KR102300714B1 - Apparatus for controlling vehicle and method thereof - Google Patents

Abstract

The present invention relates to a vehicle control apparatus and method, and relates to a surrounding vehicle information providing unit providing information on surrounding vehicles, an information collecting unit collecting dynamic information according to the driving state of the own vehicle, and dynamic information collected by the information collecting unit The driving of the own vehicle is controlled in consideration of the surrounding vehicle information provided from the providing unit provided to the driver of the own vehicle and the surrounding vehicle information providing unit, and dynamic information is collected through the information collecting unit based on the driving state of the own vehicle. It characterized in that it includes a control unit that provides to the driver through the providing unit.

Description

VEHICLE CONTROL DEVICE AND METHOD

The present invention relates to a vehicle control apparatus and method, and more particularly, to a vehicle control apparatus and method for controlling autonomous driving of a host vehicle in consideration of driving information of a surrounding vehicle.

Today's automotive industry is moving towards implementing autonomous driving that minimizes driver intervention in vehicle driving. An autonomous vehicle refers to a vehicle that autonomously determines a driving route by recognizing the surrounding environment through external information sensing and processing functions while driving, and driving independently using its own power.

An autonomous vehicle can drive itself to its destination by preventing collisions with obstacles on the driving path and adjusting vehicle speed and driving direction according to the shape of the road without the driver operating the steering wheel, accelerator pedal, or brake. have. Specifically, the autonomous vehicle optimally determines the driving route and driving lane by determining and correcting the position of the vehicle through map data and location information of facilities, and controls the driving of the vehicle so as not to deviate from the determined path and lane, and Performs defensive and evasive driving against a vehicle that suddenly enters or a hazard that exists on the driving path.

In such an autonomous vehicle, in order to more precisely control autonomous driving, a control device such as an ECU performs a large-capacity operation that processes a large amount of data input from the vehicle's sensor and an external server, and occurs in the control process. When normal autonomous driving cannot be performed due to the computational load that is being performed, it directly leads to an accident. Therefore, a system for optimizing the amount of computation of the autonomous driving control device according to the driving state of the vehicle is requested.

Background art of the present invention is disclosed in Korean Patent Application Laid-Open No. 10-2016-0115448 (published on October 06, 2016).

The present invention was created to solve the above problems, and an object according to an aspect of the present invention is to reduce the computational load of an autonomous driving vehicle and differentiate information provided to a driver according to the driving state of the vehicle, thereby providing an autonomous driving vehicle. An object of the present invention is to provide an apparatus and method for controlling a vehicle capable of optimizing the amount of computation of an onboard control apparatus.

A vehicle control apparatus according to an aspect of the present invention includes a surrounding vehicle information providing unit providing information about surrounding vehicles, an information collecting unit collecting dynamic information according to a driving state of the own vehicle, and the dynamic information collected by the information collecting unit. A providing unit that provides a driver of the own vehicle, and controlling the driving of the own vehicle in consideration of the surrounding vehicle information provided from the surrounding vehicle information providing unit, and collecting the information based on the driving state of the own vehicle and a control unit that collects the dynamic information through a unit and provides it to the driver through the providing unit.

In the present invention, the surrounding vehicle information includes surrounding vehicle driving path information, which is driving path information of surrounding vehicles driving around the own vehicle, and sensing information in which the surrounding vehicle senses a driving environment, and the surrounding vehicle The information providing unit determines a neighboring vehicle having the same driving path as the own vehicle based on the driving path information of the surrounding vehicle collected from the surrounding vehicle, and provides surrounding vehicle information on the determined surrounding vehicle to the control unit. .

In the present invention, when there are a plurality of surrounding vehicles having the same driving path as the host vehicle, the surrounding vehicle information providing unit provides surrounding vehicle information on the surrounding vehicle having the highest accuracy of the sensing information to the control unit. do.

In the present invention, the controller may control the driving of the own vehicle by using the sensing information included in the surrounding vehicle information provided from the surrounding vehicle information providing unit.

In the present invention, the dynamic information includes interest information corresponding to a preset driver's preference condition, and traffic information on a driving route to a destination, and the controller includes the information collecting unit according to the vehicle speed of the own vehicle. It is characterized in that any one of the interest information and the traffic information is collected and provided to the driver through the providing unit.

In the present invention, when the vehicle speed of the own vehicle is included in a preset low speed range, the control unit collects the interest information through the information collecting unit and provides it to the driver through the providing unit, and the vehicle speed of the own vehicle is set in advance. When included in the set high-speed area, the traffic information is collected through the information collecting unit and provided to the driver through the providing unit.

In the present invention, the interest information includes event information and POI (Point Of Interest) information around the current location in which the own vehicle is driving, and the traffic information includes information about changing the driving route to the destination and information about existence. characterized in that

A vehicle control method according to an aspect of the present invention includes the steps of: providing, by a surrounding vehicle information providing unit, surrounding vehicle information collected from surrounding vehicles of the own vehicle; controlling the driving of the own vehicle in consideration of the steps of, the control unit collecting dynamic information according to the driving state of the own vehicle through the information collecting unit, and the control unit, the dynamic information collected through the information collecting unit It characterized in that it comprises the step of providing to the driver through the providing unit.

According to one aspect of the present invention, according to the present invention, it is possible to reduce the computational load of the autonomous driving control device by controlling autonomous driving of the own vehicle using the path information and sensing information of the surrounding vehicles driving around the own vehicle, By differentiating the information provided to the driver into interest information and traffic information according to the driving state of the vehicle, it is possible to optimize the amount of computation of the control device mounted on the autonomous vehicle.

1 is a block diagram illustrating a vehicle control apparatus according to an embodiment of the present invention.
FIG. 2 is an exemplary diagram for explaining a process in which a control unit receives surrounding vehicle information from a surrounding vehicle information providing unit in a vehicle control apparatus according to an embodiment of the present invention.
3 is a flowchart illustrating a vehicle control method according to an embodiment of the present invention.

Hereinafter, embodiments of a vehicle control apparatus and method according to the present invention will be described with reference to the accompanying drawings. In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

1 is a block diagram illustrating a vehicle control apparatus according to an embodiment of the present invention, and FIG. 2 is a control unit in the vehicle control apparatus according to an embodiment of the present invention receives information on surrounding vehicles from a nearby vehicle information providing unit. It is an example diagram for explaining the process of receiving an input.

Referring to FIG. 1 , a vehicle control apparatus according to an embodiment of the present invention includes a positioning unit 100 , a vehicle speed sensor 200 , a surrounding vehicle information providing unit 300 , an information collecting unit 400 , and a providing unit 500 . ) and a control unit 600 .

The positioning unit 100 may position the current position of the own vehicle and transmit it to the control unit 600 to be described later. Specifically, the positioning unit 100 uses a satellite navigation system such as GPS to receive GPS coordinates for the current location of the own vehicle, that is, location information of latitude and longitude coordinates, and transmit it to the control unit 600 so that the control unit 600 is It is possible to determine the driving route to the destination by allowing the current location of the own vehicle to be determined.

On the other hand, when the controller 600 determines the driving route to the destination, map data may be utilized together with the current location of the own vehicle positioned by the positioning unit 100 , and the map data is a link of a driving road and a link of each link. It may be implemented as precise map data that includes not only information such as attributes and a node list of an intersection for each link, but also information on the width of the driving road, lane information, and location, size and shape information of fixed facilities. To this end, the present embodiment may further include a map data storage unit (not shown) that stores map data, and as will be described later, when the surrounding vehicle information providing unit 300 is implemented as a separate cloud server, the control unit 600 may be implemented as an embodiment for receiving map data from the cloud server and determining a driving route to a destination.

The vehicle speed sensor 200 may detect the vehicle speed of the vehicle and transmit it to the controller 600 . The vehicle speed sensor 200 includes a sensor that detects a vehicle speed using the rotational speed of a wheel, a sensor that detects a vehicle speed by measuring an engine revolutions per minute (RPM), and a global positioning system (GPS) to measure the vehicle speed. Various sensors, such as a sensor for detecting, may all be included. The vehicle speed detected by the vehicle speed sensor 200 may be used by the controller 600 to determine information to be collected through the information collection unit 400 as will be described later.

The surrounding vehicle information providing unit 300 may collect surrounding vehicle information from surrounding vehicles driving around the own vehicle and provide it to the control unit 600 . Here, the surrounding vehicle information may include surrounding vehicle driving path information, which is driving path information of the surrounding vehicle, and sensing information in which the surrounding vehicle senses a driving environment. The surrounding vehicle information provided from the surrounding vehicle information providing unit 300 may be used by the controller 600 to control the driving of the own vehicle as will be described later.

The surrounding vehicle information providing unit 300 may be implemented as a configuration mounted in a vehicle, or may be implemented as a separate server that provides surrounding vehicle information to each vehicle from the outside of the vehicle.

The information collection unit 400 may collect dynamic information according to the driving state of the own vehicle and transmit it to the control unit 600 to be described later. In this case, the driving state of the own vehicle may mean the vehicle speed detected by the vehicle speed sensor 200 , and the dynamic information includes interest information corresponding to the preset driver's preference condition, and traffic information on the driving route to the destination. may include

Here, the driver's preference condition is a condition preset in the information collection unit 400 or the control unit 600 in order to collect interest information that the driver wants to receive, for example, an event ( For example: It refers to a condition set in advance to collect information such as weather or broadcasting information such as rain or POI (Point Of Interest) information. That is, in the present embodiment, the interest information refers to driver-centered information provided in consideration of the driver's preference, including event information and POI (Point Of Interest) information around the current location where the own vehicle is driving.

In addition, the traffic information on the driving route to the destination may include information on the change of the driving route to the destination (eg, navigation information that provides a route that is changed by reflecting real-time traffic conditions) and information about the accident. That is, in the present embodiment, the traffic information means driving-oriented information provided to the driver for driving convenience and driving stability of the own vehicle.

Meanwhile, the information collection unit 400 may collect the aforementioned dynamic information through a traffic infrastructure such as an external server (eg, a traffic control server).

The providing unit 500 may provide the driver with dynamic information (ie, interest information and traffic information) collected by the information collection unit 400 . The providing unit 500 may include an image output device such as a display device and a sound output device such as a speaker to visually and audibly provide dynamic information to the driver.

The control unit 600 controls the driving of the own vehicle in consideration of the surrounding vehicle information provided from the surrounding vehicle information providing unit 300 (ie, controls autonomous driving of the own vehicle), and based on the driving state of the own vehicle Dynamic information may be collected through the information collecting unit 400 and provided to the driver through the providing unit 500 .

Specifically, as described above, the surrounding vehicle information providing unit 300 of this embodiment may be implemented as a separate server that provides surrounding vehicle information to each vehicle from the outside of the vehicle, and the surrounding vehicle information provides information about the surroundings of the own vehicle. It may include driving path information of the surrounding vehicle, which is driving path information of the driving surrounding vehicle, and sensing information in which the surrounding vehicle senses the driving environment. The sensing information of the surrounding vehicle means information obtained by sensing the driving environment of the surrounding vehicle through a camera sensor, a lidar sensor, a GPS module, a gyro sensor, or an IMU mounted on the surrounding vehicle.

In this case, the surrounding vehicle information providing unit 300 may determine a surrounding vehicle having the same driving path as the own vehicle based on the collected surrounding vehicle information, and may provide surrounding vehicle information on the determined surrounding vehicle to the controller 600 .

That is, the surrounding vehicle information providing unit 300 may provide information on surrounding vehicles of a surrounding vehicle having the same driving path as the own vehicle among a plurality of surrounding vehicles driving around the own vehicle to the control unit 600 of the own vehicle. . Accordingly, the control unit 600 may improve autonomous driving control performance and accuracy by controlling the driving of the own vehicle in consideration of information on surrounding vehicles of the surrounding vehicle having the same driving path as the own vehicle.

In this case, when there are a plurality of surrounding vehicles having the same driving path as the own vehicle, the surrounding vehicle information providing unit 300 may provide the surrounding vehicle information on the surrounding vehicle having the highest accuracy of sensing information to the controller 600 . Accuracy of sensing information is a method of comparing each sensing information collected from surrounding vehicles with map data (eg, precision map data) stored in the surrounding vehicle information providing unit 300 and obtaining the error to determine the accuracy according to the size of the error (e.g., a method of obtaining an error between the position data of the surrounding object included in the sensing information and the position data of the corresponding surrounding object included in the map data and determining the accuracy according to the size of the error) . Accordingly, the control unit 600 of the own vehicle receives high-quality sensing information obtained by the surrounding vehicle from the surrounding vehicle information providing unit 300 to control the driving of the own vehicle, thereby improving control precision.

The above-described configuration will be described as a specific example with reference to FIG. 2 . Vehicle ① (Nearby vehicle driving route information: 10km straight, sensing information accuracy: 10), Vehicle ② (Neighboring vehicle driving route information: Go straight 1km and turn left, sensing information accuracy: 12) and ④ Vehicle (Nearby vehicle driving path Information: 12km straight, sensing information accuracy: 7) is the surrounding vehicle, and assuming that the third vehicle (driving route: 6km straight, sensing information accuracy: 5) is the own vehicle, the surrounding vehicle information providing unit 300 is Information on surrounding vehicles is collected from vehicle ①, vehicle ②, and vehicle ④, respectively, and at the same time, own vehicle information is collected from vehicle ③, which is the own vehicle. Based on the collected information, it can be determined that the surrounding vehicles having the same driving route as the own vehicle are the No. 1 vehicle and the No. 4 vehicle, and the sensing information accuracy is higher in the No. Transmits information on surrounding vehicles of the first vehicle to the control unit 600 of the own vehicle. Accordingly, the own vehicle, the third vehicle, can control the driving of the own vehicle using the sensing information (accuracy: 10) of the first vehicle, which is higher than the sensing information of the own vehicle (accuracy: 5), and the control precision thereof will be improved

In the above description, the configuration in which the surrounding vehicle information providing unit 300 that can be implemented as a server determines the surrounding vehicle having the same driving path as the own vehicle and determines the accuracy of the sensing information has been described. The providing unit 300 is mounted on the own vehicle, receives information about surrounding vehicles from surrounding vehicles through V2V communication, determines surrounding vehicles with the same driving route, determines the accuracy of sensing information, and then transmits surrounding vehicle information to the control unit 600 . It may be implemented in the configuration provided, and the control unit 600 of the own vehicle receives information about the surrounding vehicle from the surrounding vehicle through V2V communication, directly determines the surrounding vehicle with the same driving route, and directly determines the accuracy of the sensing information. It may be implemented as a configuration for controlling the driving of the vehicle.

Meanwhile, as described above, in this embodiment, the controller 600 may collect dynamic information through the information collecting unit 400 based on the driving state of the own vehicle and provide it to the driver through the providing unit 500 . As described above, the driving state of the host vehicle may mean the vehicle speed detected by the vehicle speed sensor 200 , and the dynamic information includes interest information corresponding to a preset driver's preference condition, and traffic for a driving route to a destination. may contain information. Accordingly, the controller 600 may collect any one of interest information and traffic information through the information collecting unit 400 according to the vehicle speed of the own vehicle and provide it to the driver through the providing unit 500 .

That is, when the vehicle speed of the own vehicle is included in the preset low speed range, the controller 600 collects the interest information through the information collection unit 400 and provides it to the driver through the providing unit 500 , and when the vehicle speed of the own vehicle is When included in the preset high-speed area, traffic information may be collected through the information collecting unit 400 and provided to the driver through the providing unit 500 .

Specifically, when the own vehicle is traveling at a low speed, the load of calculations required for autonomous driving, including autonomous driving control and map matching, is reduced, so information other than driving-related information is collected and the amount of calculation that can be provided to the driver is secured. Therefore, in this embodiment, a configuration is adopted in which the amount of computation secured as described above is used to collect and provide useful information of interest to the driver, such as event information or POI information around the current location where the own vehicle is driving. do.

In addition, in a state in which the own vehicle is traveling at high speed, the load of calculations required for autonomous driving, including autonomous driving control and map matching, increases, so that the amount of calculation that can provide information of interest to the driver, such as in a low-speed driving state, cannot be secured. Therefore, the present embodiment adopts a configuration for improving driving convenience and driving stability of the host vehicle by providing only traffic information including information on change of a driving route to a destination and information about existence of a vehicle to the driver.

Meanwhile, the low-speed region and the high-speed region may be variously designed based on the designer's intention and set in advance in the controller 600 (eg, low-speed region: 0 KPH or more and less than 60 KPH, high-speed region: 60 KPH or more) ).

Accordingly, when the vehicle speed of the own vehicle is included in the low-speed region, the driver can receive information of interest through the providing unit 500 , and when the vehicle speed of the own vehicle is included in the high-speed region, the driver can receive traffic information through the providing unit 500 . information can be provided.

3 is a flowchart illustrating a vehicle control method according to an embodiment of the present invention.

When the vehicle control method according to an embodiment of the present invention is described with reference to FIG. 3 , first, the surrounding vehicle information providing unit 300 provides surrounding vehicle information collected from surrounding vehicles of the own vehicle to the control unit 600 ( S100). The surrounding vehicle information may include surrounding vehicle driving path information, which is driving path information of the surrounding vehicle, and sensing information in which the surrounding vehicle senses the driving environment, and the surrounding vehicle information providing unit 300 is implemented in a configuration mounted in the vehicle. It may also be implemented as a separate server that provides information about surrounding vehicles from outside the vehicle to each vehicle.

At this time, in step S100 , the surrounding vehicle information providing unit 300 determines surrounding vehicles having the same driving path as the own vehicle based on the surrounding vehicle driving path information collected from the surrounding vehicles, and controls surrounding vehicle information on the determined surrounding vehicle information to the controller 600 . ) can be provided.

In addition, in step S100 , the surrounding vehicle information providing unit 300 provides the control unit 600 with surrounding vehicle information on the surrounding vehicle having the highest accuracy of sensing information when there are a plurality of surrounding vehicles having the same driving path as the own vehicle. can

Next, the controller 600 controls the driving of the own vehicle in consideration of the surrounding vehicle information provided from the surrounding vehicle information providing unit 300 ( S200 ).

In step S200 , the controller 600 may control the driving of the own vehicle by using sensing information included in the surrounding vehicle information provided from the surrounding vehicle information providing unit 300 . Accordingly, the control unit 600 of the own vehicle receives high-quality sensing information obtained by the surrounding vehicle from the surrounding vehicle information providing unit 300 to control the driving of the own vehicle, thereby improving control precision.

Next, the control unit 600 collects dynamic information according to the driving state of the own vehicle through the information collection unit 400 ( S300 ). Here, the driving state of the own vehicle may mean a vehicle speed detected by the vehicle speed sensor 200, and the dynamic information includes interest information corresponding to a preset driver's preference condition, and traffic information on a driving route to a destination. may include Accordingly, in step S300 , the controller 600 may collect any one of interest information and traffic information through the information collecting unit 400 according to the vehicle speed of the own vehicle and provide it to the driver through the providing unit 500 .

In step S300 , the controller 600 collects interest information through the information collecting unit 400 when the vehicle speed of the own vehicle is included in the preset low speed region, and information when the vehicle speed of the own vehicle is included in the preset high speed region Traffic information may be collected through the collection unit 400 . As described above, the interest information may include event information and POI information around the current location where the own vehicle is driving, and the traffic information may include information about changing a driving route to a destination and information about existence.

Then, the control unit 600 provides the dynamic information collected through the information collecting unit 400 to the driver through the providing unit 500 (S400). That is, when the vehicle speed of the own vehicle is included in the low-speed region, the driver receives information of interest through the providing unit 500 , and when the vehicle speed of the own vehicle is included in the high-speed region, the driver provides traffic information through the providing unit 500 . can receive

As described above, according to the present embodiment, the computational load of the autonomous driving control device can be reduced by controlling autonomous driving of the own vehicle by using the path information and sensing information of the surrounding vehicle driving around the own vehicle, and depending on the driving state of the vehicle By differentiating the information provided to the driver into interest information and traffic information, it is possible to optimize the amount of computation of the control device mounted on the autonomous vehicle.

Although the present invention has been described with reference to the embodiment shown in the drawings, this is merely exemplary, and it is understood that various modifications and equivalent other embodiments are possible by those skilled in the art. will understand Accordingly, the true technical protection scope of the present invention should be defined by the following claims.

100: positioning unit
200: vehicle speed sensor
300: surrounding vehicle information providing unit
400: information collection unit
500: provider
600: control unit

Claims (14)

a surrounding vehicle information providing unit that provides surrounding vehicle information;
an information collection unit that collects dynamic information according to the driving state of the own vehicle;
a providing unit providing the dynamic information collected by the information collecting unit to a driver of the own vehicle; and
The driving of the own vehicle is controlled in consideration of the surrounding vehicle information provided from the surrounding vehicle information providing unit, and the dynamic information is collected through the information collecting unit based on the driving state of the own vehicle and the information is collected through the providing unit. a control unit provided to the driver;
including,
The dynamic information includes interest information corresponding to a preset driver's preference condition, and traffic information on a driving route to a destination,
The control unit collects any one of the interest information and the traffic information through the information collecting unit according to the vehicle speed of the own vehicle and provides it to the driver through the providing unit,
When the vehicle speed of the own vehicle is included in a preset low speed range, the control unit collects the interest information through the information collecting unit and provides it to the driver through the providing unit, and the vehicle speed of the own vehicle is set in a preset high speed area. When included, the vehicle control device, characterized in that collecting the traffic information through the information collecting unit and providing it to the driver through the providing unit.
According to claim 1,
The surrounding vehicle information includes surrounding vehicle driving path information, which is driving path information of surrounding vehicles driving around the own vehicle, and sensing information in which the surrounding vehicle senses a driving environment,
The surrounding vehicle information providing unit determines a surrounding vehicle having the same driving path as the own vehicle based on the surrounding vehicle driving path information collected from the surrounding vehicle, and provides surrounding vehicle information on the determined surrounding vehicle to the control unit. A vehicle control system characterized by the
3. The method of claim 2,
The surrounding vehicle information providing unit, when a plurality of surrounding vehicles having the same driving path as the own vehicle, provides the surrounding vehicle information on the surrounding vehicle having the highest accuracy of the sensing information to the controller. .
3. The method of claim 2,
wherein the control unit controls the driving of the own vehicle by using the sensing information included in the surrounding vehicle information provided from the surrounding vehicle information providing unit.
delete delete According to claim 1,
The interest information includes event information and POI (Point Of Interest) information around the current location where the own vehicle is driving, and the traffic information includes change information of a driving route to the destination and information about existence of an accident. vehicle control unit.
providing, by the surrounding vehicle information providing unit, surrounding vehicle information collected from surrounding vehicles of the own vehicle;
controlling, by a controller, driving of the own vehicle in consideration of the surrounding vehicle information provided from the surrounding vehicle information providing unit;
collecting, by the controller, dynamic information according to the driving state of the host vehicle through the information collecting unit; and
providing, by the controller, the dynamic information collected through the information collecting unit to the driver through a providing unit;
including,
The dynamic information includes interest information corresponding to a preset driver's preference condition, and traffic information on a driving route to a destination,
In the collecting step, the control unit,
Collect any one of the interest information and the traffic information through the information collecting unit according to the vehicle speed of the own vehicle,
In the collecting step, the control unit,
When the vehicle speed of the own vehicle is included in a preset low-speed region, the interest information is collected through the information collecting unit, and when the vehicle speed of the own vehicle is included in the preset high-speed region, the traffic information is collected through the information collection unit Vehicle control method, characterized in that.
9. The method of claim 8,
The surrounding vehicle information includes surrounding vehicle driving path information, which is driving path information of surrounding vehicles driving around the own vehicle, and sensing information in which the surrounding vehicle senses a driving environment,
In the step of providing the surrounding vehicle information, the surrounding vehicle information providing unit,
The vehicle control method according to claim 1, wherein, based on the driving route information of the surrounding vehicles collected from the surrounding vehicles, a surrounding vehicle having the same driving path as the own vehicle is determined, and surrounding vehicle information on the determined surrounding vehicle is provided to the controller.
10. The method of claim 9,
In the step of providing the surrounding vehicle information, the surrounding vehicle information providing unit,
When there are a plurality of surrounding vehicles having the same driving path as the host vehicle, the vehicle control method according to claim 1, wherein information about surrounding vehicles with the highest accuracy of the sensing information is provided to the controller.
10. The method of claim 9,
In the step of controlling the driving of the host vehicle, the control unit,
The vehicle control method of claim 1, wherein the driving of the own vehicle is controlled by using the sensing information included in the surrounding vehicle information provided from the surrounding vehicle information providing unit.
delete delete 9. The method of claim 8,
The interest information includes event information and POI (Point Of Interest) information around the current location where the own vehicle is driving, and the traffic information includes change information of a driving route to the destination and information about existence of an accident. how to control the vehicle.

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