본 발명의 일 실시예에 따르면, 농사용 차량의 자율 주행 제어 방법에 있어서, 상기 농사용 차량의 주행 모드가 자율 주행 모드인 경우, 상기 농사용 차량에 대응하는 비상 상황의 발생 여부를 제1 주기로 결정하는 단계; 상기 비상 상황이 발생한 경우, 상기 농사용 차량의 제어 모드를 수동 주행 모드로 변경하는 단계; 상기 수동 주행 모드에서, 제2 주기로 상기 비상 상황의 해소 여부를 결정하는 단계; 및 상기 비상 상황이 해소된 경우, 상기 농사용 차량의 주행 모드를 자율 주행 모드로 변경하는 단계; 를 포함하는 방법이 제공된다.

    The present invention relates to an autonomous driving control method of an agricultural vehicle and an autonomous driving agricultural vehicle. According to one embodiment of the present invention, the autonomous driving control method of the agricultural vehicle comprises the following steps of: determining whether an emergency situation corresponding to the agricultural vehicle occurs in a first cycle when a driving mode of the agricultural vehicle is an autonomous driving mode; changing a control mode of the agricultural vehicle to a manual driving mode when the emergency situation occurs; determining whether the emergency situation is resolved in a second period in the manual driving mode; and changing the driving mode of the agricultural vehicle to the autonomous driving mode when the emergency situation is resolved. According to the present invention, the driving mode of the agricultural vehicle may be automatically switched to the autonomous driving mode.


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    Title :

    Autonomous driving control method for agricultural vehicles and autonomous driving agricultural vehicles


    Additional title:

    농사용 차량의 자율 주행 제어 방법 및 자율 주행 가능한 농사용 차량


    Publication date :

    2023-07-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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