KR101951425B1 - A vehicle control apparatus and a vehicle comprising the same - Google Patents

Abstract

The present invention relates to an autonomous vehicle capable of performing autonomous travel, comprising: a wireless communication unit configured to receive a position of a terminal; And an autonomous vehicle running to autonomous travel to the first destination so that the autonomous vehicle is parked at a first destination corresponding to the position of the terminal, and when the user of the terminal aboard the parked state, And the control unit is configured to start the autonomous travel to the second destination or to maintain the parked state.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vehicle control apparatus,

The present invention relates to a vehicle control apparatus and a vehicle including the same.

A vehicle means a means of transporting people or goods by using kinetic energy. Typical examples of vehicles include automobiles and motorcycles.

For safety and convenience of a user who uses the vehicle, various sensors and devices are provided in the vehicle, and the functions of the vehicle are diversified.

The function of the vehicle can be divided into a convenience function for the convenience of the driver and a safety function for the safety of the driver and / or the pedestrian.

First, the convenience function has the motive for development related to driver convenience, such as providing infotainment (information + entertainment) function to the vehicle, supporting partial autonomous driving function, assisting driver's vision such as night vision or blind spot . For example, an active cruise control (ACC), a smart parking assist system (SPAS), a night vision (NV), a head up display (HUD) (AVM), adaptive headlight system (AHS), and so on.

The safety function is to secure the safety of the driver and / or pedestrians. The lane departure warning system (LDWS), the lane keeping assist system (LKAS), the autonomous emergency braking, and AEB) functions.

As the vehicle becomes autonomous, in order to control the risk of an accident, not only the position of the vehicle but also the spatial relationship within a predetermined range around the vehicle must be accurately defined. Here, the spatial relationship is a relation between a plurality of elements including a vehicle in the predetermined range, and means a position relative to each object located within a predetermined range of the vehicle. In other words, the vehicle must accurately grasp the three-dimensional spatial relationship corresponding to up, down, left and right, and front and rear through the sensor, and define the relative positions of all the objects located in the space based on the position of the vehicle.

The spatial relationship is defined by the information collected from the sensors, and various applications related to the traveling perform various functions based on the defined spatial relationship. In order for the various functions to be executed to operate without error, it is required that there is no error in the defined spatial relationship.

Various sensors have been developed to accurately define such a spatial relationship. For example, sensors such as a radar that detects objects using a microwave, a laser that uses near-infrared rays, a camera that uses visible light, and an ultrasonic sensor that uses ultrasonic waves are provided in a vehicle, and a vehicle collects all information received from the sensors It detects objects and defines spatial relationships that contain detected objects.

However, if there are obstacles to obstruct propagation, the characteristics of radio waves having a straight line form a blind spot, and the spatial relation to such blind spot can not be defined even if the sensors provided in the vehicle are accurate have. Thus, the low reliability of location information caused by environmental constraints is a challenge to be solved.

The present invention is directed to solving the above-mentioned problems and other problems.

An object of the present invention is to provide a vehicle control device capable of accurately defining a spatial relationship and a vehicle including the same.

Another object of the present invention is to provide a vehicle control apparatus and a vehicle including the same, which enable a passenger to intuitively recognize a spatial relationship centered on a vehicle on which the vehicle is mounted.

Another object is to provide a vehicle control device and a vehicle including the same, which can realize group driving (or platooning) based on a precisely defined spatial relationship and enable a passenger to easily set or reset a group.

Another object is to provide a vehicle control device and a vehicle including the same, which enable a passenger to easily perform various functions of group driving. It is another object of the present invention to provide a vehicle control device and a vehicle including the same, which enable communication between passengers aboard different vehicles in a group traveling.

Another object is to provide a vehicle control device and a vehicle including the same, which enable a passenger to accurately grasp the amount of an external message being received in the vehicle.

An embodiment of the present invention for realizing the above-described problems relates to a vehicle control apparatus.

The vehicle control device includes: a display; A wireless communication unit configured to transmit and receive a message to and from any vehicle located within a predetermined range; And a control unit configured to control the display based on a message received through the wireless communication unit, wherein the control unit turns on or off the group driving mode based on user input, and when the group driving mode is on, The display can be controlled such that a list of candidate vehicles that can be included in the group among the vehicles located within the predetermined range is displayed.

According to one embodiment, the control unit controls the display to output a message list related to group driving when there is a vehicle included in the group while the group driving mode is on, and at least one of the message list The control unit may control the wireless communication unit to transmit the selected message to the vehicle included in the group.

According to an embodiment, when an approval message for the selected message is received from the vehicle that transmitted the selected message, the control unit may execute a group driving function corresponding to the selected message.

According to one embodiment, the control unit may restrict execution of the group driving function corresponding to the selected message when notification messages other than the approval message are received, and output notification information indicating that the reject message has been received, The display can be controlled.

According to one embodiment, any one of the functions that can be performed with the group driving function may be a deceleration, an acceleration, a parking, a lane change, an inter-vehicle distance adjustment, a master vehicle change on the basis of group driving, .

According to one embodiment, the group driving function to be executed may vary according to the selected message.

According to an exemplary embodiment, when the plurality of vehicles are included in the group, the selected message may be selectively transmitted to only one or more vehicles selected by user input among the vehicles included in the group.

According to one embodiment, the control unit may edit or delete a message included in the message list or add a new message to the message list based on a user input.

According to an exemplary embodiment of the present invention, processing of a message received by the wireless communication unit may be changed depending on whether the group traveling mode is on or off.

According to an embodiment, when the group driving mode is on, the control unit may preferentially process a message received from a vehicle included in the group, rather than a message received from a vehicle not included in the group.

According to an embodiment, when the group driving mode is on, the control unit can ignore messages received from vehicles not included in the group.

According to one embodiment, the control unit controls the wireless communication unit to transmit a group request message to at least one candidate vehicle selected by user input in the list, and when an approval message for the group request message is received, The candidate vehicle that transmitted the approval message may be added to the group.

According to one embodiment, in the display of the list, the vehicles included in the group may be highlighted so that the vehicles included in the group and the vehicles not included in the group are distinguished.

According to one embodiment, when the group driving mode is turned off while the group is set, the group may be released.

According to one embodiment, when the list is displayed, the control unit displays a main object corresponding to the main vehicle having the control unit and subobjects corresponding to any candidate vehicle included in the group, May be varied depending on the relative position of the candidate vehicle with respect to the main vehicle.

According to one embodiment, the display is configured to display a map including the position of the main vehicle having the control unit, and the control unit controls the scale of the map based on the position of any candidate vehicle included in the group Can be changed.

According to an embodiment, the control unit may control the wireless communication unit such that a warning message is transmitted to the candidate vehicle when the candidate vehicle is out of the reference distance.

According to one embodiment, the display may display a graphical object representing the amount of messages received from the vehicle located within the predetermined range for a unit time.

According to one embodiment, the graphical object indicates the amount of messages received from the vehicles included in the group during the unit time when the group driving mode is on, and when the group driving mode is off, It can indicate the amount of messages received from all vehicles.

On the other hand, the present invention extends to a vehicle including the above-described at least one on-vehicle control device.

Effects of the autonomous vehicle and its control method according to the present invention will be described as follows.

In a vehicle moving at a high speed, GPS information is very inaccurate information, and there is a problem that a spatial relationship can not be completely defined by a sensor provided in a vehicle. SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is possible to provide a more accurate spatial relationship to a vehicle and an application installed in the vehicle. According to the present invention, as the number of messages received in the vehicle increases, the spatial relationship of the vehicle is more fully defined, and the reliability of various functions using the spatial relationship becomes higher. Furthermore, since only the reliable messages are selectively used in the group driving mode, the load is less than that in the general driving mode and no separate verification of the message is required.

According to an embodiment of the present invention, since the user can select the method of receiving the V2X message as the normal driving mode or the group driving mode, the user can select the optimum communication method suitable for the situation.

Also, when the group driving mode is started, a user interface reflecting the position of the vehicle in real time is output, and the passenger can easily add at least one vehicle to the group using the user interface.

According to an embodiment of the present invention, a message list formed to select a group driving function that can be commonly executed among the vehicles included in the group at the time of group driving may be displayed on the vehicles. The passenger boarding any one of the vehicles can execute a common function with respect to the vehicles by selecting any one of the message lists. Thereby, one common function can be executed in a plurality of vehicles.

1 is a view showing an appearance of a vehicle according to an embodiment of the present invention;
2 is a view showing a vehicle according to an embodiment of the present invention viewed from various angles
3 to 4 are views showing the inside of the vehicle according to the embodiment of the present invention
5 to 6 are diagrams for explaining an object according to an embodiment of the present invention,
7 is a block diagram of a vehicle according to an embodiment of the present invention.
8 is a flowchart for explaining a method of defining a spatial relationship by the vehicle control apparatus of the present invention
FIGS. 9, 10A, 10B, 10C, and 10D are diagrams for explaining an object map generated according to the control method of FIG. 8;
11 is a flowchart for explaining a method of generating an object map in different manners according to the group driving mode
12 is a flowchart for explaining a control method of the vehicular controller according to the present invention.
13A, 13B, 13C, 13D, 13E and 13F are illustrations for explaining the operation of the display according to the control method of FIG. 12;
14 is an exemplary diagram for explaining the operation when the group traveling mode is turned off
15 is an exemplary diagram for explaining an embodiment in which the scale of a map displayed on the display is changed depending on the presence or absence of a vehicle included in the group
16 is a flowchart for explaining a vehicle system according to group driving
FIGS. 17A, 17B and 17C are views for explaining a plurality of vehicles according to the control method of FIG. 16;
18 is an exemplary diagram for explaining a navigation screen displayed during group driving;
19 is an exemplary diagram for explaining a method of visually guiding the amount of a message received in a vehicle

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The vehicle described herein may be a concept including a car, a motorcycle. Hereinafter, the vehicle will be described mainly with respect to the vehicle.

The vehicle described in the present specification may be a concept including both an internal combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as a power source, and an electric vehicle having an electric motor as a power source.

In the following description, the left side of the vehicle means the left side in the running direction of the vehicle, and the right side of the vehicle means the right side in the running direction of the vehicle.

1 is a view showing an appearance of a vehicle according to an embodiment of the present invention.

2 is a view of a vehicle according to an embodiment of the present invention viewed from various angles.

3 to 4 are views showing an interior of a vehicle according to an embodiment of the present invention.

5 to 6 are drawings referred to explain an object according to an embodiment of the present invention.

FIG. 7 is a block diagram for explaining a vehicle according to an embodiment of the present invention. FIG.

Referring to FIGS. 1 to 7, the vehicle 100 may include a wheel rotated by a power source, and a steering input device 510 for adjusting the traveling direction of the vehicle 100.

The vehicle 100 may be an autonomous vehicle.

Here, the autonomous driving is defined as controlling at least one of acceleration, deceleration, and driving direction based on a predetermined algorithm. In other words, this means that the driving operation device is automatically operated even if no user input is inputted to the driving operation device.

The vehicle 100 can be switched to the autonomous running mode or the manual mode based on the user input.

For example, the vehicle 100 can be switched from the manual mode to the autonomous mode, or switched from the autonomous mode to the manual mode, based on the received user input, via the user interface device 200. [

The vehicle 100 can be switched to the autonomous running mode or the manual mode based on the running situation information. The running situation information can be generated based on the object information provided by the object detecting apparatus 300. [

For example, the vehicle 100 can be switched from the manual mode to the autonomous mode or switched from the autonomous mode to the manual mode based on the running condition information generated by the object detection device 300. [

For example, the vehicle 100 can be switched from the manual mode to the autonomous mode or switched from the autonomous mode to the manual mode based on the running condition information received via the communication device 400. [

The vehicle 100 can be switched from the manual mode to the autonomous mode based on information, data and signals provided from the external device, or can be switched from the autonomous mode to the manual mode.

When the vehicle 100 is operated in the self-running mode, the autonomous vehicle 100 can be operated on the basis of the running system 700. [

For example, the autonomous vehicle 100 may be operated based on information, data or signals generated in the traveling system 710, the outgoing system 740, and the parking system 750. [

When the vehicle 100 is operated in the manual mode, the autonomous vehicle 100 can receive a user input for driving through the driving operation device 500. [ Based on the user input received through the driving operation device 500, the vehicle 100 can be operated.

The overall length means the length from the front portion to the rear portion of the vehicle 100 and the width is the width of the vehicle 100 and the height means the length from the bottom of the wheel to the roof. In the following description, it is assumed that the total length direction L is a direction in which the full length direction of the vehicle 100 is measured, the full width direction W is a reference for the full width measurement of the vehicle 100, Which is a reference for the measurement of the height of the object 100.

7, the vehicle 100 includes a user interface device 200, an object detection device 300, a communication device 400, a driving operation device 500, a vehicle driving device 600, A navigation system 770, a sensing unit 120, an interface unit 130, a memory 140, a control unit 170, and a power supply unit 190.

According to the embodiment, the vehicle 100 may further include other components than the components described herein, or may not include some of the components described.

The user interface device 200 is a device for communicating between the vehicle 100 and a user. The user interface device 200 may receive user input and provide information generated by the vehicle 100 to the user. The vehicle 100 can implement UI (User Interfaces) or UX (User Experience) through the user interface device 200. [

The user interface device 200 may include an input unit 210, an internal camera 220, a biological sensing unit 230, an output unit 250, and a processor 270.

According to the embodiment, the user interface device 200 may further include other components than the components described, or may not include some of the components described.

The input unit 200 is for receiving information from a user. The data collected by the input unit 200 may be analyzed by the processor 270 and processed by a user's control command.

The input unit 200 can be disposed inside the vehicle. For example, the input unit 200 may include one area of a steering wheel, one area of an instrument panel, one area of a seat, one area of each pillar, one area of the head console, one area of the door, one area of the center console, one area of the head lining, one area of the sun visor, one area of the windshield, One area or the like.

The input unit 200 may include an audio input unit 211, a gesture input unit 212, a touch input unit 213, and a mechanical input unit 214.

The voice input unit 211 can switch the voice input of the user into an electrical signal. The converted electrical signal may be provided to the processor 270 or the control unit 170.

The voice input unit 211 may include one or more microphones.

The gesture input unit 212 can switch the user's gesture input to an electrical signal. The converted electrical signal may be provided to the processor 270 or the control unit 170.

The gesture input unit 212 may include at least one of an infrared sensor and an image sensor for detecting a user's gesture input.

According to an embodiment, the gesture input 212 may sense a user's three-dimensional gesture input. To this end, the gesture input unit 212 may include an optical output unit for outputting a plurality of infrared rays or a plurality of image sensors.

The gesture input unit 212 can sense a user's three-dimensional gesture input through a time of flight (TOF) method, a structured light method, or a disparity method.

The touch input unit 213 can switch the touch input of the user into an electrical signal. The converted electrical signal may be provided to the processor 270 or the controller 170.

The touch input unit 213 may include a touch sensor for sensing a touch input of a user.

According to the embodiment, the touch input unit 213 is integrated with the display unit 251, thereby realizing a touch screen. Such a touch screen may provide an input interface and an output interface between the vehicle 100 and a user.

The mechanical input unit 214 may include at least one of a button, a dome switch, a jog wheel, and a jog switch. The electrical signal generated by the mechanical input 214 may be provided to the processor 270 or the controller 170.

The mechanical input unit 214 may be disposed on a steering wheel, a centepascia, a center console, a cockpit module, a door, or the like.

The internal camera 220 can acquire the in-vehicle image. The processor 270 can sense the state of the user based on the in-vehicle image. The processor 270 can obtain the user's gaze information from the in-vehicle image. The processor 270 may sense the user's gesture in the in-vehicle video.

The biometric sensor 230 can acquire biometric information of the user. The biometric sensor 230 includes a sensor capable of acquiring biometric information of a user, and can acquire fingerprint information, heartbeat information, etc. of a user using a sensor. Biometric information can be used for user authentication.

The output unit 250 is for generating an output related to a visual, auditory or tactile sense or the like.

The output unit 250 may include at least one of a display unit 251, an acoustic output unit 252, and a haptic output unit 253.

The display unit 251 may display graphic objects corresponding to various information.

The display unit 251 may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED) display, a 3D display, and an e-ink display.

The display unit 251 may have a mutual layer structure with the touch input unit 213 or may be integrally formed to realize a touch screen.

The display unit 251 may be implemented as a Head Up Display (HUD). When the display unit 251 is implemented as an HUD, the display unit 251 may include a projection module to output information through an image projected on a windshield or a window.

The display unit 251 may include a transparent display. The transparent display may be attached to the windshield or window.

The transparent display can display a predetermined screen while having a predetermined transparency. Transparent displays can be made of transparent TFEL (Thin Film Elecroluminescent), transparent OLED (Organic Light-Emitting Diode), transparent LCD (Liquid Crystal Display), transmissive transparent display, transparent LED (Light Emitting Diode) Or the like. The transparency of the transparent display can be adjusted.

Meanwhile, the user interface device 200 may include a plurality of display units 251a to 251g.

The display unit 251 includes one area of the steering wheel, one area of the inspiration panel 521a, 251b and 251e, one area of the seat 251d, one area of each filler 251f, 251g), one area of the center console, one area of the head lining, one area of the sun visor, one area 251c of the windshield, and one area 251h of the window.

The audio output unit 252 converts an electric signal provided from the processor 270 or the control unit 170 into an audio signal and outputs the audio signal. To this end, the sound output section 252 may include one or more speakers.

The haptic output unit 253 generates a tactile output. For example, the haptic output section 253 may operate to vibrate the steering wheel, the seat belt, the seat 110FL, 110FR, 110RL, and 110RR so that the user can recognize the output.

The processor 270 may control the overall operation of each unit of the user interface device 200.

In accordance with an embodiment, the user interface device 200 may include a plurality of processors 270, or may not include a processor 270. [

If the user interface device 200 does not include the processor 270, the user interface device 200 may be operated under the control of the processor or the control unit 170 of another apparatus in the vehicle 100. [

On the other hand, the user interface device 200 may be referred to as a vehicle display device.

The user interface device 200 may be operated under the control of the control unit 170.

The object detecting apparatus 300 is an apparatus for detecting an object located outside the vehicle 100. [

The object may be various objects related to the operation of the vehicle 100.

5 to 6, an object O is a vehicle that is a vehicle that has a lane OB10, another vehicle OB11, a pedestrian OB12, a two-wheeled vehicle OB13, traffic signals OB14 and OB15, Speed bumps, terrain, animals, and the like.

The lane OB10 may be a driving lane, a side lane of the driving lane, or a lane on which the opposed vehicle runs. The lane OB10 may be a concept including left and right lines Line forming a lane.

The other vehicle OB11 may be a vehicle running in the vicinity of the vehicle 100. [ The other vehicle may be a vehicle located within a predetermined distance from the vehicle 100. For example, the other vehicle OB11 may be a vehicle preceding or following the vehicle 100. [

The pedestrian OB12 may be a person located in the vicinity of the vehicle 100. [ The pedestrian OB12 may be a person located within a predetermined distance from the vehicle 100. [ For example, the pedestrian OB12 may be a person who is located on the delivery or driveway.

The two-wheeled vehicle OB12 may mean a vehicle located around the vehicle 100 and moving using two wheels. The two-wheeled vehicle OB12 may be a rider having two wheels located within a predetermined distance from the vehicle 100. [ For example, the two-wheeled vehicle OB13 may be a motorcycle or a bicycle located on a sidewalk or a motorway.

The traffic signal may include a traffic light (OB15), a traffic sign (OB14), a pattern drawn on the road surface, or text.

The light may be light generated from lamps provided in other vehicles. Light can be light generated from a street light. Light can be solar light.

The road may include a slope such as a road surface, a curve, an uphill, a downhill, and the like.

The structure may be an object located around the road and fixed to the ground. For example, the structure may include street lamps, street lamps, buildings, electric poles, traffic lights, and bridges.

The terrain may include mountains, hills, and the like.

On the other hand, an object can be classified into a moving object and a fixed object. For example, the moving object may be a concept including an other vehicle, a pedestrian. For example, the fixed object may be a concept including a traffic signal, a road, and a structure.

The object detection apparatus 300 may include a camera 310, a radar 320, a LR 330, an ultrasonic sensor 340, an infrared sensor 350, and a processor 370.

According to the embodiment, the object detecting apparatus 300 may further include other elements other than the described elements, or may not include some of the described elements.

The camera 310 may be located at an appropriate location outside the vehicle to obtain the vehicle exterior image. The camera 310 may be a mono camera, a stereo camera 310a, an AVM (Around View Monitoring) camera 310b, or a 360 degree camera.

For example, the camera 310 may be disposed in the interior of the vehicle, close to the front windshield, to acquire an image of the front of the vehicle. Alternatively, the camera 310 may be disposed around a front bumper or radiator grill.

For example, the camera 310 can be disposed in the interior of the vehicle, close to the rear glass, to acquire images of the rear of the vehicle. Alternatively, the camera 310 may be disposed around a rear bumper, trunk, or tailgate.

For example, the camera 310 may be disposed close to at least one of the side windows in the interior of the vehicle to obtain the image of the side of the vehicle. Alternatively, the camera 310 may be disposed around a side mirror, fender, or door.

The camera 310 may provide the acquired image to the processor 370.

The radar 320 may include an electromagnetic wave transmitting unit and a receiving unit. The radar 320 may be implemented by a pulse radar system or a continuous wave radar system in terms of the radio wave emission principle. The radar 320 may be implemented by a Frequency Modulated Continuous Wave (FMCW) scheme or a Frequency Shift Keying (FSK) scheme according to a signal waveform in a continuous wave radar scheme.

The radar 320 detects an object based on a time-of-flight (TOF) method or a phase-shift method through electromagnetic waves, and detects the position of the detected object, the distance to the detected object, Can be detected.

The radar 320 may be disposed at a suitable location outside the vehicle to sense objects located at the front, rear, or side of the vehicle.

The ladder 330 may include a laser transmitting unit and a receiving unit. The LIDAR 330 may be implemented in a time of flight (TOF) scheme or a phase-shift scheme.

The lidar 330 may be implemented as a drive or an unshifted drive.

When implemented in a driving manner, the LIDAR 330 is rotated by a motor and can detect an object in the vicinity of the vehicle 100. [

In the case of non-driven implementation, the LIDAR 330 can detect an object located within a predetermined range with respect to the vehicle 100 by optical steering. The vehicle 100 may include a plurality of non-driven RRs 330. [

The lidar 330 detects an object based on a laser light medium, a time of flight (TOF) method, or a phase-shift method, and detects the position of the detected object, The relative speed can be detected.

The lidar 330 may be disposed at an appropriate location outside the vehicle to sense objects located at the front, rear, or side of the vehicle.

The ultrasonic sensor 340 may include an ultrasonic transmitter and a receiver. The ultrasonic sensor 340 can detect the object based on the ultrasonic wave, and can detect the position of the detected object, the distance to the detected object, and the relative speed.

The ultrasonic sensor 340 may be disposed at an appropriate position outside the vehicle for sensing an object located at the front, rear, or side of the vehicle.

The infrared sensor 350 may include an infrared ray transmitter and a receiver. The infrared sensor 340 can detect the object based on the infrared light, and can detect the position of the detected object, the distance to the detected object, and the relative speed.

The infrared sensor 350 may be disposed at an appropriate position outside the vehicle for sensing an object located at the front, rear, or side of the vehicle.

The processor 370 can control the overall operation of each unit of the object detecting apparatus 300. [

The processor 370 can detect and track the object based on the acquired image. The processor 370 can perform operations such as calculating a distance to an object, calculating a relative speed with respect to the object, and the like through an image processing algorithm.

The processor 370 can detect and track the object based on the reflected electromagnetic waves that are reflected from the object by the transmitted electromagnetic waves. The processor 370 can perform operations such as calculating a distance to an object and calculating a relative speed with respect to the object based on electromagnetic waves.

The processor 370 can detect and track the object based on the reflected laser light reflected back from the object by the transmitted laser. Based on the laser light, the processor 370 can perform operations such as calculating the distance to the object and calculating the relative speed with respect to the object.

The processor 370 can detect and track the object on the basis of the reflected ultrasonic waves reflected by the object and transmitted back. The processor 370 can perform operations such as calculating the distance to the object and calculating the relative speed with respect to the object based on the ultrasonic waves.

The processor 370 can detect and track the object based on the reflected infrared light that the transmitted infrared light reflects back to the object. The processor 370 can perform operations such as calculating the distance to the object and calculating the relative speed with respect to the object based on the infrared light.

According to the embodiment, the object detecting apparatus 300 may include a plurality of processors 370 or may not include the processor 370. [ For example, each of the camera 310, the radar 320, the RI 330, the ultrasonic sensor 340, and the infrared sensor 350 may individually include a processor.

The object detecting apparatus 300 can be operated under the control of the processor of the apparatus in the vehicle 100 or the controller 170 when the object detecting apparatus 300 does not include the processor 370. [

The object detecting apparatus 300 can be operated under the control of the control section 170. [

The communication device 400 is a device for performing communication with an external device. Here, the external device may be another vehicle, a mobile terminal, or a server. The communication device 400 may be referred to as a 'wireless communication unit'.

The communication device 400 may include at least one of a transmission antenna, a reception antenna, an RF (Radio Frequency) circuit capable of implementing various communication protocols, and an RF device to perform communication.

The communication device 400 may include a local communication unit 410, a location information unit 420, a V2X communication unit 430, an optical communication unit 440, a broadcast transmission / reception unit 450, and a processor 470.

According to the embodiment, the communication device 400 may further include other components than the components described, or may not include some of the components described.

The short-range communication unit 410 is a unit for short-range communication. The short-range communication unit 410 may be a wireless communication unit such as Bluetooth ™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, Near Field Communication (NFC) -Fidelity), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technology.

The short-range communication unit 410 may form short-range wireless communication networks to perform short-range communication between the vehicle 100 and at least one external device.

The position information section 420 is a unit for acquiring the position information of the vehicle 100. [ For example, the location information unit 420 may include a Global Positioning System (GPS) module or a Differential Global Positioning System (DGPS) module.

The V2X communication unit 430 is a unit for performing wireless communication with a server (V2I: Vehicle to Infra), another vehicle (V2V: Vehicle to Vehicle), or a pedestrian (V2P: Vehicle to Pedestrian). The V2X communication unit 430 may include an RF circuit capable of implementing communication with the infrastructure (V2I), inter-vehicle communication (V2V), and communication with the pedestrian (V2P) protocol.

The optical communication unit 440 is a unit for performing communication with an external device via light. The optical communication unit 440 may include a light emitting unit that converts an electric signal into an optical signal and transmits it to the outside, and a light receiving unit that converts the received optical signal into an electric signal.

According to the embodiment, the light emitting portion may be formed so as to be integrated with the lamp included in the vehicle 100. [

The broadcast transmission / reception unit 450 is a unit for receiving a broadcast signal from an external broadcast management server through a broadcast channel or transmitting a broadcast signal to a broadcast management server. The broadcast channel may include a satellite channel and a terrestrial channel. The broadcast signal may include a TV broadcast signal, a radio broadcast signal, and a data broadcast signal.

The processor 470 can control the overall operation of each unit of the communication device 400.

In accordance with an embodiment, the communication device 400 may include a plurality of processors 470 or may not include a processor 470. [

When the processor 400 is not included in the communication device 400, the communication device 400 can be operated under the control of the processor or the control unit 170 of another apparatus in the vehicle 100. [

On the other hand, the communication device 400 can implement the vehicle display device together with the user interface device 200. [ In this case, the vehicle display device can be named as a telematics device or an AVN (Audio Video Navigation) device.

The communication device 400 may be operated under the control of the control unit 170. [

The driving operation device 500 is a device for receiving a user input for operation.

In the manual mode, the vehicle 100 can be operated on the basis of the signal provided by the driving operation device 500.

The driving operation device 500 may include a steering input device 510, an acceleration input device 530, and a brake input device 570.

The steering input device 510 may receive a forward direction input of the vehicle 100 from a user. The steering input device 510 is preferably formed in a wheel shape so that steering input is possible by rotation. According to an embodiment, the steering input device may be formed as a touch screen, a touch pad, or a button.

The acceleration input device 530 may receive an input for acceleration of the vehicle 100 from a user. The brake input device 570 can receive an input for deceleration of the vehicle 100 from the user. The acceleration input device 530 and the brake input device 570 are preferably formed in a pedal shape. According to an embodiment, the acceleration input device or the brake input device may be formed as a touch screen, a touch pad, or a button.

The driving operation device 500 can be operated under the control of the control unit 170. [

The vehicle driving device 600 is an apparatus for electrically controlling the driving of various devices in the vehicle 100. [

The vehicle driving apparatus 600 includes a power train driving unit 610, a chassis driving unit 620, a door / window driving unit 630, a safety driving unit 640, a lamp driving unit 650 and an air conditioning driving unit 660 .

According to the embodiment, the vehicle drive system 600 may further include other elements other than the described elements, or may not include some of the elements described.

On the other hand, the vehicle drive apparatus 600 may include a processor. Each unit of the vehicle drive apparatus 600 may individually include a processor.

The power train driving unit 610 can control the operation of the power train apparatus.

The power train driving unit 610 may include a power source driving unit 611 and a transmission driving unit 612.

The power source drive unit 611 can perform control on the power source of the vehicle 100. [

For example, when the fossil fuel-based engine is a power source, the power source drive unit 610 can perform electronic control of the engine. Thus, the output torque of the engine and the like can be controlled. The power source drive unit 611 can adjust the engine output torque under the control of the control unit 170. [

For example, when the electric energy based motor is a power source, the power source driving unit 610 can perform control on the motor. The power source drive unit 610 can adjust the rotation speed, torque, and the like of the motor under the control of the control unit 170. [

The transmission drive unit 612 can perform control on the transmission.

The transmission drive unit 612 can adjust the state of the transmission. The transmission drive unit 612 can adjust the state of the transmission to forward (D), reverse (R), neutral (N), or parking (P).

On the other hand, when the engine is a power source, the transmission drive unit 612 can adjust the gear engagement state in the forward (D) state.

The chassis driving unit 620 can control the operation of the chassis apparatus.

The chassis driving unit 620 may include a steering driving unit 621, a brake driving unit 622, and a suspension driving unit 623.

The steering driver 621 may perform electronic control of the steering apparatus in the vehicle 100. [ The steering driver 621 can change the traveling direction of the vehicle.

The brake driver 622 can perform electronic control of the brake apparatus in the vehicle 100. [ For example, it is possible to reduce the speed of the vehicle 100 by controlling the operation of the brakes disposed on the wheels.

On the other hand, the brake driver 622 can individually control each of the plurality of brakes. The brake driving unit 622 can control the braking forces applied to the plurality of wheels to be different from each other.

The suspension driving unit 623 can perform electronic control on a suspension apparatus in the vehicle 100. [ For example, when there is a curvature on the road surface, the suspension driving unit 623 can control the suspension device so as to reduce the vibration of the vehicle 100. [

On the other hand, the suspension driving unit 623 can individually control each of the plurality of suspensions.

The door / window driving unit 630 may perform electronic control of a door apparatus or a window apparatus in the vehicle 100.

The door / window driving unit 630 may include a door driving unit 631 and a window driving unit 632.

The door driving unit 631 can control the door device. The door driving unit 631 can control the opening and closing of a plurality of doors included in the vehicle 100. [ The door driving unit 631 can control the opening or closing of a trunk or a tail gate. The door driving unit 631 can control the opening or closing of the sunroof.

The window driving unit 632 may perform an electronic control on a window apparatus. It is possible to control the opening or closing of the plurality of windows included in the vehicle 100. [

The safety device driving unit 640 can perform electronic control of various safety apparatuses in the vehicle 100. [

The safety device driving unit 640 may include an airbag driving unit 641, a seat belt driving unit 642, and a pedestrian protection device driving unit 643. [

The airbag driver 641 may perform electronic control of the airbag apparatus in the vehicle 100. [ For example, the airbag driver 641 can control the deployment of the airbag when a danger is detected.

The seat belt driving portion 642 can perform electronic control on the seat belt appartus in the vehicle 100. [ For example, the seat belt driving portion 642 can control the passenger to be fixed to the seats 110FL, 110FR, 110RL, and 110RR using the seat belt when a danger is detected.

The pedestrian protection device driving section 643 can perform electronic control on the hood lift and the pedestrian airbag. For example, the pedestrian protection device driving section 643 can control the hood lift-up and the pedestrian airbag deployment when a collision with a pedestrian is detected.

The lamp driving unit 650 can perform electronic control of various lamp apparatuses in the vehicle 100. [

The air conditioning driving unit 660 can perform electronic control on the air conditioner in the vehicle 100. [ For example, when the temperature inside the vehicle is high, the air conditioning driving unit 660 can control the air conditioner to operate so that the cool air is supplied to the inside of the vehicle.

The vehicle drive apparatus 600 may include a processor. Each unit of the vehicle drive apparatus 600 may individually include a processor.

The vehicle drive apparatus 600 can be operated under the control of the control section 170. [

The operating system 700 is a system for controlling various operations of the vehicle 100. [ The travel system 700 can be operated in the autonomous mode.

The travel system 700 may include a travel system 710, an outbound system 740, and a parking system 750.

According to the embodiment, the travel system 700 may further include other components than the components described, or may not include some of the components described.

On the other hand, the travel system 700 may include a processor. Each unit of the travel system 700 may each include a processor individually.

Meanwhile, according to the embodiment, when the driving system 700 is implemented in software, it may be a sub-concept of the control unit 170.

According to the embodiment, the operating system 700 includes at least one of the user interface device 200, the object detecting device 300, the communication device 400, the vehicle driving device 600, and the control unit 170 It can be a concept that includes.

The traveling system 710 can perform traveling of the vehicle 100. [

The navigation system 710 can receive navigation information from the navigation system 770 and provide a control signal to the vehicle drive system 600 to perform the travel of the vehicle 100. [

The traveling system 710 can receive the object information from the object detecting apparatus 300 and provide the vehicle driving apparatus 600 with a control signal to perform the traveling of the vehicle 100. [

The traveling system 710 can receive the signal from the external device through the communication device 400 and provide a control signal to the vehicle driving device 600 to perform the traveling of the vehicle 100. [

The departure system 740 can perform the departure of the vehicle 100.

The outpost system 740 can receive navigation information from the navigation system 770 and provide control signals to the vehicle driving apparatus 600 to perform the departure of the vehicle 100. [

The departure system 740 can receive object information from the object detecting apparatus 300 and provide a control signal to the vehicle driving apparatus 600 to carry out the departure of the vehicle 100. [

The departure system 740 can receive a signal from the external device via the communication device 400 and provide a control signal to the vehicle driving device 600 to perform the departure of the vehicle 100. [

The parking system 750 can perform parking of the vehicle 100. [

The parking system 750 may receive navigation information from the navigation system 770 and provide a control signal to the vehicle driving device 600 to perform parking of the vehicle 100. [

The parking system 750 is capable of performing parking of the vehicle 100 by receiving object information from the object detecting apparatus 300 and providing a control signal to the vehicle driving apparatus 600. [

The parking system 750 can receive the signal from the external device via the communication device 400 and provide a control signal to the vehicle driving device 600 to perform parking of the vehicle 100. [

The navigation system 770 may provide navigation information. The navigation information may include at least one of map information, set destination information, route information according to the destination setting, information about various objects on the route, lane information, and current location information of the vehicle.

The navigation system 770 may include a memory, a processor. The memory can store navigation information. The processor may control the operation of the navigation system 770.

According to an embodiment, the navigation system 770 can receive information from an external device via the communication device 400 and update the stored information.

According to an embodiment, the navigation system 770 may be classified as a subcomponent of the user interface device 200.

The sensing unit 120 can sense the state of the vehicle. The sensing unit 120 may include a sensor such as a yaw sensor, a roll sensor, a pitch sensor, a collision sensor, a wheel sensor, a velocity sensor, A sensor, a weight sensor, a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward / backward sensor, a battery sensor, A vehicle interior temperature sensor, an internal humidity sensor, an ultrasonic sensor, an illuminance sensor, an accelerator pedal position sensor, a brake pedal position sensor, and the like.

The sensing unit 120 is configured to generate the sensing information based on the vehicle attitude information, the vehicle collision information, the vehicle direction information, the vehicle position information (GPS information), the vehicle angle information, the vehicle speed information, Obtain a sensing signal for information, fuel information, tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, steering wheel rotation angle, vehicle exterior illumination, pressure applied to the accelerator pedal, pressure applied to the brake pedal, can do.

The sensing unit 120 may further include an accelerator pedal sensor, a pressure sensor, an engine speed sensor, an air flow sensor AFS, an intake air temperature sensor ATS, a water temperature sensor WTS, (TPS), a TDC sensor, a crank angle sensor (CAS), and the like.

The interface unit 130 may serve as a pathway to various kinds of external devices connected to the vehicle 100. For example, the interface unit 130 may include a port that can be connected to the mobile terminal, and may be connected to the mobile terminal through the port. In this case, the interface unit 130 can exchange data with the mobile terminal.

Meanwhile, the interface unit 130 may serve as a channel for supplying electrical energy to the connected mobile terminal. When the mobile terminal is electrically connected to the interface unit 130, the interface unit 130 may provide the mobile terminal with electric energy supplied from the power supply unit 190 under the control of the controller 170.

The memory 140 is electrically connected to the control unit 170. The memory 140 may store basic data for the unit, control data for controlling the operation of the unit, and input / output data. The memory 140 may be, in hardware, various storage devices such as ROM, RAM, EPROM, flash drive, hard drive, and the like. The memory 140 may store various data for operation of the vehicle 100, such as a program for processing or controlling the controller 170. [

According to the embodiment, the memory 140 may be formed integrally with the controller 170 or may be implemented as a subcomponent of the controller 170. [

The control unit 170 can control the overall operation of each unit in the vehicle 100. [ The control unit 170 may be referred to as an ECU (Electronic Control Unit).

The power supply unit 190 can supply power necessary for the operation of each component under the control of the control unit 170. Particularly, the power supply unit 190 can receive power from a battery or the like inside the vehicle.

One or more processors and controls 170 included in vehicle 100 may be implemented as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs) field programmable gate arrays, processors, controllers, micro-controllers, microprocessors, and other electrical units for performing other functions.

The vehicle control device includes a display, a wireless communication unit, and a controller for controlling the display and the wireless communication unit. The vehicle control unit is physically detachable from the vehicle and controls the vehicle.

The vehicle control apparatus may include at least one of the components of the vehicle 100 described above with reference to FIG. 7, and the control unit of the vehicle control apparatus may be the control unit 170 described above with reference to FIG.

Hereinafter, the control operation of the vehicle control apparatus and the vehicle including the control operation will be described in detail.

Fig. 8 is a flowchart for explaining a method of defining a spatial relationship by the vehicle control apparatus of the present invention, and Figs. 9, 10A, 10B, 10C, 10D and 10E are diagrams And are diagrams for explaining an object map.

An advanced driver assistance system is being developed as an active safety system to help the driver to operate comfortably and safely and to prevent accidents in advance.

According to the advanced driver assistance system, the vehicle collects information, recognizes the spatial relationship, and carries out various vehicle control based on the recognized spatial relationship through the sensor that is provided to the eyes and ears of the vehicle.

For example, if the relative position between the vehicle and the lane is defined, a warning of the lane departure warning system may be output. As another example, if a relative position is defined between a vehicle and a dangerous object, autonomous emergency braking can be achieved.

Various sensors have been developed to define accurate spatial relationships, but there is a problem that a dead zone can not be measured only by a sensor provided in a vehicle. Environmental factors can create undefined space, and this blind spot is a factor that lowers the reliability of the vehicle decision making.

As a method for solving such a problem, communication can be used. Specifically, various information is exchanged or shared while communicating with infrastructure fixed on the road or other moving vehicle, and the communication information collected through communication is fused with the sensor information collected through the sensor, Can be reinforced.

A method of fusing the communication information with the sensor information is specifically shown in Fig.

First, the vehicle control apparatus generates an object map using a sensor provided in the vehicle (S810).

The sensing unit 120 includes at least one of a radar, a rider, a camera sensor, an ultrasonic sensor, an infrared sensor, and a GPS. In addition, all kinds of sensors provided in the vehicle can be used to generate the object map.

The object map means a map for a predetermined range in which the vehicle can be sensed, and may be composed of at least one of a two-dimensional coordinate system and a four-dimensional coordinate system having one point of the vehicle as an origin. For example, when the object map is made up of a four-dimensional coordinate system, the four-dimensional axis may be latitude, longitude, altitude and time, and the origin may be the center of gravity of the vehicle.

The object map may include a map image based on latitude, longitude, and altitude.

9, the object map includes at least one of a first layer (or an environment layer), a second layer (or a stationary object layer), and a third layer (or a moving object layer) can do.

The first layer includes information about the road on which the vehicle is traveling. For example, the number of lanes, lanes, intersection, divided road, merging road, and the like can be expressed in coordinates on the first layer.

The vehicle control device can more accurately specify its position by matching the map image to the first layer generated by the sensor information.

The second layer contains information about the fixed object, and the third layer contains information about the moving object. For example, a traffic light, a guard rail, a wall, a tree, a building, and the like may be expressed in coordinates on a second layer, and a matter related to a pedestrian, another vehicle, and the like may be expressed in coordinates on a third layer. At this time, the position and size of the object can be represented by a plurality of coordinates.

At least one of the map image and the first layer to the third layer is combined to generate an object map (or a combined layer) composed only of sensor information.

On the other hand, the vehicle control apparatus fuses the message received through the wireless communication unit to the object map (S830).

The vehicle control device fuses the information included in the message into the object map consisting only of the sensor information, taking into consideration the time at which the message is generated and the time required for the message to be transmitted. Thus, the final object map in which the sensor information and the communication information are fused is generated.

The message includes sensor information generated in a device that transmitted the message, and the message is used as communication information in the receiving-side vehicle. The message may further include an identification number of the vehicle that generated the message, a message generation time, and location information of a point where the message was generated.

For example, when the vehicle control device is referred to as a first vehicle, the first vehicle generates first sensor information based on its own position, and the second vehicle located at another point generates, based on its position, Information. When the second vehicle is located within a predetermined range based on the first vehicle, the first vehicle can receive the second sensor information transmitted from the second vehicle. In this case, the first vehicle can improve the accuracy of the object map by fusing the second sensor information with the first sensor information.

At this time, the message can be transmitted and received in various ways. (V2V), Vehicle to Infrastructure (V2I), In-Vehicle Networking (IVN), Vehicle and Mobile Terminal Vehicle to Pedestrian (V2P), Vehicle to Everything (V2X) between vehicles and objects, and so on.

FIG. 10A shows an example of eight vehicles (A-H) located in a predetermined range at time t. Each vehicle can broadcast the sensor information generated by itself or directly transmit it to another vehicle in a predetermined range.

Assuming that all vehicles have completed sending and receiving messages, each vehicle has a total of 8 sensor information including its own sensor information and 7 different sensor information generated from other vehicles.

FIG. 10B shows an example of an object map expressed by a two-dimensional coordinate system as sensor information generated in the radar of each vehicle.

The maximum coordinate range of the object map generated by each vehicle may vary depending on the sensors provided in the vehicle. The better the capability of the sensor, the wider the range of object maps can be created.

On the other hand, since each vehicle is located at a different point, the coordinate range of the object map generated in each vehicle is different. At this time, each vehicle can extract at least a part of the object map of another vehicle that can be mapped to its own object map, and fuse it into its own object map. As another example, each vehicle may extend the spatial relationship to an area not included in its object map by using an object map of another vehicle.

FIG. 10C shows a final object map in which eight object maps are fused.

The on-vehicle control device can process the final object map shown in Fig. 10C by an inner algorithm as shown in Fig. 10D.

Specifically, when an object is searched, the searched object can be processed as shown in Fig. 10E using eight reference points. The first reference point 0 to the eighth reference point 7 are sequentially allocated based on the moving direction of the object. Accordingly, the detected object is standardized by the eight reference points surrounding the center of the object, and the direction of movement of the object can be confirmed.

However, if the A vehicle only uses the sensor information generated in its own vehicle (FIG. 10B) and the sensor information generated in the other vehicles is fused (FIG. 10C), the difference is easily confirmed . The more fusion information, the higher the reliability and the more accurately the object can be identified.

Next, the vehicle control apparatus uses the fused object map for traveling (S850).

The final object map, in which the sensor information and the communication information are merged, is provided to various applications installed in the vehicle, and the application outputs the notification based on the final object map or executes various functions related to the travel.

In the absence of a received message, no fusion is performed, and therefore an unfused object map is used for traveling. In other words, the object map generated only by the sensor information is used for driving.

In a vehicle moving at a high speed, GPS information is very inaccurate information, and there is a problem that a spatial relationship can not be completely defined by a sensor provided in a vehicle. SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is possible to provide a more accurate spatial relationship to a vehicle and an application installed in the vehicle. According to the present invention, as the number of messages received in the vehicle increases, the spatial relationship of the vehicle is more fully defined, and the reliability of various functions using the spatial relationship becomes higher.

On the other hand, the vehicle control apparatus according to the present invention can turn on or off the group traveling mode based on user input. The user input can be made in a variety of ways. For example, when the first passenger holding the first terminal is boarding the first vehicle and the second passenger holding the second terminal is boarding the second vehicle, a group invitation message is transmitted from the first terminal to the second terminal Lt; / RTI > The first terminal may send a group invite message to the second terminal at the request of the first passenger. When the second passenger approves the invitation by using the second terminal, the first vehicle and the second vehicle can set the group based on the information included in the group invitation message, and can start the group driving. As the Internet of things evolves, the second vehicle and the second terminal

The group running defined in the present invention is a method in which vehicles do not travel side by side at a predetermined distance toward the same destination but move freely toward a destination set in each vehicle and share sensor information generated in each vehicle, Which means that the vehicle travels by using the information obtained.

For example, when the group including the first and second vehicles starts group driving, the first and second vehicles can be driven using different lanes. The destination of the first vehicle and the destination of the second vehicle may be the same or different. At this time, the first vehicle has the first significance of group driving in fusing the sensor information generated in the second vehicle with the sensor information generated in the first vehicle.

When the group driving is started, the first vehicle can share various group driving functions with the second vehicle, and can display a message list for selecting a group driving function to be executed from the user.

For example, the message list may include a deceleration message, and if the deceleration message is selected by the passenger boarding the first vehicle, the deceleration message is delivered from the first vehicle to the second vehicle, The vehicle can be decelerated in response to the message.

In addition, the first vehicle may request the second vehicle to decelerate, accelerate, park, change the lane, adjust the inter-vehicle distance, or change destination according to the message selected by the passenger of the first vehicle. The second vehicle may automatically execute the corresponding function in response to the request of the first vehicle or output the notification information informing the request of the first vehicle in a visual, auditory and tactile manner.

Further, when the group driving starts, a menu of functions that all the vehicles included in the group can commonly be displayed can be displayed. By the user input to the menu, the same function can be executed in all vehicles included in the group.

The second point of the group driving is to output a user interface that allows a plurality of vehicles included in the same group to perform the same driving function, and a plurality of vehicles included in the group The same driving function is performed.

Finally, the third point of group driving is that messages received from vehicles included in the group are displayed preferentially. Since a message is received from an unspecified arbitrary vehicle, a message is received from various objects according to the driving environment. However, when the group travel starts, the on-vehicle control device can preferentially extract the message received from the vehicle included in the group, and display the extracted message on the display. Accordingly, the passenger can preferentially confirm information of other vehicles included in the group.

On the other hand, each vehicle included in the group can autonomously drive and / or pass to the destination. The autonomous driving means a driving in which at least one of the acceleration and the driving direction is determined according to a predetermined algorithm and the manual driving means driving in which the acceleration and the driving direction are determined by the driver's operation.

Various embodiments related to the group driving mode will be described below with reference to FIGS. 11 and 12. FIG.

11 is a flowchart for explaining a method of generating an object map in different manners according to a group driving mode.

The on-board control device may execute a general driving mode (or a safety message application) or a group traveling mode (or traveling companion application).

The control unit for the vehicle determines whether the group traveling mode is on (S1110), and can use the messages received from the outside in different ways according to the determination result. Depending on the ON or OFF state of the group traveling mode, the process for the message received by the wireless communication unit is different.

If the group driving mode is off, the vehicle control device operates in the normal driving mode and operates in the group driving mode if the group driving mode is on.

The general running mode means a mode for receiving an unspecified arbitrary message broadcasted or transmitted directly to the vehicle. In this case, the vehicle control apparatus uses all the messages received in an unspecified arbitrary vehicle in generating the object map (S1130).

Alternatively, the group driving mode is a mode in which a message received from a vehicle included in the group is used in generating an object map (S1150).

When the group driving mode is turned on, the on-vehicle control device can preferentially process a message received from a vehicle included in the group, rather than a message received from a vehicle not included in the group.

Processing preferentially means that a predetermined weight is added to a message of a vehicle included in the group. In this case, a message received from a vehicle that is not included in the group will have a relatively weak impact on the vehicle than a message received from the vehicle included in the group.

Alternatively, messages received from vehicles not included in the group may be ignored. That is, a message received from a vehicle not included in the group may be excluded from being used for various vehicle control even if reception itself is rejected or received.

As a result, the vehicle control apparatus uses all the received messages when the general running mode is executed, but selectively uses the received messages when the group running mode is executed.

In the normal driving mode, when the received message is larger than the reference, a load may occur, and there is a fear that the malicious message generated by the hacker malfunctions. Of course, filtering will be done by a basic hacking prevention algorithm, but there is a problem that it can not block all malicious messages.

On the other hand, in the group driving mode, since only the messages of the vehicles included in the reliable group are selectively used, the load is smaller than that in the general driving mode and no separate verification of the message is required.

The vehicles traveling in the group can more accurately define the spatial relationship based on the mutually shared sensor information, and the group travel can be realized based on the spatial relationship.

13A, 13B, 13C, 13D, 13E and 13F are diagrams for explaining the operation of the display according to the control method of FIG. 12; FIG. 12 is a flowchart for explaining a control method of the control apparatus for a vehicle according to the present invention; .

The vehicle control apparatus includes a display, a wireless communication unit configured to transmit and receive a message to and from a certain vehicle within a predetermined range, and a control unit for controlling the display and the wireless communication unit. Hereinafter, the operation of the vehicle control apparatus can be performed by the control unit.

The display is intended for a passenger of a vehicle and may be installed at various locations within the vehicle. As shown in FIG. 13A, the display 1300 may display a map image including a location where the vehicle is located. A scale icon that guides the scale of the map may be displayed on the map image. In addition, the running information of the vehicle may be additionally displayed, and the running information may include at least one of a speed of the vehicle, a running direction, a latitude, a longitude and an altitude of a point where the vehicle is located.

In addition, in the display 1300, the on-vehicle control device calculates the amount of messages received in the vehicle for a unit time, and a graphic object 1310 indicating the amount of the calculated message may be output.

The message received through the wireless communication unit refers to various kinds of data or information exchanged in the V2X communication. For example, the message may be sensor information sensed by another vehicle using its sensor, or road information transmitted in an infrastructure such as a traffic light. Thus, the predetermined range means the maximum range over which a message can be transmitted based on the vehicle.

On the other hand, the on-vehicle control device can turn on or off the group driving mode based on the user input (S1210). Specifically, the general driving mode may be switched to the group driving mode or the group driving mode may be switched to the general driving mode according to user input.

The user input for turning the group driving mode on or off can be input in various ways.

For example, the display 1300 displays a driving mode icon 1310 that guides the driving mode of the vehicle, and when a touch is input to the driving mode icon 1310, the general driving mode is switched to the group driving mode, The group driving mode can be switched to the general driving mode.

When the group driving mode is turned on, the on-vehicle control device controls the display to display a list of candidate vehicles that can be included in the group (S1230).

As described above, the group driving means that the vehicle running in the group shares the sensor information sensed by each vehicle among the vehicles included in the group, and travels using the object map in which the sensor information of the other vehicle is fused with the sensor information of the other vehicle .

Therefore, in order for group driving to be performed, a group must be set up, and at least one other vehicle must be included in the group. To this end, the on-vehicle control device outputs to the display a user interface designed to set the group when the group traveling mode is turned on.

The user interface includes a list of candidate vehicles. Here, the candidate vehicle means another vehicle located within a predetermined range based on the vehicle. The vehicle control apparatus can search a candidate vehicle using various sensors provided in the vehicle or search for a candidate vehicle based on a message received from another vehicle. A predetermined message for searching for a candidate vehicle may be broadcast and a candidate vehicle may be searched based on a response message to the predetermined message.

If a list of candidate vehicles is displayed, at least one sub-object 1350a-1350e representing the candidate vehicle may be displayed on the display 1300, as shown in Fig. 13b.

Hereinafter, in order to distinguish a vehicle having a candidate vehicle and a vehicle control device, a vehicle controlled by the vehicle control device is referred to as a " main vehicle ".

The on-vehicle control device can display the main object 1340 corresponding to the main vehicle together with the sub-objects 1350a-1350e. In this case, the position at which each subobject is displayed may vary in real time according to the relative position of each candidate vehicle with respect to the main vehicle. That is, the display position of the sub-object reflects the actual position of the candidate vehicle.

For example, through the first sub-object 1350a, it can be seen that the first candidate vehicle is located at the 11 o'clock position of the main vehicle, and through the second sub-object 1350b, It is located at 1 o'clock.

The distance between the sub-object and the main object reflects the distance between the candidate vehicle and the main vehicle. For example, since the second sub-object 1350b is farther away than the first sub-object 1350a, it can be seen that the second candidate vehicle is farther away from the main vehicle than the first candidate vehicle.

The sub-objects may be different images depending on the type of the candidate vehicle and / or the manufacturer of the candidate vehicle. Here, different images mean images having different shapes, lengths, colors, and the like, for example.

In addition, the sub-objects may be different images according to whether the candidate vehicle can perform V2X communication or different images depending on whether the candidate vehicle is included in the group.

For example, depending on whether the candidate vehicle can perform V2X communication, the subobject may be different. For example, since V2X communication is possible with the first candidate vehicle, a circle image is included in the first sub object 1350a and V2X communication is not possible with the fourth candidate vehicle. Therefore, the fourth sub object 1350d X images may be included. The user can intuitively recognize whether or not the user can add to the group through the image included in the sub-object.

On the other hand, the on-vehicle control device may control the wireless communication unit to transmit the group request message to at least one candidate vehicle selected by user input in the list. When the grant message for the group request message is received, the candidate vehicle that transmitted the grant message is added to the group.

13B, when the first sub-object 1350a is touched, the on-vehicle control device can transmit a group request message to the first candidate vehicle corresponding to the first sub-object 1350a have. When approval is made from the passenger of the first candidate vehicle and the first candidate vehicle transmits an approval message to the main vehicle, the main vehicle and the first candidate vehicle are grouped and start group driving.

In the display of the list of candidate vehicles, a highlight process can be performed on the vehicles included in the group among the list of candidate vehicles so that the vehicles included in the group and the vehicles not included in the group are distinguished.

For example, as shown in FIG. 13C, the first sub-object 1350a representing the first candidate vehicle included in the group may be highlighted, unlike the other sub-objects 1350b-1350e. Further, a connection line indicating that the first candidate vehicle and the main vehicle are connected may be further displayed.

Similarly, the user may send a group request message to the second candidate vehicle corresponding to the second sub-object 1350b by applying a touch to the second sub-object 1350b. Thereafter, when an approval message is received from the second candidate vehicle, the second candidate vehicle is added to the group, and the main vehicle, the first and second candidate vehicles perform the group driving.

If the main vehicle transmits a group request message to the second candidate vehicle with the group already set, the approval message of the second candidate vehicle may be transmitted to all the vehicles included in the group. Alternatively, the second candidate vehicle may transmit an approval message only to the main vehicle that has transmitted the group request message, and may transmit a notification message informing that the second candidate vehicle is included in the group to another vehicle included in the group.

On the other hand, when the group driving mode is turned on, a pairing icon 1330 indicating whether or not another vehicle is included in the group may be displayed. The user can confirm whether or not the vehicle is included in the group through the pairing icon 1330. [

On the other hand, depending on whether the vehicle is included in the group and the position of the vehicle included in the group, the scale of the map displayed on the display 1300 can be changed. Specifically, the on-vehicle control device controls the display 1300 to display a map including the position of the main vehicle, and determines whether or not the vehicle is included in the group and on the basis of at least one of the positions of the vehicles included in the group You can change the scale of the map.

For example, as shown in 13b, when no other vehicle is included in the group, the scale can be adjusted so that the maximum area in which the candidate vehicle is searched is displayed on the map. Thereby, the user can grasp at a glance the positions of the candidate cars and the candidate cars that can be added to the group.

As another example, when the vehicle is included in the group, as shown in FIG. 13C, the scale can be adjusted so that all the vehicles included in the group are displayed on the map. In this case, the scale of the map can be changed based on the most advanced vehicle and the backward vehicle based on the main vehicle among the other vehicles included in the group. For example, as the distance of the preceding vehicle from the main vehicle increases, the denominator of the scale of the map becomes larger, and as the preceding vehicle becomes closer to the main vehicle, the scale denominator of the map may become smaller.

On the other hand, when there is a vehicle included in the group, the on-vehicle control device controls the display to output a message list related to the group driving (S1250).

When the group driving starts, the vehicles included in the group can share various group driving functions, and the vehicle control device can display a message list for selecting a group driving function to be executed from the user.

When at least one message in the message list is selected, the on-vehicle control device controls the wireless communication unit to transmit the selected message to the vehicle included in the group.

For example, as shown in FIG. 13D, an acceleration message may be included in the message list 1370, and the acceleration message may be selected by the passenger boarding the first vehicle. Since the first and second candidate vehicles are included in the group, the acceleration message is transmitted from the main vehicle to the first and second candidate vehicles.

If the group includes a plurality of vehicles, the selected message may be selectively transmitted to only one or more vehicles selected by user input among the vehicles included in the group. For example, a selected message may be sent to at least one of the first and second candidate vehicles included in the group selected by the user.

Here, the message list 1370 includes messages to be transmitted to other vehicles included in the group. Each message corresponds to a group driving function to be executed by at least one vehicle included in the group. The message list 1370 can be regarded as a group of group driving functions that are commonly executable among the vehicles included in the group.

One of the functions that can be executed by the group driving function may be deceleration, acceleration, parking, lane change, inter-vehicle distance adjustment, master vehicle change based on group driving, and destination change.

Depending on the message selected by the user, the group running function to be executed will be different. For example, when the deceleration message is selected, the deceleration function is executed, and when the acceleration message is selected, the acceleration function can be executed.

Although not shown in the figure, the on-vehicle control device may edit or delete a message included in the message list 1370 or add a new message to the message list 1370 based on user input.

For example, the deceleration message may be modified to "Decelerate by 10 km / h from the current speed" or to "Decelerate to 90% of the current speed". The other vehicle receiving the deceleration message executes the deceleration function according to the conditions included in the deceleration message.

As another example, a backward message such as " Backward at least 10 meters " may be newly added. The other vehicle receiving the backward message will perform the backward function according to the conditions included in the backward message.

On the other hand, if at least one message among the message list 1370 is selected, the group driving function corresponding to the selected message may be executed in at least one vehicle included in the group. The group driving function may be executed in all the vehicles included in the group, or may be limitedly executed in the specific vehicle selected by the user.

Hereinafter, for convenience of description, an embodiment will be described in which all the vehicles included in the group execute the group driving function corresponding to the selected message.

The other vehicle that has received the message including the group driving function waits for the execution of the group driving function to receive the approval of the execution of the group driving function from the passenger aboard the other vehicle, It can be output in visual, auditory and tactile ways.

When the passenger of the other vehicle approves the execution of the group driving function, the other vehicle transmits an approval message to the main vehicle. Alternatively, when the group vehicle driving function is rejected, the other vehicle transmits a rejection message to the main vehicle.

The on-vehicle control device of the main vehicle waits for reception of an approval message or rejection message. And can output information for guiding the waiting state. For example, as shown in FIG. 13D, when the message " SPEED UP " is selected, a notification effect indicating that the approval of the " SPEED UP " message is waiting is displayed on the display 1300 Lt; / RTI >

The vehicle control device of the main vehicle executes the group driving function when an approval message is received from all the vehicles. And can output guidance information for guiding the group driving function to be executed. For example, as shown in the first diagram of Fig. 13F, guidance information may be output to the display 1300 to indicate that the acceleration request has been granted and accelerated, and that the target velocity is 100 km / h.

Alternatively, when a reject message other than an acknowledgment message is received from at least one other vehicle, the execution of the group driving function is restricted, and the display is controlled such that the denial message is received. When a reject message is received from any one of the plurality of vehicles, the plurality of vehicles do not execute the group driving function at all. At this time, the on-vehicle control device of the main vehicle can output the guidance information to guide that the request message is rejected. For example, as shown in the second drawing of Fig. 13F, guidance information including a reason why the group driving function can not be executed can be output to the display 1300. [

Consequently, the group driving function is executed when an approval message is generated from all vehicles, and the group driving function is not executed when a reject message is generated from at least one vehicle. The different controls may cause the vehicles included in the group to deviate from a certain range in which communication is possible.

On the other hand, another vehicle that has received the message from the main vehicle may immediately execute the group driving function corresponding to the message in response to the request of the main vehicle. In other words, even if there is no approval of the passenger on the other vehicle, the other vehicle can autonomously execute the group driving function in response to the request of the main vehicle. In this case, the main vehicle executes the group driving function corresponding to the selected message when the message is selected from the user, and the other vehicle can execute the group driving function included in the received message upon receiving the message from the main vehicle.

On the other hand, when the group traveling mode is turned off, the on-vehicle control device ends the list of candidate vehicles and / or the output of the message list (S1270). For example, as shown in FIG. 14, when a touch is applied to the travel mode icon 1310 that guides the travel mode of the vehicle, the group travel mode may be switched to the general travel mode. Thereafter, the vehicle control device generates an object map using a message received from an unspecified arbitrary vehicle according to the general running mode.

Further, when the group driving mode is turned off while the group is set, the group is released. The message received from the other vehicle includes the positional information of the passenger carrying the vehicle. The user must set up a new group each time he runs the group driving mode and be approved for sharing location information from the passengers of other vehicles.

As the group is released, the scale of the map based on the position of another vehicle included in the group is changed based on the navigation information to be provided to the passenger. This allows the passengers of the vehicle to utilize the map image in an optimized state.

15 is an exemplary view for explaining an embodiment in which the scale of a map displayed on the display is changed according to the presence or absence of a vehicle included in the group.

The on-vehicle control device can change the scale of the map displayed on the display 1300, depending on whether or not the vehicle is included in the group. When the vehicle is not included in the group, the scale is adjusted so that the maximum area in which the candidate vehicle can be searched is displayed on the map, as shown in the first drawing of Fig. At this time, a reference line 1510 for guiding the maximum area may be displayed on the map image.

At least one sub-object representing a candidate vehicle that can be added to the group may be displayed on the map image.

Further, the on-vehicle control device can change the scale of the map displayed on the display 1300 according to the position of the vehicle included in the group. As the circle based on the main vehicle, the scale may be changed so that a circle whose radius is the distance from the main vehicle to another vehicle farthest from the main vehicle is included in the map image. For example, the distance denominator of a map increases as the distance from the main vehicle increases, and the denominator of the map decreases as the vehicle gets closer to the main vehicle.

On the other hand, if another vehicle included in the group is outside the area where the message can be transmitted or received, the group driving may be interrupted. When the other vehicle deviates from the reference distance based on the main vehicle, the main vehicle can transmit a warning message to the other vehicle, in order to prevent the group driving from being interrupted. The other vehicle may perform autonomous traveling in response to the warning message so as to be located within a range where communication can be performed, or may output guidance information guiding the range.

Hereinafter, the vehicle system including the main vehicle and other vehicles included in the group in a state in which the group is set will be described in detail.

FIG. 16 is a flowchart for explaining a vehicle system according to group driving, and FIGS. 17A, 17B and 17C are illustrations for explaining a plurality of vehicles according to the control method of FIG.

Referring to FIG. 16, the vehicle system may include a main vehicle 1600 and a sub-vehicle 1620. Sub-vehicle 1620 refers to another vehicle included in the group, and a plurality of sub-vehicles may be included in the vehicle system. However, for convenience of explanation, the present invention will be described by taking, as an example, a case where a main vehicle and a sub-vehicle are included in a group.

Group is set and the group travel is performed. As shown in FIG. 17A, a message list is output to the displays of the main vehicle 1600 and the sub-vehicle 1620, respectively.

The passenger of the main vehicle 1600 can select any one of the message list (S1610). In this case, the selected message is transmitted to the sub-vehicle 1620 as another vehicle included in the group (S1610). For example, as shown in FIG. 17A, when the message " SPEED UP " is selected, the message is transmitted to the sub-vehicle 1620.

Next, the sub-vehicle 1620 outputs the received message (S1620). For example, as shown in FIG. 17B, the sub-vehicle 1620 outputs guidance information to guide that a " SPEED UP " request has been received, and outputs a user interface that allows the user to select whether to approve or reject the request can do. The main vehicle 1600 may generate a notification effect indicating that the selected " SPEED UP " is waiting for approval of another vehicle.

When the approval or rejection is inputted, the sub-vehicle 1620 transmits an approval message or rejection message to the main vehicle 1600 (S1622). The main vehicle 1600 outputs guidance information based on the message received from the sub-vehicle 1620 (S1616).

When the approval is made, the sub-vehicle 1620 executes the group driving function corresponding to the received message (S1628). The main vehicle 1600 executes a group driving function in response to an approval message received from the sub-vehicle 1620 (S1618).

As the group driving function is executed, guidance information that guides the group driving function to be executed can be output from the display of each of the main vehicle 1600 and the sub-vehicle 1620. [

On the other hand, the vehicles included in the group can perform the group driving toward the same destination. In this case, a master vehicle that is a guide for guiding the route is selected, and route guidance information of the vehicles included in the group can be provided on the basis of the master vehicle.

The case where the first vehicle and the second vehicle are included in the group will be described as an example. The first vehicle corresponds to a main vehicle equipped with a vehicle control device, and the second vehicle corresponds to a master vehicle that is a reference for guiding the road.

Referring to FIG. 18, a main object 1840 corresponding to the first vehicle and a sub object 1830 corresponding to the second vehicle may be displayed on the map image. An icon 1820 for guiding the master vehicle may additionally be displayed.

Vehicles included in the group may be displayed with an image 1810 that guides the relative position of the master vehicle. For example, in the case of a first vehicle, the image 1810 may indicate an orientation with respect to a position of the second vehicle, with respect to a direction in which the first vehicle travels.

On the other hand, the master vehicle may generate master notification information to warn or guide the passenger based on the position of the master vehicle. For example, when a vehicle stopped at 70 meters ahead of the master vehicle is detected, the master vehicle can output master notification information warning the stopped vehicle. Such master notification information is transmitted as a V2X message to other vehicles included in the same group.

The first vehicle can output notification information that warns that there is a vehicle stopped in the front 70m of the master vehicle based on the master notification information. That is, the first vehicle can output the notification information based on the message received from the master vehicle even for an object not detected by the sensor of the first vehicle.

At this time, the first vehicle sends to the user a current location 1880 indicating the position of the first vehicle, a master vehicle position 1870 indicating the position of the master vehicle 1860, Visual, auditory, and tactile guidance.

Conventionally, the route guidance information is provided only on the basis of the vehicle on which the passenger boarded, but the vehicle control apparatus according to the present invention can provide the route guidance information on the basis of the master vehicle included in the group travel. As a result, the passengers of all vehicles traveling in the group can see the same warning, compare with the position of the master vehicle, and intuitively recognize when to pay attention.

19 is an exemplary diagram for explaining a method of visually guiding the amount of a message received in a vehicle.

The on-vehicle control device may calculate the amount of the message received in the vehicle for a unit time, and output a graphic object indicating the amount of the calculated message. The message may be a message received from another vehicle located within a predetermined range by V2X communication.

For example, as shown in FIG. 19, when the amount of the message received per unit time is less than the first criterion, the first graphic object 1900a is displayed. When the amount of the message is larger than the second criterion, 1900c may be displayed. The second graphic object 1900b may be displayed when the amount of the received message per unit time is greater than the first reference value but less than the second reference value.

The passenger can intuitively recognize how many V2X messages are being received from the other vehicle through the graphic object.

On the other hand, the standard of the graphic object is changed according to the general driving mode or the group driving mode. In the normal driving mode, a message received from an unspecified arbitrary vehicle is used, but in a group driving mode, a message received from a vehicle included in the group is selectively used.

Wherein the graphical object indicates an amount of a message received from a vehicle included in the group during the unit time when the group driving mode is on and a message received from all vehicles during the unit time when the group driving mode is off, . That is, even if a message is received from an unspecified arbitrary vehicle in the group traveling mode, the amount of the message received per unit time is calculated based on the message received from the vehicle included in the group.

The present invention can be extended to a vehicle equipped with the vehicle control apparatus described with reference to Figs.

The above-described present invention can be implemented as a computer-readable code (or application or software) on a medium on which the program is recorded. The control method of the above-described autonomous vehicle can be realized by a code stored in a memory or the like.

The computer readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of the computer readable medium include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, , And may also be implemented in the form of a carrier wave (e.g., transmission over the Internet). In addition, the computer may include a processor or a control unit. Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

Claims (20)

display;
A wireless communication unit configured to transmit and receive a message to and from any vehicle located within a predetermined range; And
And a controller configured to control the display based on a message received through the wireless communication unit,
Wherein,
The group driving mode is turned on or off based on user input,
Controls the display to display a list of candidate vehicles that can be included in the group among vehicles located within the predetermined range when the group driving mode is on,
Wherein a graphical object is displayed on the display, the graphical object representing an amount of a message received from a vehicle located within the predetermined range for a unit time. The method according to claim 1,
Wherein,
Controlling the display such that a message list related to group driving is output when there is a vehicle included in the group while the group driving mode is on,
And controls the wireless communication unit to transmit the selected message to the vehicle included in the group when at least one message in the message list is selected. 3. The method of claim 2,
Wherein,
And executes a group driving function corresponding to the selected message when an approval message for the selected message is received from the vehicle that transmitted the selected message. The method of claim 3,
Wherein,
And controls the display so as to restrict execution of the group driving function corresponding to the selected message and to output notification information indicating that the reject message has been received when a reject message other than the approval message is received. Device. The method of claim 3,
Wherein one of the functions that can be executed by the group driving function is deceleration, acceleration, parking, lane change, inter-vehicle distance adjustment, master vehicle change based on group driving, and destination change. The method of claim 3,
Wherein the executed group driving function is changed according to the selected message. 3. The method of claim 2,
Wherein when the plurality of vehicles are included in the group, the selected message is selectively transmitted to only one or more vehicles selected by user input among the vehicles included in the group. 3. The method of claim 2,
Wherein,
Wherein the control unit edits or deletes a message included in the message list based on user input, or adds a new message to the message list. The method according to claim 1,
Wherein the process for the message received by the wireless communication unit changes depending on whether the group traveling mode is on or off. 10. The method of claim 9,
Wherein,
Wherein when the group driving mode is turned on, a message received from a vehicle included in the group is preferentially processed with respect to a message received from a vehicle not included in the group. 10. The method of claim 9,
Wherein,
And ignores a message received from a vehicle not included in the group when the group traveling mode is turned on. The method according to claim 1,
Wherein,
Controlling the wireless communication unit to transmit a group request message to at least one candidate vehicle selected by user input in the list,
Wherein when the approval message for the group request message is received, the candidate vehicle that transmitted the approval message is added to the group. 13. The method of claim 12,
Wherein the highlighting process is performed on a vehicle included in the group of the list such that the vehicle included in the group and the vehicle not included in the group are distinguished from each other. 13. The method of claim 12,
And the group is released when the group traveling mode is turned off with the group being set. The method according to claim 1,
Wherein,
The main object corresponding to the main vehicle having the control unit and the sub objects corresponding to any candidate vehicle included in the group are displayed when the list is displayed, Wherein the control signal is different depending on a relative position of the candidate vehicle. The method according to claim 1,
Wherein the display is configured to display a map including a position of a main vehicle having the control unit,
Wherein,
And the scale of the map is changed based on the position of any candidate vehicle included in the group. 17. The method of claim 16,
Wherein,
Wherein the control unit controls the radio communication unit such that a warning message is transmitted to any of the candidate vehicles when the candidate vehicle is out of the reference distance. delete The method according to claim 1,
Wherein the graphical object indicates an amount of a message received from a vehicle included in the group during the unit time when the group driving mode is on and a message received from all vehicles during the unit time when the group driving mode is off, Of the vehicle. A vehicle provided with the vehicle control device of claim 1.

Images