KR-102964027-B1 - APPARATUS AND METHOD FOR GENERATING CONTROL COMMANDS BASED ON OPERATOR INTENTION OF OPERATION ASSISTANCE SYSTEM FOR REMOTE CONTROL PLATFORM OPERATING IN UNSTRUCTED TERRAIN

KR102964027B1KR 102964027 B1KR102964027 B1KR 102964027B1KR-102964027-B1

Abstract

A control command generation device based on identifying operator intent of an operation assistance system for operating a remote control platform in unstructured terrain includes a generative learning model device that generates a first control command for controlling the driving of a remote control platform using multiple time series data, and an operator intent identification device that identifies the operator's intent based on the first control command and the multiple time series data to generate a second control command, wherein the second control command is generated with a code different from the operator's control input under specific conditions.

Inventors

윤지혁
감규필
오용훈
김수진

Assignees

국방과학연구소

Dates

Publication Date: 20260511
Application Date: 20250514

Claims (16)

In a control command generation device based on identifying operator intent of an operation assistance system for operating a remote control platform in unstructured terrain, A generative learning model device that generates a first control command for controlling the driving of a remote control platform using a plurality of time series data including platform status information time series data, environment information time series data, and control input time series data; and It includes an operator intent identification device that identifies the operator's intent based on the first control command and the plurality of time series data and generates a second control command. The above-mentioned operator intent recognition device is, An operable area generation unit that generates a drivable area using the platform state information time series data and the environment information time series data; An operational path classification unit that classifies a driving path based on the above-mentioned drivable area; and It includes a control command output unit that outputs any one of the first control command, the operator's control input, and the intermediate value between the first control command and the control input as the second control command. The control command output unit compares the first control command with the operator's control input during the length of a predetermined time series data, and when the difference between the size of the first control command and the size of the control input gradually decreases and the size of the first control command and the size of the control input match, it outputs the first control command as a second control command, and transmits the second control command to the operation path classification unit as corresponding environmental information and correct answer data for each driving path at that time. The above-mentioned operation path classification unit is a control command generation device based on identifying operator intent that corrects a first control command into a second control command when there is correct answer data for each driving path.
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In Article 1, The above-mentioned operable area generating unit is, A control command generation device based on identifying operator intent that generates a rear drivable area based on the driving direction based on past platform state information time series data and environment information time series data from time tn to time t-1, and generates a forward drivable area based on the driving direction based on current platform state information time series data and environment information time series data at time t.
In Paragraph 4, The above-mentioned operable area generating unit is, The rear drivable area is generated by multiplying the n spatial information, which is the sum of the drivable vectors from time tn to time t-1 and the space occupied by the volume according to the position and attitude of the platform at each time point, by a weight, and then summing the n spaces. A control command generation device based on operator intent recognition, wherein the above weight is close to 1 as it approaches time t-1, decreases in the form of a negative exponential function as it moves away from time t-1, and converges to 0 at time tn.
In Article 1, The above-mentioned operation path classification unit is, A control command generation device based on operator intent recognition that classifies the driving path to be driven by the remote control platform according to the first control command into a straight path, a curved path, a positive slope obstacle, and a negative slope obstacle.
In Article 1, The above-mentioned operation path classification unit is, Answer sheet data for each driving path can be obtained through the second control command above, and A control command generation device based on identifying operator intent, which corrects the first control command in a direction that minimizes collision prediction path avoidance and platform state oscillation when there is no correct answer data for each driving path, and corrects the first control command with the correct answer data for each driving path when there is data for each driving path.
In Article 1, The above control command output unit is, A control command generation device based on identifying operator intent, which outputs the first control command as a second control command when there is no control input from the operator, but outputs the second control command only during the delay time caused by remote control.
In Article 1, The above control command output unit is, A control command generation device based on identifying operator intent, which, when the control input of the operator and the first control command have the same direction but different magnitudes, immediately applies the first control command and outputs the first control command as the second control command.
In Article 9, The above control command output unit is, A control command generation device based on identifying an operator's intention, which compares a first control command with an operator's control input during the length of a predetermined number of time series data, and outputs the operator's control input as the second control command when the difference between the size of the first control command and the size of the control input is maintained or gradually increases.
In Article 9, The above control command output unit is, A control command generation device based on identifying operator intent that compares a first control command with an operator's control input during the length of a predetermined number of time series data, and outputs an intermediate value between the first control command and the control input as the second control command when the difference between the size of the first control command and the size of the control input gradually decreases.
In Article 1, The above control command output unit is, A control command generation device based on identifying an operator's intention, which, when the direction and magnitude of the operator's control input and the first control command are different, immediately applies the operator's control input and outputs the operator's control input as a second control command.
In Article 12, The above control command output unit is, A control command generation device based on identifying operator intent that compares a first control command with an operator's control input during the length of a predetermined number of time series data, and maintains the application of the operator's control input when the difference between the size of the first control command and the size of the control input is maintained or gradually increases.
In Article 12, The above control command output unit is, A control command generation device based on identifying operator intent that compares a first control command with an operator's control input during the length of a predetermined number of time series data, and outputs an intermediate value between the first control command and the control input as the second control command when the difference between the size of the first control command and the size of the control input gradually decreases.
In a method for generating control commands based on identifying operator intent of an operation assistance system for operating a remote control platform in unstructured terrain, A step of generating a first control command for controlling the driving of a remote control platform using a plurality of time series data including platform status information time series data, environment information time series data, and control input time series data; and It includes the step of generating a second control command by identifying the operator's intention based on the first control command and the operator's control input. Depending on the case, any one of the first control command, the operator's control input, and the intermediate value between the first control command and the control input is output as the second control command, and A method for generating a control command based on identifying an operator's intent, wherein a first control command is compared with an operator's control input during a predetermined time series data length, and when the difference between the size of the first control command and the size of the control input gradually decreases until the size of the first control command and the size of the control input match, the first control command is output as a second control command, and the second control command is used as corresponding environmental information and correct answer data for each driving path at a given time point, and the first control command is corrected into the second control command when the correct answer data for each driving path exists.
In Article 15, If there is no control input from the above operator, the above first control command is output as a second control command, provided that the above second control command is output only for the duration of the delay time caused by remote control, and If the control input of the above operator and the first control command have the same direction but different magnitudes, the first control command is immediately applied and the first control command is output as the second control command, and A method for generating a control command based on identifying an operator's intention, wherein when the direction and magnitude of the operator's control input and the first control command are different, the operator's control input is immediately applied and the operator's control input is output as a second control command.

Description

Apparatus and method for generating control commands based on operator intent of operation assistance system for operating a remote control platform in unstructured terrain The present invention relates to an apparatus and method for generating control commands based on identifying the operator's intent in an operation assistance system, which enables remote platform control reflecting the operator's intent in specific situations while ensuring the safety of the operator in unstructured terrain where lanes do not exist, such as open fields, rough terrain, or military operation areas. Although operational assistance systems for various platforms are being developed in structured environments, their scope of application is still limited to low-speed operations on paved roads with lanes and airborne platforms without obstacles. Even in these cases, there are significant limitations to their application in unstructured environments because it is difficult to learn or update environmental or obstacle information that the system can perceive and prepare for in real time. In particular, they have not yet been applied to military platforms that have been put into service, and operational assistance systems for military platforms currently under development are being developed for safety reasons, with the purpose of returning along a previously traveled route or applying them restrictively only within certain structured environments in the operational area. FIG. 1 is a block diagram showing a control command generation device based on identifying the operator's intent of an operation assistance system for operating a remote control platform in unstructured terrain according to an embodiment of the present invention. FIG. 2 is a flowchart illustrating a method for generating control commands based on identifying the operator's intent of an operation assistance system for operating a remote control platform in unstructured terrain according to an embodiment of the present invention. Figure 3 shows an example of a drivable area and a drivable vector generated based on sensor acquisition information. Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings so that those skilled in the art can easily implement the present invention. The present invention may be embodied in various different forms and is not limited to the embodiments described herein. To clearly explain the present invention, parts unrelated to the explanation have been omitted, and the same reference numerals are used for identical or similar components throughout the specification. Furthermore, throughout the specification, when a part is described as "including" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components. Hereinafter, with reference to FIGS. 1 to 3, an apparatus and method for generating control commands based on identifying the operator's intent of an operation assistance system for operating a remote control platform in unstructured terrain according to an embodiment of the present invention will be described. FIG. 1 is a block diagram illustrating a control command generation device based on identifying operator intent of an operation assistance system for operating a remote control platform in unstructured terrain according to an embodiment of the present invention. FIG. 2 is a flowchart illustrating a control command generation method based on identifying operator intent of an operation assistance system for operating a remote control platform in unstructured terrain according to an embodiment of the present invention. FIG. 3 shows an example of a drivable area and a drivable vector generated based on sensor acquisition information. Referring to FIGS. 1 to 3, a control command generation device (100) based on operator intent recognition according to one embodiment of the present invention may be included in an operation assistance system for operating a remote control platform in unstructured terrain. Unstructured terrain may refer to terrain where there are no markings, such as lanes, for driving a remote control platform. For example, unstructured terrain may include open fields, rough terrain, military operation areas, etc. Remote control does not mean autonomy where there is no operator control input, but may mean a case where there is a continuous presence of operator control input. Platforms may include ground platforms capable of remote control (e.g., vehicles, ground robots, etc.), air platforms (e.g., unmanned aerial vehicles), surface platforms (e.g., unmanned vessels), underwater platforms (e.g., unmanned submarines), etc. For example, among ground platforms, a leg-shaped platform may have three input axes including rudder control, and an air platform or underwater platform may have four input axes including throttle control. Unlike structured environments with paved an