KR102841300B1 - Intelligent Transportation Systems for Automatic Driving of Drone linkage having the third view - Google Patents

Abstract

The present invention relates to a drone coupling traffic system for autonomous driving of an unmanned vehicle having a third-person view, comprising: a drone unit (100) that flies in the air and is equipped with a camera (101) in the direction of a vehicle to control autonomous driving of the vehicle; an unmanned vehicle (200) that is connected to the drone unit (100) and performs autonomous driving according to the control of the drone unit (100) and is equipped with a camera (201) in the direction of a drone to control aerial flight with respect to the drone unit (100); and a control server (300) that relays smooth control communication between the drone unit (100) and the unmanned vehicle (200) and comprehensively controls and manages both the drone unit (100) and the unmanned vehicle (200), wherein, depending on the configuration of the camera (101) in the direction of the vehicle and the camera (201) in the direction of the drone, the drone unit (100) controls autonomous driving of the unmanned vehicle (200) with a third-person view, thereby: While ensuring the safety of autonomous driving of an unmanned vehicle (200), the unmanned vehicle (200) controls the autonomous flight of the drone unit (100) with a third-person view, thereby ensuring the safety of the autonomous flight of the drone unit (100), thereby providing a drone coupling traffic system for autonomous driving of an unmanned vehicle with a third-person view.

Description

Intelligent Transportation Systems for Automatic Driving of Drone Linkage Having the Third View

The present invention relates to a drone-coupled traffic system for autonomous driving of an unmanned vehicle having a third-person view, and more specifically, to a drone-coupled traffic system for autonomous driving of an unmanned vehicle having a third-person view, which utilizes drones to realize autonomous driving of an unmanned vehicle in areas with many radio interference obstacles or areas such as rural, fishing, and mountain villages that lack Internet of Things (IoT) environment-based technologies, and which, through the establishment of a management server that controls and manages communication between drones and unmanned vehicles, enables rapid identification, response, and countermeasures of the on-site situation in the event of a collision accident, and reduces the cost consumed for establishing a system necessary for autonomous driving along with smooth autonomous driving of an unmanned vehicle, and above all, ensures safety by objectively understanding the situation regarding the flight of a drone and the driving of a vehicle.

In general, autonomous vehicles capable of autonomous driving can be equipped with various sensors necessary for autonomous driving, and the signals detected from these sensors are remotely processed by a server installed in a control center, so autonomous driving of autonomous vehicles can be performed without difficulty.

However, the smooth autonomous driving of these unmanned vehicles is only possible in areas without obstacles that allow for smooth communication with the control center server. However, in areas with many obstacles that cause radio interference, proper communication with the control center server is impossible, which limits the autonomous driving of unmanned vehicles.

Due to these regional limitations, although autonomous vehicles exist, they are not being properly utilized, and the environment necessary for operating an autonomous transportation system using a large number of autonomous vehicles is not even properly established.

In particular, in rural areas or fishing villages where the infrastructure for the Internet of Things (IoT) environment is lacking, it is even more difficult to operate an autonomous driving transportation integration system. In addition, in poor areas, even in the event of a vehicle collision, personal injury, or emergency, the extent of the damage cannot be properly identified and appropriate responses are impossible.

Therefore, there is an urgent need to overcome these regional limitations and establish and operate a system for autonomous intelligent transportation using a large number of unmanned vehicles.

Above all, the bigger problem is that in most existing autonomous driving-related technologies, most existing technologies and most existing patents filed in Korea disclose technical components that enable autonomous driving of the vehicle body, but in terms of autonomous driving of vehicles, most of the existing technologies and existing domestic patents are about technical contents that perform autonomous driving through the first-person view of the vehicle body.

That is, when a vehicle is driven with this first-person view, the problem is that the field of view is inevitably extremely limited because the driving situation is entirely done through the first-person view.

In this way, because the field of vision is very limited when driving, it is difficult to easily grasp the overall driving situation, which ultimately means that the safety of driving cannot be guaranteed.

Of course, this is not limited to vehicles, but even during drone flight, it is not easy to grasp the overall situation of drone flight because the drone itself flies with a first-person perspective.

Patent Document 001: Registered Patent No. 10-2007140 (Registration Date: July 29, 2019)

The purpose of the present invention to solve the above-mentioned problems is to provide a drone-coupled traffic system for autonomous driving of unmanned vehicles with a third-person view, which can ensure the safety of autonomous driving by providing a system equipped with an intelligent traffic system comprising an unmanned vehicle linked to a drone and a management server in areas with radio interference, obstacles, or areas lacking the Internet of Things (IoT), such as rural areas or fishing villages, and which can quickly take action in the event of a vehicle collision, personal injury, or emergency, and can quickly identify the extent of the damage, and can even reduce the cost of introducing such a system.

In order to achieve the above-described objects, the present invention comprises a drone unit (100) that flies in the air and is equipped with a camera (101) facing the vehicle direction to control autonomous driving of the vehicle, an unmanned vehicle (200) that is linked to the drone unit (100) and performs autonomous driving according to the control of the drone unit (100) and is equipped with a camera (201) facing the drone direction to control aerial flight with respect to the drone unit (100), and a control server (300) that relays smooth control communication between the drone unit (100) and the unmanned vehicle (200) and comprehensively controls and manages both the drone unit (100) and the unmanned vehicle (200), wherein, according to the configuration of the camera (101) facing the vehicle direction and the camera (201) facing the drone direction, the drone unit (100) controls autonomous driving of the unmanned vehicle (200) with a third-person view to ensure safety of autonomous driving of the unmanned vehicle (200), The above unmanned vehicle (200) has an exemplary characteristic of a drone coupling traffic system for autonomous driving of an unmanned vehicle having a third-person view that controls the autonomous flight of the drone unit (100) with a third-person view to ensure the safety of the autonomous flight of the drone unit (100).

The above control server (300) further includes a server-type computer (310), and the server-type computer (310) further includes a first control unit (320) that performs control for unmanned flight of the drone unit (100) and a second control unit (330) that performs control for autonomous driving of the unmanned vehicle (200), which has a third-person viewpoint, and has the characteristics of an example of a drone coupling traffic system system for unmanned vehicle autonomous driving.

The drone part (100) above has a built-in small computer (110) that controls the autonomous driving of the unmanned vehicle (200) by transmitting command signals necessary for autonomous driving, and has a drone coupling traffic system system for autonomous driving of the unmanned vehicle with a third-person view.

The above-mentioned small computer (110) is further combined with a precision flight controller for performing control necessary for the flight of the drone unit (100) in an obstacle area that is difficult to control with the first control unit (320), and has a drone coupling traffic system system for autonomous driving of an unmanned vehicle with a third-person field of view, which has the characteristics of an example.

The drone unit (100) above has a structure that includes the installation of a gimbal required for horizontal shooting of the camera, and the gimbal also includes the installation of a collision avoidance system to prevent the possibility of collision in advance while ensuring stable spatial mapping and minimizing shaking of video shooting, and has the characteristics of an example of a drone coupling traffic system system for autonomous driving of an unmanned vehicle with a third-person view.

The collision avoidance system installed in the above-mentioned unmanned vehicle (200) is configured as a camera-type device type to which an advanced flight driving assistance system is applied, and the camera-type device is configured as an ADAS (Advanced Driver Assistance Systems) composed of a processor and a module for autonomous driving function, and has the characteristics of an example of a drone coupling traffic system system for autonomous driving of an unmanned vehicle having a third-person field of view.

The above collision avoidance system is characterized by a drone coupling traffic system system for autonomous driving of an unmanned vehicle having a third-person view, which is composed of a combined configuration including an infrared camera (IR Camera) that can output digital or analog images using data of infrared energy and detects biological obstacles through thermal images, an ultrasonic sensor that detects obstacles at close range and measures the distance by emitting short sounds through high-frequency sound pulses at regular intervals, and a pressure sensor that detects height by measuring air pressure based on a pressure sensor element combined with a strain gauge.

The above collision avoidance system has an example of a drone coupling traffic system system for autonomous driving of unmanned vehicles with a third-person view that further includes a map building sensor system capable of processing map creation.

According to the configuration of the vehicle direction camera (101) installed in the drone unit (100) and the drone direction camera (201) installed in the unmanned vehicle (200), the drone unit (100) controls the autonomous driving of the unmanned vehicle (200) with a third-person view, and the unmanned vehicle (200) controls the autonomous flight of the drone unit (100) with a third-person view, and on the other hand, according to the configuration of the small computer (110) installed in the drone unit (100) and the computational edge computer (210) installed in the unmanned vehicle (200), the drone unit (100) controls the autonomous driving of the unmanned vehicle (200) with a first-person view, and the unmanned vehicle (200) controls the autonomous flight of the drone unit (100) with a first-person view, thereby providing a drone coupling traffic for unmanned autonomous driving having a third-person view in which a third-person view and a first-person view are mixed. The system system has the characteristics of an example.

According to the present invention as discussed above, since it has a higher degree of precision in collision avoidance with obstacles than other drones, it is possible to improve the collision avoidance rate with obstacles that occur during the flight of a drone and the autonomous driving of an unmanned vehicle, and traffic safety is improved through rapid situational awareness and action in the event of an accident, and there is a dramatic reduction in the cost of introducing systems necessary for the traffic system.

In addition, according to the present invention, since the drone and the vehicle can each secure a third-person viewpoint of the other's flight and driving, the safety of drone flight and vehicle driving can be dramatically improved, and in addition to facilitating overall situational awareness of drone flight and vehicle driving, there is also the effect of improving the speed of emergency measures in response to unexpected accidents.

FIG. 1 is a block diagram that briefly and clearly shows the components that constitute a drone coupling traffic system for autonomous driving of an unmanned vehicle with a third-person view according to the present invention.
FIG. 2 is a schematic diagram showing the configurations of a drone coupling traffic system for autonomous driving of an unmanned vehicle with a third-person view according to the present invention as a simple concept of a first embodiment.
Figure 3 is a schematic diagram showing the components of the drone unit (100) in a simplified concept.
Figure 4 is a schematic diagram showing a simple concept of multi-communication between a drone unit (100), an unmanned vehicle (200), and a control server (300).
Figure 5 is a schematic diagram showing a simple concept of avoiding a dangerous environment through communication between a drone unit (100) and an unmanned vehicle (200).
Figure 6 is an example drawing of a drone flight simulation in which the drone's flight situation can be secured from a third-person view from a vehicle.
Figure 7 is an example drawing of a vehicle driving simulation in which the vehicle's driving situation can be secured from a third-person view from a drone.

In the present invention, it is to be understood that the attached drawings are exaggerated for clarity and convenience of explanation, and the embodiments described below do not limit the scope of the present invention, but are merely exemplary of the components presented in the claims of the present invention, and should be interpreted based on the technical idea throughout the specification, taking into account that the present invention may be modified and implemented in various other forms.

Hereinafter, with reference to the attached drawings, a drone coupling traffic system for autonomous driving of an unmanned vehicle with a third-person view according to preferred embodiments of the present invention will be described in more detail.

A drone coupling traffic system for autonomous driving of an unmanned vehicle having such a third-person view can be explained with reference to FIGS. 1 to 5 as examples, and is a system that configures a traffic system that integrates transportation means such as unmanned vehicles and enables autonomous driving by utilizing drones, and can be configured to include a drone unit (100) having a drone structure that flies in the air, an unmanned vehicle (200) having a vehicle structure that is capable of autonomous driving by being linked to the drone unit (100), and a control server (300) of a control center capable of controlling the unmanned vehicle (200) through the drone unit (100).

Hereinafter, for convenience of explanation, it may be noted that the terms “drone and drone unit,” “vehicle and unmanned vehicle,” and “control center and control server” may not be consistent and may be used interchangeably.

The above drone unit (100) can be operated in an area with many obstacles that cause radio interference by communicating with the unmanned vehicle (200) at an aerial point adjacent to the unmanned vehicle (200) and transmitting and communicating signals, i.e. command signals, necessary for autonomous driving control of the unmanned vehicle (200).

In areas with such obstacles, communication with the control server (300) is impossible, so the drone unit (100) can take charge of the control functions required for autonomous driving of the unmanned vehicle (200).

In the drone unit (100), a camera (101) in the direction of the vehicle can be further installed to control the driving of the unmanned vehicle (200) from a third-person perspective, that is, an objective view of the unmanned vehicle (200) during the process of controlling the autonomous driving of the unmanned vehicle (200).

The above unmanned vehicle (200) can be controlled by receiving a signal from the drone unit (100) flying in an adjacent aircraft during the autonomous driving process in an area with many obstacles with radio interference, and the unmanned vehicle (200) should be interpreted as including all types of vehicles, not limited to a specific vehicle type.

Accordingly, the unmanned vehicle (200) may include small and medium-sized buses and taxis for the purpose of transporting people, pickup trucks, small and medium-sized trucks and dump trucks and tractors for the purpose of transporting cargo, cranes, trailers, fire trucks, snowplows, etc. for the purpose of performing special tasks, and vehicles for controlling agricultural machinery.

In the above-mentioned unmanned vehicle (200), a camera (201) in the direction of the drone can be further installed to control the flight of the drone (100) from a third-person perspective, that is, to control the drone (100) from an objective third-person perspective during the control process for the aerial autonomous flight of the drone (100).

Of course, the above-described unmanned vehicle (200) may further be installed with an associative edge computer (210), and the computational edge computer (210) may be configured in combination with a precision vehicle controller (220) and a precision drone controller (230). The precision vehicle controller (220) may perform detailed control during the driving process of the unmanned vehicle (200) itself, and the precision drone controller (230) may perform detailed control over the aerial flight of the drone through a third-person view during the aerial flight of the drone.

The above vehicle-facing camera (101) and the above drone-facing camera (201) can have built-in wireless communication means capable of wirelessly exchanging driving and flying images with each other. Such wireless communication means can encompass all devices capable of wirelessly transmitting and receiving data via the Internet. The above computational edge computer (210) can also perform a functional function, particularly in charge of computational processing for recognition of drones and vehicles.

As described above, in particular, since the vehicle-direction camera (101) installed in the drone unit (100) and the drone-direction camera (201) installed in the unmanned vehicle (200) are configured, the drone unit (100) can monitor the autonomous driving of the vehicle with a third-person view through the vehicle-direction camera (101) as illustrated in Drawing 7, and perform objective vehicle driving control.

That is, since the drone unit (100) has a camera (101) installed in the direction of the vehicle, the autonomous driving scene of the vehicle can be secured from a third-person viewpoint from the drone unit (100) as shown in Drawing 7.

In other words, the vehicle is driven in a first-person perspective when actually driving, but since the drone unit (100) becomes a third-person perspective objectified through the vehicle, the overall driving situation of the vehicle can be easily grasped, and thus the safety of driving the vehicle can be significantly improved.

In addition, the above unmanned vehicle (200) can monitor the autonomous flight of the drone from a third-person perspective through a camera (201) in the direction of the drone, as illustrated in Drawing 6, and perform objective drone flight control.

That is, since the unmanned vehicle (200) has a camera (201) installed in the direction of the drone, the autonomous flight view of the drone can be secured from a third-person viewpoint from the unmanned vehicle (200) as shown in Drawing 6.

In other words, the drone flies in a first-person perspective when actually driving, but since the unmanned vehicle (200) has a third-person perspective that is objectively observed through the drone, the overall situation regarding the drone flight can be easily grasped, and thus the safety of the drone flight can be significantly improved.

Of course, drawings 6 and 7 are drawings to show examples of simulations of drone flight and vehicle driving from a third-person perspective and a first-person perspective, respectively.

Meanwhile, the control server (300) installed in the control center relays smooth control communication between the drone unit (100) and the unmanned vehicle (200) and can be operated for the purpose of integrated control and management of both the drone unit (100) and the unmanned vehicle (200).

The above-mentioned control server (300) may be configured, for example, with a structure of a server-type computer (310). The server-type computer (310) may be configured to include a first control unit (320) that performs control for the unmanned aerial vehicle flight of the drone unit (100) and a second control unit (330) that performs control for the autonomous driving of the unmanned vehicle (200).

The first control unit (320) is linked with the software installed in the drone unit (100) through a first control program that performs control necessary for unmanned flight of the drone unit (100) and can control unmanned flight of the drone unit (100), and the second control unit (330) is linked with the software installed in the unmanned vehicle (200) through a second control program that performs control necessary for autonomous driving of the unmanned vehicle (200) and can control autonomous driving of the unmanned vehicle (200).

In addition, the drone unit (100), the unmanned vehicle (200), and the control server (300) can communicate with each other through various optional communication connections, and can utilize communication networks such as Bluetooth, Wi-Fi, LTE, and 5G, and can exchange data information with each other in an Internet of Things (IoT) environment.

The above control server (300) can be operated as a system with an intelligent transportation system, and can be equipped with system programs having functions such as navigation real-time traffic information, highway Hi-pass, and bus arrival information at bus stops.

The main body of the above drone unit (100) may further be equipped with a small computer (110) that can be controlled by transmitting detailed command signals to an autonomously driving unmanned vehicle (200). This small computer (110) can perform functions such as recognizing the situation of the drone, transmitting information about the surroundings of the vehicle, transmitting control to a control server, and controlling when an accident is expected.

This small computer (110) may be configured with a combination of a precision flight controller (120) for performing control required for detailed flight of the drone unit (100) in an area with many obstacles that are difficult to control with the first control unit (320) and a precision driving controller (130) for performing control required for detailed driving of the unmanned vehicle (200).

The above-described precision flight controller may be, for example, a type that combines GPS and an inertial measurement device. The GPS may be used in a manner applicable to areas with many obstacles where radio waves cannot reach, such as indoors or tunnels, and the inertial measurement device may be used in a manner that combines an accelerometer, a gyroscope, and a magnetometer.

The above inertial measurement device is a key function for detailed flight control of the drone unit (100) and measures acceleration according to changes in vibration or movement (acceleration), and is a device that detects movement and increase and decrease in altitude along the horizontal plane while keeping the drone unit (100) upright and horizontal.

These inertial measurement units can be used for flight control, for example, by measuring rotational speeds along three axes (roll, pitch, and yaw), or even a more advanced six-axis sensor system. Of course, because the six-axis sensor system consists solely of accelerometers and gyroscopes, it has limitations in compensating for detected errors (movements along the horizontal plane and increases and decreases in altitude).

However, the 9-axis sensor method, which combines an accelerometer, gyroscope, and magnetometer, has the advantage of being able to compensate for the detected errors (movement along the horizontal plane and gain and loss in altitude) to the greatest extent possible.

In particular, a gyroscope is a sensor used to measure or maintain the direction of angular momentum using a mechanism that calculates torque using a rotor and a gimbal, and can provide flight safety by maintaining the flight balance of the drone unit (100) by, for example, using a method of measuring gravitational acceleration. A magnetometer can be utilized by measuring the strength of a magnetic field at a specific location using a magnetic dipole moment.

In addition, the small computer (110) may be further combined with a power battery required for the flight of the drone unit (100) and a detection sensor for controlling the rotation of the propeller according to the state of the motor. This detection sensor may control the rotation of the propeller of the motor according to the position detection of the rotor, and may be configured with a structure of a Hall sensor constituting, for example, a rotor, a stator, and a coil.

In particular, a current sensor for detecting the power consumption of the battery, for example, can be further combined with the small computer (110), and such a current sensor can detect the power consumption of the battery or the failure of the motor from time to time, thereby preventing the drone unit (100) from falling due to the propeller stopping operation.

The main body of the above drone unit (100) may have a structure that includes the installation of a gimbal required for horizontal shooting of the camera, and the gimbal may also include the installation of a collision avoidance system to prevent the possibility of collision in advance while minimizing shaking in stable space mapping and video shooting.

Such a collision avoidance system may be configured to include, for example, a combination of an infrared camera (IR Camera), an ultrasonic sensor, and a pressure sensor, and in particular, may further include a map building sensor system capable of processing map creation.

Infrared cameras (IR Cameras) can output digital or analog images using infrared energy data, and can be used to detect biological obstacles through thermal images. Ultrasonic sensors can be used to detect obstacles at close range and measure distances by emitting short sounds through high-frequency sound pulses at regular intervals. Pressure sensors can be used to detect height by measuring air pressure based on a pressure sensor element that combines four strain gauges, for example.

In addition, the drone unit (100) may be configured with a high-speed radio (802.11), a low-speed radio (1km low-speed radio; 802.15.4), a front facing camera, a down facing camera, etc.

Meanwhile, the collision avoidance system can be installed in particular in an unmanned vehicle (200), and the collision avoidance system applied to the unmanned vehicle (200) can be configured as a camera-type device type to which an advanced flight driving assistance system is applied, for example, and such a camera-type device can be configured as an ADAS (Advanced Driver Assistance Systems) which is a combined configuration of a processor and a module for an autonomous driving function, and this can be configured as an image sensor board to which an On Semi CMOS image sensor is applied and a process board to which an Intel MobilEye EyeQ3 processor is applied, for example.

The collision avoidance system applied to the unmanned vehicle (200) can further be configured with a telephoto lens for improved long-distance detection and a fish-eye lens for improved short-distance detection.

In addition, the above Map Building Sensor System can be configured by combining sensors including, for example, a single camera, a stereo camera, an RGB-D camera, an event camera, a 2D LiDAR, and a 3D LiDAR, and ultimately, the above Map Building Sensor System configured by combinations of these sensors can generate a map and process a building using a technique that applies SLAM (Simulaneous Localization and Mapping) or SFM (Structure from Motion) technology.

Of course, the map processed by the Map Building Sensor System can form a space through calculations from complex sensors such as radar, LiDAR, GPS, and cameras, for example, through SLAM (Simulaneous Localization and Mapping).

In particular, LiDAR (Light Detection And Ranging) can be used to detect surrounding objects and obstacles using light by mapping location coordinates based on the measurement of the reflection time of a laser pulse, and can be configured to include a laser transmitter, a laser detector, a signal collection and processing unit, and a data transmission and reception unit.

These LiDARs (Light Detection And Ranging) can detect the distance, direction, material distribution and concentration characteristics of objects with other sensors, along with high accuracy due to rapid data collection and processing, and can operate on the ToF and PS principles depending on the modulation method of the laser signal.

Of course, ToF (Time of Flight) can measure the reflection time of an emitted laser pulse signal (Laser Pulse Signal (905 nm, 1550 nm), for example), and PS (Phase Shift) can measure the change in the reflected phase after the emission of continuous modulation.

In this way, the drone coupling traffic system for autonomous driving of an unmanned vehicle with a third-person view according to the present invention realizes autonomous driving of an unmanned vehicle using a drone in areas such as rural areas, fishing villages, and mountain villages where Internet of Things (IoT) environment-based technology is lacking, or in areas with many obstacles such as radio interference, and not only improves smooth traffic flow through the construction of a management server that controls and manages communication between drones and unmanned vehicles, but also enables rapid identification, response, and countermeasures for the on-site situation in the event of a collision, and is expected to have the effect of reducing the cost consumed in constructing a system necessary for autonomous driving along with smooth autonomous driving of an unmanned vehicle.

Moreover, since the cost of building the systems required for autonomous driving can be reduced, it can contribute to the revitalization of the autonomous driving-related industry, and it can play a significant role not only in the fields of special purpose vehicles and delivery vehicles, but also in industries such as monitoring, mapping, and security, and it can also contribute to the scalability of the platform for intelligent transportation systems linked to drones.

Moreover, as intelligent autonomous driving services are provided, the risk of deaths and accidents due to driver negligence can be reduced, and secondary accidents can be prevented through rapid response.

Additionally, it can save time wasted on the road due to traffic congestion, and autonomous driving can also improve efficiency in industries such as public transportation, freight transport, and public services.

The drone coupling traffic system for autonomous driving of an unmanned vehicle with a third-person view according to the present invention is described as an example with the drawings shown, but is not limited thereto, and various configurations can be added and changed depending on the local conditions or environment.

Drone Department (100) Small Computer (110)
Driverless car (200) and edge computer (210)
Control server (300) server-type computer (310)
First control unit (320) Second control unit (330)

Claims (9)

A drone unit (100) that flies in the air and is equipped with a camera (101) facing the vehicle to control the autonomous driving of the vehicle;
An unmanned vehicle (200) that is connected to the drone unit (100) and performs autonomous driving according to the control of the drone unit (100), and is equipped with a camera (201) in the direction of the drone to control aerial flight with respect to the drone unit (100); and
A control server (300) that relays smooth control communication between the drone unit (100) and the unmanned vehicle (200) and comprehensively controls and manages both the drone unit (100) and the unmanned vehicle (200); including,
A drone coupling traffic system for autonomous driving of an unmanned vehicle having a third-person view, characterized in that, according to the configuration of the camera (101) in the vehicle direction and the camera (201) in the drone direction, the drone unit (100) controls the autonomous driving of the unmanned vehicle (200) with a third-person view to ensure the safety of the autonomous driving of the unmanned vehicle (200), and the unmanned vehicle (200) controls the autonomous flight of the drone unit (100) with a third-person view to ensure the safety of the autonomous flight of the drone unit (100). In the first paragraph, the control server (300)
A drone coupling traffic system for autonomous driving of an unmanned vehicle having a third-person view, characterized in that a server-type computer (310) is further installed, and the server-type computer (310) further includes a first control unit (320) that performs control for unmanned flight of the drone unit (100) and a second control unit (330) that performs control for autonomous driving of the unmanned vehicle (200). In the second paragraph, in the drone part (100),
A drone coupling traffic system for autonomous driving of an unmanned vehicle having a third-person view, characterized in that it further includes a built-in small computer (110) that controls the autonomous driving of the unmanned vehicle (200) by transmitting command signals necessary for autonomous driving. In the third paragraph, the small computer (110)
A drone coupling traffic system for autonomous driving of an unmanned vehicle having a third-person field of view, characterized in that a precision flight controller is further combined to perform control necessary for the flight of the drone unit (100) in an obstacle area that is difficult to control with a first control unit (320) that performs control for the unmanned flight of the drone unit (100). In the second paragraph, in the drone part (100),
The structure also includes the installation of a gimbal required for horizontal shooting of the camera;
A drone coupling traffic system for autonomous driving of an unmanned vehicle with a third-person view, characterized in that the gimbal has a structure that includes installation of a collision avoidance system to prevent the possibility of collision in advance while minimizing shaking of stable spatial mapping and video shooting. In the second paragraph, the collision prevention system installed in the unmanned vehicle (200) is
A drone coupling traffic system for autonomous driving of an unmanned vehicle having a third-person field of view, characterized in that it is composed of a camera-type device type to which an advanced flight driving assistance system is applied, wherein the camera-type device is composed of an ADAS (Advanced Driver Assistance Systems) composed of a processor and a module for autonomous driving functions. In the fifth paragraph, the collision prevention system,
An infrared camera (IR Camera) that uses infrared energy data to detect biological obstacles through thermal imaging, and can also output digital or analog images;
Ultrasonic sensor that detects obstacles at close range and measures distances by emitting short high-frequency sound pulses at regular intervals; and
A pressure sensor that detects height by measuring air pressure based on a pressure sensor element combined with a strain gauge;
A drone coupling traffic system for autonomous driving of an unmanned vehicle having a third-person view characterized by comprising a combined configuration including: In the seventh paragraph, the collision prevention system,
A drone coupling traffic system for autonomous driving of an unmanned vehicle having a third-person view, characterized in that the system further includes a map building sensor system capable of processing map generation. According to the configuration of the vehicle direction camera (101) installed in the drone unit (100) and the drone direction camera (201) installed in the unmanned vehicle (200), the drone unit (100) controls the autonomous driving of the unmanned vehicle (200) with a third-person view, and the unmanned vehicle (200) controls the autonomous flight of the drone unit (100) with a third-person view, and, on the other hand, according to the configuration of the small computer (110) installed in the drone unit (100) and the computational edge computer (210) installed in the unmanned vehicle (200), the drone unit (100) controls the autonomous driving of the unmanned vehicle (200) with a first-person view, and the unmanned vehicle (200) controls the autonomous flight of the drone unit (100) with a first-person view, thereby providing a drone for unmanned autonomous driving having a third-person view characterized in that the third-person view and the first-person view are mixed. Coupling transportation system system.