Patent Publication Number: US-2022234845-A1

Title: Method and apparatus for providing automatic shipping by using autonomous driving vehicle

Description:
TECHNICAL FIELD 
     The disclosure relates to a method and apparatus for providing automatic shipping by an autonomous driving vehicle. 
     BACKGROUND ART 
     The following information is presented as background information only to assist with an understanding of the present disclosure. No determination has been made, and no assertion is made, as to whether any of the above might be applicable as prior art with regard to the present disclosure. 
     An autonomous driving system is a system capable of automatically driving to a predetermined destination without a driver&#39;s intervention by recognizing the surroundings and a vehicle condition. The autonomous driving system operates in the steps of recognition, determination, route generation, and vehicle control. In the route generation step, and an avoidance path is generated in real time by identifying a change in an obstacle, and a route is generated by reflecting the kinematic behavior of the vehicle. 
     Particularly in the route generation step, a stable driving path should be generated in consideration of collision with adjacent dynamic obstacles because various dangerous situations may occur when the autonomous driving vehicle attempts to change lanes in an urban area, a congested section, and a highway that are changed in real time. Therefore, research has been continuously conducted on generation of a driving path that enables an autonomous driving vehicle to change lanes stably. 
     In general, the autonomous driving vehicle recognizes lanes at both sides of a driving lane and travels in the middle of the recognized lanes. The autonomous driving vehicle generates candidate paths within lanes in consideration of adjacent vehicles or obstacles, and travels biased from the center of the driving lane by selecting a local path within the lane (the boundaries of the driving lane) to avoid collision with an obstacle and ensure safety. 
     In general, to take out a vehicle from a factory and then load the vehicle onto a ship, human driving is involved in primary movement of a car carrier vehicle loaded with the vehicle to a vehicle loading dock, secondary movement of the vehicle from the car carrier vehicle to a waiting place for shipment, and third movement of the vehicle from the waiting place for shipment to the ship. 
     In the above-described shipping procedure, human driving is involved in every process, and cost is expended each time the vehicle is loaded and unloaded. Therefore, there is a need for a technique for automatic shipping by using an autonomous driving vehicle. 
     DISCLOSURE 
     Technical Problem 
     Provided are a method and apparatus for providing automatic shipping by using an autonomous driving vehicle, which are applied to the technical field of moving a vehicle first to a vehicle loading dock and then to a loading location on a ship, and fixing the vehicle to the ship, so that a vehicle is automatically loaded onto a ship by autonomous driving of the vehicle based on the map of a loading dock and the ship, and destination information. 
     Technical Solution 
     According to an aspect of the disclosure, an automatic shipping apparatus includes a database configured to store traffic-related information about a road by mapping the traffic-related information to a map, a communication module configured to communicate with autonomous driving vehicles based on a wireless network, a vehicle transportation controller configured to calculate a first autonomous driving path for movement from a factory to an entrance of a vehicle loading dock, and transmit information about the first autonomous driving path to a car carrier vehicle, a vehicle standby controller configured to calculate a second autonomous driving path for movement from the entrance of the vehicle loading dock to a waiting area for shipment for each of a plurality of autonomous driving vehicles loaded on the car carrier vehicle, and transmit information about the second autonomous driving path to the autonomous driving vehicle, and a vehicle shipment controller configured to calculate a third autonomous driving path for movement from the waiting area for shipment into a ship according to whether the ship has entered a port, and transmit information about the third autonomous driving path to each of the plurality of autonomous driving vehicles. 
     According to another aspect of the disclosure, an automatic shipping method includes calculating a first autonomous driving path for movement from a factory to an entrance of a vehicle loading dock, enabling autonomous driving of a car carrier vehicle to the entrance of the vehicle loading dock by transmitting information about the first autonomous driving path to the car carrier vehicle, calculating a second autonomous driving path for movement from the entrance of the vehicle loading dock to a waiting area for shipment, for each of a plurality of autonomous driving vehicles loaded on the car carrier vehicle, enabling autonomous driving of each of the plurality of autonomous driving vehicles to the waiting area for shipment by transmitting information about the second autonomous driving path to the autonomous driving vehicle, calculating a third autonomous driving path for movement from the waiting area for shipment to the inside of a ship according to whether the ship has entered a port, and enabling autonomous driving of each of the plurality of autonomous driving vehicles to a shipment place inside the ship by transmitting information about the third autonomous driving path to the autonomous driving vehicle. 
     Advantageous Effects 
     The embodiment is applied to the technical field of moving a vehicle first to a vehicle loading dock and then to a loading location of a ship, and fixing the vehicle onto the ship, so that a vehicle is automatically loaded onto a ship by autonomous driving of the vehicle based on a map of a loading dock and the ship, and destination information. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a block diagram illustrating an automatic shipping apparatus using an autonomous driving vehicle according to an embodiment of the disclosure. 
         FIG. 2  is a diagram illustrating a method of moving from a factory to an entrance of a vehicle loading dock by autonomous driving according to an embodiment of the disclosure. 
         FIG. 3  is a diagram illustrating a method of moving from the entrance of the vehicle loading dock to a waiting area for shipment by autonomous driving according to an embodiment of the disclosure. 
         FIG. 4  is a diagram illustrating a method of moving from the waiting area for shipment into a ship according to an embodiment of the disclosure. 
         FIG. 5  is a diagram illustrating a storage area inside the ship according to an embodiment of the disclosure. and 
         FIG. 6  is a diagram illustrating a method of automatic shipping by using an autonomous driving vehicle according to an embodiment of the disclosure. 
     
    
    
     DESCRIPTION OF REFERENCE NUMERALS 
       100 : automatic shipping apparatus 
       110 : communication module 
       120 : vehicle transportation controller 
       130 : vehicle standby controller 
       140 : vehicle shipment controller 
       150 : database 
       210 : factory 
       220 : car carrier vehicle 
       230 : autonomous driving vehicle 
       240 : vehicle loading dock 
       250 : vehicle 
     DETAILED DESCRIPTION OF EMBODIMENTS 
     With reference to the attached drawings, an embodiment of the disclosure will be described in detail. 
       FIG. 1  is a block diagram illustrating an automatic shipping apparatus using an autonomous driving vehicle according to an embodiment of the disclosure. 
     In general, to load a vehicle on a ship, human driving is involved in primary movement of the vehicle to a loading dock, secondary movement of the vehicle from the loading dock to a waiting place for shipment, and third movement of the vehicle from the waiting place for shipment to a loading location on a ship. 
     An automatic shipping apparatus  100  according to an embodiment of the disclosure is applied to the afore-described vehicle transportation and shipment field and automatically loads a vehicle on a ship based on a map of a loading dock and a ship and destination information through autonomous driving of the vehicle. 
     The automatic shipping apparatus  100  provides a total solution that encompasses providing of driving information for driving from a factory  210  to a ship  250  and destination locations at once in order to automatically load an autonomous driving vehicle  230  to the ship  250 . 
     The automatic shipping apparatus  100  according to the embodiment provides a self-driving car implemented as an unmanned vehicle. A major field in which the automatic shipping apparatus  100  according to the embodiment may find its applications is preferably an automobile-only terminal operating system, which should not be construed as limiting the disclosure. The automatic shipping apparatus  100  refers to a system that provides a data service and collects data charges each time an autonomous driving vehicle is loaded as cargo into a terminal or a ship. 
     The automatic shipping apparatus  100  stores information about the internal layout of the ship  250  into a database. The automatic shipping apparatus  100  allocates each vehicle zone of a vehicle loading dock  240  and loads a vehicle from the vehicle zone to each ship  250 . 
     When loading the autonomous driving vehicle  230  onto the ship  250 , the automatic shipping apparatus  100  generates a loading location inside the ship  250  in real time based on an arrival time of the ship  250  at a port. That is, the automatic shipping apparatus  100  determines a loading location inside the ship  250  according to the destination of the autonomous driving vehicle  230  or the type of cargo. 
     The automatic shipping apparatus  100  according to the embodiment includes a communication module  110 , a vehicle transportation controller  120 , a vehicle standby controller  130 , a vehicle shipment controller  140 , a database  150 , and a charge calculator  160 . The automatic shipping apparatus  100  are not necessarily limited to the above components. 
     The components of the automatic shipping apparatus  100  may be connected to a communication path connecting software modules or hardware modules inside the apparatus  100  to organically operate with each other. These components communicate with each other by using one or more communication buses or signal lines. 
     Each component of the automatic shipping apparatus  100  illustrated in  FIG. 1  is a unit for processing at least one function or operation, and may be implemented as a software module, a hardware module, or a combination of software and hardware. 
     The automatic shipping apparatus  100  includes a memory storing a program or protocol for communicating with a car carrier vehicle  220  and the autonomous driving vehicle  230  through a network, a microprocessor for executing the program and performing computation and control, and so on. 
     The communication module  110  is a communication means for executing a function of interworking with the car carrier vehicle  220  and the autonomous driving vehicle  230  through the network, and transmits and receives various data. The communication module  110  communicates with autonomous driving vehicles through a wireless network. 
     The automatic shipping apparatus  100  includes a microprocessor for executing a corresponding program to perform computations and control. The microprocessor is a functional module which may include the vehicle transportation controller  120 , the vehicle standby controller  130 , and the vehicle shipment controller  140 . 
     The microprocessor is a control means that provides overall control to the functionalities of the automatic shipping apparatus  100 , and controls the communication module  110  to communicate with the car carrier vehicle  220  and the autonomous driving vehicle  230 . 
     The vehicle transportation controller  120  calculates a first autonomous driving path from the factory  210  to the entrance of the vehicle loading dock  240 . The vehicle transportation controller  120  transmits information about the first autonomous driving path to the car carrier vehicle  220  through the network. 
     Upon receipt of a loading completion signal from the car carrier vehicle  220 , the vehicle transportation controller  120  generates the first autonomous driving path by applying information about a road sign, the location of a traffic light, and the location of a building on a road from the factory  210  to the entrance of the vehicle loading dock  240 . 
     The vehicle transportation controller  120  receives surroundings information obtained by sensing the surroundings and vehicle driving information based on driving from the car carrier vehicle  220 , and determines whether the vehicle is driving based on the surroundings information and the vehicle driving information. Upon receipt of a lane change signal from the car carrier vehicle  220 , the vehicle transportation controller  120  calculates a driving path and a speed for changing a lane by using the surroundings information and the vehicle driving information, and transmits information about the calculated driving path and speed to the car carrier vehicle  220 . 
     The vehicle transportation controller  120  receives surroundings information including information about a road, the speed of a dynamic obstacle, a longitudinal acceleration, a lateral acceleration, and a location, which have been detected by at least one of a camera, a distance sensor, or a location sensor of the car carrier vehicle  220 . 
     The vehicle transportation controller  120  receives vehicle driving information including information about the speed and location of the vehicle which have been detected by a speed sensor and the location sensor of the car carrier vehicle  220 . 
     Upon detection of another vehicle driving in a driving lane, the vehicle transportation driver  120  controls the speed of the car carrier vehicle  220  so that the car carrier vehicle  220  is maintained at a predetermined safe distance from the other vehicle. When another vehicle is not detected, the vehicle transportation controller  120  controls the speed of the car carrier vehicle  220  to a safe speed. 
     The vehicle standby controller  130  calculates a second autonomous driving path in which each of a plurality of autonomous driving vehicles  230  loaded on the car carrier vehicle  220  is moved from the entrance of the vehicle loading dock  240  to the waiting area for shipment. The vehicle standby controller  130  transmits information about the second autonomous driving path for each autonomous driving vehicle  230  to the autonomous driving vehicle  230  through the network. 
     Upon receipt of a transportation completion signal from the car carrier vehicle  220  that has arrived at the entrance of the vehicle loading dock  240 , the vehicle standby controller  130  generates second autonomous driving paths that allocate waiting areas of the vehicle loading dock  240 , in which the plurality of autonomous driving vehicles loaded on the car carrier vehicle  220  are to get off, according to the size of the vehicle loading dock  240  and the number of the plurality of autonomous driving vehicles  230  loaded on the car carrier vehicle  220 . 
     The vehicle standby controller  130  transmits information about a second autonomous driving path for each of the plurality of autonomous driving vehicles  230  loaded on the car carrier vehicle  220  to the autonomous driving vehicle  230  by applying information about a road, the location of a building, a waiting area, and a cargo handling area in the vehicle loading dock  240 , to enable the autonomous driving vehicles  230  to move to the waiting areas for shipment, which are pre-allocated waiting areas of the vehicle loading dock  240 . 
     The vehicle shipment controller  140  calculates a third autonomous driving path in which each of the plurality of the autonomous driving vehicles  230  moves from a waiting area for shipment to the inside of the ship  250  according to whether the ship  250  has arrived at the port. The vehicle shipment controller  140  transmits information about the third autonomous driving path to each of the plurality of autonomous driving vehicles  230  through the network. 
     Upon receipt of an arrival completion signal from the ship  250  entering the port, the vehicle shipment controller  140  selects a specific waiting area for shipment in which a vehicle to be loaded on the ship  250  is located among a plurality of waiting areas for shipment, and generates a third autonomous driving path which is a driving path from the specific waiting area for shipment to the inside of the ship  250 . 
     The vehicle shipment controller  140  transmits information about the third autonomous driving path to each of a plurality of autonomous driving vehicles  230  located in the specific waiting area for shipment by applying information about a vehicle unloading order, the internal layout of the ship  250 , and a storage area, to enable the autonomous driving vehicle  230  to move a pre-allocated shipment place. 
     The database  150  manages a general data structure implemented in a storage space (hard disk or memory) of a computer system by using a database management program (DBMS). 
     The database  150  may search (extract), delete, edit, and add data. The database  150  manages data by using a relational database management system (RDBMS). The database  150  has fields or elements to manage the data. 
     The database  150  stores traffic-related information on a road (a sign, the location of a traffic light, and the location of a building) by mapping the traffic-related information onto a map. The map stored in the database  150  is a map different from a general three-dimensional (3D) map, and has DNA information about the road (the sign, the location of the traffic light, and the location of the building). The database  150  includes a road database, a loading dock database, and a ship database. 
     The road database stores information about a road sign, the location of a traffic light, and the location of a building by mapping the information to a road map. The loading dock database stores information about a path and the location of a building inside the loading dock by mapping the information to a loading dock map. The ship database stores information about the internal layout and the storage area of the ship  250  by mapping the information to a ship inside map. 
     The charge calculator  160  settles a charge for data transmitted to the autonomous driving vehicles  230  and the car carrier vehicle  220 . 
       FIG. 2  is a diagram illustrating a method of moving from the factory to the entrance of the vehicle loading dock  240  by autonomous driving according to the embodiment. 
     The car carrier vehicle  220  is a self-driving capable vehicle which transports a plurality of autonomous driving vehicles  230  loaded from the factory  210 . The autonomous driving vehicles  230  loaded on the car carrier vehicle  220  also refer to vehicles capable of self-driving. 
     The automatic shipping apparatus  100  provides data required for autonomous driving to the autonomous driving vehicles  230  and the car carrier vehicle  220  based on a network technology. The autonomous driving vehicles  230  and the car carrier vehicle  220  autonomously drive based on the data received from the automatic shipping apparatus  100  based on the network. 
     The automatic shipping apparatus  100  extracts information to appear during driving of the autonomous driving vehicles  230  and the car carrier vehicle  220  from the DNA information pre-stored in the database  150 , and transmits data enabling autonomous driving to the autonomous driving vehicles  230  and the car carrier vehicle  220  through the network. 
     The car carrier vehicle  220  determines its location, traveling speed, and direction based on the data received from the automatic shipping apparatus  100  through the network. The car carrier vehicle  220  calculates a distance to a preceding vehicle by using a lidar provided in the car carrier vehicle  220 , and communicates with a vehicle on a side of the car carrier vehicle  220 . 
     The automatic shipping apparatus  100  collects data about roads, the port, and the ship so that the autonomous driving vehicles  230  may be loaded onto the ship by full autonomous driving. Information about a road, the inside of the loading dock, and the inside of the ship stored in the database  150  by the automatic shipping apparatus  100  is converted into a database structure based on information collected by a vehicle with a sensor attached thereto or a collection device. 
     The car carrier vehicle  220  is loaded with the autonomous driving vehicles  230  at the factory  210 . When the loading of the autonomous driving vehicles  230  is completed, the car carrier vehicle  220  transmits a loading completion signal to the automatic shipping apparatus  100  through the network. 
     The automatic shipping apparatus  100  calculates the first autonomous driving path in which the car carrier vehicle  220  moves from the factory  210  to the entrance of the vehicle loading dock  240 . The automatic shipping apparatus  100  transmits information about the first autonomous driving path to the car carrier vehicle  220  through the network. 
     Upon receipt of the a loading completion signal from the car carrier vehicle  220 , the automatic shipping apparatus  100  generates the first autonomous driving path reflecting information about a road sign, the location of a signal light, and the location of a building between the factory  210  in which the car carrier vehicle  220  is located to the entrance of the vehicle loading dock  240 . 
     The car carrier vehicle  220  receives the first autonomous driving path corresponding to the a loading completion signal from the automatic shipping apparatus  100  through the network. The car carrier vehicle  220  transports the cargo in the first autonomous driving path from the factory  210  to the entrance of the vehicle loading dock  240  by autonomous driving. 
     The automatic shipping apparatus  100  receives surroundings information sensed from the surroundings and vehicle driving information based on driving from the car carrier vehicle  220 . The automatic shipping apparatus  100  determines whether the car carrier vehicle  220  is moving based on the surroundings information and the vehicle driving information. Upon receipt of a lane change signal from the car carrier vehicle  220 , the automatic shipping apparatus  100  calculates a driving path and a speed for a lane change based on the surroundings information and the vehicle driving information and transmits information about the driving path and the speed to the car carrier vehicle  220 . 
     The automatic shipping apparatus  100  receives the surroundings information including information about a road, the speed of a dynamic obstacle, a longitudinal acceleration, a lateral acceleration, and a location, which have been detected by at least one of the camera, the distance sensor, and the location sensor of the car carrier vehicle  220 . 
     The automatic shipping apparatus  100  receives the vehicle driving information including information about the speed and location of the vehicle which have been detected by the speed sensor and the location sensor of the car carrier vehicle  220 . 
     Upon detection of another vehicle driving in a driving lane, the automatic shipping apparatus  100  controls the speed of the car carrier vehicle  220  so that the other vehicle is maintained at a predetermined safe distance. When another vehicle is not detected, the automatic shipping apparatus  100  controls the speed of the car carrier vehicle  220  to a safe speed. 
       FIG. 3  is a diagram illustrating a method of moving from the entrance of the vehicle loading dock to the waiting area for shipment by autonomous driving according to the embodiment. 
     As illustrated in  FIG. 3 , when the autonomous driving vehicles  230  loaded on the car carrier vehicle  220  arrive as cargo, the automatic shipping apparatus  100  determines an area in which the arrived cargo will be unloaded. The automatic shipping apparatus  100  determines a zone of the vehicle loading dock  240  or the port, in which the autonomous driving vehicles  230  will be unloaded from the car carrier vehicle  220 . 
     After arriving at the entrance of the vehicle loading dock  240 , the car carrier vehicle  220  transmits a transportation completion signal to the automatic shipping apparatus  100  through the network. In other words, when the car carrier vehicle  220  arrives at the vehicle loading dock  240 , the car carrier vehicle  220  transmits the transportation completion signal and information about a parking location to the automatic shipping apparatus  100  through the network. The automatic shipping apparatus  100  receives the transportation completion signal from the car carrier vehicle  220  that has arrived at the entrance of the vehicle loading dock  240 . 
     After parking at a predetermined cargo handling area at the entrance of the vehicle loading dock  240 , the car carrier vehicle  220  automatically opens a cargo fixing device to automatically unload a plurality of autonomous driving vehicles  230  from the car carrier vehicle  220 . 
     Upon receipt of a parking completion signal and the information about the parking location from the car carrier vehicle  220 , the automatic shipping apparatus  100  determines a place in which the cargo will get off and wait (a waiting area for shipment) in the vehicle loading dock  240 . 
     For each of the plurality of autonomous driving vehicles  230  loaded on the car carrier vehicle  220 , the automatic shipping apparatus  100  calculates a second autonomous driving path in which the autonomous driving vehicle  230  is to move from the entrance of the vehicle loading dock  240  to a waiting area for shipment (e.g., one of waiting area for shipment A, waiting area for shipment B, and waiting area for shipment C). 
     For each of the plurality of autonomous driving vehicles  230  loaded on the car carrier vehicle  220 , the automatic shipping apparatus  100  calculates the second autonomous driving path in which the autonomous driving vehicle  230  is to move from the entrance of the vehicle loading dock  240  to a waiting area for shipment (e.g., one of waiting area for shipment A, waiting area for shipment B, and waiting area for shipment C). Then, the automatic shipping apparatus  100  transmits information about the second autonomous driving path for each of the plurality of autonomous driving vehicles  230  to the autonomous driving vehicle  230 . 
     The automatic shipping apparatus  100  generates second autonomous driving paths with waiting areas of the vehicle loading dock  240  allocated thereto, in which the plurality of autonomous driving vehicles  230  loaded on the car carrier vehicle  220  are to get off, according to the size of the vehicle loading dock  240  and the number of the plurality of autonomous driving vehicles  230  loaded on the car carrier vehicle  220 . 
     The automatic shipping apparatus  100  transmits information about a place in which each of the plurality of autonomous driving vehicles  230  loaded on the car carrier vehicle  220  is to get off and wait (a waiting area for shipment) to the autonomous driving vehicle  230 . The automatic shipping apparatus  100  transmits information about the second autonomous driving path to each of the plurality of autonomous driving vehicles  230  through the network. 
     The automatic shipping apparatus  100  transmits information about the second autonomous driving path reflecting information about a road, the location of a building, a waiting area, and a cargo handling area in the vehicle loading dock  240  to each of the plurality of autonomous driving vehicles  230 , to enable the autonomous driving vehicle  230  to move to the waiting area for shipment, which is a pre-allocated waiting area of the vehicle loading dock  240 . 
     Each of the plurality of autonomous driving vehicles  230  autonomously moves to the waiting area for shipment (e.g., one of waiting area for shipment A, waiting area for shipment B, and waiting area for shipment C) inside the vehicle loading dock  240  based on the data received from the automatic shipping apparatus  100  through the network. In other words, the autonomous driving vehicle  230  moves from the entrance of the vehicle loading dock  240  to the waiting area for shipment inside the vehicle loading dock  240 . 
     Each of the plurality of autonomous driving vehicles  230  autonomously moves to the waiting place (the waiting area for shipment) based on the data received from the automatic shipping apparatus  100  and then parks. 
     Each of the autonomous driving vehicles  230  determines its location, traveling speed, and direction based on the data received from the automatic shipping apparatus  100  through the network. The autonomous driving vehicle  230  calculates a distance to a preceding vehicle by using a lidar of the autonomous driving vehicle  230 , and communicates with a vehicle on a side of the autonomous driving vehicle  230 . 
       FIG. 4  is a diagram a method of moving from the waiting area for shipment to the inside of the ship according to the embodiment. 
     When the ship  250  enters the port, the ship  250  transmits a port arrival signal to the automatic shipping apparatus  100  through the network. The automatic shipping apparatus  100  receives a port arrival completion signal from the ship  250  entering the port. 
     Upon receipt of the port arrival signal, the automatic shipping apparatus  100  determines a loading area inside the ship  250  in response to the port arrival signal. When the ship  250  arrives at the vehicle loading dock  240  or the port, the automatic shipping apparatus  100  determines a zone of the ship  250  in which to load the autonomous driving vehicles  230 . 
     The automatic shipping apparatus  100  generates a third autonomous driving path, which is a driving path from a specific waiting area for shipment to the inside of the ship  250 . The automatic shipping apparatus  100  selects a specific waiting area for shipment in which a vehicle to be loaded onto the ship  250  is located from among a plurality of waiting areas for shipment. 
     The automatic shipping apparatus  100  calculates the third autonomous driving path in which the autonomous driving vehicle  230  is to move from the waiting area for shipment to the inside of the ship  250  according to whether the ship  250  has entered the port. The automatic shipping apparatus  100  transmits information about a third autonomous driving path for each of the autonomous driving vehicles  230  to the autonomous driving vehicle  230  through the network. 
     The automatic shipping apparatus  100  transmits data that enables each of a plurality of autonomous driving vehicles  230  parked in the waiting area for shipment to be loaded at a specific location inside the ship  250  to the autonomous driving vehicle  230 . The automatic shipping apparatus  100  transmits, to each of the plurality of autonomous driving vehicles  230  located in the specific waiting area for shipment, information about the third autonomous driving path for the autonomous driving vehicle  230  by applying a vehicle unloading order, information about the internal layout of the ship  250 , and information about the storage area of the ship  250 , to enable the autonomous driving vehicle  230  to move to the loading place which is a pre-allocated area of the ship  250 . 
     As illustrated in  FIG. 4 , when each of the plurality of autonomous driving vehicles  230  receives data from the automatic shipping apparatus  100  while waiting in the waiting area for shipment, the autonomous driving vehicle  230  autonomously moves to the inside of the specific ship  250  based on the data. That is, the automatic shipping apparatus  100  continuously provides the autonomous driving vehicle  230  with information about each destination of the cargo in the transportation process. 
     Each of the plurality of autonomous driving vehicles  230  is autonomously loaded to the corresponding location inside the ship  250 . Then, when the ship  250  moves to a destination, each of the plurality of autonomous driving vehicles  230  loaded on the ship  250  is unloaded to a destination location based on data received from the automatic shipping apparatus  100 . 
       FIG. 5  is a diagram illustrating the storage area of the ship according to the embodiment. 
     As illustrated in  FIG. 5 , the automatic shipping apparatus  100  includes a ship database that stores information about the internal layout and storage area of the ship  250  by mapping the information to a map of the inside of the ship  250 . 
     The automatic shipping apparatus  100  determines a shipping location that leads to shipment of as many autonomous driving vehicles  230  as possible by optimizing shipping locations inside the ship  250 . The automatic shipping apparatus  100  transmits data of the determined loading location inside the ship  250  to each autonomous driving vehicle  230 . 
       FIG. 6  is a flowchart illustrating an automatic shipping method using an autonomous driving vehicle according to the embodiment. 
     The automatic shipping apparatus  100  calculates a first autonomous driving path in which an autonomous driving vehicle is to move from the factory  210  to the entrance of the vehicle loading dock  240  (S 610 ). In step S 610 , upon receipt of a loading completion signal from the car carrier vehicle  220 , the automatic shipping apparatus  100  generates a first autonomous driving path reflecting information about a sign, the location of a signal light, and the location of a building on a road from the factory  210  in which the car carrier vehicle  220  is located to the entrance of the vehicle loading dock  240 . 
     The automatic shipping apparatus  100  receives surroundings information sensed from the surroundings and vehicle driving information based on driving from the car carrier vehicle  220 , and determines whether the vehicle is moving based on the surroundings information and the vehicle driving information. 
     Upon receipt of a lane change signal from the car carrier vehicle  220 , the automatic shipping apparatus  100  calculates a driving path and a speed for a lane change based on the surroundings information and the vehicle driving information. 
     The automatic shipping apparatus  100  receives surroundings information including information about a road around the vehicle, the speed of a dynamic obstacle, a longitudinal acceleration, a lateral acceleration, and a location, which have been detected by at least one of the camera, the distance sensor, and the location sensor provided in the car carrier vehicle  220 . 
     The automatic shipping apparatus  100  receives vehicle driving information including information about the speed and location of the vehicle, which have been detected by the speed sensor and the location sensor of the car carrier vehicle  220 . 
     Upon detection of another vehicle traveling in a driving lane, the automatic shipping apparatus  100  controls the speed of the car carrier vehicle  220  so that the other vehicle is maintained at a predetermined safe distance. 
     When another vehicle is not detected, the automatic shipping apparatus  100  controls the speed of the car carrier vehicle  220  to a safe speed. 
     The automatic shipping apparatus  100  transmits information about the first autonomous driving path to the car carrier vehicle  220  through a network (S 620 ). After step S 620 , the automatic shipping apparatus  100  calculates a charge for the data transmitted to the car carrier vehicle  220 . 
     The automatic shipping apparatus  100  calculates a second autonomous driving path for each of a plurality of autonomous driving vehicles  230  loaded on the car carrier vehicle  220 , so that the autonomous driving vehicle  230  moves from the entrance of the vehicle loading dock  240  to a waiting area for shipment in the second autonomous driving path (S 630 ). 
     In step S 630 , the automatic shipping apparatus  100  receives a transportation completion signal from the car carrier vehicle  220  arriving at the entrance of the vehicle loading dock  240 . Then, the automatic shipping apparatus  100  generates a second autonomous driving path to which a waiting area of the vehicle loading dock  240  for unloading each of the plurality of vehicles from the car carrier vehicle  220  is allocated, based on the size of the vehicle loading dock  240  and the number of the plurality of autonomous driving vehicles  230  loaded on the car carrier vehicle  220 . 
     The automatic shipping apparatus  100  transmits, to each of the plurality of autonomous driving vehicles  230 , information about the second autonomous driving path for the autonomous driving vehicle through the network (S 640 ). After step S 640 , the automatic shipping apparatus  100  calculates a charge for the data transmitted to the autonomous driving vehicles  230 . 
     In step S 640 , the automatic shipping apparatus  100  transmits, to each of the plurality of autonomous driving vehicles  230 , information about a second autonomous driving path reflecting information about a road, the location of a building, the waiting area, and a cargo handling area inside the vehicle loading dock  240 , so that the autonomous driving vehicle may move to the waiting area for shipment, which is a pre-allocated waiting area of the vehicle loading dock  240 . 
     The automatic shipping apparatus  100  calculates a third autonomous driving path for movement from the waiting area for shipment to the inside of the ship  250  according to whether the ship  250  enters the port (S 650 ). 
     In step S 650 , the automatic shipping apparatus  100  receives a port arrival completion signal from the ship  250  entering the port. Then, the automatic shipping apparatus  100  selects a specific waiting area for shipment, in which a vehicle to be loaded on the ship  250  is located among a plurality of waiting areas for shipment, and generates a third autonomous driving path which is a driving path from the specific waiting area for shipment to the inside of the ship  250 . 
     The automatic shipping apparatus  100  transmits, to each of the plurality of autonomous driving vehicles  230 , information about the third autonomous driving path for the autonomous driving vehicle  230  through the network (S 660 ). After step S 660 , the automatic shipping apparatus  100  calculates a charge for the data transmitted to the car carrier vehicle  220 . 
     In step S 660 , the automatic shipping apparatus  100  transmits, to each of a plurality of autonomous driving vehicles  230  located in the specific waiting area for shipment, information about the third autonomous driving path for movement of the autonomous driving vehicle  230  to a loading place being a pre-allocated area of the ship  250  by applying a vehicle unloading order, information about the internal layout of the ship  250 , and information about the storage area of the ship  250 . 
     While it has been described with reference to  FIG. 6  that steps S 610  to S 660  are sequentially performed, the disclosure is not limited thereto. In other words, since the steps of  FIG. 6  may be performed in a changed order or one or more steps may be performed in parallel, the steps of  FIG. 6  are not necessarily performed in a time-series order. 
     As described above, the automatic shipping method using an autonomous driving vehicle according to the embodiment described in  FIG. 6  may be implemented as a program and recorded in a computer-readable recording medium. The computer-readable recording medium recording the program for implementing the automatic shipping method using an autonomous driving vehicle according to the embodiment includes all kinds of recording devices in which data readable by a computer system is stored. 
     Those skilled in the art will appreciate that the disclosure may be carried out in other specific ways than those set forth herein without departing from the spirit and essential characteristics of the disclosure. The above embodiment is therefore to be construed in all aspects as illustrative and not restrictive. The scope of the disclosure should be determined by the appended claims and their legal equivalents, not by the above description, and all changes coming within the meaning and equivalency range of the appended claims are intended to be embraced therein.