) may be implemented as light-emitting devices that output visible light or infrared light, such as a single-color LED (Light-Emitting Diode), a multi-color LED, or an infrared LED.

[0032] The communication unit (140) performs a function that supports wireless communication between the autonomous driving device (100) and other autonomous driving devices or a central server (not shown). For example, the communication unit (150) can connect the autonomous driving device (100) to a communication network to exchange various information and data, or can support the exchange of information and data between other autonomous driving devices and vehicles (V2V communication).

[0033] The control unit (150) can control the overall operation of the autonomous driving device (100). Specifically, the control unit (150) can generate a path plan for performing a task and control the autonomous driving device (100) to move according to the planned path.

[0034] The control unit (130) processes sensor data collected from the sensor unit (120) to recognize the surrounding environment and, based on this, control the autonomous driving device (100) to drive while avoiding collisions with people, other autonomous driving devices, obstacles, etc.

[0035] In particular, the control unit (150) can control the autonomous driving device (100) to pass through an intersection according to predetermined traffic rules. For example, the traffic rules may be predetermined to give priority to vehicles that enter the intersection first, but to pass through the intersection in the following order when entering the intersection simultaneously: 1) vehicles going straight, 2) vehicles turning right, 3) vehicles turning left. Of course, it is also possible to set traffic rules different from those exemplified here.

[0036] The control unit (130) can control the operating states of the first light-emitting module (130a) and the second light-emitting module (130b) to indicate the direction of travel of the autonomous driving device (100). For example, the control unit (130) can indicate the direction of travel of the autonomous driving device (100) by using at least one of a combination of colors of light output from the first light-emitting module (130a) and the second light-emitting module (130b), a combination of on / off states of the first light-emitting module (130a) and the second light-emitting module (130b), and a combination of blinking states of the first light-emitting module (130a) and the second light-emitting module (130b).

[0037] The control unit (150) can determine the driving direction of another autonomous driving device based on the operating states of the first and second light-emitting modules of the other autonomous driving device shown in the image of the intersection captured by the camera (121). In addition, the control unit (150) can determine the intersection passage priority between the autonomous driving device (100) and the other autonomous driving device based on the predetermined traffic rules as described above.

[0038] FIG. 2 is a drawing provided to explain an example of indicating the direction of travel of an autonomous driving device using a combination of colors of light according to one embodiment of the present invention.

[0039] In Fig. 2, a case is described in which the direction of travel of an autonomous driving device (100) is indicated by using a color combination of light output from a first light-emitting module (130a) and a second light-emitting module (130b). Figs. 2(a) to 2(d) illustrate light output from a first light-emitting module (130a) and a second light-emitting module (130b) according to the direction of travel when looking at the front of the autonomous driving device (100).

[0040] The light emitting unit (140) can be installed at an appropriate location on the front or top of the autonomous driving device (100) so that it can be photographed by a camera equipped on another autonomous driving device approaching the intersection, as illustrated in FIG. 2.

[0041] Referring to Fig. 2(a), when the driving direction of the autonomous driving device (100) is straight, both the first light emitting module (130a) and the second light emitting module (130b) can output light of the first color (e.g., green).

[0042] Referring to Fig. 2(b), when the driving direction of the autonomous driving device (100) is a left turn, the first light emitting module (130a) can output light of a first color (e.g., green), and the second light emitting module (130b) can output light of a second color (e.g., red).

[0043] Referring to Fig. 2(c), when the driving direction of the autonomous driving device (100) is a right turn, the first light emitting module (130a) can output light of a second color (e.g., red), and the second light emitting module (130b) can output light of a first color (e.g., green).

[0044] Referring to Fig. 2(d), when the autonomous driving device (100) is stationary, both the first light emitting module (130a) and the second light emitting module (130b) can output light of a second color (e.g., red).

[0045] FIG. 3 is a drawing provided to explain an example of indicating the direction of travel of an autonomous driving device using a combination of colors of light according to another embodiment of the present invention.

[0046] As shown in FIGS. 3(a) to 3(d), it is also possible to vertically arrange the first light-emitting module (130a) and the second light-emitting module (130b) on a body (131) having a columnar shape such as a cylinder or a square column. Through this configuration, the operating states of the first light-emitting module (130a) and the second light-emitting module (130b) can be more easily confirmed from the side. Of course, depending on the embodiment, it is also possible to arrange the first light-emitting module (130a) and the second light-emitting module (130b) differently from those exemplified in FIGS. 2 and 3. For example, it is also possible to arrange the first light-emitting module (130a) and the second light-emitting module (130b) on the upper left and upper right sides of the front end of the autonomous driving device (100), respectively.

[0047] In FIGS. 2 and 3, the case where red or green light is output from the first light-emitting module (130a) and the second light-emitting module (130b) is exemplified, but depending on the embodiment, it is also possible to set the colors of light output from the first light-emitting module (130a) and the second light-emitting module (130b) to be different.

[0048] In FIGS. 2 and 3, the camera (121) is shown as being positioned between the first light-emitting module (130a) and the second light-emitting module (130b), but it may be installed in another appropriate location of the autonomous driving device (100) as long as it is in a position where it can capture the first light-emitting module and the second light-emitting module of another autonomous driving device when approaching an intersection.

[0049] Meanwhile, the direction of travel of the autonomous driving device (100) can be indicated through a combination of the on / off states of the first light-emitting module (130a) and the second light-emitting module (130b).

[0050] For example, if the driving direction of the autonomous driving device (100) is straight, both the first light emitting module (130a) and the second light emitting module (130b) can be turned on. If the driving direction of the autonomous driving device (100) is a left turn, the first light emitting module (130a) can be turned on and the second light emitting module (130b) can be turned off. If the driving direction of the autonomous driving device (100) is a right turn, the first light emitting module (130a) can be turned off and the second light emitting module (130b) can be turned on. If the autonomous driving device (100) is stopped, both the first light emitting module (130a) and the second light emitting module (130b) can be turned off.

[0051] Contrary to the above example, when the driving direction of the autonomous driving device (100) is straight, both the first light emitting module (130a) and the second light emitting module (130b) can be turned off. When the driving direction of the autonomous driving device (100) is a left turn, the first light emitting module (130a) can be turned on and the second light emitting module (130b) can be turned off. When the driving direction of the autonomous driving device (100) is a right turn, the first light emitting module (130a) can be turned off and the second light emitting module (130b) can be turned on. When the autonomous driving device (100) is stopped, both the first light emitting module (130a) and the second light emitting module (130b) can be turned on.

[0052] Meanwhile, the direction of travel of the autonomous driving device (100) can also be indicated through a combination of the blinking states of the first light emitting module (130a) and the second light emitting module (130b). For example, in the example described above, either the on or off state of the light emitting modules (130a, 130b) can correspond to the case where the light emitting modules (130a, 130b) blink. Meanwhile, according to an embodiment, the control unit (130) can control the communication module (140) to transmit a wireless signal indicating the direction of travel of the autonomous driving device (100) at an intersection. For example, the autonomous driving device (100) can be implemented to transmit a straight-line signal, a left-turn signal, a right-turn signal, and a stop signal identifiably according to the direction of travel. In this case, the intersection entry direction information of the autonomous driving device is also implemented to be transmitted. For example, in the case of a four-way intersection, identifiers 1, 2, 3, and 4 can be assigned in advance based on the direction of entry into the intersection. When an autonomous vehicle approaches the intersection, both the direction of entry and driving direction can be wirelessly transmitted. If necessary, intersection identification information can also be included in the wireless transmission.

[0053] The control unit (130) can determine the direction of travel of another autonomous driving device based on a wireless signal received from the other autonomous driving device at the intersection, and can also be implemented to determine the priority for crossing the intersection between the autonomous driving device (100) and the other autonomous driving device based on predetermined traffic rules.

[0054] An autonomous driving device network system can be implemented using an autonomous driving device (100) according to the present invention.

[0055] A plurality of autonomous driving devices (100) constituting an autonomous driving device network system can autonomously drive along a predetermined path to perform a given task. The plurality of autonomous driving devices (100) can be provided with tasks and / or movement paths remotely from a central server (not shown). According to an embodiment, it is also possible to implement a system in which tasks are assigned through a central server (not shown), but the autonomous driving device (100) autonomously establishes a path plan according to the task and moves. Of course, the autonomous driving device (100) can also be equipped with a user interface unit, such as a touchpad, and is implemented to receive tasks from a user on-site and establish a path plan accordingly.

[0056] FIG. 4 is a flowchart provided to explain an intersection passage control method of an autonomous driving device according to one embodiment of the present invention.

[0057] Referring to FIG. 4, first, the control unit (150) can control the operating states of the first light-emitting module (130a) and the second light-emitting module (130b) to indicate the direction of travel of the autonomous driving device (100) at the intersection when the autonomous driving device (100) approaches the intersection at a predetermined distance (S310).

[0058] Depending on the operating status of the first light-emitting module and the second light-emitting module of another autonomous driving device shown in the video of the intersection captured by the camera, the control unit (150) can determine the driving direction of the other autonomous driving device (S320) and determine the priority of intersection passage between the autonomous driving device and the other autonomous driving device according to predetermined traffic rules (S330).

[0059] Finally, the control unit (150) can control the autonomous driving device (100) to pass through the intersection according to the intersection passing priority (S340).

[0060] The embodiments described above may be implemented using hardware components, software components, and / or a combination of hardware components and software components. For example, the devices, methods, and components described in the embodiments may be implemented using one or more general-purpose computing devices or special-purpose computing devices, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing instructions and responding to them. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing device is sometimes described as being used alone; however, one of ordinary skill in the art will recognize that the processing device may include multiple processing elements and / or multiple types of processing elements. For example, a processing unit may include multiple processors, or a processor and a controller. Other processing configurations, such as parallel processors, are also possible.

[0061] Software may include computer programs, codes, instructions, or a combination of one or more of these, and may configure a processing device to perform a desired operation or, independently or collectively, command the processing device. The software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium, or device for interpretation by the processing device or for providing instructions or data to the processing device. The software may also be distributed over networked computer systems and stored or executed in a distributed manner. The software and data may be stored on one or more computer-readable recording media.

[0062] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program commands, data files, data structures, etc., alone or in combination. The program commands recorded on the medium may be those specially designed and configured for the embodiment or may be those known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands, such as ROMs, RAMs, and flash memories. Examples of the program commands include not only machine language codes generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiment, and vice versa.

[0063] Although the embodiments described above have been described with limited drawings, those skilled in the art will appreciate that various technical modifications and variations can be applied based on the above. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

Claims

1. As an autonomous driving device, A light-emitting unit including a first light-emitting module and a second light-emitting module, and A control unit that controls the autonomous driving device to pass through an intersection according to predetermined traffic rules. Including, The above control unit, An autonomous driving device that controls the operating states of the first light-emitting module and the second light-emitting module to indicate the direction of travel of the autonomous driving device at an intersection.

2. In paragraph 1, Including more cameras, The above control unit, An autonomous driving device that determines the driving direction of another autonomous driving device based on the operating states of the first light-emitting module and the second light-emitting module of the other autonomous driving device shown in the video of the intersection captured by the above camera, and determines the priority of intersection passage between the autonomous driving device and the other autonomous driving device based on the predetermined traffic rules.

3. In paragraph 1, The operating states of the first light-emitting module and the second light-emitting module are: An autonomous driving device comprising at least one of a color combination of light output from the first light-emitting module and the second light-emitting module, a combination of on-off states of the first light-emitting module and the second light-emitting module, and a combination of blinking states of the first light-emitting module and the second light-emitting module.

4. In paragraph 1, The above control unit, When the driving direction of the autonomous driving device is straight, both the first light emitting module and the second light emitting module output light of the first color, When the driving direction of the autonomous driving device is a left turn, the first light emitting module outputs light of a first color, and the second light emitting module outputs light of a second color. When the driving direction of the autonomous driving device is a right turn, the first light emitting module outputs light of a second color, and the second light emitting module outputs light of a first color. An autonomous driving device that outputs light of a second color from both the first light-emitting module and the second light-emitting module when the autonomous driving device is stationary.

5. In paragraph 1, The above control unit, When the driving direction of the autonomous driving device is straight, both the first light-emitting module and the second light-emitting module are turned on, When the driving direction of the autonomous driving device is a left turn, the first light-emitting module is turned on and the second light-emitting module is turned off. When the driving direction of the autonomous driving device is a right turn, the first light-emitting module is turned off and the second light-emitting module is turned on. When the autonomous driving device is stopped, both the first light-emitting module and the second light-emitting module are turned off, or, If the driving direction of the autonomous driving device is straight, both the first light-emitting module and the second light-emitting module are turned off, When the driving direction of the autonomous driving device is a left turn, the first light-emitting module is turned on and the second light-emitting module is turned off. When the driving direction of the autonomous driving device is a right turn, the first light-emitting module is turned off and the second light-emitting module is turned on. An autonomous driving device that turns on both the first light-emitting module and the second light-emitting module when the autonomous driving device is stopped.

6. In paragraph 1, It further includes a communication module that transmits and receives wireless signals with other autonomous driving devices, The above control unit, Controlling the communication module to transmit a wireless signal indicating the direction of travel of the autonomous driving device at an intersection; Based on the wireless signal received from another autonomous driving device at an intersection, the direction of travel of the other autonomous driving device is determined, and the priority of intersection passage between the autonomous driving device and the other autonomous driving device is determined based on the predetermined traffic rules. An autonomous driving device that controls a wireless signal transmitted from the communication module differently depending on whether the driving direction of the autonomous driving device is straight, whether the driving direction of the autonomous driving device is a left turn, whether the driving direction of the autonomous driving device is a right turn, and whether the autonomous driving device is stopped.

7. An autonomous driving device network system including a plurality of autonomous driving devices, An autonomous driving device network system in which the plurality of autonomous driving devices autonomously drive along a predetermined movement path to perform a given task, wherein the autonomous driving device is an autonomous driving device as described in any one of claims 1 to 6.

8. A method for controlling intersection passage of an autonomous driving device, A step of controlling the operating states of the first light-emitting module and the second light-emitting module to indicate the direction of travel of the autonomous driving device at the intersection when the autonomous driving device approaches the intersection at a predetermined distance; A step of determining the driving direction of another autonomous driving device based on the operating status of the first light-emitting module and the second light-emitting module of the other autonomous driving device shown in the video of the intersection captured by the camera, and determining the priority of intersection passage between the autonomous driving device and the other autonomous driving device based on predetermined traffic rules. A step of controlling the autonomous driving device to pass through the intersection according to the priority of passing through the intersection. How to include.

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