The present invention relates to a method for controlling autonomous driving of an unmanned vehicle reflecting 4D environmental information wherein menace of an enemy is suppressed or minimized. According to an embodiment of the present invention, the method for controlling autonomous driving of an unmanned vehicle reflecting 4D environmental information comprises the following steps of: defining 4D environmental information about characteristics of mobility, visibility, hitting and killing on a grid map; forming a mobility grid map and an integrated menace map from the 4D environmental information about characteristics of mobility, visibility, hitting and killing; and performing a global path correction plan by considering the mobility grid map, the integrated menace map, and a type (k_i) of the unmanned vehicle.
본 발명은 4D 환경정보를 반영한 무인차량의 자율주행 제어 방법에 관한 것이다. 본 발명의 일 실시예에 따른 4D 환경정보를 반영한 무인차량의 자율주행 제어 방법은, 이동성, 가시성, 살상 및 타격의 속성에 관한 4D 환경정보를 격자지도에 정의하는 단계; 상기 이동성, 가시성, 살상 및 타격의 속성에 관한 4D 환경정보로부터 이동성 격자지도 및 통합 위협지도를 형성하는 단계; 및 상기 이동성 격자지도, 상기 통합 위협지도 및 무인차량의 타입을 고려하여 전역경로수정계획을 수행하는 단계;를 포함한다.
4D CONTROL METHOD FOR AUTONOMOUS NAVIGATION OF UNMANNED GROUND VEHICLE CONSIDERING 4D ENVIRONMENTAL INFORMATION
4D 환경정보를 반영한 무인차량의 자율주행 제어 방법
20.04.2018
Patent
Elektronische Ressource
Koreanisch
IPC: | 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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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