Disclosed in the present invention is a driving algorithm of unmanned transportation vehicles, which can reduce a bottleneck phenomenon of a crossroad caused by the unmanned transportation vehicles coming to a halt at a crossroad when operating a plurality of unmanned transportation vehicles. A method according to an embodiment of the present invention is a method, when it is expected that two unmanned transportation vehicles driving at a constant speed along a designated path may collide, for allowing a server computer to reset the path and speed of the two unmanned transportation vehicles, wherein the method comprises the following steps of: (a) identifying whether an obstacle exists at the rear of the two unmanned transportation vehicles before and after a collision point (CP); (b) recognizing the cargo of the two unmanned transportation vehicles; (c) calculating an unmanned transportation vehicle which would arrive sooner at the CP between the two unmanned transportation vehicles; (d) selecting a driving priority of the two unmanned transportation vehicles based on information acquired in the step (a), the step (b), and the step (c); and (e) resetting one between the path or speed of an unmanned transportation vehicle of a lower priority.
본 문건은, 다수 개의 무인운반차를 운용할 시, 무인운반차들의 교차로 정지로 인한, 교차로 병목현상을 줄일 수 있는, 무인운반차의 주행 알고리즘을 개시한다. 실시예에 따른 방법은, 지정된 경로로 정속 주행 중인 2대의 무인운반차의 충돌이 예상될 때, 서버컴퓨터가 상기 2대의 무인운반차의 경로 및 속도를 재설정하는 방법으로, (a) 충돌예상지점 전/후로, 상기 2대의 무인운반차의 후방에 장애물이 존재하는지를 식별하는 단계; (b) 상기 2대의 무인운반차의 운반물을 파악하는 단계; (c) 상기 2대의 무인운반차 중 충돌예상지점(CP)에 더 빠르게 도달하는 무인운반차를 산출하는 단계; (d) (a) 단계, (b) 단계, (c) 단계에서 획득한 정보를 바탕으로, 상기 2대의 무인운반차의 주행 우선순위를 선정하는 단계; 및, (e) 후순위 무인운반차의 경로 또는 속도 중 어느 하나를 재설정하는 단계;를 포함한다.
RESETS PATH AND SPEED OF AUTOMATED GUIDED VEHICLES WITH POSSIBLE COLLISIONS
충돌 가능성이 있는 무인운반차들의 경로 및 속도 재설정
2019-06-28
Patent
Electronic Resource
Korean
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 |
RESETS PATH AND SPEED OF AUTOMATED GUIDED VEHICLES WITH POSSIBLE COLLISIONS
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