KR102418660B1 - Embedded system for congestion control of vehicle, congestion control method of vehicle - Google Patents

Abstract

The present invention relates to an embedded system for vehicle congestion control and a vehicle congestion control method, which generates each event by performing each task through each algorithm for vehicle driving support. By storing each event in a FIFO (First Input First Output) type queue according to a priority determined for each event generated by the processor based on the processor and the driving environment of the vehicle, each event stored in the queue is It is characterized in that it includes a scheduler that transmits through the network according to the priority, and performs congestion control on the network.

Description

Embedded system for vehicle congestion control, vehicle congestion control method

To an embedded system for vehicle congestion control and a vehicle congestion control method, and more particularly, to an embedded system for vehicle congestion control for controlling event congestion on a vehicle network, and a vehicle congestion control method .

Currently, the application of electronic systems to implement services such as convenience and safety as well as engine and mechanical technologies related to driving, which are traditional functions, is increasing in automobiles. is becoming As such a real-time operating system, an embedded system that guarantees to process an event within a given characteristic time is widely used.

The embedded system operates so that vehicle control is performed by transmitting an event generated when a predetermined algorithm applied to the CPU core performs a task to the outside of the system, such as each controller mounted on the vehicle. At this time, due to the rapid increase in the electric system applied to the vehicle, the number of algorithms applied to the CPU core also tends to increase rapidly. Event Congestion) problem is occurring.

That is, when the number of algorithms increases or a large amount of events occurs in a specific algorithm, an overflow occurs in the queue where events are stored, or an event is lost due to the communication load between internal processes. There is a problem that the occurrence of event loss cannot be identified at the core level because the event generated from the core is transmitted in a unilateral Send method. This phenomenon reduces the algorithm execution accuracy of the embedded system and the electronic control accuracy of the vehicle, and as a result, it becomes a factor causing malfunction of the vehicle control.

Background art of the present invention is disclosed in Korean Patent Publication No. 10-2008-0108833 (published on December 16, 2008).

The present invention has been devised to solve the above problems, and an object according to an aspect of the present invention is to prevent an overflow of a queue in which events are stored by removing an event congestion problem that may occur on a vehicle network, and to prevent event loss. To provide an embedded system for vehicle congestion control and a vehicle congestion control method to ultimately improve vehicle electronic control accuracy.

An embedded system for vehicle congestion control according to an aspect of the present invention includes a processor that generates each event by performing each task through each algorithm for vehicle driving support, and the vehicle By storing each event in a FIFO (First Input First Output) type queue according to a priority determined for each event generated by the processor based on the driving environment of It is characterized in that it includes a scheduler that transmits through the network according to the priority, and performs congestion control for the network.

In the present invention, the scheduler starts the congestion control when the storage rate of the queue for each event is equal to or greater than a preset upper limit rate, and ends the congestion control when the storage rate reaches a preset lower limit rate or less characterized in that

In the present invention, the scheduler makes the timing at which each event is stored in the queue different according to the priority, and delays the time when the event is stored in the queue as the priority is lower, so that the corresponding event is It is characterized in that the transmission time is delayed.

In the present invention, when the driving environment of the vehicle is a specific driving environment, the scheduler is configured such that the priority of the first to Nth events (N is a natural number) included in each event is greater than the priority of the other events. Determining, storing the first to Nth events in the queue according to a first period, and storing the remaining events in the queue by grouping them by the remaining events according to a second period larger than the first period characterized.

In the present invention, the scheduler increases the second period as the storage rate increases in a range equal to or greater than the upper limit rate.

In the present invention, the specific driving environment includes at least one of a situation in which a dangerous vehicle satisfying a predetermined condition exists in the vicinity of the vehicle, and a situation in which a predetermined number or more of surrounding vehicles exist in the vicinity of the vehicle, It is characterized in that the Nth event includes an LD event according to a lane detection (LD) algorithm and a VD event according to a vehicle detection (VD) algorithm.

In the present invention, the specific driving environment includes a situation in which the vehicle enters a road that satisfies a predetermined condition, and the first to Nth events include a PD event according to a PD (Pedestrian Detection) algorithm, and a TSR (Traffic) event. It is characterized in that the TRS event according to the Sign Recognition) algorithm is included.

In the present invention, the specific driving environment includes a situation in which the vehicle is parked, and the first to Nth events include a PD event according to a Pedestrian Detection (PD) algorithm, and a PLD according to a Parking Lane Detection (PLD) algorithm. It is characterized in that the event is included.

A method for controlling congestion of a vehicle according to an aspect of the present invention includes the steps of, by a processor, performing each task through each algorithm for driving support of the vehicle to generate each event, and a scheduler , by storing each event in a FIFO (First Input First Output) type queue according to a priority determined for each event generated by the processor based on the driving environment of the vehicle, each stored in the queue and performing congestion control on the network by allowing the event to be transmitted through the network according to the priority.

According to one aspect of the present invention, when events occur simultaneously in an embedded system of a vehicle and there is a possibility of event congestion on a network, the event according to a predetermined priority determined based on the driving environment of the vehicle can improve the vehicle's electronic control accuracy by preventing queue overflow and event loss.

1 is a block diagram illustrating an embedded system for vehicle congestion control according to an embodiment of the present invention.
2 is an exemplary diagram illustrating a process of starting and ending congestion control according to a storage rate of a queue in an embedded system for congestion control of a vehicle according to an embodiment of the present invention.
3 is an exemplary diagram illustrating a process in which each event is stored in a queue in an embedded system for vehicle congestion control according to an embodiment of the present invention.
4 is a flowchart illustrating a vehicle congestion control method according to an embodiment of the present invention.
5 and 6 are flowcharts illustrating a process in which a priority is determined for each event according to a driving environment in a method for controlling congestion of a vehicle according to an embodiment of the present invention.

Hereinafter, embodiments of an embedded system for vehicle congestion control and a vehicle congestion control 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 intentions or customs of users and operators. Therefore, definitions of these terms should be made based on the content throughout this specification.

1 is a block diagram illustrating an embedded system for controlling congestion in a vehicle according to an embodiment of the present invention, and FIG. 2 is a block diagram of a queue in the embedded system for controlling congestion in a vehicle according to an embodiment of the present invention. It is an exemplary diagram illustrating a process of starting and ending congestion control according to a storage rate, and FIG. 3 is a diagram illustrating a process in which each event is stored in a queue in the embedded system for vehicle congestion control according to an embodiment of the present invention. It is an example diagram.

Referring to FIG. 1 , an embedded system for vehicle congestion control according to an embodiment of the present invention may include a processor 100 and a scheduler 200 .

The processor 100 may generate each event (ie, an interrupt) by performing each task through each algorithm for driving support of the vehicle.

Algorithms applied to the processor 100 of this embodiment are LD algorithm (Lane Detection Algorithm), VD algorithm (Vehicle Detection Algorithm: surrounding vehicle detection algorithm), PD algorithm (Pedestrian Detection Algorithm: Pedestrian detection algorithm), TSR Algorithm (Traffic Sign Detection Algorithm), PLD Algorithm (Parking Lane Detection Algorithm), PDW Algorithm (Passenger Detection Warning Algorithm), HBA Algorithm (High Beam Assist Algorithm: High Beam) auxiliary algorithm), SVM algorithm (Surround View Monitoring Algorithm), FSD algorithm (Free Space Detection Algorithm), and 2WD algorithm (2-Wheel Detectin Algorithm: two-wheeled vehicle detection algorithm). Although described as including, the present invention is not limited thereto, and various algorithms for electronic control of the vehicle may be included.

The processor 100 of this embodiment may be implemented as a multi-core processor, and accordingly, each core 110 included in the processor 100 performs each task through an algorithm applied to each event can be generated. For example, the first core may perform an LD task through the LD algorithm to generate an LD event, and the second core may perform a VD task through the VD algorithm to generate a VD event.

The scheduler 200 stores each event in a FIFO (First Input First Output) type queue 300 according to a priority determined for each event generated by the processor 100 based on the driving environment of the vehicle. By doing so, each event stored in the queue 300 is transmitted through an in-vehicle network (eg, CAN: Controller Area Network) according to the priority, so that congestion control for the network can be performed.

In other words, when there is a possibility of event congestion on the network due to simultaneous occurrence of multiple events by the processor 100, congestion control is required, and the event to be processed according to the current driving environment of the vehicle has priority. , the scheduler 200 of this embodiment stores each event in the queue 300 according to a priority determined based on the driving environment of the vehicle and transmits each stored event through the network in the vehicle according to the priority. Congestion control to prevent overflow of 300 and loss of events may be performed.

At this time, as shown in FIG. 2 , the scheduler 200 may initiate congestion control when the storage rate of the queue 300 for each event generated by the processor 100 is equal to or greater than a preset upper limit rate.

That is, if the storage rate of the queue 300 , which is the ratio of the number of events stored in the queue 300 and the size of the queue 300 , is equal to or greater than a preset upper limit rate, the scheduler 200 determines the overflow of the queue 300 and the occurrence of events in the queue 300 . It is determined that there is a possibility of occurrence of loss, and congestion control may be initiated. Here, the upper limit rate may be variously designed according to the designer's intention and the specification of the embedded system (eg, 80%).

In addition, the scheduler 200 may terminate the congestion control being performed when the storage rate of the queue 300 for each event reaches a preset lower limit rate or less by performing congestion control. Here, the lower limit rate may be variously designed according to the intention of the designer and the specifications of the embedded system (eg, 30%).

Based on the foregoing, a process in which the scheduler 200 performs congestion control on the network according to the priority of each event will be described in detail below.

The scheduler 200 varies the timing at which each event is stored in the queue 300 according to the priority determined for each event based on the driving environment of the vehicle, but as the priority is lower, the corresponding event is stored in the queue 300 Congestion control can be performed in such a way that the time at which the event is transmitted is delayed by delaying the time at which the event is stored.

Specifically, in the normal control state in which congestion control of the present embodiment is not performed, each core 110 included in the processor 100 may generate each event through each algorithm, and each generated event is It is stored in the queue 300 according to the first cycle to be described later) and may be operated to be transmitted through the network by the FIFO method. In this normal control state, when the storage rate of the queue 300 reaches more than a preset upper limit rate, the scheduler 200 determines that there is a possibility that the queue 300 overflows and event loss occurs, and starts congestion control, The lower the priority determined by the current driving environment of the vehicle, the lower the time when the corresponding event is stored in the queue 300 (that is, the higher the priority, the earlier the time when the corresponding event is stored in the queue 300 ) As a result, congestion control can be performed in such a way that the time when the corresponding event is transmitted is delayed by the structure of the FIFO-based queue 300 .

When the above-mentioned content is described as a more specific embodiment, when the driving environment of the vehicle is a specific driving environment, the priority of the first to N-th events (N is a natural number) included in each event is determined by the remaining priorities. Determined to be greater than the priority of the event, the first to N-th events are stored in the queue 300 according to the first period, and the remaining events are grouped by the remaining events according to the second period greater than the first period, respectively, and queued (300) can be stored.

That is, an event with a high priority for each driving environment of the vehicle may be predetermined, and a specific driving environment among the first to Mth events (M > N, M is a natural number) that are all events generated by the processor 100 . When it is determined that the priority of the first to N-th events should be high, the first to N-th events are stored in the queue 300 according to the first period, and the remaining events (ie, N+1 to M-th events) are stored in the queue 300 according to the first period. ) may be grouped for each remaining event according to a second period greater than the first period and stored in the queue 300 . Accordingly, the first to Nth events stored in the queue 300 according to the first period are preferentially transmitted through the network, and the remaining events stored in the queue 300 according to the second period are subordinated through the network. By being transmitted to , the vehicle control that is preferentially required according to the driving environment of the vehicle can be performed.

In order to help understand the above content, referring to FIG. 3 as an example, FIG. 3 shows that the PD algorithm, the LD algorithm, the VD algorithm, and the PDW algorithm should be preferentially performed based on the current driving environment of the vehicle, so that the PD event, Each event is queued (300 ) shows the process of being saved. Here, the PD event, the LD event, the VD event, and the PDW event are stored in the queue 300 according to the first cycle, and the FSD event and the TSR event are stored in the queue 300 according to the second cycle. The occurrence period of the FSD event and the TSR event is smaller than the second period, so the FSD event and the TSR event stored in the queue 300 according to the second period are grouped for each event ((FSD E1, FSD E2, FSD E3) ), (TSR E1, TSR E2, TSR E3)) are stored in the queue 300 . Accordingly, the PD event, LD event, VD event, and PDW event stored in the queue 300 according to the first cycle are preferentially transmitted through the network and are preferentially reflected in vehicle control, and the FSD event and TSR event are transmitted through the network. It is transmitted in a subordinate order through the system and is reflected in the subordinate order in vehicle control.

Through the configuration of the present embodiment described above, the occurrence of event congestion that may occur on the in-vehicle network is avoided, the loss of events is prevented, and the system performance is optimized by allowing all events to be considered for vehicle control. can do.

Meanwhile, the first period and the second period may be variously designed according to a designer's intention and specifications of the embedded system (eg, first period: 66 ms, second period: 200 ms). Furthermore, the scheduler 200 may increase the second period as the storage rate of the queue 300 increases within a range equal to or greater than the above-described upper limit rate.

That is, if the storage rate of the queue 300 is higher than the upper limit rate and thus the storage rate of the queue 300 does not decrease even though congestion control is started and increases within the upper limit rate or higher range, the remaining events are processed according to the second period. Even though the events are grouped and stored in the queue 300, it corresponds to a case where the storage rate of the queue 300 increases (in the case of a situation in which each event occurs simultaneously and multiple times, etc.), the scheduler 200 The storage rate of the queue 300 can be decreased by increasing the period by 2 to decrease the rate at which each remaining event is grouped and stored in the queue 300 .

As described above, when the driving environment of the vehicle is a specific driving environment, the scheduler 200 determines that the priority of the first to Nth events (N is a natural number) included in each event is greater than the priority of the remaining events. Thus, the first to Nth events may be stored in the queue 300 according to the first period, and the remaining events may be grouped for each remaining event according to a second period larger than the first period and stored in the queue 300, Hereinafter, the above configuration will be described as a specific embodiment.

First, the specific driving environment may include one or more of a situation in which a dangerous vehicle satisfying a predetermined condition exists in the vicinity of the vehicle, and a situation in which a certain number or more surrounding vehicles exist in the vicinity of the vehicle. In this case, the first to Nth The event may include an LD event according to a lane detection (LD) algorithm and a VD event according to a vehicle detection (VD) algorithm. Here, the dangerous vehicle satisfying the predetermined condition may correspond to, for example, a speeding vehicle traveling at a vehicle speed greater than or equal to the reference speed, and the predetermined condition may be varied according to the intention of the designer, such as whether the vehicle speed is greater than or equal to the reference speed. can be set.

That is, in a situation in which a dangerous vehicle exists around the vehicle or a situation in which a certain number of surrounding vehicles exist in the vicinity of the vehicle, the driving safety of the vehicle is prioritized, so the LD (Lane Detection) algorithm and VD algorithm related to vehicle driving Since the (Vehicle Detection) algorithm must be performed preferentially, the scheduler 200 determines that the priorities of the LD event and the VD event are greater than the priorities of the remaining events, so that the LD event and the VD event are queued ( 300 ), and the remaining events may be grouped for each remaining event according to the second period and stored in the queue 300 .

There may be various methods for recognizing a situation in which a dangerous vehicle exists around the vehicle or a situation in which more than a certain number of surrounding vehicles exist around the vehicle. For example, various sensors installed in the vehicle (eg, radar sensor, A method of detecting and analyzing a surrounding vehicle through an ultrasonic sensor, a lidar sensor, etc.) may be used.

Meanwhile, in the above configuration, when a dangerous vehicle exists around the vehicle, the priority of the PDW event according to the PDW (Passenger Detection Warning) algorithm is increased along with the LD event and the VD event, and a certain number of surrounding vehicles around the vehicle are increased. In this situation, the LD event and the VD event may be divided and implemented as a configuration to increase the priority.

Next, the specific driving environment may include a situation in which the vehicle enters a road that meets a predetermined condition. In this case, the first to Nth events include a PD event according to a Pedestrian Detection (PD) algorithm, and a traffic signal (TSR). A TRS event according to the Sign Recognition) algorithm may be included. Here, the road satisfying the predetermined condition may correspond to, for example, a road with a relatively complex traffic signal system such as an intersection, and the predetermined condition may be set in various ways according to the intention of the designer, such as whether the number of branch roads is equal to or greater than a standard value. have.

That is, when a vehicle enters a road that satisfies a predetermined condition such as an intersection, since an algorithm related to signal compliance and accident prevention of the vehicle must be performed first, the scheduler 200 determines that the priority of the PD event and the TSR event is the remaining priority. By determining to be greater than the priority of the event, the PD event and the TSR event are stored in the queue 300 according to the first cycle, and the remaining events are grouped by the remaining events according to the second cycle and stored in the queue 300. have.

There may be various methods for recognizing that a vehicle is entering a road that meets a predetermined condition, for example, information from various sensors mounted on the vehicle, map data, and GPS (Global Positioning System) location information. The method of use may be used.

Next, the specific driving environment may include a situation in which the vehicle is parked. In this case, the first to Nth events include a PD event according to a Pedestrian Detection (PD) algorithm, and a PLD according to a Parking Lane Detection (PLD) algorithm. Events may be included.

That is, in the case of a situation in which the vehicle is parked, since an algorithm related to accident prevention due to parking convenience and non-secure rear view must be performed first, the scheduler 200 determines that the priority of the PD event and the PLD event is higher than the priority of the remaining events. By determining the size to be large, the PD event and the PLD event may be stored in the queue 300 according to the first period, and the remaining events may be grouped for each remaining event according to the second period and stored in the queue 300 .

There may be various methods for recognizing that the vehicle is parked, and for example, a method of monitoring a shift stage change and operation of a steering wheel may be used.

Furthermore, an algorithm determined with a high priority in each specific driving environment may be added according to a designer's intention.

4 is a flowchart illustrating a vehicle congestion control method according to an embodiment of the present invention, and FIGS. 5 and 6 are for each event according to the driving environment in the vehicle congestion control method according to an embodiment of the present invention. It is a flowchart showing a process in which priorities are determined.

A method of controlling congestion of a vehicle according to an embodiment of the present invention will be described with reference to FIG. 4 . First, the processor 100 performs each task through each algorithm for driving support of the vehicle to perform each task. An event is generated (S100). Each event generated by the processor 100 is stored in the queue 300 by the scheduler 200 .

Next, the scheduler 200 determines whether the storage rate of the queue 300 for each event is equal to or greater than a preset upper limit rate (S200).

When it is determined in step S200 that the storage rate of the queue 300 is equal to or greater than the upper limit rate, the scheduler 200 sets each event according to the priority determined for each event generated by the processor 100 based on the driving environment of the vehicle. By storing the event in the queue 300 of the FIFO (First Input First Output) method, each event stored in the queue 300 is transmitted through the network according to the priority, thereby performing congestion control for the network. (S300).

In step S300, the scheduler 200 varies the timing at which each event is stored in the queue 300 according to the priority, but the lower the priority, the lower the priority is by delaying the timing at which the corresponding event is stored in the queue 300. The timing at which the event is transmitted can be delayed. Specifically, when the driving environment of the vehicle is a specific driving environment, the priority of the first to Nth events (N is a natural number) included in each event is the priority of the remaining events. It is determined to be greater than the priority, and the first to Nth events are stored in the queue 300 according to the first period, and the remaining events are grouped by the remaining events according to the second period larger than the first period, respectively, and the queue 300 ) can be stored in

When step S300 is described in detail with reference to FIG. 5 , a situation in which a dangerous vehicle (eg, a speeding vehicle) satisfying a predetermined condition in the driving environment of the vehicle exists in the vicinity of the vehicle, or a certain number of surrounding vehicles exist in the vicinity of the vehicle In this case (S310), the scheduler 200 determines that the priorities of the LD event and the VD event are greater than the priorities of the remaining events, and the LD event and the VD event are stored in the queue 300 according to the first cycle. and the remaining events may be grouped for each remaining event according to the second period and stored in the queue 300 (S320).

Meanwhile, in step S310, as shown in FIG. 6 , in step S311 of determining a situation in which a dangerous vehicle (eg, a speeding vehicle) that meets a predetermined condition exists around the vehicle, and a situation in which a certain number or more of surrounding vehicles exist around the vehicle may be divided into a step S312 of determining and step S322 of increasing the priority of the VD event.

In addition, when the driving environment of the vehicle is a situation in which the vehicle enters a road (eg, an intersection) that meets a predetermined condition ( S330 ), the scheduler 200 determines that the priority of the PD event and the TSR event is higher than that of the remaining events. By determining to be large, the PD event and the TSR event may be stored in the queue 300 according to the first period, and the remaining events may be grouped for each remaining event according to the second period and stored in the queue 300 (S340).

And, when the driving environment of the vehicle is a situation in which the vehicle is parked (S350), the scheduler 200 determines that the priority of the PD event and the PLD event is greater than the priority of the remaining events, so that the PD event and the PLD event are first It may be stored in the queue 300 according to one cycle, and the remaining events may be grouped for each remaining event according to the second cycle and stored in the queue 300 (S360).

On the other hand, a situation in which a dangerous vehicle satisfying a predetermined condition exists in the driving environment of the vehicle, a situation in which a certain number or more surrounding vehicles exist around the vehicle, a situation in which the vehicle enters a road satisfying a predetermined condition, and a vehicle If none of the parking situations apply, the scheduler 200 considers the usage frequency history of each algorithm, and the priority of the event according to the algorithm with the high frequency of use is the priority of the event according to the algorithm with the low frequency of use By determining to be larger than that, events according to an algorithm with high frequency of use are stored in the queue 300 according to a first cycle, and events based on an algorithm with low usage frequency are grouped by event according to a second cycle, respectively, and the queue 300 ) can be stored in

Meanwhile, in step S300 , the scheduler 200 may increase the second period as the storage rate of the queue 300 increases within a range equal to or greater than the upper limit rate.

After step S300 , when the storage rate of the queue 300 reaches less than a preset lower limit rate ( S400 ), the scheduler 200 ends congestion control ( S500 ).

As described above, in the present embodiment, when there is a possibility of event congestion on the network due to simultaneous occurrence of multiple events in the embedded system of the vehicle, the event is processed according to a predetermined priority determined based on the driving environment of the vehicle. By preventing overflow and preventing loss of events, the electronic control accuracy of the vehicle can be improved.

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

100: processor
110: core
200: scheduler
300: queue

Claims (13)

a processor for generating each event by performing each task through each algorithm for driving support of the vehicle; and
Each event stored in the queue by storing each event in a FIFO (First Input First Output) type queue according to a priority determined for each event generated by the processor based on the driving environment of the vehicle a scheduler that transmits through the network according to the priority to perform congestion control on the network;
including,
When the driving environment of the vehicle is a specific driving environment, the scheduler determines that the priority of the first to Nth events (N is a natural number) included in each event is greater than the priority of the remaining events, The embedded system for congestion control of a vehicle, characterized in that the first to Nth events are determined depending on the specific driving environment.
According to claim 1,
wherein the scheduler starts the congestion control when the storage rate of the queue for each event is equal to or greater than a preset upper limit rate, and ends the congestion control when the storage rate reaches a preset lower limit rate or less Embedded systems for congestion control in vehicles.
3. The method of claim 2,
The scheduler differs when each event is stored in the queue according to the priority, and delays the time when the event is stored in the queue as the priority is lower, so that the time at which the corresponding event is transmitted is An embedded system for congestion control of a vehicle, characterized in that it is delayed.
4. The method of claim 3,
The scheduler stores the first to Nth events in the queue according to a first period, and the remaining events are grouped by the remaining events according to a second period greater than the first period and stored in the queue An embedded system for vehicle congestion control, characterized in that.
5. The method of claim 4,
and the scheduler increases the second period as the storage rate increases within a range equal to or greater than the upper limit rate.
5. The method of claim 4,
The specific driving environment includes at least one of a situation in which a dangerous vehicle satisfying a predetermined condition exists in the vicinity of the vehicle, and a situation in which a certain number or more surrounding vehicles exist in the vicinity of the vehicle,
The embedded system for vehicle congestion control, characterized in that the first to Nth events include an LD event according to a lane detection (LD) algorithm and a VD event according to a vehicle detection (VD) algorithm.
5. The method of claim 4,
The specific driving environment includes a situation in which the vehicle enters a road that meets a predetermined condition,
The embedded system for congestion control of a vehicle, characterized in that the first to Nth events include a PD event according to a Pedestrian Detection (PD) algorithm, and a TRS event according to a Traffic Sign Recognition (TSR) algorithm.
5. The method of claim 4,
The specific driving environment includes a situation in which the vehicle is parked,
The embedded system for vehicle congestion control, characterized in that the first to Nth events include a PD event according to a Pedestrian Detection (PD) algorithm, and a PLD event according to a Parking Lane Detection (PLD) algorithm.
generating, by the processor, each event by performing each task through each algorithm for driving support of the vehicle; and
The scheduler stores each event in a FIFO (First Input First Output) type queue according to a priority determined for each event generated by the processor based on the driving environment of the vehicle, thereby adding the event to the queue. performing congestion control on the network by transmitting each stored event through a network according to the priority;
including,
In the step of performing the congestion control, the scheduler,
When the driving environment of the vehicle is a specific driving environment, it is determined that the priority of the first to Nth events (N is a natural number) included in each event is greater than the priority of the remaining events, The congestion control method of a vehicle, characterized in that the N event is determined depending on the specific driving environment.
10. The method of claim 9,
determining, by the scheduler, whether a storage rate of the queue for each event is equal to or greater than a preset upper limit rate; and
terminating, by the scheduler, the congestion control when the storage rate reaches a preset lower limit rate or less;
The method of controlling congestion of a vehicle, wherein the performing of the congestion control is performed only when the storage rate is equal to or greater than the upper limit rate.
11. The method of claim 10,
In the step of performing the congestion control, the scheduler,
The timing at which the respective events are stored in the queue is different according to the priority, and the lower the priority, the delayed the timing at which the event is stored in the queue is delayed so that the timing at which the corresponding event is transmitted is delayed. A method for controlling congestion in a vehicle, characterized in that it is
12. The method of claim 11,
In the step of performing the congestion control, the scheduler,
The first to Nth events are stored in the queue according to a first period, and the remaining events are grouped for each remaining event according to a second period greater than the first period and stored in the queue. How to control congestion in vehicles.
13. The method of claim 12,
In the step of performing the congestion control, the scheduler,
The method for controlling congestion of a vehicle, characterized in that the second period is increased as the storage rate increases in a range equal to or greater than the upper limit rate.

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