According to an embodiment of the present invention, disclosed are a method and a device for generating a traveling route. The method of the present invention comprises the steps of: acquiring a two-dimensional image of a traveling place photographed by a camera mounted on a drone and a two-dimensional image of a front place photographed by a camera mounted on a vehicle; generating a global map on the basis of the two-dimensional image of the traveling place, and generating a local map on the basis of the two-dimensional image of the front place; and generating a global route and a local route by performing route planning on the basis of the global map and the local map. The local route follows a direction of the global route. According to the embodiment of the present invention, coarse-grained detection is implemented by using the camera mounted on the drone, fine-grained detection is implemented by using the camera mounted on the vehicle, and both detections are combined to form a vehicle detecting system. Accordingly, the dependency on an expensive laser sensor is not required to reduce costs for generating a traveling route.

    본 발명의 실시예는 주행 경로 생성 방법 및 장치를 공개한다. 상기 주행 경로 생성 방법의 일 구체적인 실시형태는, 드론에 장착된 카메라에 의해 촬영된 주행 장소의 2차원 이미지 및 차량에 장착된 카메라에 의해 촬영된 전방 장소의 2차원 이미지를 획득하는 단계; 주행 장소의 2차원 이미지에 기반하여 전역 지도를 생성하고, 전방 장소의 2차원 이미지에 기반하여 국부 지도를 생성하는 단계; 및 전역 지도와 국부 지도에 기반하여 경로 계획을 진행하여, 전역 경로와 국부 경로를 생성하는 단계를 포함하고, 국부 경로는 전역 경로의 방향을 따른다. 상기 실시형태는 드론에 장착된 카메라를 이용하여 전역 조립화(coarse-grained) 감지를 구현하고, 차량에 장착된 카메라를 이용하여 국부 세밀화(fine-grained) 감지를 구현하며, 양자를 결합하여 차량의 감지 시스템을 형성하므로, 더 이상 가격이 비싼 레이저 센서에 의존하지 않음으로써, 주행 경로를 생성하는 원가를 감소시킨다.


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    Titel :

    METHOD AND DEVICE FOR GENERATING TRAVEL PATHS


    Weitere Titelangaben:

    주행 경로 생성 방법 및 장치


    Beteiligte:
    CHENG XINJING (Autor:in) / YANG RUIGANG (Autor:in) / LU FEIXIANG (Autor:in) / XU HAO (Autor:in) / YANG YAJUE (Autor:in)

    Erscheinungsdatum :

    2020-08-05


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    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 / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06V



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