KR102084528B1 - Method and apparatus for load balancing of vehicular communications network and autonomous driving path control in cooperative self-driving system - Google Patents

Abstract

The present invention relates to a method and apparatus for autonomous driving path control and load balancing in a vehicle communication system. According to an embodiment of the present invention, an operation method of a server may comprise the steps of: receiving vehicle operation plan information from a roadside base station; setting an autonomous driving route consisting of roadside base stations capable of allocating a vehicle communication resource based on the vehicle operation plan information; allocating a vehicle communication resource to the roadside base stations according to a location of the vehicle on an autonomous driving path; and transmitting information on the vehicle communication resource to the roadside base stations.

Description

TECHNICAL AND APPARATUS FOR LOAD BALANCING OF VEHICULAR COMMUNICATIONS NETWORK AND AUTONOMOUS DRIVING PATH CONTROL IN COOPERATIVE SELF-DRIVING SYSTEM}

The present invention relates to a cooperative autonomous driving system, and more particularly, to a method and apparatus for autonomous driving path control in consideration of a resource state of a vehicle communication network and load balancing of a vehicle communication network.

Recently, with the development of science and technology, autonomous vehicle technology that automatically operates without a driver has been developed, and some visible results have been made in road driving using such autonomous vehicles. This autonomous vehicle technology is equipped with various sensors in the vehicle to collect traffic data from other vehicles, roadside stations or servers on the road through all sensing and vehicle communication related to the driving of the vehicle, and then implement autonomous driving by using the same. have.

However, in order to support safe and efficient driving of autonomous vehicles, autonomous vehicles must transmit and receive LDM (Local Dynamic Map), infrastructure sensor information, intersection traffic light information, and traffic status information on the route. Up to 100 Mbps of data per vehicle is required between the vehicle and the roadside base station. Providing the data capacity required between a vehicle and a roadside base station in a traffic environment with more than a dozen vehicles is very difficult in next-generation vehicle communication networks. Therefore, the conventional autonomous vehicle technology cannot fundamentally prevent a vehicle congestion situation, and thus overcomes vehicle communication inability and autonomous driving conditions caused by insufficient resources of the vehicle communication network required to provide the required data capacity. There is a problem that cannot be prevented.

[Patent Document 1] Korean Patent Registration No. 10-1847712

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and an object thereof is to provide a method and apparatus for autonomous driving path control in consideration of the resource state of a vehicle communication network and load balancing of the vehicle communication network.

In addition, the present invention establishes an autonomous driving route composed of roadside base stations capable of resource allocation in consideration of the resource state of the vehicle communication network in setting up the autonomous driving route, and a roadside base station in which resource allocation is not available exists. In this case, the objective is to reset the alternative autonomous driving route.

In addition, the present invention divides the information that each roadside station on the path of the autonomous vehicle to be transmitted to the vehicle into static information that does not change with time and dynamic information that changes with time, Static information aims at distributing the load of the vehicle communication network by allowing other roadside base stations on the route having network resources to be transmitted in advance even before the autonomous vehicle reaches the corresponding roadside base station.

The objects of the present invention are not limited to the above-mentioned objects, and other objects that are not mentioned will be clearly understood from the following description.

In order to achieve the above objects, a method of operating a server according to an embodiment of the present invention comprises the steps of receiving vehicle operation plan information from a roadside base station; Establishing an autonomous driving route composed of roadside base stations capable of allocating vehicle communication resources based on the vehicle operation plan; Allocating vehicle communication resources to the roadside base stations according to the position of the vehicle on the autonomous driving route; And transmitting information on the vehicle communication resource to roadside base stations on the autonomous driving route. It may include.

In an embodiment, the vehicle driving plan information may include at least one of starting point information, waypoint information, and destination information of the vehicle.

In an embodiment, the setting of the autonomous driving route may include: setting the autonomous driving route based on the vehicle driving plan information; Determining whether roadside base stations capable of allocating the vehicle communication resources exist on the autonomous driving path; And resetting an alternative autonomous driving route based on the vehicle operation planning information when there are no roadside base stations capable of allocating the resource.

In an embodiment, allocating vehicle communication resources to the roadside base stations may include: classifying the information to be transmitted to the vehicle by the roadside base stations on the autonomous driving route into static information and dynamic information; Allocating resources so that other roadside base stations on the autonomous driving route having network resources can transmit the static information in advance before the vehicle reaches the area of the corresponding roadside base station on the autonomous driving route; And allocating resources to transmit the dynamic information when the location of the vehicle is included in a corresponding area of the corresponding roadside base station.

In an embodiment, the setting of the alternative autonomous driving route may include: an alternative autonomous driving route including roadside base stations capable of allocating the vehicle communication resource among a plurality of routes from the starting point to the destination included in the vehicle planning information; Resetting step; may include.

In an embodiment, the setting of the alternative autonomous driving route may include resetting the alternative autonomous driving route including a waypoint included in the vehicle driving plan information.

In an embodiment, the dynamic information may include at least one of weather information, traffic conditions, traffic accident area information, other vehicle information, moving object information, cooperative manufacturing information, and cooperative sensing information that change with time. .

In an embodiment, the static information may include at least one of building information, road information, curb information, facility information, tree information, lane information, traffic marking information, lane width information, and prescribed speed information that do not change with time. have.

In an embodiment, the server device, the communication unit for receiving the vehicle planning information from the roadside base station; And a controller configured to set an autonomous driving route including roadside base stations capable of allocating vehicle communication resources based on the vehicle driving plan information, and allocate vehicle communication resources to the roadside base stations according to the position of the vehicle on the autonomous driving route. The communication unit may transmit information on the vehicle communication resources to the roadside base stations.

In an embodiment, the vehicle driving plan information may include at least one of starting point information, waypoint information, and destination information of the vehicle.

In an embodiment, the controller may set the autonomous driving route based on the vehicle operation plan and the traffic situation information, and determine whether there are roadside base stations capable of allocating the vehicle communication resources on the autonomous driving route. If there are no roadside base stations capable of allocating the resource, the alternative autonomous driving route may be reset based on the vehicle operation plan information.

In an embodiment, the controller may reset an alternative autonomous driving route including roadside base stations capable of allocating the vehicle communication resources among a plurality of routes from the starting point to the destination included in the vehicle planning information.

In an embodiment, the controller may reset the alternative autonomous driving route including a waypoint included in the vehicle driving plan information.

In an embodiment, the controller may classify the information to be transmitted to the vehicle by roadside base stations on the autonomous driving route, respectively, into static information and dynamic information, and the vehicle reaches the area of the corresponding roadside base station on the autonomous driving route. Allocate the resources so that other roadside base stations on the autonomous driving route having network resource margin can transmit the static information in advance, and transmit the dynamic information when the position of the vehicle is included in the area of the corresponding roadside base station. Resources can be allocated to

In an embodiment, the dynamic information may include at least one of weather information, traffic conditions, traffic accident area information, other vehicle information, moving object information, cooperative maneuvering information, and cooperative sensing information.

In an embodiment, the static information may include at least one of building information, road information, curb information, facility information, tree information, lane information, traffic marking information, lane width information, and prescribed speed information.

Specific details for achieving the above objects will be apparent with reference to the embodiments to be described later in detail with the accompanying drawings.

However, the present invention is not limited to the embodiments disclosed below, but may be configured in a variety of different forms, to make the disclosure of the present invention complete and those of ordinary skill in the art to which the present invention belongs ( The following description is provided to fully inform the scope of the invention to the ordinary technician.

According to an embodiment of the present invention, by setting an autonomous driving route composed of roadside base stations capable of allocating vehicle communication resources, the route may be controlled to enable safe and efficient autonomous driving.

In addition, according to an embodiment of the present invention, by dividing the dynamic information or static information according to the path and position of the vehicle to the roadside base station, it is possible to distribute the load of the vehicle communication system.

The effects of the present invention are not limited to the above-described effects, and the tentative effects expected by the technical features of the present invention will be clearly understood from the following description.

1 is a diagram illustrating a vehicle communication system for autonomous driving according to an embodiment of the present invention.
2 is a diagram illustrating a functional configuration of a server according to an embodiment of the present invention.
3 is a signal flow diagram for autonomous driving path control and load balancing according to an embodiment of the present invention.
4 is a flowchart illustrating a method for setting an autonomous driving route according to an embodiment of the present invention.
5 is a flowchart illustrating a resource allocation to a roadside base station according to an embodiment of the present invention.

The present invention may be modified in various ways and may have various embodiments. Specific embodiments are illustrated in the drawings and described in detail.

Various features of the invention disclosed in the claims may be better understood in view of the drawings and detailed description. The apparatus, methods, recipes, and various embodiments disclosed herein are provided for purposes of illustration. The disclosed structural and functional features are intended to enable those skilled in the art to specifically practice the various embodiments, and are not intended to limit the scope of the invention. The terms and phrases disclosed are intended to explain various features of the disclosed invention in an easy-to-understand manner, and are not intended to limit the scope of the invention.

In the following description of the present invention, if it is determined that the detailed description of the related known technology may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.

Hereinafter, a method and apparatus for autonomous driving path control and load balancing in a vehicle communication system according to an embodiment of the present invention will be described.

1 is a diagram illustrating a vehicle communication system 100 for autonomous driving according to an embodiment of the present invention.

Referring to FIG. 1, the vehicle communication system 100 may include an autonomous vehicle 110, a roadside base station 120-1, and a server 130.

The vehicle communication system 100 communicates between the vehicle 110, the communication between the vehicle 110 and the roadside base stations 120-1 through 120-9, the communication between the vehicle 110 and the server 130, and the roadside base station 120-. 1 to 120-9) and the server 130 may be implemented to share information for autonomous driving.

In one embodiment, when the server 130 establishes the autonomous driving route 140-1 from the origin to the destination, the server 130 is a roadside base station on the autonomous driving route 140-1 based on traffic condition information. May allocate necessary vehicle communication resources to the devices 120-1 to 120-4 and 120-7. For example, the traffic condition information may include estimated speed information and location information of the vehicle 110 based on the traffic condition. Here, the vehicle communication resource may mean a radio resource such as frequency and time for vehicle communication.

In addition, when the roadside base station 120-1 that cannot be allocated due to an abnormality or lack of resources of the vehicle communication system 100 occurs on the autonomous driving path 140-1, the alternative autonomous driving path 140 is generated. -2) can be set.

In one embodiment, each of the plurality of roadside base stations 120-1 through 120-9 may serve each of a plurality of divided autonomous service areas. In this case, each roadside base station may share dynamic and static information for autonomous driving with the vehicle 110 when the vehicle 110 enters the area in charge. For example, as shown in FIG. 1, when the vehicle 110 travels in a charge area of the roadside base station 120-4, the roadside base station 120-4 is dynamic and static information for autonomous driving with the vehicle 110. Can share.

2 is a diagram illustrating a functional configuration of the server 130 according to an embodiment of the present invention.

2, the server 130 may include a storage 210, a communicator 220, and a controller 230.

The storage unit 210 may store traffic data including vehicle driving plan information and information about autonomous driving routes. In an embodiment, the storage unit 210 may store data such as a basic program, an application program, and setting information for the operation of the server 130. The storage unit 210 may be configured of a volatile memory, a nonvolatile memory, or a combination of the volatile memory and the nonvolatile memory. In addition, the storage 210 may provide the stored data at the request of the controller 230.

The communication unit 220 may receive the autonomous driving service request signal from the roadside base station 120-4. Here, the autonomous driving service request signal may include at least one of vehicle operation planning information, vehicle ID, and roadside station ID. In addition, the communication unit 220 may transmit the autonomous driving route information to the roadside base station (120-4). In an embodiment, the communication unit 220 may include at least one of a general wired / wireless communication module and a vehicle communication module. All or part of the communication unit 220 may be referred to as a 'transmitter', 'receiver' or 'transceiver'.

The controller 230 may set the autonomous driving route based on the vehicle driving plan information. In addition, the controller 230 may allocate a resource for transmitting static information or dynamic information to the roadside base station 120-4. In one embodiment, the controller 230 may include at least one processor or a micro processor, or may be part of a processor. In addition, the controller 230 may be referred to as a communication processor (CP).

3 is a signal flow diagram for autonomous driving path control and load balancing according to an embodiment of the present invention.

Referring to FIG. 3, in operation S301, the vehicle 110 may transmit a first autonomous driving service request signal to the roadside base station 120-4. Here, the first autonomous driving service request signal may include vehicle driving plan information and identification information of the vehicle 110. Here, the vehicle driving plan information may include at least one of departure information, waypoint information, and destination information of the vehicle 110.

In operation S303, the roadside base station 120-4 may transmit a second autonomous driving service request signal to the server 130. Here, the second autonomous driving service request signal may include vehicle operation plan information and ID information of the roadside base station 120-4.

In operation S305, the server 130 may set an autonomous driving route from the starting point to the destination based on the vehicle driving plan information. A detailed description of the step S305 will be described later with reference to FIG. 4.

In operation S307, the server 130 may allocate resources to the roadside base station 120-4 on the autonomous driving route according to the position of the vehicle 110. A detailed description of the step S307 will be described later with reference to FIG. 5.

In operation S309, the server 130 may transmit information on the autonomous driving path 140-1 and vehicle communication resource allocation information of the roadside base station 120-4 to the roadside base station 120-4. In operation S311, the roadside base station 120-4 may transmit information about the autonomous driving route received from the server 130 to the vehicle 110. Thereafter, in step S313, the vehicle 110 may perform autonomous driving using information on the autonomous driving route.

In one embodiment, the server 130 may modify the autonomous driving path by periodically monitoring the changes in the road and traffic conditions and the resource allocation status in the vehicle communication system 100 even while the vehicle 110 performs the autonomous driving. In addition, the driving route may be controlled by transmitting the same to the vehicle 110 through the roadside base station.

4 is a diagram illustrating a method of operating the server 130 for establishing an autonomous driving route according to an embodiment of the present invention.

Referring to FIG. 4, step S401 is a step of setting the autonomous driving route 140-1 based on vehicle driving plan information. According to an embodiment, the shortest path from the starting point to the destination included in the vehicle planning information on the network map may be set as an autonomous driving path.

In step S403, it is determined whether a roadside base station capable of allocating resources exists on the set autonomous driving path 140-1. In one embodiment, it is possible to determine whether there is a roadside base station on the autonomous driving path 140-1 that has an abnormality in the vehicle communication network or cannot be allocated due to lack of resources.

In another embodiment, in order to determine whether there are roadside base stations capable of allocating resources on the autonomous driving path 140-1, each roadside base station on the autonomous driving path 140-1 should transmit to the autonomous vehicle. The information is divided into static information and dynamic information, and even on the autonomous driving path 140-1 with network resources even before the vehicle 110 reaches the area of the corresponding roadside base station on the autonomous driving path 140-1. Resources may be allocated to other roadside base stations in advance to transmit static information, and resources may be allocated to transmit dynamic information when the location of the vehicle 110 is included in a corresponding area of the roadside base station.

In another embodiment, it may be determined whether there is a roadside base station capable of allocating resources based on an operating state (ie, whether or not it is operable) of at least one roadside base station on the autonomous driving path 140-1.

In step S405, when there is no roadside base station capable of allocating resources, the step of resetting an alternative autonomous driving path 140-2 including the roadside base station capable of allocating resources is based on vehicle operation plan information.

In an embodiment, the alternative autonomous driving route 140-2 without abnormalities of the vehicle communication network among the plurality of routes from the starting point to the destination included in the vehicle planning information may be reset. In another embodiment, the alternative autonomous driving route 140-2 including the waypoint included in the vehicle planning information may be reset. In another embodiment, the alternate autonomous driving path 140-2 including at least one roadside base station that is normally operable may be reset.

In step S407, on the other hand, when there is a roadside base station capable of resource allocation, the determined autonomous driving path 140-1 or 140-2 is determined as the final autonomous driving path.

5 is a diagram illustrating a method of operating the server 130 for allocating resources to a roadside base station according to an embodiment of the present invention.

Referring to FIG. 5, step S501 is a step of determining whether a roadside base station for allocating resources is a roadside base station in charge of an area in which the vehicle 110 is located on the final autonomous driving path.

In step S503, if the roadside base station is in charge of an area in which the vehicle 110 is located, it is a step of allocating a resource for transmitting dynamic information to the corresponding roadside base station 120-4. In one embodiment, resources for transmitting dynamic information may be allocated just before the location or to the location roadside base station 120-4.

For example, the dynamic information may include at least one of weather, traffic conditions, traffic accident area information, another vehicle, dynamic information such as a moving object (eg, a pedestrian), cooperative maneuvering information, and cooperative sensing information. . As a result, resources capable of transmitting and receiving dynamic information can be secured to the maximum, thereby ensuring safer autonomous driving of the vehicle 110.

In operation S505, on the other hand, when the vehicle is not a roadside station in charge of an area in which the vehicle 110 is located, allocating resources for transmitting static information to the corresponding roadside station 120-1 through 120-3 and 120-7. to be. In one embodiment, to the base station in which resources remain among the base station on the final autonomous driving path. Allocate resources for transmitting static information.

For example, the static information may include at least one of permanent static object information such as buildings, roads, curbs, facilities, trees, lanes, and traffic signs and variable static object information such as lane widths and prescribed speeds.

As such, the server 130 distributes the load of the vehicle communication system 100 by allocating resources for transmitting dynamic information and resources for transmitting static information to different roadside base stations according to the position of the vehicle 110. can do.

The above description is merely illustrative of the technical spirit of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention.

Therefore, the embodiments disclosed herein are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the present invention is not limited by these embodiments.

The scope of protection of the present invention should be interpreted by the claims, and all technical ideas within the scope equivalent thereto should be understood as being included in the scope of the present invention.

100: vehicle communication system
110: vehicle
120-1 to 120-9: roadside base station
130: server
140-1: Autonomous Driving Paths
140-2: Alternative Autonomous Driving Paths
210: storage unit
220: communication unit
230: control unit

Claims (16)

Receiving vehicle operation plan information from a roadside base station;
Establishing an autonomous driving route composed of roadside base stations capable of allocating vehicle communication resources based on the vehicle operation plan information;
Dividing the information to be transmitted to the vehicle by roadside base stations on the autonomous driving route into static information and dynamic information;
Allocating vehicle communication resources so that other roadside base stations on the autonomous driving route having network resources can transmit the static information in advance even before the vehicle reaches the area of the corresponding roadside base station on the autonomous driving route;
Allocating vehicle communication resources so that the dynamic information can be transmitted when the position of the vehicle is included in a corresponding area of the corresponding roadside base station; And
Transmitting information about the vehicle communication resources to the roadside base stations;
Containing,
How the server works.
The method of claim 1,
The vehicle operation plan information,
At least one of the source information, waypoint information and destination information of the vehicle,
How the server works.
The method of claim 1,
Setting the autonomous driving route,
Setting the autonomous driving route based on the vehicle driving plan information;
Determining whether there are roadside base stations to which the vehicle communication resource can be allocated on the autonomous driving path; And
Resetting an alternative autonomous driving route based on the vehicle operation plan information when there are no roadside base stations capable of allocating the vehicle communication resource;
Containing,
How the server works.
The method of claim 3,
Setting the alternative autonomous driving route,
Resetting an alternative autonomous driving route including roadside base stations capable of allocating the vehicle communication resources among a plurality of routes from the starting point to the destination included in the vehicle planning information;
Containing,
How the server works.
The method of claim 3,
Setting the alternative autonomous driving route,
Resetting the alternative autonomous driving route including a waypoint included in the vehicle driving plan information;
Containing,
How the server works.
delete The method of claim 1,
The dynamic information is,
Including at least one of weather information, traffic conditions, traffic accident area information, other vehicle information, moving object information, cooperative manvering information, and cooperative sensing information,
How the server works.
The method of claim 1,
The static information is,
Including at least one of building information, road information, curb information, facility information, tree information, lane information, traffic marking information, lane width information, and prescribed speed information,
How the server works.
A communication unit for receiving vehicle operation plan information from a roadside base station; And
Setting up an autonomous driving route composed of roadside base stations capable of allocating vehicle communication resources based on the vehicle operation planning information;
Classify the information to be transmitted to the vehicle by the roadside base stations on the autonomous driving route, respectively, into static and dynamic information,
Allocate vehicle communication resources so that other roadside base stations on the autonomous driving route having network resources can transmit the static information in advance, even before the vehicle reaches the area of the corresponding roadside base station on the autonomous driving route.
A control unit for allocating a vehicle communication resource to transmit the dynamic information when the position of the vehicle is included in a corresponding area of the roadside base station;
Including,
The communication unit transmits information on the vehicle communication resources to the roadside base station.
Server device.
The method of claim 9,
The vehicle operation plan information,
At least one of the source information, waypoint information and destination information of the vehicle,
Server device.
The method of claim 9,
The control unit,
Set the autonomous driving route based on the vehicle operation plan information,
Determining whether there is a roadside base station to which the vehicle communication resource can be allocated on the autonomous driving path;
If there is no roadside base station capable of allocating the vehicle communication resource, reconfiguring an alternative autonomous driving route based on the vehicle operation plan information;
Server device.
The method of claim 11,
The control unit,
Resetting an alternative autonomous driving route including roadside base stations capable of allocating the vehicle communication resources among a plurality of routes from the starting point to the destination included in the vehicle planning information;
Server device.
The method of claim 11,
The control unit,
Resetting the alternative autonomous driving route including a waypoint included in the vehicle driving plan information;
Server device.
delete The method of claim 9,
The dynamic information is,
Including at least one of weather information, traffic conditions, traffic accident area information, other vehicle information, moving object information, cooperative manvering information, and cooperative sensing information,
Server device.
The method of claim 9,
The static information is,
Including at least one of building information, road information, curb information, facility information, tree information, lane information, traffic marking information, lane width information, and prescribed speed information,
Server device.

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