KR102112684B1 - Method for transmitting control information for remote control in automated vehicle and highway systems and apparatus therefor - Google Patents

Abstract

Disclosed are a method for transmitting control information for remote operation in automated vehicle and highway systems and an apparatus therefor. According to an embodiment of the present invention, the method performed by a remote control apparatus comprises: a step of determining a remote operation type based on request information; a step of requesting vehicle information from a vehicle based on the remote operation type; a step of determining a remote driver type based on the vehicle information; and a step of requesting vehicle surrounding information from an information collection apparatus based on the vehicle information or the remote driver type. Accordingly, the present invention can effectively collect required information for remote operation to secure the safety of remote operation and reduce communication delays. An autonomous vehicle of the present invention can be linked to an artificial intelligence module, a drone (unmanned aerial vehicle (UAV)), a robot, an augmented reality (AR) device, a virtual reality (VR) device, and 5G service-related devices.

Description

Method for transmitting control information for remote operation in autonomous driving system and apparatus therefor {METHOD FOR TRANSMITTING CONTROL INFORMATION FOR REMOTE CONTROL IN AUTOMATED VEHICLE AND HIGHWAY SYSTEMS AND APPARATUS THEREFOR}

The present invention relates to a method for remote driving and an apparatus therefor, and more particularly, to a method and apparatus for efficiently collecting vehicle and vehicle surrounding information.

Vehicles may be classified into internal combustion engine vehicles, external combustion engine vehicles, gas turbine vehicles, or electric vehicles, depending on the type of prime mover used.

An autonomous vehicle is a vehicle that can be operated by itself without driver or passenger manipulation. Automated Vehicle & Highway Systems is a system that monitors and controls such autonomous vehicles to operate on their own. Speak.

On the other hand, in an autonomous vehicle, remote operation is necessary in an emergency or when operating a remote surrogate operation service. In order to effectively implement such a remote driving system, vehicle information and vehicle surrounding information must be able to be transmitted and received without delay, and the importance of the vehicle information and vehicle surrounding information collection method is emerging for accurate determination in a remote driving situation.

However, since the existing remote driving system transmits information about the surroundings of the vehicle to the remote control device through the vehicle, a communication delay occurs greatly. In addition, since the remote driver has to judge the situation only with the camera image information, situation recognition and situation determination may be late.

The present invention aims to effectively collect vehicle information and vehicle surrounding information.

In addition, the present invention proposes a method and an apparatus therefor that can directly transmit/receive vehicle surrounding information through an information collecting device other than a vehicle based on the vehicle location.

In addition, the present invention proposes a method and apparatus for transmitting and receiving necessary information suitable for a situation by classifying a type of a remote driver and/or a remote driver.

In addition, the present invention proposes a method and an apparatus therefor for variably changing the information request range for remote driving according to the position and/or speed of the vehicle.

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned are apparent to those skilled in the art from the detailed description of the following invention. Can be understood.

A method performed by a remote control device in a method of transmitting control information for remote driving in an automated vehicle & highway systems according to an embodiment of the present invention includes diagnostic information or type information of a vehicle Receiving request information for remote driving from a vehicle, determining a remote driving type based on the request information, requesting vehicle information to the vehicle based on the remote driving type, and the vehicle Receiving information from the vehicle; determining a remote driver type based on the vehicle information; requesting vehicle surrounding information to an information collection device based on the vehicle information or the remote driver type; and And receiving vehicle surrounding information from the information collecting device.

In addition, in the method of the present invention, the remote driving type is determined as remote operation by a failure when a failure of the vehicle is detected based on the diagnostic information, and simple remote operation when a failure of the vehicle is not detected It may be determined as, or based on the type information, the remote operation due to the failure, the simple remote operation, or may be determined as a remote operation due to an emergency.

In the method of the present invention, the vehicle information includes location information, destination information, route information, vehicle general information, camera information, radar information, lidar information, ultrasonic sensor information, vehicle direction information, toll information, or voice. It may include at least one of the information.

In addition, in the method of the present invention, the remote driver type is determined as a human driver or a machine driver based on the type information, or the location information indicates a non-operational location or an abnormal driving path based on the route information If it is determined, it may be determined to be the human driver, otherwise it may be determined to be the machine driver.

In addition, in the method of the present invention, the information collecting device includes one or more roadside units (RSU), one or more surrounding vehicles, one or more Mobile Edge Computing (MEC) server devices, one It may include at least one of the above Intelligent Transport Systems (ITS), or one or more cloud server devices.

In addition, in the method of the present invention, the vehicle surrounding information may be required when the remote driver type is determined as the machine driver, and may be selectively requested when the remote driver type is determined as the human driver.

In addition, in the method of the present invention, the vehicle surrounding information may include at least one of navigation information, RSU information around the vehicle, pedestrian information, emergency vehicle operation information, or surrounding vehicle information.

In the method of the present invention, the range of the one or more roadside devices for which the RSU information is requested or the range of the one or more peripheral vehicles for which the surrounding vehicle information is requested is determined based on the location information or the speed information. Can be.

In addition, in the method of the present invention, the method may further include transmitting control information for remote driving of the vehicle to the vehicle based on the vehicle information and the vehicle surrounding information.

In addition, in the method of the present invention, when the vehicle arrives at the destination, the method may further include transmitting an information transmission stop request to the vehicle and the information collection device.

In addition, in the method of the present invention, when charging for the remote driving is necessary, the method may further include transmitting charging information to the vehicle.

In addition, a remote control device for transmitting control information for remote operation in an autonomous vehicle (Automated Vehicle & Highway Systems) according to another embodiment of the present invention, a transmitting and receiving unit for transmitting and receiving a wireless signal, and the transmitting and receiving unit It includes a functionally connected processor, the processor receives the request information for the remote driving including the diagnostic information or type information of the vehicle from the vehicle, and determines the type of remote operation based on the request information, the Request vehicle information to the vehicle based on a remote driving type, receive the vehicle information from the vehicle, determine a remote driver type based on the vehicle information, and vehicle based on the vehicle information or the remote driver type Requests surrounding information from the information collecting device, and controls to receive the vehicle surrounding information from the information collecting device.

A method of transmitting control information and an effect of an apparatus for the same according to an embodiment of the present invention will be described below.

The present invention can effectively collect vehicle information and vehicle surrounding information.

In addition, according to the present invention, communication delay can be reduced by directly transmitting/receiving vehicle surrounding information through an information collecting device other than a vehicle based on the vehicle location.

In addition, according to the present invention, the remote operation request and/or the type of the remote driver may be classified to transmit and receive necessary information suitable for the situation to accurately recognize and determine the situation in the remote operation situation.

In addition, according to the present invention, it is possible to accurately recognize and judge a situation in a remote driving situation by variably changing an information request range for remote driving according to the position and/or speed of the vehicle.

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

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included as part of the detailed description to aid understanding of the present invention, provide embodiments of the present invention, and describe the technical features of the present invention together with the detailed description.
1 illustrates a block diagram of a wireless communication system to which the methods proposed herein can be applied.
2 shows an example of a signal transmission/reception method in a wireless communication system.
3 shows an example of the basic operation of an autonomous vehicle and a 5G network in a 5G communication system.
4 shows an example of a basic operation between a vehicle and a vehicle using 5G communication.
5 is a view showing a vehicle according to an embodiment of the present invention.
6 is a control block diagram of a vehicle according to an embodiment of the present invention.
7 is a control block diagram of an autonomous driving device according to an embodiment of the present invention.
8 is a signal flow diagram of an autonomous vehicle according to an embodiment of the present invention.
9 is a view showing the interior of a vehicle according to an embodiment of the present invention.
10 is a block diagram referred to for describing a cabin system for a vehicle according to an embodiment of the present invention.
11 is a view referenced to describe a user's usage scenario according to an embodiment of the present invention.
12 is a view for explaining a remote operation system according to an embodiment of the present invention.
13 is a flowchart for briefly explaining the operation of the remote driving system according to an embodiment of the present invention.
14 is a diagram for explaining a range of information gathering around a vehicle of a remote control device at an intersection.
15 is a view for explaining a range of vehicle surrounding information collection of a remote control device according to the speed of the vehicle.
16 is a flowchart of a method for remote operation according to an embodiment of the present invention.
17 is a block diagram of a remote control device according to an embodiment of the present invention.
18 is a view showing an example of a remote control device.
BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included as part of the detailed description to aid understanding of the present invention, provide embodiments of the present invention, and describe the technical features of the present invention together with the detailed description.

Hereinafter, exemplary embodiments disclosed herein will be described in detail with reference to the accompanying drawings, but the same or similar elements will be given the same reference numbers regardless of the reference numerals, and redundant descriptions thereof will be omitted. The suffixes "modules" and "parts" for components used in the following description are given or mixed only considering the ease of writing the specification, and do not have meanings or roles distinguished from each other in themselves. In addition, in the description of the embodiments disclosed herein, when it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed herein, detailed descriptions thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed herein, and the technical spirit disclosed in the specification is not limited by the accompanying drawings, and all modifications included in the spirit and technical scope of the present invention , It should be understood to include equivalents or substitutes.

Terms including ordinal numbers such as first and second may be used to describe various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from other components.

When an element is said to be "connected" to or "connected" to another component, it is understood that other components may be directly connected to or connected to the other component, but may exist in the middle. It should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that no other component exists in the middle.

Singular expressions include plural expressions unless the context clearly indicates otherwise.

In this application, the terms "comprises" or "have" are intended to indicate that there are features, numbers, steps, operations, components, parts or combinations thereof described in the specification, one or more other features. It should be understood that the existence or addition possibilities of fields or numbers, steps, operations, components, parts or combinations thereof are not excluded in advance.

Hereinafter, 5G communication (5th generation mobile communication) required by the device and/or the autonomous driving processor that requires autonomous driving-processed information will be described through paragraphs A through G.

A. Example UE and 5G network block diagram

1 illustrates a block diagram of a wireless communication system to which the methods proposed herein can be applied.

Referring to FIG. 1, a device (autonomous driving device) including an autonomous driving module is defined as a first communication device (910 of FIG. 1 ), and the processor 911 may perform an autonomous driving detailed operation.

A 5G network including another vehicle communicating with the autonomous driving device is defined as a second communication device (920 in FIG. 1), and the processor 921 may perform detailed autonomous driving operations.

The 5G network may be represented as the first communication device, and the autonomous driving device may be represented as the second communication device.

For example, the first communication device or the second communication device may be a base station, a network node, a transmission terminal, a reception terminal, a wireless device, a wireless communication device, an autonomous driving device, or the like.

For example, a terminal or a user equipment (UE) includes a vehicle, a mobile phone, a smart phone, a laptop computer, a digital broadcasting terminal, personal digital assistants (PDA), and portable multimedia player (PMP). , Navigation, slate PC, tablet PC, ultrabook, wearable device, e.g., watch-type terminal (smartwatch), glass-type terminal (smart glass), HMD (HMD) head mounted display)). For example, the HMD may be a display device worn on the head. For example, HMD can be used to implement VR, AR or MR. Referring to FIG. 1, the first communication device 910 and the second communication device 920 include a processor (processor, 911,921), memory (memory, 914,924), and one or more Tx/Rx RF modules (radio frequency module, 915,925). , Tx processor (912,922), Rx processor (913,923), antenna (916,926). Tx/Rx modules are also referred to as transceivers. Each Tx/Rx module 915 transmits a signal through each antenna 926. The processor previously implements the salpin function, process and/or method. Processor 921 may be associated with memory 924 that stores program code and data. Memory can be referred to as a computer readable medium. More specifically, in DL (communication from the first communication device to the second communication device), the transmit (TX) processor 912 implements various signal processing functions for the L1 layer (ie, physical layer). The receive (RX) processor implements various signal processing functions of L1 (ie, physical layer).

UL (communication from the second communication device to the first communication device) is processed in the first communication device 910 in a manner similar to that described with respect to the receiver function in the second communication device 920. Each Tx/Rx module 925 receives a signal through each antenna 926. Each Tx/Rx module provides RF carriers and information to the RX processor 923. Processor 921 may be associated with memory 924 that stores program code and data. Memory can be referred to as a computer readable medium.

B. Signal transmission/reception method in wireless communication system

2 is a diagram illustrating an example of a signal transmission/reception method in a wireless communication system.

Referring to FIG. 2, the UE performs an initial cell search operation such as synchronizing with the BS when the power is turned on or newly enters a cell (S201). To this end, the UE receives a primary synchronization channel (P-SCH) and a secondary synchronization channel (S-SCH) from the BS to synchronize with the BS and obtain information such as cell ID. can do. In LTE systems and NR systems, P-SCH and S-SCH are called primary synchronization signal (PSS) and secondary synchronization signal (SSS), respectively. After initial cell discovery, the UE may obtain a physical broadcast channel (PBCH) from the BS to obtain intra-cell broadcast information. Meanwhile, the UE may check a downlink channel state by receiving a downlink reference signal (DL RS) in an initial cell search step. After completing the initial cell search, the UE obtains more specific system information by receiving a physical downlink control channel (PDCCH) and a physical downlink shared channel (PDSCH) according to the information carried on the PDCCH. It can be done (S202).

On the other hand, if the first access to the BS or there is no radio resource for signal transmission, the UE may perform a random access procedure (RACH) to the BS (steps S203 to S206). To this end, the UE transmits a specific sequence as a preamble through a physical random access channel (PRACH) (S203 and S205), and random access response to the preamble through a PDCCH and a corresponding PDSCH (random access response, RAR) message may be received (S204 and S206). In the case of the contention-based RACH, a contention resolution procedure may be additionally performed.

After performing the above-described process, the UE is a general uplink/downlink signal transmission process, followed by PDCCH/PDSCH reception (S207) and physical uplink shared channel (PUSCH)/physical uplink control channel (physical) Uplink control channel (PUCCH) transmission (S208) may be performed. In particular, the UE receives downlink control information (DCI) through the PDCCH. The UE monitors a set of PDCCH candidates at monitoring opportunities set in one or more control element sets (CORESETs) on a serving cell according to corresponding search space configurations. The set of PDCCH candidates to be monitored by the UE is defined in terms of search space sets, and the search space set may be a common search space set or a UE-specific search space set. CORESET consists of a set of (physical) resource blocks with a time duration of 1 to 3 OFDM symbols. The network may configure the UE to have a plurality of CORESETs. The UE monitors PDCCH candidates in one or more search space sets. Here, monitoring means attempting to decode PDCCH candidate(s) in the search space. When the UE successfully decodes one of the PDCCH candidates in the search space, the UE determines that the PDCCH is detected in the PDCCH candidate and performs PDSCH reception or PUSCH transmission based on the DCI in the detected PDCCH. The PDCCH can be used to schedule DL transmissions on the PDSCH and UL transmissions on the PUSCH. Here, the DCI on the PDCCH is a downlink assignment (ie, downlink grant; DL grant), or uplink including at least a modulation and coding format and resource allocation information related to a downlink shared channel, or uplink And an uplink grant (UL grant) including modulation and coding formats and resource allocation information associated with the shared channel.

Referring to FIG. 2, an initial access (Initial Access, IA) procedure in a 5G communication system will be further described.

The UE may perform cell search, system information acquisition, beam alignment for initial access, DL measurement, and the like based on the SSB. SSB is mixed with SS/PBCH (Synchronization Signal/Physical Broadcast channel) block.

SSB is composed of PSS, SSS and PBCH. The SSB is composed of four consecutive OFDM symbols, and PSS, PBCH, SSS/PBCH or PBCH is transmitted for each OFDM symbol. PSS and SSS are each composed of 1 OFDM symbol and 127 subcarriers, and PBCH is composed of 3 OFDM symbols and 576 subcarriers.

Cell search refers to a process in which the UE acquires time/frequency synchronization of a cell and detects a cell ID (eg, physical layer cell ID, PCI) of the cell. PSS is used to detect the cell ID in the cell ID group, SSS is used to detect the cell ID group. PBCH is used for SSB (time) index detection and half-frame detection.

336 cell ID groups exist, and 3 cell IDs exist for each cell ID group. There are a total of 1008 cell IDs. Information about the cell ID group to which the cell ID of the cell belongs is provided/obtained through the SSS of the cell, and information about the cell ID among the 336 cells in the cell ID is provided/obtained through the PSS.

The SSB is periodically transmitted according to the SSB period. The SSB basic period assumed by the UE during initial cell discovery is defined as 20 ms. After cell access, the SSB period can be set to one of {5ms, 10ms, 20ms, 40ms, 80ms, 160ms} by a network (eg, BS).

Next, the acquisition of system information (SI) will be described.

SI is divided into a master information block (MIB) and a plurality of system information blocks (SIBs). SI other than MIB may be referred to as Remaining Minimum System Information (RMSI). The MIB includes information/parameters for monitoring the PDCCH that schedules the PDSCH carrying System Information Block 1 (SIB1) and is transmitted by the BS through the PBCH of the SSB. SIB1 includes information related to availability and scheduling (eg, transmission period, SI-window size) of the remaining SIBs (hereinafter, SIBx, x is an integer greater than or equal to 2). SIBx is included in the SI message and transmitted on the PDSCH. Each SI message is transmitted within a time window (ie, SI-window) that occurs periodically.

Referring to FIG. 2, a random access (Random Access, RA) process in a 5G communication system will be further described.

The random access process is used for various purposes. For example, the random access procedure may be used for network initial access, handover, and UE-triggered UL data transmission. The UE may acquire UL synchronization and UL transmission resources through a random access process. The random access process is divided into a contention-based random access process and a contention-free random access process. The specific procedure for the contention-based random access process is as follows.

The UE may transmit a random access preamble as Msg1 of a random access process in the UL through the PRACH. Random access preamble sequences having two different lengths are supported. The long sequence length 839 applies for subcarrier spacing of 1.25 and 5 kHz, and the short sequence length 139 applies for subcarrier spacing of 15, 30, 60 and 120 kHz.

When the BS receives a random access preamble from the UE, the BS sends a random access response (RAR) message (Msg2) to the UE. The PDCCH for scheduling the PDSCH carrying the RAR is CRC masked and transmitted with a random access (RA) radio network temporary identifier (RNTI) (RA-RNTI). A UE that detects a PDCCH masked with RA-RNTI may receive RAR from a PDSCH scheduled by a DCI carried by the PDCCH. The UE checks whether the preamble transmitted by itself, that is, random access response information for Msg1 is in the RAR. Whether random access information for Msg1 transmitted by the user exists may be determined by whether a random access preamble ID for the preamble transmitted by the UE exists. If there is no response to Msg1, the UE may retransmit the RACH preamble within a predetermined number of times while performing power ramping. The UE calculates the PRACH transmit power for retransmission of the preamble based on the most recent path loss and power ramping counter.

The UE may transmit UL transmission on the uplink shared channel as Msg3 of a random access process based on random access response information. Msg3 may include an RRC connection request and a UE identifier. In response to Msg3, the network can send Msg4, which can be treated as a contention resolution message on the DL. By receiving Msg4, the UE can enter the RRC connected state.

C. Beam Management (BM) procedure of 5G communication system

The BM process may be divided into (1) DL BM process using SSB or CSI-RS and (2) UL BM process using sounding reference signal (SRS). In addition, each BM process may include Tx beam sweeping to determine the Tx beam and Rx beam sweeping to determine the Rx beam.

Let's look at the DL BM process using SSB.

The setting for the beam report using the SSB is performed when channel state information (CSI)/beam setting in RRC_CONNECTED.

-The UE receives a CSI-ResourceConfig IE including the CSI-SSB-ResourceSetList for SSB resources used for BM from the BS. The RRC parameter csi-SSB-ResourceSetList represents a list of SSB resources used for beam management and reporting in one resource set. Here, the SSB resource set may be set as {SSBx1, SSBx2, SSBx3, SSBx4, ?}. The SSB index can be defined from 0 to 63.

-The UE receives signals on SSB resources from the BS based on the CSI-SSB-ResourceSetList.

-When CSI-RS reportConfig related to reporting on SSBRI and reference signal received power (RSRP) is set, the UE reports the best SSBRI and the corresponding RSRP to the BS. For example, when reportQuantity of the CSI-RS reportConfig IE is set to'ssb-Index-RSRP', the UE reports the best SSBRI to the BS and the RSRP corresponding thereto.

When the UE is configured with a CSI-RS resource in the same OFDM symbol(s) as the SSB, and'QCL-TypeD' is applicable, the UE has the CSI-RS and the SSB positioned similarly in terms of'QCL-TypeD' ( quasi co-located (QCL). Here, QCL-TypeD may mean that QCL is performed between antenna ports in terms of spatial Rx parameters. When the UE receives signals of a plurality of DL antenna ports in a QCL-TypeD relationship, the same reception beam may be applied.

Next, the DL BM process using CSI-RS will be described.

The Rx beam determination (or refinement) process of the UE using the CSI-RS and the Tx beam sweeping process of the BS will be sequentially described. The repetition parameter of the UE's Rx beam determination process is set to'ON', and the repetition parameter of the BS's Tx beam sweeping process is set to'OFF'.

First, the UE's Rx beam determination process will be described.

-The UE receives the NZP CSI-RS resource set IE including the RRC parameter for'repetition' from the BS through RRC signaling. Here, the RRC parameter'repetition' is set to'ON'.

-The UE repeats the signals on the resource(s) in the CSI-RS resource set in which the RRC parameter'repetition' is set to'ON' in different OFDM symbols through the same Tx beam (or DL spatial domain transmission filter) of the BS. To receive.

-The UE determines its Rx beam.

-UE omits CSI reporting. That is, when the mall RRC parameter'repetition' is set to'ON', the CSI report can be omitted.

Next, the Tx beam determination process of the BS will be described.

-The UE receives the NZP CSI-RS resource set IE including the RRC parameter for'repetition' from the BS through RRC signaling. Here, the RRC parameter'repetition' is set to'OFF' and is related to the Tx beam sweeping process of the BS.

-The UE receives signals on resources in the CSI-RS resource set in which the RRC parameter'repetition' is set to'OFF' through different Tx beams (DL spatial domain transmission filter) of the BS.

-The UE selects (or determines) the best beam.

-The UE reports the ID (eg, CRI) and related quality information (eg, RSRP) for the selected beam to the BS. That is, when the CSI-RS is transmitted for the BM, the UE reports the CRI and RSRP therefor to the BS.

Next, the UL BM process using SRS will be described.

-The UE receives RRC signaling (eg, SRS-Config IE) including the usage parameter set to'beam management' (RRC parameter) from the BS. SRS-Config IE is used to configure SRS transmission. The SRS-Config IE includes a list of SRS-Resources and a list of SRS-ResourceSets. Each SRS resource set means a set of SRS-resources.

-The UE determines Tx beamforming for the SRS resource to be transmitted based on the SRS-SpatialRelation Info included in the SRS-Config IE. Here, the SRS-SpatialRelation Info is set for each SRS resource and indicates whether to apply the same beamforming as the SSB, CSI-RS or SRS used for each SRS resource.

-If SRS-SpatialRelationInfo is set in the SRS resource, beamforming identical to that used in SSB, CSI-RS or SRS is applied and transmitted. However, if SRS-SpatialRelationInfo is not set in the SRS resource, the UE randomly determines Tx beamforming and transmits SRS through the determined Tx beamforming.

Next, a beam failure recovery (BFR) process will be described.

In a beamformed system, radio link failure (RLF) may frequently occur due to UE rotation, movement, or beamforming blockage. Therefore, BFR is supported in the NR to prevent frequent RLF from occurring. BFR is similar to the radio link failure recovery process and can be supported if the UE knows the new candidate beam(s). For beam failure detection, the BS sets beam failure detection reference signals to the UE, and the UE has the number of beam failure indications from the physical layer of the UE within a period set by the RRC signaling of the BS. When the threshold set by RRC signaling is reached, a beam failure is declared. After the beam failure is detected, the UE triggers beam failure recovery by initiating a random access process on the PCell; The beam failure recovery is performed by selecting a suitable beam (if the BS provides dedicated random access resources for certain beams, they are prioritized by the UE). Upon completion of the random access procedure, beam failure recovery is considered complete.

D. URLLC (Ultra-Reliable and Low Latency Communication)

The URLLC transmission defined by NR is (1) relatively low traffic size, (2) relatively low arrival rate, (3) extremely low latency requirements (e.g. 0.5, 1ms), (4) Relatively short transmission duration (eg, 2 OFDM symbols), (5) may mean transmission for urgent service/message. In the case of UL, the transmission for a specific type of traffic (e.g., URLLC) must be multiplexed with other previously scheduled transmissions (e.g., eMBB) in order to meet the stringent latency requirements. Needs to be. In this regard, as one way, the UE is scheduled to be preempted for a specific resource (preemption) for a specific resource, and the URLLC UE uses the resource for UL transmission.

In the case of NR, dynamic resource sharing between eMBB and URLLC is supported. eMBB and URLLC services can be scheduled on non-overlapping time/frequency resources, and URLLC transmission can occur on resources scheduled for ongoing eMBB traffic. The eMBB UE may not know whether the PDSCH transmission of the UE is partially punctured, or the UE may not be able to decode the PDSCH due to corrupted coded bits. In view of this, NR provides a preemption indication. The preemption indication may also be referred to as an interrupted transmission indication.

With respect to the pre-mation indication, the UE receives DownlinkPreemption IE through RRC signaling from the BS. When the UE receives the DownlinkPreemption IE, the UE is configured with the INT-RNTI provided by the parameter int-RNTI in the DownlinkPreemption IE for monitoring the PDCCH carrying DCI format 2_1. The UE is additionally set with a set of serving cells by an INT-ConfigurationPerServing Cell including a set of serving cell indices provided by servingCellID and a corresponding set of positions for fields in DCI format 2_1 by positionInDCI, dci-PayloadSize Is set with the information payload size for DCI format 2_1, and is set with the granularity of time-frequency resources by timeFrequencySect.

The UE receives DCI format 2_1 from the BS based on the DownlinkPreemption IE.

When the UE detects DCI format 2_1 for a serving cell in a set set of serving cells, the UE detects the DCI format of the set of PRBs and symbols of the last monitoring period of the monitoring period to which the DCI format 2_1 belongs. It can be assumed that there is no transmission to the UE in the PRBs and symbols indicated by 2_1. For example, the UE reports that the signal in the time-frequency resource indicated by the pre-mation is not a DL transmission scheduled to itself, and decodes data based on signals received in the remaining resource regions.

E. mMTC (massive MTC)

Massive Machine Type Communication (mMTC) is one of the scenarios of 5G to support hyper-connected services that simultaneously communicate with a large number of UEs. In this environment, the UE communicates intermittently with extremely low transmission speed and mobility. Therefore, mMTC aims to be able to run the UE for a long time at a low cost. In relation to mMTC technology, 3GPP covers MTC and NB (NarrowBand)-IoT.

The mMTC technology has features such as repetitive transmission such as PDCCH, PUCCH, physical downlink shared channel (PDSCH), PUSCH, frequency hopping, retuning, and guard period.

That is, PUSCH (or PUCCH (particularly long PUCCH) or PRACH) including specific information and PDSCH (or PDCCH) including a response to specific information are repeatedly transmitted. Repetitive transmission is performed through frequency hopping, and for repetitive transmission, (RF) retuning is performed in a guard period from a first frequency resource to a second frequency resource, and specific information And a response to specific information may be transmitted/received through a narrowband (ex. 6 resource block (RB) or 1 RB).

F. Basic operation between autonomous vehicles using 5G communication

3 shows an example of the basic operation of an autonomous vehicle and a 5G network in a 5G communication system.

An autonomous vehicle transmits specific information transmission to a 5G network (S1). The specific information may include autonomous driving related information. Then, the 5G network may determine whether to remotely control the vehicle (S2). Here, the 5G network may include a server or module that performs remote control related to autonomous driving. In addition, the 5G network may transmit information (or signals) related to remote control to the autonomous vehicle (S3).

G. Application operation between autonomous vehicle and 5G network in 5G communication system

Hereinafter, the operation of the autonomous vehicle using 5G communication will be described in more detail with reference to FIGS. 1 and 2 and the salpin wireless communication technology (BM procedure, URLLC, Mmtc, etc.).

First, a method proposed in the present invention to be described later and a basic procedure of an application operation to which the eMBB technology of 5G communication is applied will be described.

As in steps S1 and S3 of FIG. 3, in order for the autonomous vehicle to transmit/receive 5G networks and signals, information, etc., the autonomous vehicle has an initial access procedure with the 5G network before step S1 of FIG. 3. And a random access procedure.

More specifically, the autonomous vehicle performs an initial access procedure with a 5G network based on the SSB to acquire DL synchronization and system information. In the initial access procedure, a beam management (BM) process, a beam failure recovery process may be added, and a quasi-co location (QCL) in a process in which an autonomous vehicle receives a signal from a 5G network. ) Relationships can be added.

In addition, the autonomous vehicle performs a random access procedure with a 5G network for UL synchronization acquisition and/or UL transmission. In addition, the 5G network may transmit a UL grant for scheduling transmission of specific information to the autonomous vehicle. Therefore, the autonomous driving vehicle transmits specific information to the 5G network based on the UL grant. Then, the 5G network transmits a DL grant for scheduling transmission of 5G processing results for the specific information to the autonomous vehicle. Accordingly, the 5G network may transmit information (or signals) related to remote control to the autonomous vehicle based on the DL grant.

Next, the method proposed in the present invention, which will be described later, and a basic procedure of an application operation to which the URLLC technology of 5G communication is applied will be described.

As described above, the autonomous vehicle may receive the DownlinkPreemption IE from the 5G network after performing the initial access procedure and/or random access procedure with the 5G network. Then, the autonomous vehicle receives DCI format 2_1 including a pre-emption indication from the 5G network based on the DownlinkPreemption IE. And, the autonomous vehicle does not perform (or expect or assume) reception of eMBB data in the resource (PRB and/or OFDM symbol) indicated by the pre-emption indication. Thereafter, the autonomous vehicle may receive the UL grant from the 5G network when it is necessary to transmit specific information.

Next, the method proposed in the present invention, which will be described later, and a basic procedure of an application operation to which 5 mM communication mMTC technology is applied will be described.

Among the steps in Figure 3 will be described mainly focusing on the part that varies with the application of mMTC technology.

In step S1 of FIG. 3, the autonomous vehicle receives a UL grant from the 5G network to transmit specific information to the 5G network. Here, the UL grant includes information on the number of repetitions for transmission of the specific information, and the specific information can be repeatedly transmitted based on the information on the number of repetitions. That is, the autonomous driving vehicle transmits specific information to the 5G network based on the UL grant. And, repetitive transmission of specific information is performed through frequency hopping, transmission of the first specific information may be transmitted from the first frequency resource, and transmission of the second specific information may be transmitted from the second frequency resource. The specific information may be transmitted through a narrow band of 6 RB (Resource Block) or 1 RB (Resource Block).

H. Autonomous driving behavior between vehicles using 5G communication

4 illustrates an example of a basic operation between a vehicle and a vehicle using 5G communication.

The first vehicle transmits specific information to the second vehicle (S61). The second vehicle transmits a response to the specific information to the first vehicle (S62).

On the other hand, depending on whether the 5G network is directly (side link communication transmission mode 3) or indirectly (side link communication transmission mode 4) involved in the resource allocation of the specific information and the response to the specific information, the application operation between the vehicle and the vehicle Composition may vary.

Next, the application operation between vehicles using 5G communication will be described.

First, a description will be given of a method in which a 5G network is directly involved in resource allocation of signal transmission/reception between vehicles.

The 5G network may transmit DCI format 5A to the first vehicle for scheduling of mode 3 transmission (PSCCH and/or PSSCH transmission). Here, a physical sidelink control channel (PSCCH) is a 5G physical channel for scheduling specific information transmission, and a physical sidelink shared channel (PSSCH) is a 5G physical channel for transmitting specific information. Then, the first vehicle transmits SCI format 1 for scheduling specific information transmission to the second vehicle on the PSCCH. Then, the first vehicle transmits specific information on the PSSCH to the second vehicle.

Next, we will look at how 5G networks are indirectly involved in resource allocation for signal transmission/reception.

The first vehicle senses the resource for mode 4 transmission in the first window. Then, the first vehicle selects a resource for mode 4 transmission in the second window based on the sensing result. Here, the first window means a sensing window, and the second window means a selection window. The first vehicle transmits SCI format 1 for scheduling specific information transmission to the second vehicle on the PSCCH based on the selected resource. Then, the first vehicle transmits specific information on the PSSCH to the second vehicle.

The previously described salpin 5G communication technology may be applied in combination with the methods proposed in the present invention, which will be described later, or may be supplemented to specify or clarify the technical characteristics of the methods proposed in the present invention.

Driving

(1) Vehicle appearance

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

Referring to FIG. 5, a vehicle 10 according to an embodiment of the present invention is defined as a transportation means traveling on a road or a track. The vehicle 10 is a concept including an automobile, a train, and a motorcycle. The vehicle 10 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. The vehicle 10 may be a vehicle owned by an individual. The vehicle 10 may be a shared vehicle. The vehicle 10 may be an autonomous vehicle.

(2) Vehicle components

6 is a control block diagram of a vehicle according to an embodiment of the present invention.

Referring to FIG. 6, the vehicle 10 includes a user interface device 200, an object detection device 210, a communication device 220, a driving operation device 230, a main ECU 240, and a driving control device 250 ), an autonomous driving device 260, a sensing unit 270, and a location data generating device 280. Object detection device 210, communication device 220, driving operation device 230, main ECU 240, drive control device 250, autonomous driving device 260, sensing unit 270 and position data generation device Each of 280 may be implemented as an electronic device that generates electrical signals and exchanges electrical signals with each other.

1) User interface device

The user interface device 200 is a device for communication between the vehicle 10 and a user. The user interface device 200 may receive user input and provide information generated in the vehicle 10 to the user. The vehicle 10 may implement a user interface (UI) or a user experience (UX) through the user interface device 200. The user interface device 200 may include an input device, an output device, and a user monitoring device.

2) Object detection device

The object detection device 210 may generate information about an object outside the vehicle 10. The information on the object may include at least one of information on the presence or absence of the object, location information of the object, distance information between the vehicle 10 and the object, and relative speed information between the vehicle 10 and the object. . The object detection device 210 may detect an object outside the vehicle 10. The object detection device 210 may include at least one sensor capable of detecting an object outside the vehicle 10. The object detection device 210 may include at least one of a camera, a radar, a lidar, an ultrasonic sensor, and an infrared sensor. The object detection device 210 may provide data on an object generated based on a sensing signal generated by the sensor to at least one electronic device included in the vehicle.

2.1) Camera

The camera may generate information about an object outside the vehicle 10 using an image. The camera may include at least one lens, at least one image sensor, and at least one processor that is electrically connected to the image sensor and processes a received signal, and generates data for an object based on the processed signal.

The camera may be at least one of a mono camera, a stereo camera, and an AVM (Around View Monitoring) camera. The camera may acquire position information of an object, distance information of an object, or relative speed information of an object using various image processing algorithms. For example, in the acquired image, the camera may acquire distance information and relative speed information with an object based on a change in object size over time. For example, the camera may acquire distance information and relative speed information with an object through a pin hole model, road surface profiling, and the like. For example, the camera may acquire distance information and relative speed information with an object based on disparity information in a stereo image obtained from a stereo camera.

The camera may be mounted at a position capable of securing a field of view (FOV) in the vehicle to photograph the outside of the vehicle. The camera may be placed close to the front windshield, in the interior of the vehicle, to obtain an image in front of the vehicle. The camera can be placed around the front bumper or radiator grille. The camera may be placed close to the rear glass, in the interior of the vehicle, to obtain an image behind the vehicle. The camera can be disposed around the rear bumper, trunk or tailgate. The camera may be disposed close to at least one of the side windows in the interior of the vehicle in order to acquire an image on the side of the vehicle. Alternatively, the camera may be disposed around a side mirror, fender, or door.

2.2) Radar

Radar may generate information about an object outside the vehicle 10 using radio waves. The radar may include at least one processor that is electrically connected to an electromagnetic wave transmitting unit, an electromagnetic wave receiving unit, and an electromagnetic wave transmitting unit and an electromagnetic wave receiving unit to process a received signal and generate data for an object based on the processed signal. Radar may be implemented in a pulse radar method or a continuous wave radar method in accordance with the principle of radio wave launch. The radar may be implemented by a FMCW (Frequency Modulated Continuous Wave) method or a FSK (Frequency Shift Keyong) method according to a signal waveform among continuous wave radar methods. The radar detects an object based on a time of flight (TOF) method or a phase-shift method via electromagnetic waves, and detects the position of the detected object, the distance from the detected object, and the relative speed. Can be. The radar can be placed at an appropriate location outside of the vehicle to detect objects located in front, rear, or side of the vehicle.

2.3) Lida

The lidar may generate information about an object outside the vehicle 10 using laser light. The lidar may include at least one processor that is electrically connected to the optical transmitter, the optical receiver, and the optical transmitter and the optical receiver to process the received signal and generate data for the object based on the processed signal. . The lidar may be implemented in a time of flight (TOF) method or a phase-shift method. The lidar can be implemented as driven or non-driven. When implemented as a driving type, the rider is rotated by a motor and can detect objects around the vehicle 10. When implemented in a non-driven manner, the rider can detect an object located within a predetermined range relative to the vehicle by light steering. The vehicle 100 may include a plurality of non-driven lidars. The rider detects an object based on a time-of-flight (TOF) method or a phase-shift method using a laser light medium, and detects the position of the detected object, the distance to the detected object, and the relative speed. Can be detected. The lidar can be placed at an appropriate location outside the vehicle to sense objects located in front, rear, or side of the vehicle.

3) Communication device

The communication device 220 can exchange signals with a device located outside the vehicle 10. The communication device 220 may exchange signals with at least one of an infrastructure (eg, a server, a broadcasting station), another vehicle, and a terminal. The communication device 220 may include at least one of a transmitting antenna, a receiving antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element to perform communication.

For example, a communication device may exchange signals with an external device based on C-V2X (Cellular V2X) technology. For example, C-V2X technology may include LTE-based sidelink communication and/or NR-based sidelink communication. Details related to C-V2X will be described later.

For example, communication devices and signals based on IEEE 802.11p PHY/MAC layer technology and IEEE 1609 Network/Transport layer technology based on Dedicated Short Range Communications (DSRC) technology or Wireless Access in Vehicular Environment (WAVE) standard Can be exchanged. DSRC (or WAVE standard) technology is a communication standard designed to provide ITS (Intelligent Transport System) service through dedicated short-range communication between in-vehicle devices or roadside devices and in-vehicle devices. The DSRC technology may use a frequency of 5.9 GHz band, and may be a communication method having a data transmission rate of 3 Mbps to 27 Mbps. IEEE 802.11p technology can be combined with IEEE 1609 technology to support DSRC technology (or WAVE standard).

The communication device of the present invention can exchange signals with an external device using only one of C-V2X technology or DSRC technology. Alternatively, the communication apparatus of the present invention can exchange signals with an external device by hybridizing C-V2X technology and DSRC technology.

4) Driving operation device

The driving manipulation device 230 is a device that receives a user input for driving. In the manual mode, the vehicle 10 may be driven based on a signal provided by the driving manipulation device 230. The driving manipulation device 230 may include a steering input device (eg, steering wheel), an acceleration input device (eg, an accelerator pedal), and a brake input device (eg, a brake pedal).

5) Main ECU

The main ECU 240 may control the overall operation of at least one electronic device provided in the vehicle 10.

6) Drive control device

The driving control device 250 is a device that electrically controls various vehicle driving devices in the vehicle 10. The drive control device 250 may include a power train drive control device, a chassis drive control device, a door/window drive control device, a safety device drive control device, a lamp drive control device, and an air conditioning drive control device. The power train drive control device may include a power source drive control device and a transmission drive control device. The chassis drive control device may include a steering drive control device, a brake drive control device, and a suspension drive control device. Meanwhile, the safety device drive control device may include a seat belt drive control device for seat belt control.

The drive control device 250 includes at least one electronic control device (eg, a control electronic control unit (ECU)).

The driving control device 250 may control the vehicle driving device based on a signal received from the autonomous driving device 260. For example, the control device 250 may control the power train, steering device, and brake device based on the signal received from the autonomous driving device 260.

7) Autonomous driving device

The autonomous driving device 260 may generate a path for autonomous driving based on the acquired data. The autonomous driving device 260 may generate a driving plan for driving along the generated route. The autonomous driving device 260 may generate a signal for controlling the movement of the vehicle according to the driving plan. The autonomous driving device 260 may provide the generated signal to the driving control device 250.

The autonomous driving device 260 may implement at least one ADAS (Advanced Driver Assistance System) function. ADAS includes Adaptive Cruise Control (ACC), Autonomous Emergency Braking (AEB), Foward Collision Warning (FCW), Lane Keeping Assist (LKA) ), Lane Change Assist (LCA), Target Following Assist (TFA), Blind Spot Detection (BSD), Adaptive High Beam Assist (HBA) , Auto Parking System (APS), PD collision warning system (TSR), Traffic Sign Recognition (TSR), Traffic Sign Assist System (TSA), Night Vision System (NV: Night Vision), a driver status monitoring system (DSM: Driver Status Monitoring) and a traffic jam support system (TJA: Traffic Jam Assist) may be implemented.

The autonomous driving device 260 may perform a switching operation from an autonomous driving mode to a manual driving mode or a switching operation from a manual driving mode to an autonomous driving mode. For example, the autonomous driving device 260 switches the mode of the vehicle 10 from the autonomous driving mode to the manual driving mode or the autonomous driving mode in the manual driving mode based on a signal received from the user interface device 200. You can switch to

8) Sensing Department

The sensing unit 270 may sense the state of the vehicle. The sensing unit 270 includes an IMU (inertial measurement unit) sensor, a collision sensor, a wheel sensor, a speed sensor, a tilt sensor, a weight sensor, a heading sensor, a position module, and a vehicle It may include at least one of a forward/reverse sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor, a temperature sensor, a humidity sensor, an ultrasonic sensor, an illuminance sensor, and a pedal position sensor. Meanwhile, the inertial measurement unit (IMU) sensor may include at least one of an acceleration sensor, a gyro sensor, and a magnetic sensor.

The sensing unit 270 may generate state data of the vehicle based on signals generated by at least one sensor. The vehicle status data may be information generated based on data detected by various sensors provided in the vehicle. The sensing unit 270 includes vehicle attitude data, vehicle motion data, vehicle yaw data, vehicle roll data, vehicle pitch data, vehicle collision data, vehicle direction data, vehicle angle data, vehicle speed Data, vehicle acceleration data, vehicle tilt data, vehicle forward/reverse data, vehicle weight data, battery data, fuel data, tire air pressure data, vehicle interior temperature data, vehicle interior humidity data, steering wheel rotation angle data, vehicle exterior illumination Data, pressure data applied to the accelerator pedal, pressure data applied to the brake pedal, and the like can be generated.

9) Location data generation device

The location data generation device 280 may generate location data of the vehicle 10. The location data generating device 280 may include at least one of a global positioning system (GPS) and a differential global positioning system (DGPS). The location data generation device 280 may generate location data of the vehicle 10 based on a signal generated from at least one of GPS and DGPS. According to an embodiment, the location data generating apparatus 280 may correct the location data based on at least one of an IMU (Inertial Measurement Unit) of the sensing unit 270 and a camera of the object detection apparatus 210. The location data generating device 280 may be referred to as a Global Navigation Satellite System (GNSS).

The vehicle 10 may include an internal communication system 50. The plurality of electronic devices included in the vehicle 10 may exchange signals through the internal communication system 50. Signals may include data. The internal communication system 50 may use at least one communication protocol (eg, CAN, LIN, FlexRay, MOST, Ethernet).

(3) Components of autonomous driving devices

7 is a control block diagram of an autonomous driving device according to an embodiment of the present invention.

Referring to FIG. 7, the autonomous driving device 260 may include a memory 140, a processor 170, an interface unit 180, and a power supply unit 190.

The memory 140 is electrically connected to the processor 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 store data processed by the processor 170. The memory 140 may be configured in hardware at least one of ROM, RAM, EPROM, flash drive, and hard drive. The memory 140 may store various data for the overall operation of the autonomous driving device 260, such as a program for processing or controlling the processor 170. The memory 140 may be implemented integrally with the processor 170. According to an embodiment, the memory 140 may be classified as a sub configuration of the processor 170.

The interface unit 180 may exchange signals with wires or wirelessly with at least one electronic device provided in the vehicle 10. The interface unit 280 includes an object detection device 210, a communication device 220, a driving operation device 230, a main ECU 240, a drive control device 250, a sensing unit 270, and a location data generation device Signals may be exchanged with at least one of 280 by wire or wireless. The interface unit 280 may be configured as at least one of a communication module, terminal, pin, cable, port, circuit, element, and device.

The power supply unit 190 may supply power to the autonomous driving device 260. The power supply unit 190 may receive power from a power source (eg, a battery) included in the vehicle 10 and supply power to each unit of the autonomous driving device 260. The power supply unit 190 may be operated according to a control signal provided from the main ECU 240. The power supply unit 190 may include a switched-mode power supply (SMPS).

The processor 170 is electrically connected to the memory 140, the interface unit 280, and the power supply unit 190 to exchange signals. The processor 170 includes application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, and controllers It may be implemented using at least one of (controllers), micro-controllers, microprocessors, and electrical units for performing other functions.

The processor 170 may be driven by power provided from the power supply unit 190. The processor 170 may receive data, process data, generate a signal, and provide a signal while the power is supplied by the power supply unit 190.

The processor 170 may receive information from another electronic device in the vehicle 10 through the interface unit 180. The processor 170 may provide a control signal to another electronic device in the vehicle 10 through the interface unit 180.

The autonomous driving device 260 may include at least one printed circuit board (PCB). The memory 140, the interface unit 180, the power supply unit 190, and the processor 170 may be electrically connected to a printed circuit board.

(4) Operation of autonomous driving device

8 is a signal flow diagram of an autonomous vehicle according to an embodiment of the present invention.

1) Reception operation

Referring to FIG. 8, the processor 170 may perform a reception operation. The processor 170 receives data from at least one of the object detection device 210, the communication device 220, the sensing unit 270, and the location data generation device 280 through the interface unit 180. Can be. The processor 170 may receive object data from the object detection device 210. The processor 170 may receive HD map data from the communication device 220. The processor 170 may receive vehicle status data from the sensing unit 270. The processor 170 may receive location data from the location data generating device 280.

2) Processing/judgment operation

The processor 170 may perform a processing/judgment operation. The processor 170 may perform a processing/judgment operation based on the driving situation information. The processor 170 may perform a processing/determination operation based on at least one of object data, HD map data, vehicle status data, and location data.

2.1) Operation of driving plan data generation

The processor 170 may generate driving plan data. For example, the processor 1700 may generate electronic horizon data. The electronic horizon data is understood as driving plan data within a range from a point where the vehicle 10 is located to a horizon. The horizon may be understood as a point in front of a predetermined distance from a point where the vehicle 10 is located, based on a preset driving route. It may mean a point from which the vehicle 10 can reach after a predetermined time.

The electronic horizon data may include horizon map data and horizon pass data.

2.1.1) Horizon Map Data

The horizon map data may include at least one of topology data, road data, HD map data, and dynamic data. According to an embodiment, the horizon map data may include a plurality of layers. For example, the horizon map data may include one layer matching topology data, a second layer matching road data, a third layer matching HD map data, and a fourth layer matching dynamic data. The horizon map data may further include static object data.

Topology data can be described as a map created by connecting road centers. The topology data is suitable for roughly indicating the position of the vehicle, and may be mainly in the form of data used in navigation for drivers. The topology data may be understood as data on road information from which information on a lane is excluded. The topology data may be generated based on data received from an external server through the communication device 220. The topology data may be based on data stored in at least one memory provided in the vehicle 10.

The road data may include at least one of road slope data, road curvature data, and road speed data. The road data may further include overtaking prohibited section data. Road data may be based on data received from an external server through the communication device 220. Road data may be based on data generated by the object detection device 210.

The HD map data includes detailed lane-level topology information of each road, connection information of each lane, and feature information (eg, traffic signs, Lane Marking/Properties, Road furniture, etc.) for localization of vehicles. You can. The HD map data may be based on data received from an external server through the communication device 220.

The dynamic data may include various dynamic information that may be generated on the road. For example, the dynamic data may include construction information, variable speed lane information, road surface state information, traffic information, moving object information, and the like. The dynamic data may be based on data received from an external server through the communication device 220. The dynamic data may be based on data generated by the object detection device 210.

The processor 170 may provide map data within a range from a point where the vehicle 10 is located to a horizon.

2.1.2) Horizon Pass Data

The horizon pass data may be described as a trajectory that the vehicle 10 can take within the range from the point where the vehicle 10 is located to the horizon. The horizon pass data may include data indicating a relative probability of selecting any one road at a decision point (eg, forked road, branch point, intersection, etc.). Relative probability can be calculated based on the time it takes to reach the final destination. For example, in the decision point, if the first road is selected, when the time to reach the final destination is smaller than when selecting the second road, the probability of selecting the first road is greater than the probability of selecting the second road. It can be calculated higher.

Horizon pass data may include a main pass and a sub pass. The main pass can be understood as a track connecting roads with a relatively high probability of being selected. The sub-pass may branch at at least one decision point on the main pass. The sub-pass may be understood as an orbit connecting at least one road having a relatively low probability of being selected from at least one decision point on the main pass.

3) Control signal generation operation

The processor 170 may perform a control signal generation operation. The processor 170 may generate a control signal based on the electronic horizon data. For example, the processor 170 may generate at least one of a powertrain control signal, a brake device control signal, and a steering device control signal based on the electronic horizon data.

The processor 170 may transmit the generated control signal to the driving control device 250 through the interface unit 180. The drive control device 250 may transmit a control signal to at least one of the power train 251, the brake device 252, and the steering device 253.

Cabin

9 is a view showing the interior of a vehicle according to an embodiment of the present invention. 10 is a block diagram referred to for describing a cabin system for a vehicle according to an embodiment of the present invention.

(1) Components of cabin

9 to 10, a vehicle cabin system 300 (hereinafter, a cabin system) may be defined as a convenience system for a user using the vehicle 10. Cabin system 300 may be described as a top-level system including display system 350, cargo system 355, seat system 360 and payment system 365. The cabin system 300 includes a main controller 370, a memory 340, an interface unit 380, a power supply unit 390, an input device 310, an imaging device 320, a communication device 330, and a display system. 350, cargo system 355, seat system 360, and payment system 365. According to an embodiment, the cabin system 300 may further include other components in addition to the components described herein, or may not include some of the components described.

1) Main controller

The main controller 370 is electrically connected to the input device 310, the communication device 330, the display system 350, the cargo system 355, the seat system 360, and the payment system 365 to exchange signals. can do. The main controller 370 may control the input device 310, the communication device 330, the display system 350, the cargo system 355, the seat system 360 and the payment system 365. The main controller 370 includes application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors (processors), It may be implemented using at least one of controllers, micro-controllers, microprocessors, and electrical units for performing other functions.

The main controller 370 may be configured with at least one sub-controller. According to an embodiment, the main controller 370 may include a plurality of sub-controllers. Each of the plurality of sub-controllers may individually control devices and systems included in the grouped cabin system 300. The devices and systems included in the cabin system 300 may be grouped by function or grouped based on a seat that can be seated.

The main controller 370 may include at least one processor 371. 6, the main controller 370 is illustrated as including one processor 371, but the main controller 371 may include a plurality of processors. The processor 371 may be classified as any one of the sub-controllers described above.

The processor 371 may receive a signal, information, or data from a user terminal through the communication device 330. The user terminal may transmit signals, information, or data to the cabin system 300.

The processor 371 may specify a user based on image data received from at least one of an internal camera and an external camera included in the imaging device. The processor 371 may specify a user by applying an image processing algorithm to image data. For example, the processor 371 may compare the information received from the user terminal with image data to identify the user. For example, the information may include at least one of a user's route information, body information, passenger information, luggage information, location information, preferred content information, preferred food information, disability information, and usage history information. .

The main controller 370 may include an artificial intelligence agent 372. The AI agent 372 may perform machine learning based on data acquired through the input device 310. The AI agent 372 may control at least one of the display system 350, the cargo system 355, the seat system 360, and the payment system 365 based on the machine-learned results.

2) Essential components

The memory 340 is electrically connected to the main controller 370. The memory 340 may store basic data for the unit, control data for controlling the operation of the unit, and input/output data. The memory 340 may store data processed by the main controller 370. The memory 340 may be configured in hardware at least one of a ROM, RAM, EPROM, flash drive, and hard drive. The memory 340 may store various data for operations of the cabin system 300 in general, such as a program for processing or controlling the main controller 370. The memory 340 may be implemented integrally with the main controller 370.

The interface unit 380 may exchange signals with wires or wirelessly with at least one electronic device provided in the vehicle 10. The interface unit 380 may be configured as at least one of a communication module, terminal, pin, cable, port, circuit, element, and device.

The power supply unit 390 may supply power to the cabin system 300. The power supply unit 390 may receive power from a power source (eg, a battery) included in the vehicle 10 and supply power to each unit of the cabin system 300. The power supply unit 390 may operate according to a control signal provided from the main controller 370. For example, the power supply unit 390 may be implemented as a switched-mode power supply (SMPS).

The cabin system 300 may include at least one printed circuit board (PCB). The main controller 370, the memory 340, the interface unit 380, and the power supply unit 390 may be mounted on at least one printed circuit board.

3) Input device

The input device 310 may receive a user input. The input device 310 may convert a user input into an electrical signal. The electrical signal converted by the input device 310 may be converted into a control signal and provided to at least one of the display system 350, the cargo system 355, the seat system 360 and the payment system 365. At least one processor included in the main controller 370 or the cabin system 300 may generate a control signal based on an electrical signal received from the input device 310.

The input device 310 may include at least one of a touch input unit, a gesture input unit, a mechanical input unit, and a voice input unit. The touch input unit may convert a user's touch input into an electrical signal. The touch input unit may include at least one touch sensor to sense a user's touch input. According to an embodiment, the touch input unit may be formed integrally with at least one display included in the display system 350 to implement a touch screen. The touch screen may provide an input interface and an output interface between the cabin system 300 and a user. The gesture input unit may convert a user's gesture input into an electrical signal. The gesture input unit may include at least one of an infrared sensor and an image sensor for sensing a user's gesture input. According to an embodiment, the gesture input unit may detect a user's 3D gesture input. To this end, the gesture input unit may include a light output unit outputting a plurality of infrared light or a plurality of image sensors. The gesture input unit may detect a user's 3D gesture input through a time of flight (TOF) method, a structured light method, or a disparity method. The mechanical input unit may convert a user's physical input (eg, pressing or rotating) through a mechanical device into an electrical signal. The mechanical input unit may include at least one of a button, a dome switch, a jog wheel, and a jog switch. Meanwhile, the gesture input unit and the mechanical input unit may be integrally formed. For example, the input device 310 may include a jog dial device that includes a gesture sensor and is removably formed in a portion of a peripheral structure (eg, at least one of a seat, an armrest, and a door). . When the jog dial device is flat with the surrounding structures, the jog dial device may function as a gesture input. When the jog dial device is protruding relative to the surrounding structure, the jog dial device may function as a mechanical input. The voice input unit may convert a user's voice input into an electrical signal. The voice input unit may include at least one microphone. The voice input unit may include a beam foaming microphone.

4) Video device

The imaging device 320 may include at least one camera. The imaging device 320 may include at least one of an internal camera and an external camera. The internal camera can capture an image in the cabin. The external camera can take a video outside the vehicle. The internal camera can acquire an image in the cabin. The imaging device 320 may include at least one internal camera. It is preferable that the imaging device 320 includes a number of cameras corresponding to the number of people who can board. The imaging device 320 may provide an image acquired by an internal camera. At least one processor included in the main controller 370 or the cabin system 300 detects the user's motion based on the image acquired by the internal camera, and generates a signal based on the detected motion, thereby displaying the system It may be provided to at least one of the 350, cargo system 355, seat system 360 and payment system 365. The external camera may acquire an image outside the vehicle. The imaging device 320 may include at least one external camera. It is preferable that the imaging device 320 includes a number of cameras corresponding to the boarding door. The imaging device 320 may provide an image acquired by an external camera. At least one processor included in the main controller 370 or the cabin system 300 may acquire user information based on an image acquired by an external camera. At least one processor included in the main controller 370 or the cabin system 300 authenticates the user based on the user information, or the user's body information (eg, height information, weight information, etc.), the user's Passenger information, user's luggage information, and the like can be obtained.

5) Communication device

The communication device 330 can exchange signals wirelessly with an external device. The communication device 330 may exchange signals with an external device through a network network, or directly exchange signals with an external device. The external device may include at least one of a server, a mobile terminal, and another vehicle. The communication device 330 may exchange signals with at least one user terminal. The communication device 330 may include at least one of an antenna, a radio frequency (RF) circuit capable of implementing at least one communication protocol, and an RF device to perform communication. Depending on the embodiment, the communication device 330 may use a plurality of communication protocols. The communication device 330 may switch the communication protocol according to the distance from the mobile terminal.

For example, a communication device may exchange signals with an external device based on C-V2X (Cellular V2X) technology. For example, C-V2X technology may include LTE-based sidelink communication and/or NR-based sidelink communication. Details related to C-V2X will be described later.

For example, communication devices and signals based on IEEE 802.11p PHY/MAC layer technology and IEEE 1609 Network/Transport layer technology based on Dedicated Short Range Communications (DSRC) technology or Wireless Access in Vehicular Environment (WAVE) standard Can be exchanged. DSRC (or WAVE standard) technology is a communication standard designed to provide ITS (Intelligent Transport System) service through dedicated short-range communication between in-vehicle devices or roadside devices and in-vehicle devices. The DSRC technology may use a frequency of 5.9 GHz band, and may be a communication method having a data transmission rate of 3 Mbps to 27 Mbps. IEEE 802.11p technology can be combined with IEEE 1609 technology to support DSRC technology (or WAVE standard).

The communication device of the present invention can exchange signals with an external device using only one of C-V2X technology or DSRC technology. Alternatively, the communication apparatus of the present invention can exchange signals with an external device by hybridizing C-V2X technology and DSRC technology.

6) Display system

 The display system 350 can display a graphic object. The display system 350 may include at least one display device. For example, the display system 350 may include a publicly available first display device 410 and a separately available second display device 420.

6.1) Common display device

The first display device 410 may include at least one display 411 for outputting visual content. The display 411 included in the first display device 410 is a flat panel display. It may be implemented as at least one of a curved display, a rollable display, and a flexible display. For example, the first display device 410 may include a first display 411 located at the rear of the sheet and formed to be able to be put in and out of a cabin, and a first mechanism for moving the first display 411. The first display 411 may be disposed in a slot formed in the seat main frame so that it can be put in and out. According to an embodiment, the first display device 410 may further include a flexible area adjustment mechanism. The first display may be formed to be flexible, and the flexible area of the first display may be adjusted according to a user's location. For example, the first display device 410 may include a second display formed on a ceiling in the cabin and rollable, and a second mechanism for winding or unwinding the second display. The second display may be formed to enable screen output on both sides. For example, the first display device 410 may include a third display formed on a ceiling in the cabin, flexible, and a third mechanism for bending or unfolding the third display. According to an embodiment, the display system 350 may further include at least one processor that provides a control signal to at least one of the first display device 410 and the second display device 420. The processor included in the display system 350 generates a control signal based on a signal received from at least one of the main controller 370, the input device 310, the imaging device 320, and the communication device 330. You can.

The display area of the display included in the first display device 410 may be divided into a first area 411a and a second area 411b. The first area 411a may define content as a display area. For example, the first area 411 may display at least one of entertainment content (eg, movies, sports, shopping, music, etc.), video conference, food menu, and graphic objects corresponding to the augmented reality screen. You can. The first area 411a may display a graphic object corresponding to the driving condition information of the vehicle 10. The driving situation information may include at least one of object information, navigation information, and vehicle status information outside the vehicle. The object information outside the vehicle may include information about the presence or absence of the object, location information of the object, distance information between the vehicle 300 and the object, and relative speed information between the vehicle 300 and the object. The navigation information may include at least one of map information, set destination information, route information according to the destination setting, information on various objects on the route, lane information, and current location information of the vehicle. Vehicle status information includes vehicle attitude information, vehicle speed information, vehicle tilt information, vehicle weight information, vehicle direction information, vehicle battery information, vehicle fuel information, vehicle tire pressure information, vehicle steering information , Vehicle room temperature information, vehicle room humidity information, pedal position information, and vehicle engine temperature information. The second area 411b may be defined as a user interface area. For example, the second area 411b may output an artificial intelligence agent screen. According to an embodiment, the second area 411b may be located in an area divided by a sheet frame. In this case, the user can look at the content displayed on the second area 411b between the plurality of sheets. According to an embodiment, the first display device 410 may provide hologram content. For example, the first display device 410 may provide hologram content for a plurality of users so that only the user who requested the content can watch the content.

6.2) Personal display device

The second display device 420 may include at least one display 421. The second display device 420 may provide the display 421 at a position where only individual passengers can check the display contents. For example, the display 421 may be disposed on the arm rest of the seat. The second display device 420 may display a graphic object corresponding to the user's personal information. The second display device 420 may include a number of displays 421 corresponding to the number of people who can board. The second display device 420 may implement a touch screen by forming a mutual layer structure with the touch sensor or being integrally formed. The second display device 420 may display a graphic object for receiving a user input of seat adjustment or room temperature adjustment.

7) Cargo system

The cargo system 355 may provide the product to the user according to the user's request. The cargo system 355 may be operated based on an electrical signal generated by the input device 310 or the communication device 330. The cargo system 355 may include a cargo box. The cargo box can be concealed in a part of the bottom of the sheet while the products are loaded. When an electrical signal based on user input is received, the cargo box may be exposed as a cabin. The user can select a required product among items loaded in the exposed cargo box. The cargo system 355 may include a sliding moving mechanism and a product pop-up mechanism for exposing the cargo box according to user input. The cargo system 355 may include a plurality of cargo boxes to provide various types of products. In the cargo box, a weight sensor for determining whether products are provided for each product may be incorporated.

8) Seat system

The seat system 360 can provide a user with a customized sheet. The seat system 360 may be operated based on an electrical signal generated by the input device 310 or the communication device 330. The seat system 360 may adjust at least one element of the seat based on the acquired user body data. The seat system 360 may include a user detection sensor (eg, a pressure sensor) to determine whether the user is seated. The seat system 360 may include a plurality of seats to which each of a plurality of users can sit. Any one of the plurality of sheets may be disposed to face at least the other. At least two users inside the cabin can sit facing each other.

9) Payment system

The payment system 365 can provide a payment service to the user. Payment system 365 may be operated based on an electrical signal generated by input device 310 or communication device 330. The payment system 365 may calculate a price for at least one service used by the user and request that the calculated price be paid.

(2) Autonomous vehicle use scenario

11 is a view referenced to describe a user's usage scenario according to an embodiment of the present invention.

1) Destination prediction scenario

The first scenario S111 is a user's destination prediction scenario. The user terminal may install an application that can interwork with the cabin system 300. The user terminal may predict a destination of the user through an application based on the user's contextual information. The user terminal may provide vacancy information in the cabin through the application.

2) Cabin interior layout preparation scenario

The second scenario S112 is a cabin interior layout preparation scenario. The cabin system 300 may further include a scanning device for acquiring data about a user located outside the vehicle 300. The scanning device may acquire a user's body data and baggage data by scanning the user. The user's body data and baggage data can be used to set the layout. The user's body data may be used for user authentication. The scanning device may include at least one image sensor. The image sensor may acquire a user image using light in a visible light band or an infrared band.

The seat system 360 may set the layout in the cabin based on at least one of the user's body data and baggage data. For example, the seat system 360 may provide a luggage loading space or a car seat installation space.

3) User welcome scenario

The third scenario S113 is a user welcome scenario. The cabin system 300 may further include at least one guide light. The guide light can be arranged on the floor in the cabin. When the user's boarding is detected, the cabin system 300 may output a guide light so that the user is seated in a preset seat among a plurality of seats. For example, the main controller 370 may implement a moving light through sequential lighting of a plurality of light sources over time from an open door to a preset user seat.

4) Seat adjustment service scenario

The fourth scenario S114 is a seat adjustment service scenario. The seat system 360 may adjust at least one element of the seat matching the user based on the acquired body information.

5) Personal content provision scenario

The fifth scenario S115 is a personal content providing scenario. The display system 350 may receive user personal data through the input device 310 or the communication device 330. The display system 350 may provide content corresponding to user personal data.

6) Product offer scenario

The sixth scenario S116 is a product provision scenario. The cargo system 355 may receive user data through the input device 310 or the communication device 330. The user data may include user preference data and user destination data. The cargo system 355 may provide a product based on user data.

7) Payment scenario

The seventh scenario S117 is a payment scenario. The payment system 365 may receive data for pricing from at least one of the input device 310, the communication device 330, and the cargo system 355. The payment system 365 may calculate a user's vehicle usage price based on the received data. The payment system 365 may request payment of a fee to the user (eg, the user's mobile terminal) at a calculated price.

8) User's display system control scenario

The eighth scenario S118 is a user's display system control scenario. The input device 310 may receive a user input made of at least one form and convert it into an electrical signal. The display system 350 may control displayed content based on an electrical signal.

9) AI agent scenario

The ninth scenario (S119) is a multi-channel artificial intelligence (AI) agent scenario for multiple users. The artificial intelligence agent 372 may classify user input for each of a plurality of users. The artificial intelligence agent 372 may include at least one of the display system 350, the cargo system 355, the seat system 360, and the payment system 365 based on the electrical signals from which a plurality of user individual user inputs are switched. Can be controlled.

10) Multi-user multimedia content provision scenario

The tenth scenario S120 is a scenario for providing multimedia contents for a plurality of users. The display system 350 may provide content that all users can watch together. In this case, the display system 350 may individually provide the same sound to a plurality of users through speakers provided for each seat. The display system 350 may provide content that can be viewed individually by a plurality of users. In this case, the display system 350 may provide individual sounds through speakers provided for each seat.

11) User safety scenario

The eleventh scenario S121 is a user safety securing scenario. When acquiring vehicle surrounding object information that is a threat to the user, the main controller 370 may control an alarm for the vehicle surrounding object to be output through the display system 350.

12) Scenario to prevent loss of belongings

The twelfth scenario (S122) is a scenario for preventing the user's belongings from being lost. The main controller 370 may acquire data about the user's belongings through the input device 310. The main controller 370 may acquire user's motion data through the input device 310. The main controller 370 may determine whether or not the user leaves the belongings based on the data and the movement data for the belongings. The main controller 370 may control an alarm related to belongings to be output through the display system 350.

13) Get off report scenario

The thirteenth scenario (S123) is a drop-off report scenario. The main controller 370 may receive the user's disembarking data through the input device 310. After getting off the user, the main controller 370 may provide report data according to the getting off to the user's mobile terminal through the communication device 330. The report data may include overall usage fee data for the vehicle 10.

The previously described salpin 5G communication technology may be applied in combination with the methods proposed in the present invention, which will be described later, or may be supplemented to specify or clarify the technical characteristics of the methods proposed in the present invention.

Hereinafter, various embodiments of the present invention will be described in detail with reference to the accompanying drawings.

12 is a view for explaining a remote operation system according to an embodiment of the present invention.

Referring to FIG. 12, the remote driving system includes a vehicle 1210, a remote control device 1220, one or more peripheral vehicles 1230, one or more server devices (eg, cloud servers) 1240, one or more roadside devices. (Road Side Unit, RSU) (1250). The devices 1210, 1220, 1230, 1240, and 1250 may exchange information with each other through wireless communication (eg, 5G communication). The devices 1210, 1220, 1230, 1240, and 1250 may exchange information through an initial access and/or random access procedure described with reference to FIG. 2.

The vehicle 1210 includes a sensor (Electronic Control Unit), various sensors (eg, a camera), a driving ECU (Control ECU), a steering ECU (Steering ECU), and an Excel/brake ECU (Acc/brake). ECU) and a communication control unit (TCU). In-vehicle ECUs can transmit information such as the current position, speed, and direction of the vehicle to the remote control device through the TCU. In addition, these devices can be electrically and/or functionally connected in the vehicle. The sensor ECU may be a device that controls sensors such as a camera inside a vehicle. The driving ECU may be a device for controlling vehicle driving, such as a steering wheel, acceleration, and/or stop. The TCU may be a device that transmits and receives information to and from the remote control device 1220. For example, the vehicle 1210 may receive control information through a communication control device. The sensor electronic control device and/or the driving electronic control device in the vehicle 1210 may be controlled by the received control information to implement remote driving. And/or, the vehicle 1210 may transmit vehicle internal information (eg, diagnostic information) to the remote control device 1220 through a communication control device at the request of the remote control device 1220. In addition, the vehicle may operate by including in-vehicle devices described with reference to FIGS. 1 to 11 above.

The remote control device 1220 may receive information from a vehicle, one or more server devices 1240, one or more roadside devices 1250, one or more surrounding vehicles 1230, and the like. The remote control device 1220 may collect information by connecting communication with the RSU, the surrounding vehicle, and/or the ITS around the vehicle based on the location of the vehicle. The remote control device 1220 reconstructs the environment around the vehicle based on the collected information (e.g., navigation, the maximum/lowest speed of the road, traffic lights ahead, obstacles, traffic jams, emergency vehicles (ambulance, 119, police car), etc. Whether or not). In addition, the remote control device 1220 classifies the cause of the remote driving request according to the problem situation of the vehicle, and can discriminately request necessary information based on this, and separates the remote driver into a machine and a person to request the required information. have. In addition, when requesting vehicle surrounding information for a remote driving vehicle, the remote control device 1220 may variably apply the information request range for each vehicle speed and road complexity situation (for example, an intersection). The remote control device 1220 may control the vehicle by the human driver 1221 or the machine operator 1222, as shown in FIG. 18 through the corresponding information. The human driver 1221 can hear the sound and warning sounds around the vehicle as if they are actually driving through the received information, can feel the vibration according to the vehicle situation, and image the AR rendering of the vehicle surrounding and road information through the camera, etc. Can be seen as At this time, the machine driver 1222 may monitor and assist the human driver. Alternatively, the machine operator 1222 may control remote operation in the case of a user request or a specific situation. The machine operator 1222 may be located separately from the remote control device 1220. For example, the machine operator 1222 may be an external server device, receive information from the remote control device 1220, perform remote operation, or assist and/or monitor the human driver 1221. In the case of an emergency, the remote control device 1220 may change a human driver to a machine operator. The remote control device 1220 may transmit control information for remote control to the vehicle based on the corresponding information.

The server device 1240 may transmit navigation information of the vehicle 1210, vehicle information about the surrounding accident, and the like to the remote control device 1220 according to the request.

The surrounding vehicle 1230 may transmit information collected through a device such as a sensor included in the vehicle 1210 to the remote control device 1220.

The roadside devices 1250 may transmit status information (eg, a red light), environmental information (eg, a pedestrian crossing, a child protection area, a vehicle accident), and the like to the remote control device 1220.

13 is a flowchart for briefly explaining the operation of the remote driving system according to an embodiment of the present invention.

Referring to FIG. 13, first, the vehicle may transmit a remote driving request (request information) to a remote control device (or remote cockpit) (S1301). For example, the vehicle may request a remote operation to the remote control device by detecting a failure in real time through an in-vehicle sensor or an autonomous driving system. Alternatively, the vehicle may transmit a remote driving request to the remote control device at the request of the driver. The remote driving request may include information indicating a type of vehicle failure, such as a sensor and an autonomous driving system, and/or information indicating a vehicle condition.

Next, the remote control device may determine the type of remote operation by a remote operation request received from the vehicle (S1302). In other words, the remote control device may determine the type of remote operation based on the request for remote operation and request necessary information. The type of remote operation may refer to the type of remote operation request. The present invention can distinguish and/or determine the type of remote driving, and request and/or receive information for performing optimal remote driving in the type to the vehicle and/or information collection device.

Next, the remote control device may request and receive vehicle information required for the determined remote driving type (S1303, S1304).

Next, the remote control device may determine the remote driver type based on the request information, the remote driving type, and/or vehicle information (S1305). The remote driver type may mean a type of a subject who performs remote operation in the remote control device. The remote operator type can be divided into human operator and machine operator. The present invention can implement a highly reliable remote driving system by requesting and/or receiving information for performing optimal remote driving in the corresponding type by distinguishing and/or determining a remote driver type. . At this time, the remote driving type and/or the remote driver type may be determined simultaneously by receiving the remote driving request and/or vehicle information. In addition, the remote control device may determine the remote driver type based on the remote driving request, and then the remote driving type may be determined based on the determined remote driver type, remote power request, and/or vehicle information. In other words, the necessary information for the order and determination in which the type of remote operation and/or the type of remote driver is determined may be implemented in various ways as necessary.

Next, the remote control device may request and/or receive required vehicle surrounding information from the information collecting device based on the remote driving request, the vehicle information, the determined remote driving type, and/or the remote driver type (S1306, S1307). For example, the information collection device may collect surrounding information on the driving route from the current location (location-based) of the vehicle to the destination and transmit it to the remote control device. In addition, the remote control device requests and/or receives vehicle surrounding information from the information collecting device, and at the same time (or later) the determined remote driving type, the determined remote driver type, the remote driving request, the vehicle information, and/or the vehicle surroundings. Based on the information, additional information may be requested and/or received from the vehicle (S1308). Here, the additional information may be necessary information related to a vehicle not included in the received vehicle information. In other words, the additional information may refer to information on a vehicle that receives vehicle information and determines that it is additionally necessary based on the determined type of remote driver and vehicle surrounding information.

The information collecting device may mean any device capable of collecting information about the surroundings of the vehicle, such as a roadside device (RSU), a mobile edge computing (MEC) server device, a cloud server device, and a surrounding vehicle. The information collecting device may receive the request and transmit the vehicle surrounding information to the remote control device. Here, the collected information of the roadside device may be transmitted to the remote control device through the mobile edge computing server device, or may be transmitted from the direct roadside device to the remote control device.

Vehicle information (and/or additional information) and vehicle surrounding information may be as shown in Table 1 below. Here, the vehicle diagnosis information (diagnosis information) may be included in the remote driving request and transmitted to the remote control device. And/or, the remote control device may determine the remote driving type and the remote driver type, and based on this, may request and receive additionally insufficient information among the information in Table 2 to the vehicle and/or information collecting device. In Table 2, the information indicated in parentheses "()" may mean information that can be selectively transmitted. Vehicles can also request and receive additional vehicle information.

Alternatively, the remote control device may determine the remote driving type and the remote driver type based on the information included in the remote driving request, and based on this, request and receive the transmission of the information in Table 2 to the vehicle and the information collecting device.

Next, the remote control device may receive vehicle information (and/or additional information) and/or surrounding vehicle information in real time and perform remote driving based thereon (S1309). The remote control device configures a user interface based on vehicle information and/or vehicle surrounding information, and a human driver can control the vehicle through the user interface.

Next, the remote control device may transmit a request to stop the information to the vehicle and/or the information collection device (S1311), when arriving at the destination or receiving a request to stop the remote operation by the driver (or user) (S1310). When the remote control device receives a request for stopping the remote operation, the remote control device may stop transmitting control information for remote driving to the vehicle. The vehicle and/or information collecting device may receive a request to stop information, and stop transmitting the vehicle and/or vehicle surrounding information.

Hereinafter, the thrust operation system and the remote control device will be described in detail.

1) How to request remote driving from a vehicle

1-1) Remote driving request by vehicle failure

If the autonomous vehicle is difficult due to the failure of the autonomous vehicle, the diagnostic system in the vehicle determines the error of the sensor related to autonomous driving and whether the autonomous vehicle is recognized, judged, or the normal operation of the control system. It is possible to inform the driver (or user) of an impossible situation. The driver may request a remote operation to the remote control device through a user interface (UI) device in the vehicle when a remote operation is required. And/or, if the user sets the vehicle to automatically request remote driving, the remote control device may automatically request remote driving. The remote driving request can be used when making decisions necessary for remote driving in the remote control device, including diagnostic information of the vehicle. The diagnostic information may be information indicating whether a vehicle internal sensor, an autonomous driving system, or the like has failed, or a status.

1-2) Remote operation request by user's simple request (driver's request)

The user may request remote driving for reasons of driving inexperience, emergency, traffic congestion, rest, drinking, etc., not a malfunction of the vehicle. At this time, for charging for the remote driving service, payment information may be input in advance through a mobile device such as a vehicle or a smartphone.

The vehicle may communicate with the remote driver via voice and/or video by transmitting the cabin camera and/or voice data to the remote control device.

1-3) Remote operation request for driver emergency by monitoring driver condition

The vehicle can detect the driver's emergency situation by requesting driver status monitoring (DSM) and request remote driving.

2) Check the type of remote operation request from the remote control device

The remote control device can confirm the type of the remote operation request.

2-1) Driver simple request

When receiving diagnostic information from the vehicle, the remote control device may be a simple request from the driver when there is no abnormality in the vehicle. The remote control device can confirm the driver's request through communication with the driver.

 2-2) Driver emergency

 The remote control device may transmit the situation (or content) and the location of the vehicle to 119 when the emergency situation is confirmed by communication with the driver and driver state monitoring (DSM).

 2-3) Sensor failure

 The remote control device may determine whether the sensor has failed based on the diagnostic information transmitted from the vehicle. At this time, it is possible to distinguish vehicle data required for remote driving according to the failed sensor through diagnostic information such as a camera, a lidar, and a radar.

        In the event of a camera (sensor) failure, the remote control device can request information such as high-precision vehicle location, vehicle general information, radar, lidar, ultrasonic sensor, and vehicle direction.

        The remote control device may request the vehicle for high-precision vehicle location information (or location information), vehicle general information, ultrasonic sensor information, and camera sensor information (or camera information) in case of a lidar or radar (sensor) failure.

The remote control device is a high-precision vehicle location information, vehicle general information, ultrasonic sensor information, camera sensor information, lidar, radar sensor data (or in case of a failure and/or error of the autonomous driving judgment electronic control unit (ECU) among the autonomous driving systems. , Rider information, radar information).

In the case of a malfunction and/or error in the ECU of the autonomous vehicle among the autonomous vehicles, the remote control device is no longer in a situation where the vehicle is in operation, so the roadside device (RSU) and intelligent transport system (Intelligent Transport System) The ITS) can be informed of the situation so that other vehicles (or nearby vehicles) can respond. And/or the remote control device may request a video from a vehicle in front of the vehicle (front, rear, left and right) of the vehicle that requested the remote operation. The rear vehicle may transmit the front camera image based on the coordinates of the vehicle that requested the remote operation. The front vehicle can transmit the rear camera image. The right vehicle can transmit the left camera image. The left vehicle can transmit the right camera image. The remote control device may monitor the surrounding environment of the remote requesting vehicle based on the camera information (image) transmitted from the remote requesting vehicle and the camera information (image) transmitted from the surrounding vehicle.

3) Assigning the vehicle control subject according to the type of remote operation in the remote control device

A driver requesting remote driving may select and request a human driver or a machine driver.

And/or, the remote control device may assign a human driver or a machine operator as a remote driver to the remote operation request.

 3-1) Person driver assignment

 The remote control device may assign a human driver when the vehicle location (high-precision vehicle location) is not a location in which a vehicle, such as a road or a parking lot, is operable.

 The remote control device may assign a human driver when the road is not normal due to a natural disaster or an accident on the progression path to the destination of the vehicle.

 The remote control device may assign a human driver in situations where other machine operators cannot determine.

 3-2) Machine operator assignment

 The remote control device may assign a machine operator unless it is necessary to allocate a human driver on a path to the destination of the vehicle.

 4) Collect vehicle information and vehicle surrounding information according to the subject assigned by the remote control device

 The remote control device may request basic vehicle information such as high-precision vehicle location and general vehicle information (instrument information such as speed, fuel, and gear) for remote operation.

 In the remote control device, necessary information is additionally changed according to the type of the remote driver and the type of the remote operation request, and can be distinguished and requested from an information source.

 4-1) If you are a human driver

The remote control device may receive a cabin monitoring camera and voice from a vehicle. At this time, the remote driving requester may determine whether to transmit the cabin monitoring camera and voice through the vehicle's input device.

The remote control device may request navigation information of the vehicle from outside the vehicle (eg, a cloud server). In addition, the remote control device may optionally request RSU information around the vehicle, pedestrian information, emergency vehicle operation information, and surrounding vehicle information.

The remote control device may request emergency vehicle operation information when the remote driving requester is in an emergency.

4-2) If you are a machine operator

The remote control device may request navigation information of the vehicle from outside the vehicle. The remote control device may request information such as RSU information around the vehicle, pedestrian information, emergency vehicle operation information, and surrounding vehicle information in order to cope with an abnormal situation on the road.

5) Scope of collecting information from remote control device

5-1) When the vehicle is driving at an intersection

When a vehicle enters an intersection, it is determined that the vehicle enters the intersection if the roadside device (RSU) closest to the vehicle is within a certain range among all roadside devices (RSU) existing at the intersection, and the remote control device You can request all RSU and surrounding vehicle information within the intersection. The remote control device can predict the possibility of an accident at an intersection through collected information such as the RSU situation (traffic light speed limit) and the location and speed of surrounding vehicles. For example, as shown in FIG. 14, the remote control device requests the MEC server device information (RSU information) of RSUs located in a certain area 1411 in the vehicle traveling direction before the vehicle 1410 enters the intersection. I can receive it. Thereafter, if the vehicle 1410 enters an intersection, the remote control device may request and receive information (RSU information) of all RSUs in the intersection 1412 from the MEC server device. Thereafter, when the vehicle 1410 passes through an intersection, the remote control device may request and receive information from the MEC server device by expanding the information collection range 1413 in the vehicle traveling direction in proportion to the driving speed.

5-2) When the vehicle is running at low speed

The remote control device may reduce the range of requesting roadside device (RSU) and surrounding vehicle information when the vehicle is operating at a certain speed or less. In addition, the remote control device may not request the roadside device (RSU) and surrounding vehicle information when it is possible to operate through camera information, lidar information, radar information, etc. provided by the remote vehicle.

5-3) When the vehicle is running at high speed

The remote control device may request information from a wider range of roadside devices (RSUs) and surrounding vehicles when the vehicle is traveling at a high speed. At this time, as the vehicle speed increases, the request range of information may be more variably adjustable. For example, as illustrated in FIG. 15, the remote control device may request the information collection device (eg, MEC server device, cloud server device) by increasing the information collection range in proportion to the speed of the vehicle 1510. When the vehicle 1510 (the vehicle subject to remote driving) is operating at 50 km/s, the remote control device collects information collected by surrounding vehicles, RSUs, etc. located in the first range 1511 and/or vehicle surrounding information (e.g. route The optimal path, traffic information, road information, etc. on the top may be requested and collected from an information collection device (eg, RSU (V2I, V2V), cloud server device (V2N)). When the vehicle 1520 increases the speed to 90 km/s, the remote control device may request and receive information collected by surrounding vehicles, RSUs, and the like located in the second range 1512 to the information collection device. The cloud server device may be, for example, a Tmap server device, a Kakao Navi server device, or the like.

6) Remote control device transmits control information to the vehicle

The remote control device may transmit control information (or control messages) for remote control of the vehicle to the vehicle. The vehicle may proceed with vehicle operation by transmitting control information of a remote driver to each controller (eg, ECU).

7) End of remote operation

The remote control device (or remote driver) may request the vehicle and information collection devices (eg, vehicle peripheral devices) to stop providing information when the vehicle arrives at the destination. The vehicle and the information collecting devices may stop providing information after receiving the stop request. The remote control device may notify the user by sending charging information to the vehicle when charging for remote driving is required.

16 is a flowchart of a method for remote operation according to an embodiment of the present invention.

Referring to FIG. 16, a method performed by a remote control device includes receiving request information for remote driving including vehicle diagnostic information or type information from a vehicle (S1601), and remote driving based on the request information Determining the type (S1602), requesting vehicle information to the vehicle based on the remote driving type (S1603), receiving vehicle information from the vehicle (S1604), and remote driver type based on the vehicle information Determining (S1605), requesting vehicle surrounding information to the information collecting device based on the vehicle information and/or the remote driver type (S1606), and receiving vehicle surrounding information from the information collecting device (S1607) It may include.

First, the remote control device may receive request information for remote driving including diagnostic information or type information of the vehicle from the vehicle (S1601).

The request information may be information that requests remote operation to the remote control device. The remote control device may mean a device that can remotely control the vehicle. Vehicles and remote control devices can send and receive data via wired or wireless communication.

The diagnostic information may include information indicating whether each of the devices in the vehicle has failed. Alternatively, the diagnostic information may include information indicating the state of each of the devices in the vehicle. In this case, the remote control device may determine and/or detect whether the devices in the corresponding vehicle have failed by comparing the diagnostic information with predetermined information. For example, in-vehicle devices may be sensors such as cameras, lidars, radars, autonomous driving systems, and the like. The failure of the autonomous driving system may mean an error of an electronic control unit (ECU) for determination of autonomous driving, and/or an error of an ECU for autonomous driving control.

The type information may be information indicating the type of thrust driving selected by the user (or driver) of the vehicle. The type information may be information indicating remote operation due to an emergency situation, simple remote operation, or emergency. For example, the user may request remote driving for reasons of vehicle breakdown, driving inexperience, emergency, traffic jams, rest, and drinking. At this time, the user can input the type with the remote driving request through the input device in the vehicle. In addition, the type information may also include information on the type of remote driver selected by the user.

Next, the remote control device may determine the type of remote operation based on the request information (S1602). The remote driving type may be determined as remote driving due to a failure when a vehicle failure is detected based on diagnostic information, and may be determined as simple remote driving when a vehicle failure is not detected. And/or, the type of remote operation may be determined based on the type information, such as remote operation due to a failure, simple remote operation, or remote operation due to an emergency. The remote operation type may be divided into various types according to needs and settings in addition to remote operation due to failure, simple remote operation, or remote operation due to an emergency.

Next, the remote control device may request vehicle information to the vehicle based on the type of remote driving (S1603) and receive vehicle information from the vehicle (S1604). The vehicle information may include at least one of location information, destination information, route information, vehicle general information, camera information, radar information, lidar information, ultrasonic sensor information, vehicle direction information, fare information, and/or voice information. have. For example, the remote control device may request location information, destination information, route information, vehicle general information, camera information, ultrasonic sensor information, vehicle direction information, voice information, and fee information in the case of simple remote operation.

The vehicle general information may include at least one of speed information, fuel information, gear information, and/or instrument panel information. The camera information may include at least one of cabin camera information or front and rear side camera information.

In addition, the remote control device may request all information except for ultrasonic sensor information and fee information in the case of remote operation due to an emergency. In addition, the remote control device may request location information, vehicle general information, radar information, rider information, ultrasonic sensor information, and voice information in the case of remote driving due to a camera failure. In addition, the remote control device may request location information, vehicle general information, ultrasonic sensor information, camera information, voice information, and vehicle direction information in the case of remote operation due to a lidar or radar failure. In addition, the remote control device may request all information except radar information and rider information in the case of remote operation due to an autonomous driving judgment ECU failure. In addition, the remote control device may request location information, vehicle general information, camera information, and voice information in the case of remote operation due to an autonomous driving control ECU failure.

The remote control device can receive the information in real time during remote operation.

Next, the remote control device may determine the remote driver type based on the vehicle information (S1605). The remote driver type is determined as a human driver or a machine driver based on the type information, or is determined as a human driver when the location information indicates a non-driving location or the driving route based on the route information is abnormal, and the machine driver otherwise. Can be. For example, the remote control device may first determine the remote driver type based on the corresponding driver type when the type information includes information on the remote driver type selected by the user. Next, the remote control device, if the type information does not include information on the type of remote driver selected by the user, it is determined that the location information indicates a preset non-operational location or that the operation path based on the route information is a predetermined abnormality, If it is determined that the preset machine operator can perform remote operation, it may be determined as a human driver, and in other cases, it may be determined as a machine operator.

Next, the remote control device may request the vehicle surrounding information to the information collecting device based on the vehicle information and/or the remote driver type (S1606) and receive the vehicle surrounding information from the information collecting device (S1607). The information collection device includes one or more roadside units (RSU), one or more surrounding vehicles, one or more Mobile Edge Computing (MEC) server devices, and one or more Intelligent Transport Systems (ITS). And/or one or more cloud server devices. For example, collection information of one or more roadside devices or one or more surrounding vehicles may be transmitted to a remote control device through a mobile edge computing server device.

Vehicle surrounding information is required when the remote driver type is determined to be a machine driver, and may be selectively requested when the remote driver type is determined to be a human driver. Alternatively, when the remote driver type is determined to be a human driver, information other than navigation information among vehicle surrounding information may be selectively requested.

The vehicle surrounding information may include at least one of navigation information, RSU information around the vehicle, pedestrian information, emergency vehicle operation information, and/or surrounding vehicle information.

For example, if the remote driver type is determined to be a machine driver, request navigation information, RSU information around the vehicle, pedestrian information, emergency vehicle operation information, and surrounding vehicle information, and if the remote driver type is determined to be a human driver, add navigation information and Request information to request.

The range of one or more roadside devices for which RSU information is requested or the range of one or more surrounding vehicles for which surrounding vehicle information is requested may be determined based on location information and/or speed information. The remote control device may request RSU information of all RSUs in the intersection and surrounding vehicle information of surrounding vehicles when the vehicle is located at the intersection entrance. And/or, the remote control device may request RSU information of RSUs located in a wide range in proportion to the driving speed of the vehicle, and surrounding vehicle information of surrounding vehicles. The request range may be in the form of a driving direction of the vehicle.

And/or, the remote control device may transmit control information for remote driving of the vehicle to the vehicle based on the vehicle information and/or vehicle surrounding information. The vehicle can be controlled through control information.

And/or, when the vehicle arrives at the destination, the remote control device may transmit a request for stopping information transmission to the vehicle and the information collection device.

And/or, the remote control device may transmit charging information to the vehicle when charging for remote driving is required. The charging information may be information indicating a fee for remote operation.

The present invention can reduce the communication delay of remote driving by directly transmitting and receiving information around the vehicle through an information collecting device other than the vehicle.

In addition, the present invention can enable the remote driver to perform a safe remote operation by allowing the user to receive various information necessary for situation determination, not just the camera image.

In addition, the present invention can implement a remote operation system robust to transmission errors by not using a wireless network.

In addition, the present invention can realize a safer and more effective remote operation system by classifying and transmitting necessary information for each type of remote operation request and/or type of remote driver.

In addition, the present invention can secure stability as a machine operator.

17 is a block diagram of a remote control device according to an embodiment of the present invention.

Referring to FIG. 17, the remote control device 1710 includes a transceiver 1711 for transmitting and receiving wireless signals, and a processor 1712 functionally connected to the transceiver, and the processor 1712 includes , Receiving the request information for the remote driving including the diagnostic information or type information of the vehicle from the vehicle, and determines the remote driving type based on the request information, and requests the vehicle information to the vehicle based on the remote driving type And receives the vehicle information from the vehicle, determines a remote driver type based on the vehicle information, requests vehicle surrounding information based on the vehicle information or the remote driver type to the information collection device, and surrounds the vehicle Information can be controlled to be received from the information collection device.

Since the operation of the remote control device 1710 illustrated in FIG. 17 is the same as that of the remote control device described with reference to FIGS. 1 to 16, other detailed descriptions are omitted.

Embodiment 1: In a method of transmitting control information for remote driving in an automated vehicle & highway systems, a method performed by a remote control device includes the remote control including diagnostic information or type information of a vehicle Receiving request information for driving from a vehicle; Determining a remote operation type based on the request information; Requesting vehicle information from the vehicle based on the remote driving type; Receiving the vehicle information from the vehicle; Determining a remote driver type based on the vehicle information; Requesting vehicle surrounding information to an information collection device based on the vehicle information or the remote driver type; And receiving the vehicle surrounding information from the information collecting device.

Embodiment 2: In Embodiment 2, the remote driving type is determined as a remote operation based on a failure when a failure of the vehicle is detected based on the diagnostic information, and a simple remote operation when a failure of the vehicle is not detected It may be determined as, or based on the type information, the remote operation due to the failure, the simple remote operation, or may be determined as a remote operation due to an emergency.

Example 3: In Example 1, the vehicle information is location information, destination information, route information, vehicle general information, camera information, radar information, lidar information, ultrasonic sensor information, vehicle direction information, toll information, or voice It may include at least one of the information.

Embodiment 4: In Embodiment 3, the remote driver type is determined to be a human driver or a machine operator based on the type information, or the location information indicates a non-operational location or a driving path based on the route information is abnormal If it is determined, it may be determined to be the human driver, otherwise it may be determined to be the machine driver.

Embodiment 5: In embodiment 4, the information collection device includes one or more roadside units (RSU), one or more surrounding vehicles, one or more Mobile Edge Computing (MEC) server devices, one It may include at least one of the above Intelligent Transport Systems (ITS), or one or more cloud server devices.

Embodiment 6: In Embodiment 5, the vehicle surrounding information may be required when the remote driver type is determined to be the machine driver, and may be selectively requested when the remote driver type is determined to be the human driver.

Embodiment 7: In Embodiment 6, the vehicle surrounding information may include at least one of navigation information, RSU information around the vehicle, pedestrian information, emergency vehicle operation information, or surrounding vehicle information.

Embodiment 8: In Embodiment 7, the range of the one or more roadside devices for which the RSU information is requested or the range of the one or more peripheral vehicles for which the surrounding vehicle information is requested is determined based on the location information or the speed information Can be.

Embodiment 9: In Embodiment 1, the method may further include transmitting control information for remote driving of the vehicle to the vehicle based on the vehicle information and the vehicle surrounding information.

Embodiment 10: In Embodiment 9, when the vehicle arrives at a destination, the method may further include transmitting an information transmission stop request to the vehicle and the information collection device.

Embodiment 11: In Embodiment 10, when charging for the remote driving is required, the method may further include transmitting charging information to the vehicle.

Embodiment 12: In a remote control device that transmits control information for remote operation in an Automated Vehicle & Highway Systems, a transmitting and receiving unit for transmitting and receiving wireless signals and a processor functionally connected to the transmitting and receiving unit Including, the processor receives the request information for the remote driving, including the diagnostic information or type information of the vehicle from the vehicle, and determines the type of remote driving based on the request information, based on the remote driving type To request vehicle information to the vehicle, receive the vehicle information from the vehicle, determine a remote driver type based on the vehicle information, and collect vehicle surrounding information based on the vehicle information or the remote driver type Request to the device, and controls to receive the vehicle surrounding information from the information collecting device.

Embodiment 13: In embodiment 12, the remote driving type is determined as a remote operation due to a failure when a failure of the vehicle is detected based on the diagnostic information, and a simple remote operation when a failure of the vehicle is not detected It may be determined as, or based on the type information, the remote operation due to the failure, the simple remote operation, or may be determined as a remote operation due to an emergency.

Example 14: In Example 13, the vehicle information is location information, destination information, route information, vehicle general information, camera information, radar information, lidar information, ultrasonic sensor information, vehicle direction information, toll information or voice information It may include at least one of.

Example 15: In Example 14, the remote driver type is determined as a human driver or a machine driver based on the type information, or the location information indicates a non-operational location or an abnormal driving path based on the route information If it is determined, it may be determined as the human driver, otherwise, it may be determined as the machine driver.

Embodiment 16: In the fifteenth embodiment, the information collecting device includes one or more roadside units (RSU), one or more surrounding vehicles, one or more Mobile Edge Computing (MEC) server devices, one It may include at least one of the above Intelligent Transport Systems (ITS), or one or more cloud server devices.

Embodiment 17: In Embodiment 16, the vehicle surrounding information may be required when the remote driver type is determined to be the machine driver, and may be selectively requested when the remote driver type is determined to be the human driver.

Embodiment 18: In Embodiment 17, the vehicle surrounding information may include at least one of navigation information, RSU information around the vehicle, pedestrian information, emergency vehicle operation information, or surrounding vehicle information.

Embodiment 19: In embodiment 18, the range of the one or more roadside devices for which the RSU information is requested or the range of the one or more peripheral vehicles for which the surrounding vehicle information is requested is determined based on the location information or the speed information Can be.

Embodiment 20: In Embodiment 19, the method may further include transmitting information for controlling remote driving of the vehicle to the vehicle based on the vehicle information and the vehicle surrounding information.

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 types of recording devices in which data readable by a computer system is stored. Examples of computer-readable media include a hard disk drive (HDD), solid state disk (SSD), silicon disk drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage device. This includes, and is also implemented in the form of a carrier wave (eg, transmission over the Internet). Accordingly, the above detailed description should not be construed as limiting in all respects, but should be considered illustrative. The scope of the invention should be determined by rational interpretation of the appended claims, and all changes within the equivalent scope of the invention are included in the scope of the invention.

In addition, although the embodiments have been mainly described above, these are merely examples and do not limit the present invention, and those skilled in the art to which the present invention pertains are exemplified above in a range that does not depart from the essential characteristics of the present embodiment. It will be appreciated that various modifications and applications are possible. For example, each component specifically shown in the embodiments can be implemented by modification. And differences related to these modifications and applications should be construed as being included in the scope of the invention defined in the appended claims.

Claims (20)

In a method for transmitting control information for remote driving in an Automated Vehicle & Highway Systems, the method performed by the remote control device is
Receiving request information for the remote driving including vehicle diagnostic information or type information from a vehicle;
Determining a remote operation type based on the request information;
Requesting vehicle information from the vehicle based on the remote driving type;
Receiving the vehicle information from the vehicle;
Determining a remote driver type based on the vehicle information;
Requesting vehicle surrounding information to an information collection device based on the vehicle information or the remote driver type; And
Receiving the vehicle surrounding information from the information collecting device;
Method for transmitting control information for remote operation by a remote control device comprising a.
According to claim 1,
The remote driving type.
When a failure of the vehicle is detected based on the diagnostic information, it is determined as remote operation due to a failure,
If the failure of the vehicle is not detected, it is determined to be a simple remote operation, or based on the type information, the remote control due to the failure, the simple remote operation, or a remote control characterized in that it is determined as a remote operation due to an emergency A method for transmitting control information for remote operation by a device.
According to claim 2,
The vehicle information,
A remote control device comprising at least one of location information, destination information, route information, vehicle general information, camera information, radar information, lidar information, ultrasonic sensor information, vehicle direction information, fare information, or voice information. How to transmit control information for remote operation by.
The method of claim 3,
The remote driver type is determined as a human driver or a machine operator based on the type information, or
When it is determined that the location information indicates a non-operational location or an operation path based on the route information is abnormal, it is determined as the human driver and the rest is determined as the machine operator, for remote operation by the remote control device. How to send control information.
The method of claim 4,
The information collecting device,
One or more roadside units (RSUs), one or more surrounding vehicles, one or more Mobile Edge Computing (MEC) server devices, one or more Intelligent Transport Systems (ITSs), or one Method for transmitting control information for remote operation by a remote control device, characterized in that it comprises at least one of the above cloud server devices.
The method of claim 5,
The vehicle surrounding information,
A method for transmitting control information for remote operation by a remote control device, characterized in that it is required when the remote driver type is determined as the machine operator, and selectively requested when the remote driver type is determined as the human driver. .
The method of claim 6,
The vehicle surrounding information,
A method of transmitting control information for remote driving by a remote control device, characterized in that it comprises at least one of navigation information, RSU information around the vehicle, pedestrian information, emergency vehicle operation information, or surrounding vehicle information.
The method of claim 7,
The range of the one or more roadside devices for which the RSU information is requested or the range of the one or more surrounding vehicles for which the surrounding vehicle information is requested is determined based on the location information or speed information, and is remotely controlled by the remote control device. A method of transmitting control information for driving.
According to claim 1,
Transmitting control information for remote driving of the vehicle to the vehicle based on the vehicle information and the vehicle surrounding information;
Method for transmitting control information for remote operation by a remote control device further comprising a.
The method of claim 9,
Transmitting a request for stopping information transmission to the vehicle and the information collection device when the vehicle arrives at a destination;
Method for transmitting control information for remote operation by a remote control device further comprising a.
The method of claim 10,
Transmitting charging information to the vehicle when charging for the remote operation is necessary;
Method for transmitting control information for remote operation by a remote control device further comprising a.
In the autonomous vehicle (Automated Vehicle & Highway Systems) in the remote control device for transmitting control information for remote operation,
Transmitting and receiving unit for transmitting and receiving wireless signals,
It includes a processor functionally connected to the transceiver,
The processor,
Receiving the request information for the remote driving including the diagnostic information or type information of the vehicle from the vehicle,
The remote operation type is determined based on the request information,
Request vehicle information to the vehicle based on the remote driving type,
Receiving the vehicle information from the vehicle,
Determine the type of remote driver based on the vehicle information,
Requesting information around the vehicle to the information collection device based on the vehicle information or the remote driver type,
A remote control device that controls to receive the vehicle surrounding information from the information collection device.
The method of claim 12,
The remote driving type is determined as remote operation based on a failure when a failure of the vehicle is detected based on the diagnostic information, or determined as simple remote operation when a failure of the vehicle is not detected,
Based on the type information, the remote control device, characterized in that determined by the remote operation by the failure, the simple remote operation, or remote operation by an emergency.
The method of claim 13,
The vehicle information,
A remote control device comprising at least one of location information, destination information, route information, vehicle general information, camera information, radar information, lidar information, ultrasonic sensor information, vehicle direction information, fare information or voice information.
The method of claim 14,
The remote driver type,
If it is determined to be a human driver or a machine driver based on the type information, or if the location information indicates a non-driving location or it is determined that the driving route based on the route information is abnormal, it is determined as the human driver, and otherwise, the machine driver Remote control device, characterized in that determined by.
The method of claim 15,
The information collecting device,
One or more roadside units (RSUs), one or more surrounding vehicles, one or more Mobile Edge Computing (MEC) server devices, one or more Intelligent Transport Systems (ITSs), or one Remote control device comprising at least one of the above cloud server devices.
The method of claim 16,
The vehicle surrounding information,
A remote control device, characterized in that it is required when the type of remote driver is determined as the machine operator, and selectively requested when the type of remote driver is determined as the human driver.
The method of claim 17,
The vehicle surrounding information,
A remote control device comprising at least one of navigation information, RSU information around the vehicle, pedestrian information, emergency vehicle operation information, or surrounding vehicle information.
The method of claim 18,
The range of the one or more roadside devices for which the RSU information is requested or the range of the one or more surrounding vehicles for which the surrounding vehicle information is requested is determined based on the location information or speed information.
The method of claim 12,
The processor,
Remote control device characterized in that for transmitting the information for controlling the remote operation of the vehicle based on the vehicle information and the vehicle surrounding information.

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