KR102529661B1 - Driving environment construction apparatus and method - Google Patents

Abstract

For V2X message evaluation, we present a driving environment construction device and method that can receive V2X messages from a test vehicle and transmit virtual V2X messages for each object in a virtual driving environment to the test vehicle. The proposed device includes a communication unit that receives a V2X message from a test vehicle and transmits a virtual V2X message based on a virtual driving environment to the test vehicle; And based on the location information of the test vehicle in the V2X message and object selection in the input device in the driving environment creation tool UI, the test vehicle and object are displayed on the driving environment creation tool UI, and each object from the input device is displayed. A virtual driving environment is created based on the setting information, and relative information of an object with respect to the test vehicle in the real world driving environment is obtained based on the relative information of the object with respect to the test vehicle in the virtual driving environment. It includes; a driving environment generating unit that contains a virtual V2X message and forwards it to the communication unit.

Description

Driving environment construction apparatus and method {Driving environment construction apparatus and method}

The present invention relates to an apparatus and method for constructing a driving environment, and more particularly, to an apparatus and method for constructing a virtual driving environment for V2X message evaluation.

V2X (Vehicle to Everything) refers to a technology in which a vehicle exchanges or shares information with surrounding vehicles and road infrastructure using a wired/wireless communication network.

V2X communication is between vehicles (V2V, Vehicle to Vehicle), vehicles and infrastructure (V2I, Vehicle to Infrastructure), vehicles and pedestrians (V2P, Vehicle to Pedestrian), and vehicles and mobile devices (V2N, Vehicle to Nomadic Device). ) includes communications.

It would be most desirable for V2X messages to be verified and evaluated through experiments in real road environments.

However, it takes a lot of money to build an actual evaluation environment for V2X message evaluation.

In addition, evaluation in various environments and situations is necessary to certify the safety of the terminal through V2X message evaluation.

Matters described in the background art above are intended to aid understanding of the background of the invention, and may include matters that are not disclosed in the prior art.

Prior art 1: Republic of Korea Patent Registration No. 10-1902824 (V2X communication based integrated driving simulation device) Prior art 2: Republic of Korea Patent Registration No. 10-1984762 (autonomous vehicle simulator applying network platform) Prior art 3: Republic of Korea Patent Publication No. 10-2015-0043591 (V2X simulation device, method and computer program product)

The present invention has been proposed in view of the above conventional circumstances, and constructs a driving environment capable of receiving a V2X message from a test vehicle and transmitting a virtual V2X message for each object in a virtual driving environment to the test vehicle for V2X message evaluation. Its purpose is to provide an apparatus and method.

In order to achieve the above object, the driving environment establishment apparatus according to a preferred embodiment of the present invention includes a communication unit for receiving a V2X message from a test vehicle and transmitting a virtual V2X message based on a virtual driving environment to the test vehicle; And based on the location information of the test vehicle in the V2X message and object selection in the input device in the driving environment creation tool UI, the test vehicle and object are displayed on the driving environment creation tool UI, and each object from the input device is displayed. A virtual driving environment is created based on the setting information, and relative information of an object with respect to the test vehicle in the real world driving environment is obtained based on the relative information of the object with respect to the test vehicle in the virtual driving environment. It includes; a driving environment generating unit that contains a virtual V2X message and forwards it to the communication unit.

The driving environment generating unit may include: a message analyzing unit extracting location information of the test vehicle from the V2X message; a display unit including the driving environment creation tool UI; an object determination unit for obtaining relative positional information of an object with respect to the test vehicle in a real-world driving environment based on positional information of an object reflecting a relative distance based on positional information of the test vehicle in the virtual driving environment; and a message generating unit generating a virtual V2X message including relative location information of an object with respect to the test vehicle in the real world driving environment.

The driving environment generating unit may further include an input sensing unit that detects information of a corresponding object as the object is moved to the driving environment generating tool UI by the input device or its location is changed within the driving environment generating tool UI. can

The object determination unit calculates the location information of the object reflecting the relative distance based on the location information of the test vehicle in the virtual driving environment, and transmits the calculated location information of the object to the test vehicle in the corresponding real world driving environment. It can be converted into the location information of the object.

The driving environment creation tool UI may include a driving environment area for checking the location, movement route, and state of an object disposed on a map of a screen; an environment object selection area for disposing the object in the driving environment area; and a detailed information area for setting the state of the object.

The driving environment generation tool UI may further include a message area for confirming contents of messages generated for the object.

The display unit may display the test vehicle in the driving environment area based on location information of the test vehicle extracted by the message analysis unit.

The driving environment generating unit may further include a driving environment scenario generating unit that generates a virtual driving environment scenario based on the setting information for each object from the input device in the driving environment generating tool UI.

On the other hand, the driving environment construction method according to a preferred embodiment of the present invention, the communication unit, receiving a V2X message from the test vehicle; Displaying, by a driving environment generator, the test vehicle and objects on the driving environment creation tool UI based on the location information of the test vehicle in the V2X message and object selection in an input device in the driving environment creation tool UI; generating, by the driving environment generating unit, a virtual driving environment based on the setting information for each object from the input device; The driving environment generation unit obtains relative information of an object with respect to the test vehicle in the real world driving environment based on the relative information of the object with respect to the test vehicle in the virtual driving environment, and puts the object in a virtual V2X message to the communication unit. forwarding to; and transmitting, by the communication unit, a virtual V2X message of the object to the test vehicle.

According to the present invention having such a configuration, by generating a virtual driving environment, relative information of an object with respect to the test vehicle in the real world is obtained based on the relative information of the object in the driving environment with respect to the test vehicle in the driving environment. It can be put in a V2X message and transmitted to the test vehicle. For this reason, the driving environment construction device may evaluate the V2X message by checking the response of the test vehicle to the complex environment that has received the virtual V2X message of the object.

1 is a diagram showing an example of a system to which an apparatus for constructing a driving environment according to an embodiment of the present invention is applied.
FIG. 2 is a diagram showing the internal configuration of the driving environment establishment apparatus shown in FIG. 1 .
FIG. 3 is a diagram illustrating an example of a driving environment creation tool UI displayed on the display unit shown in FIG. 2 .
4 is a flowchart for explaining a method for constructing a driving environment according to an embodiment of the present invention.

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail.

However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, the terms "include" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in the present application, they should not be interpreted in an ideal or excessively formal meaning. don't

Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention will be described in more detail. In order to facilitate overall understanding in the description of the present invention, the same reference numerals are used for the same components in the drawings, and redundant descriptions of the same components are omitted.

1 is a diagram showing an example of a system to which a driving environment establishment device according to an embodiment of the present invention is applied, FIG. 2 is a diagram showing the internal configuration of the driving environment establishment device shown in FIG. 1, and FIG. 3 is FIG. It is a diagram showing an example of a driving environment generation tool UI displayed on the display unit shown in FIG.

In FIG. 1 , the test vehicle 10 and the driving environment establishment device 20 exchange predetermined messages with each other through V2X communication. For example, WAVE (Wireless Access in Vehicular Environments) communication technology may be used for V2X communication.

Here, the test vehicle 10 is an actual vehicle and may be an autonomous vehicle or a general vehicle.

The test vehicle 10 includes a communication terminal 10a. The communication terminal 10a is used for V2X communication with the driving environment establishment device 20.

The test vehicle 10 may periodically transmit driving state information and location information of the host vehicle to the driving environment establishment device 20 through the communication terminal 10a.

The driving environment establishment device 20 may receive a V2X message (eg, including driving state information and location information) from the driving test vehicle 10 to determine the driving state and location of the corresponding test vehicle 10.

The driving environment establishment device 20 may map and display the identified location of the test vehicle 10 on a map on the screen. At this time, the driving environment establishment apparatus 20 may convert the actual position of the test vehicle 10 (eg, including a stopped position and a moving position according to driving speed) to adaptively map to the coordinate system of the map. Through this conversion process, the location of the test vehicle 10 will be displayed on a map on the screen. As for the mapping method by converting the actual location coordinates of the vehicle into the coordinate system of the map, those who are engaged in the same industry can sufficiently grasp the known technology, so a detailed description thereof will be omitted.

The driving environment establishment device 20 allows an examiner to use an input device (eg, mouse, keyboard, touchpad, touch-integrated display, etc.; not shown) to determine objects (eg, pedestrians, traffic lights, ambulances, crosswalks, cars, bicycles, etc.) Roads, obstacles, etc.) can be placed at a desired location on the map on the screen using a method such as drag & drop. In this way, if an arbitrary object is placed on the map of the screen, the location of the object will be sufficiently recognizable through the coordinate system of the map. If necessary, the driving environment establishment apparatus 20 may store location information of each object.

In addition, the driving environment establishment device 20 allows the examiner to input the movement path, movement speed, size, state change, event, etc. of each object arranged on the screen to an input device (eg, mouse, keyboard, touch pad, touch-integrated display, etc.) ; not shown) to enable setting.

When setting information (eg, movement path, movement speed, size, state change, event, etc.) for each object is input by the inspector, the driving environment establishment device 20 stores the setting information for each object.

The driving environment establishment apparatus 20 may generate a driving environment scenario based on setting information of each object and control each object according to the driving environment scenario. Control at this time may be moving an object on a map of a screen, changing a state of an object on a map of a screen, or causing an object to perform an event on a map of a screen.

On the other hand, the driving environment construction device 20 may select a V2X message to be used according to the characteristics and settings of the object.

The driving environment establishment apparatus 20 may calculate location information of an object reflecting a relative distance based on location information of the test vehicle 10 .

The driving environment establishment device 20 may generate a virtual V2X message containing location information and detailed information (eg, movement path, size, movement speed, etc.) of objects and transmit it to the test vehicle 10. At this time, the virtual V2X message transmitted to the test vehicle 10 will contain the coordinates, speed, size, etc. of the object on the map converted to the coordinates, speed, size, etc. of the real world.

In other words, the driving environment establishment apparatus 20 compares the location of the test vehicle 10 and the locations of objects in the driving environment and calculates the relative position of the object with respect to the test vehicle 10 in the real world coordinate system corresponding thereto. A virtual V2X message including information converted to a location may be transmitted to the test vehicle 10. And, since the position of the test vehicle 10 and the position of the objects in the driving environment will be compared periodically, the virtual V2X message will be periodically updated. Since the information set for each object is set on the map, the driving environment construction device 20 converts the coordinates, speed, size, etc. of the object on the map into the coordinates, speed, size, etc. of the real world to convert the virtual V2X You need to message it. In this way, since the distance between the test vehicle 10 and the object on the map and the distance between the test vehicle 10 and the object in the real world can be removed, in the test vehicle 10, the object's actual position, speed, size, etc. can be accurately and easily determined.

As described above, the driving environment establishment device 20 may include a communication unit 30 and a driving environment generation unit 40 .

The communication unit 30 may include a message reception interface unit 32 and a message transmission interface unit 34 as shown in FIG. 2 .

The message reception interface unit 32 may receive a V2X message (eg, including driving state information and location information) from the communication terminal 10a of the test vehicle 10 in real time.

The message reception interface unit 32 forwards the received V2X message to the driving environment generator 40.

The message transmission interface unit 34 may transmit the virtual V2X message based on the driving environment generated by the driving environment generating unit 40 to the test vehicle 10.

Meanwhile, the message transmission interface unit 34 may transmit a virtual V2X message (ie, forged message) that violates the driving environment generated by the driving environment generating unit 40 to the test vehicle 10.

The driving environment generating unit 40 extracts location information of the corresponding test vehicle 10 from the V2X message from the message reception interface unit 32, and displays the location of the corresponding test vehicle 10 by mapping it on a map on the screen. can At this time, the driving environment generation unit 40 may convert the actual location of the test vehicle 10 to adaptively map it to the coordinate system of the map. Through this conversion process, the location of the test vehicle 10 will be displayed on a map on the screen.

The driving environment generator 40 may generate a driving environment scenario based on information for setting a predetermined driving environment scenario (eg, including a moving path, moving speed, size, state change, event, etc. for each object). there is. Here, the driving environment scenario is for testing and may be set by an inspector.

The driving environment generating unit 40 may generate a virtual driving environment for the test vehicle 10 based on the driving environment scenario. In a virtual driving environment, the test vehicle 10 and one or more objects may move.

The driving environment generation unit 40 may periodically compare and calculate the location of the test vehicle 10 and the locations of objects in the driving environment. Accordingly, the driving environment generating unit 40 may periodically calculate the relative position of the object to the test vehicle 10 in the real world coordinate system corresponding to the relative position of the object to the test vehicle 10 in the driving environment. Then, the driving environment generating unit 40 periodically transmits a virtual V2X message including calculated location information (ie, relative distance information of the object to the test vehicle 10 in the real world) to the test vehicle 10. can do.

In this way, the driving environment generating unit 40 generates virtual V2X messages (ie, driving environment-based virtual V2X messages) of objects arranged in the driving environment. In the virtual V2X message, information about objects on the map (eg, coordinates , speed, size, etc.) will be adaptively converted into real world information (eg, coordinates, speed, size, etc.).

The driving environment generation unit 40 may generate a virtual V2X message (ie, forgery message) that violates the driving environment.

As shown in FIG. A message generator 46 and an input detector 47 may be included.

The message analyzer 41 may analyze the V2X message from the test vehicle 10 received by the message reception interface 32 to extract location information and driving state information. For example, the message analyzer 41 may extract location information and driving state information using a parsing technique.

The display unit 42 may include a predetermined driving environment generating tool UI according to the inspector's request. For example, the display unit 42 may display a driving environment creation tool UI (User Interface) as illustrated in FIG. 3 . In FIG. 3 , reference numeral 52 denotes a driving environment area, reference numeral 54 denotes an environment object selection area, reference numeral 56 denotes a message area, and reference numeral 58 denotes a detailed information area.

In the driving environment area 52, it is possible to check the location, movement route, state, and the like of objects arranged on the map of the screen. In the environment object selection area 54, desired objects (eg, pedestrians, traffic lights, ambulances, crosswalks, cars, bicycles, roads, obstacles, etc.) can be placed in the driving environment area 52 by dragging and dropping. . In the message area 56, contents of a message generated for a selected (clicked) object can be confirmed. The detailed information area 58 may set the state of the selected (clicked) object.

The display unit 42 may display the location information of the test vehicle 10 extracted by the message analysis unit 41 on a map on the screen. For example, the display unit 42 may display the test vehicle 10 in the driving environment area 52 as illustrated in FIG. 3 . At this time, the display unit 42 converts the actual position of the test vehicle 10 (including, for example, a stopped position and a moving position according to driving speed) to be adaptively mapped to the coordinate system of the map and displayed on the map on the screen. .

Meanwhile, the display unit 42 may place a corresponding object in a specific position as a predetermined object in the environment object selection area 54 is moved to a specific position in the driving environment area 52 by dragging and dropping. there is. Here, the object can be dragged and dropped by the inspector.

In addition, the display unit 42 may display message contents generated for the selected (clicked) object in the message area 56 . Accordingly, the examiner can easily check the content of the message generated for the selected object.

In addition, the display unit 42 may display the detailed information area 58 so that movement paths, state changes, events, and the like of each object disposed in the driving environment area 52 may be set.

The display unit 42 may visually express graphics in which states and moving paths of objects change in real time.

The driving environment scenario generating unit 43 is virtual based on information set for each object from the input device in the driving environment creation tool UI (eg, including the moving path, moving speed, size, state change, event, etc. for each object). of driving environment scenarios can be created.

As a result, it can be seen that the virtual driving environment is implemented by the virtual driving environment scenario. If necessary, it may be said that the driving environment scenario generator 43 creates (implements) a virtual driving environment.

The storage unit 44 may store location information of each object.

The storage unit 44 may store the virtual driving environment scenario generated by the driving environment scenario generating unit 43 . At this time, the stored virtual driving environment scenario includes information input to set the corresponding virtual driving environment scenario (ie, various setting information).

The object determination unit 45 may select a V2X message to be used according to the characteristics and settings of the object.

The object determining unit 45 may calculate location information for each object reflecting a relative distance based on location information of the test vehicle 10 in a virtual driving environment based on a virtual driving environment scenario. Since the position of the test vehicle 10 and the positions of objects in the driving environment are periodically compared and calculated, the object determination unit 45 periodically compares the relative position of each object with respect to the test vehicle 10 in the virtual driving environment. can be renewed

In addition, the object determination unit 45 determines the relative position of each object with respect to the test vehicle 10 in the virtual driving environment as an object with respect to the test vehicle 10 in the corresponding real world coordinate system (ie, the coordinate system of the actual driving environment). It can be converted (calculated) to a star relative position. This may mean conversion of a coordinate system location of a virtual driving environment (eg, a map) into a location of a real world coordinate system. For example, if the relative coordinates of an object with respect to the test vehicle 10 placed on the map of the driving environment area 52 by the inspector are (X1, Y1), the object determination unit 45 determines the corresponding coordinates (X1, Y1). It may be converted into relative coordinates (X2, Y2) of the object with respect to the test vehicle 10 in the corresponding real world coordinate system.

The side that receives the virtual V2X message is the test vehicle 10, and in order to easily grasp the actual location, speed, size, etc. of the object in the test vehicle 10, the object determination unit 45 is the coordinates of the object on the map. , velocity, size, etc. to real world coordinates, velocity, size, etc.

The message generator 46 generates a virtual V2X message including location information of the real world coordinate system for each object in the object determiner 45 (ie, relative distance information of the object to the test vehicle 10 in the real world). can

That is, the message generator 46 generates a virtual V2X message containing location information for each object (that is, location information reflecting a relative distance based on the location information of the test vehicle 10) and detailed information, and the generated virtual V2X message. may be transmitted to the test vehicle 10 in real time through the message transmission interface unit 34 . At this time, in the virtual V2X message, the coordinates, speed, size, etc. of the object on the map may be converted to the coordinates, speed, size, etc. of the real world.

Meanwhile, the message generating unit 46 may generate a virtual V2X message (ie, forgery message) that violates the driving environment and transmit it to the test vehicle 10 through the message transmission interface unit 34. Here, the forgery message is a message containing different contents from the constructed virtual driving environment, and is used to evaluate whether the test vehicle 10 can discriminate the forgery message in the same environment. In other words, the forged message may be used for a stability test of the message receiver of the test vehicle 10 . For example, the forgery message may be a message that is different from the data format of the normal virtual V2X message or may be missing some format, or may be a different message from the construction environment according to the normal virtual V2X message.

The input detection unit 47 selects an object desired by the examiner from the environment object selection area 54 of the display unit 42 using an input device (not shown) (eg, by dragging and dropping). When moving to the driving environment area 52, the type (type) of the selected object and the arrangement position in the driving environment area 52 can be detected.

In addition, the input detection unit 47 detects the selection of the object and displays the message area 56 when the examiner selects a desired object from among the objects in the driving environment area 52 using an input device (not shown). By activating, the content of the message created for the selected object can be displayed in the message area 56 .

In addition, the input detection unit 47 detects the selection of the object when the inspector selects a desired object from among the objects in the driving environment area 52 using an input device (not shown), and provides detailed information area 58. By activating , it is possible to set the state of the selected object.

Meanwhile, the inspector may place an object fixedly disposed in the driving environment area 52 or moving in the driving environment area 52 at another location using an input device (not shown). In this case, the input detection unit 47 may detect an object whose location has been changed and transmit information (eg, type of object, changed location, etc.) of the object whose location has been changed to the object determination unit 45 . In addition, the object determining unit 45 determines the relative position of the corresponding object to the test vehicle 10 in the virtual driving environment (ie, the relative position based on the changed position) as an object to the test vehicle in the real world coordinate system corresponding thereto. It is converted into a relative position of and delivered to the message generator 46. Accordingly, the message generating unit 46 generates a changed virtual V2X message containing the changed location information of the object and transmits it to the test vehicle 10 through the communication unit 30.

4 is a flowchart for explaining a method for constructing a driving environment according to an embodiment of the present invention.

The driving environment establishment device 20 periodically receives a V2X message (eg, including driving state information and location information) from the test vehicle 10 (S10).

The driving environment construction device 20 extracts location information from the received V2X message (S20).

Thereafter, the driving environment establishment device 20 builds a virtual driving environment for the test vehicle 10 based on the location of the test vehicle 10 and information set for each object (S30). Here, when constructing a virtual driving environment, a driving environment creation tool UI is used.

In the case of constructing the virtual driving environment described above, the driving environment building apparatus 20 may display the driving environment creation tool UI (see FIG. 3 ) on the screen of the display unit 42 according to the inspector's request.

Then, the driving environment establishment device 20 displays the corresponding test vehicle 10 on the driving environment area 52 (eg, a map). In this case, the driving environment establishment apparatus 20 may convert the actual position of the test vehicle 10 (eg, including a stopped position and a moving position according to driving speed) to be adaptively mapped to the coordinate system of the map.

On the other hand, the driving environment area (eg, one or more of pedestrians, traffic lights, ambulances, crosswalks, cars, bicycles, roads, obstacles, etc.) desired by the inspector in the environment object selection area 54 by dragging and dropping. As the object is moved to a specific location in 52), the driving environment establishment device 20 places the moved object at the corresponding location.

In addition, the examiner sets the state of the object selected by the examiner (eg, movement path (including location), movement speed, size, state change, event, etc.) through the detailed information area 58 . Accordingly, the driving environment establishment apparatus 20 generates a driving environment scenario based on information set for each object, and then stores the driving environment scenario together with the corresponding setting information.

Of course, if necessary, the examiner can check the contents of the message generated for the selected object through the message area 56.

Thereafter, the driving environment establishment device 20 may display objects in the driving environment area 52 and control the objects based on the driving environment scenario. For example, a fixed object (eg, a traffic light, a crosswalk, etc.) is fixed at a set position, and a movable object (eg, a pedestrian, an ambulance, a car, a bicycle, etc.) moves or changes state according to set information. or trigger an event.

After the virtual driving environment as described above is established, the driving environment construction device 20 generates a virtual V2X message based on the driving environment (S40), and sends the generated virtual V2X message based on the driving environment to the test vehicle 10 ) to (S60). In addition, the driving environment establishment device 20 generates a virtual V2X message (forgery and alteration message) that violates the driving environment (S50) and transmits the virtual V2X message that violates the generated driving environment to the test vehicle 10 ( S60).

Here, when generating a virtual V2X message based on the driving environment, the driving environment construction device 20 generates virtual V2X messages of objects arranged in the driving environment. The driving environment construction apparatus 20 converts the relative position of an object with respect to the test vehicle 10 obtained by comparing and calculating the position of the test vehicle 10 and the positions of objects in the driving environment into the corresponding position of the real world coordinate system. It is possible to generate a virtual V2X message containing the information requested. Since the position of the test vehicle 10 and the position of the objects in the driving environment will be compared periodically, the virtual V2X message will be periodically updated. Since the information set for each object is set on the map, the driving environment construction device 20 converts the coordinates, speed, size, etc. of the object on the map into the coordinates, speed, size, etc. of the real world to convert the virtual V2X You need to message it.

Meanwhile, the reason for generating and transmitting the forged message to the test vehicle 10 is to test the stability of the message receiver of the test vehicle 10 . For example, the forgery message may be a message that is different from the data format of the normal virtual V2X message or may be missing some format, or may be a different message from the construction environment according to the normal virtual V2X message. By transmitting such a forged message to the test vehicle 10, it is possible to evaluate whether the test vehicle 10 can determine the forged or altered message.

In this way, the driving environment establishment device 20 may evaluate the V2X message by checking the response of the test vehicle 10 to the complex environment that has received the virtual V2X message of the object.

In addition, the driving environment construction method of the present invention described above can be implemented as computer readable codes on a computer readable recording medium. A computer-readable recording medium includes all types of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage devices. In addition, the computer-readable recording medium is distributed in computer systems connected through a network, so that computer-readable codes can be stored and executed in a distributed manner. Also, functional programs, codes, and code segments for implementing the method can be easily inferred by programmers in the art to which the present invention belongs.

The above description is merely an example of the technical idea of the present invention, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed according to the claims below, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

10: test vehicle 20: driving environment construction device
30: communication unit 32: message reception interface unit
34: message transmission interface unit 40: driving environment generation unit
41: message analysis unit 42: display unit
43: driving environment scenario generation unit 44: storage unit
45: object determination unit 46: message generation unit

Claims (11)

A communication unit that receives a V2X message from the test vehicle and transmits a virtual V2X message based on a virtual driving environment and a forgery message to the test vehicle; and
Based on the location information of the test vehicle in the V2X message and object selection in the input device in the driving environment creation tool UI, the test vehicle and object are displayed on the driving environment creation tool UI, and each object is set from the input device. Generating a virtual driving environment based on the information, storing information of the created virtual driving environment, and generating the virtual V2X message including information about objects disposed in the created virtual driving environment; The forgery message including information on a driving environment different from the virtual driving environment is generated, the virtual V2X message and the forgery message are transmitted to the test vehicle through the communication unit, and the virtual V2X message and the forgery message are transmitted to the test vehicle from the test vehicle. A driving environment generating unit that receives a V2X message and a V2X message according to driving based on the forgery message through the communication unit, analyzes the received V2X message, and evaluates whether the test vehicle has determined the forgery message. ,
Driving environment building device. According to claim 1,
The driving environment generating unit,
A message analyzer for analyzing the V2X message;
a display unit including the driving environment creation tool UI;
an object determination unit for obtaining relative location information of the object with respect to the test vehicle in a real-world driving environment; and
A message generating unit for generating a virtual V2X message including relative position information of the object to the test vehicle in the real world driving environment and generating the forged message;
Driving environment building device. According to claim 2,
The driving environment generating unit,
An input detector configured to detect information of a corresponding object as the object is moved to the driving environment creation tool UI by the input device or its location is changed within the driving environment creation tool UI.
Driving environment building device. According to claim 2,
The object determination unit,
Based on the location information of the test vehicle in the virtual driving environment, the location information of the object reflecting the relative distance is calculated, and the calculated location information of the object is used as the location information of the object for the test vehicle in the real world driving environment. which converts to
Driving environment building device. According to claim 2,
The driving environment creation tool UI,
a driving environment area for checking the location, movement path, and state of objects arranged on the map of the screen;
an environment object selection area for disposing the object in the driving environment area; and
Including, a detailed information area for setting the state of the object;
Driving environment building device. According to claim 5,
The driving environment creation tool UI,
Further comprising a message area for checking the contents of the message generated for the object;
Driving environment building device. According to claim 5,
the display unit,
Based on the location information of the test vehicle extracted from the message analysis unit, the test vehicle is displayed in the driving environment area.
Driving environment building device. According to claim 2,
The driving environment generating unit,
Further comprising a driving environment scenario generating unit for generating a virtual driving environment scenario based on the setting information for each object from the input device in the driving environment creation tool UI.
Driving environment building device. Communication unit, receiving a V2X message from the test vehicle;
Displaying, by a driving environment generator, the test vehicle and objects on the driving environment creation tool UI based on the location information of the test vehicle in the V2X message and object selection in an input device in the driving environment creation tool UI;
generating, by the driving environment generating unit, a virtual driving environment based on the setting information for each object from the input device;
storing, by the driving environment generating unit, information on the generated virtual driving environment;
Generating, by the driving environment generating unit, a virtual V2X message including information about an object disposed in the generated virtual driving environment;
generating, by the driving environment generation unit, a forgery message including information about a driving environment different from the virtual driving environment;
Transmitting, by the driving environment generating unit, the virtual V2X message and the forged message to the test vehicle through the communication unit;
Receiving, by the driving environment generating unit, a V2X message according to driving based on the virtual V2X message and the forged message from the test vehicle through the communication unit; and
Evaluating, by the driving environment generating unit, whether the test vehicle has determined the forgery message by analyzing the received V2X message;
How to build a driving environment.
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