KR101678090B1 - Vehicle and controlling method thereof - Google Patents

Abstract

The vehicle includes a sensing unit for sensing an obstacle, a control unit for generating obstacle information based on the sensing signal of the sensing unit, safety information based on the surrounding vehicle, and a communication unit for transmitting obstacle information and safety information to the surrounding vehicle.

Description

[0001] VEHICLE AND CONTROLLING METHOD THEREOF [0002]

And a control method of the vehicle and the vehicle.

When an obstacle such as an animal or a porthole is detected in the vicinity while the vehicle is traveling on the road, the driver quickly moves the vehicle to another lane or stops the vehicle while driving.

On the other hand, when the lane of the vehicle is changed, the driver of the nearby vehicle existing in the changed lane must cope with the lane change of the vehicle without detecting the obstacle. Even if the vehicle is stopped, The driver of the vehicle had to cope with the stopping of the vehicle directly without detecting the obstacle.

The disclosed embodiments provide a vehicle and a vehicle control method for detecting an obstacle and transmitting information on an obstacle and safety information useful for a nearby vehicle to a nearby vehicle.

A vehicle according to an embodiment of the present invention includes a sensing unit for sensing an obstacle, a control unit for generating obstacle information based on the sensing signal of the sensing unit, safety information based on the surrounding vehicle, and obstacle information and safety information And a communication unit.

The communication unit can transmit the obstacle information and the safety information to the neighboring vehicle by using the device-to-device communication method.

The communication unit may transmit the obstacle information and the safety information using a radio signal forming a beam pattern.

The communication unit can transmit the obstacle information and the safety information to the neighboring vehicles existing in the same lane as the vehicle.

The control unit may determine a peripheral vehicle affected by the detected obstacle, and the communication unit may transmit the obstacle information and the safety information to the affected peripheral vehicle.

The vehicle further includes an input unit for receiving a user command, wherein the sensing unit can detect an obstacle according to the command.

The vehicle further includes an input unit for receiving a user command, and the sensing unit may transmit the obstacle information and the safety information to the neighboring vehicle according to the command.

The sensing unit may be implemented as a radar sensing device or a lidar sensing device.

The peripheral vehicle may include a rear portion of the vehicle or left and right vehicles.

The peripheral vehicle may include a vehicle existing within a predetermined distance from the vehicle.

The communication unit can transmit the obstacle information to the road display device.

The communication unit may transmit the obstacle information and the safety information based on the second surrounding vehicle to the second surrounding vehicle through the first surrounding vehicle by using a multihop.

The control unit generates movement route information of the vehicle based on the obstacle information, and the communication unit can transmit the movement route information to the neighboring vehicle.

The communication unit may receive the position information of the neighboring vehicle from the neighboring vehicle, and the control unit may generate the travel route information using the position information of the neighboring vehicle.

The communication unit may receive the moving route information of the surrounding vehicle from the surrounding vehicle, and the control unit may generate the moving route information of the vehicle using the moving route information of the surrounding vehicle.

According to another embodiment of the present invention, a method of controlling a vehicle includes the steps of detecting an obstacle, generating safety information on the basis of the obstacle information and the surrounding vehicle based on the detection result of the sensing step, .

The transmitting step may transmit the obstacle information and the safety information to the neighboring vehicle using a device-to-device communication method.

The transmitting step may transmit the obstacle information and the safety information using a radio signal forming a beam pattern.

The step of generating safety information includes the steps of determining a neighboring vehicle that is affected by the detected obstacle and generating safety information of the affected neighboring vehicle, Information and safety information can be transmitted.

The step of generating the safety information may include generating route information of the vehicle based on the obstacle information, and the step of transmitting may include transmitting the route information to the neighboring vehicle.

According to the control method of the vehicle and the vehicle, the vehicle senses an obstacle and transmits information about the obstacle and safety information useful for the nearby vehicle to the nearby vehicle, so that the nearby vehicle that has not detected the obstacle can immediately respond to the obstacle .

1 is a control block diagram of a vehicle according to an embodiment.
2 is a diagram illustrating a communication unit included in a vehicle according to an exemplary embodiment of the present invention.
3 is a diagram illustrating a large-scale antenna system of a base station according to a 5G communication scheme according to an embodiment.
4A to 4C are views illustrating a network according to a 5G communication method according to an embodiment.
5 is a diagram of a wireless signal conversion module included in a vehicle according to an exemplary embodiment of the present invention.
6 is a diagram of a beamforming module included in a vehicle according to one embodiment.
7 is an external view of an embodiment of a vehicle for detecting an obstacle.
8 to 11 are diagrams for explaining an obstacle information, a neighboring vehicle information, or a moving route transmission process according to an embodiment when an obstacle is detected.
12 and 13 are conceptual diagrams for explaining various embodiments of a vehicle that generates a wireless link using an inter-device communication method.
14 is an exemplary view of a vehicle that transmits obstacle information, neighboring vehicle information, or movement route information through a base station according to another embodiment.
15 is an illustration of a vehicle that transmits obstacle information, neighboring vehicle information, or movement route information to a server.
16 and 17 are internal views of a nearby vehicle for outputting obstacle information and surrounding vehicle information.
18 is an internal view of a nearby vehicle for outputting travel route information.
19 is a flowchart of a method of controlling a vehicle according to an embodiment.
20 is a flowchart of a vehicle control method according to another embodiment.

BRIEF DESCRIPTION OF THE DRAWINGS The objectives, specific advantages and novel features of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG. It should be noted that, in the present specification, the reference numerals are added to the constituent elements of the drawings, and the same constituent elements are assigned the same number as much as possible even if they are displayed on different drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. In this specification, the terms first, second, etc. are used to distinguish one element from another, and the element is not limited by the terms.

Hereinafter, the vehicle will be described with reference to Fig. 1 is a control block diagram of a vehicle according to an embodiment.

Referring to FIG. 1, a vehicle 100 includes a sensing unit 110, a communication unit 120, and a control unit 130.

The sensing unit 110 senses an obstacle located near the vehicle 100. The obstacle may be, for example, an animal, a porthole, or another vehicle.

Here, "surrounding" includes a range within a predetermined distance from the vehicle 100 or a range that the sensing unit 110 can detect. The predetermined distance may be a distance input by the user from the input unit 150, a predetermined distance in the manufacturing process, or a range depending on the performance of the sensing unit 110. The "periphery ", which is the sensing range or area of the sensing unit 110, and the" periphery "of the" peripheral "

It may also mean that the "periphery" is located on the left, right, front, rear, left front, left rear, right front, or right rear relative to the vehicle 100.

The sensing unit 110 may be implemented as a sensing sensor. The sensing unit may include an ultrasonic sensor, a laser sensor (including a rider sensor and a radar sensor), an electromagnetic wave sensor, Optical sensors, and the like. A plurality of monitoring sensors may be provided.

The sensing unit 110 according to another embodiment may be implemented as a camera module, and the camera module may be provided at various positions such as front, rear, or side of the vehicle 100, or a plurality of camera modules may be provided.

The communication unit 120 may be connected to other communication subjects via a wireless communication network or may be connected to various electronic devices in the vehicle 100 through an internal communication network.

The communication unit 120 according to one embodiment transmits obstacle information or route information to another communication entity such as another vehicle or a server through a wireless communication network.

The communication entity means various communication entities capable of transmitting and receiving signals to and from the vehicle 100 such as a vehicle, an emergency vehicle, a traffic information device, and a server. The vehicle 100 may also be a communication subject.

For example, the communication unit 120 transmits the obstacle information and the surrounding vehicle information to the surrounding vehicles through the wireless communication network.

Also, the communication unit 120 may transmit the route information to the neighboring vehicle through the wireless communication network.

The obstacle information may include various information related to the obstacle such as, for example, position information of the vehicle 100, position information of the obstacle, distance information of the obstacle and the vehicle 100, and size information of the obstacle.

The neighboring vehicle information is useful information on the basis of the nearby vehicle or useful information on the neighboring vehicle. For example, the information on the empty side lane information, the information on the shoulder, There may be various navigation information based on the surrounding vehicles such as the distance.

The route information includes, for example, information informing that the vehicle 100 will move to the left lane or the right lane when the vehicle 100 performs an autonomous travel, or information indicating that the vehicle 100 will stop, and the like .

A detailed description related to the communication unit 120 will be described later.

The control unit 130 controls each component included in the vehicle 100.

For example, the control unit 130 can generate obstacle information, neighboring vehicle information, or movement route information based on the sensing signal generated by the sensing unit 110, and can generate the obstacle information, It is possible to control the communication unit 120 so that the communication unit 120 transmits route information to the surrounding vehicles.

The control unit 130 can also determine whether the detected obstacle can affect the nearby vehicle 200 located at the front, rear, left, right, left front, left rear, right front, or right rear have.

The control unit 130 includes a processor 131, a ROM 133 storing a control program for controlling the vehicle 100, and a control unit 130 for storing signals or data input from the outside of the vehicle 100, (RAM) 132, which is used as a storage area corresponding to various jobs to be performed in the RAM 131. [ A separate circuit board electrically connected to the controller 130 may include a processing board including a processor 131, a RAM 132, or a ROM 133. The processor 131, the RAM 132, and the ROM 133 may be interconnected via an internal bus. The control unit 130 may also be used to refer to components including the processor 131, the RAM 132, and the ROM 133. [ The control unit 130 may also be used to refer to components including the processor 131, the RAM 132, the ROM 133, and the processing board.

Meanwhile, the vehicle 100 according to another embodiment may further include an input unit 150.

The input unit 150 may receive various commands from the driver such as whether the obstacle information is transmitted, whether the route information is transmitted, or the sensing distance of the sensing unit 110. [

For example, the control unit 130 may control the communication unit 120 to transmit the obstacle information and the neighboring vehicle information according to a transmission command of the obstacle information and the neighboring vehicle information received from the input unit 150. [

In addition, the control unit 130 may control the communication unit 120 to transmit the movement route information by the communication unit 120 according to the transfer route information received from the input unit 150. [

The control unit 130 may control the sensing unit 110 to sense an obstacle within the sensing distance of the sensing unit 110 based on the sensing distance received from the input unit 150. [

The commands that the input unit 150 can receive are not limited to those described above and include various commands for controlling various electronic devices in the vehicle 100. [

The input unit 150 may receive an operator's command through a jog shuttle or a touch screen device as well as a hard key.

The touch screen device may be implemented using a pressure sensitive touch screen panel or a capacitive touch screen panel. The touch screen device may be implemented using a touch screen panel using ultrasonic waves or infrared rays.

In addition, the input unit 150 may include a biometric device such as a gesture recognition device, a blinking recognition device, and the like, and may be implemented with various operation systems that can receive commands from a driver.

Hereinafter, the communication unit 120 will be described in detail.

FIG. 2 illustrates a communication unit included in a vehicle according to an embodiment. FIG. 3 illustrates a large-scale antenna system of a base station according to a 5G communication method according to an embodiment. FIGS. FIG. 2 is a diagram illustrating a network according to a 5G communication method according to an embodiment of the present invention.

The communication unit 120 includes an internal communication unit 122 for communicating with various electronic devices in the vehicle 100 through an internal communication network in the vehicle 100, a wireless communication unit 140 for communicating with another vehicle, a mobile terminal, And a communication controller 121 for controlling operations of the internal communication unit 122 and the wireless communication unit 140. [

The internal communication unit 122 includes an internal communication interface 125 connected to the internal communication network, an internal signal conversion module 124 for modulating / demodulating the signal, and an internal communication control module 123 for controlling communication through the internal communication network .

The internal communication interface 125 receives communication signals transmitted from various electronic devices in the vehicle 100 through the internal communication network and transmits communication signals to various electronic devices in the vehicle 100 through the internal communication network. Here, the communication signal means a signal transmitted / received through the internal communication network.

The internal communication interface 125 may include a communication port for connecting the internal communication network 122 with the internal communication network 122, and a transceiver for transmitting / receiving signals.

The internal signal conversion module 124 demodulates the communication signal received through the internal communication interface 223 into a control signal under the control of the internal communication control module 123 described below, And modulates the digital control signal into an analog communication signal for transmission via the internal communication interface 223.

As described above, the communication signal refers to a signal transmitted / received through the internal communication network, and the control signal refers to a transmission / reception signal within the communication unit 120. A communication signal transmitted / received through the internal communication network and a control signal transmitted / received between the internal communication unit 122 and the communication control unit 121 have different formats.

For example, in the case of the can communication, the communication signal is transmitted through the pair of communication lines, and the communication data "1" or "0" is transmitted according to the potential difference between the pair of communication lines. In contrast, control signals transmitted and received between the internal communication unit 122 and the communication control unit 121 are transmitted through a single line, and control data "1" or "0" is transmitted according to the potential of a single line.

The internal signal conversion module 124 modulates the control signal output from the communication controller 121 into a communication signal conforming to the communication protocol of the internal communication network and transmits the communication signal according to the communication protocol of the internal communication network to the communication controller 121 And demodulates it into a recognizable control signal.

The internal signal conversion module 124 may include a program for performing modulation / demodulation of a communication signal and a memory for storing data, a processor for performing modulation / demodulation of a communication signal according to programs and data stored in the memory have.

The internal communication control module 123 controls the operation of the internal signal conversion module 124 and the communication interface 125.

For example, when transmitting a communication signal, the internal communication control module 123 determines whether the internal communication network is occupied by another electronic device through the communication interface 125, and transmits the communication signal if the internal communication network is empty And controls the internal communication interface 125 and the internal signal conversion module 124. In addition, when receiving the communication signal, the internal communication control module 123 controls the internal communication interface 125 and the internal signal change module 124 to demodulate the communication signal received via the internal communication interface 125. [

The internal communication control module 123 includes a memory for storing programs and data for controlling the internal signal conversion module 124 and the communication interface 125, a processor for generating control signals according to programs and data stored in the memory, .

According to the embodiment, the internal signal conversion module 124 and the internal communication control module 123 may be implemented as separate memories and processors, or as a single memory and a processor.

In addition, the internal communication control module 123 may be omitted according to the embodiment. For example, the internal communication control module 123 may be integrated into the communication control unit 121 or the control unit 130 described below. In this case, the communication control unit 121 or the control unit 130 may directly communicate with the internal communication unit 121, The signal transmission / signal reception of the signal transmission / reception unit 122 can be controlled.

The wireless communication unit 140 can exchange signals with a vehicle, a mobile terminal or a base station through a wireless signal.

The wireless communication unit 140 can exchange signals through various communication protocols.

The communication protocol used by the wireless communication unit 140 supports the wireless LAN standard (IEEE 802.11x) of the American Institute of Electrical and Electronics Engineers (IEEE). In addition, the communication protocol includes a code division multiple access (CDMA), a frequency division multiple access (FDMA), a time division multiple access (TDMA), an orthogonal frequency division multiple access (OFDMA), a single carrier frequency division multiple access . CDMA can be implemented with radio technology such as universal terrestrial radio access (UTRA) or CDMA2000. TDMA can be implemented with wireless technologies such as global system for mobile communications (GSM) / general packet radio service (GPRS) / enhanced data rates for GSM evolution (EDGE). OFDMA can be implemented with wireless technologies such as IEEE (Institute of Electrical and Electronics Engineers) 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802-20, and evolved UTRA (E-UTRA). IEEE 802.16m is an evolution of IEEE 802.16e, providing backward compatibility with systems based on IEEE 802.16e. UTRA is part of the universal mobile telecommunications system (UMTS). 3GPP (3rd Generation Partnership Project) LTE (Long Term Evolution) is a part of E-UMTS (evolved UMTS) using evolved-UMTS terrestrial radio access (E-UTRA). It adopts OFDMA in downlink and SC -FDMA is adopted. LTE-A (advanced) is the evolution of 3GPP LTE.

The communication protocol used by the wireless communication unit 140 may be Bluetooth, Bluetooth low energy, IrDA, Wi-Fi, Wi-Fi Direct, UWB Ultra Wideband), Near Field Communication (NFC), and Zigbee.

In addition, the communication protocol can support 5G (5Generation) communication method. The 4G communication method uses the frequency band of 2 GHz or less, but the 5G communication method uses the frequency band of about 28 GHz band. However, the frequency band used by the 5G communication system is not limited thereto.

A large-scale antenna system may be employed for the 5G communication system. A large-scale antenna system refers to a system that can cover up to ultra-high frequency by using dozens or more antennas, and can transmit / receive a large amount of data simultaneously through multiple connections. Specifically, the large-scale antenna system can adjust the arrangement of the antenna elements to transmit and receive radio waves farther in a specific direction, thereby enabling large-capacity transmission and expanding the usable area of the 5G communication network.

Referring to FIG. 3, an access point (AP) is capable of simultaneously transmitting and receiving a radio signal with many devices through a large-scale antenna system. In addition, the large-scale antenna system minimizes radio waves radiated in a direction outside the direction of propagation of radio waves to reduce noise, thereby improving transmission quality and reducing the amount of electric power.

In addition, the 5G communication method uses a non-orthogonal multiplexing access (NOMA) method to modulate a radio signal, unlike a conventional method of modulating a transmission signal through an Orthogonal Frequency Division Multiplexing By this transmission, more devices can be connected to multiple devices, and large capacity transmission / reception is possible at the same time.

For example, the 5G communication method can provide a transmission rate of up to 1Gbps. 5G communication method can support immersive communication that requires high-capacity transmission such as UHD (Ultra-HD), 3D, hologram, etc. through large capacity transmission. As a result, users can send and receive more sophisticated and immersive ultra-high-capacity data faster through the 5G communication method.

In addition, the 5G communication method enables real-time processing with a maximum response speed of 1ms or less. Accordingly, in the 5G communication method, it is possible to support a real-time service that responds before the user recognizes it. For example, the vehicle 100 can receive sensor information from various devices while driving, provide an autonomous driving system through real-time processing, and can provide various remote controls.

In addition, the vehicle 100 can process the sensor information with other vehicles existing in the vicinity of the vehicle through the 5G communication system in real time to provide the possibility of occurrence of collision to the user in real time, Traffic situation information can be provided in real time.

In addition, through the real-time processing and large-capacity transmission provided by the 5G communication, the vehicle 100 can provide the big data service to the passengers in the vehicle 100. [ For example, the vehicle 100 may analyze various types of web information, SNS information, and the like to provide customized information suitable for the situation of the passengers in the vehicle 100.

In one embodiment, the vehicle 100 collects various kinds of information on restaurants and attractions in the vicinity of the traveling route through the big data mining and provides it in real time so that the passengers can directly check various information existing around the area in which the passengers are traveling Let's do it.

On the other hand, the network of 5G communication can further subdivide the cell and support the high density of the network. Here, a cell refers to a zone in which a large area is divided into small areas in order to efficiently use the frequency in mobile communication. A small output base station (AP) is installed in each cell to support communication between devices. For example, the network of 5G communication can be formed into a two-stage structure of a macro cell base station (AP) -distributed small base station (AP) -communication device by reducing the size of the cell to further subdivide it.

Also, the network of the 5G communication can perform the relay transmission of the radio signal through the multihop method.

For example, as shown in FIG. 4A, the first device D1 may perform a relay function in transmitting and receiving data of the third device D3 located outside the network of the base station AP.

In addition, the first device D1 can perform a relay function when the second device D2 located in the network of the base station AP transmits and receives data.

As described above, at least one of the devices that can use the network of the 5G communication may serve as a relay, but the present invention is not limited thereto. Accordingly, it is possible to expand the area where the 5G communication network is supported, and at the same time to solve the buffering problem caused by a large number of users in the cell.

Meanwhile, the 5G communication system is capable of device-to-device (D2D) communication applied to vehicles, wearable devices, and the like. Device-to-device communication refers to communication between devices, and refers to communication in which a device transmits not only data sensed through a sensor but also wireless signals containing various data stored in the device.

According to the inter-device communication method, it is not necessary to exchange radio signals via the base station (AP), and radio signals are transmitted between the devices, so unnecessary energy can be saved. In order to use a 5G communication system such as a vehicle or a wearable device, an antenna must be built in the device.

As shown in FIG. 4B, the vehicle 100 is capable of communicating with other peripheral vehicles 210, 220, 230, and the like existing in the vicinity of the vehicle. In addition, the vehicle 100 can communicate with a traffic information device (not shown) installed at an intersection or the like as well as the device.

On the other hand, the 5G communication network extends the area where device-to-device communication is supported, enabling communication between devices located farther away. In addition, real-time processing of a response speed of 1 ms or less and high-capacity communication of 1 Gbps or more are supported, so that signals including desired data can be exchanged between vehicles 100, 210, 220,

For example, the vehicle 100 can communicate with other communication entities such as other vehicles, various servers, systems, and the like existing around the vehicle 100 in real time through the 5G communication system to exchange data, Thereby providing various services such as a route guidance providing service through the augmented reality.

Referring to FIG. 4C, when the vehicle 100 communicates with other vehicles 210, 220, and 230 using a device-to-device communication scheme, the other vehicles 210, 220, 230 ) And data can be exchanged.

In this case, one vehicle 230 can perform a relay function when the vehicle 100 transmits data to the other vehicle 220. [

Hereinafter, it is assumed that the wireless communication unit 140 adopts the 5G communication system. In addition to this, the vehicle 100 may use the band other than the above-mentioned frequency band to transmit the wireless signal including the data through the base station, And it is not limited to the communication method using the above-mentioned frequency band.

Hereinafter, the detailed components and operation method of the wireless communication unit 140 will be described.

2, the wireless communication unit 140 includes a wireless signal conversion module 142 for modulating / demodulating a signal, a beam forming module 142 for generating a beam pattern for wireless communication and transmitting / receiving a wireless signal, A wireless communication control module 141 for controlling wireless communication, and a wireless communication control module 141 for controlling wireless communication.

The radio signal conversion module 142 demodulates the radio signal received through the beamforming module 143 into a control signal under the control of the radio communication control module 141 to be described below, And modulates the control signal into a radio signal for transmission through the beamforming module 143. [

A wireless signal transmitted and received through wireless communication has a format different from a control signal in order to ensure reliability of wireless communication. Particularly, the radio signal is an analog signal, whereas the control signal is a digital signal.

Further, the radio signal is sent to a carrier of a high frequency (for example, about 28 GHz in the case of the 5G communication method) in order to transmit a signal. To this end, the radio signal conversion module 142 generates a communication signal by modulating the carrier wave according to the control signal output from the communication controller 121, and restores the control signal by demodulating the communication signal received through the array antenna 340 can do.

FIG. 5 illustrates a wireless signal conversion module included in a vehicle according to an embodiment, and FIG. 6 illustrates a beamforming module included in a vehicle according to an embodiment.

5, the radio signal conversion module 142 includes an encoder (ENC) 142-1, a modulator (MOD) 142-2, a multiple input multiple output A MIMO encoder 142-3, a pre-coder 142-4, an inverse fast Fourier transformer (IFFT) 142-5, a parallel-to-serial converter A P / S) 142-6, a cyclic prefix (CP) inserter 142-7, a digital to analog converter (DAC) 142-8, a frequency converter 142- 9).

Also, the L control signals are input to the multiple input / output encoder 142-3 via the encoder 142-1 and the modulator 142-2. The M streams output from the MIMO 142-3 are precoded by the precoder 142-4 and converted into N precoded signals. The precoded signals are output to an analog signal via an inverse fast Fourier transformer 142-5, a parallel-to-serial converter 142-6, a cyclic prefix inserter 142-7, a digital-analog converter 142-8, do. The analog signal output from the digital-to-analog converter 142-8 is converted into a radio frequency (RF) band through the frequency converter 142-9.

Such a radio signal conversion module 142 may include a program for performing modulation / demodulation of a communication signal and a memory for storing data, a processor for performing modulation / demodulation of a communication signal according to programs and data stored in the memory have.

However, the wireless signal conversion module 142 is not limited to the embodiment shown in FIG. 5, and may have various embodiments according to a communication method.

The analog signal converted into the radio frequency band is input to the beamforming module 143.

The beamforming module 143 can transmit or receive a radio signal by generating a beam pattern for wireless communication under the control of the wireless communication control module 141 described below.

The 5G communication scheme can transmit a radio signal to be transmitted in a radial form, but can also transmit a radio signal to a specific area or a specific device through beamforming. At this time, the 5G communication method can transmit a radio signal through beam forming using a millimeter wave band. Here, the millimeter wave band means a band of about 30 Ghz or more to about 300 Ghz or less, but is not limited thereto.

The beam-forming module 143 may form a beam pattern using a phased array antenna. The phased array antenna is an antenna capable of controlling the beam pattern of the entire array antenna by regularly arranging the unit antenna elements and controlling the phase difference of the radio signal output from each unit antenna element.

For example, as shown in FIG. 6, the beam forming module 143 includes a power divider 143-1 for dividing the power of the analog signal output from the radio signal converting module 142, A phase shifter 143-2, a variable gain amplifier 143-3 for amplifying the power of the analog signal, and an array antenna 143-4 for transmitting and receiving analog signals.

The beamforming module 143 distributes the power of the analog signal to the respective unit antennas 143-4a to 143-4h through the power divider 143-1 and outputs the power of the analog signal through the phase converter 143-2 and the variable gain amplifier The beam patterns BP of various shapes can be generated by controlling the power transmitted to the unit antennas 143-4a through 143-4h through the antenna units 143-1 through 143-3.

At this time, when the main direction of the beam pattern BP to be output from the array antenna 143-4 is?, The phase difference ?? through the phase shifter 143-2 can be expressed by Equation (1) have.

[Equation 1]

(? Is the phase difference, d is the interval between the unit antennas,? Is the wavelength of the carrier wave, and? Is the main direction of the beam pattern).

According to the equation (1), the main direction? Of the beam pattern BP is the phase difference ?? between the unit antennas 143-4a to 143-4h and the phase difference ?? between the unit antennas 143-4a to 143-4h (D).

Further, the beam width BW of the beam pattern BP to be output from the array antenna 143-4 can be expressed by Equation (2).

&Quot; (2) "

(Where BW is the beam width of the beam pattern, d is the spacing between the unit antennas,? Is the wavelength of the carrier wave, and N is the number of array antennas).

According to the equation (2), the beam width BW of the beam pattern BP is set so that the distance d between the unit antennas 143-4a to 143-4h and the distance d between the unit antennas 143-4a to 143-4h (N).

The wireless communication control module 141 controls operations of the wireless signal conversion module 142 and the beamforming module 143.

For example, when establishing communication with another vehicle, an external terminal, or an external base station, the wireless communication control module 141 may use the wireless signal conversion module 142 and beamforming The module 143 can be controlled. Specifically, the wireless communication control module 141 can evaluate the wireless communication channel according to the beam pattern BP, and can generate an optimal wireless communication channel based on the evaluation result.

In addition, when transmitting a communication signal, the wireless communication control module 141 may control the beam-forming module 143 to generate a beam pattern BP for transmitting a communication signal. Specifically, the radio communication control module 141 controls the phase between the unit antennas 143-4a to 143-4h to control the main direction? Of the beam pattern BP formed by the beam forming module 143 The difference DELTA phi can be adjusted. In addition, even when receiving a communication signal, the wireless communication control module 141 can control the beam-forming module 143 to generate a beam pattern BP for receiving a communication signal.

The wireless communication control module 141 includes a memory for storing programs and data for controlling the wireless signal conversion module 142 and the beamforming module 143, a program stored in the memory, and a processor . ≪ / RTI >

According to the embodiment, the wireless signal conversion module 142 and the wireless communication control module 141 may be implemented as separate memories and processors, or as a single memory and a processor.

In addition, the wireless communication control module 141 may be omitted according to the embodiment. For example, the wireless communication control module 141 may be integrated into the communication control unit 121 or the control unit 130 described below. In this case, the communication control unit 121 or the control unit 130 directly controls the wireless communication unit 121, Signal transmission / signal reception of the signal transmission unit 140 can be controlled.

The communication control unit 121 controls the operations of the internal communication unit 122 and the wireless communication unit 140. [

Specifically, when a signal is received through the internal communication unit 122, the received signal is analyzed and the operations of the internal communication unit 122 and the wireless communication unit 140 are controlled according to the analysis result.

For example, when a data transmission request is received from another electronic device included in the vehicle 100 via the internal communication unit 122, the communication control unit 121 transmits the data to another vehicle, an external terminal, The communication unit 140 can be controlled.

In addition, when data is received from another vehicle, an external terminal or an external base station, the communication control unit 121 analyzes the received data to determine a target device of the data, and transmits the received data to the destination communication unit 122, Can be controlled.

The communication control unit 121 may include a memory for storing programs and data for controlling the internal communication unit 122 and the wireless communication unit 140, and a processor for generating control signals according to programs and data stored in the memory .

In addition, the communication control section 121 may be omitted according to the embodiment. For example, the communication control unit 121 may be incorporated in the control unit 130. In this case, the control unit 130 may directly control the signal transmission / signal reception of the wireless communication unit 140. [

Hereinafter, the process of transmitting obstacle information, neighboring vehicle information, or movement route information of the vehicle 100 according to an embodiment will be described with reference to FIGS. 7 to 15. FIG.

7 is an external view of an embodiment of a vehicle for detecting an obstacle.

Hereinafter, an example in which the sensing unit 110 implemented as a front sensing sensor is mounted on the outer surface of the vehicle 100 will be described.

7, the exterior 11 of the vehicle 100 includes a front panel 12, a bonnet 13, a roof panel 14, a rear panel 15, a trunk 16, front and rear left and right doors 17, And the like.

The exterior of the vehicle 100 includes a window glass 18 provided on the front panel 12, the bonnet 13, the roof panel 14, the rear panel 15, the trunk 16, and the front and rear doors 17, And a filler 19 provided at the boundary between the front and rear left and right window glasses 18.

The window glass 18 further includes a quarter window glass installed between the filler 19 and the filler 19 but not capable of being opened and closed, a rear window glass provided on the rear side, and a front window glass provided on the front side.

The exterior of the vehicle 100 further includes a side mirror 20 or the like that provides the driver with a field of view behind the vehicle 100. [

Although the vehicle 100 of FIG. 7 is shown as mounted with the front sensing sensor as the sensing unit 110, the vehicle 100 may include a proximity sensor for sensing rear or side obstacles or surrounding vehicles, It is also possible to further include a sensing device such as a rain sensor.

The vehicle 100 may further include a microcontroller for operating a plurality of stabilizers based on operation information of a plurality of safety devices and sensing information of the sensing unit 110. The microcontroller includes a controller 130).

In addition, the control unit 130 of the vehicle 100 controls the driving of the power generating device, the power transmitting device, the traveling device, the steering device, the braking device, the suspension device, the transmission, the fuel device, various safety devices, It is possible.

The vehicle 100 may also optionally include electronic devices such as a hands-free device, a GPS, an audio device and a Bluetooth device, a front or rear camera, a charging device, and a high pass device installed for the convenience of the driver.

In addition, the vehicle 100 may further include a multimedia playback device that integrally performs a DMB function, an audio function, a video function, and a navigation function.

The vehicle 100 may further include a start button for inputting an operation command to the start motor (not shown).

That is, when the start button is turned on, the vehicle 100 operates the starter motor (not shown) and drives the engine (not shown) that is the power generator through the operation of the starter motor.

The vehicle 100 further includes a battery (not shown) electrically connected to the terminal device, the audio device, the indoor lighting device, the starter motor, and other electronic devices to supply driving power.

Such a battery performs charging using power from the self-generator or the engine while driving.

According to an embodiment, the sensing unit 110 may acquire sensing information of an obstacle ob located in a predetermined area from the vehicle 100, and the controller 130 may acquire sensing information of the obstacle ob The obstacle information related to the obstacle such as the obstacle position information and the obstacle size information can be generated based on the sensing information of the obstacle.

For example, when the sensing unit 110 is implemented as a laser sensing sensor, the sensing unit 110 may receive the reflected laser beam from a certain region and measure the intensity or frequency of the reflected laser beam.

In this case, the control unit 130 can determine the position of the obstacle ob in the predetermined area based on the intensity or frequency information of the laser received from the sensing unit 110. [ Also, the size of the obstacle ob may be determined based on an area of the obstacle ob having a predetermined intensity or frequency within a predetermined area.

In addition, the controller 130 can determine whether the detected obstacle can affect a nearby vehicle located at any of front, rear, left, right, left front, left rear, right front, or right rear.

For example, when the porthole is sensed in front of the vehicle 100 by the sensing unit 110, the first peripheral vehicle is detected on the right side of the vehicle 100, and the left side of the vehicle 100 is empty When the second peripheral vehicle is detected in the rear of the vehicle 100, it is possible to determine the detected perimeter and the second peripheral vehicle located behind the first peripheral vehicle.

In this case, the communication unit 120 of the vehicle 100 receives the obstacle information (information indicating that the porthole is in front and the first peripheral vehicle is on the right side), information informing that the left lane is empty, And the distance information to the front vehicle in the left lane closest to the vehicle can be generated and transmitted to the second surrounding vehicle.

According to another embodiment, the control unit 130 automatically sets the movement path of the vehicle 100 for avoiding the obstacle ob based on the detection information of the obstacle ob received from the sensing unit 110, Estimated travel direction, estimated travel position, and the like.

For example, in order to avoid the obstacle ob, the control unit 130 may set a movement path for moving the vehicle 100 to the left lane and generate information indicating that the vehicle 100 is to be moved to the left lane as the movement path information .

When the driver of the vehicle 100 depresses the brake pedal in order to avoid collision with the obstacle ob, the control unit 130 may generate information indicating that the vehicle 100 is to be stopped as movement route information have.

The control unit 130 may also generate movement route information of the vehicle 100 using the positional information of the nearby vehicle or the movement route information of the surrounding vehicles collected by the communication unit 120 from the neighboring vehicle.

For example, when the communication unit 120 receives the location information of the nearby vehicle from the nearby vehicle located behind the left lane of the vehicle 100 and the route information indicating that the nearby vehicle will accelerate in the same lane, ) Can generate route information excluding the left lane movement of the vehicle 100. [

7, a plurality of detection sensors may be provided on the vehicle 100 and may be provided on both sides of the front panel 12 or may be provided on the rear panel 15, But the number and the position are not limited.

FIGS. 8 to 11 are diagrams for explaining a process of transmitting obstacle information, neighboring vehicle information, or movement route information according to an embodiment when detecting an obstacle.

Hereinafter, the communication unit 120 transmits the obstacle information, the neighboring vehicle information, or the movement route information to another communication subject. However, this is because the wireless communication unit 140 transmits the obstacle information and the neighboring vehicle information through the wireless communication network, Means to transmit a radio signal including movement route information.

The communication unit 120 according to the embodiment of FIGS. 8 to 11 directly transmits the obstacle information, the neighboring vehicle information, or the moving route information to the neighboring vehicle 200 using the inter-device communication method. The first to fourth peripheral vehicles 210, 220, 230, and 240 refer to a plurality of peripheral vehicles 200 located around the vehicle 100.

Referring to FIG. 8, the communication unit 120 according to an exemplary embodiment may transmit the obstacle information and the neighboring vehicle information generated by the controller 130 to the neighboring vehicle 200.

For example, the communication unit 120 may transmit the obstacle information generated by the control unit 130 and the surrounding vehicle information to the peripheral vehicle 200 located behind the vehicle 100. For example,

The peripheral vehicle 200 positioned at the rear can output the obstacle information received from the vehicle 100 and the surrounding vehicle information to the driver of the surrounding vehicle 200. [ The means for outputting the obstacle information and the surrounding vehicle information of the surrounding vehicle 200 include various audio-visual means, which will be described later with reference to FIG. 16 to FIG.

When the communication unit 120 transmits the obstacle information and the neighboring vehicle information, the driver of the neighboring vehicle 200 can recognize useful information in the obstacle and the neighboring vehicle 200 based on the outputted obstacle information.

When the surrounding vehicle information includes information indicating that the left and right lanes are empty based on the vehicle 100, the driver of the surrounding vehicle 200 may stop the surrounding vehicle 200 to stop the obstacle, The lane of the vehicle 200 can be changed.

Referring to FIG. 9, the communication unit 120 according to another embodiment may transmit the route information generated by the controller 130 to the neighboring vehicle 200.

For example, when the movement path of the vehicle 100 passes through the right lane by the control unit 130, the communication unit 120 transmits the movement path information generated by the control unit 130 on the movement path of the vehicle 100 To the surrounding vehicle 200 located in the vicinity.

In this case, the peripheral vehicle 200 located on the movement route can output the movement route information received from the vehicle 100 to the driver of the peripheral vehicle 200. [

The route information may include information indicating that the vehicle 100 is to be moved to the right lane.

The means for outputting the moving route information of the neighboring vehicle 200 includes various audio-visual means, which will be described later with reference to FIG. 16 to FIG.

The driver of the peripheral vehicle 200 recognizes the movement path of the outputted vehicle 100 and controls the peripheral vehicle 200 in order to prevent collision due to the movement of the vehicle 100. [ 200), or can change the lane of the nearby vehicle 200. [0064]

Referring to FIG. 10, the communication unit 120 according to another embodiment may transmit obstacle information, neighboring vehicle information, or movement route information generated by the controller 130 to a plurality of neighboring vehicles 210 and 220.

For example, the communication unit 120 may transmit the movement route information generated by the control unit 130 to the first peripheral vehicle 210 located on the movement path of the vehicle 100, the obstacle information, the neighboring vehicle information, and the movement route information may be transmitted to the second neighboring vehicle 220 located behind the vehicle 100 when it is determined that the obstacle ob can affect the rear vehicle.

In this case, the communication unit 120 transmits to the first peripheral vehicle 210 information indicating that the vehicle 100 is to be moved to the right, and informs the second peripheral vehicle 220 of information indicating that the obstacle ob is ahead Various information related to the obstacle ob such as the distance between the obstacle ob and the vehicle 100, the size of the obstacle ob and the speed at which the obstacle ob moves, Information about the surrounding vehicle that is useful for the second surrounding vehicle 220 such as the distance x from the empty left lane to the nearest front vehicle 240 to the nearest neighboring vehicle 220, 100) to move to the right side.

The driver of the first peripheral vehicle 210 recognizes the movement path of the outputted vehicle 100 and moves the first peripheral vehicle 210 to the right in order to prevent collision due to the movement of the vehicle 100 , The traveling speed of the first peripheral vehicle 210 can be increased.

The driver of the second surrounding vehicle 220 recognizes the obstacle information and the surrounding vehicle information of the vehicle 100 and the moving route and detects the second surrounding vehicle 220 in order to prevent the collision due to the deceleration of the vehicle 100. [ Or to reduce the traveling speed of the second surrounding vehicle 220, or to move to the left lane according to the received information about the surrounding vehicle.

Although the vehicle 100 described above transmits the obstacle information, the neighboring vehicle information, or the moving route information directly to the neighboring vehicle 200, the neighboring vehicle 200 may also be transmitted to another nearby vehicle The mobile terminal 100 can transmit the obstacle information, the neighboring vehicle information, or the movement route information received from the mobile terminal 100.

Further, the nearby vehicle 200 may transmit its own route information to another nearby vehicle.

To this end, the peripheral vehicle 200 may also include a control unit and a communication unit.

11, when the communication unit 221 of the second peripheral vehicle 220 receives the obstacle information and the movement route information from the vehicle 100, the communication unit 221 of the second peripheral vehicle 220 determines the third peripheral And may transmit the obstacle information and the movement route information received in the vehicle 230. [

The communication unit 221 of the second peripheral vehicle 220 may also transmit the route information of the second peripheral vehicle 220 to the third peripheral vehicle 230 located on the moving route of the second peripheral vehicle 220 have.

In this case, the route information of the second peripheral vehicle 220 may be generated by the control unit 222 of the second peripheral vehicle 220.

For example, the control unit 222 of the second peripheral vehicle 220 can generate movement route information of the second peripheral vehicle 220 based on the route information received from the vehicle 100. [

The control unit 222 of the second peripheral vehicle 220 automatically determines the route of movement of the second peripheral vehicle 220 when the route information indicating that the vehicle 100 is to be stopped is transmitted to the second peripheral vehicle 220. [ And it is possible to generate the movement route information of the second peripheral vehicle 220 including the estimated movement direction, the estimated movement position, and the like.

The third peripheral vehicle 230 positioned on the movement path of the second peripheral vehicle 220 transmits the movement route information of the second peripheral vehicle 220 from the communication unit 221 of the second peripheral vehicle 220 to the third peripheral vehicle 220, (230).

For example, the route information of the second peripheral vehicle 220 may be information indicating that the second peripheral vehicle 220 is to be moved to the right lane.

In this case, the driver of the third peripheral vehicle 230 recognizes the movement path of the output second peripheral vehicle 220 and recognizes the movement of the third peripheral vehicle 220 in order to prevent collision due to the movement of the second peripheral vehicle 220 230), or change the lane of the third peripheral vehicle (230).

As described above, the communication unit 120 of the vehicle 100 according to the embodiment of FIGS. 7 to 11 can transmit the obstacle information or the movement route information using the inter-device communication method.

In the case of using the inter-device communication method, a radio link must be formed between the vehicle 100 and the neighboring vehicle 200, and the vehicle 100 and the neighboring vehicle 200 perform a series of processes to form a wireless link.

12 and 13 are conceptual diagrams for explaining various embodiments of a vehicle that generates a wireless link using an inter-device communication method.

Referring to FIG. 12, the communication unit 120 of the vehicle 100 according to an embodiment transmits a request signal to the neighboring vehicle 200 to generate a wireless link.

The neighboring vehicle 200 receiving the request signal transmits a response (ACK) signal indicating that the request signal has been received to the vehicle 100 and generates a wireless link between the vehicle 100 and the neighboring vehicle 200 .

Then, the vehicle 100 receiving the response signal transmits obstacle information or route information to the neighboring vehicle 200 using the wireless link.

Referring to FIG. 13, according to another embodiment, the transmission of a request signal for generating a wireless link to the neighboring vehicle 200 and the process of receiving a response signal may be omitted.

That is, the communication unit 120 of the vehicle 100 can directly transmit the obstacle information or the movement route information to the neighboring vehicle 200 using the wireless link without transmitting the request signal and receiving the response signal.

In this case, the vehicle 100 can transmit the obstacle information, the neighboring vehicle information, or the route information to the neighboring vehicle 200 via the wireless link as soon as the obstacle ob is detected, It is possible to respond promptly.

The communication unit 120 of the vehicle 100 according to the embodiment of FIGS. 8 to 13 directly transmits the obstacle information, the neighboring vehicle information, or the route information to the neighboring vehicle 200 using the inter-device communication method, 120 can be connected to the base station through a wireless communication network in a place where the base station is installed as well as transmitting the obstacle information, the neighboring vehicle information, or the movement route information to the peripheral vehicle 200 through the inter-device communication method, And may transmit the obstacle information, the neighboring vehicle information, or the movement route to the nearby vehicle 200.

14 is an illustration of a vehicle that transmits obstacle information or route information via a base station in accordance with another embodiment.

Referring to FIG. 14, the communication unit 120 of the vehicle 100 according to another embodiment of the present invention is configured such that the obstacle information generated by the control unit 130 and the neighboring vehicle information arrive at the neighboring vehicle 200, To the base station (AP).

Then, the neighboring vehicle 200 can receive the obstacle information and the neighboring vehicle information transmitted to the base station AP from the base station AP.

Also in this case, not only the obstacle information and the surrounding vehicle information but also the moving route information can be transmitted to the peripheral vehicle 200 through the base station AP.

The communication unit 120 of the vehicle 100 not only transmits the obstacle information and the surrounding vehicle information or the moving route information to the surrounding vehicle 200 but also transmits the obstacle information and the surrounding vehicle information or the moving route information Lt; / RTI >

15 is an exemplary view of a vehicle that transmits obstacle information, neighboring vehicle information, or movement route information to a server.

Referring to FIG. 15, the communication unit 120 may transmit to the server 300 the obstacle information generated by the controller 130, neighboring vehicle information, or movement route information.

In FIG. 15, the obstacle information, the neighboring vehicle information, or the movement route information are shown to be transmitted by the inter-device communication method, but it is also possible to transmit the information to the server 300 through the base station (AP) as shown in FIG.

The server 300 judges the road display device D located within a predetermined distance from the road display device D or the obstacle ob closest from the detected obstacle ob based on the received obstacle information, The obstacle information can be transmitted to the device D.

In this case, the transmitted obstacle information can be outputted by the road display device D, and the driver of the nearby vehicle 200 of the road display device D can recognize the obstacle information outputted and can avoid the obstacle.

It is also possible for the server 300 to transmit the obstacle information received from the vehicle 100 and the surrounding vehicle information or movement route information to the peripheral vehicle 200 of the vehicle 100. [

Also in this case, the obstacle information and the neighboring vehicle information or the movement route information can be transmitted to the server 300 through the base station AP.

In addition, the obstacle information and the surrounding vehicle information or route information may be transmitted to various communication subjects.

16 to 18, the neighboring vehicle 200 receiving the obstacle information, the neighboring vehicle information, and the route information includes the obstacle information, the neighboring vehicle information, or the route information to the driver using various audiovisual means An embodiment for outputting contents will be described.

FIGS. 16 and 17 are internal views of a nearby vehicle for outputting obstacle information and neighboring vehicle information, and FIG. 18 is an internal view of a nearby vehicle for outputting travel route information.

Referring to FIG. 16, a peripheral vehicle 200 according to an embodiment may include an AVE device 23.

An AVN (Audio Video Navigation) device 23 is a device integrated with audio, multimedia devices, navigation devices, and the like in the surrounding vehicle 200 and implemented as a single system. The AVN display 24 included in the AVN ENC device 23 can output content related to the service to be provided.

The AVN display 24 of the peripheral vehicle 200 displays the contents included in the obstacle information and the surrounding vehicle information to the driver when the surrounding vehicle 200 receives the obstacle information and the surrounding vehicle information from the vehicle 100. [

For example, the AVN display 24 of the nearby vehicle 100 may display a character indicating the position of the obstacle to the driver.

17, the AVE-EN device 23 may include a speaker 25. In this case,

When the speaker 25 of the peripheral vehicle 200 receives the obstacle information and the surrounding vehicle information from the vehicle 200, the speaker 25 outputs the contents including the obstacle information and the surrounding vehicle information to the driver.

For example, the AVN display 24 of the nearby vehicle 100 may output a voice to the driver indicating the position of the obstacle.

The obstacle information and the surrounding vehicle information received by the surrounding vehicle 200 are not only output in the same manner as in the embodiment described above but also information about the surrounding vehicle 200 in an area adjacent to the area where the steering wheel 22 is provided A cluster display to be displayed on a digital screen, an assisting seat display provided on the assistant seat side dashboard 21, and the like are not limited to the above-described embodiments.

Referring to FIG. 18, the AVN display 24 of the neighboring vehicle 200 according to another embodiment receives content included in the route information when the neighboring vehicle 200 receives the travel route information from the vehicle 100 Display it to the driver.

For example, the AVN display 24 of the peripheral vehicle 200 can display the relative position of the vehicle 100 and the surrounding vehicle 200, the moving direction of the vehicle 100, and the like to the driver.

Also, when the neighboring vehicle 200 receives both the obstacle information and the neighboring vehicle information, the neighboring vehicle 200 can also display the position of the obstacle and display it to the driver.

Various embodiments of the control method of the vehicle 100 will be described below with reference to Figs. 19 and 20. Fig.

FIG. 19 is a flowchart of a method of controlling a vehicle according to an embodiment, and FIG. 20 is a flowchart of a method of controlling a vehicle according to another embodiment.

Referring to FIG. 19, the detection unit of the vehicle detects an obstacle located in the vicinity of the vehicle (S1100).

For example, the sensing unit may detect a porthole located 10 m ahead of the vehicle, another vehicle entering the lane where the vehicle is traveling from another lane, and the like as obstacles.

In this case, the sensing unit may be implemented as a sensing sensor or a sensing camera.

The sensing unit implemented by the sensing sensor senses a physical amount or change of heat, light, temperature, pressure, and sound, converts the sensed amount into an electrical signal, and transmits the electrical signal to the control unit.

The sensing unit implemented by the sensing camera converts the image of the subject into an electrical signal and transmits the electrical signal to the control unit.

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Subsequently, the communication unit of the vehicle transmits the obstacle information and the neighboring vehicle information to the neighboring vehicle (S1200).

According to an embodiment, the communication unit can directly transmit the obstacle information and the neighboring vehicle information to the neighboring vehicle in the inter-device communication mode. In this case, the communication unit may transmit the request signal to the neighboring vehicle to generate a wireless link between the vehicle and the neighboring vehicle, and may transmit the obstacle information and the neighboring vehicle information after receiving the response signal from the nearby vehicle. It is also possible to transmit the obstacle information and the surrounding vehicle information directly to the surrounding vehicles without receiving it.

According to another embodiment, the communication unit can transmit the obstacle information and the neighboring vehicle information to the neighboring vehicle through the base station using the wireless communication network. In this case, the communication unit transmits the obstacle information and the surrounding vehicle information to the base station, and the base station transmits the obstacle information and the surrounding vehicle information received from the communication unit to the surrounding vehicle.

According to another embodiment, the communication unit can transmit the obstacle information and the neighboring vehicle information to the nearby vehicle or the traffic control center through the server. The obstacle information and the surrounding vehicle information transmitted to the server may be transmitted to the nearby vehicle and may be transmitted to the display device installed on the road.

The obstacle information and the surrounding vehicle information transmitted to the neighboring vehicle can be visually displayed to the driver of the neighboring vehicle through AVN display, cluster display, assisting seat display, etc. provided in the neighboring vehicle, And may be output to the driver of the vehicle.

Also, the neighboring vehicle that has received the obstacle information and the neighboring vehicle information from the vehicle may share the obstacle information with another neighboring vehicle and obstacle information by transmitting the received obstacle information to another neighboring vehicle.

Referring to FIG. 20, in the vehicle control method according to another embodiment, the sensing unit of the vehicle first detects an obstacle located in the vicinity of the vehicle (S2100).

The step S2100 of detecting the obstacle by the sensing unit is the same as the sensing step S1100 described above, and a detailed description thereof will be omitted.

Then, the control unit of the vehicle automatically determines the movement route of the vehicle for avoiding the obstacle based on the detection information of the obstacle received from the sensing unit, and generates the movement route information including the predicted movement direction and the predicted movement position (S2200).

Subsequently, the communication unit of the vehicle transmits the movement route information generated by the control unit to the nearby vehicle (S2300).

For example, the communication unit may transmit the route information generated by the control unit to a nearby vehicle located on the left side or the right side of the vehicle.

In this case, the nearby vehicle can output the route information received from the vehicle to the driver of the surrounding vehicle.

The moving route information may also be transmitted in a device-to-device communication manner such as the obstacle information and the surrounding vehicle information, or may be transmitted through a base station or a server, or may be transmitted by another wireless communication method or a short distance communication method. do.

In addition, the neighboring vehicle that has received the route information from the vehicle can share the route with other nearby vehicles by transmitting the own route information to the neighboring vehicle.

In the above-described embodiments, some of the components constituting the vehicle may be implemented as a kind of 'module'. Here, 'module' means a hardware component such as software or a field programmable gate array (FPGA) or an application specific integrated circuit (ASIC), and the module performs certain roles. However, a module is not limited to software or hardware. A module may be configured to reside on an addressable storage medium and may be configured to execute one or more processors.

Thus, by way of example, a module may include components such as software components, object-oriented software components, class components and task components, and processes, functions, attributes, procedures, Microcode, circuitry, data, databases, data structures, tables, arrays, and variables, as will be appreciated by those skilled in the art. The functionality provided by the components and modules may be combined into a smaller number of components and modules or further separated into additional components and modules. In addition, the components and modules may execute one or more CPUs within the device.

Meanwhile, the vehicle control method described above can be implemented as a computer-readable code on a computer-readable recording medium. The computer-readable recording medium includes all kinds of recording media storing data that can be decoded by a computer system. For example, it may be a ROM (Read Only Memory), a RAM (Random Access Memory), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, or the like. In addition, the computer-readable recording medium may be distributed and executed in a computer system connected to a computer network, and may be stored and executed as a code readable in a distributed manner.

100: vehicle
110:
120:
130:
131: Processor
132: RAM
133: Rom
140: Input unit

Claims (21)

In a vehicle,
A sensing unit for sensing an obstacle;
A control unit for generating obstacle information based on the sensing signal of the sensing unit and safety information based on the surrounding vehicle; And
And a communication unit for transmitting the obstacle information and the safety information to the neighboring vehicle,
The control unit generates information on empty lanes among the lanes located on the left and right sides of the vehicle as the safety information,
And the communication unit transmits information about the vacant lane to the nearby vehicle. The method according to claim 1,
Wherein the communication unit transmits the obstacle information and the safety information to the neighboring vehicle using a device-to-device communication scheme. The method according to claim 1,
Wherein the communication unit transmits the obstacle information and the safety information using a radio signal forming a beam pattern. The method according to claim 1,
Wherein the communication unit transmits the obstacle information and the safety information to a nearby vehicle existing in the same lane as the vehicle. The method according to claim 1,
The control unit may determine a neighboring vehicle that is affected by the detected obstacle,
Wherein the communication unit transmits the obstacle information and the safety information to the affected peripheral vehicle. The method according to claim 1,
And an input unit for receiving from the user whether the obstacle information is transmitted,
Wherein the communication unit transmits the obstacle information and the safety information according to the obstacle information transmission command by the user. delete The method according to claim 1,
Wherein the sensing unit is implemented as a radar sensing device or a lidar sensing device. The method according to claim 1,
Wherein the peripheral vehicle includes a rearward or left and right vehicle of the vehicle. The method according to claim 1,
Wherein the peripheral vehicle includes a vehicle existing within a predetermined distance from the vehicle. The method according to claim 1,
And the communication unit transmits the obstacle information to the road display device. The method according to claim 1,
Wherein the communication unit transmits the obstacle information and the safety information based on the second surrounding vehicle to the second surrounding vehicle through the first surrounding vehicle by using a multihop. The method according to claim 1,
Wherein the control unit generates movement route information of the vehicle based on the obstacle information,
And the communication unit transmits the route information to the neighboring vehicle. 14. The method of claim 13,
Wherein the communication unit receives current position information of the nearby vehicle from the nearby vehicle,
Wherein the control unit generates an expected travel route of the vehicle using the current location information of the nearby vehicle. 14. The method of claim 13,
Wherein the communication unit receives estimated travel route information of the neighboring vehicle from the neighboring vehicle,
Wherein the control unit corrects the anticipated movement route of the vehicle using the anticipated travel route information of the neighboring vehicle. A method for controlling a vehicle,
Detecting an obstacle;
Generating safety information based on the obstacle information and the surrounding vehicle based on the detection result of the detecting step; And
And transmitting the obstacle information and the safety information to a neighboring vehicle,
Wherein the generating of the safety information comprises generating information on an empty lane among lanes located on the left and right sides of the vehicle as the safety information,
Wherein the step of transmitting the safety information transmits information on the vacant lane to the nearby vehicle. 17. The method of claim 16,
Wherein the transmitting step transmits the obstacle information and the safety information to the neighboring vehicle using a device-to-device communication scheme. 17. The method of claim 16,
Wherein the transmitting step transmits the obstacle information and the safety information using a radio signal forming a beam pattern. 17. The method of claim 16,
Wherein the step of generating the safety information comprises:
Determining a neighboring vehicle affected by the detected obstacle; And
And generating safety information of the affected peripheral vehicle,
And the transmitting step transmits the obstacle information and the safety information to the affected peripheral vehicle. 17. The method of claim 16,
Wherein the generating of the safety information includes generating movement route information of the vehicle based on the obstacle information,
And the transmitting step includes transmitting the route information to a neighboring vehicle. The method according to claim 1,
Wherein the information on the empty lane includes information on a distance between another nearby vehicle located in front of the vehicle and the nearby vehicle, the information being located on the left or right side of the vehicle.

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