-
公开(公告)号：KR1020140117836A
公开(公告)日：2014-10-08
申请号：KR1020130032613
申请日：2013-03-27
Applicant: 국방과학연구소
Abstract: The present invention relates to an apparatus for generating a driving path of an unmanned autonomous vehicle and a method for controlling the same. The apparatus for generating a driving path of an unmanned autonomous vehicle includes a topography detection sensor unit sensing topography and obstacles of the outside to collect topographic information and obstacle information; an autonomous driving determination unit managing road environment information prestored for autonomous driving of an unmanned autonomous vehicle, extracting road surface information using the collected topographic information and obstacle information, generating a grid map using the collected topographic information and obstacle information, establishing a path plan for the autonomous driving of the unmanned autonomous vehicle from a starting point to a target point using the managed road environment information, the extracted road surface information, and the generated grid map, analyzing the state of the established path plan, the road environment information, and the road surface information, and comparing the result of the analysis with predetermined condition and standard for transition to make decision on the state transition of the path plan; and a driving control unit controlling the unmanned autonomous vehicle to be driven in accordance with the path plan in which the state is transitioned by the decision-making. By applying a path plan method which is based on a state defined by the combination of an environment mode and a driving mode, the present invention is able to efficiently generate a path of an unmanned autonomous vehicle in the urban environment.
Abstract translation: 本发明涉及一种用于产生无人驾驶自动车辆的行驶路径的装置及其控制方法。 用于产生无人驾驶自动车辆的行驶路径的装置包括：地形检测传感器单元，感测地形和障碍物，以收集地形信息和障碍物信息; 管理自动驾驶无人自动车辆的道路环境信息的自主驾驶确定单元，使用收集的地形信息和障碍物信息提取路面信息，使用收集的地形信息和障碍物信息生成网格图，建立路线规划 使用所管理的道路环境信息，所提取的路面信息和所生成的网格图，自动驾驶无人自动车从起点到目标点，分析已建立的路线图的状态，道路环境信息，以及 路面信息，将分析结果与预定条件和过渡标准进行比较，对路径规划状态转换作出决定; 以及驱动控制单元，其根据所述状态通过所述决策过渡的路径计划来控制所述无人驾驶的自动车辆被驱动。 通过应用基于由环境模式和驾驶模式的组合定义的状态的路径规划方法，本发明能够在城市环境中有效地生成无人自行车辆的路径。
-
公开(公告)号：KR1020130041698A
公开(公告)日：2013-04-25
申请号：KR1020110106129
申请日：2011-10-17
Applicant: 국방과학연구소
Abstract: PURPOSE: A driving information generating device of an unmanned vehicle, the unmanned vehicle comprising the same, and a controlling method thereof are provided to determine a driving path and a driving method by reflecting outer environmental information including map information. CONSTITUTION: A sensor(110) senses outer environment information. A driving information generating part(150) maps the outer environment information to stored map information to generate driving information. A driving information controlling part(170) use the position information of a main body and the driving information of the main body for determining at least one between a driving path and a driving method. [Reference numerals] (110) Sensor device; (120) Sensor information processing part; (130) Knowledge database part; (140) Location receiving part; (150) Driving information generating part; (160) Driving information database part; (170) Driving information controlling part; (180) Driving information providing part; (AA) Image navigation; (BB) Satellite navigation; (CC) Inertia navigation; (DD) Driving road DB; (EE) Intersection DB;
Abstract translation: 目的：提供一种无人驾驶车辆的驾驶信息生成装置，包括该无人驾驶车辆的无人驾驶车辆及其控制方法，以通过反映包含地图信息的外部环境信息来确定驾驶路径和驾驶方法。 构成：传感器（110）感测外部环境信息。 驾驶信息生成部（150）将外部环境信息映射到存储的地图信息，生成驾驶信息。 驾驶信息控制部分（170）使用主体的位置信息和主体的驾驶信息来确定行驶路径和驾驶方法中的至少一个。 （附图标记）（110）传感器装置; （120）传感器信息处理部分; （130）知识数据库部分; （140）位置接收部; （150）驾驶信息生成部; （160）驾驶信息数据库部分; （170）驾驶信息控制部; （180）驾驶信息提供部; （AA）图像导航; （BB）卫星导航; （CC）惯性导航; （DD）驾驶道路DB; （EE）交点DB;
-
公开(公告)号：KR101463464B1
公开(公告)日：2014-11-21
申请号：KR1020130063589
申请日：2013-06-03
Applicant: 국방과학연구소
IPC: G05D1/02
CPC classification number: G05D1/0212 , G05D1/024
Abstract: 본 발명은 지표를 주행하는 이동체에 장착되고, 복수의 분해각에 대응되는 지면까지의 거리정보를 획득하는 레이저 센서부, 상기 거리정보를 근거로 상기 거리정보를 좌표화 하고, 좌표화된 상기 거리정보들의 좌표들 중 기 설정된 추출기준에 근거한 추출좌표들에 대응되는 지표상의 영역을 주행가능영역으로 추정하는 제어부를 포함하는 주행가능영역 추정장치를 제공한다.
Abstract translation: 提供一种估计可驱动区域的装置，其包括激光传感器部件，该激光传感器部件安装在驱动在地面上的移动体上，并获得与分辨率角相对应的距离信息;以及控制部件，其基于距离信息进行协调 并根据协调的距离信息的坐标之中的预定提取参考值来估计与提取的坐标相对应的地面上的可驱动区域。
-
公开(公告)号：KR101049906B1
公开(公告)日：2011-07-15
申请号：KR1020100139538
申请日：2010-12-30
Applicant: 국방과학연구소
CPC classification number: G05D1/0214 , B60W30/08 , G05D1/0223
Abstract: PURPOSE: An autonomous mobile apparatus and a collision avoiding method thereof are provided to reliably predict the moving route of mobile obstacles and avoid the collision against the obstacles. CONSTITUTION: A plurality of wheels(300) are installed in the body of an autonomous mobile apparatus. An absolute position recognition unit(210) recognizes the absolute position of the autonomous mobile apparatus and the absolute position of an obstacle as regular time intervals. An obstacle moving route calculation unit(240) calculates the moving route of an obstacle using the absolute position of the obstacle recognized at regular time intervals and cubic function. An obstacle position calculation unit(250) computes the expected position of the obstacle at the specific point of time using the moving route and speed of the obstacle. A control unit(220) determines the probability of a collision against the obstacle and drives the wheels with controlled direction and speed in order to avoid the collision.
Abstract translation: 目的：提供一种自主移动装置及其防碰撞方法，以可靠地预测移动障碍物的移动路线，避免与障碍物的碰撞。 构成：在自主移动装置的主体中安装有多个轮（300）。 绝对位置识别单元（210）将自主移动装置的绝对位置和障碍物的绝对位置识别为规则的时间间隔。 障碍物移动路线计算单元（240）使用以规则时间间隔识别的障碍物的绝对位置和立方函数来计算障碍物的移动路线。 障碍物位置计算单元（250）使用障碍物的移动路线和速度来计算特定时刻的障碍物的预期位置。 控制单元（220）确定与障碍物碰撞的概率，并以受控的方向和速度驱动车轮，以避免碰撞。
-
-
Patent Agency Ranking
公开(公告)号：KR101868898B1
公开(公告)日：2018-06-20
申请号：KR1020170016419
申请日：2017-02-06
Applicant: 국방과학연구소
CPC classification number: G05D1/0088 , B60W40/06 , B60W2050/0052 , B60W2550/14 , G06K9/00798 , G06T7/13 , G06T7/70 , G06T2207/10028 , G06T2207/30244 , G06T2207/30256
Abstract: 본발명에따른자율주행을위한차선인식방법은, 차선을포함하는도로에대한 3차원거리정보를수신하는 3차원거리정보수신과정 - 상기 3차원거리정보는수평방향으로특정분해능을갖는복수의레이어들에대응하는레이어번호, 거리정보(X,Y,Z), 반사율정보를포함함 - ; 상기수신된거리정보와반사율정보를각 단일레이어별로정렬하는데이터정렬과정; 상기단일레이어의거리정보포인트를연결하여상기도로의노면영역을인식하는노면영역인식단계; 및상기반사율정보에필터반응을통해상기노면영역내에서반사율피크지점(Peak Point)을계산하여차선의위치를추정하는반사율피크지점계산단계를포함하고, 자율주행차량에서주변환경영향에관계없이효과적으로차선을인식할수 있다.
-
公开(公告)号：KR101532320B1
公开(公告)日：2015-07-22
申请号：KR1020140046501
申请日：2014-04-18
Applicant: 국방과학연구소
Abstract: 본발명은자율주행무인차량에서로이격되게설치된카메라를이용하여, 전방의동적물체를감지하도록한 자율주행무인차량에탑재된쌍안카메라를이용한동적물체검출방법에관한것이다. 본발명에따른자율주행무인차량에탑재된쌍안카메라를이용한동적물체검출방법은, 주행중인자율주행무인차량의전방에위치한동적물체를탐지하는방법에있어서, 주행중인자율주행무인차량의주행정보와, 상기자율주행무인차량에탑재된쌍안카메라에서촬영한이미지가입력되는데이터입력단계(S110)와, 상기쌍안카메라로부터동시에촬영된한 쌍의이미지로부터스테레오정합을실시하여특징점추출하는스테레오정합단계(S120)와, 상기이미지에서정해진구간의값을갖는영역이하나의수퍼픽셀(super pixel)이되도록상기이미지를복수의수퍼픽셀로분할하는수퍼픽셀변환단계(S130)와, 상기복수의수퍼픽셀마다고차원마르코프랜덤필드를계산하여동적물체가존재하는수퍼픽셀을검출하는고차원마르코프랜덤필드계산단계(S140)와, 상기고차원마르코프랜덤필드계산단계(S140)에동적물체가있는수퍼픽셀에동적물체가있는것으로판단하는최적정보선택단계(S150)를포함한다.
Abstract translation: 本发明涉及一种通过使用安装在自主车辆中的双目照相机来检测移动物体的方法，其被配置为通过使用安装在自主车辆中彼此间隔开的照相机来检测向前移动的物体。 根据本发明的通过使用安装在自主车辆中的双目相机来检测前进移动物体的方法包括：数据输入步骤（S110），用于输入旅行自主车辆的驾驶信息和由安装在其中的双眼照相机拍摄的图像 自主车辆; 立体匹配步骤（S120），用于对由双目相机同时拍摄的一对图像执行立体匹配以从其提取特征点; 用于将图像分割成多个超像素的超像素转换步骤（S130），使得在图像中具有预定范围内的值的区域形成一个超像素; 用于计算每个超像素的高阶马尔可夫随机场的高阶马尔科夫随机场计算步骤（S140），以及检测运动物体存在的超像素; 以及用于确定在高阶马尔可夫随机场计算步骤中检测到的超像素中存在移动物体的最佳信息确定步骤（S150）（S140）。
-
公开(公告)号：KR101494291B1
公开(公告)日：2015-02-17
申请号：KR1020130111828
申请日：2013-09-17
Applicant: 국방과학연구소
CPC classification number: F02K9/96 , F05D2260/12 , G01L5/12
Abstract: The present invention relates to a measuring device for thrust and side force of a thruster with a rotary valve and a measuring method thereof. The measuring device comprises: a supporting unit which is fixated to the bottom surface thereof; a valve assembly which is positioned at the top of the supporting unit; and a measuring unit which is to measure thrust and side force when the thrust is generated from the valve assembly. Therefore, the measuring device can measure thrust and side force using multiple axes, and can largely increase the range of measurable thrust by applying load cells to each of the axes.
Abstract translation: 本发明涉及一种具有旋转阀的推力器的推力和侧力的测量装置及其测量方法。 测量装置包括：固定在其底面的支撑单元; 位于支撑单元顶部的阀组件; 以及当从阀组件产生推力时测量推力和侧力的测量单元。 因此，测量装置可以使用多个轴测量推力和侧向力，并且可以通过将负载传感器应用于每个轴来大大增加可测量的推力的范围。
-
公开(公告)号：KR101396886B1
公开(公告)日：2014-05-19
申请号：KR1020130005437
申请日：2013-01-17
Applicant: 국방과학연구소
IPC: G05D1/02
CPC classification number: G05D1/0236 , G05D1/0217
Abstract: The present invention relates to a method and an apparatus for effectively detecting a drivable region (drivable path) using a multi-layer laser range sensor. Distance information according to an angle which comprises a straight line vertical to a direction facing each layer by using the multi-layer laser range sensor is obtained. Based on the obtained distance information according to the angle, the boundary of the drivable region according to each layer is calculated. A layer which allows the distance information of the drivable region in the boundary of the calculated drivable region to be represented by a virtual straight line (having a slight change) is selected. Thereby, the autonomous driving performance and stability can be improved.
Abstract translation: 本发明涉及一种使用多层激光测距传感器有效地检测可驱动区域（可驱动路径）的方法和装置。 获得与通过使用多层激光范围传感器的面向各层的方向垂直的直线的角度的距离信息。 根据获得的根据角度的距离信息，计算根据每层的可驱动区域的边界。 选择允许计算的可驱动区域的边界中的可驱动区域的距离信息由虚拟直线（具有轻微变化）表示的层。 从而能够提高自主驾驶性能和稳定性。
-
-
-
-
-
-
-
-
-
Search Results
27
records
(took 0.02 seconds)
