Method and apparatus for autonomous driving path generation

Method and Apparatus for Generating Autonomous Driving Paths

This technology is an algorithm that generates waypoint-based work paths and auxiliary paths from GNSS-based manual driving data, then merges and converts them into network data to calculate the shortest autonomous driving path.

Building autonomous driving paths for agricultural machinery is costly, and there is a lack of methods that allow for universal operation across various zones without the need for high-precision maps.

This technology is an apparatus and method for generating paths that creates waypoints based on location data acquired from positioning sensors, defines each segment as start, end, straight, or turn, and merges multiple work and auxiliary paths to generate the shortest network path. It can be applied to logistics transport, service robots, and autonomous driving platforms, reducing labor costs and improving the efficiency of agricultural operations through autonomous driving.

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Key Features:

• Generating a waypoint-based work path using first location data of an object collected from a positioning sensor while the object is being manually driven along the path to be autonomously navigated.
• Generating a waypoint-based auxiliary path, which is a path other than the work path, using second location data of the object collected from a positioning sensor while the object is being manually driven.
• Generating a portion of the first location data as waypoints by using the angle between straight lines to determine whether a segment is straight.
• An autonomous driving path generation method comprising the step of applying a reference angle to define turning segments for waypoints, thereby designating the type of each waypoint as a start point, end point, straight segment, or turning segment.

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This invention was developed with support from the Ministry of Science and ICT for the development of a universal unmanned agricultural machinery platform and system based on high-precision positioning technology for open-field smart farms.