KR20230128825A - Method and apparatus of generating driving route of patrol vehicle - Google Patents

Abstract

The present disclosure relates to a method for generating a patrol vehicle traveling path and an apparatus therefor. A method according to an embodiment of the present disclosure includes receiving one or more key point coordinates, generating one or more key areas based on the one or more key point coordinates, and generating a patrol route to include the one or more key point coordinates; When the coordinates of the self-driving patrol vehicle belong to any one of the one or more main zones, the driving mode of the self-driving patrol vehicle may be switched to the enhanced alert mode.

Description

Method for generating patrol vehicle driving route and apparatus therefor

The present invention relates to a method for generating a patrol vehicle travel path and an apparatus therefor.

Due to the convergence of information and communication technology and the vehicle industry, smartization of vehicles is rapidly progressing. Due to smartization, vehicles are evolving from simple mechanical devices to smart cars, and autonomous driving is attracting attention as a core technology of smart cars. Autonomous driving is a technology that allows a vehicle to reach its destination on its own without the driver manipulating the steering wheel, accelerator pedal, or brake.

Self-driving vehicles are equipped with technology that calculates where the vehicle is located on the road, detects the situation around the vehicle using sensors such as cameras, determines vehicle operation according to these situations, and controls the vehicle according to the decision.

Based on these technologies, autonomous vehicles can be applied to various industries. Examples include self-driving taxis that do not require taxi drivers, and delivery systems that deliver necessary items such as groceries when ordered. Since the use of autonomous vehicles can reduce human resource consumption, applications to various fields are promoted.

It can also be considered to apply self-driving vehicle technology to patrol tasks of police cars (patrol cars) that monitor crimes and respond to emergencies. In particular, it has been verified through many studies that only patrols by police cars are effective in reducing crime rates. By combining self-driving vehicle technology with public safety, manpower shortages can be resolved and crimes and accidents can be effectively prevented.

The foregoing background art is technical information that the inventor possessed for derivation of the present invention or acquired during the derivation process of the present invention, and cannot necessarily be said to be known art disclosed to the general public prior to filing the present invention.

An object of the present invention is to provide a method for generating a patrol vehicle travel path and an apparatus therefor. The problem to be solved by the present invention is not limited to the above-mentioned problems, and other problems and advantages of the present invention that are not mentioned can be understood by the following description and more clearly understood by the embodiments of the present invention. It will be. In addition, it will be appreciated that the problems and advantages to be solved by the present invention can be realized by the means and combinations indicated in the claims.

As a technical means for achieving the above-described technical problem, a first aspect of the present disclosure is a method for controlling an autonomous patrol vehicle, comprising: receiving one or more main point coordinates; generating one or more key zones based on the one or more key point coordinates; generating a patrol route to include the coordinates of the one or more key points; and when the coordinates of the autonomous patrol vehicle belong to any one of the one or more main zones, switching the driving mode of the autonomous patrol vehicle to the alert enhanced mode.

A second aspect of the present disclosure provides an apparatus for controlling an autonomous patrol vehicle, comprising: a memory in which at least one program is stored; and a processor performing an operation by executing the at least one program, receiving one or more main point coordinates, generating one or more main zones based on the one or more main point coordinates, and generating one or more main point coordinates; It is possible to provide a device for generating a patrol route to include and, when the coordinates of the autonomous patrol vehicle belong to any one of the one or more main zones, switch the driving mode of the autonomous patrol vehicle to an enhanced alert mode. there is.

A third aspect of the present disclosure may provide a computer-readable recording medium on which a program for executing the method of the first aspect is recorded on a computer.

In addition to this, another method for implementing the present invention, another device, and a computer-readable recording medium recording a program for executing the method may be further provided.

Other aspects, features and advantages other than those described above will become apparent from the following drawings, claims and detailed description of the invention.

According to the above-described problem solving means of the present disclosure, instead of simply inputting a patrol (driving) route and driving the vehicle accordingly, the patrol route is actively and immediately based on the location information included in the task based on the main location information. It is possible to operate an autonomous patrol vehicle to effectively perform patrol tasks by setting.

In addition, when it belongs to a specific situation and a specific area, it is possible to appropriately cope with the situation, perform effective patrol work, or prepare for an emergency by performing additional functions by changing the driving mode.

In addition, since the self-driving patrol vehicle autonomously sets the patrol route and performs patrol tasks, rather than the centralized method, which is a control method by the server, even when a plurality of self-driving patrol vehicles are operated, the server or self-driving patrol vehicle Overload of the entire system can be prevented.

1 to 3 are diagrams for explaining an autonomous driving method according to an exemplary embodiment.
4 is a diagram for explaining an example of a plurality of objects included in image data according to an exemplary embodiment.
5 is a map showing exemplary main point coordinates of a region according to an embodiment.
6 is a map showing exemplary major zones generated in a region according to one embodiment.
7 is a map showing an exemplary patrol route generated in a certain area according to an embodiment.
8 is a map showing exemplary secondary main point coordinates of a certain area according to an embodiment.
9 is a map showing illustratively grouped main point coordinates and secondary main point coordinates of a certain region according to an embodiment.
10A to 10C are maps for explaining creation of a patrol route through grouping of a certain region according to an embodiment.
11A to 11C are schematic diagrams illustrating screens displayed on an authorized mobile terminal in a boundary enhancement mode according to an embodiment.
12A and 12B are schematic diagrams illustrating a screen displayed on a device installed in an autonomous vehicle according to an exemplary embodiment.
13 is a flowchart of a method of controlling an autonomous patrol vehicle according to an embodiment.
14 is a block diagram of a device for controlling an autonomous patrol vehicle according to an embodiment.

Advantages and features of the present invention, and methods of achieving them, will become clear with reference to the detailed description of the embodiments taken in conjunction with the accompanying drawings. However, it should be understood that the present invention is not limited to the examples presented below, but may be implemented in various different forms, and includes all conversions, equivalents, and substitutes included in the spirit and scope of the present invention. do. The embodiments presented below are provided to complete the disclosure of the present invention and to fully inform those skilled in the art of the scope of the invention to which the present invention belongs. In describing the present invention, if it is determined that a detailed description of related known technologies may obscure the gist of the present invention, the detailed description will be omitted.

Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, the terms "include" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

Some embodiments of the present disclosure may be represented as functional block structures and various processing steps. Some or all of these functional blocks may be implemented as a varying number of hardware and/or software components that perform specific functions. For example, functional blocks of the present disclosure may be implemented by one or more microprocessors or circuit configurations for a predetermined function. Also, for example, the functional blocks of this disclosure may be implemented in various programming or scripting languages. Functional blocks may be implemented as an algorithm running on one or more processors. In addition, the present disclosure may employ prior art for electronic environment setting, signal processing, and/or data processing. Terms such as "mechanism", "element", "means" and "component" may be used broadly and are not limited to mechanical and physical components.

In addition, connecting lines or connecting members between components shown in the drawings are only examples of functional connections and/or physical or circuit connections. In an actual device, connections between components may be represented by various functional connections, physical connections, or circuit connections that can be replaced or added.

Hereinafter, 'vehicle' may refer to all types of transportation means such as a car, bus, motorcycle, kickboard, or truck that are used to move people or objects with engines.

Hereinafter, the description of 'autonomous driving patrol vehicle control device' as a subject performing a specific operation or method step means that a component, device, unit, or processor included in the autonomous driving patrol vehicle control device performs the corresponding operation or method step. It will be understood that being the subject of doing also means including.

Similarly, the description of 'server' as a subject performing a specific operation or method step also includes the case where a configuration, device, unit, or processor included in the server side of the police headquarters becomes a subject performing the corresponding operation or method step. You will be able to understand what it means.

Hereinafter, the present disclosure will be described in detail with reference to the accompanying drawings.

Referring to FIG. 1 , an autonomous driving device according to an embodiment of the present invention may be mounted on a vehicle to implement an autonomous vehicle 10 . An autonomous driving device mounted on the autonomous vehicle 10 may include various sensors (including cameras) for collecting surrounding situation information. As an example, the autonomous driving device may detect the movement of the preceding vehicle 20 running in front through an image sensor and/or an event sensor mounted on the front of the autonomous vehicle 10 . The self-driving device may further include sensors for detecting the front side of the self-driving vehicle 10, another driving vehicle 30 operating in a side road, and pedestrians around the self-driving vehicle 10.

At least one of the sensors for collecting situational information around the self-driving vehicle may have a predetermined field of view (FoV) as shown in FIG. 1 . For example, when a sensor mounted on the front of the autonomous vehicle 10 has an angle of view (FoV) as shown in FIG. 1 , information detected in the center of the sensor may have a relatively high importance. This may be because most of the information corresponding to the motion of the preceding vehicle 20 is included in the information detected from the center of the sensor.

The self-driving device controls the movement of the self-driving vehicle 10 by processing information collected by sensors of the self-driving vehicle 10 in real time, while storing at least some of the information collected by the sensors in a memory device. .

Referring to FIG. 2 , an autonomous driving device 40 may include a sensor unit 41 , a processor 46 , a memory system 47 , a vehicle body control module 48 , and the like. The sensor unit 41 includes a plurality of sensors (including a camera) 42-45, and the plurality of sensors 42-45 include an image sensor, an event sensor, an illuminance sensor, a GPS device, an acceleration sensor, and the like. can include

Data collected by sensors 42-45 may be passed to processor 46. The processor 46 stores the data collected by the sensors 42-45 in the memory system 47, and controls the body control module 48 based on the data collected by the sensors 42-45 to control the vehicle movement can be determined. The memory system 47 may include two or more memory devices and a system controller controlling the memory devices. Each of the memory devices may be provided as a single semiconductor chip.

In addition to the system controller of the memory system 47, each of the memory devices included in the memory system 47 may include a memory controller, and the memory controller may include an artificial intelligence (AI) operation circuit such as a neural network. The memory controller may generate calculation data by assigning a predetermined weight to data received from the sensors 42 to 45 or the processor 46 and store the calculation data in a memory chip.

3 is a diagram illustrating an example of image data acquired by a sensor (including a camera) of an autonomous vehicle equipped with an autonomous driving device. Referring to FIG. 3 , image data 50 may be data acquired by a sensor mounted on the front of an autonomous vehicle. Therefore, the image data 50 may include the front part 51 of the autonomous vehicle, the preceding vehicle 52 in the same lane as the autonomous vehicle, the driving vehicle 53 and the background 54 around the autonomous vehicle. .

In the image data 50 according to the embodiment shown in FIG. 3 , the data of the area where the front part 51 and the background 54 of the autonomous vehicle appear is data that has little possibility to affect the operation of the autonomous vehicle. can be In other words, the front part 51 and the background 54 of the autonomous vehicle may be regarded as data having relatively low importance.

On the other hand, the distance to the preceding vehicle 52 and the movement of the driving vehicle 53 to change lanes may be very important factors in safe operation of the autonomous vehicle. Accordingly, data of an area including the preceding vehicle 52 and the driving vehicle 53 in the image data 50 may have a relatively high importance in driving the autonomous vehicle.

The memory device of the self-driving device may store the image data 50 received from the sensor by assigning different weights to each region. For example, a high weight is given to data in an area including the preceding vehicle 52 and the driving vehicle 53, and a low weight is given to data in an area where the front part 51 and the background 54 of the self-driving vehicle appear. can be granted.

4 is a diagram for explaining an example of a plurality of objects included in image data according to an exemplary embodiment.

Image data collected through one or more monocular cameras may be used to train a deep neural network model for depth estimation. Collected image data may include a plurality of objects.

Information about objects includes object type information and object property information. Here, the object type information is index information indicating the type of object, and is composed of a group, which is a large range, and a class, which is a detailed range. And, the object attribute information indicates attribute information on the current state of the object, and includes motion information, rotation information, traffic information, color information, and visibility information.

In one embodiment, groups and classes included in the object type information may be as shown in Table 1 below, but are not limited thereto.

Also, information included in the object property information may include Action, Rotate, Traffic info, color, and visibility information.

Action information expresses motion information of an object and can be defined as stop, parking, and movement. In the case of a vehicle, stop, parking, and movement may be determined as object attribute information, and in the case of an immovable object such as a traffic light, object attribute information may be determined as a default value of stop.

Rotate information expresses rotation information of an object and can be defined as front, back, horizontal, vertical, and side. In the case of a vehicle, object property information may be determined for the front, rear, and side surfaces, and object property information may be determined for horizontal or vertical traffic lights in a horizontal or vertical direction, respectively.

Traffic info means the traffic information of an object, and can be defined as directions, cautions, regulations, auxiliary signs, etc. of traffic signs. Color means the color information of an object and can express the color of an object, the color of traffic lights and traffic signs.

Referring to FIG. 4 , objects included in the collected image data may be traffic lights, signs, current driving lanes, road markings, crosswalks, barriers, intersections, etc., but are not limited thereto.

An autonomous driving patrol vehicle control apparatus according to the present disclosure receives key point coordinates representing location information from a server of a police headquarters and creates key areas that need to be carefully patrolled based on the received key point coordinates. The autonomous driving patrol vehicle control device creates a patrol route to include the received coordinates of the main points, and allows the autonomous driving patrol vehicle to move according to the patrol route. The self-driving patrol vehicle control device grasps the location information of the self-driving patrol vehicle in real time, and when the coordinates of the self-driving patrol vehicle fall within the created main area, control to switch the operating mode of the self-driving patrol vehicle to the enhanced vigilance mode. do.

5 is a map showing exemplary main point coordinates of a region according to an embodiment.

Referring to FIG. 5 , coordinates of three main points and a patrol starting point where an autonomous patrol vehicle starts patrolling are shown.

In the present disclosure, coordinates of main points refer to coordinates indicating a location requiring intensive patrolling through an autonomous patrol vehicle. The autonomous driving patrol vehicle control apparatus of the present disclosure may receive coordinates of key points and generate a patrol route including the coordinates of key points.

In one embodiment, the key point coordinates may be fixed coordinates. For example, the key point coordinates may be coordinates determined by the police headquarters. For example, the police headquarters coordinates key points such as places where accidents often occur, places where CCTVs are not installed, places where people are rare, places where streetlights are not installed, and places where the vulnerable to crime (women, teenagers, etc.) are concentrated. can be determined by For example, the police headquarters may determine tangential coordinates that have a history generated by autonomous patrol vehicles in the past as main point coordinates. For example, when an autonomous patrol vehicle receives an emergency signal in the past, the police headquarters may determine terminal coordinates of an authorized mobile terminal that has transmitted an emergency signal as the coordinates of a main point. For example, the police headquarters may determine the coordinates of a report where an autonomous patrol vehicle has been dispatched in the past as the coordinates of a main point. This is provided for purposes of simple illustration and is not intended to limit the invention. That is, the main point coordinates, which are fixed coordinates, may be coordinates representing any appropriate location that the police headquarters can designate for the self-driving patrol vehicle to focus on patrolling.

In another embodiment, the key point coordinates may be moving coordinates. For example, the main point coordinates may be coordinates included in a signal transmitted in real time from an authorized mobile terminal. An 'authorized mobile terminal' is a terminal capable of transmitting the coordinates of a main point to an autonomous patrol vehicle, and may be, for example, a terminal provided by the police headquarters or a terminal installed with an application provided by the police headquarters. Since a person possessing a terminal can move, in this case, coordinates of key points are transmitted in real time and can be changed in real time. This is provided for purposes of simple illustration and is not intended to limit the invention. That is, the main point coordinates, which are moving coordinates, may be coordinates indicating the location of any suitable target that the police headquarters can designate in order to have the self-driving patrol vehicle focus on patrolling.

In another embodiment, the main point coordinates may be additionally received coordinates. For example, the main point coordinates may be tangential coordinates generated by another autonomous patrol vehicle control device. For example, the main point coordinates may be terminal coordinates of an authorized mobile terminal when another autonomous driving patrol vehicle control device receives an emergency signal from an authorized mobile terminal. For example, the main point coordinates may be report coordinates indicating destination information to which other self-driving patrol vehicles are dispatched. This is provided for the purpose of simple example, and the additionally received main point coordinates may be any suitable coordinates that facilitate linkage between autonomous patrol vehicles when the police headquarters operates a plurality of autonomous patrol vehicles.

6 is a map showing exemplary major zones generated in a region according to one embodiment.

Referring to FIG. 6 , coordinates of three main points, three main areas based thereon, and a patrol starting point are shown.

In the present disclosure, a main zone is an area set based on coordinates of a main point, and refers to an area where an autonomous patrol vehicle should focus on patrolling. In one embodiment, when the self-driving patrol vehicle enters a major area, the driving mode of the self-driving patrol vehicle may be switched for closer patrolling.

Key zones may be created in any suitable manner based on key point coordinates. In one embodiment, the main zone may be set by a predetermined distance as a radius from the coordinates of each main point. For example, the main zone may be set as a distance of 100m, 200m, 500m, 1km, etc. as a radius from the coordinates of each main point. In one embodiment, the main zone may be set as much as the distance from the coordinates of the main point adjacent to the coordinates of each main point in a radius. In one embodiment, the main area may be set as a block to which the coordinates of each main point belong. This is provided for purposes of simple illustration and is not intended to limit the invention. That is, the key zone may be created in any suitable way that the self-driving patrol vehicle can generate based on key point coordinates to effectively patrol.

7 is a map showing an exemplary patrol route generated in a certain area according to an embodiment.

Referring to FIG. 7 , a patrol route including three main point coordinates, three main areas, a patrol starting point, and three main point coordinates is shown.

In the present disclosure, a patrol route may be created to include key point coordinates. In the present disclosure, an autonomous driving patrol vehicle control apparatus may receive coordinates of key points and generate a patrol route to include the coordinates of key points.

In terms of a route of the driving route, in an embodiment, the autonomous driving patrol vehicle control device may generate a patrol route so that the autonomous driving patrol vehicle travels the shortest distance. In one embodiment, the autonomous driving patrol vehicle control device may generate a patrol route so that the autonomous driving patrol vehicle travels in the shortest time. In one embodiment, the autonomous driving patrol vehicle control device may generate a patrol route based on real-time traffic information. This is provided as an example, and the patrol route can be created by selecting any suitable route to include key point coordinates.

In terms of the order of the driving route, in an embodiment, the autonomous driving patrol vehicle control device may generate a patrol route so that the autonomous driving patrol vehicle patrols in an order close to a patrolling starting point among coordinates of a main point. In one embodiment, the self-driving patrol vehicle control device determines the coordinates of the main point where the autonomous patrol vehicle is closest to the patrol starting point first, then the coordinates of the main point that is closest to the coordinates and is not yet included in the patrol route, and then You can create patrol routes to repeat patrols in the same way. In one embodiment, the autonomous driving patrol vehicle control device may generate the patrol route by determining an order such that the patrol route having the longest length is generated. This is provided as an example, and patrolling routes can be created to patrol point coordinates in any suitable order.

In one embodiment, the autonomous driving patrol vehicle control device may receive a patrol route rather than coordinates of key points. In this embodiment, the server (police headquarters) may predetermine a section in which the autonomous patrol vehicle will patrol, generate a patrol route, and transmit the patrol route to the autonomous driving patrol vehicle control device. When the autonomous driving patrol vehicle control device receives coordinates (eg, key point coordinates), it performs an operation of generating a route based on the coordinates in the above-described manner, but when receiving a patrol route, it is received without an additional route creation operation. The self-driving patrol vehicle can be controlled to patrol along a patrol route. In one embodiment, the patrol route transmitted by the server may include speed information so that the self-driving patrol vehicle may patrol at a different speed for each section.

8 is a map showing exemplary secondary main point coordinates of a certain area according to an embodiment.

Referring to FIG. 8 , coordinates of three main points, three main areas based thereon, a patrol starting point, and seven secondary main point coordinates are shown.

In the present disclosure, the secondary main point coordinates, like the main point coordinates, refer to coordinates indicating a location requiring intensive patrolling through an autonomous patrol vehicle. The autonomous driving patrol vehicle control apparatus of the present disclosure may receive coordinates of the main point as well as coordinates of the second main point, and generate a patrol route including the coordinates of the main point and the coordinates of the second main point. However, in the present disclosure, the autonomous driving patrol vehicle control device does not create a main area for the coordinates of the second main point.

As described above, the patrol route is created to include both the main point coordinates and the secondary main point coordinates, but no main zone is created for the secondary main point coordinates. That is, a driving route is created so that the self-driving patrol vehicle can also patrol the coordinates of the secondary main point, but the patrolling coordinates are differentiated so that the autonomous patrol vehicle can effectively patrol within a limited patrol time, and the area associated with the coordinates of the secondary main point. may be designed not to individually switch the driving mode.

In one embodiment, the secondary key point coordinates may be coordinates determined by the police headquarters. For example, the police headquarters can identify places where accidents often occur, places where CCTVs are not installed, places where people are rare, places where streetlights are not installed, and places where the vulnerable to crime (women, teenagers, etc.) are concentrated. It can be determined by point coordinates. This is provided for purposes of simple illustration and is not intended to limit the invention. That is, the coordinates of the secondary main points may be coordinates indicating any suitable location that the police headquarters can designate to allow the self-driving patrol vehicle to focus on patrolling.

As described above, the autonomous driving patrol vehicle control apparatus may generate a patrol route to include not only the coordinates of the main point but also the coordinates of the second main point. In terms of the route of the driving route, in an embodiment, the autonomous driving patrol vehicle control device may generate a patrol route so that the autonomous driving patrol vehicle travels the shortest distance. In one embodiment, the autonomous driving patrol vehicle control device may be generated so that the autonomous driving patrol vehicle travels in the shortest time. This is provided as an example, and the patrol route can be created by selecting any suitable route such that it includes keypoint coordinates and secondary keypoint coordinates.

In terms of the order of the driving route, in an embodiment, the autonomous driving patrol vehicle control device may generate a patrol route such that the autonomous driving patrol vehicle patrols the main point coordinates first and then patrols the main point coordinates second. In one embodiment, the self-driving patrol vehicle control device may generate a patrol route so that the autonomous patrol vehicle patrols in an order closest to a patrol starting point among coordinates of a main point or coordinates of a second main point. In one embodiment, the self-driving patrol vehicle control device sets the coordinates of the main point or the secondary main point where the autonomous patrol vehicle is closest to the patrol starting point first, and then the coordinates are located closest to the coordinates and are not yet included in the patrol route. A patrol route can be created to repeatedly patrol the main point coordinates or the secondary main point coordinates in the same way thereafter.

9 is a map showing illustratively grouped main point coordinates and secondary main point coordinates of a certain region according to an embodiment.

Referring to FIG. 9 , the main point coordinates grouped into group 1, group 2 or group 3, secondary main point coordinates, main area, and patrol start point are shown.

In one embodiment, the autonomous driving patrol vehicle control device may generate a patrol route by grouping the coordinates of the main point and the coordinates of the secondary main point. By grouping the coordinates of the main point and the coordinates of the secondary key point, an effective patrol route can be constructed so that the grouped areas are patrolled at similar times.

In one embodiment, the autonomous driving patrol vehicle control device may group the coordinates of each secondary main point with the coordinates of the nearest main point on a straight line distance. In one embodiment, the autonomous driving patrol vehicle control device may group each secondary main point coordinate with the closest main point coordinates in latitude or longitude distance. This is provided as an example, and the autonomous driving patrol vehicle control device may group the main point coordinates and the secondary main point coordinates through any suitable grouping method.

When the coordinates of the main point and the coordinates of the secondary main point are grouped, the autonomous driving patrol vehicle control device may configure a patrol route in a group unit. In one embodiment, the self-driving patrol vehicle control device determines a group order, which is a patrol order between groups, and determines a group order, which is a patrolling order of main point coordinates and secondary main point coordinates in the group, for each group to patrol. path can be created.

10A to 10C are maps for explaining creation of a patrol route through grouping of a certain region according to an embodiment.

10A illustrates an exemplary group ordering. Since grouping is performed based on the main point coordinates, the group order may be determined based on the main point coordinates. In one embodiment, the order of the groups may be determined by listing them in order close to the starting point of patrol based on the coordinates of each main point. In one embodiment, the group to which the coordinates of the main point located closest to the patrolling starting point belongs first, then the group to which the coordinates of the main point located closest to the main point coordinates and not yet included in the order belong, and then repeated in the same way Group order may be determined. In one embodiment, the order of the groups may be determined in the descending order of latitude or longitude values based on the main point coordinates. Referring to FIG. 10A , an exemplary group order number is determined by arranging them in the order of closeness to the patrol starting point based on the coordinates of the main points (a route to be patroled in the order of group 2 - group 1 - group 3). This is provided as an example, and any suitable manner capable of determining group ordering between groups may be employed.

10B illustrates exemplary intra-group ordering. In one embodiment, the order within the group may be determined by listing the coordinates of the main point belonging to each group first, and then listing the coordinates of the second main point in the order of proximity to the coordinates of the next main point. In one embodiment, the order within the group may be determined by listing secondary main point coordinates in the order in which the coordinates of the main point belonging to each group are the last and distant from the coordinates of the last main point. In one embodiment, the order within the group may be determined in the order of the distance to the coordinates of the main point of the previous group in the order of the group order. In one embodiment, a method of determining an order within a group may be applied to each group equally or differently. Referring to FIG. 10B , the order number within the group of the exemplary group 3 is determined by arranging the coordinates of the main point in the first order and the coordinates of the second main point in the order of proximity to the coordinates of the next main point. This is provided as an example, and any suitable manner in which the order within the group can be determined for each group may be employed.

FIG. 10C shows an exemplary patrol route generated based on the group turn number and the intra-group turn number shown in FIGS. 10A and 10B.

The self-driving patrol vehicle will patrol according to the patrol route including the main point coordinates and the secondary main point coordinates generated by the autonomous driving patrol vehicle control device. When entering a major area that has been identified, the driving mode will be switched.

In one embodiment, unlike the patrol routes described above, autonomous patrol vehicles may create temporary routes. There may be cases where the police headquarters receives a report. In this case, it may be effective to move an autonomous patrol vehicle that is already patrolling in a corresponding area prior to dispatching police vehicles by urgently deploying personnel. In this case, the self-driving patrol vehicle control device may deviate from an existing patrol route and create a temporary route so that the autonomous patrol vehicle drives along the temporary route.

When the police headquarters receives the report, the police headquarters may transmit a report reception signal to the autonomous patrol vehicle, and the report reception signal may include report coordinates indicating destination information to which the police car is dispatched. In one embodiment, when receiving the reported coordinates, the autonomous driving patrol vehicle control apparatus may store a patrol route along which the autonomous driving patrol vehicle has moved in a memory device. In one embodiment, the autonomous driving patrol vehicle control device may create a temporary route from the current coordinates of the autonomous driving patrol vehicle to the reported coordinates. In one embodiment, the autonomous driving patrol vehicle control device may generate a patrol route to travel the shortest distance from the current coordinates to the reported coordinates. In one embodiment, the self-driving patrol vehicle control device may create a temporary route so that the self-driving patrol vehicle travels from the current coordinates to the reported coordinates in the shortest time. This is provided as an example, and the temporary route can be created by selecting any suitable route to include the current coordinates and the declared coordinates. In one embodiment, the autonomous driving patrol vehicle control device may switch the driving mode of the autonomous driving patrol vehicle to an emergency dispatch mode (described later) when receiving the reported coordinates.

As described above, the autonomous driving patrol vehicle control device may switch the driving method of the autonomous driving patrol vehicle according to circumstances. In one embodiment, the self-driving patrol vehicle control device may switch the driving mode of the self-driving patrol vehicle from the normal patrol mode to the enhanced alert mode for closer patrol when the autonomous patrol vehicle enters a main area. In one embodiment, the self-driving patrol vehicle control device may switch the driving mode of the self-driving patrol vehicle from the enhanced alert mode to the normal patrol mode when the self-driving patrol vehicle leaves the main area.

The normal patrol mode may be an operation mode of the autonomous patrol vehicle in a general situation, that is, when the location of the autonomous patrol vehicle is outside a main area. In normal patrol mode, the self-driving patrol vehicle can be controlled without any specific restrictions or additional functions.

The enhanced vigilance mode may be a driving mode of an autonomous patrol vehicle in a situation requiring careful patrol, that is, when the location of the autonomous patrol vehicle belongs to a major area. In the alert enhancement mode, the self-driving patrol vehicle may be controlled with certain restrictions or added with functions to enhance alert and patrol functions.

In one embodiment, the maximum speed of the autonomous patrol vehicle in the alert enhanced mode may be limited to a predetermined value. For example, the predetermined value may be 20 km/h, 30 km/h, 50 km/h, and the like. In one embodiment, in the enhanced vigilance mode, the autonomous driving patrol vehicle control device may transmit a signal for switching to the enhanced vigilance mode to the police headquarters (or server). In one embodiment, the autonomous driving patrol vehicle control device may turn on a crime prevention light or an emergency light of the autonomous driving patrol vehicle in the alert reinforcement mode. In one embodiment, in the enhanced alert mode, the autonomous driving patrol vehicle control device may acquire image data through a camera mounted on the autonomous driving patrol vehicle, store the obtained data in a database, transmit it to a server, or transmit it in real time. there is.

11A to 11C are schematic diagrams illustrating screens displayed on a permitted mobile terminal in a boundary enhancement mode according to an exemplary embodiment.

In an embodiment, in the alert enhanced mode, the autonomous driving patrol vehicle control device may transmit a patrol route along which the autonomous driving patrol vehicle is moving and coordinates of the autonomous driving patrol vehicle to an authorized mobile terminal. Through this, the owner of the permitted mobile terminal can receive information about the patrol vehicle to promote or verify safety. As described above, the authorized mobile terminal may be, for example, a terminal provided by the police headquarters or a terminal installed with an application provided by the police headquarters. In this embodiment, the self-driving patrol vehicle in the enhanced alert mode provides the moving route and coordinates of the autonomous patrol vehicle to the authorized mobile terminal, so that the owner of the authorized mobile terminal can refer to them.

Referring to FIG. 11A , an embodiment in which an application provided by the police headquarters is installed in an authorized mobile terminal 1100 is shown. The authorized mobile terminal 1100 may be, for example, a smart phone, a tablet PC, a PC, a smart TV, a personal digital assistant (PDA), a laptop, a media player, a navigation device, a device equipped with a camera, and other mobile electronic devices. there is.

Referring to FIG. 11A , the map interface 1110 of the application screen may display the patrol route along which the autonomous patrol vehicle is moving and the coordinates of the autonomous patrol vehicle transmitted by the autonomous driving patrol vehicle control device. The location of the permitted mobile terminal 1100 may also be displayed. In one embodiment, the owner of the authorized mobile terminal 1100 can operate the authorized mobile terminal 1100 through the operation interface 1120 . In one embodiment, the manipulation interface 1120 may include an interface for operating various functions such as a message transmission button, an emergency signal generation button, a report button, and a text input interface.

In one embodiment, the autonomous driving patrol vehicle control device may receive terminal coordinates indicating location information of the permitted mobile terminal from the permitted mobile terminal when receiving an emergency signal from the permitted mobile terminal in the enhanced alert mode. . In one embodiment, when an emergency signal is received from an authorized mobile terminal, the autonomous driving patrol vehicle control device may temporarily release a speed limit or the like due to a driving mode of the autonomous driving patrol vehicle. In one embodiment, the autonomous driving patrol vehicle control device may generate tangential coordinates based on the received terminal coordinates. The tangential coordinates may represent location information for meeting the owner of the authorized mobile terminal and the self-driving patrol vehicle when the holder of the authorized mobile terminal is in an emergency situation. In one embodiment, the autonomous driving patrol vehicle control device may generate a path from coordinates of the autonomous driving patrol vehicle to tangential coordinates. In one embodiment, the autonomous driving patrol vehicle control device may transmit the generated path to the tangential coordinates to the authorized mobile terminal.

Referring to FIG. 11B, the owner of the permitted mobile terminal 1100 transmits an emergency signal to the autonomous driving patrol vehicle control device through the permitted mobile terminal 1100, and the autonomous driving patrol vehicle control device generates tangential coordinates An embodiment of transmission to the permitted mobile terminal 1100 is presented. The authorized mobile terminal 1100 may receive tangential coordinates transmitted from the autonomous driving patrol vehicle control device and display them (marked with ★) on the map interface 1110 of the application screen. In one embodiment, the authorized mobile terminal 1100 may guide the owner of the permitted mobile terminal 1100 to move to tangential coordinates through the map interface 1110 .

Referring to FIG. 11C , an embodiment in which the autonomous driving patrol vehicle control device creates a path from coordinates of the autonomous driving patrol vehicle to tangential coordinates and transmits the path to the authorized mobile terminal 1100 is shown. The authorized mobile terminal 1100 may receive a route up to the tangential coordinates transmitted by the autonomous driving patrol vehicle control device and display the route on the map interface 1110 of the application screen.

In one embodiment, the tangential coordinates may be coordinates closest to terminal coordinates of an authorized mobile terminal among arbitrary coordinates on a patrol route of an autonomous patrol vehicle. In one embodiment, the tangential coordinate may be the midpoint of the coordinates of the autonomous driving patrol vehicle and the terminal coordinates of the authorized mobile terminal when the autonomous driving patrol vehicle control device receives an emergency signal. This is provided as an example, and tangent coordinates may be generated in any suitable way.

In one embodiment, the autonomous driving patrol vehicle control device may newly create an emergency route from the coordinates of the autonomous driving patrol vehicle to the authorized mobile terminal instead of generating tangential coordinates. In one embodiment, the autonomous driving patrol vehicle control device may transmit an emergency route to an authorized mobile terminal. In one embodiment, the autonomous driving patrol vehicle control device may control the autonomous driving patrol vehicle to move along an emergency route. In one embodiment, the autonomous driving patrol vehicle control device may transmit coordinates of the autonomous driving patrol vehicle and receive terminal coordinates in real time.

In one embodiment, the autonomous driving patrol vehicle control apparatus may control to open a door of the autonomous driving patrol vehicle when the distance between the coordinates of the autonomous driving patrol vehicle and the terminal coordinates is equal to or less than a threshold value. For example, the threshold may be 1 m, 2 m, 5 m, and the like. In one embodiment, the autonomous driving patrol vehicle control device may detect whether a person is on board the autonomous driving patrol vehicle and close the door of the autonomous driving patrol vehicle. In one embodiment, the autonomous driving patrol vehicle control device may check the identity of a person riding in the autonomous driving patrol vehicle. For example, the self-driving patrol vehicle can verify the identity based on the identification card of the person on board and information on the owner of the authorized mobile terminal. In one embodiment, the self-driving patrol vehicle control device may control the self-driving patrol vehicle to return to a patrol starting point or to move to an address on an identification card after identity verification.

12A and 12B are schematic diagrams showing screens displayed on devices installed in an autonomous patrol vehicle according to an embodiment.

In one embodiment, a person riding an autonomous patrol vehicle may authenticate his or her identity through a device 1200 installed in the autonomous patrol vehicle. The device 1200 installed in the autonomous patrol vehicle may be, for example, a smart phone, a tablet PC, a PC, a smart TV, a PDA, a laptop, a media player, a navigation device, a device equipped with a camera, and other mobile electronic devices. The device 1200 installed in the autonomous driving patrol vehicle may be connected to the autonomous driving patrol vehicle control device by wire or wirelessly, or may be a part of the autonomous driving patrol vehicle control device.

As shown in FIG. 12A , the device 1200 installed in the self-driving patrol vehicle can display the identity of the holder of the authorized mobile terminal through the interface 1210, and a person riding the vehicle can use the interface 1210 Through this, it is possible to interact with the device 1200 installed in the autonomous patrol vehicle. In one embodiment, the device 1200 installed on the autonomous patrol vehicle is able to access the vehicle through any suitable means, such as, for example, capturing the identity of a person in the vehicle via a built-in camera or recognizing the face. The identity of the person on board can be verified. In one embodiment, the self-driving patrol vehicle control device may be designed so that a person in the vehicle cannot operate the device 1200 installed in the autonomous patrol vehicle through the interface 1210 unless the identity is authenticated. there is. In one embodiment, the person in the vehicle may select via interface 1210 whether to return to the patrol starting point or to the address on the identification card.

Referring to FIG. 12B , an embodiment in which the self-driving patrol vehicle control device checks the identity of a person riding in the vehicle and then controls the self-driving patrol vehicle to return to the starting point of patrol is shown. In one embodiment, the self-driving patrol vehicle control device may generate a route to a patrol starting point and provide the created route and coordinates of the autonomous patrol vehicle to a person riding the autonomous patrol vehicle through the interface 1210. there is. In one embodiment, a person in an autonomous patrol vehicle may contact the police headquarters via interface 1210.

In addition to the examples of the aforementioned vigilant enhancement mode, there may be various embodiments for enhancing vigilance and patrol functions of an autonomous patrol vehicle.

As described above, in one embodiment, the autonomous driving patrol vehicle control device may switch the driving mode of the autonomous driving patrol vehicle to the emergency dispatch mode when receiving the report coordinates. In one embodiment, the autonomous driving patrol vehicle control device may turn on a crime prevention light, an emergency light, or a siren of the autonomous driving patrol vehicle in an emergency dispatch mode. In one embodiment, the self-driving patrol vehicle control device may control the self-driving patrol vehicle to have no maximum speed limit in an emergency dispatch mode. In one embodiment, the autonomous driving patrol vehicle control device may control the autonomous driving patrol vehicle to ignore traffic laws (road speed regulations, traffic signals) in an emergency dispatch mode. In one embodiment, the autonomous driving patrol vehicle control device may control the autonomous driving patrol vehicle to ignore the center lane in an emergency dispatch mode. This is provided as a simple example, and in the emergency dispatch mode, the self-driving patrol vehicle control device may control the self-driving patrol vehicle to quickly move toward the reported coordinates in any appropriate manner.

In one embodiment, an autonomous driving patrol vehicle may be equipped with an abnormal driving detection function. By installing the abnormal driving detection function, the self-driving patrol vehicle can perform tasks such as covert patrol without the input of additional personnel. In one embodiment, the autonomous driving patrol vehicle control device may perform an abnormal driving detection function through a camera or sensor mounted on the autonomous driving patrol vehicle. The abnormal driving detection function may include, for example, prediction of drunk driving through detection of an abnormal lane change of another vehicle. An abnormal driving detection function may include, for example, detecting other vehicles violating a signal. The driving abnormality detection function may include, for example, detection of other vehicles violating speed regulations. This is provided as a simple example, and autonomous patrol vehicles may be equipped with any suitable feature to prevent incidents and accidents endangering citizens.

In one embodiment, when abnormal driving is detected, the autonomous driving patrol vehicle control device may obtain image data and/or information of the abnormally driving vehicle through a camera mounted on the autonomous driving patrol vehicle. In one embodiment, the autonomous driving patrol vehicle control device may transmit acquired image data and/or abnormal driving vehicle information to a server. In one embodiment, the abnormal driving detection function may be turned on/off differently for each driving mode.

As described above, the server of the police headquarters may notify location information for patrol by transmitting the coordinates of key points to the self-driving patrol vehicle. The server may transmit key point coordinates so that the autonomous driving patrol vehicle control device can autonomously create a route and perform patrol tasks. In addition, signals and data for effective patrolling in various situations may be transmitted to or received from the autonomous patrol vehicle.

In one embodiment, the server may monitor location information such as coordinates of the autonomous patrol vehicle transmitted by the autonomous patrol vehicle and terminal coordinates transmitted by the authorized mobile terminal. In one embodiment, the server may receive image data transmitted by an autonomous patrol vehicle and store it in a database. In one embodiment, when a report is received to the police headquarters, the server may transmit a report acknowledgment signal to the self-driving patrol vehicle. In one embodiment, when a report is received to the police headquarters, the server may transmit a report acknowledgment signal only to the self-driving patrol vehicle located closest to the report coordinates among the plurality of self-driving patrol vehicles. In one embodiment, the server may receive an enhanced alert mode switching signal from an autonomous patrol vehicle.

13 is a flowchart of a method of controlling an autonomous patrol vehicle according to an embodiment.

Since the method for controlling the autonomous patrol vehicle shown in FIG. 13 is related to the above-described embodiments, the above-described contents may be applied to the method of FIG. 13 even if omitted below.

Referring to FIG. 13 , in step 1310, coordinates of one or more main points may be received.

In one embodiment, the coordinates of one or more main points may include at least one of coordinates included in a signal received from a server and coordinates included in a signal transmitted in real time from an authorized mobile terminal.

In one embodiment, one or more key point coordinates and one or more secondary key point coordinates may be received.

In step 1320, one or more key zones may be created based on the coordinates of one or more key points.

In one embodiment, each of the one or more main zones may be set by a predetermined distance as a radius from each of the one or more main point coordinates.

In step 1330, a patrol route may be created to include one or more key point coordinates.

In one embodiment, an order may be determined for one or more main point coordinates, a patrol route may be generated based on the order, and an order may be determined by arranging one or more main point coordinates in an order close to a patrol starting point.

In one embodiment, a patrol route may be created to include one or more key point coordinates and one or more secondary key point coordinates.

In one embodiment, each of the one or more secondary key point coordinates is grouped with the closest key point coordinates to create one or more groups, a group order is determined among the one or more groups, and an order within the group is determined for each of the one or more groups. and may generate a patrol route based on the group order and the intra-group order of each of the one or more groups.

In one embodiment, the group order may be determined by listing the main point coordinates belonging to one or more groups in order close to the patrol starting point and determining the order.

In one embodiment, the order within the group may be determined by determining the coordinates of the main points as the first order, listing the coordinates of the second main points in the order close to the main point coordinates, and then determining the order.

In step 1340, if the coordinates of the self-driving patrol vehicle belong to any one of the main zones, the driving mode of the self-driving patrol vehicle may be switched to the enhanced alert mode.

In one embodiment, the maximum speed of the autonomous patrol vehicle may be limited to a predetermined value.

In one embodiment, the coordinates of the patrol route and the self-driving patrol vehicle may be transmitted to the authorized mobile terminal.

In one embodiment, an emergency signal is received from the authorized mobile terminal, terminal coordinates are received from the authorized mobile terminal, tangential coordinates are generated based on the terminal coordinates, and a route from the coordinates of the autonomous patrol vehicle to the tangential coordinates is determined. and transmits the tangential coordinates to the permitted mobile terminal, and opens the door of the autonomous patrol vehicle when the distance between the coordinates of the autonomous patrol vehicle and the coordinates of the terminal is less than or equal to a threshold value.

In one embodiment, the tangential coordinates may be coordinates closest to the terminal coordinates among arbitrary coordinates on the patrol route.

In one embodiment, it is possible to detect that a person has boarded the self-driving patrol vehicle, confirm the identity of the person, and control the vehicle to return to the patrol starting point.

In one embodiment, image data may be obtained through a camera mounted on an autonomous patrol vehicle, and the image data may be transmitted to a server.

In one embodiment, after step 1340, when the reported coordinates are received from the server, the patrol route may be stored in a memory device, and a temporary route from the coordinates of the self-driving patrol vehicle to the reported coordinates may be created.

In one embodiment, after step 1340, when abnormal driving is detected through a camera or sensor mounted on the self-driving patrol vehicle, image data and information on the abnormal driving vehicle are obtained through the camera, and the image data and abnormally driving vehicle are acquired. of information can be transmitted to the server.

14 is a block diagram of a device for controlling an autonomous patrol vehicle according to an embodiment.

Referring to FIG. 14 , an apparatus 1400 for controlling an autonomous patrol vehicle may include a communication unit 1410, a processor 1420, and a DB 1430. In the apparatus 1400 for controlling an autonomous patrol vehicle of FIG. 14 , only components related to the embodiment are shown. Accordingly, those skilled in the art can understand that other general-purpose components may be further included in addition to the components shown in FIG. 14 .

The communication unit 1410 may include one or more components that enable wired/wireless communication with an external server or external device. For example, the communication unit 1410 may include at least one of a short-range communication unit (not shown), a mobile communication unit (not shown), and a broadcast reception unit (not shown).

The DB 1430 is hardware for storing various data processed in the device 1400 for controlling the autonomous patrol vehicle, and may store programs for processing and controlling the processor 1420. The DB 1430 may store payment information, user information, and the like.

The DB 1430 includes random access memory (RAM) such as dynamic random access memory (DRAM) and static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and CD-ROM. ROM, Blu-ray or other optical disk storage, hard disk drive (HDD), solid state drive (SSD), or flash memory.

The processor 1420 controls overall operations of the device 1400 for controlling an autonomous patrol vehicle. For example, the processor 1420 may generally control an input unit (not shown), a display (not shown), the communication unit 1410, and the DB 1430 by executing programs stored in the DB 1430. The processor 1420 may control the operation of the device 1400 for controlling an autonomous patrol vehicle by executing programs stored in the DB 1430 .

The processor 1420 may control at least some of the operations of the control device of the self-driving patrol vehicle described above with reference to FIGS. 1 to 13 .

The processor 1420 may include application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, and microcontrollers. It may be implemented using at least one of micro-controllers, microprocessors, and electrical units for performing other functions.

As an embodiment, the device 1400 for controlling an autonomous patrol vehicle may be a mobile electronic device. For example, the device 1400 for controlling an autonomous patrol vehicle may include a smart phone, a tablet PC, a PC, a smart TV, a personal digital assistant (PDA), a laptop, a media player, a navigation device, a device equipped with a camera, and other mobile electronic devices. It can be implemented as a device. In addition, the device 1400 for controlling the self-driving patrol vehicle may be implemented as a wearable device such as a watch, glasses, hair band, and ring having a communication function and a data processing function.

In another embodiment, the device 1400 for controlling the autonomous patrol vehicle may be an electronic device embedded in the vehicle. For example, the device 1400 for controlling an autonomous patrol vehicle may be an electronic device inserted into a vehicle through tuning after a manufacturing process.

As another embodiment, the device 1400 for controlling an autonomous patrol vehicle may be a server located outside the vehicle. A server may be implemented as a computer device or a plurality of computer devices that communicate over a network to provide commands, codes, files, content, services, and the like. The server may receive data necessary for determining a moving path of the vehicle from devices mounted on the vehicle, and determine the moving path of the vehicle based on the received data.

As another embodiment, a process performed by the device 1400 for controlling an autonomous patrol vehicle may be performed by at least some of a mobile electronic device, an electronic device embedded in a vehicle, and a server located outside the vehicle. .

Embodiments according to the present invention may be implemented in the form of a computer program that can be executed on a computer through various components, and such a computer program may be recorded on a computer-readable medium. At this time, the medium is a magnetic medium such as a hard disk, a floppy disk and a magnetic tape, an optical recording medium such as a CD-ROM and a DVD, a magneto-optical medium such as a floptical disk, and a ROM hardware devices specially configured to store and execute program instructions, such as RAM, flash memory, and the like.

Meanwhile, the computer program may be specially designed and configured for the present invention, or may be known and usable to those skilled in the art of computer software. An example of a computer program may include not only machine language code generated by a compiler but also high-level language code that can be executed by a computer using an interpreter or the like.

According to one embodiment, the method according to various embodiments of the present disclosure may be included and provided in a computer program product. Computer program products may be traded between sellers and buyers as commodities. A computer program product is distributed in the form of a device-readable storage medium (eg compact disc read only memory (CD-ROM)), or through an application store (eg Play Store™) or between two user devices. It can be distributed (eg downloaded or uploaded) directly or online. In the case of online distribution, at least part of the computer program product may be temporarily stored or temporarily created in a device-readable storage medium such as a manufacturer's server, an application store server, or a relay server's memory.

The steps constituting the method according to the present invention may be performed in any suitable order unless an order is explicitly stated or stated to the contrary. The present invention is not necessarily limited according to the order of description of the steps. The use of all examples or exemplary terms (eg, etc.) in the present invention is simply to explain the present invention in detail, and the scope of the present invention is limited due to the examples or exemplary terms unless limited by the claims. it is not going to be In addition, those skilled in the art can appreciate that various modifications, combinations and changes can be made according to design conditions and factors within the scope of the appended claims or equivalents thereof.

Therefore, the spirit of the present invention should not be limited to the above-described embodiments and should not be determined, and all scopes equivalent to or equivalently changed from the claims as well as the claims described below are within the scope of the spirit of the present invention. will be said to belong to

Claims (12)

A method for controlling an autonomous patrol vehicle,
receiving one or more key point coordinates;
generating one or more key zones based on the one or more key point coordinates;
generating a patrol route to include the coordinates of the one or more key points; and
switching the driving mode of the autonomous patrol vehicle to an enhanced alert mode when the coordinates of the autonomous patrol vehicle belong to any one of the one or more main zones;
Including, method.
According to claim 1,
The one or more main point coordinates,
Including at least one of the coordinates included in the signal received from the server and the coordinates included in the signal transmitted in real time from the authorized mobile terminal,
method.
According to claim 1,
Each of the one or more main zones is set by a predetermined distance as a radius from each of the one or more main point coordinates,
method.
According to claim 1,
The step of creating the patrol route,
determining an order for the coordinates of the one or more main points; and
generating the patrol route based on the order;
Including,
The step of determining the order is,
Determining the order by listing the coordinates of the one or more main points in order close to the patrol starting point,
method.
According to claim 1,
Receiving the one or more main point coordinates,
Receiving the one or more main point coordinates and one or more secondary main point coordinates;
The step of creating the patrol route,
Generating a patrol route to include the one or more main point coordinates and the one or more secondary main point coordinates,
method.
According to claim 5,
The step of creating the patrol route,
generating one or more groups by grouping each of the one or more secondary main point coordinates with the nearest main point coordinates;
determining a group order among the one or more groups;
determining an order within a group for each of the one or more groups; and
generating the patrol route based on the group order and the intra-group order of each of the one or more groups;
How to include.
According to claim 6,
The step of determining the group order,
Determining the order by listing the main point coordinates belonging to each of the one or more groups in order close to the patrol starting point,
method.
According to claim 6,
The step of determining the order in the group,
The main point coordinates are determined as the first order, and the second main point coordinates are listed in order close to the main point coordinates to determine the subsequent order,
method.
According to claim 1,
When reporting coordinates are received from the server,
storing the patrol route in a memory device; and
generating a temporary route from the coordinates of the self-driving patrol vehicle to the reported coordinates;
How to include more.
According to any one of claims 1 to 9,
The step of switching to the boundary enhancement mode,
and limiting the maximum speed of the autonomous patrol vehicle to a predetermined value.
An apparatus for controlling an autonomous patrol vehicle,
a memory in which at least one program is stored; and
a processor that performs calculations by executing the at least one program;
receive one or more key point coordinates;
Create one or more key zones based on the one or more key point coordinates;
Create a patrol route to include the coordinates of the one or more key points;
When the coordinates of the self-driving patrol vehicle belong to any one of the one or more main zones, to switch the driving mode of the self-driving patrol vehicle to an enhanced alert mode,
Device.
A computer-readable recording medium on which a program for executing the method of claim 1 is recorded on a computer.

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