KR102431044B1 - Communication device for vehicle and vehicle - Google Patents

Abstract

The present invention provides a communication device for a vehicle that communicates with at least one of another vehicle, infrastructure, and a mobile terminal, and transmits a first transmission signal to at least one of another vehicle, infrastructure, and a mobile terminal, a first communication unit for receiving a first reception signal from at least one of the mobile terminals; a second communication unit for transmitting a second transmission signal to at least one of another vehicle, infrastructure, and a mobile terminal, and receiving a second reception signal from at least one of another vehicle, infrastructure, and a mobile terminal; and transmitting a first message based on at least one of the first transmission signal and the second reception signal, and receiving a second message based on at least one of the first reception signal and the second reception signal It relates to a vehicle communication device comprising a;

Description

Communication device for vehicle and vehicle

The present invention relates to a communication device and a vehicle.

A vehicle is a device that moves a user in a desired direction. A typical example is a car.

Meanwhile, for the convenience of a user using a vehicle, various sensors and electronic devices are being provided. In particular, research on an advanced driver assistance system (ADAS) is being actively conducted for user's driving convenience. Furthermore, the development of autonomous vehicles (Autonomous Vehicle) is being actively made.

Meanwhile, as technology develops, vehicle-to-vehicle (V2V) communication technology and vehicle-to-infrastructure (V2I) communication technology also develop.

When a vehicle is driving, communication traffic increases as data required through communication increases. In this case, data loss may occur, and data essential for vehicle driving may not be received, which may cause an accident.

SUMMARY OF THE INVENTION An object of the present invention is to provide a communication device for a vehicle that responds to excessive communication traffic in order to solve the above problems.

Another object of the present invention is to provide a vehicle including a vehicle communication device.

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

In order to achieve the above object, an embodiment according to an embodiment of the present invention provides a communication device for a vehicle that communicates with at least one of other vehicles, infrastructure, and mobile terminals, at least any one of other vehicles, infrastructure, and mobile terminals. a first communication unit for transmitting a first transmission signal to one and receiving a first reception signal from at least one of another vehicle, infrastructure, and a mobile terminal; a second communication unit for transmitting a second transmission signal to at least one of another vehicle, infrastructure, and a mobile terminal, and receiving a second reception signal from at least one of another vehicle, infrastructure, and a mobile terminal; and transmitting a first message based on at least one of the first transmission signal and the second reception signal, and receiving a second message based on at least one of the first reception signal and the second reception signal It includes a communication device for a vehicle that includes; a processor.

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

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

First, by exchanging data with an external device using two communication units, there is an effect of reducing congestion of a wireless channel and preventing data loss due to excessive communication traffic.

Second, there is an effect of increasing the reliability of data received through V2X.

Third, there is an effect of preventing accidents according to data loss prevention.

The effects of 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 description of the claims.

1 is a view showing the exterior of a vehicle according to an embodiment of the present invention.
2 is a view of a vehicle according to an embodiment of the present invention as viewed from various angles from the outside.
3 to 4 are views illustrating the interior of a vehicle according to an embodiment of the present invention.
5 to 6 are diagrams referenced to describe an object according to an embodiment of the present invention.
7 is a block diagram referenced for explaining a vehicle according to an embodiment of the present invention.
8A to 8B are diagrams referenced for explaining a V2X communication system according to an embodiment of the present invention.
9 is a block diagram of a communication device for a vehicle according to an embodiment of the present invention.
10 is a block diagram of a message synchronization system according to an embodiment of the present invention.
11 is a diagram referenced for explaining a division operation of a first communication method and a second communication method according to an embodiment of the present invention.
12A to 12B are diagrams referenced for explaining a communication device according to an embodiment of the present invention in comparison with the prior art.
13 is a diagram referenced for explaining an operation of determining a usage ratio of a first communication method and a second communication method according to an embodiment of the present invention.
14A to 14B are diagrams referenced for explaining an operation of determining a message transmission redundancy ratio according to an embodiment of the present invention.
15 is a diagram referenced for explaining the operation of the first communication unit and the second communication unit according to an embodiment of the present invention.
16 is a diagram referenced for explaining an operation of performing a packet drop management function according to an embodiment of the present invention.
17A to 17B are diagrams referenced to describe a communication device according to an embodiment of the present invention.
18 is a diagram referenced to explain a hardware configuration of a processor according to an embodiment of the present invention.
19A is a diagram referenced to explain a hardware configuration of a processor according to an embodiment of the present invention.
19B to 20F are diagrams referenced for explaining a frequency band of a communication device according to an embodiment of the present invention.

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numerals regardless of reference numerals, and redundant description thereof will be omitted. The suffixes "module" and "part" for components used in the following description are given or mixed in consideration of only the ease of writing the specification, and do not have distinct meanings or roles by themselves. In addition, in describing the embodiments disclosed in the present specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in this specification, and the technical idea disclosed herein is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention , should be understood to include equivalents or substitutes.

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

When a component is referred to as being “connected” or “connected” to another component, it may be directly connected or connected to the other component, but it is understood that other components may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In the present application, terms such as “comprises” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It is to be understood that this does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

The vehicle described in this specification may be a concept including an automobile and a motorcycle. Hereinafter, the automobile will be mainly described with respect to the vehicle.

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

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

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

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

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

5 to 6 are diagrams referenced to describe an object according to an embodiment of the present invention.

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

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

The vehicle 100 may be an autonomous driving vehicle.

The vehicle 100 may be switched to an autonomous driving mode or a manual mode based on a user input.

For example, the vehicle 100 may be switched from the manual mode to the autonomous driving mode or from the autonomous driving mode to the manual mode based on a user input received through the user interface device 200 .

The vehicle 100 may be switched to an autonomous driving mode or a manual mode based on driving situation information.

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

For example, the vehicle 100 may be switched from the manual mode to the autonomous driving mode or from the autonomous driving mode to the manual mode based on the driving situation information generated by the object detection apparatus 300 .

For example, the vehicle 100 may be switched from the manual mode to the autonomous driving mode or from the autonomous driving mode to the manual mode based on driving situation information received through the communication device 400 .

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

When the vehicle 100 is operated in the autonomous driving mode, the autonomous driving vehicle 100 may be operated based on the driving system 700 .

For example, the autonomous driving vehicle 100 may be operated based on information, data, or signals generated by the driving system 710 , the taking-out system 740 , and the parking system 750 .

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

The overall length refers to the length from the front part to the rear part of the vehicle 100 , the width refers to the width of the vehicle 100 , and the height refers to the length from the lower part of the wheel to the roof. In the following description, the overall length direction (L) is the standard direction for measuring the overall length of the vehicle 100 , the full width direction (W) is the standard direction for measuring the full width of the vehicle 100 , and the total height direction (H) is the vehicle (100) may refer to a direction that is a reference for measuring the total height.

As illustrated in FIG. 7 , the vehicle 100 includes a user interface device 200 , an object detection device 300 , a communication device 400 , a driving manipulation device 500 , a vehicle driving device 600 , and a driving system. 700 , a navigation system 770 , a sensing unit 120 , an interface unit 130 , a memory 140 , a control unit 170 , and a power supply unit 190 .

Depending on the embodiment, the vehicle 100 may further include other components in addition to the components described herein, or may not include some of the components described herein.

The user interface device 200 is a device for communication between the vehicle 100 and a user. The user interface device 200 may receive a user input and provide information generated in the vehicle 100 to the user. The vehicle 100 may implement User Interfaces (UIs) or User Experiences (UXs) through the user interface device 200 .

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

According to an embodiment, the user interface apparatus 200 may further include other components in addition to the described components, or may not include some of the described components.

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

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

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

The voice input unit 211 may convert the user's voice input into an electrical signal. The converted electrical signal may be provided to the processor 270 or the controller 170 .

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

The gesture input unit 212 may convert the user's gesture input into an electrical signal. The converted electrical signal may be provided to the processor 270 or the controller 170 .

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

According to an embodiment, the gesture input unit 212 may detect a user's 3D gesture input. To this end, the gesture input unit 212 may include a light output unit that outputs a plurality of infrared rays or a plurality of image sensors.

The gesture input unit 212 may detect the user's 3D gesture input through a time of flight (TOF) method, a structured light method, or a disparity method.

The touch input unit 213 may convert a user's touch input into an electrical signal. The converted electrical signal may be provided to the processor 270 or the controller 170 .

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

According to an embodiment, the touch input unit 213 may be integrally formed with the display unit 251 to implement a touch screen. Such a touch screen may provide both an input interface and an output interface between the vehicle 100 and the user.

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

The mechanical input unit 214 may be disposed on a steering wheel, a center fascia, a center console, a cockpick module, a door, and the like.

The internal camera 220 may acquire an image inside the vehicle. The processor 270 may detect the user's state based on the image inside the vehicle. The processor 270 may acquire the user's gaze information from the image inside the vehicle. The processor 270 may detect the user's gesture from the image inside the vehicle.

The biometric sensor 230 may obtain biometric information of the user. The biometric sensor 230 may include a sensor capable of obtaining the user's biometric information, and may obtain the user's fingerprint information, heart rate information, and the like, using the sensor. The biometric information may be used for user authentication.

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

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

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

The display unit 251 includes a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display (Flexible Display). display), a three-dimensional display (3D display), and an electronic ink display (e-ink display) may include at least one.

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

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

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

The transparent display may display a predetermined screen while having predetermined transparency. Transparent display, in order to have transparency, transparent TFEL (Thin Film Elecroluminescent), transparent OLED (Organic Light-Emitting Diode), transparent LCD (Liquid Crystal Display), transmissive transparent display, transparent LED (Light Emitting Diode) display may include at least one of The transparency of the transparent display can be adjusted.

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

The display unit 251 includes one area of the steering wheel, one area 251a, 251b, and 251e of the instrument panel, one area 251d of the seat, one area 251f of each pillar, and one area of the door ( 251g), one area of the center console, one area of the head lining, one area of the sun visor, or one area 251c of the windshield and one area 251h of the window.

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

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

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

According to an embodiment, the user interface apparatus 200 may include a plurality of processors 270 or may not include the processors 270 .

When the user interface device 200 does not include the processor 270 , the user interface device 200 may be operated under the control of a processor or controller 170 of another device in the vehicle 100 .

Meanwhile, the user interface device 200 may be referred to as a vehicle display device.

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

The object detecting apparatus 300 is an apparatus for detecting an object located outside the vehicle 100 . The object detection apparatus 300 may generate object information based on the sensed data.

The object information may include information on the existence of an object, location information of the object, distance information between the vehicle 100 and the object, and relative speed information between the vehicle 100 and the object.

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

5 to 6 , the object O includes a lane OB10, another vehicle OB11, a pedestrian OB12, a two-wheeled vehicle OB13, traffic signals OB14, OB15, light, road, structure, This may include speed bumps, features, animals, and the like.

The lane OB10 may be a driving lane, a lane next to the driving lane, or a lane in which vehicles that are opposed to each other travel. The lane OB10 may be a concept including left and right lines forming a lane. The lane may be a concept including an intersection.

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

The pedestrian OB12 may be a person located in the vicinity of the vehicle 100 . The pedestrian OB12 may be a person located within a predetermined distance from the vehicle 100 . For example, the pedestrian OB12 may be a person located on a sidewalk or a roadway.

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

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

The light may be light generated from a lamp provided in another vehicle. The light, can be the light generated from the street lamp. The light may be sunlight.

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

The structure may be an object located around a road and fixed to the ground. For example, the structure may include a street lamp, a street tree, a building, a power pole, a traffic light, a bridge, a curb, and a wall surface.

Features may include mountains, hills, and the like.

Meanwhile, the object may be classified into a moving object and a still object. For example, the moving object may be a concept including another moving vehicle and a moving pedestrian. For example, the stationary object may be a concept including a traffic signal, a road, a structure, another vehicle stopped, and a stationary pedestrian.

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

According to an embodiment, the object detecting apparatus 300 may further include other components in addition to the described components, or may not include some of the described components.

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

The camera 310 may obtain position information of an object, distance information from an object, or relative speed information with an object by using various image processing algorithms.

For example, the camera 310 may acquire distance information and relative velocity information from an object based on a change in object size over time from the acquired image.

For example, the camera 310 may acquire distance information and relative speed information from an object through a pinhole model, road surface profiling, or the like.

For example, the camera 310 may obtain distance information and relative velocity information from an object based on disparity information in the stereo image obtained from the stereo camera 310a.

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

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

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

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

The radar 320 may include an electromagnetic wave transmitter and a receiver. The radar 320 may be implemented in a pulse radar method or a continuous wave radar method in view of a radio wave emission principle. The radar 320 may be implemented in a frequency modulated continuous wave (FMCW) method or a frequency shift keyong (FSK) method according to a signal waveform among continuous wave radar methods.

The radar 320 detects an object based on an electromagnetic wave, a time of flight (TOF) method or a phase-shift method, and a position of the detected object, a distance from the detected object, and a relative speed. can be detected.

The radar 320 may be disposed at an appropriate location outside the vehicle to detect an object located in front, rear, or side of the vehicle.

The lidar 330 may include a laser transmitter and a receiver. The lidar 330 may be implemented in a time of flight (TOF) method or a phase-shift method.

The lidar 330 may be implemented as a driven or non-driven type.

When implemented as a driving type, the lidar 330 is rotated by a motor and may detect an object around the vehicle 100 .

When implemented as a non-driving type, the lidar 330 may detect an object located within a predetermined range with respect to the vehicle 100 by light steering. The vehicle 100 may include a plurality of non-driven lidars 330 .

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

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

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

The ultrasonic sensor 340 may be disposed at an appropriate location outside the vehicle to detect an object located at the front, rear, or side of the vehicle.

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

The infrared sensor 350 may be disposed at an appropriate location outside the vehicle to detect an object located in front, rear, or side of the vehicle.

The processor 370 may control the overall operation of each unit of the object detection apparatus 300 .

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

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

For example, the processor 370 may acquire distance information and relative velocity information from the obtained image based on a change in object size according to time.

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

For example, the processor 370 may obtain distance information and relative velocity information from an object based on disparity information in the stereo image obtained from the stereo camera 310a.

The processor 370 may detect and track the object based on the reflected electromagnetic wave that is reflected by the object and returns. The processor 370 may perform operations, such as calculating a distance to an object and calculating a relative speed with respect to the object, based on the electromagnetic wave.

The processor 370 may detect and track the object based on reflected laser light from which the transmitted laser is reflected by the object and returned. The processor 370 may perform operations such as calculating a distance to an object and calculating a relative speed with respect to the object based on the laser light.

The processor 370 may detect and track the object based on the reflected ultrasound reflected back by the transmitted ultrasound. The processor 370 may perform operations such as calculating a distance to an object and calculating a relative speed with respect to the object based on the ultrasound.

The processor 370 may detect and track the object based on the reflected infrared light reflected back by the transmitted infrared light. The processor 370 may perform operations such as calculating a distance to an object and calculating a relative speed with respect to the object based on the infrared light.

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

When the object detection apparatus 300 does not include the processor 370 , the object detection apparatus 300 may be operated under the control of the processor or the controller 170 of the apparatus in the vehicle 100 .

The object detection apparatus 300 may be operated under the control of the controller 170 .

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

The communication device 400 may include at least one of a transmit antenna, a receive antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element to perform communication.

The communication device 400 includes a short-range communication unit 410, a location information unit 420, a V2X communication unit 430, an optical communication unit 440, a broadcast transceiver unit 450, an Intelligent Transport Systems (ITS) communication unit 460 and a processor. (470).

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

The short-range communication unit 410 is a unit for short-range communication. The short-range communication unit 410, Bluetooth (Bluetooth™), RFID (Radio Frequency Identification), infrared communication (Infrared Data Association; IrDA), UWB (Ultra Wideband), ZigBee, NFC (Near Field Communication), Wi-Fi (Wireless) -Fidelity), Wi-Fi Direct, and at least one of Wireless USB (Wireless Universal Serial Bus) technologies may be used to support short-distance communication.

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

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

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

The optical communication unit 440 is a unit for performing communication with an external device via light. The optical communication unit 440 may include an optical transmitter that converts an electrical signal into an optical signal to transmit to the outside, and an optical receiver that converts the received optical signal into an electrical signal.

According to an embodiment, the light transmitter may be formed to be integrated with a lamp included in the vehicle 100 .

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

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

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

According to an embodiment, the communication device 400 may include a plurality of processors 470 or may not include the processors 470 .

When the communication device 400 does not include the processor 470 , the communication device 400 may be operated under the control of a processor of another device in the vehicle 100 or the control unit 170 .

Meanwhile, the communication device 400 may implement a vehicle display device together with the user interface device 200 . In this case, the vehicle display device may be referred to as a telematics device or an AVN (Audio Video Navigation) device.

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

The driving operation device 500 is a device that receives a user input for driving.

In the manual mode, the vehicle 100 may be driven based on a signal provided by the driving manipulation device 500 .

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

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

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

The driving operation device 500 may be operated under the control of the controller 170 .

The vehicle driving device 600 is a device that electrically controls driving of various devices in the vehicle 100 .

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

Depending on the embodiment, the vehicle driving apparatus 600 may further include other components in addition to the described components, or may not include some of the described components.

Meanwhile, the vehicle driving apparatus 600 may include a processor. Each unit of the vehicle driving apparatus 600 may each individually include a processor.

The power train driver 610 may control the operation of the power train device.

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

The power source driving unit 611 may control the power source of the vehicle 100 .

For example, when a fossil fuel-based engine is a power source, the power source driving unit 611 may perform electronic control of the engine. Thereby, the output torque of an engine, etc. can be controlled. The power source driving unit 611 may adjust the engine output torque according to the control of the control unit 170 .

For example, when the electric energy-based motor is the power source, the power source driving unit 611 may control the motor. The power source driving unit 611 may adjust the rotation speed and torque of the motor under the control of the control unit 170 .

The transmission driving unit 612 may control the transmission.

The transmission driving unit 612 may adjust the state of the transmission. The transmission driving unit 612 may adjust the state of the transmission to forward (D), reverse (R), neutral (N), or park (P).

Meanwhile, when the engine is the power source, the transmission driving unit 612 may adjust the engagement state of the gear in the forward (D) state.

The chassis driver 620 may control the operation of the chassis device.

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

The steering driving unit 621 may perform electronic control of a steering apparatus in the vehicle 100 . The steering driving unit 621 may change the traveling direction of the vehicle.

The brake driving unit 622 may electronically control a brake apparatus in the vehicle 100 . For example, the speed of the vehicle 100 may be reduced by controlling the operation of a brake disposed on the wheel.

Meanwhile, the brake driving unit 622 may individually control each of the plurality of brakes. The brake driving unit 622 may differently control the braking force applied to the plurality of wheels.

The suspension driving unit 623 may electronically control a suspension apparatus in the vehicle 100 . For example, when there is a curve in the road surface, the suspension driving unit 623 may control the suspension device to reduce vibration of the vehicle 100 .

Meanwhile, the suspension driving unit 623 may individually control each of the plurality of suspensions.

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

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

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

The window driving unit 632 may perform electronic control of a window apparatus. Opening or closing of a plurality of windows included in the vehicle 100 may be controlled.

The safety device driving unit 640 may electronically control various safety apparatuses in the vehicle 100 .

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

The airbag driving unit 641 may perform electronic control of an airbag apparatus in the vehicle 100 . For example, the airbag driver 641 may control the airbag to be deployed when a danger is detected.

The seat belt driving unit 642 may perform electronic control of a seat belt appartus in the vehicle 100 . For example, the seat belt driving unit 642 may control the occupant to be fixed to the seats 110FL, 110FR, 110RL, and 110RR using the seat belt when a danger is sensed.

The pedestrian protection device driving unit 643 may perform electronic control for the hood lift and the pedestrian airbag. For example, when detecting a collision with a pedestrian, the pedestrian protection device driving unit 643 may control to lift up the hood and deploy the pedestrian airbag.

The lamp driver 650 may electronically control various lamp apparatuses in the vehicle 100 .

The air conditioning driving unit 660 may perform electronic control of an air conditioner (air cinditioner) in the vehicle 100 . For example, when the temperature inside the vehicle is high, the air conditioning driving unit 660 may control the air conditioner to operate to supply cool air to the interior of the vehicle.

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

The vehicle driving apparatus 600 may be operated under the control of the controller 170 .

The operation system 700 is a system for controlling various operations of the vehicle 100 . The driving system 700 may be operated in an autonomous driving mode.

The driving system 700 may include a driving system 710 , a vehicle taking-out system 740 , and a parking system 750 .

Depending on the embodiment, the navigation system 700 may further include other components in addition to the described components, or may not include some of the described components.

Meanwhile, the driving system 700 may include a processor. Each unit of the navigation system 700 may each individually include a processor.

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

Meanwhile, according to an embodiment, the driving system 700 includes the user interface device 270 , the object detection device 300 and the communication device 400 , the driving manipulation device 500 , the vehicle driving device 600 , and the navigation system. It may be a concept including at least one of the 770 , the sensing unit 120 , and the control unit 170 .

The driving system 710 may perform driving of the vehicle 100 .

The driving system 710 may receive navigation information from the navigation system 770 and provide a control signal to the vehicle driving apparatus 600 to drive the vehicle 100 .

The driving system 710 may receive object information from the object detecting apparatus 300 , and provide a control signal to the vehicle driving apparatus 600 to drive the vehicle 100 .

The driving system 710 may receive a signal from an external device through the communication device 400 and provide a control signal to the vehicle driving apparatus 600 to drive the vehicle 100 .

The driving system 710 includes a user interface device 270 , an object detection device 300 and a communication device 400 , a driving manipulation device 500 , a vehicle driving device 600 , a navigation system 770 , and a sensing unit ( 120 ) and the controller 170 may include at least one of the system concept for driving the vehicle 100 .

Such a driving system 710 may be referred to as a vehicle driving control device.

The un-parking system 740 may perform un-parking of the vehicle 100 .

The un-parking system 740 may receive navigation information from the navigation system 770 and provide a control signal to the vehicle driving apparatus 600 to un-park the vehicle 100 .

The un-parking system 740 may receive the object information from the object detection apparatus 300 and provide a control signal to the vehicle driving apparatus 600 to un-park the vehicle 100 .

The un-parking system 740 may receive a signal from an external device through the communication device 400 and provide a control signal to the vehicle driving apparatus 600 to un-park the vehicle 100 .

The vehicle taking-out system 740 includes a user interface device 270 , an object detection device 300 and a communication device 400 , a driving operation device 500 , a vehicle driving device 600 , a navigation system 770 , and a sensing unit ( 120) and the controller 170, including at least one, may be a concept of a system for taking out the vehicle 100.

The un-parking system 740 may be referred to as a vehicle un-parking control device.

The parking system 750 may perform parking of the vehicle 100 .

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

The parking system 750 may receive object information from the object detection apparatus 300 , and may provide a control signal to the vehicle driving apparatus 600 to park the vehicle 100 .

The parking system 750 may receive a signal from an external device through the communication device 400 and provide a control signal to the vehicle driving apparatus 600 to park the vehicle 100 .

The parking system 750 includes a user interface device 270 , an object detection device 300 and a communication device 400 , a driving manipulation device 500 , a vehicle driving device 600 , a navigation system 770 , and a sensing unit ( 120) and the controller 170, including at least one, may be a system concept for performing parking of the vehicle 100.

Such a parking system 750 may be referred to as a vehicle parking control device.

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

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

According to an embodiment, the navigation system 770 may receive information from an external device through the communication device 400 and update pre-stored information.

According to an embodiment, the navigation system 770 may be classified into sub-components of the user interface device 200 .

The sensing unit 120 may sense the state of the vehicle. The sensing unit 120 includes an inertial navigation unit (IMU) sensor, a collision sensor, a wheel sensor, a speed sensor, an inclination sensor, a weight sensor, a heading sensor, a position module, and a vehicle. Includes forward/reverse sensor, battery sensor, fuel sensor, tire sensor, steering sensor by steering wheel rotation, vehicle interior temperature sensor, vehicle interior humidity sensor, ultrasonic sensor, ambient light sensor, accelerator pedal position sensor, brake pedal position sensor, etc. can do.

Meanwhile, an inertial navigation unit (IMU) sensor may include at least one of an acceleration sensor, a gyro sensor, and a magnetic sensor.

The sensing unit 120 may include vehicle posture information, vehicle motion information, vehicle yaw information, vehicle roll information, vehicle pitch information, vehicle collision information, vehicle direction information, and vehicle location information (GPS information). ), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle inclination information, vehicle forward/reverse information, battery information, fuel information, tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, steering wheel rotation A sensing signal for an angle, external illuminance of the vehicle, pressure applied to the accelerator pedal, pressure applied to the brake pedal, and the like may be acquired.

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

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

For example, the vehicle state information may include vehicle attitude information, vehicle speed information, vehicle inclination information, vehicle weight information, vehicle direction information, vehicle battery information, vehicle fuel information, vehicle tire pressure information, It may include vehicle steering information, vehicle indoor temperature information, vehicle indoor humidity information, pedal position information, and vehicle engine temperature information.

The interface unit 130 may serve as a passage with various types of external devices connected to the vehicle 100 . For example, the interface unit 130 may have a port connectable to the mobile terminal, and may connect to the mobile terminal through the port. In this case, the interface unit 130 may exchange data with the mobile terminal.

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

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

According to an embodiment, the memory 140 may be formed integrally with the control unit 170 or may be implemented as a sub-component of the control unit 170 .

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

The power supply unit 190 may supply power required for the operation of each component under the control of the control unit 170 . In particular, the power supply 190 may receive power from a battery inside the vehicle.

Included in the vehicle 100, one or more processors and control unit 170, ASICs (application specific integrated circuits), DSPs (digital signal processors), DSPDs (digital signal processing devices), PLDs (programmable logic devices), FPGAs ( field programmable gate arrays), processors, controllers, micro-controllers, microprocessors, and other electrical units for performing functions.

8A to 8B are diagrams referenced for explaining a V2X communication system according to an embodiment of the present invention.

As illustrated in FIG. 8A , the vehicle 100 may perform V2X communication with another vehicle 810 via the base station 805 through the vehicle communication device 400 .

The base station 805 may be a concept including a road side unit (RSU).

As illustrated in FIG. 8B , the vehicle 100 may perform V2X communication with the other direct vehicle 810 through the vehicle communication device 400 .

The vehicle 100 may perform V2X communication with the other vehicle 810 through the first communication method and/or the second communication method.

The first communication method referred to in this specification may be a V2X technology of IEEE802.11p. For example, the first communication method may be an Intelligent Transportation System (ITS)-G5 method or a Wireless Access in Vehicular Environment (WAVE) method.

The second communication method referred to in this specification may be a mobile communication technology. For example, the second communication method may be a 5G method or a Long-Term Evolution (LTE) method.

According to an embodiment, the first communication method and the second communication method may use a frequency of the first band. In this case, the first communication method may use the frequency of the first subband. The second communication method may use a frequency of the second subband. The first subband and the second subband may be included in the first band.

According to an embodiment, the first communication method may use a frequency of the first band. The second communication method may use a frequency of the second band.

9 is a block diagram of a communication device for a vehicle according to an embodiment of the present invention.

The vehicle communication device 400 may communicate with at least one of other vehicles, infrastructure, and mobile terminals.

Referring to FIG. 9 , the vehicle communication device 400 includes a first communication unit 431 , a second communication unit 432 , an input unit 433 , a processor 470 , an interface unit 480 , a memory 485 , and a power source. A supply unit 490 may be included.

The first communication unit 431 may communicate with at least one of other vehicles, infrastructure, and mobile terminals.

The first communication unit 431 may transmit a first transmission signal to at least one of other vehicles, infrastructure, and mobile terminals.

For example, the first communication unit 431 may transmit the first transmission signal through the first communication method.

For example, the first communication unit 431 may transmit the first transmission signal through the second communication method.

The first communication unit 431 may receive a first reception signal from at least one of another vehicle, infrastructure, and a mobile terminal.

For example, the first communication unit 431 may receive the first reception signal through the first communication method.

For example, the first communication unit 431 may receive the first reception signal through the second communication method.

The first communication unit 431 may include a transmitter and a receiver.

The first communication unit 431 may include a radio frequency (RF) circuit implementing a transmitter and a receiver.

The second communication unit 432 may communicate with at least one of other vehicles, infrastructure, and mobile terminals.

The second communication unit 432 may transmit a second transmission signal to at least one of other vehicles, infrastructure, and mobile terminals.

For example, the second communication unit 432 may transmit the second transmission signal through the first communication method.

For example, the second communication unit 432 may transmit the second transmission signal through the second communication method.

The second communication unit 432 may receive a second reception signal from at least one of another vehicle, infrastructure, and a mobile terminal.

For example, the second communication unit 432 may receive the second reception signal through the first communication method.

For example, the second communication unit 432 may receive the second reception signal through the second communication method.

The second communication unit 432 may include a transmitter and a receiver.

The second communication unit 432 may include an RF circuit implementing a transmitter and a receiver.

The input unit 433 may receive a user input.

The input unit 433 may generate a signal based on a user input.

The signal generated by the input unit 433 may be provided to the processor 470 .

The processor 470 and the processor 470 may be electrically connected to each unit of the vehicle communication device 400 .

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

The processor 470 may control the first communication unit 431 .

The processor 470 may control the first communication unit 431 to transmit the first transmission signal to at least one of another vehicle, infrastructure, and mobile terminal.

The processor 470 may control the first communication unit 431 to transmit the first transmission signal based on the first period. According to an embodiment, the processor 470 may change the first period.

The processor 470 may control the first communication unit 431 to receive the first reception signal from at least one of another vehicle, infrastructure, and mobile terminal.

The processor 470 may control the first communication unit 431 to receive the first reception signal based on the first period. According to an embodiment, the processor 470 may change the first period.

The processor 470 may control the second communication unit.

The processor 470 may control the second communication unit 432 to transmit the second transmission signal to at least one of other vehicles, infrastructure, and mobile terminals.

The processor 470 may control the second communication unit 432 to transmit the second transmission signal based on the second period. According to an embodiment, the processor 470 may change the second period.

The processor 470 may control the second communication unit 432 to receive the second transmission signal from at least one of another vehicle, infrastructure, and mobile terminal.

The processor 470 may control the second communication unit 432 to receive the second reception signal based on the second period. According to an embodiment, the processor 470 may change the second period.

The processor 470 may transmit the first message to at least one of another vehicle, infrastructure, and mobile terminal based on at least one of the first transmission signal and the second transmission signal.

The first message includes a basic safety message (BSM), a cooperative awareness message (CAM), a decentralized environmental notification message (DENM), a signal phase and a timing (SPaT). and Timing), MAP data, a signal request message (SRM), and a signal status message (SSM).

The processor 470 may receive the second message from at least one of another vehicle, infrastructure, and mobile terminal based on at least one of the first received signal and the second received signal.

The second message includes a basic safety message (BSM), a cooperative awareness message (CAM), a decentralized environmental notification message (DENM), a signal phase and a timing (SPaT). and Timing), MAP data, a signal request message (SRM), and a signal status message (SSM).

The processor 470 is, ASICs (application specific integrated circuits), DSPs (digital signal processors), DSPDs (digital signal processing devices), PLDs (programmable logic devices), FPGAs (field programmable gate arrays), processors (processors), controller It may be implemented using at least one of controllers, micro-controllers, microprocessors, and other electrical units for performing functions.

The interface unit 480 may exchange information, signals, or data with other devices included in the vehicle 100 . The interface unit 480 may receive information, signals, or data from other devices included in the vehicle 100 . The interface unit 480 may transmit the received information, signal, or data to the processor 470 . The interface unit 480 may transmit information, signals, or data generated or processed by the processor 470 to other devices included in the vehicle 100 .

The interface unit 480 may receive information, a signal, or data from the user interface device 200 .

The interface unit 480 may receive information, a signal, or data from the object detection apparatus 300 .

The interface unit 480 may receive information, a signal, or data from the sensing unit 120 .

The memory 485 is electrically connected to the processor 470 . The memory 485 may store basic data for the unit, control data for operation control of the unit, and input/output data. The memory 485 may be a variety of storage devices such as ROM, RAM, EPROM, flash drive, hard drive, etc. in terms of hardware. The memory 485 may store various data for the overall operation of the communication device 400 , such as a program for processing or controlling the processor 470 .

According to an embodiment, the memory 485 may be integrally formed with the processor 470 or implemented as a sub-component of the processor 470 .

The power supply 490 may supply power required for operation of each component under the control of the processor 470 . In particular, the power supply unit 290 may receive power from a battery inside the vehicle.

Meanwhile, in terms of hardware, the vehicle communication device 400 may include a processing board on which the first communication unit 431 , the second communication unit 432 , and the processor 470 are located.

10 is a block diagram of a message synchronization system according to an embodiment of the present invention.

Referring to FIG. 10 , the processor 470 may include a message synchronization system 1000 .

The message synchronization system 1000 may determine processing of the first transmission signal, the second transmission signal, the first reception signal, and the second reception signal.

Message synchronization system 1000, V2X message collector (V2X message collector), multi-rate message scheduler (Multi-Rate Message Scheduler) (1020), multi-rate message synchronizer (Multi-Rate Message Synchronizer) (1030), channel congestion It may include a channel congestion determine unit 1040 , a first signal processing unit 1050 , a second signal processing unit 1060 , and a message synchronization controller 1070 .

The V2X message collector (V2X message collector) 1010 may queue a message received from an upper layer (upper layer).

For example, the upper layer may be a facility layer.

For example, the upper layer may be a WAVE Short Message Protocol (WSMP layer).

The V2X message collector 1010 may calculate the message arrival rate in the upper layer.

The V2X message collector 1010 may provide the message arrival rate to the channel congestion determination unit 1040 .

The V2X message collector 1010 may queue a message received from a lower layer.

The lower layer may be the message synchronization controller 1070 .

The V2X message collector 1010 may deliver a message to a corresponding component of an upper layer standard stack.

The V2X message collector 1010 may receive data clock data for message generation from the system clock 1005 .

The multi-rate message scheduler 1020 may divide the message into a first signal processing unit 1050 and a second signal processing unit 1060 according to the transmission period determined by the message synchronization controller 1070 . have.

The multi-rate message scheduler 1020, on the basis of the splitting rate calculated by the message synchronization controller 1070, the first signal processing unit 1050 and the second signal processing unit 1060, respectively, a message delivered to can be split.

The multi-rate message synchronizer 1030 may synchronize and merge the first received signal and the second received signal.

The multi-rate message synchronizer 1030 may synchronize and merge messages received from the first communication unit 431 and the second communication unit 432 .

The channel congestion determiner unit 1040 may estimate the channel congestion levels of the first communication unit 431 and the second communication unit 432 .

The channel congestion determination unit 1040 may determine channel congestion of each of the first communication method and the second communication method.

The channel congestion determination unit 1040 may estimate a channel capacity ratio and a bandwidth availability ration for successful message transmission and reception.

The first signal processing unit 1050 may perform signal processing for transmitting and receiving messages in the first communication method.

The signal processed by the first signal processing unit 1050 may be provided to the first communication unit 431 .

The second signal processing unit 1060 may perform signal processing for transmitting and receiving messages in the second communication method.

The signal processed by the second signal processing unit 1060 may be provided to the second communication unit 432 .

Message synchronization controller (Message Synchronization Controller) 1070, based on information sources (information sources), channel congestion (channel congestion), channel capacity ratio (channel capacity ratio), bandwidth availability ratio (bandwidth availability ratio), message switching A message switching rate may be determined.

The message synchronization controller 1070 may determine transmission periods of the first transmission signal and the second transmission signal.

The message synchronization controller 1070 may determine a first period of the first transmission signal.

The message synchronization controller 1070 may change the first period.

The message synchronization controller 1070 may determine a second period of the second transmission signal.

The message synchronization controller 1070 may change the second period.

The message synchronization controller 1070 may determine a mutual transmission ratio of the first transmission signal and the second transmission signal.

The message synchronization controller 1070 may determine a transmission rate of the first transmission signal. For example, the message synchronization controller 1070 may determine a transmission rate of the first transmission signal per unit time.

The message synchronization controller 1070 may determine a transmission rate of the second transmission signal. For example, the message synchronization controller 1070 may determine a transmission rate of the second transmission signal per unit time.

The message synchronization controller 1070 may determine a first redundancy rate of a message to be transmitted based on the first transmission signal.

The message synchronization controller 1070 may determine a second redundancy ratio of the message to be transmitted based on the second transmission signal.

The message synchronization controller 1070 may determine a data capacity ratio of each of the first communication method and the second communication method based on the channel congestion level determined by the channel congestion determination unit 1040 .

The message synchronization controller 1070 may determine a mutual transmission ratio of the first transmission signal and the second transmission signal based on the information on the data acceptance rate.

The message synchronization controller 1070 may determine a frequency band available for each of the first communication method and the second communication method based on the channel congestion level determined by the channel congestion determination unit 1040 .

The message synchronization controller 1070 may determine a mutual transmission ratio of the first transmission signal and the second transmission signal based on the information on the frequency band.

The message synchronization controller 1070 may determine that the first message is transmitted through the first transmission signal in the first period. The message synchronization controller 1070 may determine that the first message and the second message are transmitted through the second transmission signal in the second period. The message synchronization controller 1070 may determine that the second message and the third message are transmitted through the first transmission signal in the third period.

The message synchronization system 1000 may determine processing of the first transmission signal, the second transmission signal, the first reception signal, and the second reception signal based on the user input signal received through the input unit 433 .

The message synchronization controller 1070 may determine processing of the first transmission signal, the second transmission signal, the first reception signal, and the second reception signal based on the user input signal received through the input unit 433 .

The message synchronization system 1000 may determine processing of the first transmission signal, the second transmission signal, the first reception signal, and the second reception signal based on the sensing information of the sensing unit 120 received through the interface unit. .

The message synchronization controller 1070 processes the first transmission signal, the second transmission signal, the first reception signal, and the second reception signal based on the sensing information of the sensing unit 120 received through the interface unit 480 . can be decided

The message synchronization controller 1070, based on the information received from the network through at least one of the first communication unit 431 and the second communication unit 432 , a first transmission signal, a second transmission signal, and a first reception signal and processing of the second received signal may be determined.

11 is a diagram referenced to explain a division operation of a first communication method and a second communication method according to an embodiment of the present invention.

The processor 470 may divide and transmit the plurality of messages into a message using the first communication method and a message using the second communication method.

The processor 470 may determine a message split ratio of the plurality of messages. The message split rate may be defined as a ratio of the number of messages using the second communication method to the number of messages using the first communication method. Alternatively, the message split rate may be defined as a ratio of the number of messages using the first communication method to the number of messages using the second communication method.

Specifically, the message synchronization system 1000 included in the processor 470 may divide a plurality of messages into a message using the first communication method and a message using the second communication method.

Specifically, the message synchronization controller 1070 included in the message synchronization system 1000 may divide a plurality of messages into a message using the first communication method and a message using the second communication method.

As illustrated in 1110 of FIG. 11 , the processor 470 may determine a message division rate based on a user input received by the input unit 433 .

The user may be a driver or a technician.

As illustrated at 1120 of FIG. 11 , the processor 470 may determine a message division rate based on communication information (eg, channel state information).

The communication information may include channel congestion information generated by the channel congestion determination unit 1040 of the message synchronization system 1000 .

As illustrated at 1130 of FIG. 11 , the processor 470 may determine a message division rate based on the sensing information.

The sensing information may be received from the sensing unit 120 through the interface unit 480 .

As illustrated at 1140 of FIG. 11 , the processor 470 may determine a message division rate based on information provided from a network control service.

The processor 470 may receive, from the first communication unit 431 or the second communication unit 432 , and from the network server, information that is a basis for determining the message division rate. Here, the information may include traffic amount information.

As illustrated at 1150 of FIG. 11 , the processor 470 may determine a message division rate based on a combination of communication information, channel congestion information, and network control service provision information.

12A to 12B are diagrams referenced for explaining a communication device according to an embodiment of the present invention in comparison with the prior art.

Figure 12a illustrates a European (EU)-type V2X communication layer, Figure 12b illustrates a US (US)-type communication layer.

Referring to Figure 12a, the European V2X communication layer, in the order of the upper layer from the lower layer, the access layer (Access Layer), ITS-G5 networking transport layer (ITS-G5 Networking & Transport Layer), ITS-G5 facility layer (Facilities Layer), may include an ITS-G5 application layer (ITS-G5 Application Layer).

The message synchronization system 1000 according to an embodiment of the present invention may be applied to an access layer.

Referring to Figure 12b, the US-type V2X communication layer, in the order of the upper layer from the lower layer, the access layer (Access Layer), WAVE networking transport layer (WAVE Networking & Transport Layer), WAVE facility layer (WAVE Facilities Layer) , WAVE application layer (WAVE Application Layer) may be included.

The message synchronization system 1000 according to an embodiment of the present invention may be applied to an access layer.

13 is a diagram referenced for explaining an operation of determining a usage ratio of a first communication method and a second communication method according to an embodiment of the present invention.

Referring to FIG. 13 , the processor 470 may determine a usage ratio of the first communication method and the second communication method.

The processor 470 may determine a usage ratio of the first communication method and the second communication method based on at least one of a user input, communication information, sensing information, and network control service provision information.

The message synchronization system 1000 included in the processor 470, based on at least one of user input, communication information, sensing information, and network control service provision information, determines the ratio of use of the first communication method and the second communication method. can decide

The message synchronization controller 1070 included in the message synchronization system 1000 uses the first communication method and the second communication method based on at least one of user input, communication information, sensing information, and network control service provision information. ratio can be determined.

The use ratio may be defined as the number of times the second communication method is used compared to the first communication method.

As illustrated in FIG. 13 , when the usage rate is determined to be 1-rate, the processor 470 may transmit all messages through the first communication method ( 1310 ).

When the usage ratio is determined to be 1/2-rate, the processor 470 may transmit 1/2 of the total message through the first communication method and the remaining 1/2 through the second communication method (1320). ).

When the usage ratio is determined to be 1/3-rate, the processor 470 may transmit 1/3 of the total message through the first communication method and transmit the remaining 2/3 through the second communication method (1330). ).

When the usage rate is determined to be 0-rate, the processor 470 may transmit all messages through the second communication method ( 1340 ).

14A to 14B are diagrams referenced for explaining an operation of determining a message transmission redundancy ratio according to an embodiment of the present invention.

The processor 470 may determine a redundancy rate of at least one of the first communication method and the second communication method.

The redundancy ratio is defined as the ratio of the number of times a message is transmitted using both the first communication method and the second communication method at the same time to the number of times a message is transmitted by any one of the first communication method and the second communication method can be

The processor 470 may determine an overlap ratio of at least one of the first communication method and the second communication method based on at least one of a user input, communication information, sensing information, and network control service provision information.

The message synchronization system 1000 included in the processor 470 is based on at least one of user input, communication information, sensing information, and network control service provision information, at least one of a first communication method and a second communication method It is possible to determine the overlap ratio of

The message synchronization controller 1070 included in the message synchronization system 1000, based on at least one of user input, communication information, sensing information, and network control service provision information, includes at least one of a first communication method and a second communication method. Either one of the overlap ratios can be determined.

Referring to FIG. 14A , the processor 470 may transmit a message using only the first communication method ( 1411 ).

The processor 470 may transmit the message only in the second communication method ( 1412 ).

The processor 470 may transmit the message using the first communication method and the second communication method ( 1413 ).

In this case, the processor 470 may transmit the message using the first communication method and the second communication method at a preset period. In this case, the processor 470 may transmit the message using the first communication method and the second communication method at the same time point.

For example, the processor 470 may transmit a message through a first communication method in a first period, and may transmit a message through a second communication method in a first period. For example, the first period may be 100 ms.

The processor 470 may transmit the message by using the first communication method and the second communication method alternately ( 1414 ).

In this case, the processor 470 may transmit the message alternately using the first communication method and the second communication method in the first cycle. For example, the first period may be 100 ms.

Specifically, the processor 470 may transmit the message using the first communication method at the first time point. The processor 470 may transmit the message using the second communication method at a second time point when the first period has elapsed from the first time point. The processor 470 may transmit the message using the first communication method at a third time point when the first period has elapsed from the second time point. The processor 470 may transmit the message using the second communication method at a fourth time point after the first period has passed from the third time point. Thereafter, the processor 470 may repeatedly transmit the message by alternately using the first communication method and the second communication method in a first period.

Referring to FIG. 14B , when the overlap ratio of the second communication method is determined to be 1/2-rate, the processor 470 transmits a message alternately using the first communication method and the second communication method in a first cycle. In the middle, using the second communication method, the message may be repeatedly transmitted at a second period ( 1421 ). For example, the second period may be 200 ms.

When the redundancy ratio of the first communication method is determined to be 1/2-rate, the processor 470 transmits the message alternately using the first communication method and the second communication method in a first period, the first communication method By using , it is possible to transmit the message redundantly in the second period ( 1422 ). For example, the second period may be 200 ms.

When the overlap ratio of the second communication method is determined to be 1/4-rate, the processor 470 transmits the message alternately using the first communication method and the second communication method in a first period, the second communication method By using , the message may be repeatedly transmitted in the third period ( 1423 ). For example, the third period may be 400 ms.

When the redundancy ratio of the first communication method is determined to be 1/4-rate, the processor 470 transmits the message alternately using the first communication method and the second communication method in a first period, the first communication method By using , the message may be repeatedly transmitted in a third period ( 1424 ). For example, the third period may be 400 ms.

When the overlap ratio of the second communication method is determined to be 1/8-rate, the processor 470 transmits the message alternately using the first communication method and the second communication method in a first period, the second communication method By using , the message may be repeatedly transmitted in the fourth period (1425). For example, the fourth period may be 800 ms.

When the redundancy ratio of the first communication method is determined to be 1/4-rate, the processor 470 transmits the message alternately using the first communication method and the second communication method in a first period, the first communication method By using , the message may be repeatedly transmitted in the third period ( 1426 ). For example, the fourth period may be 800 ms.

15 is a diagram referenced for explaining the operation of the first communication unit and the second communication unit according to an embodiment of the present invention.

The first communication unit 431 may transmit a message using the first communication method.

The second communication unit 432 may transmit the message using the second communication method.

The processor 470 may transmit a message by using the first communication unit 431 and the second communication unit 432 alternately in the first cycle ( 1510 ). For example, the first period may be 100 ms.

Specifically, the processor 470 may transmit a message through the first communication unit 431 at a first time point. The processor 470 may transmit the message through the second communication unit 432 at a second time point when the first period has elapsed from the first time point. The processor 470 may transmit the message through the first communication unit 431 at a third time point when the first period has elapsed from the second time point. The processor 470 may transmit the message through the second communication unit 432 at a fourth time point when the first period has elapsed from the third time point. Thereafter, the processor 470 may repeatedly transmit the message by using the first communication unit 431 and the second communication unit 432 alternately in the first cycle.

The processor 470 may transmit a message through the first communication unit 431 in a first cycle ( 1520 ).

The processor 470 may transmit a message through the second communication unit 432 in a first cycle ( 1530 ).

The processor 470 may transmit the message through the second communication unit 432 at a second cycle while transmitting the message through the first communication unit 431 at a first cycle ( 1540 ). For example, the second period may be 200 ms.

The processor 470 may transmit the message through the first communication unit 431 at a second cycle while transmitting the message through the second communication unit 432 in the first cycle ( 1550 ).

16 is a diagram referenced for explaining an operation of performing a packet drop management function according to an embodiment of the present invention.

Referring to FIG. 16 , the processor 470 may perform a packet drop management function through piggybacking.

The processor 470 may transmit the message alternately using the first communication method and the second communication method in the first cycle. For example, the first period may be 100 ms.

The processor 470 may transmit the first message at a first interval using the first communication method.

The processor 470 may transmit the second message at the second interval using the second communication method. In this case, the processor 470 may transmit the already transmitted first message together with the second message ( 1620 ).

The processor 470 may transmit the third message at the third interval using the first communication method. In this case, the processor 470 may transmit the already transmitted second message together with the third message ( 1630 ).

In this way, piggybacking can be described as a method of retransmitting a previously transmitted message together with an untransmitted message at the next interval.

By using piggybacking, you can prevent packet drops.

The processor 470 may perform a packet drop management function through flag setting.

The processor 470 may set a flag to distinguish whether or not piggy backing is present.

For example, the processor 470 may set it to 1 when a packet including a message is transmitted in the previous interval, and set to 0 when a packet including a message is not transmitted in the previous interval.

17A to 17B are diagrams referenced to describe a communication device according to an embodiment of the present invention.

As illustrated in 1710 of FIG. 17A , the first communication unit 431 may use a first communication method, and the second communication unit 432 may use a second communication method. In this case, the first communication unit 431 may use a frequency of 5.9 GHz band. The second communication unit 432 may use a frequency of a 3.4 GHz band or a 5.9 GHz band.

As illustrated in 1720 of FIG. 17A , the first communication unit 431 may use the first communication method, and the second communication unit 432 may use the first communication method. In this case, the first communication unit 431 may use a frequency of 5.9 GHz band. The second communication unit 432 may use a frequency of 5.9 GHz band.

As illustrated in 1730 of FIG. 17A , the first communication unit 431 may use the second communication method, and the second communication unit 432 may use the second communication method. In this case, the first communication unit 431 may use a frequency of a 3.4 GHz band or a 5.9 GHz band. The second communication unit 432 may use a frequency of a 3.4 GHz band or a 5.9 GHz band.

As illustrated in 1740 of FIG. 17B , the first communication unit 431 may use the first communication method, and the second communication unit 432 may use the first communication method. In this case, the first communication unit 431 may use a frequency of 5.9 GHz band. The second communication unit 432 may use a frequency of 5.9 GHz band.

As illustrated at 1750 of FIG. 17B , the first communication unit 431 may use the second communication method, and the second communication unit 432 may use the second communication method. In this case, the first communication unit 431 may use a frequency of a 3.4 GHz band or a 5.9 GHz band. The second communication unit 432 may use a frequency of a 3.4 GHz band or a 5.9 GHz band.

18 is a diagram referenced to explain a hardware configuration of a processor according to an embodiment of the present invention.

Referring to FIG. 18 , the vehicle communication device 400 may include a processing board.

As illustrated in 1810 of FIG. 18 , the processor 470 , the first communication unit 431 , and the second communication unit 432 may all be disposed on one processing board.

As illustrated in 1820 of FIG. 18 , the processor 470 may be disposed on the first processing board, and the first communication unit 431 and the second communication unit 432 may be disposed on the second processing board.

As illustrated in 1830 of FIG. 18 , the processor 470 is disposed on the first processing board, the first communication unit 431 is disposed on the second processing board, and the second communication unit 432 is disposed on the third processing board. can be placed.

19A is a diagram referenced to explain a hardware configuration of a processor according to an embodiment of the present invention.

Referring to FIG. 19A , in terms of hardware, in the communication device 400 , components other than the first communication unit 431 and the second communication unit 432 may constitute the first part 1910 .

The first communication unit 431 may constitute the second part 1920 .

The second communication unit 432 may constitute the third part 1930 .

The first part 1920 may include a first socket 1911 and a second socket 1912 .

The second part 1920 may be slidably coupled to the first socket 1911 .

The third part 1930 may be slidably coupled to the second socket 1912 .

The second part 1920 and the third part 1930 may be electrically coupled to the first part 1910 through USB, RMII, and RGMII interfaces.

19B to 20F are diagrams referenced for explaining a frequency band of a communication device according to an embodiment of the present invention.

As illustrated in 2001 of FIG. 19B , the first communication unit 431 may use a frequency of 5875-5885 MHz band. The second communication unit 432 may use a frequency of 5895-5905 MHz band. That is, with a gap of 10 MHz, frequencies of the 10 MHz band may be allocated to the first communication unit 431 and the second communication unit 432 .

As illustrated in 2002 of FIG. 19B , the first communication unit 431 may use a frequency of 5855-5875 MHz band. The second communication unit 432 may use a frequency in the 5885-5905 MHz band. That is, with a gap of 10 MHz, a frequency of 20 MHz band may be allocated to the first communication unit 431 and the second communication unit 432 .

As illustrated in 2003 of FIG. 19B , the first communication unit 431 may use a frequency of 5855-5875 MHz band. The second communication unit 432 may use a frequency of 5895-5925 MHz band. That is, with a gap of 30 MHz, a frequency of 20 MHz band may be allocated to the first communication unit 431 and the second communication unit 432 .

As illustrated in 2004 of FIG. 19B , the first communication unit 431 may use a frequency of 5855-5885 MHz band. The second communication unit 432 may use a frequency of 5895-5925 MHz band. That is, with a gap of 10 MHz, frequencies of the 30 MHz band may be allocated to the first communication unit 431 and the second communication unit 432 .

As illustrated in 2011 of FIG. 20A , the first communication unit 431 may use a frequency of 5865-5875 MHz band. The second communication unit 432 may use a frequency of 5885-5895 MHz band. That is, with a gap of 10 MHz, frequencies of the 10 MHz band may be allocated to the first communication unit 431 and the second communication unit 432 .

As illustrated in 2012 of FIG. 20A , the first communication unit 431 may use a frequency of 5855-5875 MHz band. The second communication unit 432 may use a frequency in the 5895-5915 MHz band. That is, with a gap of 20 MHz, frequencies of the 20 MHz band may be allocated to the first communication unit 431 and the second communication unit 432 .

As illustrated in 2013 of FIG. 20A , the first communication unit 431 may use a frequency of 5855-5875 MHz band. The second communication unit 432 may use a frequency of 5885-5905 MHz band. That is, with a gap of 10 MHz, a frequency of 20 MHz band may be allocated to the first communication unit 431 and the second communication unit 432 .

As illustrated in 2014 of FIG. 20A , the first communication unit 431 may use a frequency of 5855-5885 MHz band. The second communication unit 432 may use a frequency of 5895-5925 MHz band. That is, with a gap of 10 MHz, frequencies of the 30 MHz band may be allocated to the first communication unit 431 and the second communication unit 432 .

As illustrated in 2021 of FIG. 20B , the first communication unit 431 may use a frequency of 5885-5895 MHz band. The second communication unit 432 may use a frequency in the 5885-5895 MHz band.

As illustrated in 2022 of FIG. 20B , the first communication unit 431 may use a frequency of 5865-5885 MHz band. The second communication unit 432 may use a frequency of 5865-5885 MHz band.

As illustrated in 2023 of FIG. 20B , the first communication unit 431 may use a frequency of 5865-5895 MHz band. The second communication unit 432 may use a frequency in the 5865-5895 MHz band.

As illustrated in 2031 of FIG. 20C , the first communication unit 431 may use a frequency of 5885-5895 MHz band. The second communication unit 432 may use a frequency in the 5885-5895 MHz band.

As illustrated in 2032 of FIG. 20C , the first communication unit 431 may use a frequency of 5865-5885 MHz band. The second communication unit 432 may use a frequency of 5865-5885 MHz band.

As illustrated in 2033 of FIG. 20C , the first communication unit 431 may use a frequency in the 5865-5895 MHz band. The second communication unit 432 may use a frequency in the 5865-5895 MHz band.

As illustrated in 2041 of FIG. 20D , the first communication unit 431 may use a frequency of 5875-5885 MHz band. The second communication unit 432 may use a frequency of 5895-5905 MHz band. The first communication unit 431 and the second communication unit 432 may use a frequency in the 5885-5895 MHz band together.

As illustrated in 2042 of FIG. 20D , the first communication unit 431 may use a frequency of 5855-5865 MHz band. The second communication unit 432 may use a frequency of 5885-5895 MHz band. The first communication unit 431 and the second communication unit 432 may use a frequency of 5865-5885 MHz band together.

As illustrated in 2043 of FIG. 20D , the first communication unit 431 may use a frequency of 5855-5865 MHz band. The second communication unit 432 may use a frequency of 5895-5905 MHz band. The first communication unit 431 and the second communication unit 432 may use a frequency in the 5865-5895 MHz band together.

As illustrated in 2051 of FIG. 20E , the first communication unit 431 may use a frequency of 5875-5885 MHz band. The second communication unit 432 may use a frequency of 5895-5905 MHz band. The first communication unit 431 and the second communication unit 432 may use a frequency in the 5885-5895 MHz band together.

As illustrated in 2052 of FIG. 20E , the first communication unit 431 may use a frequency of 5855-5865 MHz band. The second communication unit 432 may use a frequency of 5885-5895 MHz band. The first communication unit 431 and the second communication unit 432 may use a frequency of 5865-5885 MHz band together.

As illustrated in 2053 of FIG. 20E , the first communication unit 431 may use a frequency of 5855-5865 MHz band. The second communication unit 432 may use a frequency of 5895-5905 MHz band. The first communication unit 431 and the second communication unit 432 may use a frequency in the 5865-5895 MHz band together.

As illustrated in 2061 of FIG. 20F , each of the first communication unit 431 and the second communication unit 432 may use an individually allocated frequency band.

As illustrated in 2062 of FIG. 20F , the first communication unit 431 and the second communication unit 432 may use the same frequency band together.

As illustrated in 2063 of FIG. 20F , the first communication unit 431 and the second communication unit 432 may use the same frequency band while using each individually allocated frequency band.

The present invention described above can be implemented as computer-readable code on a medium in which a program is recorded. The computer-readable medium includes all kinds of recording devices in which data readable by a computer system is stored. Examples of computer-readable media include Hard Disk Drive (HDD), Solid State Disk (SSD), Silicon Disk Drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. There is also a carrier wave (eg, transmission over the Internet) that is implemented in the form of. In addition, the computer may include a processor or a control unit. Accordingly, the above detailed description should not be construed as restrictive in all respects but as exemplary. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are included in the scope of the present invention.

100: vehicle
400: communication device.

Claims (20)

In the vehicle communication device for performing communication with at least one of other vehicles, infrastructure, and mobile terminals,
a first communication unit for transmitting a first transmission signal to at least one of another vehicle, infrastructure, and a mobile terminal, and receiving a first reception signal from at least one of another vehicle, infrastructure, and a mobile terminal;
a second communication unit for transmitting a second transmission signal to at least one of another vehicle, infrastructure, and a mobile terminal, and receiving a second reception signal from at least one of another vehicle, infrastructure, and a mobile terminal;
Transmitting a first message based on at least one of the first transmission signal and the second transmission signal,
receiving a second message based on at least one of the first received signal and the second received signal;
a processor including a message synchronization system for determining processing of the first transmission signal, the second transmission signal, the first reception signal, and the second reception signal;
The message synchronization system,
Determining processing of the first transmission signal, the second transmission signal, the first reception signal and the second reception signal based on sensing information installed in the vehicle and received from a sensing unit sensing the state of the vehicle Vehicle communication device. The method of claim 1,
The first communication unit,
receiving the first reception signal through a first communication method or a second communication method;
The second communication unit,
A communication device for a vehicle that receives the second reception signal through the first communication method or the second communication method. 3. The method of claim 2,
The first communication method is
ITS (Intelligent Transportation System)-G5 method or WAVE (Wireless Access in Vehicular Environment) method,
The second communication method is
LTE (Long-Term Evolution) method, a communication device for a vehicle. 4. The method of claim 3,
The first communication method and the second communication method use a frequency of a first band,
The first communication method uses a frequency of a first subband,
The second communication method uses a frequency of a second subband,
The first subband and the second subband are included in the first band. 4. The method of claim 3,
The first communication method uses a frequency of a first band,
The second communication method is a vehicle communication device using a frequency of a second band. delete The method of claim 1,
The message synchronization system,
and a message synchronization controller configured to determine a transmission period of the first transmission signal and the second transmission signal. 8. The method of claim 7,
The message synchronization controller,
A communication device for a vehicle that determines a mutual transmission ratio of the first transmission signal and the second transmission signal. 9. The method of claim 8,
The message synchronization controller,
Vehicle communication device for determining a first redundancy rate of a message to be transmitted based on the first transmission signal, and determining a second redundancy rate of a message to be transmitted based on the second transmission signal . 9. The method of claim 8,
The message synchronization system,
The communication device for a vehicle further comprising a channel congestion determine unit for determining a channel congestion level of each of the first communication method and the second communication method. 11. The method of claim 10,
The message synchronization controller,
Based on the channel congestion,
determining a data capacity ratio of each of the first communication method and the second communication method;
A communication device for a vehicle that determines a mutual transmission ratio of the first transmission signal and the second transmission signal based on the information on the data acceptance ratio. 11. The method of claim 10,
The message synchronization controller,
Based on the channel congestion,
Determining a frequency band available for each of the first communication method and the second communication method,
A communication device for a vehicle that determines a mutual transmission ratio of the first transmission signal and the second transmission signal based on the information on the frequency band. 8. The method of claim 7,
The message synchronization controller,
A first message is transmitted via the first transmission signal in a first interval,
At a second interval, a first message and a second message are transmitted through the second transmission signal,
a vehicle communication device for determining that a second message and a third message are transmitted through the first transmission signal at a third interval. 8. The method of claim 7,
The message synchronization system,
The vehicle communication device further comprising a multi-rate message scheduler (Multi-Rate Message Scheduler) for dividing the message according to the transmission period determined by the message synchronization controller. The method of claim 1,
The message synchronization system,
and a multi-rate message synchronizer for merging by synchronizing the first received signal and the second received signal. The method of claim 1,
It further includes an input unit;
The message synchronization system,
A vehicle communication device for determining processing of the first transmission signal, the second transmission signal, the first reception signal, and the second reception signal based on a user input signal received through the input unit. delete The method of claim 1,
The message synchronization system,
processing of the first transmission signal, the second transmission signal, the first reception signal and the second reception signal based on information received from a network through at least one of the first communication unit and the second communication unit; Determining vehicle communication device. The method of claim 1,
The first communication unit, the second communication unit, and a processing board on which the processor is located; Vehicle communication device further comprising a. The method of claim 1,
The first message and the second message are
Basic Safety Message (BSM), Cooperative Awareness Message (CAM), Decentralized Environmental Notification Message (DENM), Signal Phase and Timing (SPaT), Map A vehicle communication device including at least one of data (MAP data), a signal request message (SRM), and a signal status message (SSM).

Images