KR20170066049A - Vehicle, and control method for the same - Google Patents

Abstract

Provided is a vehicle and a control method thereof for controlling travel according to travel environment information confirmed immediately after the navigation is restored from a state in which the navigation environment information can not be confirmed to a state in which it can be confirmed.
A vehicle according to an embodiment includes: a driving unit for providing a turning force for driving; Navigation for confirming travel environment information on a predetermined travel route and generating a message including the confirmed travel environment information; And a control unit for controlling the driving unit to travel based on the travel environment information if it is determined that the travel environment information of the generated message is updated. Wherein the control unit ignores the message generated after the entry point when the navigation enters the disabled state of checking the travel environment information, and when the navigation apparatus returns to the travel environment information checkable state, The driving unit can be controlled according to the travel environment information of the message generated immediately after the point of time.

Description

VEHICLE, AND CONTROL METHOD FOR THE SAME

The present invention relates to a vehicle that travels in accordance with travel environment information and a control method thereof.

A vehicle is a type of vehicle that travels along roads or tracks while moving people, objects, or animals from one location to another. Examples of the vehicle include a two-wheeled vehicle such as a three-wheeled or four-wheeled vehicle, a motorcycle, a construction machine, a bike for a prime mover, a train traveling on a bicycle and a track.

The automotive industry is increasingly interested in the Advanced Driver Assistance System (ADAS), which offers more convenience and safety to drivers.

Particularly, researches are actively conducted on devices and methods for predicting the road environment using the precision map and providing appropriate control and convenience services corresponding to the predicted road environment. For example, the vehicle can check the traveling environment information on the traveling route using the accurate map, and control the traveling speed based on the information.

According to an embodiment of the disclosed invention, there is provided a vehicle and a control method thereof for controlling travel according to travel environment information confirmed immediately after the navigation is restored from a state in which the travel environment information can not be checked to a state in which it can be confirmed.

A vehicle according to an embodiment includes: a driving unit for providing a turning force for driving; Navigation for confirming travel environment information on a predetermined travel route and generating a message including the confirmed travel environment information; And a control unit for controlling the driving unit to travel based on the travel environment information if it is determined that the travel environment information of the generated message is updated. Wherein the control unit ignores the message generated after the entry point when the navigation enters the disabled state of checking the travel environment information, and when the navigation apparatus returns to the travel environment information checkable state, The driving unit can be controlled according to the travel environment information of the message generated immediately after the point of time.

In addition, the navigation may add a cyclic counter determined according to the traveling environment information checking order to the message.

In addition, when it is determined that the travel environment information of the first message is updated, the control unit stores a first counter added to the first message, and then transmits a second counter added to the second message to the first It is possible to determine whether or not the travel environment information of the second message has been updated by comparing with the counter.

In addition, the controller may convert the stored first counter into an invalid value and store the stored first counter when the navigation system can not confirm the travel environment information.

The control unit may convert the stored invalid value into a third counter added to the third message generated immediately after the recovery point, and store the stored invalidity value when the navigation unit has recovered the traveling environment information checkable state.

In addition, the control unit may determine whether to stop the driving unit control based on the position of the vehicle at the entry of the navigation environment information inability to confirm the navigation environment information.

In addition, the control unit may maintain the control of the driving unit when the vehicle exists on the traveling path at the entry of the navigation environment information inability to confirm the navigation environment.

A wheel speed sensor for detecting the rotational speed of the wheel received the rotational force from the driving unit; And the control unit may maintain the control of the driving unit by referring to the detection result of the wheel speed sensor.

In addition, the control unit may stop the control of the driving unit when the vehicle is out of the traveling path at the entry of the navigation environment information unable to check the navigation environment.

Further, the navigation may transmit navigation state information indicating that the traveling environment information can not be checked or changed to the traveling environment information checking state according to at least one of an external input and a departure of the traveling path of the vehicle .

In addition, the navigation may be configured to identify the driving environment information including at least one of forward overspeed interception camera information, forward speed restriction information, forward road gradient information, and forward road curvature information on the driving route, And attribute information of the running road of the vehicle.

According to an embodiment of the present invention, there is provided a method of controlling a vehicle, the method comprising: generating, in navigation, a message including travel environment information on a predetermined travel route; And running on the basis of the travel environment information if it is determined that the travel environment information of the generated message is updated. Wherein the step of traveling based on the travel environment information comprises the steps of: ignoring the message generated after the entry point when the navigation enters the travel environment information incapability state; And traveling on the basis of the travel environment information of the message generated immediately after the recovery point when the navigation is restored to the travel environment information checkable state; . ≪ / RTI >

In addition, the step of generating the message may add a cyclic counter determined according to the traveling environment information checking order to the message.

The step of running based on the travel environment information may further include storing a first counter added to the first message when it is determined that the travel environment information of the first message has been updated, The second counter may be compared with the stored first counter to determine whether the travel environment information of the second message is updated.

The step of ignoring the message generated after the time of entry may further include converting the stored first counter into an invalid value and storing the stored first counter when the navigation system can not confirm the travel environment information, . ≪ / RTI >

The step of traveling according to the travel environment information of the message generated immediately after the recovery point may further include storing the stored invalidity value in the third message generated immediately after the recovery point, To a third counter added to the first counter; . ≪ / RTI >

The step of disregarding the message generated after the entry point of time, when the navigation enters the disabled state of checking the traveling environment information, may further include a step of, based on the position of the vehicle at the time of entry of the traveling environment information non- Determining whether to stop the driving unit control; . ≪ / RTI >

The step of determining whether or not to stop the driving unit control based on the position of the vehicle further includes the step of maintaining the driving unit control when the vehicle exists on the traveling path at the entry of the navigation environment information non- You can decide.

Sensing a rotational speed of the wheel of the vehicle; And ignoring the message generated after the entry point, when the navigation enters the disabled state of the travel environment information, if the control of the driving unit is determined to be maintained, So that the driving unit can be controlled.

The step of determining whether or not to stop the driving unit control based on the position of the vehicle further includes a step of stopping the driving unit control when the vehicle is out of the driving route at the time of entering the driving environment information non- Can be determined.

Generating navigation state information indicating that the traveling environment information can not be checked or changed to a state in which the traveling environment information can be checked according to at least one of an external input and a departure of the traveling path of the vehicle; As shown in FIG.

Also, the step of generating the message may include checking the driving environment information including at least one of forward overspeed restriction camera information, forward speed restriction information, forward road gradient information, and forward road curvature information on the driving route, And can generate the message including the confirmed travel environment information and attribute information of the running road of the vehicle.

According to one embodiment of the disclosed vehicle and the control method thereof, it is possible to accurately receive the travel environment information confirmed immediately after the navigation is restored to the travel environment information checkable state.

According to the disclosed vehicle and another embodiment of the control method thereof, when the vehicle is present on the driving route when the navigation is unable to confirm the traveling environment information, the driving control can be continuously maintained using the wheel speed.

1 is a view showing the appearance of a vehicle according to an embodiment.
2 is a view showing an internal configuration of a vehicle according to an embodiment.
3 is a control block diagram of a vehicle according to an embodiment.
4 is a view for explaining a counter value stored in a buffer for a navigation state of a vehicle according to an embodiment.
FIGS. 5A and 5B are diagrams for explaining a method for determining whether or not the control unit according to various embodiments stops the driving unit control.
6 is a flowchart of a vehicle control method according to an embodiment.
7 is a flowchart of a vehicle control method according to another embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a vehicle and a control method thereof will be described in detail with reference to the accompanying drawings.

1 is a view showing the appearance of a vehicle according to an embodiment.

As shown in Fig. 1, an embodiment of a vehicle includes a body 10 forming an outer appearance of the vehicle 1, wheels 21 and 22 for moving the vehicle 1, a door 22 for shielding the inside of the vehicle 1 from the outside, A front glass 17 for providing a driver with a front view of the vehicle 1 to the driver inside the vehicle 1 and side mirrors 18 and 19 for providing a rear view of the vehicle 1 to the driver .

The wheels 21 and 22 include a front wheel 21 provided at the front of the vehicle and a rear wheel 22 provided at the rear of the vehicle and the front wheel 21 or the rear wheel 22 is provided with a rotational force from the driving unit 400 And can move the main body 10 forward or backward.

The door 14 is rotatably provided on the left and right sides of the main body 10 so that the driver can ride inside the vehicle 1 at the time of opening and shields the inside of the vehicle 1 from the outside at the time of closing .

The front glass 17 is provided on the front upper side of the main body 10 so that a driver inside the vehicle 1 can obtain time information in front of the vehicle 1 and is also called a windshield glass.

The side mirrors 18 and 19 include a left side mirror 18 provided on the left side of the main body 10 and a right side mirror 19 provided on the right side. 1) The side information and the rear side time information can be obtained.

2 is a view showing an internal configuration of a vehicle according to an embodiment.

2, the vehicle 1 includes a seat 110 on which a driver or the like is mounted, a dashboard 150 (see FIG. 2) provided with a gear box 120, a center pedestal 130, and a steering wheel 140 dashboard).

The gear box 120 may be provided with a shift lever 124 for shifting the vehicle 1 and a dial operating section 123 for controlling the performance of the function of the vehicle 1. [

The steering wheel 140 provided on the dashboard 150 is a device for adjusting the running direction of the vehicle 1 and is connected to the rim 141 gripped by the driver and the steering device of the vehicle 1, And a spoke 142 connecting the hub of the rotary shaft for steering. According to the embodiment, the spokes 142 may be provided with operating devices 142a and 142b for controlling various devices in the vehicle 1, for example, an audio device and the like.

An air conditioner 131, a clock 132, an audio device 133, a display 134, and the like may be installed in the center fascia 130 provided on the dashboard 150.

The air conditioner 131 adjusts the temperature, humidity, air cleanliness and air flow inside the vehicle 1 to keep the inside of the vehicle 1 comfortable. The air conditioner 131 may include at least one discharge port 131a provided in the center fascia 130 and discharging air. The center fascia 130 may be provided with buttons or dials for controlling the air conditioner 131 and the like. A passenger such as a driver can control the air conditioner 131 by using a button disposed on the center pacea 130. [

The clock 132 may be provided around a button or a dial for controlling the air conditioner 131. [

The audio device 133 may include an operation panel having a plurality of buttons for performing functions of the audio device 133. The audio device 133 may provide a radio mode for providing a radio function and a media mode for reproducing an audio file of various storage media containing the audio file.

The display 134 may provide a user interface (UI) that provides the driver with information related to the vehicle 1 in the form of images or text. For this, the display 134 may be embedded in the center fascia 130. However, the display 134 is not limited thereto, and the display 134 may be detachable from the center fascia 130 of the vehicle 1.

At this time, the display 134 may be implemented as a liquid crystal display (LCD), a light emitting diode (LED), a plasma display panel (PDP), an organic light emitting diode (OLED), or a cathode ray tube (CRT) But is not limited thereto.

In addition, the display 134 may include a touch panel to sense a touch input. Accordingly, the display may receive a control command from the outside through a touch input, and may perform an operation according to a control command.

The dashboard 150 may further include various instrument panels capable of displaying the running speed of the vehicle 1, the engine speed or the remaining amount of fuel, a glove box capable of storing various items, and the like have.

On the other hand, the vehicle confirms the travel environment information on the predetermined travel route, and can perform autonomous travel based on the information. For example, the vehicle can confirm that the overspeed intermittent camera exists in the forward 2 km, and can maintain the predetermined traveling speed from the time of confirming the presence of the overspeed intermittent camera to the point of passing the overspeed interception point by the overspeed intermittent camera.

For such autonomous driving, the navigation system 200 of the vehicle needs to transmit the traveling environment information to the control unit 300 of the vehicle. If the navigation system 200 frequently transmits the same travel environment information to the control unit 300, the load of the bilateral communication may increase.

In order to solve this problem, when the navigation confirmation information of the vehicle is confirmed, the navigation unit 200 of the vehicle transmits the information once to the control unit 300, and the control unit 300 stores the information and performs self-running can do. As a result, the communication load between the navigation device 200 and the control unit 300 can be reduced.

However, since the navigation system 200 transmits the driving environment information only once, when the controller 300 fails to receive the driving environment information transmitted from the navigation system 200, the vehicle performs autonomous driving according to the driving environment information I can not. In particular, when the navigation device 200 fails to confirm the travel environment information by performing the search for the travel route, and the control unit 300 misses the travel environment information that has been confirmed immediately after the completion of the route search, You can feel anxiety by stopping.

In order to solve this problem, the vehicle according to the embodiment can control the traveling using the checked traveling environment information immediately after the navigation device 200 returns to the checkable state in a state in which the traveling environment information can not be checked.

3 is a control block diagram of a vehicle according to an embodiment.

Referring to FIG. 3, a vehicle according to an embodiment includes a driving unit 400 for providing rotational force for driving; Navigation (200) for confirming environment information on a predetermined traveling route and generating a message including the confirmed traveling environment information; A control unit (300) for controlling the driving unit (400) to travel based on the traveling environment information if it is determined that the traveling environment information of the generated message is updated; And a wheel speed sensor 500 for sensing the rotational speed of the wheel that receives the rotational force from the driving unit 400; . ≪ / RTI >

The driving unit 400 can provide a rotational force to the above-mentioned wheels. Through the rotation of the wheel provided with the rotational force, the vehicle can perform the running. For this, the driving unit 400 may be implemented as a motor, but is not limited thereto.

The wheel speed sensor 500 may sense the rotational speed of the wheel that receives the rotational force from the driving unit 400. For this purpose, the wheel speed sensor 500 may be provided adjacent to the wheel, but is not limited thereto.

The navigation system 200 can confirm the location information and the traveling environment information of the vehicle by matching the position coordinates of the vehicle identified through the satellite signal on a pre-stored map, and provide the controller 300 with the information. To this end, navigation 200 according to one embodiment includes a Global Positioning System (GPS) antenna 210 for receiving satellite signals; A map information providing unit 220 for providing a map including geographical information; And an operation unit 230 of the navigation system 200 receiving an external control command. . ≪ / RTI >

The navigation device 200 receives a control command from an external device through the operation unit 230 of the navigation device 200 and can perform an operation according to the control command. For example, the operation unit 230 of the navigation system 200 may receive a power on / off command, a volume control command, a destination selection command, and the like. In addition, the navigation unit 200 can also receive a travel route search command and a travel route search command.

To this end, the operation unit 230 of the navigation device 200 includes operation devices 142a and 142b provided on the spokes 142, a dial operation unit 123 provided on the gear box 120, a display 134 including a touch panel ). ≪ / RTI >

The navigation device 200 may receive a satellite signal propagating from a GPS satellite via the GPS antenna 210. At this time, the satellite signal may include the position coordinates of the GPS antenna 210, i.e., the vehicle.

After acquiring the position coordinates, the navigation device 200 may match the position coordinates acquired on the map provided by the map information providing unit 220. [ To this end, the map information providing unit 220 may store the map in advance.

Specifically, the map information providing unit 220 can store the precise map in advance. Here, the precision map has high accuracy for safe and precise vehicle control, and includes not only the plane position of the road but also information on the altitude, slope, curvature, lane number, etc., May refer to a map that further includes information about road facilities. Also, the precision map may include attribute information of the road. Here, the attribute information of the road means link information of the road. Examples of the link information include general roads, highways, overpasses, bridges, tunnels, A branch point, a confluence point, and the like.

For this purpose, the map information providing unit 220 may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD A static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM) , A magnetic memory, a magnetic disk, or an optical disk.

After matching the position coordinates of the vehicle on the map, the navigation device 200 can transmit the position information of the vehicle on the matched map to the control unit 300 at predetermined intervals. For example, the navigation device 200 may transmit position information of the vehicle to the control unit 300 as an electrical signal every one second.

Further, the navigation device 200 can confirm the attribute information of the running road. As described above, since the map provided by the map information providing unit 220 includes attribute information per road, the navigation device 200 can confirm the attribute information of the road on which the vehicle is located, that is, the traveling road.

Further, the navigation device 200 can confirm the traveling environment information on the predetermined traveling route. Here, the traveling route includes a traveling route determined in advance according to a destination inputted from the outside through the navigation device 200 operating unit 230 and a Most Probable Path (MPP) determined according to the probability without inputting a destination .

In this case, the checked driving environment information may mean an environmental condition for performing an autonomous driving, and may include, for example, information on forward speeding camera, forward speed restriction information, forward road gradient information, forward road curvature information, But is not limited thereto.

The navigation device 200 can confirm the driving environment information corresponding to the time when the vehicle enters the predetermined distance or area from the environmental condition once. For example, when the vehicle enters the distance of 2 km from the forward speeding intermittent camera on the traveling route, the navigation device 200 can confirm the traveling environment information that the overspeed intermittent camera exists 2 km ahead.

The navigation system 200 may generate a message including the travel environment information and the travel road attribute information separately from the position information transmitted every predetermined period and transmit the message to the controller 300 once. Here, the message can be generated by grouping a series of electrical signals for a predetermined time, and the message according to one embodiment can be configured in the order of driving road attribute information and travel environment information.

In addition, the navigation device 200 may add a cyclic counter determined in accordance with the traveling environment information checking order to the generated message. Here, the cyclic counters can be sequentially determined in accordance with a predetermined order, and the next count value is the best counter value. For example, the circular counter is 0-1-2-3-0-1-2-3-0 ?? . ≪ / RTI >

Specifically, the navigation device 200 can add any one of the circular counters to the head of the message. When a circular counter according to the above-described procedure is adopted and a counter value of 0 is added to the front part of the first message, a counter value 1 may be added to the front part of the next generated second message of the first message .

The control unit 300 may store the driving environment information in the buffer 310 if the driving environment information is determined to have been updated through the message received from the navigation system 200. [ In order to determine whether or not to update the travel environment information, the control unit 300 may use a counter added to the message.

Specifically, when it is determined that the travel environment information of the first message received from the navigation device 200 is updated, the control unit 300 may store the first counter added to the first message in the buffer 310. [ The control unit 300 then transmits a second counter added to the second message to the first counter stored in the buffer 310 to determine whether the travel environment information of the second message received from the navigation device 200 is updated Can be compared. According to a predetermined order of the circular counter, when the second counter is the next order of the first counter, the controller 300 can determine that the travel environment information of the second message has been updated. In this case, the controller 300 may convert the first counter stored in the buffer 310 into a second counter and store the converted second counter. On the other hand, if the second counter is not next to the first counter, the controller 300 determines that the travel environment information of the second message is not updated and can ignore the second message.

If it is determined that the travel environment information has been updated, the controller 300 stores the travel environment information in the buffer 310 and can perform the travel control corresponding thereto. For example, if the travel environment information indicates that an overspeed intermittent camera exists in front of 2 km, the control unit 300 may control the driving unit 400 to travel at a traveling speed corresponding to the overspeed intermittent camera.

At this time, since only the travel environment information is received once, the control unit 300 can maintain the control using the position information received from the navigation device 200 at predetermined time intervals. For example, when the position information is received at intervals of 1 second, the control unit 300 may adjust the traveling speed according to the actual moving distance of the vehicle per second.

On the other hand, the navigation system 200 can be placed in a state in which the travel environment information can not be checked. In this case, the traveling environment information unavailable state means a state in which it is impossible to confirm the traveling environment information during the redrawing of the traveling route. The navigation system 200 receives the route searching command from the outside, It may occur when the navigation device 200 itself performs the route search every time interval or when the actual travel route of the vehicle leaves the travel route.

When the route re-searching is completed, the navigation device 200 can recover the driving environment information again. When a new travel route is set or a conventional travel route is maintained through the route search, the navigation device 200 adds a counter to the message including the travel environment information confirmed immediately after completion of the route search, Lt; / RTI >

At this time, there may occur a case where the added counter value does not follow a predetermined order in the relationship with the entry of the travel environment information incapability state or in the relation with the counter value of the message received just before entering. If a counter value that does not follow a predetermined order is added to a message including travel environment information confirmed immediately after the completion of the route re-search, the controller 300 determines that the travel environment information of the corresponding message is not updated and can ignore it have.

As described above, since the navigation system 200 transmits a message including the specific travel environment information only once, the controller 300 can not perform the autonomous travel corresponding to the travel environment information included in the ignored message. Hereinafter, the operation of the control unit 300 for solving such a problem will be described with reference to FIG.

4 is a view for explaining a counter value stored in a buffer for a navigation state of a vehicle according to an embodiment.

When the navigation system 200 can not confirm the traveling environment information, the navigation system 200 can transmit the navigation system 200 state information indicating that the traveling environment information can not be checked to the controller 300. 4 (a) shows an embodiment of the navigation 200 status information.

The controller 300 receiving the navigation 200 status information may convert the counter value stored in the buffer 310 into an invalid value and store the invalid value. For example, if the circular counter is 0-1-2-3-0-1-2-3 ?? The control unit 300 may store 4 as an invalid value.

As a result, when the navigation device 200 enters a state immediately after the navigation device 200 enters the state in which the traveling environment information can be confirmed, the controller 300 transmits a message with a counter added thereto, (400). For example, when the control unit 300 stores 4 as an invalid value, the control unit 300 determines whether the counter of the received message is a normal value of 0, 1, 2, or 3 as the invalid value 4 It can be determined that the travel environment information of the received message has been updated.

If it is determined that the travel environment information of the received message has been updated, the control unit 300 may store the normal counter value of the message in the buffer 310. 4B is a diagram showing a state of a counter value stored in the buffer 310. FIG.

As shown in FIG. 4, the traveling environment information checkable state recovery point may be different from the time point at which the normal value is stored in the buffer 310 as a counter. This is because the time period .alpha. Required for the navigation unit 200 to confirm the driving environment information for the first time after the state recovery point and to receive it is required.

Also, when the navigation system 200 is in a state in which the traveling environment information can not be checked, the control unit 300 can ignore all messages received from the navigation system 200. [ Therefore, the invalid value can be continuously held in the buffer 310 of the control unit 300. [

At this time, the control unit 300 can determine whether to stop the control of the driving unit 400 based on the position of the vehicle at the time when the driving environment information can not be checked. Specifically, the control unit 300 can determine whether to stop the control of the driving unit 400 according to whether the vehicle is located on the driving route at the time when the driving environment information can not be checked.

FIGS. 5A and 5B are diagrams for explaining a method for determining whether or not the control unit according to various embodiments stops the driving unit control.

5A illustrates a case where the vehicle exists on the traveling route at the time when the navigation device 200 enters the state in which the traveling environment information can not be checked. Referring to FIG. 5A, the vehicle that has reached the predetermined distance dr from the overspeed intermittent camera C can confirm the forward overspeed intermittent camera information once as travel environment information. Thereafter, the vehicle entering the control area S can control the running according to the forward overspeed intermittent camera information and the position information.

If the navigation device 200 starts searching for a route when the vehicle is present at the P position, the controller 300 determines that the navigation device 200 has entered navigation state information incapability state information from the navigation device 200, The location information of the mobile terminal 200 can be received.

The control unit 300 can determine whether or not the vehicle exists on the traveling route based on the position information. In the case of FIG. 5A, since the actual travel route Rr of the vehicle coincides with the travel route Rp, the control unit 300 can determine that the vehicle exists on the travel route.

When the vehicle exists on the driving route, the control unit 300 can maintain the control of the driving unit 400 by referring to the rotational speed of the wheel. Since the controller 300 can not receive the position information of the vehicle while the navigation 200 performs the route search, the controller 300 estimates the position of the vehicle using the rotational speed of the wheel, The driver 400 can be controlled to perform the traveling corresponding to the overspeed intermittent camera C. [

On the other hand, FIG. 5B illustrates a case where the vehicle is departing from the traveling path at the time when the navigation system 200 can not confirm the traveling environment information. Referring to FIG. 5B, the vehicle that has reached the predetermined distance dr from the overspeed intermittent camera C can confirm the forward overspeed intermittent camera information once as travel environment information. Thereafter, the vehicle entering the control area S can control the running according to the forward overspeed intermittent camera information and the position information.

If the navigation device 200 starts searching for a route when the vehicle is present at the P position, the controller 300 determines that the navigation device 200 has entered navigation state information incapability state information from the navigation device 200, The location information of the mobile terminal 200 can be received.

The control unit 300 can determine whether or not the vehicle exists on the traveling route based on the position information. In the case of FIG. 5B, since the actual travel route Rr of the vehicle is different from the travel route Rp, the controller 300 can determine that the vehicle is out of the travel route.

When the vehicle leaves the traveling path, the control unit 300 can stop controlling the driving unit 400 to run in accordance with the forward overspeed intermittent camera information. The existence of the vehicle deviating from the traveling route means that the driver does not intend to travel along the predetermined traveling route.

As described above, when the vehicle is present on the driving route at the time when the driving environment information reception disabled state is entered, the conventional driving control is maintained based on the wheel rotation speed, so that the driver can be provided with a continuous autonomous driving environment without interruption.

6 is a flowchart of a vehicle control method according to an embodiment.

First, the navigation 200 of the vehicle may generate a message including travel environment information on the travel route (700). Here, the travel route may be determined by an external destination input or may be determined stochastically without destination selection have.

In addition, the driving environment information may mean an environmental condition for performing autonomous driving. Examples of the driving environment information include forward overspeed camera information, forward speed restriction information, forward road gradient information, and forward road curvature information. But is not limited to.

At this time, the navigation device 200 may add a circular counter determined in accordance with the travel environment information checking order at the beginning of the message.

Next, when it is determined that the driving environment information of the message generated in the navigation system 200 has been updated, the controller 300 of the vehicle can control the driving unit 400 to travel according to the driving environment information. (710) In order to determine whether the environmental information is updated, the control unit 300 may compare the counter of the previous travel environment information with the counter of the received message.

The control unit 300 can confirm whether the navigation system 200 has entered the driving environment information incapability state during the control of the driving unit 400. If the navigation system 200 can confirm the driving environment information, ) Can be repeated to confirm this.

On the other hand, if the navigation device 200 enters the disabled state of the travel environment information, the control unit 300 may change the buffer 310 to an invalid value and ignore the message generated after the entry point,

Then, the control unit 300 can confirm whether the navigation system 200 has recovered from the traveling environment information checkable state. (740) If the navigation system 200 can not confirm the traveling environment information, This can be confirmed.

On the other hand, if the navigation device 200 has recovered the driving environment information checkable state, the control unit 300 can control the driving unit 400 to travel according to the traveling environment information of the message generated immediately after the recovery.

Since the message generated immediately after the recovery includes a normal value as a counter and the control unit 300 compares it with the invalid value stored in the buffer 310 to determine whether the travel environment information of the message is updated, It is possible to travel stably according to the message generated after the recovery of the driving environment information checkable state.

FIG. 6 illustrates the operation of the vehicle for receiving a message after the recovery of the running environment information availability state. 7, the operation of the vehicle in a state in which the traveling environment information can not be checked will be described.

7 is a flowchart of a vehicle control method according to another embodiment.

First, the vehicle control unit 300 can check whether the navigation system 200 has entered the driving environment information incapability state. (800) If the navigation system 200 can confirm the traveling environment information, the control unit 300 repeatedly This can be confirmed.

On the other hand, if the navigation system 200 can not confirm the travel environment information, the controller 300 can confirm whether the vehicle has left the travel route at the time of entry.

If the vehicle is away from the driving route, the controller 300 determines that the driver does not intend to travel along the driving route any longer, and the control unit 300 can stop the driving control performed according to the existing driving environment information. (820)

On the other hand, if the vehicle exists on the traveling route, the controller 300 determines that the driver intends to travel along the traveling route, and the controller 300 refers to the wheel rotation speed to maintain the traveling control performed according to the existing traveling environment information (830)

Then, the control unit 300 can confirm whether the navigation system 200 has recovered from the traveling environment information checkable state. (840) If the navigation system 200 can not confirm the traveling environment information, This can be confirmed.

On the other hand, if the navigation device 200 has recovered the driving environment information checkable state, the control unit 300 may control the driving unit 400 to travel according to the driving environment information of the message generated immediately after the recovery. (850)

Thus, when the vehicle does not deviate from the traveling path, it is possible to provide a smooth autonomous traveling environment to the driver without interruption of control.

1: vehicle
200: Navigation
210: GPS antenna
220: Providing map information
230: Navigation control unit
300:
310: buffer
400:
500: Wheel speed sensor

Claims (22)

A driving unit for providing a rotational force for driving;
Navigation for confirming travel environment information on a predetermined travel route and generating a message including the confirmed travel environment information; And
A control unit that controls the driving unit to travel based on the travel environment information when it is determined that the travel environment information of the generated message is updated; Lt; / RTI >
Wherein,
When the navigation enters the disabled state of the travel environment information, ignoring the message generated after the entry point,
And controls the driving unit in accordance with the travel environment information of the message generated immediately after the recovery point when the navigation is restored to the travel environment information checkable state. The method according to claim 1,
The navigation system includes:
And adding a cyclic counter determined in accordance with the traveling environment information checking order to the message. 3. The method of claim 2,
Wherein,
Storing the first counter added to the first message and comparing the second counter added to the second message with the stored first counter when it is determined that the running environment information of the first message is updated, 2 < / RTI > message is updated. The method of claim 3,
Wherein,
And converting the stored first counter into an invalid value when the navigation system is unable to confirm the travel environment information. 5. The method of claim 4,
Wherein,
And converts the stored invalidity value into a third counter added to the third message generated immediately after the recovery point, when the navigation is restored to the traveling environment information checkable state. The method according to claim 1,
Wherein,
And determines whether to stop the drive unit control based on the position of the vehicle at the time when the navigation environment information can not be confirmed. The method according to claim 6,
Wherein,
And maintains the control of the driving unit when the vehicle exists on the traveling path at the entry of the navigation environment information inability to confirm the navigation environment information. 8. The method of claim 7,
A wheel speed sensor for detecting the rotational speed of the wheel supplied with the rotational force from the driving unit; Further comprising:
Wherein,
And the control unit controls the driving unit by referring to the detection result of the wheel speed sensor. The method according to claim 6,
Wherein,
And stops the control of the driving unit when the vehicle is departing from the driving route at the entry of the navigation environment information inability to confirm the navigation environment. The method according to claim 1,
The navigation system includes:
To the control unit, navigation state information indicating that the driving environment information can not be checked or changed to the driving environment information checkable state according to at least one of an external input, an external input, and a departure of the driving route of the vehicle. The method according to claim 1,
The navigation system includes:
Wherein the control unit confirms the driving environment information including at least one of forward overspeed intermittent camera information on the traveling route, forward speed restriction information, forward road gradient information, and front road curvature information, The attribute information of the vehicle. Generating a message in the navigation including travel environment information on a predetermined travel route; And
Running on the basis of the travel environment information if it is determined that the travel environment information of the generated message is updated; Lt; / RTI >
Wherein the step of traveling based on the travel environment information comprises:
Ignoring the message generated after the entry point when the navigation enters the disabled state of the travel environment information; And
When the navigation is restored to the travel environment information checkable state, traveling according to the travel environment information of the message generated immediately after the recovery point; And controlling the vehicle. 13. The method of claim 12,
Wherein the step of generating the message comprises:
And adding a cyclic counter determined in accordance with the traveling environment information checking order to the message. 14. The method of claim 13,
Wherein the step of traveling based on the travel environment information comprises:
Storing a first counter added to the first message and comparing a second counter added to the second message with the stored first counter when the traveling environment information of the first message is determined to be updated, 2 message of the vehicle is updated. 15. The method of claim 14,
Wherein ignoring the message generated after the entry point comprises:
Converting the stored first counter into an invalid value and storing the stored first counter when the navigation system can not confirm the travel environment information; And controlling the vehicle. 16. The method of claim 15,
Wherein the step of traveling in accordance with the travel environment information of the message generated immediately after the recovery point,
Converting the stored invalidity value into a third counter added to the third message generated immediately after the recovery point and storing the stored invalidity value when the navigation is restored to the traveling environment information checkable state; And controlling the vehicle. 13. The method of claim 12,
And ignoring the message generated after the entry point when the navigation enters the disabled state of the travel environment information,
Determining whether to stop the drive unit control based on the position of the vehicle at the time of entry of the navigation environment information inability to confirm the navigation environment; And controlling the vehicle. 18. The method of claim 17,
Wherein the step of determining whether to stop the driving unit control based on the position of the vehicle includes:
And when the vehicle is present on the driving route at the time of entry of the navigation environment information inability to confirm the navigation, the control of the driver is controlled. 19. The method of claim 18,
Sensing a rotational speed of the wheel of the vehicle; Further comprising:
And ignoring the message generated after the entry point when the navigation enters the disabled state of the travel environment information,
And controlling the driving unit with reference to the rotational speed of the wheel when the control unit determines to maintain the control of the driving unit. 18. The method of claim 17,
Wherein the step of determining whether to stop the driving unit control based on the position of the vehicle includes:
And stopping the driving unit control when the vehicle is departing from the driving route at the entry of the navigation environment information inability to confirm the navigation. 13. The method of claim 12,
Generating navigation state information indicating that the traveling environment information can not be checked or changed to a state in which the traveling environment information can be checked according to at least one of the external input, the departure of the traveling path of the vehicle, and the like; Further comprising the steps of: 13. The method of claim 12,
Wherein the step of generating the message comprises:
Wherein the control unit confirms the driving environment information including at least one of forward overspeed intermittent camera information on the traveling route, forward speed restriction information, forward road gradient information, and front road curvature information, The attribute information of the vehicle.

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