KR102439803B1 - Method and Control server for controling the autonomous bus using THE Prove Vehicle Data and the public API in Bus Rapid Transit - Google Patents

Abstract

In the method of controlling an autonomous driving bus using driving PVD and public API in a Bus Rapid Transit (BRT) section, the driving PVD (Prove Vehicle Data) of the autonomous driving bus is transmitted from the autonomous driving bus to a control server, , in the state that the public API is being transmitted from the public data portal server to the control server, (a) the control server enters the BRT section and the driving PVD (Prove Vehicle Data) of the autonomous driving bus that is autonomously driving First location information, which is information on the location of the autonomous driving bus, is obtained with reference to , and the second location is information on the location of a general route bus running in the rear of the autonomous driving bus with reference to the public API. obtaining information; (b) determining, by the control server, whether the general route bus is located within a preset distance range behind the autonomous driving bus with reference to the first location information and the second location information; (c) when it is determined that the general route bus is located within the preset distance range, the control server sends (i) an estimated time for the autonomous driving bus to arrive at a specific point located on the driving route of the autonomous driving bus calculates first expected arrival time information, which is information on ) obtaining specific comparison result information, which is a result of comparing the first expected arrival time information and the second expected arrival time information; and (d) the control server transmits, by the control server, specific control instruction information corresponding to the specific comparison result information to the application on the autonomous driving bus or a terminal of a passenger riding on the autonomous driving bus, the autonomous driving bus according to the specific control instruction information. Disclosed are a method and a control server for controlling an autonomous driving bus using driving PVD and public API, comprising: controlling or supporting the control.

Description

Method and Control server for controlling the autonomous bus using THE Prove Vehicle Data and the public API in Bus Rapid Transit}

It is about a method and a control server for controlling an autonomous driving bus using driving PVD and public API in the Bus Rapid Transit (BRT) section.

Recently, development of an autonomous vehicle that can autonomously drive to a given destination by recognizing the surrounding environment, judging the driving situation, and controlling the vehicle without driver's intervention is being actively conducted. These autonomous vehicles are attracting attention as a means of transportation in the future that can reduce traffic accidents, increase traffic efficiency, save fuel, and increase convenience by replacing driving.

In particular, the service level is declining due to a shortage of bus drivers, high labor costs, a decrease in the number of operating buses, and drowsy driving due to long-term driving, which leads to a decrease in user convenience, such as increased waiting time, boarding failure, and standing seating. Self-driving vehicles are attracting attention in the public transport field,

However, the current research and development of autonomous vehicles uses the data learned by avoiding obstacles using sensors and lidar of the autonomous vehicle (eg, Korean Patent Application Laid-Open No. 10-2014-0156954) or learning the driver's driving pattern. Therefore, research and development related to self-driving buses that use public transportation information to control autonomous vehicles (eg, Korean Patent No. 10-2106875) are insufficient.

Therefore, when driving with general route buses in the BRT section, it is necessary to research and develop a method for autonomous driving without interfering with the driving of general route buses using public transportation information.

An object of the present invention is to solve all of the above problems.

Another object of the present invention is to enable it to be determined whether an autonomous driving bus and a general route bus running in a BRT section are traveling within a preset distance range.

In addition, in the present invention, if the distance between the autonomous driving bus and the general route bus is within a preset distance range, the arrival time of each of the autonomous driving bus and the general route bus to a specific point is obtained, compared, and the result of the comparison is Another purpose is to enable autonomous buses to be controlled accordingly.

Another object of the present invention is to determine whether or not to enter the BRT section of the autonomous driving bus by determining whether the autonomous driving bus can enter the BRT section.

The characteristic configuration of the present invention for achieving the object of the present invention as described above and realizing the characteristic effects of the present invention to be described later is as follows.

According to one aspect of the present invention, in the method of controlling an autonomous driving bus using driving PVD and public API in a Bus Rapid Transit (BRT) section, the driving PVD (Prove Vehicle Data) of the autonomous driving bus from the autonomous driving bus ) is being transmitted to the control server, and the public API is being transmitted from the public data portal server to the control server, (a) the control server enters the BRT section and runs autonomously. First location information, which is information on the location of the autonomous driving bus, is obtained with reference to the driving PVD (Prove Vehicle Data), and with reference to the public API, a general route bus running in the rear of the autonomous driving bus. obtaining second location information, which is information about the location; (b) determining, by the control server, whether the general route bus is located within a preset distance range behind the autonomous driving bus with reference to the first location information and the second location information; (c) when it is determined that the general route bus is located within the preset distance range, the control server sends (i) an estimated time for the autonomous driving bus to arrive at a specific point located on the driving route of the autonomous driving bus calculates first expected arrival time information, which is information on ) obtaining specific comparison result information, which is a result of comparing the first expected arrival time information and the second expected arrival time information; and (d) the control server transmits, by the control server, specific control instruction information corresponding to the specific comparison result information to the application on the autonomous driving bus or a terminal of a passenger riding on the autonomous driving bus, the autonomous driving bus according to the specific control instruction information. Disclosed is a method of controlling an autonomous driving bus using driving PVD and public API, comprising: controlling or supporting the control.

As an example, in step (c), the control server refers to the driving PVD and the public API, and information on the distance from the location of the autonomous driving bus corresponding to the first location information to the specific point obtains first distance information and first average speed information that is information about the average speed of the autonomous driving bus, and calculates the first estimated arrival time information by using the first distance information and the first average speed information and the control server, with reference to the public API, second distance information that is information on the distance from the location of the general route bus corresponding to the second location information to the specific point and the average of the general route bus Using driving PVD and public API, characterized in that the second average speed information, which is information about the speed, is acquired, and the second estimated arrival time information is acquired using the second distance information and the second average speed information. Thus, a method of controlling an autonomous driving bus is disclosed.

As an example, the first average speed information may include the average speed for the speed at which the autonomous driving bus travels for a preset time up to a specific point in time, which is a point in time when it is determined that the general route bus is located within the preset distance range. is the sum of the first weighted average speed, which is a value obtained by multiplying by a first weight, and the second weighted average speed Disclosed is a method of controlling an autonomous driving bus using driving PVD and public API, characterized in that the first weight is greater than the second weight.

As an example, in step (c), the specific comparison result information corresponds to one of the first comparison result information and the second comparison result information, but (i) the first comparison result information is the first expected arrival time information is faster than the second expected arrival time information, and is comparison result information corresponding to a case where the difference between the first expected arrival time information and the second expected arrival time information is greater than or equal to a predetermined time, (ii) the second comparison The result information is when the first expected arrival time information is faster than the second expected arrival time information and the difference between the first expected arrival time information and the second expected arrival time information is smaller than the predetermined time, the second expected arrival time information Driving PVD and public API, characterized in that the time information and the first expected arrival time information are the same as the comparison result information corresponding to one of the case where the second expected arrival time information is earlier than the first expected arrival time information Disclosed is a method of controlling an autonomous driving bus using

As an example, in step (d), when the control server (i) obtains the first comparison result information, it causes the autonomous driving bus to use the first control instruction information corresponding to the first comparison result information. Data for supporting autonomous driving according to the driving route is continuously transmitted to an application on the autonomous driving bus or a terminal of a passenger riding on it, and (ii) when the second comparison result information is obtained, the second comparison As second control instruction information corresponding to the result information, data for supporting the autonomous driving bus to switch to manual driving to accelerate or deviate from the driving route is transmitted to the autonomous driving bus or an application on the terminal of a passenger riding in it Disclosed is a method of controlling an autonomous driving bus using driving PVD and public API, characterized in that.

As an example, before step (a), (a0) the control server determines whether the autonomous driving bus can enter the BRT section with reference to the driving PVD and the public API, and returns to the result of the determination. The method further comprising the step of supporting the autonomous driving bus to determine or determine whether to enter the BRT section by transmitting the corresponding notification information to the application on the terminal of the autonomous driving bus or a passenger riding on it A method for controlling an autonomous driving bus using PVD and public API is disclosed.

As an example, the control server uses information on whether the general route bus has arrived at a predetermined bus stop located before the point at which the autonomous driving bus enters the BRT section, and uses the information on whether the autonomous driving bus enters the BRT section. Disclosed is a method of controlling an autonomous driving bus using driving PVD and public API, characterized in that it is determined whether it is possible to enter a section.

As an example, the notification information further includes entry time information, which is information on the time when the autonomous driving bus can enter the BRT section. A method is disclosed.

As an example, the preset distance range is set differently for each of a plurality of weather conditions, wherein the plurality of weather conditions include a first weather condition and a second weather condition, (i) the first weather condition is not ) A first distance range is set as a meteorological condition corresponding to a weather condition corresponding to precipitation and non-snow, and the first distance range is classified according to the degree of cloudiness measured by the sensor of the autonomous driving bus. and a plurality of first sub-distance ranges set as a result of the first sub-distance range, and (ii) the second weather condition is a weather condition corresponding to at least one of precipitation and snowfall. The second distance range includes a plurality of second sub-distance ranges set separately according to the degree of precipitation or snowfall measured by the sensor of the autonomous driving bus, and the first distance range is longer than the second distance range. Disclosed is a method of controlling an autonomous driving bus using driving PVD and public APIs.

As an example, a method for controlling an autonomous driving bus using a driving PVD and a public API, characterized in that the autonomous driving bus autonomously drives below a preset speed threshold is disclosed.

According to another aspect of the present invention, in a control server for controlling an autonomous driving bus using driving PVD and public API in a Bus Rapid Transit (BRT) section, the driving PVD (Prove Vehicle) of the autonomous driving bus from the autonomous driving bus Data) is being transmitted to the control server and the public API is being transmitted from the public data portal server to the control server, at least one memory for storing instructions; and at least one processor configured to execute the instructions, wherein the processor includes (1) the driving PVD (Prove Vehicle Data) of the autonomous driving bus that has entered the BRT section and is autonomously driving. Obtaining first location information, which is information on the location of the autonomous driving bus, and obtaining second location information, which is information on the location of a general route bus running in the rear of the autonomous driving bus, with reference to the public API process, (2) a process of determining whether the general route bus is located within a preset distance range behind the autonomous driving bus with reference to the first location information and the second location information, (3) the general route If it is determined that the bus is located within the preset distance range, (i) first expected arrival time information, which is information on the expected time of arrival of the autonomous driving bus at a specific point located on the driving route of the autonomous driving bus, is obtained. calculate, and obtain second expected arrival time information, which is information on the expected time of arrival of the general route bus at the specific point, with reference to the public API, (ii) the first expected arrival time information and the first expected arrival time information 2 A process of obtaining specific comparison result information, which is a result of comparing expected arrival time information, and (4) transmitting specific control instruction information corresponding to the specific comparison result information to the application on the autonomous driving bus or the terminal of a passenger on it By doing so, a control server for controlling the autonomous driving bus using driving PVD and public API, characterized in that it performs a process for controlling or supporting the autonomous driving bus according to the specific control instruction information, is disclosed.

As an example, in the process (3), the processor is information on the distance from the location of the autonomous driving bus corresponding to the first location information to the specific point with reference to the driving PVD and the public API. obtaining first distance information and first average speed information that is information on the average speed of the autonomous driving bus, calculating the first estimated arrival time information using the first distance information and the first average speed information; , with reference to the public API, second distance information that is information on the distance from the location of the general route bus corresponding to the second location information to the specific point, and second distance information that is information on the average speed of the general route bus 2 Obtaining average speed information, and controlling the autonomous driving bus using driving PVD and public API, characterized in that the second estimated arrival time information is acquired using the second distance information and the second average speed information A control server is started.

As an example, the first average speed information may include the average speed for the speed at which the autonomous driving bus travels for a preset time up to a specific point in time, which is a point in time when it is determined that the general route bus is located within the preset distance range. is the sum of the first weighted average speed, which is a value obtained by multiplying the first weight with Disclosed is a control server for controlling an autonomous driving bus using driving PVD and public API, characterized in that the first weight is greater than the second weight.

As an example, in the process (3), the specific comparison result information corresponds to one of the first comparison result information and the second comparison result information, but (i) the first comparison result information is the first expected arrival time information is faster than the second expected arrival time information, and is comparison result information corresponding to a case where the difference between the first expected arrival time information and the second expected arrival time information is greater than or equal to a predetermined time, (ii) the second comparison The result information is when the first expected arrival time information is faster than the second expected arrival time information and the difference between the first expected arrival time information and the second expected arrival time information is smaller than the predetermined time, the second expected arrival time information Driving PVD and public API, characterized in that the time information and the first expected arrival time information are the same as the comparison result information corresponding to one of the case where the second expected arrival time information is earlier than the first expected arrival time information A control server that controls an autonomous driving bus using

As an example, in the process (4), (i) when the first comparison result information is obtained, the processor causes the autonomous driving bus to continue as first control instruction information corresponding to the first comparison result information. to transmit data for supporting autonomous driving according to the driving route to an application on the autonomous driving bus or a terminal of a passenger riding on it, and (ii) when the second comparison result information is obtained, the second comparison result As second control instruction information corresponding to the information, data for supporting the autonomous driving bus to switch to manual driving to accelerate or deviate from the driving route is transmitted to an application on the autonomous driving bus or a terminal of a passenger riding in it A control server for controlling an autonomous driving bus using driving PVD and public API, characterized in that it is disclosed.

As an example, before the process (1), the processor (1-0) determines whether the autonomous driving bus can enter the BRT section with reference to the driving PVD and the public API, and the result of the determination Further performing a process of supporting the autonomous driving bus to determine or determine whether to enter the BRT section by transmitting notification information corresponding to the autonomous driving bus or an application on the terminal of a passenger riding on the autonomous driving bus A control server that controls an autonomous driving bus using driving PVD and public API is disclosed.

As an example, the processor may use the information on whether the general route bus has arrived at a predetermined bus stop located before the point at which the autonomous driving bus enters the BRT section, allowing the autonomous driving bus to enter the BRT section. A control server for controlling an autonomous driving bus using a driving PVD and public API, characterized in that it is determined whether it is possible to enter the

As an example, the notification information further includes entry time information, which is information on the time when the autonomous driving bus can enter the BRT section. The control server is started.

As an example, the preset distance range is set differently for each of a plurality of weather conditions, wherein the plurality of weather conditions include a first weather condition and a second weather condition, (i) the first weather condition is not ) A first distance range is set as a meteorological condition corresponding to a weather condition corresponding to precipitation and non-snow, and the first distance range is classified according to the degree of cloudiness measured by the sensor of the autonomous driving bus. and a plurality of first sub-distance ranges set as a result of the first sub-distance range, and (ii) the second weather condition is a weather condition corresponding to at least one of precipitation and snowfall. The second distance range includes a plurality of second sub-distance ranges set separately according to the degree of precipitation or snowfall measured by the sensor of the autonomous driving bus, and the first distance range is longer than the second distance range. Disclosed is a control server that controls an autonomous driving bus using driving PVD and public APIs.

As an example, a control server for controlling the autonomous driving bus using a driving PVD and public API, characterized in that the autonomous driving bus autonomously drives below a preset speed threshold is disclosed.

According to the present invention, the following effects are obtained.

According to the present invention, it is possible to determine whether the autonomous driving bus and the general route bus running in the BRT section are running within a preset distance range.

In addition, in the present invention, if the distance between the autonomous driving bus and the general route bus is within a preset distance range, the arrival time of each of the autonomous driving bus and the general route bus to a specific point is obtained, compared, and the result of the comparison is It has the effect of allowing the autonomous driving bus to be controlled accordingly.

In addition, the present invention has an effect of determining whether or not to enter the BRT section of the autonomous driving bus by determining whether the autonomous driving bus can enter the BRT section.

1 is a diagram showing a schematic configuration of a control server that controls an autonomous driving bus using driving PVD and public API in a Bus Rapid Transit (BRT) section according to an embodiment of the present invention.
2 is a diagram for explaining a schematic sequence of a method of controlling an autonomous driving bus using driving PVD and public API in a Bus Rapid Transit (BRT) section according to an embodiment of the present invention.
3 is a view for explaining an example of a method of controlling an autonomous driving bus using driving PVD and public API in a Bus Rapid Transit (BRT) section according to an embodiment of the present invention.
4 is a view for explaining an example of information displayed on a display of a terminal of an occupant according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0014] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0016] Reference is made to the accompanying drawings, which show by way of illustration specific embodiments in which the present invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the present invention. It should be understood that the various embodiments of the present invention are different but need not be mutually exclusive. For example, certain shapes, structures, and characteristics described herein with respect to one embodiment may be implemented in other embodiments without departing from the spirit and scope of the invention. In addition, it should be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the present invention. Accordingly, the detailed description set forth below is not intended to be taken in a limiting sense, and the scope of the present invention, if properly described, is limited only by the appended claims, along with all scope equivalents to those claimed. Like reference numerals in the drawings refer to the same or similar functions throughout the various aspects.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art can easily practice the present invention.

1 is a view showing a schematic configuration of a control server 100 for controlling an autonomous driving bus using a driving PVD (Prove Vehicle Data) and a public API in a Bus Rapid Transit (BRT) section according to an embodiment of the present invention to be.

As shown in FIG. 1 , the control server 100 of the present invention may include a memory 110 and a processor 120 .

The memory 110 of the control server 100 may store instructions of the processor 120. Specifically, the instructions are codes generated for the purpose of causing the control server 100 to function in a specific manner, and a computer It may be stored in a computer usable or computer readable memory that may be directed to other programmable data processing equipment. The instructions may perform processes for performing the functions described herein.

In addition, the processor 120 of the control server 100 may include a hardware configuration such as a micro processing unit (MPU) or a central processing unit (CPU), a cache memory, and a data bus. In addition, it may further include an operating system, a software configuration of an application for performing a specific purpose.

In addition, the control server 100 may be linked with the database 900 including information used to control or support the autonomous driving bus using driving PVD and public API in the BRT section. Here, the database 900 is a flash memory type (flash memory type), a hard disk type (hard disk type), a multimedia card micro type (multimedia card micro type), card type memory (eg SD or XD memory), At least one of Random Access Memory (RAM), Static Random Access Memory (SRAM), ReadOnly Memory (ROM), Electrically Erasable Programmable ReadOnly Memory (EEPROM), Programmable ReadOnly Memory (PROM), magnetic memory, magnetic disk, and optical disk It may include one type of storage medium, but is not limited thereto, and may include any medium capable of storing data. In addition, the database 900 may be installed separately from the control server 100, or alternatively, it may be installed inside the control server 100 to transmit data or record received data, and, unlike shown, two or more It may be implemented separately, which may vary depending on the operating conditions of the invention.

In addition, the control server 100 may transmit/receive necessary information to and from the autonomous driving bus 600 through a communication unit (not shown). At this time, information may be transmitted and received through V2X communication using a vehicle high-speed wireless communication technology (WAVE: Wireless Access in Vehicular Environment) known as vehicle wireless communication (IEEE 802.11p), but it will not be limited thereto. In addition, the control server 100 may transmit/receive necessary information through a WAVE base station (or an intermediary) (not shown) existing between the control server 100 and the autonomous driving bus 600, and at this time, the WAVE base station - autonomous A message set standard for exchanging data between driving buses 600 may be SAE J2735, but is not limited thereto.

In addition, the control server 100 may transmit/receive necessary information to and from a terminal (not shown) of a passenger riding on the autonomous driving bus 600 through a communication unit (not shown). Here, the occupant may mean including the driver of the autonomous driving bus 600 .

In addition, the control server 100 may transmit/receive necessary information to and from the public data portal server 700 that provides a public API. Here, the public data portal server 700 may mean a server of an integrated public data providing system operated by the Ministry of Public Administration and Security, or a server of a city/province traffic information system, but is not limited thereto. In addition, the public API may include information such as bus arrival information, bus location information, traffic information, and road event information, but is not limited thereto.

A method of controlling an autonomous driving bus using driving PVD and public API in a BRT section using the control server 100 according to an embodiment of the present invention configured as described above with reference to FIG. 2 will be described as follows.

2 is a diagram for explaining a schematic sequence of a method for controlling an autonomous driving bus using driving PVD and public API in a BRT section according to an embodiment of the present invention.

First, the control server 100 enters the BRT (Bus Rapid Transit) section and refers to the driving PVD (Prove Vehicle Data) of the autonomous driving bus 600 that is autonomously driving. It is possible to obtain first location information, which is information, and to obtain second location information, which is information about the location of a general route bus running in the rear of the autonomous driving bus 600 with reference to the public API (S210).

In this case, the autonomous driving bus 600 may be a vehicle capable of autonomous driving only below a preset speed threshold.

In addition, the BRT section may mean a driving road divided so that only buses can pass without being affected by general vehicles on the road. In addition, a part of the BRT section may be blocked by a fence or the like to prevent general vehicles from invading, but it will not be limited thereto. In addition, the driving PVD is data transmitted from the autonomous driving bus 600 to the control server 100 , and may include data related to the vehicle itself of the autonomous driving bus 600 and data related to the driving state, but is limited thereto. it won't be

Then, the control server 100 determines whether the general route bus is located within a preset distance range behind the autonomous driving bus 600 with reference to the acquired first location information and the second location information. It can be done (S220).

In this case, the preset distance range may be set differently for each of a plurality of weather conditions, and the plurality of weather conditions may include a first weather condition and a second weather condition. Here, the first weather condition is a weather condition corresponding to a weather condition corresponding to non-precipitation and non-snow, and a first distance range is set, and the first distance range is the autonomous driving bus ( 600) may include a plurality of first sub-distance ranges set separately according to the degree of blur measured by the sensor. In addition, as the second weather condition, a second distance range is set as a weather condition corresponding to a weather condition corresponding to at least one of precipitation and snowfall, and the second distance range is measured by a sensor of the autonomous driving bus. It may include a plurality of second sub-distance ranges set separately according to the degree of precipitation or snowfall. In this case, the first distance range may be set longer than the second distance range.

That is, since the running speed of the general route bus in rainy or snowy weather conditions is slower than in rain and non-snowing weather conditions, the second distance range is set shorter than the first distance range in consideration of this. it could be

For example, if 2 km is set as the first distance range in the first weather condition, which is a weather condition in which rain and snow do not occur, in the second weather condition, which is a weather condition corresponding to at least one of precipitation and snowfall, shorter than 2 km 1km will be set.

In addition, the first distance range is different depending on the degree of cloudiness measured by the sensor because the degree of cloudiness is different, such as when there are many clouds, when there is yellow sand, when there is fog, etc. even if the weather corresponds to the first weather condition It may include a plurality of first sub-distance ranges set slightly differently. For example, assuming that the distance range is set to 2km in the case of sunny weather, the distance range is set to 1.9km when there are many clouds and 1.8km when there is yellow sand, and the distance range is set to 1.8km when there is fog. In this case, the distance range may be set differently depending on the degree of blur, such as the distance range being set to 1.7 km. Similarly, in the second distance range, even if the weather corresponds to the second weather condition, the degree of precipitation or snowfall is different, such as when it rains, when it rains, when it rains, when it sleet, when it snows, etc. It may include a plurality of second sub-distance ranges set slightly differently according to the degree of precipitation or snowfall measured by . For example, assuming that the distance range is set to 1km in case of drizzle, in case of heavy rain, the distance range is set to 0.7km, in case of sleet, the distance range is set to 0.9km, In the case of falling, the distance range may be set differently depending on the degree of precipitation or snowfall, such as the distance range being set to 0.8 km.

Next, when it is determined that the general route bus is located within the preset distance range, the control server 100 places the autonomous driving bus 600 at a specific point located on the driving path of the autonomous driving bus 600 . Calculates first expected arrival time information, which is information on the expected arrival time of It is possible to obtain specific comparison result information that is a result of comparing the first expected arrival time information and the second expected arrival time information (S230). Here, the specific point may be a predetermined bus stop located in the BRT section, may be a point that can deviate from the BRT section, or may be a point where a lane can be changed to a one-way road other than the BRT section, but is not limited thereto will be.

At this time, the control server 100 refers to the driving PVD and the public API, and refers to the first information on the distance from the location of the autonomous driving bus 600 corresponding to the first location information to the specific point. Acquires distance information and first average speed information that is information on the average speed of the autonomous driving bus 600, and calculates the first estimated arrival time information using the first distance information and the first average speed information can do.

Here, the first average speed information includes the speed at which the autonomous driving bus 600 travels for a preset time up to a specific point in time, which is a point in time when it is determined that the general route bus is located within the preset distance range. The first weighted average speed, which is a value obtained by multiplying the average speed by the first weight, and the second weighted average speed, which is a value obtained by multiplying the average speed of the speed from the time when the autonomous driving bus 600 starts autonomous driving to the specific time, by a second weight. It is the sum of the weighted average speeds, and the first weight may be greater than the second weight.

For example, assuming that the first weight is 0.6 and the second weight is 0.4, the average driving speed from the time when the autonomous driving bus 600 starts autonomous driving to a specific time is 40 km/h, but the autonomous driving bus If the average speed of driving for 30 seconds until (600) reaches a specific time point is 30 km/h, the first weighted average speed is 18 km/h and the second weighted average speed is 16 km/h, so the first weighted average speed and the second weighted average speed are 16 km/h. The first average speed information, which is the sum of the average speeds, will be 34 km/h.

That is, the first average speed information is not calculated using only the average speed of the driving speed from the time when the autonomous driving of the autonomous driving bus 600 starts to the specific time point, but the specific time point of the autonomous driving bus 600 . The current driving speed of the autonomous driving bus 600 is reflected by calculating the first average speed information by giving a greater weight to the driving speed up to the .

을 이용하여 산출할 수도 있을 것이다. 여기서, m_w는 가중평균이고, w_n은 x_n의 가중치(weight)를 의미할 것이다.In addition, the sum of the weights may be 1, but is not limited thereto. In addition, the first average speed information is a formula for calculating a general weighted average.

It can also be calculated using . Here, m _w is a weighted average, and w _n is a weight of x _n .

In addition, the control server 100, with reference to the public API, the second distance information and the general route bus information about the distance from the location of the general route bus corresponding to the second location information to the specific point The second average speed information, which is information on the average speed of , may be obtained, and the second expected arrival time information may be obtained using the second distance information and the second average speed information. Here, the control server 100 may obtain the second expected arrival time information, which is the time at which the general route bus arrives at the specific point, directly through the bus arrival information of the public API.

In addition, the specific comparison result information may correspond to one of the first comparison result information and the second comparison result information. Here, in the first comparison result information, the first expected arrival time information is faster than the second expected arrival time information, and the difference between the first expected arrival time information and the second expected arrival time information is greater than a predetermined time, or It may be comparison result information corresponding to the same case. In addition, in the second comparison result information, when the first expected arrival time information is faster than the second expected arrival time information and the difference between the first expected arrival time information and the second expected arrival time information is smaller than the predetermined time, It may be comparison result information corresponding to one of a case in which the second expected arrival time information and the first expected arrival time information are the same and a case in which the second expected arrival time information is earlier than the first expected arrival time information. Here, the predetermined time may be different depending on traffic information and availability information of the road on which the autonomous driving bus 600 and the general route bus are currently traveling.

Next, the control server 100 transmits the specific control instruction information corresponding to the specific comparison result information to the autonomous driving bus 600 or an application on the terminal of a passenger riding the same, so that the specific control instruction information according to the specific control instruction information. It can control or support the autonomous driving bus (S240).

That is, the autonomous driving bus 600 may be automatically controlled by the received specific control instruction information, and the received specific control instruction information may be displayed on a display inside the autonomous driving bus 600 or the The autonomous driving bus 600 is controlled according to the specific control instruction information by the driver's manual operation by notifying the driver of the specific control instruction information by making it appear on the terminal of the occupant on the autonomous driving bus 600 You can do it.

At this time, when the control server 100 obtains the first comparison result information in step S230, the autonomous driving bus continues the driving route as the first control instruction information corresponding to the first comparison result information. Accordingly, data for supporting autonomous driving may be transmitted to an application on the autonomous driving bus or a terminal of a passenger riding in the autonomous driving bus.

That is, assuming that the autonomous driving bus 600 not only arrives at the specific point earlier than the general route bus, but also arrives at a predetermined time difference, for example, the predetermined time is 10 seconds, the autonomous driving Only when the bus 600 arrives at the specific point earlier than the general route bus by 10 seconds or more, the autonomous driving bus 600 allows the general route bus to continue autonomously driving along the driving route. . This corresponds to at least one of a case in which the autonomous driving bus 600 decelerates while moving to the specific point after a specific point in time, and a case in which the general route bus accelerates while moving to the specific point after a specific point in time. The case was taken into consideration, and the specific comparative result information showed that the autonomous bus arrives at a specific point first, but in reality, it is intended to prevent the case where the general route bus arrives earlier than the autonomous bus or arrives at the same time.

In addition, in step S230, when the control server 100 obtains the second comparison result information, the autonomous driving bus switches to manual driving as second control instruction information corresponding to the second comparison result information. Data for accelerating or supporting to deviate from the driving route may be transmitted to an application on the autonomous driving bus or a terminal of a passenger riding in the autonomous driving bus.

That is, even if the autonomous bus 600 arrives at the specific point earlier than the general route bus, the difference in arrival time is less than a predetermined time, or the general route bus is more specific than the autonomous bus 600 . When arriving at the point first or at the same time, the driving mode of the autonomous bus 600 is manually changed to accelerate so that the distance range with the general route bus is greater than or equal to the preset distance range, or driving while driving After leaving the BRT section, which is the route, and driving on a general road, the bus returns to the BRT section, which is the driving route, after the general route bus has passed.

An embodiment of the step S210 to S240 of the method for controlling an autonomous driving bus using the driving PVD and public API as described above will be described with reference to FIG. 3 as follows.

Referring to FIG. 3 , the autonomous driving bus 310 autonomously drives in the upward direction of the 900 bus, which is a general route bus, in the BRT section, and the 900 bus 320 is driving behind the autonomous driving bus 310 . Able to know. It is assumed that the preset distance range is 2 km and the predetermined time is 15 seconds. If the distance between the autonomous driving bus 310 and the 900 bus 320 is less than 2 km, the control server 100 autonomously drives The bus 310 calculates the first expected arrival time information that is the expected time to arrive at the specific point 330 , and the second estimated arrival time information that is the expected time for the bus No. 900 320 to arrive at the specific point 330 . will obtain At this time, if the first expected arrival time information is 5 minutes and the second expected arrival time information is 4 minutes and 50 seconds, the time at which the autonomous driving bus 310 arrives at the specific point 330 is the 900 bus 320 . Although it is faster than the time to arrive at the specific point 330, the difference is less than 15 seconds, which is a predetermined time of 10 seconds. may be transmitted to an application on the terminal of a passenger (driver) riding on the autonomous driving bus 310 . According to the transmitted information, the driver manually switches the driving mode of the autonomous driving bus 310 and the autonomous driving bus 310 so that the distance between the autonomous driving bus 310 and the 900 bus 320 is 2 km or more. can accelerate the speed of At this time, referring to FIG. 4 , a warning text 410 and a control instruction information text 420 may appear on the display of the terminal of the occupant (driver), but the screen is not limited thereto. More information such as vehicle status may be displayed.

Meanwhile, before the step S210, the control server 100 determines whether the autonomous driving bus 600 can enter the BRT section with reference to the driving PVD and the public API, and responds to the determined result The method may further include supporting the autonomous driving bus to determine or determine whether to enter the BRT section by transmitting the notification information to the autonomous driving bus or an application on the terminal of a passenger riding on the autonomous driving bus.

At this time, the control server 100 uses the information on whether the general route bus has arrived at a predetermined bus stop located before the point at which the autonomous driving bus 600 enters the BRT section. It may be determined whether the bus can enter the BRT section. Here, the point entering the BRT section may be an arbitrary point in the BRT section, or may be a point already determined.

In addition, the notification information may further include entry time information, which is information about a time when the autonomous driving bus can enter the BRT section.

That is, in order for the autonomous bus 600 to enter the BRT section while maintaining a sufficient distance from the general route bus, the control server 100 enters the BRT section with reference to the public API. It may be determined whether the general route bus has arrived at the bus stop located before the point.

For example, if the general route bus has not arrived at the bus stop, the control server 100 transmits notification information indicating that departure is possible to the autonomous driving bus 600 or an application on the terminal of a passenger riding it. By doing so, it will be possible to support the autonomous driving bus 600 to enter the BRT section. In addition, if the general route bus arrives at the bus stop, the control server 100 transmits, as notification information, information to wait for departure and entry time information indicating that departure is possible in 7 minutes to the autonomous driving bus 600 or By transmitting this to the application on the terminal of the passenger on board, it will be possible to support the autonomous driving bus 600 to wait until the general route bus passes the point where it enters the BRT section.

The embodiments according to the present invention described above may be implemented in the form of program instructions that can be executed through various computer components and recorded in a computer-readable recording medium. The computer-readable recording medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the computer-readable recording medium may be specially designed and configured for the present invention, or may be known and available to those skilled in the computer software field. Examples of the computer-readable recording medium include hard disks, magnetic media such as floppy disks and magnetic tapes, optical recording media such as CD-ROMs and DVDs, and magneto-optical media such as floppy disks. , and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device may be configured to operate as one or more software modules to perform processing according to the present invention, and vice versa.

In the above, the present invention has been described with specific matters such as specific components and limited embodiments and drawings, but these are provided to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments. , those of ordinary skill in the art to which the present invention pertains can devise various modifications and variations from these descriptions.

Therefore, the spirit of the present invention should not be limited to the above-described embodiments, and not only the claims described below, but also all modifications equivalently or equivalently to the claims described below belong to the scope of the spirit of the present invention. will do it

Claims (20)

In the method of controlling an autonomous driving bus using driving PVD and public API in BRT (Bus Rapid Transit) section,
In a state in which the driving PVD (Prove Vehicle Data) of the autonomous driving bus is being transmitted from the autonomous driving bus to the control server, and the public API is being transmitted from the public data portal server to the control server,
(a) the control server enters the BRT section and obtains first location information that is information on the location of the autonomous driving bus with reference to the driving PVD (Prove Vehicle Data) of the autonomous driving bus and obtaining second location information that is information on the location of a general route bus running in the rear of the autonomous driving bus with reference to the public API;
(b) determining, by the control server, whether the general route bus is located within a preset distance range behind the autonomous driving bus with reference to the first location information and the second location information;
(c) when it is determined that the general route bus is located within the preset distance range, the control server sends (i) an estimated time for the autonomous driving bus to arrive at a specific point located on the driving route of the autonomous driving bus calculates first expected arrival time information, which is information on ) obtaining specific comparison result information, which is a result of comparing the first expected arrival time information and the second expected arrival time information; and
(d) the control server transmits, by the control server, specific control instruction information corresponding to the specific comparison result information to an application on the autonomous driving bus or a terminal of a passenger riding on the autonomous driving bus, and controls the autonomous driving bus according to the specific control instruction information or assisting in controlling;
characterized in that it comprises,
In step (c),
First distance information and the autonomous driving bus, which are information on the distance from the location of the autonomous driving bus corresponding to the first position information to the specific point, by the control server referring to the driving PVD and the public API obtains first average speed information, which is information on the average speed of
In the control server, second distance information, which is information about the distance from the location of the general route bus corresponding to the second location information to the specific point, and the average speed of the general route bus with reference to the public API Obtaining second average speed information, which is information about
The first average speed information includes the first average speed with respect to the speed at which the autonomous driving bus travels for a preset time up to a specific point in time, which is a point in time when it is determined that the general route bus is located within the preset distance range. It is the sum of the first weighted average speed, which is a value multiplied by a weight, and the second weighted average speed, which is a value obtained by multiplying a second weight by the average speed of the speed from when the autonomous driving bus starts autonomous driving to the specific time. do,
The method of controlling an autonomous driving bus using driving PVD and public API, characterized in that the first weight is greater than the second weight. delete delete According to claim 1,
In step (c),
The specific comparison result information corresponds to one of the first comparison result information and the second comparison result information,
(i) in the first comparison result information, the first expected arrival time information is earlier than the second expected arrival time information, and the difference between the first expected arrival time information and the second expected arrival time information is greater than a predetermined time and (ii) the second comparison result information indicates that the first expected arrival time information is faster than the second expected arrival time information, and the first expected arrival time information and the second expected arrival time information When the difference between the information is less than the predetermined time, when the second expected arrival time information and the first expected arrival time information are the same, and when the second expected arrival time information is earlier than the first expected arrival time information A method of controlling an autonomous driving bus using driving PVD and public API, characterized in that it is comparison result information corresponding to one. 5. The method of claim 4,
In step (d),
When the control server (i) obtains the first comparison result information, as the first control instruction information corresponding to the first comparison result information, the autonomous driving bus continues to autonomously drive along the driving route. data for support is transmitted to an application on the autonomous driving bus or a terminal of a passenger riding in it, and (ii) when the second comparison result information is obtained, second control instruction information corresponding to the second comparison result information Driving PVD and public API, characterized in that data for supporting the autonomous driving bus to switch to manual driving to accelerate or deviate from the driving route is transmitted to an application on the autonomous driving bus or a terminal of a passenger riding in it How to control an autonomous driving bus using According to claim 1,
Before step (a),
(a0) The control server determines whether the autonomous driving bus can enter the BRT section with reference to the driving PVD and the public API, and sends notification information corresponding to the determined result to the autonomous driving bus or to the autonomous driving bus The autonomous driving bus using driving PVD and public API, characterized in that it further comprises the step of supporting the autonomous driving bus to determine or determine whether to enter the BRT section by transmitting it to an application on the passenger's terminal How to control. 7. The method of claim 6,
The control server is configured to allow the autonomous driving bus to enter the BRT section by using information on whether the general route bus has arrived at a predetermined bus stop located before the point at which the autonomous driving bus enters the BRT section. A method of controlling an autonomous driving bus using driving PVD and public API, characterized in that it is determined whether this is possible. 7. The method of claim 6,
The method of controlling an autonomous driving bus using driving PVD and public API, characterized in that the notification information further includes entry time information, which is information about a time when the autonomous driving bus can enter the BRT section. According to claim 1,
The preset distance range is set differently for each of a plurality of weather conditions, wherein the plurality of weather conditions include a first weather condition and a second weather condition,
(i) The first weather condition is a weather condition corresponding to a weather condition corresponding to non-precipitation and non-snow, and a first distance range is set, wherein the first distance range is the autonomous driving. a plurality of first sub-distance ranges set separately according to the degree of cloudiness measured by a sensor of the bus; (ii) the second weather condition is a weather condition corresponding to a weather condition corresponding to at least one of precipitation and snowfall A second distance range is set as , wherein the second distance range includes a plurality of second sub-distance ranges set separately according to the degree of precipitation or snowfall measured by the sensor of the autonomous driving bus, A method of controlling an autonomous driving bus using driving PVD and public API, characterized in that the first distance range is longer than the second distance range. According to claim 1,
The autonomous driving bus is a method of controlling an autonomous driving bus using a driving PVD and public API, characterized in that the autonomous driving below a preset speed threshold. In the control server for controlling the autonomous driving bus using driving PVD and public API in the BRT (Bus Rapid Transit) section,
In the state that the driving PVD (Prove Vehicle Data) of the autonomous driving bus is being transmitted from the autonomous driving bus to the control server, and the public API is being transmitted from the public data portal server to the control server,
at least one memory storing instructions; and
at least one processor configured to execute the instructions;
including,
The processor (1) enters the BRT section and obtains first location information, which is information about the location of the autonomous driving bus, with reference to the driving PVD (Prove Vehicle Data) of the autonomous driving bus that is autonomously driving, , a process of obtaining second location information that is information on the location of a general route bus running in the rear of the autonomous driving bus with reference to the public API, (2) the first location information and the second location information For reference, a process of determining whether the general route bus is located within a preset distance range behind the autonomous driving bus, (3) if it is determined that the general route bus is located within the preset distance range, (i) Calculating first expected arrival time information, which is information on the expected time of arrival of the autonomous driving bus at a specific point located on the driving route of the autonomous driving bus, and referring to the public API, the general route at the specific point Obtaining second expected arrival time information, which is information on the expected arrival time of the bus, and (ii) obtaining specific comparison result information that is a result of comparing the first expected arrival time information and the second expected arrival time information process and (4) transmitting specific control instruction information corresponding to the specific comparison result information to an application on the autonomous driving bus or a terminal of a passenger riding on it to control or control the autonomous driving bus according to the specific control instruction information; It is characterized in that it performs a supporting process,
The processor is
In the process (3) above,
With reference to the driving PVD and the public API, first distance information, which is information on the distance from the location of the autonomous driving bus corresponding to the first position information to the specific point, and average speed of the autonomous driving bus obtaining first average speed information, which is information, and calculating the first expected arrival time information by using the first distance information and the first average speed information;
With reference to the public API, second distance information that is information on the distance from the location of the general route bus corresponding to the second location information to the specific point and second distance information that is information on the average speed of the general route bus acquiring average speed information, and acquiring the second expected arrival time information using the second distance information and the second average speed information,
The first average speed information includes the first average speed with respect to the speed at which the autonomous driving bus travels for a preset time up to a specific point in time, which is a point in time when it is determined that the general route bus is located within the preset distance range. It is the sum of the first weighted average speed, which is a value multiplied by a weight, and a second weighted average speed, which is a value obtained by multiplying the second weight by the average speed of the speed from the time when the autonomous driving bus starts autonomous driving to the specific time, and ,
The first weight is greater than the second weight. A control server for controlling an autonomous driving bus using a driving PVD and public API. delete delete 12. The method of claim 11,
In the process (3) above,
The specific comparison result information corresponds to one of the first comparison result information and the second comparison result information,
(i) in the first comparison result information, the first expected arrival time information is earlier than the second expected arrival time information, and the difference between the first expected arrival time information and the second expected arrival time information is greater than a predetermined time and (ii) the second comparison result information indicates that the first expected arrival time information is faster than the second expected arrival time information, and the first expected arrival time information and the second expected arrival time information When the difference between the information is less than the predetermined time, when the second expected arrival time information and the first expected arrival time information are the same, and when the second expected arrival time information is earlier than the first expected arrival time information A control server that controls an autonomous driving bus using driving PVD and public API, characterized in that it is information on comparison results corresponding to one. 15. The method of claim 14,
The processor is
In the process (4) above,
(i) when the first comparison result information is obtained, data for supporting the autonomous driving bus to continue autonomous driving along the driving route as first control instruction information corresponding to the first comparison result information; transmitted to an application on the autonomous driving bus or a terminal of a passenger riding on it, and (ii) when the second comparison result information is obtained, the autonomous driving bus as second control instruction information corresponding to the second comparison result information Autonomous driving using driving PVD and public API, characterized in that it transmits data for supporting the driver to switch to manual driving to accelerate or deviate from the driving route to an application on the autonomous driving bus or a terminal of a passenger riding on it A control server that controls the bus. 12. The method of claim 11,
The processor is
Prior to the (1) process,
(1-0) It is determined whether the autonomous driving bus can enter the BRT section with reference to the driving PVD and the public API, and notification information corresponding to the result of the determination is provided to the autonomous driving bus or a passenger on it Control of controlling the autonomous driving bus using driving PVD and public API, characterized in that by transmitting to an application on the terminal of server. 17. The method of claim 16,
The processor is
It is determined whether the autonomous driving bus can enter the BRT section using information on whether the general route bus has arrived at a predetermined bus stop located before the point at which the autonomous driving bus enters the BRT section. A control server that controls the autonomous driving bus using driving PVD and public API, characterized in that. 17. The method of claim 16,
The notification information further includes entry time information, which is information about a time when the autonomous driving bus can enter the BRT section. 12. The method of claim 11,
The preset distance range is set differently for each of a plurality of weather conditions, wherein the plurality of weather conditions include a first weather condition and a second weather condition,
(i) The first weather condition is a weather condition corresponding to a weather condition corresponding to non-precipitation and non-snow, and a first distance range is set, wherein the first distance range is the autonomous driving. a plurality of first sub-distance ranges set separately according to the degree of cloudiness measured by a sensor of the bus; (ii) the second weather condition is a weather condition corresponding to a weather condition corresponding to at least one of precipitation and snowfall A second distance range is set as , wherein the second distance range includes a plurality of second sub-distance ranges set separately according to the degree of precipitation or snowfall measured by the sensor of the autonomous driving bus, 1 distance range is longer than the second distance range A control server for controlling an autonomous driving bus using driving PVD and public API, characterized in that it is longer than the second distance range. 12. The method of claim 11,
The autonomous driving bus is a control server for controlling the autonomous driving bus using a driving PVD and public API, characterized in that the autonomous driving below a preset speed threshold.

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