EP3545380A1 - Dispositif embarqué de commande de véhicule et procédé de commande du véhicule - Google Patents

Dispositif embarqué de commande de véhicule et procédé de commande du véhicule

Info

Publication number
EP3545380A1
EP3545380A1 EP17873085.9A EP17873085A EP3545380A1 EP 3545380 A1 EP3545380 A1 EP 3545380A1 EP 17873085 A EP17873085 A EP 17873085A EP 3545380 A1 EP3545380 A1 EP 3545380A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
control
control region
region
driving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP17873085.9A
Other languages
German (de)
English (en)
Other versions
EP3545380A4 (fr
Inventor
Sungmin Kim
Jinsang LEE
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
LG Electronics Inc
Original Assignee
LG Electronics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US15/710,002 external-priority patent/US10474163B2/en
Application filed by LG Electronics Inc filed Critical LG Electronics Inc
Publication of EP3545380A1 publication Critical patent/EP3545380A1/fr
Publication of EP3545380A4 publication Critical patent/EP3545380A4/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • G—PHYSICS
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    • G08G1/00—Traffic control systems for road vehicles
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    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/082—Selecting or switching between different modes of propelling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0051—Handover processes from occupants to vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G08G1/0133—Traffic data processing for classifying traffic situation
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/09675—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B60W2420/408—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/223—Posture, e.g. hand, foot, or seat position, turned or inclined
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/225—Direction of gaze
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle for navigation systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
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    • B60W2556/55—External transmission of data to or from the vehicle using telemetry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/14—Cruise control

Definitions

  • the present disclosure relates to a vehicle control device provided in a vehicle and a method for controlling the vehicle.
  • a vehicle is an apparatus capable of moving a user in his or her desired direction, and a representative example may be a car.
  • ADAS Advanced Driver Assistance System
  • ADAS advanced driving assist system
  • the location information of a vehicle may be transmitted to an external server through cellular communication.
  • an external server may transmit to an external server through cellular communication.
  • the location information of an external vehicle may be received and compared with the location of the own vehicle.
  • DSRC has a problem that an inter-vehicle communication sensitivity is degraded in a place where the signal is weak, and update in seconds is impossible.
  • An object of the present disclosure is to solve the foregoing problems and other problems. Another object of the present disclosure is to provide a vehicle control device capable of defining a control region based on various references, and using data related to the control region for the generation of a control signal, and a method for controlling the vehicle.
  • a vehicle control device for controlling a vehicle having a sensing unit
  • a vehicle control device including a communication unit configured to receive a map having a plurality of layers from a server; and a processor configured to generate a control signal for driving the vehicle using the map, wherein a control region that is a reference for the generation of the control signal around a location of the vehicle is defined differently according to a preset reference.
  • data related to the control region may be used to generate the control signal, and data not related to the control region may not be used to generate the control signal.
  • control region may be defined based on at least one of a traffic of data communication amount for the control of the vehicle, speed information of the vehicle, road information on which the vehicle is driving, and a driving direction of the vehicle.
  • control region may be defined as a different area according to a traffic of data communication amount for the control of the vehicle.
  • control region may be defined as a different shape and area according to a speed of the vehicle.
  • control region may be defined differently according to a type of road on which the vehicle is driving.
  • control region may be defined to exclude a region corresponding to a road in a driving direction opposite to that of the vehicle based on the vehicle driving on a preset type of road.
  • control region may be defined to exclude a region in which a possibility of collision with another vehicle is less than a preset reference based on the driving direction of the vehicle.
  • control region may be defined as at least one of a plurality of candidate regions.
  • the priorities of the plurality of candidate regions may be defined based on a preset reference.
  • control region may be defined as a region including a driving route of the vehicle among the plurality of candidate regions.
  • the processor may control the plurality of candidate regions in different ways according to the priorities.
  • the processor may receive map information corresponding to a control region chosen according to the priorities among the plurality of candidate regions through the communication unit, and then control the autonomous driving of the vehicle based on the map information.
  • the processor may receive map information corresponding to the control region through the communication unit, and control the autonomous driving of the vehicle based on the map information.
  • the processor may produce a plurality of events from the data of the vicinity of the vehicle received through the communication unit, and exclude redundant events from the plurality of events based on the map information.
  • the processor may control the autonomous driving of the vehicle based on an event excluding the redundant events.
  • the processor may receive map information corresponding to a control region redefined as a region corresponding to an event excluding the redundant events through the communication unit, and then control the autonomous driving of the vehicle based on the map information.
  • a control method of the vehicle including (a) receiving a map having a plurality of layers from a server; and (b) generating a control signal for driving the vehicle using the map, wherein a control region that is a reference for the generation of the control signal around a location of the vehicle is defined differently according to a preset reference.
  • the step (b) may include using data related to the control region to generate the control signal, and not using data not related to the control region to generate the control signal.
  • control region may be defined based on at least one of a traffic of data communication amount for the control of the vehicle, speed information of the vehicle, road information on which the vehicle is driving, and a driving direction of the vehicle.
  • the absolute location information of a vehicle may be obtained through information received by various communication methods, in particular, high-precision maps and the like. Accordingly, accuracy may be increased as compared to the existing V2X communication method in which relative locations are compared while performing autonomous driving.
  • a range of data used to generate a control signal may be limited to reduce memory shortage, time delay, cost increase, and the like, which may be caused by unnecessary or redundant data communication.
  • a data loss phenomenon due to a traffic of data communication amount may not occur due to control regions having various shapes and areas.
  • more information substantially required for driving the vehicle may be received in consideration of the characteristics of a road, and redundant events may be distinguished using map information.
  • stability may be enhanced through replicating map data required for autonomous driving.
  • FIG. 1 is a view illustrating an appearance of a vehicle according to an embodiment of the present disclosure
  • FIG. 2 is a view in which a vehicle according to an embodiment of the present disclosure is seen from various angles;
  • FIGS. 3 and 4 are views illustrating an inside of a vehicle according to an embodiment of the present disclosure
  • FIGS. 5 and 6 are views referred to explain an object according to an embodiment of the present disclosure.
  • FIG. 7 is a block diagram for explaining a vehicle according to an embodiment of the present disclosure.
  • FIG. 8 is a conceptual view for explaining eHorizon associated with the present disclosure.
  • FIG. 9 is a conceptual view for explaining a vehicle control device according to an embodiment of the present disclosure.
  • FIG. 10 is a conceptual view for explaining an embodiment in which a control region is defined according to an amount of data communication
  • FIG. 11 is a conceptual view for explaining an embodiment in which a control region is defined according to a speed of the vehicle
  • FIG. 12 is a conceptual view for explaining an embodiment in which a control region is defined according to a type of road;
  • FIG. 13 is a conceptual view for explaining an embodiment in which a control region is defined according to a driving direction of the vehicle
  • FIGS. 14 and 15 are conceptual views for explaining an embodiment in which a control region is defined differently according to a driving direction of the vehicle at an intersection;
  • FIG. 16 is a conceptual view for explaining an embodiment of a plurality of candidate regions.
  • FIG. 17 is a conceptual view for explaining an embodiment for detecting redundant data.
  • a singular representation may include a plural representation unless it represents a definitely different meaning from the context.
  • a vehicle according to an embodiment of the present disclosure may be understood as a conception including cars, motorcycles and the like. Hereinafter, the vehicle will be described based on a car.
  • the vehicle according to the embodiment of the present disclosure may be a conception including all of an internal combustion engine car having an engine as a power source, a hybrid vehicle having an engine and an electric motor as power sources, an electric vehicle having an electric motor as a power source, and the like.
  • a left side of a vehicle refers to a left side in a driving direction of the vehicle
  • a right side of the vehicle refers to a right side in the driving direction
  • FIG. 1 is a view illustrating appearance of a vehicle in accordance with an embodiment of the present disclosure.
  • FIG. 2 is a view illustrating appearance of a vehicle at various angles in accordance with an embodiment of the present disclosure.
  • FIGS. 3 and 4 are views illustrating an inside of a vehicle in accordance with an embodiment of the present disclosure.
  • FIGS. 5 and 6 are reference views illustrating objects in accordance with an embodiment of the present disclosure.
  • FIG. 7 is a block diagram illustrating a vehicle in accordance with an embodiment of the present disclosure
  • a vehicle 100 may include wheels turning by a driving force, and a steering apparatus 510 for adjusting a driving (ongoing, moving) direction of the vehicle 100.
  • the vehicle 100 may be an autonomous vehicle.
  • the vehicle 100 may be switched into an autonomous mode or a manual mode based on a user input.
  • the vehicle may be converted from the manual mode into the autonomous mode or from the autonomous mode into the manual mode based on a user input received through a user interface apparatus 200.
  • the vehicle 100 may be switched into the autonomous mode or the manual mode based on driving environment information.
  • the driving environment information may be generated based on object information provided from an object detecting apparatus 300.
  • the vehicle 100 may be switched from the manual mode into the autonomous mode or from the autonomous module into the manual mode based on driving environment information generated in the object detecting apparatus 300.
  • the vehicle 100 may be switched from the manual mode into the autonomous mode or from the autonomous module into the manual mode based on driving environment information received through a communication apparatus 400.
  • the vehicle 100 may be switched from the manual mode into the autonomous mode or from the autonomous module into the manual mode based on information, data or signal provided from an external device.
  • the autonomous vehicle 100 may be driven based on an operation system 700.
  • the autonomous vehicle 100 may be driven based on information, data or signal generated in a driving system 710, a parking exit system 740 and a parking system 750.
  • the autonomous vehicle 100 may receive a user input for driving through a driving control apparatus 500.
  • the vehicle 100 may be driven based on the user input received through the driving control apparatus 500.
  • an overall length refers to a length from a front end to a rear end of the vehicle 100
  • a width refers to a width of the vehicle 100
  • a height refers to a length from a bottom of a wheel to a roof.
  • an overall-length direction L may refer to a direction which is a criterion for measuring the overall length of the vehicle 100
  • a width direction W may refer to a direction that is a criterion for measuring a width of the vehicle 100
  • a height direction H may refer to a direction that is a criterion for measuring a height of the vehicle 100.
  • the vehicle 100 may include a user interface apparatus 200, an object detecting apparatus 300, a communication apparatus 400, a driving control apparatus 500, a vehicle operating apparatus 600, a operation system 700, a navigation system 770, a sensing unit 120, an interface unit 130, a memory 140, a controller 170 and a power supply unit 190.
  • the vehicle 100 may include more components in addition to components to be explained in this specification or may not include some of those components to be explained in this specification.
  • the user interface apparatus 200 is an apparatus for communication between the vehicle 100 and a user.
  • the user interface apparatus 200 may receive a user input and provide information generated in the vehicle 100 to the user.
  • the vehicle 200 may implement user interfaces (UIs) or user experiences (UXs) through the user interface apparatus 200.
  • UIs user interfaces
  • UXs user experiences
  • the user interface apparatus 200 may include an input unit 210, an internal camera 220, a biometric sensing unit 230, an output unit 250 and a processor 270.
  • the user interface apparatus 200 may include more components in addition to components to be explained in this specification or may not include some of those components to be explained in this specification.
  • the input unit 200 may allow the user to input information. Data collected in the input unit 120 may be analyzed by the processor 270 and processed as a user's control command.
  • the input unit 210 may be disposed within the vehicle.
  • the input unit 200 may be disposed on 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 a door, one area of a center console, one area of a headlining, one area of a sun visor, one area of a wind shield, one area of a window or the like.
  • the input unit 210 may include a voice input module 211, a gesture input module 212, a touch input module 213, and a mechanical input module 214.
  • the audio input module 211 may convert a user's voice input into an electric signal.
  • the converted electric signal may be provided to the processor 270 or the controller 170.
  • the voice input module 211 may include at least one microphone.
  • the gesture input module 212 may convert a user's gesture input into an electric signal.
  • the converted electric signal may be provided to the processor 270 or the controller 170.
  • the gesture input module 212 may include at least one of an infrared sensor and an image sensor for detecting the user's gesture input.
  • the gesture input module 212 may detect a user's three-dimensional (3D) gesture input.
  • the gesture input module 212 may include a light emitting diode outputting a plurality of infrared rays or a plurality of image sensors.
  • the gesture input module 212 may detect the user's 3D gesture input by a time of flight (TOF) method, a structured light method or a disparity method.
  • TOF time of flight
  • the touch input module 213 may convert the user's touch input into an electric signal.
  • the converted electric signal may be provided to the processor 270 or the controller 170.
  • the touch input module 213 may include a touch sensor for detecting the user's touch input.
  • the touch input module 213 may be integrated with the display unit 251 so as to implement a touch screen.
  • the touch screen may provide an input interface and an output interface between the vehicle 100 and the user.
  • the mechanical input module 214 may include at least one of a button, a dome switch, a jog wheel and a jog switch. An electric signal generated by the mechanical input module 214 may be provided to the processor 270 or the controller 170.
  • the mechanical input module 214 may be arranged on a steering wheel, a center fascia, a center console, a cockpit module, a door and the like.
  • the internal camera 220 may acquire an internal image of the vehicle.
  • the processor 270 may detect a user's state based on the internal image of the vehicle.
  • the processor 270 may acquire information related to the user's gaze from the internal image of the vehicle.
  • the processor 270 may detect a user gesture from the internal image of the vehicle.
  • the biometric sensing unit 230 may acquire the user's biometric information.
  • the biometric sensing module 230 may include a sensor for detecting the user's biometric information and acquire fingerprint information and heart rate information regarding the user using the sensor.
  • the biometric information may be used for user authentication.
  • the output unit 250 may generate an output related to a visual, audible or tactile signal.
  • the output unit 250 may include at least one of a display module 251, an audio output module 252 and a haptic output module 253.
  • the display module 251 may output graphic objects corresponding to various types of information.
  • the display module 251 may include at least one of a liquid crystal display (LCD), a thin film transistor-LCD (TFT LCD), an organic light-emitting diode (OLED), a flexible display, a three-dimensional (3D) display and an e-ink display.
  • LCD liquid crystal display
  • TFT LCD thin film transistor-LCD
  • OLED organic light-emitting diode
  • flexible display a three-dimensional (3D) display and an e-ink display.
  • the display module 251 may be inter-layered or integrated with a touch input module 213 to implement a touch screen.
  • the display module 251 may be implemented as a head up display (HUD).
  • HUD head up display
  • the display module 251 may be provided with a projecting module so as to output information through an image which is projected on a windshield or a window.
  • the display module 251 may include a transparent display.
  • the transparent display may be attached to the windshield or the window.
  • the transparent display may have a predetermined degree of transparency and output a predetermined screen thereon.
  • the transparent display may include at least one of a thin film electroluminescent (TFEL), a transparent OLED, a transparent LCD, a transmissive transparent display and a transparent LED display.
  • TFEL thin film electroluminescent
  • OLED organic light-emitting diode
  • LCD organic light-emitting diode
  • transmissive transparent display a transparent LED display
  • the transparent display may have adjustable transparency.
  • the user interface apparatus 200 may include a plurality of display modules 251a through 251g.
  • the display module 251 may be disposed on one area of a steering wheel, one area 521a, 251b, 251e of an instrument panel, one area 251d of a seat, one area 251f of each pillar, one area 251g of a door, one area of a center console, one area of a headlining or one area of a sun visor, or implemented on one area 251c of a windshield or one area 251h of a window.
  • the audio output module 252 converts an electric signal provided from the processor 270 or the controller 170 into an audio signal for output.
  • the audio output module 252 may include at least one speaker.
  • the haptic output module 253 generates a tactile output.
  • the haptic output module 253 may vibrate the steering wheel, a safety belt, a seat 110FL, 110FR, 110RL, 110RR such that the user can recognize such output.
  • the processor 270 may control an overall operation of each unit of the user interface apparatus 200.
  • the user interface apparatus 200 may include a plurality of processors 270 or may not include any processor 270.
  • the user interface apparatus 200 may operate according to a control of a processor of another apparatus within the vehicle 100 or the controller 170.
  • the user interface apparatus 200 may be called as a display apparatus for vehicle.
  • the user interface apparatus 200 may operate according to the control of the controller 170.
  • the object detecting apparatus 300 is an apparatus for detecting an object located at outside of the vehicle 100.
  • the object may be a variety of objects associated with driving (operation) of the vehicle 100.
  • an object O may include a traffic lane OB10, another vehicle OB11, a pedestrian OB12, a two-wheeled vehicle OB13, traffic signals OB14 and OB15, light, a road, a structure, a speed hump, a geographical feature, an animal and the like.
  • the lane OB01 may be a driving lane, a lane next to the driving lane or a lane on which another vehicle comes in an opposite direction to the vehicle 100.
  • the lanes OB10 may be a concept including left and right lines forming a lane.
  • the another vehicle OB11 may be a vehicle which is moving around the vehicle 100.
  • the another vehicle OB11 may be a vehicle located within a predetermined distance from the vehicle 100.
  • the another vehicle OB11 may be a vehicle which moves before or after the vehicle 100.
  • the pedestrian OB12 may be a person located near the vehicle 100.
  • the pedestrian OB12 may be a person located within a predetermined distance from the vehicle 100.
  • the pedestrian OB12 may be a person located on a sidewalk or roadway.
  • the two-wheeled vehicle OB13 may refer to a vehicle (transportation facility) that is located near the vehicle 100 and moves using two wheels.
  • the two-wheeled vehicle OB13 may be a vehicle that is located within a predetermined distance from the vehicle 100 and has two wheels.
  • the two-wheeled vehicle OB13 may be a motorcycle or a bicycle that is located on a sidewalk or roadway.
  • the traffic signals may include a traffic light OB15, a traffic sign OB14 and a pattern or text drawn on a road surface.
  • the light may be light emitted from a lamp provided on another vehicle.
  • the light may be light generated from a streetlamp.
  • the light may be solar light.
  • the road may include a road surface, a curve, an upward slope, a downward slope and the like.
  • the structure may be an object that is located near a road and fixed on the ground.
  • the structure may include a streetlamp, a roadside tree, a building, an electric pole, a traffic light, a bridge and the like.
  • the geographical feature may include a mountain, a hill and the like.
  • objects may be classified into a moving object and a fixed object.
  • the moving object may be a concept including another vehicle and a pedestrian.
  • the fixed object may be a concept including a traffic signal, a road and a structure.
  • the object detecting apparatus 300 may include a camera 310, a radar 320, a LiDAR 330, an ultrasonic sensor 340, an infrared sensor 350 and a processor 370.
  • the object detecting apparatus 300 may further include other components in addition to the components described, or may not include some of the components described.
  • the camera 310 may be located on an appropriate portion outside the vehicle to acquire an external image of the vehicle.
  • the camera 310 may be a mono camera, a stereo camera 310a, an around view monitoring (AVM) camera 310b or a 360-degree camera.
  • AVM around view monitoring
  • the camera 310 may be disposed adjacent to a front windshield within the vehicle to acquire a front image of the vehicle.
  • the camera 310 may be disposed adjacent to a front bumper or a radiator grill.
  • the camera 310 may be disposed adjacent to a rear glass within the vehicle to acquire a rear image of the vehicle.
  • the camera 310 may be disposed adjacent to a rear bumper, a trunk or a tail gate.
  • the camera 310 may be disposed adjacent to at least one of side windows within the vehicle to acquire a side image of the vehicle.
  • the camera 310 may be disposed adjacent to a side mirror, a fender or a door.
  • the camera 310 may provide an acquired image to the processor 370.
  • the radar 320 may include electric wave transmitting and receiving portions.
  • the radar 320 may be implemented as a pulse radar or a continuous wave radar according to a principle of emitting electric waves.
  • the radar 320 may be implemented in a frequency modulated continuous wave (FMCW) manner or a frequency shift Keyong (FSK) manner according to a signal waveform, among the continuous wave radar methods.
  • FMCW frequency modulated continuous wave
  • FSK frequency shift Keyong
  • the radar 320 may detect an object in a time of flight (TOF) manner or a phase-shift manner through the medium of the electric wave, and detect a position of the detected object, a distance from the detected object and a relative speed with the detected object.
  • TOF time of flight
  • the radar 320 may be disposed on an appropriate position outside the vehicle for detecting an object which is located at a front, rear or side of the vehicle.
  • the LiDAR 330 may include laser transmitting and receiving portions.
  • the LiDAR 330 may be implemented in a time of flight (TOF) manner or a phase-shift manner.
  • TOF time of flight
  • the LiDAR 330 may be implemented as a drive type or a non-drive type.
  • the LiDAR 330 may be rotated by a motor and detect object near the vehicle 100.
  • the LiDAR 330 may detect, through light steering, objects which are located within a predetermined range based on the vehicle 100.
  • the vehicle 100 may include a plurality of non-drive type LiDARs 330.
  • the LiDAR 330 may detect an object in a TOP manner or a phase-shift manner through the medium of a laser beam, and detect a position of the detected object, a distance from the detected object and a relative speed with the detected object.
  • the LiDAR 330 may be disposed on an appropriate position outside the vehicle for detecting an object located at the front, rear or side of the vehicle.
  • the ultrasonic sensor 340 may include ultrasonic wave transmitting and receiving portions.
  • the ultrasonic sensor 340 may detect an object based on an ultrasonic wave, and detect a position of the detected object, a distance from the detected object and a relative speed with the detected object.
  • the ultrasonic sensor 340 may be disposed on an appropriate position outside the vehicle for detecting an object located at the front, rear or side of the vehicle.
  • the infrared sensor 350 may include infrared light transmitting and receiving portions.
  • the infrared sensor 340 may detect an object based on infrared light, and detect a position of the detected object, a distance from the detected object and a relative speed with the detected object.
  • the infrared sensor 350 may be disposed on an appropriate position outside the vehicle for detecting an object located at the front, rear or side of the vehicle.
  • the processor 370 may control an overall operation of each unit of the object detecting apparatus 300.
  • the processor 370 may detect an object based on an acquired image, and track the object.
  • the processor 370 may execute operations, such as a calculation of a distance from the object, a calculation of a relative speed with the object and the like, through an image processing algorithm.
  • the processor 370 may detect an object based on a reflected electromagnetic wave which an emitted electromagnetic wave is reflected from the object, and track the object.
  • the processor 370 may execute operations, such as a calculation of a distance from the object, a calculation of a relative speed with the object and the like, based on the electromagnetic wave.
  • the processor 370 may detect an object based on a reflected laser beam which an emitted laser beam is reflected from the object, and track the object.
  • the processor 370 may execute operations, such as a calculation of a distance from the object, a calculation of a relative speed with the object and the like, based on the laser beam.
  • the processor 370 may detect an object based on a reflected ultrasonic wave which an emitted ultrasonic wave is reflected from the object, and track the object.
  • the processor 370 may execute operations, such as a calculation of a distance from the object, a calculation of a relative speed with the object and the like, based on the ultrasonic wave.
  • the processor may detect an object based on reflected infrared light which emitted infrared light is reflected from the object, and track the object.
  • the processor 370 may execute operations, such as a calculation of a distance from the object, a calculation of a relative speed with the object and the like, based on the infrared light.
  • the object detecting apparatus 300 may include a plurality of processors 370 or may not include any processor 370.
  • each of the camera 310, the radar 320, the LiDAR 330, the ultrasonic sensor 340 and the infrared sensor 350 may include the processor in an individual manner.
  • the object detecting apparatus 300 may operate according to the control of a processor of an apparatus within the vehicle 100 or the controller 170.
  • the object detecting apparatus 300 may operate according to the control of the controller 170.
  • the communication apparatus 400 is an apparatus for performing communication with an external device.
  • the external device may be another vehicle, a mobile terminal or a server.
  • the communication apparatus 400 may perform the communication by including at least one of a transmitting antenna, a receiving antenna, and radio frequency (RF) circuit and RF device for implementing various communication protocols.
  • RF radio frequency
  • the communication apparatus 400 may include a short-range communication unit 410, a location information unit 420, a V2X communication unit 430, an optical communication unit 440, a broadcast transceiver 450 and a processor 470.
  • the communication apparatus 400 may further include other components in addition to the components described, or may not include some of the components described.
  • the short-range communication unit 410 is a unit for facilitating short-range communications. Suitable technologies for implementing such short-range communications include BLUETOOTH TM , Radio Frequency IDentification (RFID), Infrared Data Association (IrDA), Ultra-WideBand (UWB), ZigBee, Near Field Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct, Wireless USB (Wireless Universal Serial Bus), and the like.
  • RFID Radio Frequency IDentification
  • IrDA Infrared Data Association
  • UWB Ultra-WideBand
  • ZigBee Near Field Communication
  • NFC Near Field Communication
  • Wi-Fi Wireless-Fidelity
  • Wi-Fi Direct Wireless USB (Wireless Universal Serial Bus), and the like.
  • the short-range communication unit 410 may construct short-range area networks to perform short-range communication between the vehicle 100 and at least one external device.
  • the location information unit 420 is a unit for acquiring position information.
  • the location information unit 420 may include a Global Positioning System (GPS) module or a Differential Global Positioning System (DGPS) module.
  • GPS Global Positioning System
  • DGPS Differential Global Positioning System
  • the V2X communication unit 430 is a unit for performing wireless communications with a server (Vehicle to Infra; V2I), another vehicle (Vehicle to Vehicle; V2V), or a pedestrian (Vehicle to Pedestrian; V2P).
  • the V2X communication unit 430 may include an RF circuit implementing a communication protocol with the infra (V2I), a communication protocol between the vehicles (V2V) and a communication protocol with a pedestrian (V2P).
  • the optical communication unit 440 is a unit for performing communication with an external device through the medium of light.
  • the optical communication unit 440 may include a light-emitting diode for converting an electric signal into an optical signal and sending the optical signal to the exterior, and a photodiode for converting the received optical signal into an electric signal.
  • the light-emitting diode may be integrated with lamps provided on the vehicle 100.
  • the broadcast transceiver 450 is a unit for receiving a broadcast signal from an external broadcast managing entity or transmitting a broadcast signal to the broadcast managing entity via a broadcast channel.
  • the broadcast channel may include a satellite channel, a terrestrial channel, or both.
  • the broadcast signal may include a TV broadcast signal, a radio broadcast signal and a data broadcast signal.
  • the processor 470 may control an overall operation of each unit of the communication apparatus 400.
  • the communication apparatus 400 may include a plurality of processors 470 or may not include any processor 470.
  • the communication apparatus 400 may operate according to the control of a processor of another device within the vehicle 100 or the controller 170.
  • the communication apparatus 400 may implement a display apparatus for a vehicle together with the user interface apparatus 200.
  • the display apparatus for the vehicle may be referred to as a telematics apparatus or an Audio Video Navigation (AVN) apparatus.
  • APN Audio Video Navigation
  • the communication apparatus 400 may operate according to the control of the controller 170.
  • the driving control apparatus 500 is an apparatus for receiving a user input for driving.
  • the vehicle 100 may be operated based on a signal provided by the driving control apparatus 500.
  • the driving control apparatus 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 an input regarding a driving (ongoing) direction of the vehicle 100 from the user.
  • the steering input device 510 is preferably configured in the form of a wheel allowing a steering input in a rotating manner.
  • the steering input device may also be configured in a shape of a touch screen, a touchpad or a button.
  • the acceleration input device 530 may receive an input for accelerating the vehicle 100 from the user.
  • the brake input device 570 may receive an input for braking the vehicle 100 from the user.
  • Each of the acceleration input device 530 and the brake input device 570 is preferably configured in the form of a pedal.
  • the acceleration input device or the brake input device may also be configured in a shape of a touch screen, a touchpad or a button.
  • the driving control apparatus 500 may operate according to the control of the controller 170.
  • the vehicle operating apparatus 600 is an apparatus for electrically controlling operations of various devices within the vehicle 100.
  • the vehicle operating apparatus 600 may include a power train operating unit 610, a chassis operating unit 620, a door/window operating unit 630, a safety apparatus operating unit 640, a lamp operating unit 650, and an air-conditioner operating unit 660.
  • the vehicle operating apparatus 600 may further include other components in addition to the components described, or may not include some of the components described.
  • the vehicle operating apparatus 600 may include a processor. Each unit of the vehicle operating apparatus 600 may individually include a processor.
  • the power train operating unit 610 may control an operation of a power train device.
  • the power train operating unit 610 may include a power source operating portion 611 and a gearbox operating portion 612.
  • the power source operating portion 611 may perform a control for a power source of the vehicle 100.
  • the power source operating portion 611 may perform an electronic control for the engine. Accordingly, an output torque and the like of the engine can be controlled.
  • the power source operating portion 611 may adjust the engine output torque according to the control of the controller 170.
  • the power source operating portion 611 may perform a control for the motor.
  • the power source operating portion 611 may adjust a rotating speed, a torque and the like of the motor according to the control of the controller 170.
  • the gearbox operating portion 612 may perform a control for a gearbox.
  • the gearbox operating portion 612 may adjust a state of the gearbox.
  • the gearbox operating portion 612 may change the state of the gearbox into drive (forward) (D), reverse (R), neutral (N) or parking (P).
  • the gearbox operating portion 612 may adjust a locked state of a gear in the drive (D) state.
  • the chassis operating unit 620 may control an operation of a chassis device.
  • the chassis operating unit 620 may include a steering operating portion 621, a brake operating portion 622 and a suspension operating portion 623.
  • the steering operating portion 621 may perform an electronic control for a steering apparatus within the vehicle 100.
  • the steering operating portion 621 may change a driving direction of the vehicle.
  • the brake operating portion 622 may perform an electronic control for a brake apparatus within the vehicle 100.
  • the brake operating portion 622 may control an operation of brakes provided at wheels to reduce speed of the vehicle 100.
  • the brake operating portion 622 may individually control each of a plurality of brakes.
  • the brake operating portion 622 may differently control braking force applied to each of a plurality of wheels.
  • the suspension operating portion 623 may perform an electronic control for a suspension apparatus within the vehicle 100.
  • the suspension operating portion 623 may control the suspension apparatus to reduce vibration of the vehicle 100 when a bump is present on a road.
  • the suspension operating portion 623 may individually control each of a plurality of suspensions.
  • the door/window operating unit 630 may perform an electronic control for a door apparatus or a window apparatus within the vehicle 100.
  • the door/window operating unit 630 may include a door operating portion 631 and a window operating portion 632.
  • the door operating portion 631 may perform the control for the door apparatus.
  • the door operating portion 631 may control opening or closing of a plurality of doors of the vehicle 100.
  • the door operating portion 631 may control opening or closing of a trunk or a tail gate.
  • the door operating portion 631 may control opening or closing of a sunroof.
  • the window operating portion 632 may perform the electronic control for the window apparatus.
  • the window operating portion 632 may control opening or closing of a plurality of windows of the vehicle 100.
  • the safety apparatus operating unit 640 may perform an electronic control for various safety apparatuses within the vehicle 100.
  • the safety apparatus operating unit 640 may include an airbag operating portion 641, a seatbelt operating portion 642 and a pedestrian protecting apparatus operating portion 643.
  • the airbag operating portion 641 may perform an electronic control for an airbag apparatus within the vehicle 100.
  • the airbag operating portion 641 may control the airbag to be deployed upon a detection of a risk.
  • the seatbelt operating portion 642 may perform an electronic control for a seatbelt apparatus within the vehicle 100.
  • the seatbelt operating portion 642 may control passengers to be motionlessly seated in seats 110FL, 110FR, 110RL, 110RR using seatbelts upon a detection of a risk.
  • the pedestrian protecting apparatus operating portion 643 may perform an electronic control for a hood lift and a pedestrian airbag.
  • the pedestrian protecting apparatus operating portion 643 may control the hood lift and the pedestrian airbag to be open up upon detecting pedestrian collision.
  • the lamp operating unit 650 may perform an electronic control for various lamp apparatuses within the vehicle 100.
  • the air-conditioner operating unit 660 may perform an electronic control for an air conditioner within the vehicle 100.
  • the air-conditioner operating unit 660 may control the air conditioner to supply cold air into the vehicle when internal temperature of the vehicle is high.
  • the vehicle operating apparatus 600 may include a processor. Each unit of the vehicle operating apparatus 600 may individually include a processor.
  • the vehicle operating apparatus 600 may operate according to the control of the controller 170.
  • the operation system 700 is a system that controls various driving modes of the vehicle 100.
  • the operation system 700 may include a driving system 710, a parking exit system 740 and a parking system 750.
  • the operation system 700 may further include other components in addition to components to be described, or may not include some of the components to be described.
  • the operation system 700 may include a processor. Each unit of the operation system 700 may individually include a processor.
  • the operation system may be a sub concept of the controller 170 when it is implemented in a software configuration.
  • the operation system 700 may be a concept including at least one of the user interface apparatus 200, the object detecting apparatus 300, the communication apparatus 400, the vehicle operating apparatus 600 and the controller 170.
  • the driving system 710 may perform driving of the vehicle 100.
  • the driving system 710 may receive navigation information from a navigation system 770, transmit a control signal to the vehicle operating apparatus 600, and perform driving of the vehicle 100.
  • the driving system 710 may receive object information from the object detecting apparatus 300, transmit a control signal to the vehicle operating apparatus 600 and perform driving of the vehicle 100.
  • the driving system 710 may receive a signal from an external device through the communication apparatus 400, transmit a control signal to the vehicle operating apparatus 600, and perform driving of the vehicle 100.
  • the parking exit system 740 may perform an exit of the vehicle 100 from a parking lot.
  • the parking exit system 740 may receive navigation information from the navigation system 770, transmit a control signal to the vehicle operating apparatus 600, and perform the exit of the vehicle 100 from the parking lot.
  • the parking exit system 740 may receive object information from the object detecting apparatus 300, transmit a control signal to the vehicle operating apparatus 600 and perform the exit of the vehicle 100 from the parking lot.
  • the parking exit system 740 may receive a signal from an external device through the communication apparatus 400, transmit a control signal to the vehicle operating apparatus 600, and perform the exit of the vehicle 100 from the parking lot.
  • the parking system 750 may perform parking of the vehicle 100.
  • the parking system 750 may receive navigation information from the navigation system 770, transmit a control signal to the vehicle operating apparatus 600, and park the vehicle 100.
  • the parking system 750 may receive object information from the object detecting apparatus 300, transmit a control signal to the vehicle operating apparatus 600 and park the vehicle 100.
  • the parking system 750 may receive a signal from an external device through the communication apparatus 400, transmit a control signal to the vehicle operating apparatus 600, and park the vehicle 100.
  • the navigation system 770 may provide navigation information.
  • the navigation information may include at least one of map information, information regarding a set destination, path information according to the set destination, information regarding various objects on a path, lane information and current location information of the vehicle.
  • the navigation system 770 may include a memory and a processor.
  • the memory may store the navigation information.
  • the processor may control an operation of the navigation system 770.
  • the navigation system 770 may update prestored information by receiving information from an external device through the communication apparatus 400.
  • the navigation system 770 may be classified as a sub component of the user interface apparatus 200.
  • the sensing unit 120 may sense a status of the vehicle.
  • the sensing unit 120 may include a posture sensor (e.g., a yaw sensor, a roll sensor, a pitch sensor, etc.), a collision sensor, a wheel sensor, a speed sensor, a tilt sensor, a weight-detecting sensor, a heading sensor, a gyro sensor, a position module, a vehicle forward/backward movement sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by a turn of a handle, a vehicle internal temperature sensor, a vehicle internal humidity sensor, an ultrasonic sensor, an illumination sensor, an accelerator position sensor, a brake pedal position sensor, and the like.
  • a posture sensor e.g., a yaw sensor, a roll sensor, a pitch sensor, etc.
  • a collision sensor e.g., a yaw sensor, a roll sensor, a pitch sensor, etc.
  • a collision sensor e.g.,
  • the sensing unit 120 may acquire sensing signals with respect to vehicle-related information, such as a posture, a collision, an orientation, a position (GPS information), an angle, a speed, an acceleration, a tilt, a forward/backward movement, a battery, a fuel, tires, lamps, internal temperature, internal humidity, a rotated angle of a steering wheel, external illumination, pressure applied to an accelerator, pressure applied to a brake pedal and the like.
  • vehicle-related information such as a posture, a collision, an orientation, a position (GPS information), an angle, a speed, an acceleration, a tilt, a forward/backward movement, a battery, a fuel, tires, lamps, internal temperature, internal humidity, a rotated angle of a steering wheel, external illumination, pressure applied to an accelerator, pressure applied to a brake pedal and the like.
  • the sensing unit 120 may further include an accelerator sensor, a pressure sensor, an engine speed sensor, an air flow sensor (AFS), an air temperature sensor (ATS), a water temperature sensor (WTS), a throttle position sensor (TPS), a TDC sensor, a crank angle sensor (CAS), and the like.
  • an accelerator sensor a pressure sensor, an engine speed sensor, an air flow sensor (AFS), an air temperature sensor (ATS), a water temperature sensor (WTS), a throttle position sensor (TPS), a TDC sensor, a crank angle sensor (CAS), and the like.
  • the interface unit 130 may serve as a path allowing the vehicle 100 to interface with various types of external devices connected thereto.
  • the interface unit 130 may be provided with a port connectable with a mobile terminal, and connected to the mobile terminal through the port. In this instance, the interface unit 130 may exchange data with the mobile terminal.
  • the interface unit 130 may serve as a path for supplying electric energy to the connected mobile terminal.
  • the interface unit 130 supplies electric energy supplied from a power supply unit 190 to the mobile terminal according to the control of the controller 170.
  • the memory 140 is electrically connected to the controller 170.
  • the memory 140 may store basic data for units, control data for controlling operations of units and input/output data.
  • the memory 140 may be a variety of storage devices, such as ROM, RAM, EPROM, a flash drive, a hard drive and the like in a hardware configuration.
  • the memory 140 may store various data for overall operations of the vehicle 100, such as programs for processing or controlling the controller 170.
  • the memory 140 may be integrated with the controller 170 or implemented as a sub component of the controller 170.
  • the controller 170 may control an overall operation of each unit of the vehicle 100.
  • the controller 170 may be referred to as an Electronic Control Unit (ECU).
  • ECU Electronic Control Unit
  • the power supply unit 190 may supply power required for an operation of each component according to the control of the controller 170. Specifically, the power supply unit 190 may receive power supplied from an internal battery of the vehicle, and the like.
  • At least one processor and the controller 170 included in the vehicle 100 may be implemented using at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro controllers, microprocessors, and electric units performing other functions.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGAs field programmable gate arrays
  • processors controllers, micro controllers, microprocessors, and electric units performing other functions.
  • the vehicle 100 may include a vehicle control device 800.
  • the vehicle control device 800 may control at least one of those components illustrated in FIG. 7. From this perspective, the vehicle control device 800 may be the controller 170.
  • the vehicle control device 800 may be a separate device, independent of the controller 170.
  • the vehicle control device 800 may be provided on a part of the vehicle 100.
  • the vehicle control device 800 is a component separate from the controller 170 for the sake of explanation.
  • functions (operations) and control methods described in relation to the vehicle control device 800 may be executed by the controller 170 of the vehicle.
  • every detail described in relation to the vehicle control device 800 may be applied to the controller 170 in the same/like manner.
  • vehicle control device 800 described herein may include some of the components illustrated in FIG. 7 and various components included in the vehicle.
  • the components illustrated in FIG. 7 and the various components included in the vehicle will be described with separate names and reference numbers.
  • FIG. 8 is a conceptual view for explaining eHorizon associated with the present disclosure.
  • the vehicle control device 800 associated with the present disclosure may autonomously drive the vehicle 100 based on eHorizon (electronic Horizon).
  • eHorizon may be classified into categories such as software, system, concept, and the like.
  • eHorizon denotes a configuration in which road shape information on a detailed map in a connected environment such as an external server (cloud), V2X (Vehicle to everything) or the like and real-time events such as real-time traffic signs, road surface conditions, accidents and the like are merged to provide relevant information to autonomous driving systems and infotainment systems.
  • eHorizon may refer to an external server (or cloud, cloud server).
  • eHorizon may perform the role of transferring a detailed map road shape and real time events in front of the vehicle to autonomous driving systems and infotainment systems under an external server/V2X environment.
  • eHorizon data information transmitted from the eHorizon (i.e., external server) to autonomous driving systems and infotainment systems
  • a data specification and transmission method may be formed in accordance with a standard called "ADASIS (Advanced Driver Assistance Systems Interface Specification).”
  • the vehicle control device 800 associated with the present disclosure may use information received from eHorizon for autonomous driving systems and/or infotainment systems.
  • autonomous navigation systems may be divided into safety aspects and ECO aspects.
  • the vehicle control device 800 may perform an ADAS (Advanced Driver Assistance System) function such as LKA (Lane Keeping Assist), TJA (Traffic Jam Assist) or the like, and/or an AD (AutoDrive) function such as advance, road joining, lane change or the like using road shape information and event information received from eHorizon and surrounding object information sensed through the sensing unit 840 provided in the vehicle.
  • ADAS Advanced Driver Assistance System
  • LKA Long Keeping Assist
  • TJA Traffic Jam Assist
  • AD AutoDrive
  • the vehicle control device 800 may receive inclination information, traffic light information, and the like on a front road from eHorizon to control the vehicle so as to achieve efficient engine thrust, thereby enhancing fuel efficiency.
  • the infotainment system may include convenience aspects.
  • the vehicle control device 800 may receive accident information, road surface condition information, and the like on a front road received from eHorizon to output them on a display unit (for example, HUD (Head Up Display), CID, Cluster, etc.) provided in the vehicle to provide guidance information for allowing the driver to perform safe driving.
  • a display unit for example, HUD (Head Up Display), CID, Cluster, etc.
  • the eHorizon may receive the location information of various event information (for example, road surface state information 1010a, construction information 1010b, accident information 1010c, etc.) from the vehicle 100 generated from a road and/or road specific speed limit information 1010d from the prevent vehicle 100 or other vehicles 1020a, 1020b or collect them from an infrastructure (for example, a measuring device, a sensing device, a camera, etc.) installed on a road.
  • event information for example, road surface state information 1010a, construction information 1010b, accident information 1010c, etc.
  • an infrastructure for example, a measuring device, a sensing device, a camera, etc.
  • event information and the road specific speed limit information may be linked to map information or may be updated.
  • the location information of the event information may be divided into lane units.
  • the eHorizon (external server) of the present disclosure may provide information required for autonomous driving system and infotainment systems to each vehicle based on a detailed map capable of determining a road situation (or road information) in the lane unit.
  • the eHorizon (external server) of the present disclosure may provide an absolute highly detailed MAP using an absolute coordinate of information (for example, event information, location information of the present vehicle 100, etc.) associated with a road based on a detailed map.
  • an absolute coordinate of information for example, event information, location information of the present vehicle 100, etc.
  • the information associated with a road provided by the eHorizon may be provided only within a predetermined region (predetermined space) with respect to the vehicle 100.
  • FIG. 9 is a block diagram for explaining an embodiment of a vehicle control device according to the present disclosure.
  • a vehicle control device 800 is a device for controlling the vehicle 100 having the sensing unit 120, and may include a communication unit 810 and a processor 820.
  • the communication unit 810 may be the communication device 400 described above. Furthermore, the communication unit 810 may perform communication with a nearby vehicle (another vehicle) or perform communication with an external server such as an eHorizon or a cloud server.
  • a nearby vehicle another vehicle
  • an external server such as an eHorizon or a cloud server.
  • the communication unit 810 may receive a map having a plurality of layers from eHorizon.
  • a map having a plurality of layers may include a high-precision map described in FIG. 8.
  • the communication unit 810 may receive a layered MAP (Local Dynamic Map or ADAS MAP) transmitted from an ITS, an OEM Cloud, or a 3rd-party cloud environment.
  • a layered MAP Local Dynamic Map or ADAS MAP
  • the communication unit 810 may include a SensorIS for providing the information of the own vehicle to the OEM Cloud and the 3rd-party cloud.
  • SensorIS is a standard specification for transmitting sensor information (wiper, headlight, ESC operation, ABS operation, airbag, etc.) of the vehicle to the Cloud as a newly proposed sensor interface specification for autonomous driving.
  • the processor 820 may generate a control signal for driving the vehicle using a map received through the communication unit 810. In other words, manual or autonomous driving may be carried out by a control signal generated by the processor 820.
  • a control region that is a reference for the generation of a control signal around the location of the vehicle may defined differently according to a preset reference.
  • control region may be defined by the processor 820, and the processor 820 may receive a control region defined by a preset reference from another external or internal module, device, server, or the like.
  • the processor 820 may use data related to the control region to generate the control signal, and may not use data not related to the control region to generate the control signal.
  • the vehicle may receive a lot of data for vehicle control through environments such as ITS Infra, OEM Cloud, and 3rd-party Cloud and communication environments such as DSRC, cellular, and GNSS.
  • the vehicle may receive V2X data from an infrastructure such as another vehicle, a terminal of a pedestrian, a traffic light, and the like located within a predetermined range with respect to the vehicle.
  • an infrastructure such as another vehicle, a terminal of a pedestrian, a traffic light, and the like located within a predetermined range with respect to the vehicle.
  • 5G networks are built in the future, more information may be transmitted more quickly.
  • control signal it may be desirable to limit a range of data used to generate a control signal to data related a control region. For example, data generated within a control region and map data corresponding to the control region may be received to generate the control signal.
  • a range of data used to generate the control signal may be limited to reduce memory shortage, time delay, cost increase, and the like, which may be caused by unnecessary or redundant data communication.
  • such a control region may be defined based on at least one of a traffic of data communication amount for the control of the vehicle, speed information of the vehicle, road information on which the vehicle is driving, and a driving direction of the vehicle.
  • control region may be defined as a different area according to a traffic of data communication amount for the control of the vehicle.
  • FIG. 10 is a conceptual view for explaining an embodiment in which a control region is defined according to an amount of data communication.
  • a control region 1010 having a first area may be defined according to a traffic of data communication amount for the control of the vehicle 100. At this time, the control region 1010 may be defined not to generate a data missing phenomenon.
  • a control region 1020 when an amount of data communication decreases, a control region 1020 may be redefined to have a second area larger than the first area. Conversely, when an amount of data communication increases, the control region 1010 may be changed to have the first area again.
  • control region 1010, 1020 is illustrated to have a circular or elliptical shape, but the present disclosure is not limited thereto.
  • control region may be defined in various ways such as a rectangle, a square, a shape including a vehicle route, and the like.
  • an area of the control region having various shapes may be increased or decreased not to generate a data loss phenomenon due to a traffic of data communication amount.
  • control region may be defined as a different shape and area according to a speed of the vehicle.
  • FIG. 11 is a conceptual view for explaining an embodiment in which a control region is defined according to a speed of the vehicle.
  • control region 1110 when the vehicle 100 drives within a preset speed range, the control region 1110 may be defined as an elliptical shape having a slightly larger front area than a rear area thereof around the vehicle 100.
  • a shape of the control region 1120 may be changed to an elliptical shape having a larger front area than a rear area thereof. At this time, an area of the control region 1120 may also be increased.
  • control region 1130 may be changed to a forwardly elongated shape with a smaller width. At this time, an area of the control region 1130 may also be increased.
  • control region may be defined such that data at a further distance in a forward direction can be used for vehicle control.
  • control region may be changed to a forwardly elongated shape with a larger entire area and a smaller width.
  • control region may be changed to a shape having a slightly larger front area than a rear area thereof.
  • the control region may be defined differently according to a type of road on which the vehicle is driving.
  • the road information may include a type or state of the road, and thus may include whether or not the road on which the vehicle is driving is a highway, a national road, a local road, an intersection, or the like, a pavement state of the road, a number of lanes of the road, an amount of snow piled up on the road, whether or not a specific installation or obstacle exists on the road, whether or not the road is under construction, and the like.
  • control region may be defined to exclude a region corresponding to a road in a driving direction opposite to that of the vehicle 100 based on the vehicle 100 driving on a preset type of road.
  • FIG. 12 is a conceptual view for explaining an embodiment in which a control region is defined according to a type of road.
  • control region 1200 when the vehicle 100 drives on a highway, the control region 1200 may be defined not to include a region corresponding to a road in a driving direction opposite to that of the vehicle 100.
  • control region 1200 may be defined to exclude a road region across a median strip and include a road region on which the vehicle 100 is driving. As described above, as a road region across a median strip is excluded, the road region on which the vehicle 100 is driving may be more widely included in the control region 1200.
  • control region may be defined to exclude a region in which a possibility of collision with another vehicle is less than a preset reference based on the driving direction of the vehicle.
  • FIG. 13 is a conceptual view for explaining an embodiment in which a control region is defined according to a driving direction of the vehicle.
  • a road region may be divided into a road region 1310 corresponding to a direction in which the vehicle 100 will pass and a road region 1320 corresponding to a direction in which the vehicle 100 has passed around a current location of the vehicle 100.
  • a probability of information on the road region 1310 corresponding to a direction in which the vehicle 100 will pass is typically higher than that of information on the road region 1320 corresponding to a direction in which the vehicle 100 has passed so as to be more importantly used for the operation of the vehicle 100.
  • information on a road region (a road on which the vehicle is driving) in the same direction as a driving direction of the vehicle 100 may be used as meaningful information for the operation of the vehicle 100.
  • a possibility of collision with a vehicle following from behind or a vehicle traveling ahead should be generally considered while the vehicle 100 is driving.
  • control region 1300 may be defined such that the road region 1310 corresponding to the direction in which the vehicle 100 will pass is wider than the road region 1320 corresponding to the direction in which the vehicle 100 has passed.
  • control region 1300 may be defined such that a road region (a road on which the vehicle is driving) in the same direction as a driving direction of the vehicle 100 is partially included in the road region 1320 corresponding to the direction in which the vehicle has passed.
  • control region may be defined based on one or more criteria.
  • control region may be defined based on road information and a driving direction in which the vehicle is driving.
  • FIGS. 14 and 15 are conceptual views for explaining an embodiment in which a control region is defined differently according to a driving direction of the vehicle at an intersection.
  • a road region corresponding to a driving direction (traveling straight) of the vehicle 100 when the vehicle 100 travels straight through an intersection without changing a driving direction, information on a road region corresponding to a driving direction (traveling straight) of the vehicle 100, a road region corresponding to a direction opposite to the driving direction, and a intersection region of a road may be used as meaningful information for the operation of the vehicle 100.
  • information on a road region on which the vehicle entering an intersection region of the road is driving may be used as meaningful information for the operation of the vehicle 100.
  • a vehicle entering an intersection region of the road will be more likely to collide with the vehicle 100.
  • a control region 1400 may include a road region corresponding to a driving direction of the vehicle 100, a road region corresponding to a direction opposite to the driving direction, and an intersection region of the road.
  • a road region on which the vehicle entering an intersection region of the road is driving may be further included in the control region 1400 than a road region on which the vehicle leaving the intersection region is driving.
  • a road region 1510 at a lower side of the intersection at which the vehicle 100 is currently driving, and a road region 1520 at a left side of the intersection at which the vehicle 100 enters through the intersection may be used as meaningful information for the operation of the vehicle 100.
  • information on a road region in which the vehicle entering an intersection region is driving may be used as meaningful information for the operation of the vehicle 100.
  • information on a road region on which the vehicle entering an intersection region is driving may be used as meaningful information for the operation of the vehicle 100.
  • the road region 1510 at a lower side of the intersection at which the vehicle 100 is currently driving may be further included in the control region 1500 than the road region 1520 at a left side of the intersection at which the vehicle 100 enters through the intersection.
  • a road region on which the vehicle entering an intersection region is driving may be further included in the control region 1500 than the road area on which vehicle leaving the intersection region is driving.
  • the road area on which the vehicle enters the intersection area may be included in the control region 1500 more than the road area on which the vehicle exiting the intersection area travels.
  • control region may be defined as at least one of a plurality of candidate regions, and the priorities of the plurality of candidate regions may be defined based on a preset reference.
  • control region may be defined as a region including a driving route of the vehicle among the plurality of candidate regions.
  • the processor 820 may control the plurality of candidate regions in different ways according to the priorities.
  • the processor 820 may receive map information corresponding to a control region chosen according to the priorities among the plurality of candidate regions through the communication unit 810, and then control the autonomous driving of the vehicle based on the map information.
  • FIG. 16 is a conceptual view for explaining an embodiment of a plurality of candidate regions.
  • map data may be divided into a plurality of tiles having a predetermined size, and each candidate region may be formed in a shape including at least one tile.
  • the plurality of candidate regions may be a first region 1610 formed with a plurality of tiles including a driving route of the vehicle, a second region 1620 including the first region 1610 to form a rectangular shape, and a third region 1630 including the second region 1620 to include a preset specific facility.
  • the specific facility may be a gas station, a charging station, a repair shop, an AS center, or the like.
  • priorities may be given in the order of the first region 1610 including a driving route of the vehicle, the second region 1620, and the third region 1630.
  • the first region 1610 including a driving route of the vehicle may be defined as the control region.
  • only data related to the first region 1610 may be used to generate a vehicle control signal.
  • the processor 820 may receive map information corresponding to the first region 1610 defined as a control region through the communication unit 810, and then control the autonomous driving of the vehicle 100 based on the map information.
  • the processor 820 may control the first region 1610, the second region 1620, and the third region 1630 having different priorities in different ways according to the priorities.
  • data related to the first region 1610 may be preferentially downloaded or processed than data related to the other regions.
  • data related to the first region 1610 may be replicated in a separate memory.
  • the processor 820 may receive map information corresponding to the control region through the communication unit 810, and control the autonomous driving of the vehicle 100 based on the map information.
  • the processor 820 may produce a plurality of events from the data of the vicinity of the vehicle 100 received through the communication unit 810, and exclude redundant events from the plurality of events based on the map information.
  • the processor 820 may control the autonomous driving of the vehicle 100 based on an event excluding the redundant events.
  • the processor 820 may receive map information corresponding to a control region redefined as a region corresponding to an event excluding the redundant events through the communication unit 810, and then control the autonomous driving of the vehicle 100 based on the map information.
  • FIG. 17 is a conceptual view for explaining an embodiment for detecting redundant data.
  • a control region 1700 may be defined by at least one of the foregoing determination criteria of a control region.
  • the location information data of a preceding vehicle may be received by various communication modules to produce a vehicle collision event.
  • the relative location information of the preceding vehicle is received by a plurality of communication modules, one vehicle collision event may be produced as a plurality of different events.
  • map information corresponding to a control region 1700 may be received to produce the absolute location information of the vehicle based on the map information.
  • the produced plurality of events may be checked as one vehicle collision event.
  • the vehicle 100 may be autonomously driven.
  • whether or not the another event is an event following the vehicle collision event may be determined with reference to map information corresponding to the control region 1700.
  • a subsequent event when another vehicle collides with a collided vehicle, it may be regarded as a subsequent event.
  • another vehicle accident event occurred in a region close to the vehicle collision event for example, an accident event in which the vehicle hits a pedestrian may be determined as a new event different from the vehicle collision event.
  • the vehicle control device 800 may distinguish such redundant events using the map information of the control region 1700.
  • a new control region 1710 may be defined.
  • the control region 1710 may be redefined to include a region where an accident in which the vehicle hits a pedestrian has occurred.
  • the absolute location information of a vehicle may be obtained through information received by various communication methods, in particular, high-precision maps and the like. Accordingly, accuracy may be increased as compared to the existing V2X communication method in which relative locations are compared while performing autonomous driving.
  • a range of data used to generate a control signal may be limited to reduce memory shortage, time delay, cost increase, and the like, which may be caused by unnecessary or redundant data communication.
  • a data loss phenomenon due to a traffic of data communication amount may not occur due to control regions having various shapes and areas.
  • more information substantially required for driving the vehicle may be received in consideration of the characteristics of a road, and redundant events may be distinguished using map information.
  • stability may be enhanced through replicating map data required for autonomous driving.
  • the foregoing present disclosure may be implemented as codes readable by a computer on a medium written by the program.
  • the computer-readable media may include all kinds of recording devices in which data readable by a computer system is stored. Examples of the computer-readable media may include ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage device, and the like, and also include a device implemented in the form of a carrier wave (for example, transmission via the Internet).
  • the computer may include a processor or controller. Accordingly, the detailed description thereof should not be construed as restrictive in all aspects but considered as illustrative. The scope of the invention should be determined by reasonable interpretation of the appended claims and all changes that come within the equivalent scope of the invention are included in the scope of the invention.

Abstract

La présente invention concerne un dispositif de commande de véhicule disposé dans un véhicule et un procédé de commande du véhicule. Un dispositif de commande de véhicule disposé dans un véhicule selon l'invention, en tant que dispositif de commande de véhicule conçu pour commander le véhicule, peut comprendre : une unité de communication configurée pour recevoir une carte ayant une pluralité de couches à partir d'un serveur ; et un processeur configuré pour générer un signal de commande pour piloter le véhicule à l'aide de la carte, une région de commande qui est une référence pour la génération du signal de commande autour d'un emplacement du véhicule étant définie en fonction d'une référence prédéfinie.
EP17873085.9A 2016-11-24 2017-09-21 Dispositif embarqué de commande de véhicule et procédé de commande du véhicule Withdrawn EP3545380A4 (fr)

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US201662426309P 2016-11-24 2016-11-24
KR1020170057554A KR102014259B1 (ko) 2016-11-24 2017-05-08 차량에 구비된 차량 제어 장치 및 차량의 제어방법
US15/710,002 US10474163B2 (en) 2016-11-24 2017-09-20 Vehicle control device mounted on vehicle and method for controlling the vehicle
PCT/KR2017/010398 WO2018097465A1 (fr) 2016-11-24 2017-09-21 Dispositif embarqué de commande de véhicule et procédé de commande du véhicule

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CN109997090A (zh) 2019-07-09
KR102014259B1 (ko) 2019-08-26

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