The present invention relates to an unmanned autonomous vehicle. The unmanned autonomous vehicle includes: a sensor module (10) which collects the environment information regarding the surrounding terrain of a running vehicle; a location estimation module (20) which estimates the current location around the running vehicle; a driving information module (30) which selects an algorithm appropriate to recognize the environment of the road on which a vehicle currently runs from the various information collected by the vehicle and keep updating and maintaining the latest driving information; a terrain detection processing module (80) which derives the result of the environment recognition process. The present invention selects the quality of service (QoSour) according to the environment recognition result derived from the location information (a) and the quality of service (QoSmax) according to the algorithm appropriateness derived from the terrain detection information (b) as well as the best driving algorithm by sequencially applying the conditions which can be represented as as Δ = QoSmax - QoSour and Δ > a. Accordingly, the present invention can select the optimal algorithm by using the degree of service quality and algorithm bank, thereby updating the environmental awareness performance measure.

    본 발명의 무인자율차량에는 주행중인 주변 지형에 대한 환경 정보를 수집하는 센서모듈(10)과, 주행중인 현재위치를 추정하는 위치추정모듈(20)과, 수집한 각종 정보로부터 현재 속한 주행로의 환경인식에 적합한 알고리즘을 선정하고 주행정보를 최신화하여 유지하는 주행정보모듈(30)과, 처리되어진 환경인식 결과를 도출하는 지형감지처리모듈(80)이 포함되고, 위치정보(a)로부터 환경인식결과에 따른 QoSour(Quality of Service)의 선정과 지형감지정보(b)로부터 알고리즘 적합도결과에 따른 QoSmax(Quality of Service)의 선정이 이루어지고, 이에 Δ = QoSmax - QoSour 조건과 Δ > a 조건을 순차적으로 적용해 최적의 주행 알고리즘이 선택됨으로써 알고리즘 은행(Bank)과 서비스 품질척도(Degree of Service Quality)로부터 최적의 알고리즘이 선정되고, 특히 이로부터 환경인식 성능 척도 갱신되는 특징을 갖는다.


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    Titel :

    METHOD AND APPARATUS FOR PATH PLANNING OF UNMANNED GROUND VEHICLE IN DYNAMIC ENVIRONMENT


    Weitere Titelangaben:

    무인자율차량 및 이의 동적환경기반 자율주행방법


    Beteiligte:
    KIM CHONG HUI (Autor:in) / AHN SEONG YONG (Autor:in) / LEE YOUNG IL (Autor:in) / JOO SANG HYUN (Autor:in) / PARK YONG WOON (Autor:in)

    Erscheinungsdatum :

    2015-06-26


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion





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