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81. 发明公开

KR1020150012799A 주차 제어 장치 및 주차 제어 방법 审中-实审
标题翻译：提供停车控制的装置和方法
公开(公告)号：KR1020150012799A
公开(公告)日：2015-02-04
申请号：KR1020130088812
申请日：2013-07-26
申请人： 주식회사 만도
发明人： 김성주
IPC分类号： B60W30/06 , B60W30/08 , B60W10/20
CPC分类号： G05D1/0276 , B62D15/027 , B62D15/0285 , G05D1/0214 , G05D1/0238
摘要： The present invention relates to a parking control apparatus and a parking control method. More specifically, provided are a parking control apparatus which corrects an initial parking space searched while a vehicle moves as a final parking space in a space recognition correction section based on a situation when the vehicle searches and information on an obstacle acquired while the vehicle moves along a first parking route, and calculates a final parking route by changing a location of the vehicle, and a parking control method. The parking control apparatus according to the present invention comprises: an initial parking space setting unit; a vehicle control unit; a parking space correction unit; and a final parking route calculation unit.
摘要翻译：停车控制装置和停车控制方法技术领域更具体地，提供一种停车控制装置，其基于车辆搜索时的情况和车辆沿着所行驶的障碍物获取的信息，校正车辆在空间识别校正部中作为最终停车位移动时搜索到的初始停车位第一停车路线，并且通过改变车辆的位置来计算最终停车路线，以及停车控制方法。根据本发明的停车控制装置包括：初始停车位设定单元; 车辆控制单元; 停车位校正单元; 和最终停车路线计算单元。

82. 发明公开

KR1020140020230A 검출된 물체의 행동을 예측하기 위한 시스템 및 방법 审中-实审
标题翻译：用于预测检测对象行为的系统和方法
公开(公告)号：KR1020140020230A
公开(公告)日：2014-02-18
申请号：KR1020137011655
申请日：2011-10-05
申请人： 웨이모 엘엘씨
发明人： 쥬지아준 , 페르구손데이빗아이. , 돌고브드미트리에이.
IPC分类号： B60W30/00 , B60W40/02 , B60W30/10 , B60W30/14
CPC分类号： G06K9/00201 , B60R1/00 , B60R2300/30 , B60W30/08 , B60W30/186 , B60W2050/0292 , B60W2530/14 , B60W2550/22 , B62D6/00 , G01C21/3617 , G05D1/0055 , G05D1/0088 , G05D1/021 , G05D1/0214 , G05D1/024 , G05D1/0246 , G05D1/0257 , G05D1/0274 , G05D1/0276 , G05D1/0278 , G05D2201/0213 , G06K9/00791 , G06K9/00798 , G06K9/00805 , G06K9/3241 , G06T7/0044 , G06T7/0057 , G06T7/20 , G06T7/223 , G06T7/231 , G06T2207/10004 , G06T2207/10028 , G06T2207/30236 , G06T2207/30252 , G06T2207/30261 , B60W30/00 , B60W30/10 , B60W30/14 , B60W40/02
摘要： 본 발명의 실시형태들은 일반적으로 자율주행 차량들(101)에 관한 것이다. 구체적으로, 설명된 특징들은 이러한 차량들의 안정성, 용도, 운전자 경험 및 성능을 향상시키기 위해 단독으로 혹은 결합되어 사용될 수 있다.
摘要翻译：道路图可以包括信息的图形网络，例如道路，车道，交叉口以及这些特征之间的连接。道路图也可以包括与特定规则相关联的一个或多个区域。这些区域可以包括驾驶通常是具有挑战性的位置，例如合并，建筑区域或其他障碍物。在一个示例中，规则可能需要自主车辆来警告驾驶员车辆正在接近区域。因此，车辆可能需要驾驶员来控制转向，加速，减速等。在另一示例中，区域可以由驾驶员指定，并且可以广播到其他附近的车辆，例如使用无线电链路或其他网络其他车辆可能能够在相同的位置观察相同的规则，或者至少通知另一车辆的司机，另一司机认为该位置对于自主驾驶是不安全的。

83. 发明公开

KR1020130107062A 복수의 이동체의 경로를 계획하는 장치 및 방법 有权
标题翻译：移动体多重路径规划的装置和方法
公开(公告)号：KR1020130107062A
公开(公告)日：2013-10-01
申请号：KR1020120028858
申请日：2012-03-21
申请人： 한국과학기술원
发明人： 임종태 , 오준한 , 조현욱 , 박청운 , 박주호 , 이정우
IPC分类号： G05D1/02 , G05D3/00
CPC分类号： G05D1/0027 , B25J9/1666 , G05D1/0214
摘要： PURPOSE: A device and a method of path planning for multiple moving objects quickly resolve a deadlock or a bottleneck by reducing the operation quantity to avoid collision. CONSTITUTION: The possibility of collision between moving objects is determined by inspecting the existence of a start point or an end point of other moving objects on a computed path (120). When the possibility of the collision exits, the start point or the end point on the computed path is temporarily moved, and then it is inspected whether the possibility of the collision disappears or not (130). A path of the moving object is determined by selectively performing one among a process of temporarily moving the start point or the end point of other moving objects or a process of researching a path without collision by moving the start point of the moving object (140). [Reference numerals] (110) Path between a start point and an end point is identified for an object regarding corresponding coordinates; (120) Possibility of a collision between moving objects is determined by inspecting the existence of a start point or an end point of other moving objects on the computed path; (130) When the possibility of the collision exits, the start point or the end point on the computed path is temporarily dispositioned, and then it is inspected whether the possibility of the collision disappears or not; (140) Either a process of temporarily moving the start point or the end point of other moving objects or a process of researching a path avoiding a collision by moving the start point of the moving object is selectively performed; (AA) Start; (BB) End
摘要翻译：目的：多个移动物体的路径规划设备和方法可以通过减少操作数量来快速解决死锁或瓶颈，避免碰撞。构成：运动对象之间的碰撞的可能性是通过检查在计算的路径（120）上其他移动物体的起点或终点的存在来确定的。当碰撞的可能性退出时，计算出的路径上的起点或终点临时移动，然后检查碰撞的可能性是否消失（130）。移动物体的路径通过选择性地执行暂时移动其他移动物体的起始点或终点的处理或者通过移动移动物体的起点来研究路径而不产生碰撞的处理（140）。（附图标记）（110）针对关于对应坐标的对象识别起始点和终点之间的路径; （120）通过检查计算出的路径上其他运动物体的起点或终点的存在来确定运动物体之间的碰撞的可能性; （130）当碰撞的可能性退出时，计算出的路径上的起点或终点临时处置，然后检查碰撞的可能性是否消失; （140）选择性地执行临时移动其他移动物体的起始点或终点的处理或通过移动移动物体的起点研究避免碰撞的路径的处理; （AA）开始; （BB）结束

84. 发明公开

KR1020130057571A 자율 주행차량의 이동장애물 회피방법 无效
标题翻译：自动车辆运动障碍避障方法
公开(公告)号：KR1020130057571A
公开(公告)日：2013-06-03
申请号：KR1020110123344
申请日：2011-11-24
申请人： 현대자동차주식회사
发明人： 유병용 , 이창재 , 허명선 , 이철하
IPC分类号： G05D1/02
CPC分类号： G05D1/0214 , G05D1/0223
摘要： PURPOSE: A moving obstacle avoiding method of an autonomous vehicle is provided to perform effective avoidance suitable for each situation. CONSTITUTION: A moving obstacle avoiding method of an autonomous vehicle includes the followings: a step of determining whether a moving obstacle is within a minimum braking distance if the moving obstacle is detected on a driving path in front of a driving vehicle(S100); a step of quickly braking the driving vehicle if the moving obstacle is within the minimum braking distance(S200); a step of calculating a collision angle with the moving object and determining whether steering is needed if the moving obstacle is beyond the minimum braking distance(S300); and a step of calculating a collision point between the driving vehicle and the moving obstacle and reducing the speed of the vehicle or maintaining the speed normally if the collision angle is not satisfied so that the driving direction is not changed(S400). [Reference numerals] (AA) Start; (S110) Detect a moving obstacle; (S120) Calculate minimum braking distance; (S130) Calculate distance between a moving obstacle and a vehicle; (S140) Less than minimum braking distance?; (S200) Stop; (S310) Calculate a direction angle; (S320) Satisfy collision angle?; (S330) Change a direction(left/right); (S410) Calculate a collision point; (S420) Calculate a collision prediction time; (S430) Decelerate or drive normally
摘要翻译：目的：提供自主车辆的移动障碍物避障方法，以适应每种情况的有效回避。构成：自主车辆的移动障碍物避免方法包括以下步骤：如果在驾驶车辆前方的驾驶路径上检测到移动障碍物，则确定移动障碍物是否在最小制动距离内的步骤（S100）; 如果移动障碍物处于最小制动距离内，则快速制动行驶车辆的步骤（S200）; 计算与所述移动物体的碰撞角度的步骤，并且如果所述移动障碍物超过所述最小制动距离，则确定是否需要转向（S300）; 以及如果不满足所述碰撞角度以使得所述行驶方向不变化，则计算所述行驶车辆与所述移动障碍物之间的碰撞点并减小所述车辆的速度或保持所述速度的步骤（S400）。（附图标记）（AA）开始; （S110）检测移动障碍物; （S120）计算最小制动距离; （S130）计算移动障碍物与车辆之间的距离; （S140）小于最小制动距离？（S200）停止; （S310）计算方向角度; （S320）满足碰撞角？（S330）更改方向（左/右）; （S410）计算碰撞点; （S420）计算碰撞预测时间; （S430）正常减速或驱动

85. 发明公开

KR1020130009453A 로봇의 선체면 주행 가능 영역 확인 방법, 로봇 및 기록 매체 有权
标题翻译：用于发现机身上的移动机器人的移动区域的方法，移动机器人和记录介质
公开(公告)号：KR1020130009453A
公开(公告)日：2013-01-23
申请号：KR1020110070586
申请日：2011-07-15
申请人： 삼성중공업 주식회사
发明人： 박진형 , 이재용 , 이시열 , 김병철
IPC分类号： B25J13/08 , G05D1/02
CPC分类号： B25J9/163 , B63B59/08 , G05D1/0214 , G05D1/0274
摘要： PURPOSE: A method for finding the movement available area of a moving robot on a ship surface and a recording medium for the same are provided to exactly confirm the movement available area of a ship surface by checking the movement available area of the robot by calculating the relation among the angles of triangles within a triangle mesh and determining the movement available area through cross inspection between the robot and the ship surface. CONSTITUTION: A geometric model of a ship surface is created by using program such as a 3D CAD(Computer-Aided Design)(S101). A triangle mesh is formed by using the geometric model(S102). Triangles adjacent to each triangles located within the triangle mesh and the angle are calculated(S103). Firstly, the movement available area is checked(S104). The movement available area of the robot is secondly checked by inspecting the cross section of the robot and the ship surface(S105,S106). [Reference numerals] (S101) Creating a geometric model; (S102) Forming a mesh; (S103) Calculating the angle between adjacent triangles; (S104) Checking a first movement available area; (S105) Inspecting a robot and a hull; (S106) Checking a second movement available area
摘要翻译：目的：提供一种用于找到船舶表面上的移动机器人的移动可用区域和用于其的记录介质的方法，以通过计算机器人的运动可用面积来确定船舶表面的移动可用区域三角形网格中三角形的角度之间的关系，并通过机器人与船舶表面之间的交叉检查来确定运动可用区域。构成：通过使用诸如3D CAD（计算机辅助设计）（S101）的程序来创建船舶表面的几何模型。通过使用几何模型形成三角形网格（S102）。计算与三角形网格内的每个三角形相邻的三角形和角度（S103）。首先检查移动可用区域（S104）。通过检查机器人和船舶表面的横截面来第二次检查机器人的运动可用区域（S105，S106）。（参考号）（S101）创建几何模型; （S102）形成网格; （S103）计算相邻三角形之间的角度; （S104）检查第一移动可用区域; （S105）检查机器人和船体; （S106）检查第二移动可用区域

86. 发明授权

KR101183513B1 주행차 시스템 有权
标题翻译：车辆系统
公开(公告)号：KR101183513B1
公开(公告)日：2012-09-20
申请号：KR1020117006786
申请日：2009-07-24
申请人： 무라다기카이가부시끼가이샤
发明人： 하라사키카즈미
IPC分类号： G05D1/02
CPC分类号： G05D1/0214 , G05B19/41895 , G05D2201/0216 , Y02P90/285 , Y02P90/60
摘要： 주행차 시스템(100)이 구비하는 컨트롤러(140)는 주행차가 주행할 수 없는 주행 경로(130)의 일부 구간인 주행 불가 구간을 설정하는 주행 불가 구간 설정부(145)와, 주행 불가 구간 설정부(145)에 의해 주행 불가 구간이 새롭게 설정되었을 때에 스테이션으로부터 스타트한 주행차가 주행 불가 구간을 경유하지 않고 상기 스테이션으로 리턴해 올 수 있는지의 여부를 복수의 스테이션 각각에 대해서 판정하는 판정부(147)와, 판정부(147)에 의해 리턴해 올 수 있는 것으로 판정된 경우 스테이션에 대해서 사용 가능으로 설정하고, 판정부에 의해 리턴해 올 수 없는 것으로 판정된 경우 스테이션에 대해서 사용 불가능으로 설정하는 사용 가부 설정부(148)를 갖는다.
摘要翻译：包括在行驶车辆系统（100）中的控制器（140）包括：行驶禁止部分设定单元（145），其被配置为设置作为行驶车辆不行驶的行驶路径（130）的一部分的行驶禁止部旅行; 确定单元，被配置为，对于每个站，确定由所述行驶禁止区间设定单元（145）设定的行驶禁止区段，所述行驶车辆是否可以返回到所述车站之一旅行车辆不经过禁止旅行的部分; 以及可用性设置单元，被配置为当所述确定单元确定所述行驶车辆可以返回到所述车站时，将所述车站设置为可用，并且当所述确定单元确定所述车站确定为所述车站时，行车不能返车。

87. 发明授权

KR101133037B1 자율이동차량용 충돌회피를 위한 경로갱신방법 및 그 장치 有权
标题翻译：自动车辆和装置的碰撞避免的路径更新方法
公开(公告)号：KR101133037B1
公开(公告)日：2012-04-04
申请号：KR1020110127524
申请日：2011-12-01
申请人： 국방과학연구소
发明人： 최덕선 , 박용운 , 이영일 , 최지훈 , 주상현
IPC分类号： G05D1/02
CPC分类号： G05D1/0214 , G05D1/0248 , G05D1/027 , G05D1/0278
摘要： PURPOSE: A route updating method for avoiding a collision between autonomous vehicles and an apparatus using the same are provided to avoid the collision by reducing a calculation amount required to avoid the collision. CONSTITUTION: A plurality of 2D radar(LADAR) detects geographic information which includes obstacles arranged near a travel route of an autonomous vehicle. A navigation-processing computer(20) processes position, posture, and velocity information of the autonomous vehicle using navigation information from a compass(23), an inertial navigation system(22), or a global positioning system(21). A 2D LADAR processing computer(30) acquires obstacle information by processing the navigation information from the navigation-processing computer and the geographic information acquired by the 2D LADAR. A path control computer(40) performs a collision avoidance process in a reconfigurable mode after removing a path point by utilizing the obstacle information from the 2D LADAR processing computer.
摘要翻译：目的：提供一种用于避免自主车辆与使用其的装置之间的碰撞的路线更新方法，以通过减少避免碰撞所需的计算量来避免碰撞。构成：多个2D雷达（LADAR）检测包括布置在自主车辆的行进路线附近的障碍物的地理信息。导航处理计算机（20）使用来自罗盘（23），惯性导航系统（22）或全球定位系统（21）的导航信息来处理自主车辆的位置，姿势和速度信息。 2D LADAR处理计算机（30）通过处理来自导航处理计算机的导航信息和由2D LADAR获取的地理信息来获取障碍物信息。路径控制计算机（40）通过利用来自2D LADAR处理计算机的障碍物信息去除路径点后，进行可重构模式的碰撞避免处理。

88. 发明授权

KR101056681B1 자율 이동 장치, 이의 경로 설정 방법 및 자율 이동 시스템 有权
标题翻译：自动移动装置，确定其运动路径的方法和自动移动系统
公开(公告)号：KR101056681B1
公开(公告)日：2011-08-12
申请号：KR1020110027163
申请日：2011-03-25
申请人： 국방과학연구소
发明人： 주상현 , 박용운 , 이영일 , 김종희 , 이호주 , 고정호
IPC分类号： G05D1/02
CPC分类号： G05D1/0212 , G05D1/0214
摘要： PURPOSE: An autonomic movement apparatus for considering stability and improving moving efficiency and a method for setting a route thereof and an autonomic movement system are provided to design a wide area route from map data and timely revise the wide area route from the wide area route of being planned in consideration of geomorphic data, and efficiently sets the movement route of the autonomic movement apparatus in a wide region. CONSTITUTION: A remote control apparatus(20) transmits map data including altitude information to an autonomic movement apparatus(10). The autonomic movement apparatus generates a grid map for a wide area based on the map data, sets a wide area route from an initial point to a target point in the grid map for the wide area, generates the revised grid map of the wide area based on the data detected by scanning surroundings, and sets the revised route of the wide from the wide area.
摘要翻译：目的：提出一种用于考虑稳定性和提高移动效率的自主运动装置，以及用于设置其路线和自主运动系统的方法，以从地图数据设计广域线路，并从广域线路考虑到地形数据进行计划，并且在广泛的区域中有效地设置自主运动装置的移动路线。构成：远程控制装置（20）将包括高度信息的地图数据发送到自主运动装置（10）。自主运动装置基于地图数据生成广域的网格图，设定从广域的网格图中的初始点到目标点的广域路线，生成广域的修改网格图对扫描环境检测到的数据，并从广域设置广泛的修改路由。

89. 发明授权

KR101041930B1 자율 이동 차량의 장애물 지도 생성 장치, 이를 구비하는 자율 이동 차량 및 자율 이동 차량의 장애물 지도 생성 방법 有权
标题翻译：用于创建自动车辆的自动车辆地图的装置，具有该自动车辆的自动车辆的装置和用于创建自动车辆的OBSTACLE地图的方法
公开(公告)号：KR101041930B1
公开(公告)日：2011-06-16
申请号：KR1020100139536
申请日：2010-12-30
申请人： 국방과학연구소
发明人： 심성대 , 김준 , 이영일 , 박형욱 , 이용우
IPC分类号： G05D1/02 , B25J5/00 , B25J9/16
CPC分类号： G05D1/0214
摘要： PURPOSE: An apparatus for creating obstacle map of an autonomous vehicle, the autonomous vehicle having the same and method for creating an obstacle map of the autonomous vehicle are provided to generate the obstacle map of the autonomous vehicle by using different height difference and gradient. CONSTITUTION: In an apparatus for creating obstacle map of an autonomous vehicle, the autonomous vehicle having the same and method for creating an obstacle map of the autonomous vehicle, ' An autonomous vehicle(100) generates an autonomic driving command. A main body(110) includes a driving unit and a receiver. The autonomous vehicle receives a group of route points from a remote control unit(200). A steering control apparatus generates a steering command so that the main body follows estimated route point. The driving controller controls the driving unit of the main body.
摘要翻译：目的：提供一种用于创建自主车辆的障碍物图的装置，具有相同的自主车辆和用于创建自主车辆的障碍物图的方法，以通过使用不同的高度差和梯度来生成自主车辆的障碍物图。构成：在自主车辆的障碍物图生成装置中，具有相同的自主车辆和自主车辆的障碍图的制造方法“自主车辆（100）产生自主驾驶指令。主体（110）包括驱动单元和接收器。自主车辆从远程控制单元（200）接收一组路线点。转向控制装置产生转向指令，使得主体跟随估计的路线点。驱动控制器控制主体的驱动单元。

90. 发明公开

KR1020110046291A 로봇 주행 방법 및 장치 无效
标题翻译：空值
公开(公告)号：KR1020110046291A
公开(公告)日：2011-05-04
申请号：KR1020100102604
申请日：2010-10-20
申请人： 에스케이텔레콤 주식회사
发明人： 최성록 , 이재영 , 유원필
IPC分类号： G05D1/02 , B25J9/16 , B25J13/00
CPC分类号： G05D1/0214 , B25J9/1694 , B25J13/08 , G05D1/0011 , G05D1/0223
摘要： PURPOSE: A method and an apparatus for providing robot navigation are provided to be applied to various robots by independently implementing components required for driving the robot in hardware. CONSTITUTION: In a method and an apparatus for providing robot navigation, a sensor unit(100) generates a sensor signal according to the operation of a robot. A position recognition sensor senses the position of the robot and supplies it to a driving controller. A distance detection sensor senses obstacles around the robot and the distance from the obstacles A driving controller(200) calculates the control target speed of a robot by using the sensor signal of the sensing unit, the state of the robot, and user terminal command. A robot driving unit(500) drives the robot to be corresponded to the target speed of the driving controller.
摘要翻译：目的：提供一种用于提供机器人导航的方法和装置，通过独立地实现在硬件中驱动机器人所需的部件来应用于各种机器人。构成：在用于提供机器人导航的方法和装置中，传感器单元（100）根据机器人的操作生成传感器信号。位置识别传感器感测机器人的位置并将其提供给驱动控制器。距离检测传感器感测机器人周围的障碍物和与障碍物A的距离。驱动控制器（200）通过使用感测单元的传感器信号，机器人的状态和用户终端命令来计算机器人的控制目标速度。机器人驱动单元（500）驱动机器人，以对应于驱动控制器的目标速度。

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