KR20220078781A - Autonomous driving taxi service providing system and method thereof - Google Patents

Abstract

The present invention relates to an autonomous driving taxi service providing system and a method for providing the same, and more particularly, in a service providing system by an autonomous driving taxi service providing server that matches an autonomous driving taxi with a passenger who wants to use an autonomous driving taxi, , a first input unit 100 for receiving taxi request-related information through a terminal means carried by at least one passenger, a second input unit 200 for receiving traffic condition-related information from the outside in real time, at least A third input unit 300 that receives current location information through a terminal means included in one autonomous taxi, and the first input unit 100 and the second input unit 200 based on pre-stored high-precision map data And by using the information received from the third input unit 300, for each autonomous taxi, at least one expected driving route in which the autonomous taxi can travel is generated, and the most optimal The route setting unit 400 that sets the driving route and the optimal driving route set by the route setting unit 400 are transmitted to the corresponding autonomous driving taxi, and the corresponding occupant possesses information related to the allocation of the autonomous driving taxi It relates to an autonomous driving taxi service providing system, characterized in that it comprises a boarding matching unit 500 for transmitting to a terminal means.

Description

Autonomous driving taxi service providing system and method thereof

The present invention relates to a system for providing an autonomous driving taxi service and a method for providing the same, and more particularly, to an autonomous driving taxi service that can obtain the maximum benefit and satisfaction of the occupants at the same time by setting the optimal route to the get-off location requested by the occupant It relates to a provision system and a method for providing the same.

Existing taxis, not self-driving taxis, are a system in which the driver decides to dispatch a vehicle based on an empirical judgment based on a ride request input from the outside. However, the self-driving taxi requires a separate judgment system/judgment standard for such optimal dispatch.

In addition, in the case of self-driving taxis, because fares are not set through a so-called 'meter', as in conventional taxis, but pre-set rates for each section are taken into consideration. If the route is set simply by considering only the shortest distance without considering unexpected traffic jams due to accidents, intersections, etc., and frequent signal waiting time due to intersections, etc. In addition, self-driving taxi companies also have a problem with lower profitability.

In addition, in the case of autonomous vehicles, it is difficult to determine the time/point of a lane change on the driving route to the extent that the determination algorithm for lane change is separately studied. If this is not done, the vehicle will inevitably travel through an excessively long route (bypass route) than the initially set optimal route, which is another problem of autonomous taxis.

In this regard, Korean Patent Application Laid-Open No. 10-2020-0055146 (“Pick-up arrangement of passengers in autonomous vehicles”) discloses an arrangement method that can be usefully applied to both passengers and vehicles.

Domestic Patent Publication No. 10-2020-0055146 (published on May 20, 2020)

The present invention has been devised to solve the problems of the prior art as described above, and an object of the present invention is to determine an optimal driving route in consideration of various unexpected situations that may occur on the driving route by using taxi request-related information of passengers. It is to provide an autonomous driving taxi service providing system and a method for providing an autonomous driving taxi service capable of setting an optimal driving route that can obtain the best benefit by setting it.

An autonomous driving taxi service providing system according to an embodiment of the present invention is a service providing system by an autonomous driving taxi service providing server that matches an autonomous driving taxi with a passenger who wants to use an autonomous driving taxi, wherein at least one passenger The first input unit 100 for receiving taxi request-related information through the terminal means you have, the second input unit 200 for receiving traffic situation-related information from the outside in real time, at least one autonomous taxi A third input unit 300 for receiving current location information through the included terminal means, and the first input unit 100, the second input unit 200 and the third input unit 300 based on pre-stored high-precision map data. ), a path for generating at least one predicted driving route for each autonomous driving taxi to drive, and setting the most optimal driving route through weight setting according to preset conditions Transmitting the optimal driving route set by the setting unit 400 and the route setting unit 400 to the corresponding autonomous driving taxi, and transmitting information related to the allocation of the autonomous driving taxi to the terminal means owned by the corresponding occupant It is preferable to include a boarding matching unit 500 .

Furthermore, the route setting unit 400 sets up autonomous driving based on information received from the first input unit 100 , the second input unit 200 , and the third input unit 300 and pre-stored high-precision map data. Using the node information and link information connecting each node for each predetermined interval of the lane in which the taxi can drive, the current location information of the autonomous driving taxi for each autonomous driving taxi and each occupant is related to the taxi request of the occupant At least one drivable first predicted route to the boarding location information included in the information, and at least one drivable second prediction from the boarding location information to getting off location information included in the passenger's taxi request related information It is configured to further include an initial route generator 410 for generating a route, and the first predicted route and the second predicted route preferably include a shortest route and a detour route reflecting the traffic situation related information.

Furthermore, the route setting unit 400 extracts lane change information included in each route through node information and link information included in each route generated by the initial route generator 410, It is preferable to further include a route optimization unit 420 that optimizes each route by removing lane change information according to a set condition.

Furthermore, the route setting unit 400 reflects the traffic condition related information input to each route optimized by the route optimization unit 420 to set a time weight value according to a preset condition for each route. It is preferable to further include a setting unit 430 .

Furthermore, the route setting unit 400 uses the estimated travel time information reflecting the time weight value set for each route by the weight setting unit 430 and the estimated fare information preset for each route, the maximum fare per hour and an optimal route setting unit 440 for setting a route with It is preferable that the travel time is the sum of the estimated travel times by any one route selected from among the two expected routes.

Furthermore, the route optimization unit 420 extracts lane change information included in each optimized route and induces lane change on the route by using node information and link information included in the extracted lane change information. It is desirable to set a point.

A method of providing an autonomous driving taxi service according to an embodiment of the present invention is a method of providing an autonomous driving taxi service providing server that matches an autonomous driving taxi with a occupant who wants to use the autonomous driving taxi, wherein at least one occupant possesses A first information input step (S100) of receiving taxi request related information from the terminal means, a second information input step (S200) of receiving traffic situation related information from a connected external traffic control server (S200), at least one A third information input step (S300) of receiving current location information from the terminal means included in the autonomous taxi, the first information input step (S100), the second information input step (S200), and the third information input step For each autonomous driving taxi, using the information of (S300) and link information connecting each node with the preset node information for each predetermined interval of the lane in which the autonomous driving taxi set based on the pre-stored high-precision map data can be driven , the optimal driving set by the path setting step (S400) and the path setting step (S400) of generating at least one or more drivable predicted driving paths and setting the most optimal driving path through weight setting according to preset conditions Through the optimal driving route set by the route transmission step (S500) and the route setting step (S400) of transmitting the route to the corresponding autonomous taxi, the corresponding occupant possesses information related to the allocation of the autonomous driving taxi. It is preferable to include a vehicle dispatch transmission step (S600) for transmitting to the terminal means.

Furthermore, the route setting step ( S400 ) includes at least one driving from the current location information of the autonomous driving taxi for each self-driving taxi for each occupant to the riding position information included in the taxi request-related information of the occupant. An initial route generating step (S410) of generating at least one possible first expected route and at least one drivable second expected route from the boarding location information to the getting off location information included in the taxi request related information of the passenger Preferably, the first predicted route and the second predicted route include each of the shortest route and a detour route reflecting the traffic condition related information.

Furthermore, the route setting step (S400) extracts lane change information included in each route through node information and link information included in each route generated by the initial route creation step (S410), Preferably, the method further includes a route optimization step (S420) of performing optimization of each route by removing lane change information according to a preset condition.

Furthermore, the route setting step (S400) reflects the traffic condition related information on each route optimized by the route optimization step (S420), and sets a weight value for setting a time weight value according to a preset condition for each route It is preferable to further include a step (S430).

Furthermore, in the route setting step (S400), the maximum fare per hour is calculated using the estimated travel time information reflecting the time weight value set for each route by the weight setting step (S430) and the estimated fare information preset for each route. It is configured to further include an optimal route setting step (S440) of setting the route having the route as the optimal driving route, wherein the estimated driving time information includes an estimated driving time by any one selected from among the first expected paths and the second It is preferable that the driving time is the sum of the estimated driving times by any one path selected from among the predicted paths.

The autonomous driving taxi service providing system and the providing method of the present invention according to the above configuration are the optimal driving route in consideration of various unexpected situations that may occur on the moving route using information related to the boarding request of the autonomous driving taxi of the occupant. By setting , there is an advantage that can satisfy both the satisfaction of the passengers and the satisfaction of the operator.

In detail, in the autonomous driving taxi service providing system and the providing method according to an embodiment of the present invention, in setting the driving route of the autonomous driving taxi, a detour or avoidance route is taken in consideration of a traffic congestion section, etc. can be applied, it is possible to prevent the phenomenon of vehicles being driven, and the lane change of autonomous vehicles can generate the most optimal route by minimizing unnecessary lane changes by removing unnecessary lane changes as more complex algorithms are applied. There are advantages that can be

Through this, it is possible to increase the satisfaction of passengers by minimizing the passage of the congested section, and the operating time can be shortened by minimizing the passage of the congested section. .

1 is an exemplary diagram illustrating node information and link information included in high-definition map data (HD map).
2 is an exemplary configuration diagram illustrating an autonomous driving taxi service providing system according to an embodiment of the present invention.
3 is an exemplary diagram illustrating an initial predicted route including a detour route by the initial route generator 410 of the autonomous driving taxi service providing system according to an embodiment of the present invention.
4 is an exemplary diagram illustrating a route in which unnecessary lane change information is removed by the route optimization unit 420 of the autonomous driving taxi service providing system according to an embodiment of the present invention.
5 is an exemplary diagram illustrating a route in which a lane change induction point is set by the route optimization unit 420 of the autonomous driving taxi service providing system according to an embodiment of the present invention.
6 is an exemplary diagram illustrating a weight situation reflected by traffic situation related information by the weight setting unit 430 of the autonomous driving taxi service providing system according to an embodiment of the present invention.
7 is a flowchart illustrating a method for providing an autonomous driving taxi service according to an embodiment of the present invention.

Hereinafter, an autonomous driving taxi service providing system and a method for providing the same according to the present invention will be described in detail with reference to the accompanying drawings. The drawings introduced below are provided as examples so that the spirit of the present invention can be sufficiently conveyed to those skilled in the art. Accordingly, the present invention is not limited to the drawings presented below and may be embodied in other forms. Also, like reference numerals refer to like elements throughout.

At this time, if there is no other definition in the technical terms and scientific terms used, it has the meaning commonly understood by those of ordinary skill in the art to which this invention belongs, and in the following description and accompanying drawings, the subject matter of the present invention Descriptions of known functions and configurations that may unnecessarily obscure will be omitted.

In addition, a system refers to a set of components including devices, instruments, and means that are organized and regularly interact to perform necessary functions.

In the autonomous driving taxi service providing system and the providing method according to an embodiment of the present invention, in setting the driving route of the autonomous driving taxi, a detour or avoidance route may be applied at the global route group in consideration of a traffic congestion section, etc. Therefore, it is possible to prevent the phenomenon of the vehicle being driven. In addition, if a driving route is simply set in consideration of only the shortest distance, unnecessary lane changes may be included multiple times, and lane changes for autonomous vehicles are more complex algorithms applied, so unnecessary lane changes are removed to minimize lane changes. By doing so, the most optimal path can be generated.

Through this, it is possible to increase the satisfaction of passengers by minimizing the passage of the congested section, and the operating time can be shortened by minimizing the passage of the congested section. .

First, the high-definition map data used in the autonomous driving taxi service providing system and the method for providing an autonomous driving taxi service according to an embodiment of the present invention means a precise map with an error range of less than 10 cm. In the self-driving taxi service providing system and the providing method according to an embodiment of the present invention, as shown in FIG. 1, based on high-precision map data, node information is provided at predetermined intervals in a lane in which an autonomous driving taxi can drive. It is preferable to use high-precision map data that is set and includes link information (lane centerline) connecting each node information set, and the link information includes corresponding lane information, corresponding speed limit, corresponding length information, etc. It is preferably configured to include.

In addition, through the lane change link information, it is preferable that the autonomous taxi is configured to include separate information on a zone in which lane change can be performed while driving.

2 is an exemplary configuration diagram illustrating an autonomous driving taxi service providing system according to an embodiment of the present invention, and the autonomous driving taxi service providing system according to an embodiment of the present invention will be described in detail with reference to FIG. 2 .

As shown in FIG. 2 , the autonomous driving taxi service providing system according to an embodiment of the present invention includes a first input unit 100 , a second input unit 200 , a third input unit 300 , and a route setting unit 400 . and a boarding matching unit 500, preferably configured to further include a database unit (not shown) that receives data generated from each component, converts it into a database, stores and manages it . In addition, each configuration is preferably driven by an autonomous driving taxi service providing server that matches a passenger who wants to use an autonomous driving taxi and an autonomous driving taxi, and accordingly, is configured in one calculation processing means or each calculation processing means and perform the action.

To learn more about each configuration,

It is preferable that the first input unit 100 receives taxi request-related information for requesting boarding of an autonomous driving taxi from a terminal means possessed by at least one passenger. Preferably, the taxi request-related information includes location information (generally current location information) where the passenger wants to board the autonomous taxi and information on the location of getting off at which he/she wants to move.

It is preferable that the second input unit 200 receives information related to the overall traffic situation in real time from a connected external traffic situation control server or a linked external traffic situation control system. As an example of the received traffic situation-related information, it is preferable to include information on the occurrence of a sudden obstacle on a road on which the autonomous driving taxi can drive, information on the occurrence of accidents, information on the amount of traffic, and the like.

Preferably, the third input unit 300 receives current location information of the corresponding autonomous driving taxi through a terminal means included in at least one autonomous driving taxi. As it is a taxi that literally performs autonomous driving, the current location is one of very important information, and it is desirable to include a separate means for this.

The route setting unit 400 uses information received from the first input unit 100 , the second input unit 200 , and the third input unit 300 based on the pre-stored high-precision map data to each autonomous driving For each taxi, it is preferable to generate at least one or more predicted driving routes that can be driven by each autonomous driving taxi, and set the most optimal driving route by setting weights according to preset conditions.

In detail, the route setting unit 400 is autonomously set based on information received from the first input unit 100 , the second input unit 200 , and the third input unit 300 , and pre-stored high-precision map data. At least one predicted driving route for each autonomous driving taxi is generated using preset node information and link information connecting each node for each predetermined interval of a lane in which a driving taxi can drive, and weights are set according to preset conditions. It is desirable to set the most optimal driving route.

To this end, the path setting unit 400 includes an initial path generating unit 410 , a path optimization unit 420 , a weight setting unit 430 , and an optimal path setting unit 440 as shown in FIG. 2 . It is preferable to configure.

Preferably, the initial route generating unit 410 generates at least one drivable first predicted route for each autonomous taxi, from the current location information of the autonomous taxi for each occupant to the boarding location information of the occupant. do. That is, it is desirable to generate an expected travel distance that the autonomous taxi will travel to pick up passengers.

In addition, the initial route generator 410 may generate at least one drivable second predicted route from the boarding location information of the passenger to the boarding location information of the passenger. In other words, it is desirable to generate an expected travel distance for the autonomous taxi to travel to a desired destination after carrying a passenger.

In this case, the initial route generating unit 410 includes the shortest route as the first expected route and the second expected route, and the traffic input by the second inputter 200 as shown in FIG. 3 . It is desirable to include a detour route in consideration of situation-related information. In this case, it is preferable that the traffic situation-related information to be considered for generating the detour route is set by a manager (provider, etc.) of the autonomous driving taxi service providing server. In FIG. 3, the detour route was created by setting the accident point and the high congestion point as the traffic situation-related information to be considered in order to generate the detour route, but this is only an embodiment of the present invention, and may be set in some cases can be changed

Node information and link information included in the high-precision map data can be represented by vertices and edges in a graph structure, respectively.

Through this, it is preferable that the initial path generating unit 410 generates a path through a graph structure-based path generating algorithm, and for example, it is preferable to include an algorithm such as dijkstra and A*.

Preferably, the route optimization unit 420 extracts lane change information included in each route through node information and link information included in each route generated by the initial route generator 410 .

That is, as described above, the route optimization unit 420 extracts the lane change link included through the node information and link information included in each route generated by the initial route generator 410, When the extracted lane change link corresponds to an unnecessary lane change link according to a preset condition, it is preferable to delete it from the route and optimize each route with a new link (linear link).

That is, as shown in FIG. 4 , the route optimization unit 420 performs unnecessary lane change information (continuous) through node information and link information included in any one route generated by the initial route generator 410 . It is desirable to extract and delete the data from the route (based on conditions such as when the vehicle enters the lane before the lane change through two or more lane changes), and then optimize each route with a new link (straight link).

In addition, the route optimization unit 420 extracts a lane change path included in each optimized route, and uses the node information and link information included in the extracted lane change information to induce a lane change on the route. It is preferable to set

That is, the route optimization unit 420 extracts a lane change route with essential requirements, which is a lane change route included in each route on which optimization is performed. If the lane change is missed due to another vehicle or an unexpected obstacle, the longer In order to solve the problem of returning to the detour, as shown in a) of FIG. 5 , the fastest possible point in the extracted lane change information is selected by using the node information and link information included in the extracted lane change information. It is desirable to establish a change induction point.

By setting the lane change guidance point as quickly as possible in this way, even if a lane change is missed for the reason as described above, a lane change can be attempted by resetting the lane change guidance point again through the node information thereafter.

In detail, as shown in b) of FIG. 5 , after extracting the lane change path path[i] of essential requirements, which is a lane change path included in each path for which optimization is performed, the extracted lane change path After extracting node information and link information (path[0]) corresponding to a lane change possible area using previous node information and link information based on

The weight setting unit 430 reflects the traffic condition-related information input by the second input unit 200 to each path optimized by the path optimization unit 420, and time according to a preset condition for each path. It is desirable to set a weight value.

In detail, as shown in FIG. 6 , the weight setting unit 430 includes the traffic condition related information input by the second input unit 200 to each path optimized by the path optimization unit 420 . In consideration of this, it is preferable to calculate a time weight value according to a preset condition for each path, and it is preferable that the calculation of the time weight value is performed through Equation 1 below. In addition, the conditions applied for the calculation of the time weight value include a signal waiting time weight according to a traffic light, a time weight according to a lane change, a congestion time weight according to an obstacle, an accident, a congestion level, etc., but this is an embodiment of the present invention This is just an example and you can change the settings in some cases.

은 각 경로에 포함되어 있는 n 링크 정보의 시간 가중치 값,(here,

is the time weight value of n link information included in each path,

은 각 경로에 포함되어 있는 n 링크 정보의 길이 정보,

is the length information of n link information included in each path,

은 각 경로에 포함되어 있는 n 링크 정보의 제한 속도 정보,

is the speed limit information of the n link information included in each path,

는 신호등에 따른 신호 대기 시간 가중치,

is the signal latency weighting according to the traffic light,

는 차선 변경에 따른 시간 가중치,

is the time weight according to the lane change,

는 장애물, 사고, 혼잡도 등에 따른 혼잡 시간 가중치임.)

is the congestion time weight according to obstacles, accidents, congestion, etc.)

The optimal route setting unit 440 uses the estimated travel time information reflecting the time weight value set for each link information included in each route by the weight setting unit 430 and the estimated fare information preset for each route. , it is preferable to set the route having the maximum fare per hour as the optimal travel route.

In this case, as the expected driving time information, the driving time obtained by adding up the estimated driving time by any one path selected from the first expected paths and the expected driving time by the path of any Chinese character selected from the second expected paths It is preferably time.

In addition, it is preferable that the optimal route setting unit 440 calculates for all ride requests, that is, for each autonomous driving taxi for the taxi request-related information of all passengers, each autonomous driving taxi through Equation 2 below. After calculating the route having the maximum fare per hour for each route, it is preferable to match the occupant corresponding to the optimal driving route with the highest profit for each autonomous driving taxi.

(Where Profit is the gain,

c is preset estimated fare information (preset estimated fare for each travel segment);

는 전체 예상 주행 시간 정보(현재 위치 정보에서 승차지까지의 예상 주행 시간 + 승차지에서 하차지까지의 예상 주행 시간)임.)

is the total estimated driving time information (Estimated driving time from current location information to boarding point + Estimated driving time from boarding point to disembarking point).

The boarding matching unit 500 transmits the optimal driving route set by the route setting unit 400 to the corresponding autonomous driving taxi, controls the matching occupant's movement to the boarding position, and allocates the autonomous driving taxi It is desirable to transmit the relevant information to the terminal means possessed by the corresponding occupant so that the occupant can know the vehicle number of the dispatched taxi, the expected arrival time, the expected travel time, the estimated fare, and the like.

7 is a flowchart illustrating a method for providing an autonomous driving taxi service according to an embodiment of the present invention, and a method for providing an autonomous driving taxi service according to an embodiment of the present invention will be described in detail with reference to FIG. 7 .

As shown in FIG. 7 , the method for providing an autonomous driving taxi service according to an embodiment of the present invention includes a first information input step (S100), a second information input step (S200), a third information input step (S300), It is preferably configured to include a route setting step (S400), a route transmission step (S500), and a vehicle dispatching step (S600).

To learn more about each step,

In the first information input step ( S100 ), it is preferable that, in the first input unit 100 , taxi request-related information for requesting boarding of an autonomous taxi is received from a terminal means possessed by at least one passenger. Preferably, the taxi request-related information includes location information (generally current location information) where the passenger wants to board the autonomous taxi and information on the location of getting off at which he/she wants to move.

In the second information input step (S200), the second input unit 200 receives, in real time, information related to the global traffic situation from a connected external traffic situation control server or a connected external traffic situation control system. it is preferable As an example of the received traffic situation-related information, it is preferable to include information on the occurrence of sudden obstacles on a road on which the autonomous driving taxi can drive, information on the occurrence of accidents, information on the amount of traffic, and the like.

In the third information input step ( S300 ), it is preferable that current location information of the corresponding autonomous driving taxi is input through the terminal means included in the at least one autonomous driving taxi in the third input unit 300 . As it is a taxi that literally performs autonomous driving, the current location is one of very important information, and it is desirable to include a separate means for this.

The path setting step (S400) is the information by the first information input step (S100), the second information input step (S200), and the third information input step (S300) in the route setting unit 400, Creates at least one predicted driving route in which each autonomous driving taxi can drive by using preset node information and link information connecting each node for each predetermined interval of a lane in which the autonomous driving taxi can be driven, which is set based on the high-precision map data stored in advance. In addition, it is preferable to set the most optimal driving route through weight setting according to preset conditions.

In detail, the path setting step (S400) includes, as shown in FIG. 7 , an initial path creation step (S410), a path optimization step (S420), a weight setting step (S430), and an optimal path setting step (S440). It is preferably configured to include.

In the initial route generating step (S410), in the initial route generator 410, for each autonomous taxi, at least one driving from the current location information of the autonomous taxi for each occupant to the boarding location information of the occupant It is desirable to generate a first possible predicted path. That is, it is desirable to generate an expected travel distance that the autonomous taxi will travel to pick up passengers.

In addition, in the initial route generating step ( S410 ), it is preferable to generate at least one drivable second predicted route from the boarding location information of the passenger to the getting off location information of the passenger. In other words, it is desirable to generate an expected travel distance for the autonomous taxi to travel to a desired destination after carrying a passenger.

At this time, the shortest path as the first expected path and the second expected path, and as shown in FIG. 3 , a detour path in consideration of the traffic condition related information input by the second information input step ( S200 ) It is preferably configured to include. In this case, it is preferable that the traffic situation-related information to be considered for generating the detour route is set by a manager (provider, etc.) of the autonomous driving taxi service providing server. In FIG. 3, the detour route was created by setting the accident point and the high congestion point as the traffic situation-related information to be considered in order to generate the detour route, but this is only an embodiment of the present invention, and may be set in some cases can be changed

Node information and link information included in the high-precision map data can be represented by vertices and edges in a graph structure, respectively.

Through this, in the initial path generating step (S410), it is preferable to generate a path through a graph structure-based path generation algorithm, and for example, it is preferable to include an algorithm such as dijkstra, A*, and the like.

The route optimization step (S420) is performed by the route optimization unit 420 through the node information and link information included in each route generated by the initial route generation step (S410), and the lane included in each route. It is desirable to extract change information.

That is, the route optimization step (S420) extracts the lane change link included through the node information and link information included in each route generated by the initial route creation step (S410), and the extracted lane change When a link corresponds to an unnecessary lane change link according to a preset condition, it is preferable to delete it from the route and optimize each route with a new link (straight link).

That is, as shown in FIG. 4 , the route optimization step S420 includes unnecessary lane change information ( It is desirable to extract and delete the data from the route (based on conditions such as when the vehicle enters the lane before the lane change through two or more lane changes in succession), and then optimize each route with a new link (straight link).

In addition, the route optimization step S420 extracts a lane change path included in each of the optimized routes, and uses the node information and link information included in the extracted lane change information to induce a lane change on the route. It is preferable to set

In other words, in the route optimization step (S420), after extracting a lane change route with essential requirements, which is a lane change route included in each route on which optimization is performed, when a lane change is missed due to another vehicle or an unexpected obstacle In order to solve the problem of returning to the long detour, as shown in a) of FIG. 5, the fastest possible point in the extracted lane change information is determined using the node information and link information included in the extracted lane change information. It is desirable to set a lane change guidance point.

By setting the lane change guidance point as quickly as possible in this way, even if a lane change is missed for the reason as described above, a lane change can be attempted by resetting the lane change guidance point again through the node information thereafter.

In detail, as shown in b) of FIG. 5 , after extracting the lane change path path[i] of essential requirements, which is a lane change path included in each path for which optimization is performed, the extracted lane change path After extracting node information and link information (path[0]) corresponding to a lane change possible area using previous node information and link information based on

In the weight setting step (S430), in the weight setting unit 430, the traffic condition related information input by the second information input step (S200) to each route optimized by the route optimization step (S420) It is preferable to reflect and set a time weight value according to a preset condition for each path.

In detail, in the weight setting step (S430), as shown in FIG. 6 , it is preferable to reflect the traffic condition related information to each optimized route, and calculate a time weight value according to a preset condition for each route. and the calculation of the time weight value is preferably performed through Equation 1 above. In addition, the conditions applied for the calculation of the time weight value include a signal waiting time weight according to a traffic light, a time weight according to a lane change, a congestion time weight according to an obstacle, an accident, a congestion level, etc., but this is an embodiment of the present invention This is just an example and you can change the settings in some cases.

In the optimal route setting step (S440), the estimated driving time information reflecting the time weight value set for each link information included in each route by the weight setting step (S430) in the optimal route setting unit 440 and each route It is preferable to set the route having the maximum fare per hour as the optimal driving route by using the estimated fare information preset for .

In this case, as the expected driving time information, the driving time obtained by adding up the estimated driving time by any one path selected from the first expected paths and the expected driving time by the path of any Chinese character selected from the second expected paths It is preferably time.

In addition, in the optimal route setting step (S440), it is preferable to calculate for each self-driving taxi for all ride requests, that is, the taxi request-related information of all passengers, and each autonomous driving taxi through Equation 2 above After calculating the route having the maximum fare per hour for each route, it is preferable to match the occupant corresponding to the optimal driving route with the highest profit for each autonomous driving taxi.

In the route transmitting step (S500), the boarding matching unit 500 transmits the optimal driving route set by the route setting step (S400) to the corresponding autonomous taxi, and the matching occupant moves to the riding position It is desirable to control

In addition, in the dispatch transmission step (S600), the boarding matching unit 500 transmits information related to the allocation of the autonomous driving taxi matched by the route setting step (S400) to the terminal means possessed by the corresponding occupant. , it is desirable to allow passengers to know the vehicle number of the dispatched taxi, expected arrival time, estimated travel time, estimated fare, and the like.

In other words, in the autonomous driving taxi service providing system and method according to an embodiment of the present invention, in setting the driving route of the autonomous driving taxi, a detour or avoidance route is taken in consideration of a traffic congestion section, etc. By creating the most optimal route that minimizes lane changes by removing unnecessary lane changes and This has the advantage that operators of self-driving taxis can also get the maximum benefit.

As described above, in the present invention, specific matters such as specific components and the like and limited embodiment drawings have been described, but these are only provided to help a more general understanding of the present invention, and the present invention is not limited to the above one embodiment. No, various modifications and variations are possible from these descriptions by those of ordinary skill in the art to which the present invention pertains.

Therefore, the spirit of the present invention should not be limited to the described embodiments, and not only the claims to be described later, but also all those with equivalent or equivalent modifications to the claims will be said to belong to the scope of the spirit of the present invention. .

100: first input unit
200: second input unit
300: third input unit
400: route setting unit
410: initial path generation unit 420: path optimization unit
430: weight setting unit 440: optimal path setting unit
500: boarding matching unit

Claims (11)

A service providing system by an autonomous driving taxi service providing server that matches an autonomous driving taxi with a passenger who wants to use an autonomous driving taxi,
a first input unit 100 for receiving taxi request-related information through a terminal means carried by at least one passenger;
a second input unit 200 for receiving traffic condition related information from the outside in real time;
a third input unit 300 for receiving current location information through a terminal means included in at least one autonomous taxi;
Based on the pre-stored high-precision map data, using the information received from the first input unit 100 , the second input unit 200 , and the third input unit 300 , the autonomous driving taxi runs for each autonomous driving taxi a path setting unit 400 for generating at least one possible expected driving path and setting the most optimal driving path through weight setting according to a preset condition; and
The boarding matching unit 500 transmits the optimal driving route set by the route setting unit 400 to the corresponding autonomous driving taxi, and transmits information related to the allocation of the autonomous driving taxi to the terminal means possessed by the corresponding occupant. ;
Self-driving taxi service providing system, characterized in that it comprises a.
The method of claim 1,
The path setting unit 400 is
The information received from the first input unit 100, the second input unit 200, and the third input unit 300, and the pre-stored high-precision map data are set based on the predetermined interval of the lane in which the autonomous taxi can travel. Using node information and link information connecting each node,
For each autonomous taxi, at least one drivable first predicted route from the current location information of the autonomous taxi for each passenger to the boarding location information included in the taxi request-related information of the passenger, and the boarding location information an initial route generating unit 410 for generating at least one drivable second predicted route from the to the driver's taxi request-related information to getting off location information;
Consists of further including
The self-driving taxi service providing system, characterized in that the first predicted route and the second predicted route include each of the shortest route and a detour route reflecting the traffic situation-related information.
3. The method of claim 2,
The path setting unit 400 is
Through the node information and link information included in each route generated by the initial route generator 410, lane change information included in each route is extracted, and lane change information according to a preset condition is removed and each a path optimization unit 420 for performing path optimization;
Self-driving taxi service providing system, characterized in that it further comprises a.
4. The method of claim 3,
The path setting unit 400 is
a weight setting unit 430 for setting a time weight value according to a preset condition for each path by reflecting the traffic condition related information input to each path optimized by the path optimizing unit 420;
Self-driving taxi service providing system, characterized in that it further comprises a.
5. The method of claim 4,
The path setting unit 400 is
Optimum for setting the route having the maximum fare per hour as the optimal travel route using the estimated travel time information reflecting the time weight value set for each route by the weight setting unit 430 and the estimated fare information preset for each route a path setting unit 440;
Consists of further including
The estimated driving time information is a driving time obtained by summing the estimated driving time by any one route selected from the first expected routes and the estimated driving time by any one route selected from the second expected routes An autonomous driving taxi service providing system characterized by
4. The method of claim 3,
The path optimization unit 420 is
Characterized in that by extracting lane change information included in each optimized route, and setting a lane change induction point on the route using node information and link information included in the extracted lane change information, Self-driving taxi service provision system.
A method for providing by an autonomous driving taxi service providing server that matches an autonomous driving taxi with a passenger who wants to use an autonomous driving taxi, the method comprising:
a first information input step (S100) of receiving taxi request-related information from a terminal means carried by at least one passenger;
a second information input step of receiving traffic condition-related information from the connected external traffic control server (S200);
a third information input step (S300) of receiving current location information from a terminal means included in at least one autonomous taxi;
The information obtained in the first information input step (S100), the second information input step (S200), and the third information input step (S300) and the pre-stored high-precision map data set based on the driving lane of the autonomous taxi. At each predetermined interval, by using preset node information and link information connecting each node, at least one drivable expected driving route is generated for each autonomous driving taxi, and the most optimal driving through weight setting according to preset conditions A path setting step of setting a path (S400);
a route transmission step (S500) of transmitting the optimal driving route set by the route setting step (S400) to a corresponding autonomous taxi; and
a vehicle dispatching step (S600) of transmitting information related to assignment of an autonomous driving taxi matched through the optimal driving route set by the route setting step (S400) to a terminal means possessed by a corresponding occupant;
Self-driving taxi service providing method, characterized in that it comprises a.
8. The method of claim 7,
The path setting step (S400) is
For each autonomous taxi, at least one drivable first predicted route from the current location information of the autonomous taxi for each passenger to the boarding location information included in the taxi request-related information of the passenger, and the boarding location information an initial route generation step (S410) of generating at least one drivable second predicted route from the to the driver's taxi request-related information to the get-off location information;
Consists of further including
The method of providing an autonomous driving taxi service, characterized in that the first expected route and the second expected route include each of the shortest route and a detour route reflecting the traffic condition-related information.
9. The method of claim 8,
The path setting step (S400) is
Through the node information and link information included in each route generated by the initial route creation step (S410), lane change information included in each route is extracted, and lane change information according to a preset condition is removed. a path optimization step of performing optimization of each path (S420);
Self-driving taxi service providing method, characterized in that it further comprises a.
10. The method of claim 9,
The path setting step (S400) is
a weight setting step (S430) of reflecting the traffic condition related information to each route optimized by the route optimization step (S420), and setting a time weight value according to a preset condition for each route;
Self-driving taxi service providing method, characterized in that it further comprises a.
11. The method of claim 10,
The path setting step (S400) is
The optimal route for setting the route having the maximum fare per hour as the optimal route using the estimated travel time information reflecting the time weight value set for each route by the weight setting step (S430) and the estimated fare information preset for each route setting step (S440);
Consists of further including
The estimated driving time information is a driving time obtained by summing the estimated driving time by any one route selected from the first expected routes and the estimated driving time by any one route selected from the second expected routes A method of providing an autonomous driving taxi service, characterized in that

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