KR102525469B1 - Remote control method, apparatus and computer program for autonomous vehicle - Google Patents

Abstract

Provided are a remote control method of an autonomous vehicle, an apparatus, and a computer program. The remote control method of the autonomous vehicle according to various embodiments of the present invention, in the remote control method of the autonomous vehicle performed by the computing apparatus, comprises the following steps of: obtaining user input from a user through a remote control interface; determining a control command for the autonomous vehicle based on the obtained user input; and performing remote control of the autonomous vehicle according to the determined control command.

Description

Remote control method, device and computer program for autonomous vehicle

Various embodiments of the present invention relate to a method, apparatus, and computer program for remote control of an autonomous vehicle.

For the convenience of users who drive a vehicle, various sensors and electronic devices (e.g., Advanced Driver Assistance System (ADAS)) are being equipped, in particular, recognizing the surrounding environment without driver intervention, BACKGROUND OF THE INVENTION Technological development for an autonomous driving system of a vehicle that automatically drives to a given destination according to a recognized surrounding environment is being actively conducted.

Here, the self-driving vehicle refers to a vehicle equipped with an autonomous driving system function that recognizes a surrounding environment without a driver's intervention and automatically drives to a given destination according to the recognized surrounding environment.

Autonomous driving systems perform localization, perception, prediction, planning and control for autonomous driving.

Positioning refers to the operation of estimating the position, posture, speed, etc. of an autonomous vehicle, and recognition refers to the presence of vehicles, pedestrians, obstacles, etc. around the autonomous vehicle, distance, speed, etc. means action. In addition, prediction refers to an operation of predicting in advance the future state (eg, future position, speed, route, etc.) of surrounding vehicles, pedestrians, etc. and a possible dangerous situation (eg, collision), and planning is the most It refers to an operation to determine a desired action (eg, route, speed, acceleration, etc.), and finally, control refers to an operation to control the movement (brake, acceleration, steering wheel, etc.) of the autonomous vehicle so that the autonomous vehicle drives as planned. can mean

On the other hand, in the case of an autonomous driving system, a situation in which normal autonomous driving is impossible due to a problem such as a sensor failure or software error, or an emergency situation to the occupant of the autonomous vehicle, such as situations in which the autonomous vehicle is difficult to cope with on its own. As this may occur, the need for a remote control system that controls the operation of an autonomous vehicle from outside the autonomous vehicle is emerging, and in some countries, such as the United States, remote control functions are required to operate unmanned autonomous vehicles. is demanding

The remote control system is a system in which an operator who is not in the self-driving vehicle can remotely drive the autonomous vehicle or issue an operation command. It may be composed of a communication unit that sends and receives remote control commands, a controller that controls the vehicle according to remote control commands, and the like.

However, in the case of remote control, there is a problem in that it is difficult to precisely control the vehicle because it controls the operation of the autonomous vehicle in a limited environment rather than directly recognizing the surrounding situation and manipulating the movement of the vehicle in the autonomous vehicle.

In addition, in the case of remote control, since control commands are transmitted remotely from the outside of the self-driving vehicle, as the amount of data to be transmitted increases, problems such as communication delay or data loss may occur. .

The problem to be solved by the present invention is to determine a control command for an autonomous vehicle according to a user input input through a simplified remote control interface for the purpose of solving the above-described problems of the conventional remote control system, and accordingly An object of the present invention is to provide a remote control method, device, and computer program for an autonomous vehicle that can more accurately and precisely control an autonomous vehicle with relatively few control commands and manipulations by performing remote control of the autonomous vehicle.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

In order to solve the above problems, a remote control method for an autonomous vehicle according to an embodiment of the present invention is a remote control method for an autonomous vehicle performed by a computing device, wherein a user inputs through a remote control interface. Obtaining a control command for the self-driving vehicle based on the obtained user input, and performing remote control of the self-driving vehicle according to the determined control command.

In various embodiments, the obtaining of the user input may include the remote control interface from the user, wherein the remote control interface includes a first remote control interface capable of physical manipulation in a vertical direction and a physical manipulation in a horizontal direction. A first user input for longitudinally manipulating the remote control interface including a second remote control interface capable of being operated, or including a third remote control interface capable of physical manipulation in longitudinal and lateral directions. obtaining a second user input for manipulating in a lateral direction, wherein determining the control command determines a speed control command for the autonomous vehicle based on the obtained first user input; The method may include determining a direction control command for the self-driving vehicle based on the acquired second user input.

In various embodiments, the determining of the control command may include calculating a manipulation amount for the remote control interface based on the obtained user input, and determining a control command for the autonomous vehicle based on the calculated manipulation amount. steps may be included.

In various embodiments, the determining of a control command for the self-driving vehicle based on the calculated manipulation amount may include: a first manipulation amount for the remote control interface based on the obtained user input—the first manipulation amount is the Calculating a longitudinal manipulated variable for the remote control interface, extracting a target speed corresponding to the calculated first manipulated variable based on target speed data according to a preset first manipulated variable, and The method may include determining a speed control command for controlling a speed of the self-driving vehicle so that the speed becomes the extracted target speed.

In various embodiments, the determining of the speed control command may include a plurality of preset speed profiles, wherein the plurality of preset speed profiles include different driving control methods for the self-driving vehicle. Determine any one speed profile for controlling the speed of to be the extracted target speed, wherein the determined one speed profile is determined based on at least one of safety and ride comfort of a passenger riding in the autonomous vehicle which may include steps.

In various embodiments, the determining of the speed control command may include determining a speed control command for controlling the self-driving vehicle to stop when the extracted target speed is 0, depending on the magnitude of the calculated first manipulation variable. and determining the amount of deceleration of the self-driving vehicle based on the method.

In various embodiments, the determining of a control command for the self-driving vehicle based on the calculated manipulation amount may include a second manipulation amount for the remote control interface based on the obtained user input - the second manipulation amount is the Calculating a lateral manipulation amount for the remote control interface, extracting a target angle corresponding to the calculated second manipulation amount based on target angle data according to a preset second manipulation amount, and The method may include determining a direction control command for controlling a direction of the self-driving vehicle so that a steering wheel angle becomes the extracted target angle.

In various embodiments, the determining of the control command may include determining a target speed for the autonomous vehicle based on the obtained user input, and controlling the speed of the autonomous vehicle to be the determined target speed. Determine a speed profile including a driving control method, set one or more parameters based on at least one of a remote control situation for the self-driving vehicle or the user's remote control skill level, and use the one or more set parameters to determine the speed profile. Determining a target velocity and the velocity profile.

In various embodiments, the determining of the control command may include determining a target speed for the autonomous vehicle based on the obtained user input, and controlling the speed of the autonomous vehicle to be the determined target speed. The method may include determining a speed profile including a driving control method, and correcting the determined target speed and the determined speed profile based on attributes of a road on which the self-driving vehicle is located.

In various embodiments, the remote control interface includes an emergency braking button, and the determining of the control command may include, when obtaining a user input for manipulating the emergency braking button for a predetermined period of time from the user, a predetermined size. It may include determining a control command for controlling the self-driving vehicle to stop according to the deceleration of .

In various embodiments, upon obtaining a request for providing a remote control service from the user, the remote control authority for the self-driving vehicle is granted to the user, and a preset condition—the preset condition is that the speed of the self-driving vehicle is The method may further include granting remote control authority for the self-driving vehicle to the user only when 0 or less than a predetermined size is satisfied.

A computing device for performing a remote control method for an autonomous vehicle according to another embodiment of the present invention for solving the above problems is a processor, a network interface, a memory, and loaded into the memory and executed by the processor. A computer program comprising: an instruction for obtaining a user input from a user through a remote control interface, an instruction for determining a control command for an autonomous vehicle based on the obtained user input, and the determined An instruction for remotely controlling the self-driving vehicle according to a control command may be included.

A computer program according to another embodiment of the present invention for solving the above problems is combined with a computing device, obtaining a user input from a user through a remote control interface, an autonomous vehicle based on the obtained user input Storing in a recording medium readable by a computing device in order to execute a remote control method for an autonomous vehicle, which includes determining a control command for and performing remote control of the autonomous vehicle according to the determined control command. It can be.

Other specific details of the invention are included in the detailed description and drawings.

According to various embodiments of the present invention, by determining a control command for an autonomous vehicle according to a user input input through a simplified remote control interface and performing remote control of the autonomous vehicle accordingly, relatively few control commands It has the advantage of being able to more accurately and precisely control an autonomous vehicle with only manipulation and operation.

In addition, a manipulation amount of the remote control interface is calculated according to a user input, a target speed and a target angle for the self-driving vehicle are determined according to the manipulated amount, and the self-driving vehicle 10 is remotely controlled according to the determined target speed and target angle. By performing, there is an advantage that remote control is possible without the need for a separate tuning process for each self-driving vehicle.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

1 is a diagram illustrating an autonomous driving system according to an embodiment of the present invention.
2 is a diagram illustrating a hardware configuration of a computing device performing a remote control method for an autonomous vehicle according to another embodiment of the present invention.
3 is a flowchart of a remote control method for an autonomous vehicle according to another embodiment of the present invention.
4 is a flowchart illustrating a method of determining a control command according to a manipulation amount of a remote control interface, in various embodiments.
5 is a diagram exemplarily illustrating target speed data according to a first manipulated variable applicable to various embodiments.
6 is a diagram exemplarily illustrating deceleration data according to a first manipulation variable applicable to various embodiments.
7 to 9 are diagrams exemplarily illustrating speed profiles applicable to various embodiments.
10 and 11 are views for explaining a process of correcting a target speed and a speed profile in various embodiments.

Advantages and features of the present invention, and methods of achieving them, will become clear with reference to the detailed description of the following embodiments taken in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, only these embodiments are intended to complete the disclosure of the present invention, and are common in the art to which the present invention belongs. It is provided to fully inform the person skilled in the art of the scope of the invention, and the invention is only defined by the scope of the claims.

Terminology used herein is for describing the embodiments and is not intended to limit the present invention. In this specification, singular forms also include plural forms unless specifically stated otherwise in a phrase. As used herein, "comprises" and/or "comprising" does not exclude the presence or addition of one or more other elements other than the recited elements. Like reference numerals throughout the specification refer to like elements, and “and/or” includes each and every combination of one or more of the recited elements. Although "first", "second", etc. are used to describe various components, these components are not limited by these terms, of course. These terms are only used to distinguish one component from another. Accordingly, it goes without saying that the first element mentioned below may also be the second element within the technical spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with meanings commonly understood by those skilled in the art to which the present invention belongs. In addition, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless explicitly specifically defined.

The term "unit" or "module" used in the specification means a hardware component such as software, FPGA or ASIC, and "unit" or "module" performs certain roles. However, "unit" or "module" is not meant to be limited to software or hardware. A “unit” or “module” may be configured to reside in an addressable storage medium and may be configured to reproduce one or more processors. Thus, as an example, a “unit” or “module” may refer to components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays and variables. Functions provided within components and "units" or "modules" may be combined into smaller numbers of components and "units" or "modules" or may be combined into additional components and "units" or "modules". can be further separated.

The spatially relative terms "below", "beneath", "lower", "above", "upper", etc. It can be used to easily describe a component's correlation with other components. Spatially relative terms should be understood as including different orientations of elements in use or operation in addition to the orientations shown in the drawings. For example, if you flip a component that is shown in a drawing, a component described as "below" or "beneath" another component will be placed "above" the other component. can Thus, the exemplary term “below” may include directions of both below and above. Components may also be oriented in other orientations, and thus spatially relative terms may be interpreted according to orientation.

In this specification, a computer means any kind of hardware device including at least one processor, and may be understood as encompassing a software configuration operating in a corresponding hardware device according to an embodiment. For example, a computer may be understood as including a smartphone, a tablet PC, a desktop computer, a laptop computer, and user clients and applications running on each device, but is not limited thereto.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Although each step described in this specification is described as being performed by a computer, the subject of each step is not limited thereto, and at least a part of each step may be performed in different devices according to embodiments.

1 is a diagram illustrating an autonomous driving system according to an embodiment of the present invention.

Referring to FIG. 1 , an autonomous driving system according to an embodiment of the present invention may include a computing device 100, a user terminal 200, an external server 300, and a network 400.

Here, the autonomous driving system shown in FIG. 1 is according to an embodiment, and its components are not limited to the embodiment shown in FIG. 1 and may be added, changed, or deleted as necessary.

In one embodiment, the computing device 100 may provide a remote control service for the self-driving vehicle 10 . Here, the remote control service for the self-driving vehicle 10 is performed by a user who is not on the self-driving vehicle 10 operating the self-driving vehicle 10 from the outside, and the self-driving vehicle 10 according to the user's manipulation. ), but may mean a service that controls the operation of, but is not limited thereto.

In various embodiments, the computing device 100 is connected to the user terminal 200 through the network 400 and receives a remote control service request from the user through the user terminal 200 to provide the user with an autonomous vehicle. Remote control authority for (10) may be granted, and a control command for the self-driving vehicle 10 may be determined based on a user input input from a user to whom remote control authority is granted through a remote control interface, Remote control of the self-driving vehicle 10 may be performed according to a control command.

In various embodiments, the computing device 100 grants the user remote control authority for the self-driving vehicle 10 upon obtaining a remote control service provision request from the user, but when a predetermined condition is satisfied, for example, computing The device 100 may grant the remote control authority for the self-driving vehicle 10 to the user only when the speed of the self-driving vehicle 10 is zero, but is not limited thereto, and the computing device 100 may perform autonomous driving. Remote control authority for the self-driving vehicle 10 may be granted to the user only when the speed of the vehicle 10 is less than a predetermined level.

Here, the computing device 100 is provided outside the self-driving vehicle 10 and may be implemented in a form of remotely controlling an operation of the self-driving vehicle 10 from the outside, but is not limited thereto, and the computing device 100 is not limited thereto. 100 may be implemented in a form provided inside the self-driving vehicle 10 (eg, a control module that controls an operation of the self-driving vehicle 10 inside the self-driving vehicle 10).

Here, the user terminal 200 includes navigation, PCS (Personal Communication System), GSM (Global System for Mobile communications), PDC (Personal Digital Cellular), PHS (Personal Handyphone System), PDA (Personal Digital Assistant), IMT (International Mobile Telecommunication)-2000, CDMA(Code Division Multiple Access)-2000, W-CDMA(W-Code Division Multiple Access), Wibro(Wireless Broadband Internet) Terminal, Smartphone, Smartpad, Tablet PC (Tablet PC), but is not limited thereto.

Also, here, the network 400 may refer to a connection structure capable of exchanging information between nodes such as a plurality of terminals and servers. For example, the network 400 includes a local area network (LAN), a wide area network (WAN), a world wide web (WWW), a wired and wireless data communication network, a telephone network, a wired and wireless television communication network, and the like. can do.

In addition, here, the wireless data communication networks are 3G, 4G, 5G, 3GPP (3rd Generation Partnership Project), 5GPP (5th Generation Partnership Project), LTE (Long Term Evolution), WIMAX (World Interoperability for Microwave Access), Wi-Fi (Wi-Fi) Fi), Internet, LAN (Local Area Network), Wireless LAN (Wireless Local Area Network), WAN (Wide Area Network), PAN (Personal Area Network), RF (Radio Frequency), Bluetooth network, A near-field communication (NFC) network, a satellite broadcasting network, an analog broadcasting network, a digital multimedia broadcasting (DMB) network, etc. may be included, but is not limited thereto.

In one embodiment, the external server 300 may be connected to the computing device 100 through the network 400, and the computing device 100 may Storing and managing various types of information and data required to perform a remote control method of an autonomous vehicle, or receiving and storing various information and data generated as the computing device 100 performs a remote control method of an autonomous vehicle can manage For example, the external server 300 may be a storage server provided separately outside the computing device 100, but is not limited thereto. Hereinafter, with reference to FIG. 2 , the hardware configuration of the computing device 100 performing the remote control method of an autonomous vehicle will be described.

2 is a diagram illustrating a hardware configuration of a computing device performing a remote control method for an autonomous vehicle according to another embodiment of the present invention.

Referring to FIG. 2 , in various embodiments, a computing device 100 includes one or more processors 110, a memory 120 for loading a computer program 151 executed by the processor 110, and a bus ( 130), a communication interface 140, and a storage 150 for storing the computer program 151. Here, in FIG. 2, only components related to the embodiment of the present invention are shown. Therefore, those skilled in the art to which the present invention pertains can know that other general-purpose components may be further included in addition to the components shown in FIG. 2 .

The processor 110 controls the overall operation of each component of the computing device 100 . The processor 110 includes a Central Processing Unit (CPU), a Micro Processor Unit (MPU), a Micro Controller Unit (MCU), a Graphic Processing Unit (GPU), or any type of processor well known in the art of the present invention. It can be.

Also, the processor 110 may perform an operation for at least one application or program for executing a method according to embodiments of the present invention, and the computing device 100 may include one or more processors.

In various embodiments, the processor 110 may temporarily and/or permanently store signals (or data) processed in the processor 110 (RAM: Random Access Memory, not shown) and ROM (ROM: Read -Only Memory, not shown) may be further included. In addition, the processor 110 may be implemented in the form of a system on chip (SoC) including at least one of a graphics processing unit, RAM, and ROM.

Memory 120 stores various data, commands and/or information. Memory 120 may load computer program 151 from storage 150 to execute methods/operations according to various embodiments of the present invention. When the computer program 151 is loaded into the memory 120, the processor 110 may perform the method/operation by executing one or more instructions constituting the computer program 151. The memory 120 may be implemented as a volatile memory such as RAM, but the technical scope of the present disclosure is not limited thereto.

The bus 130 provides a communication function between components of the computing device 100 . The bus 130 may be implemented in various types of buses such as an address bus, a data bus, and a control bus.

The communication interface 140 supports wired and wireless Internet communication of the computing device 100 . Also, the communication interface 140 may support various communication methods other than Internet communication. To this end, the communication interface 140 may include a communication module well known in the art. In some embodiments, communication interface 140 may be omitted.

The storage 150 may non-temporarily store the computer program 151 . When performing a remote control process of an autonomous vehicle through the computing device 100, the storage 150 may store various types of information required to provide a remote control process of an autonomous vehicle.

The storage 150 may be a non-volatile memory such as read only memory (ROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, or the like, a hard disk, a removable disk, or a device well known in the art. It may be configured to include any known type of computer-readable recording medium.

Computer program 151 may include one or more instructions that when loaded into memory 120 cause processor 110 to perform methods/operations in accordance with various embodiments of the invention. That is, the processor 110 may perform the method/operation according to various embodiments of the present disclosure by executing the one or more instructions.

In one embodiment, the computer program 151 includes steps of obtaining a user input from a user through a remote control interface, determining a control command for the autonomous vehicle based on the obtained user input, and performing autonomous driving according to the determined control command. It may include one or more instructions for performing a method for remotely controlling an autonomous vehicle, including performing remote control of the driving vehicle.

Steps of a method or algorithm described in connection with an embodiment of the present invention may be implemented directly in hardware, implemented in a software module executed by hardware, or implemented by a combination thereof. A software module may include random access memory (RAM), read only memory (ROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, hard disk, removable disk, CD-ROM, or It may reside in any form of computer readable recording medium well known in the art to which the present invention pertains.

Components of the present invention may be implemented as a program (or application) to be executed in combination with a computer, which is hardware, and stored in a medium. Components of the present invention may be implemented as software programming or software elements, and similarly, embodiments may include various algorithms implemented as data structures, processes, routines, or combinations of other programming constructs, such as C, C++ , Java (Java), can be implemented in a programming or scripting language such as assembler (assembler). Functional aspects may be implemented in an algorithm running on one or more processors. Hereinafter, with reference to FIGS. 3 to 11 , a method for remotely controlling an autonomous vehicle performed by the computing device 100 will be described.

3 is a flowchart of a remote control method for an autonomous vehicle according to another embodiment of the present invention.

Referring to FIG. 3 , in step S110 , the computing device 100 may obtain a user input through a remote control interface from the user.

In various embodiments, the computing device 100 may obtain a user input for manipulating a remote control interface from a user in order to control the speed and/or direction of the autonomous vehicle 10 .

Here, the remote control interface is a medium that connects the self-driving vehicle 10 and the user, and allows a user located outside the self-driving vehicle 10 to remotely input a user input for controlling the self-driving vehicle 10. It can mean an input tool that can be used. For example, the remote control interface includes one first remote control interface capable of vertical physical manipulation (eg, a pedal or jog dial) and one second remote capable of horizontal physical manipulation. It may include a control interface (eg, a steering wheel) or a single third remote control interface (eg, a joy stick) capable of both longitudinal and lateral physical manipulations.

Typically, in order to remotely control the autonomous vehicle 10, an input tool (eg, an accelerator pedal (accelerator pedal) and a deceleration pedal (brake pedal)) for speed control (longitudinal control) of the autonomous vehicle 10 is used. , a tool (e.g., a handle) is needed to perform directional control (transverse control). That is, at least three input tools are required to control the speed and direction of the autonomous vehicle 10 .

However, a plurality of input tools for remotely controlling the operation of the autonomous vehicle 10 are provided, and the speed (acceleration, deceleration, constant speed, etc.) and direction of the autonomous vehicle 10 are provided using each of the plurality of input tools. In the case of performing individual control for each, a plurality of user inputs using each of a plurality of input tools are obtained in the process of controlling a relatively simple operation of the autonomous vehicle 10, and a plurality of controls are performed according to the plurality of user inputs. Since the command is determined, the amount of data transmitted to the computing device 100 or the self-driving vehicle 10 increases, resulting in problems such as communication delay or loss of data. A side effect may occur that remote control may not be performed accurately.

Considering this point, the computing device 100 controls the self-driving vehicle 10 according to a user input through a simplified remote control interface, that is, one remote control interface capable of speed control (eg, a first remote control interface). control interface) and one remote control interface capable of direction control (e.g., a second remote control interface) to control the speed and direction of the self-driving vehicle 10 through a user input, or both speed and direction The speed and direction of the self-driving vehicle 10 may be controlled through a user input using only one controllable remote control interface (eg, a third remote control interface).

In various embodiments, the computing device 100 may obtain a first user input for vertically manipulating the remote control interface and/or a second user input for horizontally manipulating the remote control interface from the user. For example, when the remote control interface includes a first remote control interface and a second remote control interface, the computing device 100 receives a first user input for vertically manipulating the first remote control interface from the user and a second remote control. A second user input of manipulating the interface in a horizontal direction may be obtained. Meanwhile, when the remote control interface includes the third remote control interface, the computing device 100 receives a first user input and/or a second user input for vertically and/or horizontally manipulating the third remote control interface. can be obtained

In step S120 , the computing device 100 may determine a control command for the self-driving vehicle 10 based on the user input obtained through step S110 .

In various embodiments, the computing device 100 may determine a speed control command for the autonomous vehicle 10 based on a first user input obtained from the user, and based on a second user input obtained from the user. A direction control command for the traveling vehicle 10 may be determined. Hereinafter, it will be described in more detail with reference to FIGS. 4 to 11 .

4 is a flowchart illustrating a method of determining a control command according to a manipulation amount of a remote control interface, in various embodiments.

Referring to FIG. 4 , in step S210 , the computing device 100 may calculate a manipulation amount of the remote control interface based on a user input obtained as the user manipulates the remote control interface.

Here, the manipulation amount of the remote control interface may refer to a numerical value representing a degree of manipulation of the remote control interface by the user, but is not limited thereto.

In various embodiments, the computing device 100 may calculate a ratio of a maximum manipulation value of the remote control interface to an actual manipulation value of the user as a manipulation amount for the remote control interface, based on a user input obtained from the user. For example, when the maximum manipulation value of the remote control interface is 100 and the user's actual manipulation value is 50, the computing device 100 may calculate the manipulation amount for the remote control interface as 50%. However, it is not limited thereto.

In step S220, the computing device 100 may determine a control command for the self-driving vehicle 10 based on the amount of manipulation calculated through step S210.

In various embodiments, the computing device 100 may determine a speed control command for the autonomous vehicle 10 based on the longitudinal manipulation amount for the remote control interface.

Typically, an accelerator pedal of a vehicle is interlocked with a throttle, and an acceleration-based speed control method is applied in which vehicle acceleration is controlled by changing a power source torque according to an operation amount of the accelerator pedal (a depressed amount of the accelerator pedal). That is, the vehicle is accelerated at an acceleration corresponding to the amount of depression of the accelerator pedal, and since air resistance increases as the vehicle accelerates, the speed of the vehicle eventually converges to a constant speed when the amount of depression of the accelerator pedal is constant.

Basically, if the speed change or acceleration change of the vehicle occurs frequently, it adversely affects the riding comfort of the occupants of the vehicle, so there is a need to control the vehicle at a constant speed in consideration of the ride comfort. In this case, the amount of depression of the accelerator pedal to maintain the constant speed is different according to the speed of the vehicle. For example, when the vehicle speed accelerates from 10 kph to 20 kph and maintains it, and when the vehicle accelerates from 100 kph to 110 kph and maintains it, it accelerates by the same 10 kph, but the pedal pressure required to accelerate 10 kph quantities are different from each other.

That is, in the case of the acceleration-based speed control method, sophisticated accelerator pedal operation is required, but in the case of remote control, real-time delivery of driving conditions and control commands is impossible due to delayed control by communication, and remote control is performed. There is a problem in that it is difficult to precisely manipulate the vehicle because the user who does not directly ride the vehicle and cannot feel the real-time acceleration of the vehicle.

Considering this point, the computing device 100 determines a target speed for the self-driving vehicle 10 based on the manipulation amount of the remote control interface, and controls the speed for the self-driving vehicle 10 based on the determined target speed. By performing, the self-driving vehicle 10 can be more sophisticatedly manipulated with relatively few control commands and manipulation actions.

More specifically, first, the computing device 100 may calculate a first manipulated variable that is a longitudinal manipulated variable for the remote control interface. For example, the computing device 100 may calculate the ratio of the maximum manipulation value of the remote control interface in the longitudinal direction to the actual manipulation value of the user in the longitudinal direction as the first manipulation variable based on the user input obtained from the user, but is not limited thereto. don't

In various embodiments, when the computing device 100 simultaneously obtains an input for manipulating the remote control interface in the vertical direction and an input for manipulating the remote control interface in the horizontal direction from the user (eg, the remote control interface is set along the vertical axis (y axis) ( Alternatively, when obtaining a user input operating in a diagonal direction having a predetermined angle with respect to the horizontal axis (x-axis)), calculating a first component value corresponding to an actual manipulation value in the vertical direction from the user input (e.g., a sine value corresponding to a predetermined angle), and a first manipulated variable may be calculated based on the calculated first component value.

Thereafter, the computing device 100 may determine a target speed for the self-driving vehicle 10 based on the first manipulation amount.

In various embodiments, the computing device 100 may extract a target speed corresponding to a first manipulated variable based on target speed data according to a preset first manipulated variable. Here, the target speed data according to the preset first manipulated variable may refer to data in which the target speed is previously set for each magnitude of the first manipulated variable. In addition, when the target speed data according to the first manipulated variable is linearly and continuously set, the target speed may also be slightly changed according to the minute change in the magnitude of the first manipulated variable, and accordingly, the speed of the autonomous vehicle 10 If is frequently changed, it may adversely affect the riding comfort of the occupant of the autonomous vehicle 10, and the target speed data according to the preset first manipulation variable is shown in FIG. 5 in consideration of ease of manipulation and predictability. It may be defined in the form of a step function as described above, but is not limited thereto.

For example, referring to FIG. 5 , the computing device 100 may determine the target speed as 0 when the first manipulation amount for the remote control interface is less than 20%, and the first manipulation amount for the remote control interface is greater than or equal to 20% and 30%. If less than 5 kph, the target speed can be determined. In addition, the computing device 100 may determine the target speed as 10 kph when the first manipulation amount for the remote control interface is 30% or more and less than 40%, and the first manipulation amount for the remote control interface is 40% or more and less than 60%. 15 kph may be determined, and when the first manipulated variable for the remote control interface is 60% or more, the target speed may be determined as 20 kph.

At this time, the computing device 100 determines a speed control command for controlling the self-driving vehicle 10 to stop when the extracted target speed is 0 according to the first manipulation amount of the remote control interface. Based on this, the size of the deceleration of the autonomous vehicle 10 may be determined.

In various embodiments, the computing device 100 may extract a deceleration corresponding to a first manipulation amount based on deceleration data according to a preset first manipulation amount. Here, the deceleration data according to the preset first manipulated variable has the same or similar form as the target speed data according to the preset first manipulated variable, as shown in FIG. It may be defined in the form of a set step function), but is not limited thereto.

For example, the computing device 100 determines a speed control command for controlling the self-driving vehicle 10 to stop according to the magnitude of the first manipulation variable being less than 20%, but when the magnitude of the first manipulation variable is 0 (ie, When the user does not manipulate the remote control interface), a speed control command for controlling the autonomous vehicle 10 to stop completely suddenly (deceleration magnitude = -5 m/s ² ) is determined, and if the speed is less than 5%, the autonomous vehicle ( 10) determines a speed control command that controls the strong deceleration stop (deceleration magnitude = -3 m/s ² ), and when the value is 5% or more and less than 10%, the autonomous vehicle 10 performs a medium deceleration stop (deceleration magnitude = - 2m/s ² ), and if it is 10% or more and less than 20%, the speed control command for controlling the self-driving vehicle 10 to stop at a weak deceleration (deceleration magnitude = -1m/s ² ) can decide Here, the magnitude of the deceleration according to the magnitude of the first manipulation variable is an example, and is not limited thereto.

In various embodiments, the computing device 100 may determine a target speed for the self-driving vehicle 10 based on the first manipulation amount for the remote control interface, and based on the determined target speed, the self-driving vehicle 10 A speed profile related to a driving control method that is controlled to reach the target speed can be determined.

In various embodiments, the computing device 100 may determine one speed profile for controlling the speed of the self-driving vehicle 10 to be a target speed among a plurality of preset speed profiles.

Here, the plurality of preset speed profiles may include different driving control methods for the self-driving vehicle.

For example, as shown in FIG. 7 , the plurality of preset speed profiles are given when the current speed of the self-driving vehicle 10 is v ₀ and the current acceleration is a ₀ (that is, given for the self-driving vehicle 10). When the values are v ₀ and a ₀ ), the speed of the self-driving vehicle 10 is increased or decreased from v ₀ to the target speed (v _target ), which is the target speed, using the current acceleration a ₀ and the preset acceleration, A first speed profile including a control method for driving the autonomous vehicle 10 while maintaining the speed of the autonomous vehicle 10 at a target speed may be included.

In addition, as shown in FIG. 8 , the plurality of preset speed profiles are given when the current speed of the self-driving vehicle 10 is v ₀ and the current acceleration is a ₀ (that is, given for the self-driving vehicle 10). When the values are v ₀ and a ₀ ), a driving control method for stopping the autonomous vehicle 10 by reducing the speed of the autonomous vehicle 10 to 0 using a preset acceleration, that is, an autonomous vehicle 10 A second speed profile including a driving control method of stopping the autonomous vehicle 10 by decelerating the autonomous vehicle 10 at a constant acceleration when the target speed of is 0 may be further included.

In addition, as shown in FIG. 9 , the plurality of preset speed profiles are generated when the current speed of the self-driving vehicle 10 is v ₀ (that is, when the value given to the self-driving vehicle 10 is v ₀ ). , Stop the self-driving vehicle 10 by reducing the speed of the self-driving vehicle 10 from v ₀ to 0 using a preset acceleration a _emergency , that is, when an emergency occurs, the self-driving vehicle 10 A third speed profile including a driving control method of rapidly stopping the self-driving vehicle 10 by decelerating at maximum acceleration may be further included.

Here, the above-described first to third speed profiles are examples for explaining a remote control method of an autonomous vehicle according to various embodiments of the present invention, but are not limited thereto, and speed profiles including various types of driving control methods. (For example, a speed profile including a driving control method of decelerating or accelerating the self-driving vehicle 10 to a target speed, maintaining the self-driving vehicle 10 for a certain period of time, and then reducing the speed of the self-driving vehicle 10 to 0 to stop it.) After decelerating or accelerating the driving vehicle 10 to the target speed and maintaining it for a certain period of time, and then reducing the speed of the self-driving vehicle 10 to the target low speed and maintaining it again for a certain period of time, thereafter, the self-driving vehicle 10 A speed profile including a driving control method of reducing the speed of ) to 0 and stopping the speed of the self-driving vehicle 10 after reducing the speed to the target low speed, maintaining it for a certain period of time, and then the speed of the self-driving vehicle 10 A speed profile including a driving control method of reducing to 0 and stopping, etc.) may be further included.

In various embodiments, the computing device 100 determines one speed profile for controlling the speed of the self-driving vehicle 10 to be a target speed among a plurality of speed profiles, but the safety of the occupant of the self-driving vehicle And it is possible to determine any one speed profile based on at least one of riding comfort.

More specifically, first, the computing device 100 determines whether a plurality of preset items are satisfied with respect to the operation (eg, driving or stopping) of the autonomous vehicle 10 according to a plurality of preset speed profiles. Scores for each of the plurality of set speed profiles may be calculated.

Here, a plurality of preset items satisfies a condition that must not cross a specific line in consideration of whether a collision can be prevented reliably, whether rapid deceleration or acceleration can be prevented, and yielding to traffic lights and other vehicles. Whether a sufficient margin is ensured against the expected dispatch, whether a potentially anticipated hazard can be prevented, whether high speeds are prevented for ride comfort and safety in curve driving, whether the speed limit is exceeded. This may include, but is not limited to, whether or not you comply and whether or not you maintain the speed limit of the road you are driving on.

Also, here, a predetermined score is assigned to each of a plurality of preset items, and the size of the score to be assigned may be determined according to the priority of each item. For example, a plurality of preset items may have higher priorities in the order described above, and items with higher priorities may be set to have higher scores than items with lower priorities (e.g., to ensure collision avoidance). 20 points will be awarded to the item whether the speed limit can be met, and 10 points will be awarded to the item whether or not the speed limit is complied with).

In addition, for each item, scores of different sizes may be set depending on whether each item is satisfied, but to what extent. For example, if a score of 20 is given to an item about whether or not a collision is prevented with certainty, there are 5 levels depending on how certain a collision can be prevented (e.g., the first level indicating that a collision will occur). , Stage 2 indicating a high probability of collision, Stage 3 indicating a medium probability of collision, Stage 4 indicating a low probability of collision, and Stage 5 indicating no possibility of collision). , 0 points, 5 points, 10 points, 15 points, and 20 points can be given for each subdivided step.

Thereafter, the computing device 100 determines the speed profile with the highest calculated score among a plurality of preset speed profiles as a speed profile for driving control of the autonomous vehicle 10, so that the safety and riding comfort of the passengers on board are considered. You can select a speed profile that has been selected.

In various embodiments, the computing device 100 may determine a speed control command for controlling the speed of the self-driving vehicle 10 to be the target speed according to the speed profile using the target speed and speed profile determined according to the above-described method. there is.

In various embodiments, the computing device 100 may determine a speed profile for the autonomous vehicle 10 based on at least one of a remote control situation for the autonomous vehicle 10 and a user's remote control skill level. For example, the computing device 100 may define speed profile data for each parameter in advance, set one or more parameters based on at least one of a remote control situation for the self-driving vehicle 10 or a user's remote control skill level, , based on speed profile data for each parameter defined in advance, a speed profile corresponding to one or more parameters may be extracted, and a speed profile for the autonomous vehicle 10 may be determined using the extracted speed profile.

For example, the computing device 100 has a relatively large acceleration (a _{set A} ) for each parameter, and a speed profile A (Set A in FIG. 10 ) applicable to a general road driving situation and a relatively small acceleration ( a _{set B} ), a speed profile B (Set B in FIG. 10 ) applicable to a parking situation may be defined in advance, and a parameter corresponding to a remote control situation according to the remote control situation of the self-driving vehicle 10 By adjusting, one of the speed profile A and the speed profile B can be selectively applied. However, it is not limited thereto.

As another example, the computing device 100 has a relatively large acceleration (a _{set A} ) for each parameter, and if the user has a high remote control skill level (eg, a plurality of grades (higher grade, When the user has a low level of remote control proficiency ₍ For example, a speed profile B (Set B in FIG. 10 ) applicable to a lower class among a plurality of classes may be defined in advance, and a user performing remote control of the self-driving vehicle 10 may remotely control the self-driving vehicle 10 . By adjusting a parameter corresponding to the remote control skill level according to the skill level, one of the speed profile A and the speed profile B may be selectively applied. That is, when the user's remote control proficiency is low, a speed profile that gently controls the speed of the vehicle relative to a user with a high remote control proficiency is determined as the speed profile for the self-driving vehicle 10, and the self-driving vehicle 10 ) can ensure the safety of remote control.

In various embodiments, the computing device 100 may determine a target speed for the autonomous vehicle 10 based on at least one of a remote control situation for the autonomous vehicle 10 and a user's remote control skill level. For example, the computing device 100 may define target speed data for each parameter in advance, set one or more parameters based on at least one of a remote control situation for the self-driving vehicle 10 or a user's remote control skill level, , Target speeds corresponding to one or more parameters may be extracted based on previously defined target speed data for each parameter, and a target speed for the self-driving vehicle 10 may be determined using the extracted target speeds.

Typically, when the remote control situation for the self-driving vehicle 10 is a parking situation, the speed should be controlled to drive at a relatively low speed compared to general road driving situations, and the speed change should also be small compared to general road driving situations. When the same target speed determination criterion is applied to all situations without considering the situation, there is a problem in that precise control and manipulation suitable for the remote control situation are difficult.

For example, when the remote control situation of the self-driving vehicle 10 is a general road driving situation, the self-driving vehicle 10 according to the first manipulation amount is applied by applying the target speed data according to the first manipulation amount shown in FIG. 11(A). The target speed of is determined. In the case of the target speed data (FIG. 11(A)) according to the first manipulation applied in a general road driving situation, the target speed of the vehicle is determined in units of 10 kph according to the first manipulation. There is a problem that fine adjustment at low speed is difficult.

Considering this point, the computing device 100 may individually define target speed data according to a plurality of different first manipulated variables for each remote control situation, and may individually define a plurality of previously defined target speed data according to parameters corresponding to the remote control situation. By selectively applying the target speed data according to any one of the first manipulation variables among the target speed data according to the first manipulation variables, the target speed of the autonomous vehicle 10 can be precisely determined and controlled according to the remote control situation. .

For example, when the remote control situation of the self-driving vehicle 10 is a general road driving situation and the first manipulated value of the remote control interface is 100%, the computing device 100 performs autonomous driving based on a parameter corresponding to a general road driving situation. By applying the data according to (A) of FIG. 11 to the driving vehicle 10, the target speed of the autonomous vehicle 10 may be determined to be 50 kph. In addition, when the remote control situation of the self-driving vehicle 10 is a parking situation, the computing device 100 determines the self-driving vehicle 10 based on a parameter corresponding to the parking situation when the first manipulation amount of the remote control interface is 100%. ), the target speed of the self-driving vehicle 10 can be determined as 20 kph by applying the data according to (B) of FIG. 11 .

In various embodiments, the computing device 100 may calibrate the target speed and speed profile based on the property of the road where the autonomous vehicle 10 is located (eg, children's sanctuary, elderly sanctuary). For example, as shown in (A) of FIG. 11 , the computing device 100 determines the target speed of the self-driving vehicle 10 when the first manipulation amount of the remote control interface is 70% or more when the remote control situation is a general driving situation. 50 kph and determine a control command for controlling the speed of the self-driving vehicle 10 to be 50 kph, but when the road where the self-driving vehicle 10 is located is a children's protection area with a speed limit of 30 kph, the self-driving vehicle The target speed of (10) can be corrected from 50 kph to 30 kph.

In various embodiments, the remote control interface may include an emergency braking button, and when the computing device 100 obtains a user input for operating the emergency braking button from the user, the autonomous vehicle 100 according to a deceleration of a preset size. (10) can determine a control command for controlling to decelerate and stop. At this time, if the self-driving vehicle 10 is controlled to stop by mistakenly manipulating the emergency braking button of the user, it may adversely affect the riding comfort of the occupant of the self-driving vehicle 10 or cause an accident. When the device 100 obtains a user input for operating the emergency braking button for a predetermined period of time, that is, when the user continuously presses the emergency braking button for a predetermined period of time, the device 100 controls the self-driving vehicle 10 to stop. can determine

In various embodiments, the computing device 100 may determine a direction control command for the autonomous vehicle 10 based on a lateral manipulation amount for the remote control interface.

More specifically, first, the computing device 100 may calculate a second manipulated variable that is a longitudinal manipulated variable for the remote control interface. For example, the computing device 100 may calculate the ratio of the maximum manipulation value of the remote control interface in the lateral direction to the actual manipulation value of the user in the lateral direction as the second manipulation value based on the user input obtained from the user, but is not limited thereto. don't

In various embodiments, when the computing device 100 simultaneously obtains an input for manipulating the remote control interface in the vertical direction and an input for manipulating the remote control interface in the horizontal direction from the user (eg, the remote control interface is set along the vertical axis (y axis) ( Alternatively, when obtaining a user input operating in a diagonal direction having a predetermined angle with respect to the horizontal axis (x-axis)), calculating a second component value corresponding to the actual manipulation value in the horizontal direction from the user input (e.g., a cosine (cos) value corresponding to a predetermined angle), and a second manipulated variable may be calculated based on the calculated second component value.

Thereafter, the computing device 100 may determine a target angle for the self-driving vehicle 10 based on the second manipulation amount.

In various embodiments, the computing device 100 may extract a target angle corresponding to a second manipulation amount based on target angle data according to a predetermined second manipulation amount. Here, the target angle data according to the preset second manipulated variable is data in which a target angle corresponding to the magnitude of the second manipulated variable is previously set, and like the target speed data according to the first manipulated variable shown in FIG. 5, the second The target angle according to the manipulated variable may be defined in the form of a step function, but is not limited thereto.

Thereafter, the computing device 100 may determine a direction control command for controlling the direction of the autonomous vehicle 10 so that the angle of the steering wheel of the autonomous vehicle 10 becomes a target angle. However, it is not limited thereto.

The above-described remote control method of the autonomous vehicle has been described with reference to the flow chart shown in the drawings. For brief description, the method for remote control of an autonomous vehicle has been illustrated and described as a series of blocks, but the present invention is not limited to the order of the blocks, and some blocks may be performed in a different order than those shown and performed herein. or can be performed concurrently. In addition, new blocks not described in the present specification and drawings may be added, or some blocks may be deleted or changed.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art to which the present invention pertains can be implemented in other specific forms without changing the technical spirit or essential features of the present invention. you will be able to understand Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

100: computing device
200: user terminal
300: external server
400: Network

Claims (13)

In the remote control method of an autonomous vehicle, performed by a computing device,
obtaining a user input from a user through a remote control interface;
determining a control command for the self-driving vehicle based on the obtained user input; and
And performing remote control of the self-driving vehicle according to the determined control command,
Determining the control command,
Calculating a manipulation amount for the remote control interface based on the obtained user input, and determining a control command for the autonomous vehicle based on the calculated manipulation amount;
Determining a control command for the autonomous vehicle based on the calculated manipulation amount,
calculating a first manipulated variable for the remote control interface based on the obtained user input, wherein the first manipulated variable is a longitudinal manipulated variable for the remote control interface;
Target velocity data according to the first preset manipulated variable - The target velocity data according to the preset first manipulated variable divides the range from the minimum manipulated variable in the vertical direction to the maximum manipulated variable in the vertical direction of the remote control interface into a plurality of sections, and the division extracting a target speed corresponding to the calculated first manipulated variable based on data in the form of a step function in which a constant target speed is set for each of a plurality of sections; and
Determining a speed control command for controlling a speed of the autonomous vehicle so that the speed of the autonomous vehicle becomes the extracted target speed;
Determining the speed control command,
When the extracted target speed is 0, determining a speed control command for controlling the autonomous vehicle to stop, and determining a magnitude of deceleration of the autonomous vehicle based on the calculated magnitude of the first manipulation variable. include,
Determining the control command,
Based on the obtained user input, determine a speed profile including a driving control method for determining a target speed for the autonomous vehicle and controlling the speed of the autonomous vehicle to be the determined target speed,
setting one or more parameters based on at least one of a remote control situation for the self-driving vehicle and a remote control skill level of the user;
extracting a speed profile corresponding to one or more set parameters based on predefined speed profile data for each parameter, and determining a speed profile for the autonomous vehicle using the extracted speed profile; and
Extracting a target speed corresponding to one or more set parameters based on target speed data for each parameter defined in advance, and determining a target speed for the autonomous vehicle using the extracted target speed,
Determining the target speed for the autonomous vehicle,
When the one or more set parameters are parameters corresponding to general road driving conditions, a target speed corresponding to a maximum manipulated variable in a longitudinal direction of the remote control interface among the target speed data for each predefined parameter is a first speed, and the remote extracting a target speed corresponding to the calculated first manipulated variable using target speed data having a first magnitude of a target speed change according to a longitudinal manipulated variable change of a control interface; and
When the set one or more parameters corresponds to a parking situation, a target speed corresponding to the maximum longitudinal manipulation amount of the remote control interface among the target speed data for each of the predefined parameters is a second speed smaller than the first speed and extracting a target speed corresponding to the calculated first manipulated variable using target speed data having a second size in which a target speed change according to a longitudinal manipulated variable change of the remote control interface is smaller than the first size. doing,
Remote control method of autonomous vehicle. According to claim 1,
Obtaining the user input,
The remote control interface from the user - the remote control interface includes a first remote control interface capable of physical manipulation in the longitudinal direction for controlling the speed of the self-driving vehicle and in the lateral direction for controlling the direction of the self-driving vehicle including one second remote control interface capable of physically manipulating - obtaining a first user input for vertically manipulating and a second user input for laterally manipulating the remote control interface,
Determining the control command,
Determining a speed control command for the autonomous vehicle based on the obtained first user input, and determining a direction control command for the autonomous vehicle based on the obtained second user input,
Remote control method of autonomous vehicle. delete delete According to claim 1,
Determining the speed control command,
One of a plurality of preset speed profiles, wherein the plurality of preset speed profiles include different driving control methods for the autonomous vehicle, for controlling the speed of the autonomous vehicle to be the extracted target speed. Determining a speed profile of, wherein the determined one of the speed profiles is determined based on at least one of safety and ride comfort of a passenger in the autonomous vehicle,
Remote control method of autonomous vehicle. delete According to claim 1,
Determining a control command for the autonomous vehicle based on the calculated manipulation amount,
calculating a second manipulated variable for the remote control interface based on the obtained user input, wherein the second manipulated variable is a lateral manipulated variable for the remote control interface;
extracting a target angle corresponding to the calculated second manipulated variable based on target angle data according to a preset second manipulated variable; and
Determining a direction control command for controlling the direction of the autonomous vehicle so that the steering wheel angle of the autonomous vehicle becomes the extracted target angle.
Remote control method of autonomous vehicle. delete According to claim 1,
Determining the control command,
Based on the obtained user input, determine a speed profile including a driving control method for determining a target speed for the autonomous vehicle and controlling the speed of the autonomous vehicle to be the determined target speed,
Comprising the step of correcting the determined target speed and the determined speed profile based on the property of the road on which the autonomous vehicle is located,
Remote control method of autonomous vehicle. According to claim 1,
the remote control interface includes an emergency brake button;
Determining the control command,
Determining a control command for controlling the self-driving vehicle to stop according to a deceleration of a predetermined magnitude when obtaining a user input for operating the emergency braking button for a predetermined time from the user,
Remote control method of autonomous vehicle. According to claim 1,
Upon obtaining a remote control service request from the user, granting the user remote control authority for the self-driving vehicle, a preset condition—the preset condition is that the speed of the self-driving vehicle is 0 or a predetermined size Further comprising granting the user remote control authority for the self-driving vehicle only when is satisfied,
Remote control method of autonomous vehicle. processor;
network interface;
Memory; and
A computer program loaded into the memory and executed by the processor,
The computer program,
instructions for obtaining a user input from the user through the remote control interface;
instructions for determining a control command for an autonomous vehicle based on the obtained user input; and
Including instructions for performing remote control of the self-driving vehicle according to the determined control command,
The instruction for determining the control command,
An instruction for calculating a manipulation amount for the remote control interface based on the obtained user input and determining a control command for the autonomous vehicle based on the calculated manipulation amount;
An instruction for determining a control command for the autonomous vehicle based on the calculated manipulation amount,
an instruction for calculating a first manipulated variable for the remote control interface based on the obtained user input, wherein the first manipulated variable is a longitudinal manipulated variable for the remote control interface;
Target velocity data according to the first preset manipulated variable - The target velocity data according to the preset first manipulated variable divides the range from the minimum manipulated variable in the vertical direction to the maximum manipulated variable in the vertical direction of the remote control interface into a plurality of sections, and the division an instruction for extracting a target speed corresponding to the calculated first manipulated variable based on data in the form of a step function in which a constant target speed is set for each of a plurality of sections; and
An instruction for determining a speed control command for controlling a speed of the autonomous vehicle so that the speed of the autonomous vehicle becomes the extracted target speed;
The instruction for determining the speed control command,
When the extracted target speed is 0, an instruction for determining a speed control command for controlling the autonomous vehicle to stop, and determining a magnitude of deceleration of the autonomous vehicle based on the calculated magnitude of the first manipulation variable include,
The instruction for determining the control command,
Based on the obtained user input, determine a speed profile including a driving control method for determining a target speed for the autonomous vehicle and controlling the speed of the autonomous vehicle to be the determined target speed,
instructions for setting one or more parameters based on at least one of a remote control situation for the self-driving vehicle or a remote control skill level of the user;
an instruction for extracting a speed profile corresponding to one or more set parameters based on predefined speed profile data for each parameter, and determining a speed profile for the autonomous vehicle using the extracted speed profile; and
An instruction for extracting a target speed corresponding to one or more set parameters based on target speed data for each parameter defined in advance, and determining a target speed for the autonomous vehicle using the extracted target speed,
The instructions for determining the target speed for the self-driving vehicle,
When the one or more set parameters are parameters corresponding to general road driving conditions, a target speed corresponding to a maximum manipulated variable in a longitudinal direction of the remote control interface among the target speed data for each predefined parameter is a first speed, and the remote an instruction for extracting a target speed corresponding to the calculated first manipulated variable using target speed data having a first magnitude of a target speed change according to a longitudinal manipulated variable change of a control interface; and
When the set one or more parameters corresponds to a parking situation, a target speed corresponding to the maximum longitudinal manipulation amount of the remote control interface among the target speed data for each of the predefined parameters is a second speed smaller than the first speed and an instruction for extracting a target speed corresponding to the calculated first manipulated variable using target speed data having a second magnitude in which a target velocity change according to a longitudinal manipulated variable change of the remote control interface is smaller than the first magnitude. doing,
A computing device that performs a remote control method for an autonomous vehicle. Combined with a computing device,
obtaining a user input from a user through a remote control interface;
determining a control command for an autonomous vehicle based on the obtained user input; and
And performing remote control of the self-driving vehicle according to the determined control command,
Determining the control command,
Calculating a manipulation amount for the remote control interface based on the obtained user input, and determining a control command for the autonomous vehicle based on the calculated manipulation amount;
Determining a control command for the autonomous vehicle based on the calculated manipulation amount,
calculating a first manipulated variable for the remote control interface based on the obtained user input, wherein the first manipulated variable is a longitudinal manipulated variable for the remote control interface;
Target velocity data according to the first preset manipulated variable - The target velocity data according to the preset first manipulated variable divides the range from the minimum manipulated variable in the vertical direction to the maximum manipulated variable in the vertical direction of the remote control interface into a plurality of sections, and the division extracting a target speed corresponding to the calculated first manipulated variable based on data in the form of a step function in which a constant target speed is set for each of a plurality of sections; and
Determining a speed control command for controlling a speed of the autonomous vehicle so that the speed of the autonomous vehicle becomes the extracted target speed;
Determining the speed control command,
When the extracted target speed is 0, determining a speed control command for controlling the autonomous vehicle to stop, and determining a magnitude of deceleration of the autonomous vehicle based on the calculated magnitude of the first manipulation variable. include,
Determining the control command,
Based on the obtained user input, determine a speed profile including a driving control method for determining a target speed for the autonomous vehicle and controlling the speed of the autonomous vehicle to be the determined target speed,
setting one or more parameters based on at least one of a remote control situation for the self-driving vehicle and a remote control skill level of the user;
extracting a speed profile corresponding to one or more set parameters based on predefined speed profile data for each parameter, and determining a speed profile for the autonomous vehicle using the extracted speed profile; and
Extracting a target speed corresponding to one or more set parameters based on target speed data for each parameter defined in advance, and determining a target speed for the autonomous vehicle using the extracted target speed,
Determining the target speed for the autonomous vehicle,
When the one or more set parameters are parameters corresponding to a general road driving situation, a target speed corresponding to a maximum manipulated variable in the longitudinal direction of the remote control interface among the target speed data for each predefined parameter is a first speed, and the remote extracting a target speed corresponding to the calculated first manipulated variable using target speed data having a first magnitude of a target speed change according to a longitudinal manipulated variable change of a control interface; and
When the set one or more parameters corresponds to a parking situation, a target speed corresponding to the maximum longitudinal manipulation amount of the remote control interface among the target speed data for each predefined parameter is a second speed smaller than the first speed and extracting a target speed corresponding to the calculated first manipulated variable using target speed data having a second size in which a target speed change according to a longitudinal manipulated variable change of the remote control interface is smaller than the first size. A computer program stored in a recording medium readable by a computing device in order to execute a remote control method of an autonomous vehicle.

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