The present invention relates to an intelligent driving system used for an agricultural vehicle such as a tractor. According to one embodiment of the present invention, provided is an intelligent driving system for an autonomous working vehicle, which includes: a detection unit including a plurality of sensors attached or fixed to a working vehicle; and a control unit determining an autonomous driving operation of the working vehicle based on a detection value from the detection unit. The detection unit includes: a wheel speed sensing sensor for sensing the speed of wheels of the working vehicle; an inclination sensor for sensing a roll and a yaw of the working vehicle; and a displacement sensor for detecting a distance between the vehicle and the ground surface. The control unit is formed to calculate a slip rate of a vehicle based on the rpm of the wheels detected by the wheel speed sensing sensor, calculate a roll angle and a yaw angle of the working vehicle based on the roll value and the yaw value detected by the inclination sensor, and calculate the height from the vehicle to the ground surface based on the value detected by the displacement sensor, and is formed to determine whether to operate or stop the autonomous driving of the working vehicle based on the calculated slip rate, roll angle, yaw angle and height to the ground surface.

    본 발명은 트랙터와 같은 농업용 차량에 이용되는 지능형 주행 시스템에 관한 것으로, 본 발명의 일양태에 따르면 자율주행 작업차량을 위한 지능형 주행 시스템이 제공되고, 이 시스템은, 작업차량에 부착 또는 고정된 복수의 센서를 포함하는 검출유닛; 및 검출유닛으로부터의 검출값에 기반하여 작업차량의 자율주행 동작을 결정하는 제어유닛을 포함하고, 검출유닛은, 작업차량의 휠의 속도를 감지하기 위한 휠속도 감지 센서; 작업차량의 롤(roll) 및 요(Yaw)를 검출하기 위한 경사 센서; 및 차량과 지표면과의 거리를 검출하기 위한 변위센서를 포함하고, 제어유닛은, 휠 속도 감지 센서로부터 검출된 휠의 회전수에 기반하여 차량의 슬립율을 산출하고, 경사센서로부터 검출된 롤값 및 요값에 기반하여 작업차량의 롤각도 및 요각도를 산출하고, 변위 센서로부터의 검출된 값에 기반하여 차량으로부터 지면까지의 높이를 산출하도록 구성되고, 산출된 차량의 슬립률, 롤각도, 요각도 및 지면까지의 높이에 기반하여 작업차량의 자율주행의 구동 또는 정지를 결정하도록 구성된다.


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    Title :

    Intelligent Driving System for Autonomous Vehicles


    Additional title:

    자율주행 작업차량을 위한 지능형 주행 시스템


    Contributors:

    Publication date :

    2020-08-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    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 / A01B SOIL WORKING IN AGRICULTURE OR FORESTRY , Bodenbearbeitung in Land- oder Forstwirtschaft



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