US 12,330,688 B2
Delivery service system and method using autonomous vehicles
Soon Kwon, Daegu (KR); Jae Suck Kim, Yongin-si (KR); Jae Hyeong Park, Gyeongsan-si (KR); and Jin Hee Lee, Daegu (KR)
Assigned to Daegu Gyeongbuk Institute of Science and Technology, Daegu (KR)
Appl. No. 18/269,795
Filed by Daegu Gyeongbuk Institute of Science and Technology, Daegu (KR)
PCT Filed Dec. 27, 2021, PCT No. PCT/KR2021/019909
§ 371(c)(1), (2) Date Jun. 27, 2023,
PCT Pub. No. WO2022/145912, PCT Pub. Date Jul. 7, 2022.
Claims priority of application No. 10-2020-0187507 (KR), filed on Dec. 30, 2020.
Prior Publication US 2024/0067226 A1, Feb. 29, 2024
Int. Cl. B60W 60/00 (2020.01); B60P 3/07 (2006.01); B60W 40/06 (2012.01); G05D 1/00 (2024.01)
CPC B60W 60/00256 (2020.02) [B60P 3/07 (2013.01); B60W 40/06 (2013.01); G05D 1/0016 (2013.01); B60W 2300/145 (2013.01); B60W 2420/00 (2013.01); B60W 2556/35 (2020.02); B60W 2556/40 (2020.02); B60W 2556/65 (2020.02)] 12 Claims
OG exemplary drawing
 
1. A system for providing a delivery service using autonomous vehicles, wherein the system provides a delivery service on an irregular road where entry of normal vehicles is not allowed and a regular road where entry of small and low-speed vehicles is not allowed and comprises a droid vehicle for providing a delivery service using limited autonomous driving performance in a last mile delivery section corresponding to the irregular road; and a lead vehicle for providing a delivery service based on autonomous driving on the regular road, transporting the droid vehicle by being coupled to the droid vehicle on the regular road, and remotely controlling driving of the droid vehicle after being separated from the droid vehicle in the last mile delivery section,
wherein the lead vehicle comprises first multiple sensors and performs the autonomous driving,
wherein the droid vehicle comprises second multiple sensors and provides the limited autonomous driving performance, and
wherein the lead vehicle:
calculates a position using the first multiple sensors,
calculates an initial position of the droid vehicle by calculating a change in a relative position of the droid vehicle by using the first multiple sensors,
calculates a final position of the droid vehicle using the calculated initial position and second multiple sensors-based second sensor data transmitted from the droid vehicle,
detects surroundings at the calculated final position using the second sensor data,
remotely controls driving of the droid vehicle in consideration of the detected surroundings,
applies the calculated final position to precision map information to calculate a driving route to a destination where the delivery service is provided,
remotely controls driving of the droid vehicle by generating a remote control signal according to the calculated driving route,
receives driving information corresponding to the change in the relative position of the droid vehicle on the driving route from the droid vehicle, and
remotely controls a partial autonomous driving of the droid vehicle in consideration of the driving information.