KR101916435B1 - Autonomous vehicle and method for operating the same - Google Patents

Abstract

The present invention provides an autonomous vehicle having a plurality of functions, comprising: a communication device for generating communication state information when communicating with an external device; And a control unit for determining a communication state level based on the communication state information and determining whether to perform the plurality of functions based on the communication state level.

Description

[0001] The present invention relates to an autonomous vehicle and a method for operating the autonomous vehicle,

The present invention relates to a method of operating an autonomous vehicle and an autonomous vehicle.

A vehicle is a device that moves a user in a desired direction by a boarding user. Typically, automobiles are examples.

On the other hand, for the convenience of users who use the vehicle, various sensors and electronic devices are provided. Particularly, for the convenience of the user, research on the ADAS (Advanced Driver Assistance System) is being actively carried out. Furthermore, development of an autonomous vehicle is being actively carried out.

The autonomous vehicle can be operated on a V2X communication basis. The communication device included in the autonomous vehicle may receive information, signals or data from another vehicle or an infrastructure (e.g., ITS: Intelligent Transport Systems) and may be driven based on the received information, signals or data .

In this case, the communication state between the autonomous driving vehicle and the other vehicle, and the communication state between the autonomous driving vehicle and the infrastructure are important factors. The autonomous driving vehicle according to the prior art is operated without considering the communication state, The connection can be released. There is also a risk of an accident due to the disconnection of communication.

An object of the present invention is to provide an autonomous vehicle that determines whether to perform a plurality of functions implemented in a vehicle based on communication state information in order to solve the above problems.

It is another object of the present invention to provide a method of operating an autonomous vehicle that determines whether to perform a plurality of functions implemented in a vehicle based on communication state information.

The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, an autonomous vehicle according to an embodiment of the present invention includes: a communication device that generates communication state information when communicating with an external device, the autonomous vehicle having a plurality of functions; And a controller for determining a communication status level based on the communication status information and determining whether to perform the plurality of functions based on the communication status level.

The details of other embodiments are included in the detailed description and drawings.

According to an embodiment of the present invention, there is one or more of the following effects.

First, since it is determined whether or not to perform a plurality of functions based on the communication quality information, there is an effect that driving can be continued even when communication traffic is excessive.

Second, since a plurality of functions are performed or not based on the communication intensity information, it is possible to continue traveling even when the communication intensity is weak.

Thirdly, since the information on the communication state is outputted through the user interface device, there is an effect that the user can confirm the communication state and cope with it appropriately.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

1 is a view showing an appearance of a vehicle according to an embodiment of the present invention.
2 is a view of a vehicle according to an embodiment of the present invention viewed from various angles.
3 to 4 are views showing an interior of a vehicle according to an embodiment of the present invention.
5 to 6 are drawings referred to explain an object according to an embodiment of the present invention.
FIG. 7 is a block diagram for explaining a vehicle according to an embodiment of the present invention. FIG.
8 is a flowchart referred to explain the operation of the autonomous vehicle according to the embodiment of the present invention.
9A to 9B are flowcharts referred to explain the operation of the autonomous vehicle according to the embodiment of the present invention.
10A to 10D are views for explaining the operation of the autonomous vehicle according to the embodiment of the present invention.
11A is a flowchart referred to explain the operation of the autonomous vehicle according to the embodiment of the present invention.
Figures 11B-12 are diagrams that are referenced to illustrate the operation of obtaining communication intensity information in accordance with an embodiment of the present invention.
Figs. 13 to 14C are diagrams referred to explain the operation of controlling the vehicle to be driven based on the communication intensity information according to the embodiment of the present invention. Fig.
Figs. 15 to 18 are diagrams referred to for describing an operation of controlling a vehicle to be driven based on communication intensity information according to an embodiment of the present invention. Fig.
Fig. 19 is a diagram referred to explain an operation of controlling to be driven based on importance of information according to an embodiment of the present invention. Fig.
FIG. 20 is a diagram referred to explain an exception situation of traveling based on communication intensity according to an embodiment of the present invention.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

The vehicle 100 may be an autonomous vehicle. The vehicle 100 may be an autonomous vehicle in which a plurality of functions are implemented. Here, the function may include a function for movement of the vehicle 100, a function for providing information or contents to the user, and a function for providing convenience to the user.

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

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

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

The running situation information may include at least one of object information outside the vehicle, navigation information, and vehicle condition information.

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

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

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

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

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

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

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

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

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

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

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

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

The input unit 210 is for receiving information from a user. The data collected by the input unit 210 may be analyzed by the processor 270 and processed by a user's control command.

The input unit 210 may be disposed inside the vehicle. For example, the input unit 210 may include one area of a steering wheel, one area of an instrument panel, one area of a seat, one area of each pillar, one area of the head console, one area of the door, one area of the center console, one area of the head lining, one area of the sun visor, one area of the windshield, One area or the like.

The input unit 210 may include a voice input unit 211, a gesture input unit 212, a touch input unit 213, and a mechanical input unit 214.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

The object detecting apparatus 300 is an apparatus for detecting an object located outside the vehicle 100. [ The object detecting apparatus 300 can generate object information based on the sensing data.

The object information may include information on the presence or absence of the object, position information of the object, distance information between the vehicle 100 and the object, and relative speed information between the vehicle 100 and the object.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

The camera 310 can acquire the position information of the object, the distance information to the object, or the relative speed information with the object using various image processing algorithms.

For example, the camera 310 can acquire distance information and relative velocity information with respect to the object based on a change in the object size with time in the acquired image.

For example, the camera 310 can acquire distance information and relative speed information with respect to the object through a pin hole model, a road surface profiling, and the like.

For example, the camera 310 may acquire distance information and relative speed information with respect to the object based on disparity information in the stereo image acquired by the stereo camera 310a.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

The processor 370 compares the data sensed by the camera 310, the radar 320, the lidar 330, the ultrasonic sensor 340, and the infrared sensor 350 with the stored data to detect or classify the object can do.

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

For example, the processor 370 can obtain distance information and relative speed information with respect to the object, based on a change in the object size with time, in the acquired image.

For example, the processor 370 can acquire distance information and relative speed information with respect to the object through a pin hole model, a road surface profiling, and the like.

For example, the processor 370 may acquire distance information and relative speed information with respect to the object based on disparity information in the stereo image acquired by the stereo camera 310a.

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

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

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

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

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

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

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

The communication device 400 is a device for performing communication with an external device. Here, the external device may be another vehicle, a mobile terminal, or a server.

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

The communication device 400 includes a local communication unit 410, a location information unit 420, a V2X communication unit 430, an optical communication unit 440, a broadcast transmission / reception unit 450, an ITS (Intelligent Transport Systems) communication unit 460, (470).

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

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

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

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

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

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

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

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

The ITS communication unit 460 can exchange information, data, or signals with the traffic system. The ITS communication unit 460 can provide information and data acquired in the traffic system. The ITS communication unit 460 can receive information, data or signals from the traffic system. For example, the ITS communication unit 460 can receive the road traffic information from the traffic system and provide it to the control unit 170. [ For example, the ITS communication unit 460 may receive a control signal from the traffic system and provide it to the control unit 170 or a processor provided in the vehicle 100. [

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

According to the embodiment, the operating system 700 includes a user interface device 270, an object detecting device 300 and a communication device 400, a driving operation device 500, a vehicle driving device 600, a navigation system A sensing unit 770, a sensing unit 120, and a control unit 170.

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

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

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

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

The navigation system 710 includes a user interface device 270, an object detection device 300 and a communication device 400, a driving operation device 500, a vehicle driving device 600, a navigation system 770, 120, and a control unit 170, and may be a system concept for performing driving of the vehicle 100. [

Such a traveling system 710 may be referred to as a vehicle running control apparatus.

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

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

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

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

The destination system 740 includes a user interface device 270, an object detection device 300 and a communication device 400, a driving operation device 500, a vehicle driving device 600, a navigation system 770, 120 and a control unit 170. The control unit 170 may be a system concept that carries out the departure of the vehicle 100. [

This outgoing system 740 may be termed a vehicle outbound control device.

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

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

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

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

The parking system 750 includes a user interface device 270, an object detection device 300 and a communication device 400, a driving operation device 500, a vehicle driving device 600, a navigation system 770, 120 and a control unit 170. The system 100 may be a system concept that carries out parking of the vehicle 100. [

Such a parking system 9750) may be referred to as a vehicle parking control apparatus.

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

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

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

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

The sensing unit 120 can sense the state of the vehicle. The sensing unit 120 may include a sensor such as a yaw sensor, a roll sensor, a pitch sensor, a collision sensor, a wheel sensor, a velocity sensor, A head sensor, a gyro sensor, a position module, a vehicle forward / backward sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a vehicle An internal temperature sensor, an in-vehicle humidity sensor, an ultrasonic sensor, an illuminance sensor, an accelerator pedal position sensor, a brake pedal position sensor, and the like.

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

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

The sensing unit 120 can generate vehicle state information based on the sensing data. The vehicle status information may be information generated based on data sensed by various sensors provided in the vehicle.

For example, the vehicle state information includes at least one of attitude information of the vehicle, speed information of the vehicle, tilt information of the vehicle, weight information of the vehicle, direction information of the vehicle, battery information of the vehicle, fuel information of the vehicle, Vehicle steering information, vehicle interior temperature information, vehicle interior humidity information, pedal position information, and vehicle engine temperature information.

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

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

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

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

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

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

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

8 is a flowchart referred to explain the operation of the autonomous vehicle according to the embodiment of the present invention.

Referring to FIG. 8, the controller 170 may obtain the communication status information (S810).

The communication device 400 can generate communication status information when communicating with an external device.

The external device may be another vehicle or an infrastructure.

The communication status information may include communication strength information and communication quality information.

The control unit 170 may determine whether to perform a plurality of functions implemented in the vehicle based on the communication state information (S860).

The control unit 170 can determine the communication state level based on the communication state information. The control unit 170 can determine whether to perform a plurality of functions based on the communication state level.

The control unit 170 can control the number of functions to be performed among a plurality of functions to be reduced when the communication state level is lowered as the vehicle travels.

If the communication state level corresponds to the incommunicable level, the control unit 170 may output the switching request message to the manual driving mode through the user interface device 200. [

When the manual driving change input is received in a state in which the switching request message to the manual driving mode is output, the control unit 170 can control the vehicle 100 to switch to the manual driving mode.

If the manual driving change input is not received in the state that the switching request message to the manual driving mode is outputted, the control unit 170 can control the vehicle 100 to move to the emergency stop after moving the vehicle.

The control unit 170 can determine the communication intensity level based on the communication intensity information. The control unit 170 can determine whether to perform a plurality of functions based on the communication intensity level.

The communication device 400 can receive the information. The control unit 170 can classify the types of information, determine priorities, and determine information to be utilized according to the priorities based on the communication intensity level.

The control unit 170 can determine the communication quality level based on the communication quality information. The control unit 170 can determine whether to perform a plurality of functions based on the communication quality level.

The communication device 400 can receive the information. The control unit 170 classifies the types of information, determines priorities, and determines information to be utilized according to the priorities based on the communication quality levels.

For example, the control unit 170 can classify the information into the first to sixth information. The first information may be path information. The first information has a higher priority than the second to sixth information. The second information may be traffic light information, other vehicle information, or pedestrian information. The second information has a higher priority than the third to sixth information. The third information may be sign information, accident information. The third information has a higher priority than the fourth to sixth information. The fourth alarm may be information on a route of interest (POI, for example, a specific building, rest area, gas station) information. The fourth information has a higher priority than the fifth to sixth information. The fifth information may be information acquired by the present vehicle 100. [ The fifth information has a higher priority than the sixth information. The sixth information may be convenience information (e.g., weather information, news information).

The control unit 170 may utilize only the first information among the information if the communication intensity level or the communication quality level is the lowest level. For example, the control unit 170 can utilize only the path information among the information.

The control unit 170 may utilize all of the first to sixth pieces of information when the communication intensity level or the communication quality level is the highest level. For example, the control unit 170 may utilize the video providing service information among the information.

On the other hand, according to the embodiment, the control unit 170 can adjust the level of a plurality of functions implemented in the vehicle, based on the communication status information.

The control unit 170 may level each of a plurality of functions implemented in the vehicle.

For example, the control unit 170 may level the level of the information providing function through the vehicle user interface device 200 from the first level to the third level.

Here, the first level may be a level that provides information through moving pictures. The second level may be a level that provides information via a pictogram. The third level may be a level that provides information via text. The second level can be understood as a level lower than the first level, and the third level can be understood as a level lower than the second level.

For example, the control unit 170 may level the function of the ACC (Adaptive Cruise Control) implemented in the vehicle from the first level to the third level.

Here, the first level may be a level that implements the ACC function in a state in which the driver's operation on the driver's operation on the steering input device, the acceleration input device, and the brake input device is not required, have. The second level may be a level that requires the driver's frontward gaze and implements the ACC function without requiring the driver's operation on the steering input device, the brake input device, and the acceleration input device. The third level does not require a line of sight toward the front of the driver but does not require the driver's operation on the steering input device and does not require the operation of the driver for the brake input device and the acceleration input device, Lt; / RTI >

The control unit 170 can adjust the level of at least one of a plurality of functions implemented in the vehicle based on the communication status information.

More specifically, when the communication state level is lowered, the control unit 170 can control the level of at least one of the plurality of functions to be lowered. In addition, the control unit 170 can control the level of at least one of the plurality of functions to be higher when the communication state level becomes higher.

On the other hand, according to the embodiment, the control unit 170 can adjust the first reference value as a reference of the control signal provided to the vehicle drive system 600, based on the communication state information.

The object detecting apparatus 300 can detect an object located outside the vehicle and generate distance information on the vehicle 100 and the object.

The control unit 170 can receive the distance information about the vehicle 100 and the object.

The control unit 170 can provide a control signal to the vehicle driving device 600 based on the distance information on the vehicle 100 and the object.

Specifically, the control unit 170 can provide a control signal to the vehicle drive system 600 when the distance value between the vehicle 100 and the object is equal to or less than the first reference value.

For example, the control unit 170 may provide a control signal to the steering driving unit 621 or the brake driving unit 622 when the distance value between the vehicle 100 and the object is equal to or less than the first reference value.

The control unit 170 can adjust the first reference value according to the communication state level.

Specifically, when the communication state level is lowered, the control unit 170 can adjust the first reference value to be larger. 9A and 9B are flow charts for explaining the operation of the autonomous vehicle according to the embodiment of the present invention. to be.

9A is a flowchart of an operation of an autonomous vehicle based on communication intensity information according to an embodiment of the present invention.

Referring to FIG. 9A, step S810 of acquiring communication state information may include acquiring communication intensity information (S811).

The control unit 170 can acquire communication intensity information from the communication device 400 (S811).

The communication intensity information may be a concept including communication sensitivity or RSSI (Revised Signal Strength Intensity / Indication). The communication strength can be expressed numerically.

The communication device 400 may include a measurement circuit for measuring the communication intensity. The communication device 400 can measure the intensity of the received signal through the measurement circuit and output the intensity of the measured signal as a physical value. For example, the communication device 400 can output the communication intensity as a numerical value.

The communication intensity information can be generated based on the distance between the vehicle 100 and the base station and the direction of the vehicle 100. [

The communication device 400 can generate communication intensity information based on the distance between the vehicle 100 and the base station and the direction of the vehicle 100. [ Here, the direction of the vehicle 100 can determine the direction of a receiving antenna or a transmitting antenna provided in the communication device 400. [

The communication device 400 can generate communication intensity information by a signal path loss calculation method.

For example, the communication device 400 may calculate the signal path loss based on the Friis Model.

For example, the communication device 400 may calculate the signal path loss based on the COST-HATA Model.

The control unit 170 may determine the level of the communication intensity based on the communication intensity information according to a predetermined criterion (S820).

For example, the control unit 170 can determine the numerical value of the communication intensity to any one of four levels according to a predetermined range. The level of the communication strength may include a first level, a second level, a third level and a fourth level. Here, the first level may be the highest level of the range in which the numerical communication intensity magnitude is the largest. Here, the fourth level may be the lowest level of the range in which the numerical value of the communication intensity is the smallest.

If it is determined that the level of the determined communication intensity corresponds to the first level (S840), the control unit 170 may control the entire function to be performed (S841). For example, the control unit 170 may control the vehicle 100 such as a function related to vehicle driving, a function related to providing information, a function related to providing contents, a function related to communication with an external device, a function related to driving assistance, ) Can be controlled so that all functions that can be implemented are performed.

If it is determined that the level of the determined communication intensity corresponds to the second level (S845), the control unit 170 may control to stop performing the first function among the plurality of functions (S846). The second level may have a lower numerical range than the first level. For example, the control unit 170 can control to stop the moving image service providing function. In this case, the control unit 170 can control the communication device 400 so that the moving picture service providing function related information is not received.

If it is determined that the determined level of the communication intensity corresponds to the third level (S850), the control unit 170 may control the first function and the second function among the plurality of functions to be interrupted (S851). The third level may have a lower numerical range than the second level. For example, the control unit 170 may control the video service providing function and the entertainment contents providing function to be interrupted. In this case, the control unit 170 may control the communication device 400 so that information related to the moving image service providing function and the entertainment contents providing function is not received.

If it is determined that the determined communication intensity level corresponds to the fourth level (S855), the controller 170 may control the first function to the third function among the plurality of functions to be interrupted (S856). The fourth level may have a lower numerical range than the third level. For example, the control unit 170 may control the video service providing function, the entertainment contents providing function, and the convenience information providing function to be interrupted. In this case, the control unit 170 may control the communication device 400 so that information related to the moving image service provision function, the entertainment contents provision function, and the convenience information provision function is not received.

If the determined communication intensity level does not correspond to the first to fourth levels, the control unit 170 may output a message requesting switching to the manual driving mode (S869).

If the manual driving change input is received while the manual change-over request message is being output, the controller 170 may control the vehicle 100 to switch to the manual driving mode (S880).

If the manual driving change input is not received while the manual changeover request message is being output, the control unit 170 may control the vehicle 100 to move to the emergency stop after the vehicle is turned over (S890).

FIG. 9B is a flowchart of an operation of an autonomous vehicle based on communication quality information, according to an embodiment of the present invention. FIG.

Referring to FIG. 9B, step S810 of acquiring communication state information may include acquiring communication intensity information (S812).

The control unit 170 can acquire the communication quality information from the communication device 400 (S812).

The communication quality information may be information generated based on the communication traffic.

The communication quality information may be information generated based on noise.

The communication device 400 may include a communication quality measurement system. The communication device 300 can monitor the communication traffic through the communication quality measurement system to generate the communication quality information. The communication device 300 can monitor the noise and generate the communication quality information through the communication quality measuring system.

The control unit 170 can determine the level of the communication quality based on the communication quality information according to a predetermined criterion (S821).

For example, the control unit 170 can determine the numerical communication quality to any one of four levels according to a predetermined range. The level of the communication quality may include a first level, a second level, a third level and a fourth level. Here, the first level may be the highest level of the range in which the quantized communication quality magnitude is the largest. Here, the fourth level may be a lower level of the range in which the quantized communication quality magnitude is the smallest.

If it is determined that the determined level of the communication quality corresponds to the first level (S844), the control unit 170 may control to perform all of the plurality of functions (S844). For example, the control unit 170 may control the vehicle 100 such as a function related to vehicle driving, a function related to providing information, a function related to providing contents, a function related to communication with an external device, a function related to driving assistance, ) Can be controlled so that all functions that can be implemented are performed.

If it is determined that the determined level of the communication quality corresponds to the second level (S848), the control unit 170 may control the first function among the plurality of functions to be interrupted (S849). The second level may have a lower numerical range than the first level. For example, the control unit 170 can control to stop the moving image service providing function. In this case, the control unit 170 can control the communication device 400 so that the moving picture service providing function related information is not received.

If it is determined that the determined level of the communication quality corresponds to the third level (S853), the control unit 170 may control to stop the execution of the first function and the second function among the plurality of functions (S854). The third level may have a lower numerical range than the second level. For example, the control unit 170 may control the video service providing function and the entertainment contents providing function to be interrupted. In this case, the control unit 170 may control the communication device 400 so that information related to the moving image service providing function and the entertainment contents providing function is not received.

If it is determined that the determined communication quality level corresponds to the fourth level (S858), the control unit 170 may control the first function to the third function among the plurality of functions to be interrupted (S859). The fourth level may have a lower numerical range than the third level. For example, the control unit 170 may control the video service providing function, the entertainment contents providing function, and the convenience information providing function to be interrupted. In this case, the control unit 170 may control the communication device 400 so that information related to the moving image service provision function, the entertainment contents provision function, and the convenience information provision function is not received.

If the determined communication quality level does not correspond to the first to fourth levels, the control unit 170 can output a message requesting switching to the manual driving mode (S869).

If the manual driving change input is received while the manual change-over request message is being output, the controller 170 may control the vehicle 100 to switch to the manual driving mode (S880).

If the manual driving change input is not received while the manual changeover request message is being output, the control unit 170 may control the vehicle 100 to move to the emergency stop after the vehicle is turned over (S890).

10A to 10D are views for explaining the operation of the autonomous vehicle according to the embodiment of the present invention.

Referring to FIG. 10A, when the level of the communication state corresponds to the highest level as illustrated in FIG. 10A, the control unit 170 may control the plurality of functions to be implemented as a whole. In this case, the control unit 170 can control the moving image to be outputted according to the moving image providing service information through the user interface apparatus 200.

As illustrated in FIG. 10B, when the level of the communication state is lowered by one level from the case of FIG. 10A, the control unit 170 can control to stop the video service providing function among the plurality of functions. In this case, the control unit 170 can control the convenience information and the entertainment information to be output in the form of a text through the user interface device 200.

As illustrated in Fig. 10C, when the level of the communication state is lowered by one level as compared with the case of Fig. 10B, the control unit 170 can control the convenience information and the entertainment information output function among the plurality of functions to be stopped . In this case, the control unit 170 can control the communication device 400 to be used only when the vehicle 100 is traveling.

10D, when the level of the communication state is lowered by one level (for example, the communication disabled level) than the case of FIG. 10C, the control unit 170 transmits a message requesting switching to the manual driving mode Can be output. In this case, the control unit 170 may output, via the user interface device 200, an interface for receiving a user input of switching to the manual driving mode.

11A is a flowchart referred to explain the operation of the autonomous vehicle according to the embodiment of the present invention.

Referring to FIG. 11A, the controller 170 may acquire communication intensity information (S812).

The communication device 400 can generate communication intensity information when communicating with an external device.

The communication device 400 can receive communication intensity information from an external device. The communication intensity information can be received from the external device via the communication device 400. [

Here, the external device may be another vehicle or an infrastructure.

Here, the communication intensity information may be a concept including communication sensitivity or RSSI (Revised Signal Strength Intensity / Indication). The communication strength can be expressed numerically.

The control unit 170 can output the communication intensity information through the user interface device 200. [ The user interface device 200 can output communication intensity information.

The control unit 170 can control the vehicle driving apparatus 600 so that the vehicle is driven based on the communication intensity information (S1160).

The control unit 170 can receive communication intensity information from the communication device 400. [

The control unit 170 can control the vehicle 100 to travel on the basis of the communication intensity information.

Figures 11B-12 are diagrams that are referenced to illustrate the operation of obtaining communication intensity information in accordance with an embodiment of the present invention.

Referring to FIG. 11B, the controller 170 may receive a user input for traveling based on communication intensity information through the user interface device 200 (S910).

The user interface device 200 may receive user input for driving based on communication intensity information.

When the user input of the vehicle driving mode selection based on the communication intensity information is received via the user interface device 200, the control unit 170 can control the vehicle to be driven based on the communication intensity information.

As illustrated in FIG. 11C, the input 310 of the user interface device 200 may receive user input.

Here, the user input may be a user input for selecting a running based on the communication intensity information.

Here, the traveling based on the communication strength information may be a kind of an autonomous traveling mode.

11C illustrates that the input unit 310 receives a user input through the touch input 1010. In addition to the touch input 1010, the input unit 310 may also be connected to the input unit 310 through a voice input, a gesture input, , And receive user input.

Referring again to FIG. 11B, the communication device 400 may generate communication intensity information. The control unit 170 can receive the communication intensity information (S920).

As illustrated in FIG. 11D, the communication device 400 may generate communication intensity information.

The communication device 400 may include a measurement circuit for measuring the communication intensity.

The communication device 400 can measure the intensity of the received signal through the measurement circuit and output the intensity of the measured signal as a physical value. For example, the communication device 400 can output the communication intensity as a numerical value.

The communication intensity information can be generated based on the distance between the vehicle 100 and the base station and the direction of the vehicle 100. [

The communication device 400 can generate communication intensity information based on the distance between the vehicle 100 and the base station and the direction of the vehicle 100. [ Here, the direction of the vehicle 100 can determine the direction of a receiving antenna or a transmitting antenna provided in the communication device 400. [

The communication device 400 can generate communication intensity information by a signal path loss calculation method.

For example, the communication device 400 may calculate the signal path loss based on the Friis Model.

For example, the communication device 400 may calculate the signal path loss based on the COST-HATA Model.

Indicator 1110 illustrates the communication intensity state of the road. As illustrated in 1110 of FIG. 11D, the closer the base station 1101 is to the base station 1101, the greater the communication strength, and the farther from the base station 1101, the smaller the communication strength.

Indicator 1120 illustrates a state in which the communication intensity is digitized for each lane and section of the road. As illustrated in 1120 of FIG. 11D, roads can be divided into lattices based on lanes and sections. The section may be a predetermined range (for example, 5 m) in the vehicle traveling direction.

The communication device 400 can generate the communication intensity information quantified for each lane and section.

On the other hand, the communication device 400 can receive communication intensity information from an external device. The communication intensity information can be received from the external device via the communication device 400. [

Here, the external device may be another vehicle or an infrastructure.

For example, the communication apparatus 400 can receive lane and section-based communication intensity information generated in another vehicle.

For example, the communication device 400 can receive communication-intensity-per-lane and interval-based communication intensity information by integrating communication intensity information obtained through a plurality of vehicles from the infrastructure.

As illustrated in FIG. 11E, the communication device 400 may use the measurement circuitry to measure the communication intensity value and generate the communication intensity information (1130). Such a communication intensity information generation model can be named as a self-based model.

Alternatively, the communication device 400 may receive the communication intensity value from the external device and generate the communication intensity information (1140). Such a communication intensity information generation model can be named as an Infra-based Model.

Alternatively, the communication device 400 may generate the communication intensity information using the measured communication intensity value using the measurement circuit and the communication intensity value received from the external device (1150). Here, the communication device 400 can generate the communication intensity information using the communication intensity value measured using the measuring circuit and the communication intensity value received from the external device in a manner of giving a predetermined weight or giving an average value have. Such a communication intensity information generation model can be named as a hybrid model.

The communication device 400 can generate communication intensity information based on different models for each section of the road.

For example, in the first section 1151, the communication device 400 can generate communication intensity information based on the self-based model.

For example, the communication device 400 may generate communication intensity information based on the infrastructure bay model in the second section 1152. [

For example, in the third section 1153, the communication apparatus 400 can generate communication intensity information based on the hybrid model.

The communication device 400 can generate communication intensity information based on the type of communication service used by the user.

For example, the communication device 400 can generate the communication intensity information based on the self-basis model when the user uses the relatively low-cost first communication service.

For example, the communication device 400 can generate the communication intensity information based on the hybrid model when the user uses the relatively expensive second communication service.

Referring again to FIG. 11B, the controller 170 may control the communication intensity information to be displayed (S930). The user interface device 200 can output communication intensity information.

As illustrated in FIG. 12, the user interface device 200 may display communication intensity information.

The user interface device 200 can display the communication status information through the display unit 251. [

For example, the user interface device 200 may display 1210 the shape or text (e.g., BAD) corresponding to the communication state when the communication intensity value is below the threshold value and the communication state is bad. .

For example, when the communication connection is not established, the user interface device 200 may display a shape or text corresponding to the communication state (for example, DISCONNECT) (S1220).

For example, if the communication intensity value is greater than the threshold value and the communication state is good, the user interface device 200 may display 1230 the shape or text corresponding to the communication state (e.g., GOOD) .

Figs. 13 to 14C are diagrams referred to explain the operation of controlling the vehicle to be driven based on the communication intensity information according to the embodiment of the present invention. Fig.

The step S1160 of controlling the vehicle to travel based on the communication intensity information includes a map generation step S1310, a driving lane determination step S1320, a driving control step S1330, And an information output step (S1340).

The control unit 170 can determine the traveling route or the traveling lane (Lane) based on the communication strength information. The control unit 170 can control the vehicle 100 to travel on the determined traveling route or driving lane.

For example, the control unit 170 may generate a map 1410 in which communication strengths are matched for each route, lanes, and sections based on the communication strength information (S1310).

The control unit 170 may determine the route on which the vehicle 100 travels or the lane to travel on the route, the lane and the interval with relatively large communication intensity based on the generated map (S1320).

As illustrated in Fig. 14A, the control unit 170 can set at least one route or lane 1420 or 1430 based on the map 1410 in which the communication strength is matched for each route, lane, and section.

The control unit 170 can determine a route or a lane on which the vehicle 100 will travel to a lane and a section where the communication intensity is relatively high among the set route or lanes 1420 and 1430. [

For example, the set first route and lane 1420 does not have a communication shade section on the route, and takes 1 hour and 30 minutes to the destination. Also, the set second route and lane 1430 has a communication shade section on the route, and takes 1 hour and 15 minutes to reach the destination. In this case, the control unit 170 can determine the first route 1420 as the traveling route and the lane.

On the other hand, the route may mean the route through which the vehicle 100 travels from the departure point to the destination. The lane may mean a lane to be occupied or occupied by the vehicle 100 among a plurality of lanes on the road corresponding to the route.

The driving lane may be a concept included in the driving lane. That is, the travel route may refer to a detailed route that takes into account the movement of the vehicle 100 up to the lane of travel.

The control unit 170 can control the vehicle 100 to travel on the determined traveling route or lane (S1330).

As illustrated in Fig. 14B, the control unit 170 can control the vehicle drive device 600 such that the vehicle 100 is driven on the determined travel route or lane.

More specifically, the control unit 170 controls at least one of the power train driving unit 610, the steering driving unit 621, and the brake driving unit 622 to control the running of the vehicle 100. [

The control unit 170 can output the map and the determined driving lane information through the user interface device 200 (S1340).

As illustrated in Fig. 14C, the user interface device 200 can output the map and determined driving lane information through the display unit 251. [

In this case, the user interface device 200 can output time information or destination arrival time information when the vehicle 100 is traveling according to the set route. The user interface device 200 can output the shade section information located on the path.

On the other hand, the control unit 170 can determine whether there is a communication shadow section on the traveling route.

Here, the communication shadow period may mean an area where communication can not be performed. For example, the communication shadow section may include an underground road section, a tunnel section, and a section without a base station in the vicinity.

On the other hand, the steps S1330 and S1340 are not in a temporal relation.

If the driving lane is preset, the control unit 170 can change the driving lane based on the communication intensity information, and control the vehicle 100 to travel in accordance with the changed driving lane.

The control unit 170 sets a route based on the communication strength information, and controls the vehicle to travel in accordance with the set route.

The control unit 170 can output time information or destination arrival time information when the vehicle travels according to the set route through the user interface device 200. [

Figs. 15 to 18 are diagrams referred to for describing an operation of controlling a vehicle to be driven based on communication intensity information according to an embodiment of the present invention. Fig.

Referring to the drawings, step S1330 of controlling the vehicle to travel may include step S1510 of determining whether the communication intensity is equal to or less than a threshold value, and path changing, lane changing, or manual traveling switching step S1520.

The controller 170 may determine whether the communication intensity value is less than or equal to a threshold value (S1510).

Here, the threshold value may be a value on which the communication device 400 is based on the communication intensity for receiving information, signals, or data from an external device.

If it is determined that the communication intensity is below the threshold value, the controller 170 may perform at least one of a route change operation, a lane setting operation, an alternative communication means search operation, and a manual travel change operation (S1520).

The controller 170 may determine whether the communication intensity value acquired through the communication device 400 is less than or equal to a threshold value.

The control unit 170 can control the vehicle to travel on the basis of the determination result.

The controller 170 sets the communication intensity value to a threshold value in a state in which the vehicle 100 is running in accordance with the predetermined first route, Value or less. In this case, the control unit 170 can change the vehicle path from the first path 1611 to the second path 1612, and control the vehicle 100 to travel in accordance with the changed second path 1612.

16B, the control unit 170 sets the traveling lane to the first lane 1621 so that the vehicle 100 is traveling along the predetermined first lane 1621, Can be determined to be equal to or smaller than the threshold value. In this case, the control unit 170 can change the driving lane from the first lane 1621 to the second lane 1622 and control the vehicle 100 to travel in accordance with the changed second lane 1622.

As illustrated in 1630 of FIG. 16C, the control unit 170 can control the vehicle interface apparatus 200 to output the change information 1631 of the vehicle route.

The user interface device 200 can output the change information 1631 of the vehicle route.

The control unit 170 can control the vehicle 100 to travel according to the changed route when the user input 1632 for traveling according to the changed route is received through the user interface device 200. [

The user interface device 200 may receive the user input 1632. Here, the user input 1632 may be a user input for a driving command according to the changed route. The controller 170 receives a signal corresponding to the user input 1632 from the user interface device 200 and controls the vehicle 100 to travel according to the changed route.

As illustrated in 1640 of FIG. 16C, the control unit 170 can control the change information 1641 to be output to the driver through the user interface device 200. [

The user interface device 200 can output the car change information 1641. [

The control unit 170 can control the vehicle 100 to travel according to the changed lane when the user input 1642 for driving according to the changed lane is received through the user interface device 200. [

The user interface device 200 may receive the user input 1642. Here, the user input 1642 may be a user input for a driving order according to the changed lane. The control unit 170 receives a signal corresponding to the user input 1642 from the user interface device 200 and controls the vehicle 100 to travel in accordance with the changed lane.

As illustrated in FIG. 17, the control unit 170 may determine that the communication intensity value is less than or equal to the threshold value while the vehicle 100 is traveling in accordance with the predetermined vehicle path. In this case, the control unit 170 can control to search for alternative communication means.

For example, when communicating with an external device through the V2X communication unit 430 and the vehicle 100 is traveling in the tunnel section 1710 and the communication intensity value is determined to be equal to or less than the threshold value, the control unit 170 , The IST communication unit 460 can be searched by the alternative communication means.

For example, when communicating with an external device through the V2X communication unit 430 and the vehicle 100 is traveling in the tunnel section 1710 and the communication intensity value is determined to be equal to or less than the threshold value, the control unit 170 The short range communication unit 410, and the user's mobile terminal by using alternative communication means.

As illustrated in FIG. 18, the controller 170 may determine that the communication intensity value is below the threshold value while the vehicle 100 is traveling in the autonomous driving mode 1810. In this case, the control unit 170 can control to switch to the manual driving mode.

The control unit 170 can control the user interface device 200 to output the switching information to the manual driving mode.

The user interface device 200 can output the switching information to the manual driving mode.

The control unit 170 can control the driving mode of the vehicle 100 to be switched to the manual driving mode when the user input 1820 for switching to the manual driving mode is received through the user interface device 200 have.

The user interface device 200 may receive the user input 1820. Here, the user input 1820 may be a user input for switching the running mode of the vehicle 100 from the autonomous running mode to the manual running mode. The control unit 170 can receive, from the user interface device 200, a signal corresponding to the user input. The control unit 170 can switch the traveling mode from the self-running mode to the manual traveling mode. The control unit 170 can control the vehicle 100 to travel based on the driving operation of the user through the driving operation device 500. [

Meanwhile, the control unit 170 can determine that the communication intensity value is greater than the threshold value while the vehicle 100 is traveling in the manual traveling mode. In this case, the control unit 170 can control to switch to the autonomous mode.

The control unit 170 can control the user interface device 200 to output switching information to the autonomous mode.

The user interface device 200 can output the switching information to the autonomous mode.

The control unit 170 may control the driving mode of the vehicle 100 to switch to the autonomous driving mode when a user input for switching to the autonomous mode is received through the user interface device 200. [

Fig. 19 is a diagram referred to explain an operation of controlling to be driven based on importance of information according to an embodiment of the present invention. Fig.

Referring to Fig. 19, the control unit 170 can control the vehicle 100 to travel on the basis of the importance of information received when communicating with an external device.

The importance of information can be determined by the kind of information. The control unit 170 can determine the importance of the information based on the type of the received information.

For example, the control unit 170 can determine that the information 1910 related to the running of the vehicle 100 is more important than the information 1920 for entertainment.

The control unit 170 can determine the importance of the information based on the source of the received information.

For example, the control unit 170 may determine that the information received from the traffic-related server is more important than the information received from the entertainment server.

FIG. 20 is a diagram referred to explain an exception situation of traveling based on communication intensity according to an embodiment of the present invention.

Referring to Fig. 20, the control unit 170 can control the vehicle 100 to travel on the basis of the communication intensity information.

The lane 2010 along the traveling path of the predetermined vehicle and the lane 2020 due to the communication intensity may not coincide with each other while the vehicle 100 is traveling based on the communication intensity information.

For example, in order for the vehicle 100 to reach the destination, it may be required to turn left, turn right, advance on the expressway, or enter the expressway. At this time, the lane 2020 based on the communication strength information and the lane 2010 to be occupied for reaching the destination may not coincide with each other.

In this case, the control unit 170 can control the vehicle 100 to travel to the lane 2020 to be occupied in order to arrive at the destination.

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

100: vehicle
400: communication device

Claims (10)

In an autonomous vehicle in which a plurality of functions are implemented,
A communication device for generating communication status information and for receiving information when communicating with an external device;
Determines a communication state level based on the communication state information,
And a control unit for determining whether to perform the plurality of functions based on the communication state level,
Wherein the communication status information includes communication strength information,
Wherein,
Determining a communication intensity level based on the communication strength information,
Determining whether to perform the plurality of functions based on the communication intensity level,
Classifies the types of the information to determine priorities,
And determines information to be utilized according to the priority level based on the communication intensity level. The method according to claim 1,
Wherein,
And controls the number of functions performed among the plurality of functions to be reduced when the communication state level is lowered. The method according to claim 1,
Wherein,
And outputs a switching request message to the manual driving mode when the communication state level corresponds to the communication incapability level. The method of claim 3,
Wherein,
An autonomous vehicle in which the vehicle is controlled so as to be in an emergency stop after moving the shoulder when the manual travel change input is not received. The method according to claim 1,
Wherein,
Leveling each of the plurality of functions,
Controls the level of at least one of the plurality of functions to be lower when the communication state level is lowered,
And controls the level of at least one of the plurality of functions to be higher when the communication state level becomes higher. The method according to claim 1,
An object detecting device for detecting an object located outside the vehicle and generating distance information about the vehicle and the object; And
And a vehicle driving apparatus for electrically controlling driving of a device provided in the vehicle,
Wherein,
When the distance value between the vehicle and the object is equal to or less than a first reference value,
And adjusts the first reference value according to the communication state level. delete delete The method according to claim 1,
Wherein the communication status information includes communication quality information,
Wherein,
Determines a communication quality level based on the communication quality information,
And determines whether to perform the plurality of functions based on the communication quality level. In an autonomous vehicle in which a plurality of functions are implemented,
A communication device for generating communication status information and for receiving information when communicating with an external device;
Determines a communication state level based on the communication state information,
And a control unit for determining whether to perform the plurality of functions based on the communication state level,
Wherein the communication status information includes communication quality information,
Wherein,
Determines a communication quality level based on the communication quality information,
Determining whether to perform the plurality of functions based on the communication quality level,
Classifies the types of the information to determine priorities,
And determines information to be utilized according to the priority based on the communication quality level.

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