KR20170096075A

KR20170096075A - Apparatus and method for self-driving of vehicle in linking area

Info

Publication number: KR20170096075A
Application number: KR1020160017113A
Authority: KR
Inventors: 이상우
Original assignee: 한국전자통신연구원
Priority date: 2016-02-15
Filing date: 2016-02-15
Publication date: 2017-08-23

Abstract

The present invention relates to an autonomous navigation apparatus and method for a vehicle in a confluence area in which a sensor-based autonomous traveling vehicle can improve the traveling performance of a confluence area by using V2V communication, The present invention relates to a method and apparatus for sensing a driving situation of a vehicle,

Description

[0001] APPARATUS AND METHOD FOR SELF-DRIVING IN VEHICLE IN LINKING AREA [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an autonomous traveling vehicle, and more particularly, to an autonomous traveling apparatus and method therefor in a joining region through V2V (Vehicle to Vehicle) communication during autonomous traveling of an autonomous traveling vehicle

Autonomous vehicles The autonomous vehicle travels on the road and is exposed to various driving situations.

In such a case, it is difficult to make stable driving due to the limitation of the sensing range and the inaccuracy of the recognition result in the case of the sensor-based autonomous driving technique.

An example is the driving situation such as lane joining. Generally, in order to enter the roadway, it is necessary to travel along the main road through the access road.

When a person is driving, the driver who is driving on the main line recognizes that the vehicle is entering from the branch line and judges whether to drive the vehicle ahead of the entering vehicle or to go behind the entering vehicle.

Or change lanes to avoid entry vehicles. The driver driving the branch line turns on the turn signal to enter the main line, monitors the driving situation of the main line, judges the appropriate time, and joins the main line. This requires a significant range of recognition and implicit cooperation between drivers.

However, the sensor - based autonomous navigation system has a problem that it is not stable in traveling situations such as confluence area due to limitations and inaccuracies of the recognition of the running situation and lack of cooperation between the systems.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made in view of the above problems, and it is an object of the present invention to provide an autonomous navigation apparatus and method therefor in a merging region through V2V communication when the autonomous vehicle is autonomous. That is, the present invention can improve the traveling performance of a sensor-based autonomous traveling automobile by using V2V communication, and it is an object of the present invention to provide a method and system for a vehicle traveling in a confluence area by exchanging information of a car using V2V communication It is an object of the present invention to provide an autonomous navigation apparatus and method which can improve the sensor-based driving situation recognition / judgment performance by determining a joining order according to a certain rule, and then sharing and running the information.

According to an aspect of the present invention, there is provided a method of autonomous vehicle traveling in a confluence area, the method comprising: determining whether a plurality of vehicles are within a predetermined distance from a confluence area during an autonomous travel according to a traveling route of the vehicle; If the plurality of vehicles approach each other within a predetermined distance from the merging area, each of the plurality of vehicles broadcasts merging area traveling information; Broadcasting a joining area entry order information determined after determining a joining area entry order of all the vehicles for entering a joining area, the joining area entry order information having a high entry priority into the joining area; And performing an entry into the merging area according to the entry order information broadcast from the one vehicle.

The determining step may include monitoring autonomous travel route information and location information of the self-driving vehicle.

In the determining, it is determined whether the vehicle is within a predetermined distance from the confluence area, using the traveling route information, the location information, and the map information on the set traveling route of the monitored vehicle.

The joining area driving information and joining area entering order information are broadcast through V2V communication.

The location information of the vehicle is acquired using GPS, camera, and set map information.

The joining area travel information includes at least one of position information of a car, speed information, and display information for driving a joining area.

And stopping the broadcast of the joining area driving information when the vehicle enters the set joining area.

Broadcasting the determined joining area entry order information comprises: determining whether a broadcast signal for a joining order from the other vehicle to the joining region is received through the V2V communication when the own vehicle broadcasts joining region driving information; As a result of the determination, when the broadcast signal for the joining order to the joining region is received through the V2V communication, it is determined that the joining order has already been determined in the other vehicle, and the response signal indicating that joining order information has been received is transmitted. And controlling entry into the confluence area according to the order information.

Determining whether the current vehicle is located in a merging order determining region when a broadcast signal for the merging order from the other vehicle through the V2V communication is not received as a result of the determination; Determining a merging order to a merging region using merging region driving information received from autonomous vehicles traveling in a merging region when the vehicle is located in an area for determining a merging order; And broadcasting the determined merging order information through V2V communication and performing the vehicle control according to the merging order to enter the merging region.

The joining order determination is determined according to the speed and position of the vehicle and the set rule.

And controlling the autonomous travel of the vehicle according to the generated travel route when the vehicle is not located in the joining order determining area as a result of the determination.

According to another aspect of the present invention, there is provided an apparatus for autonomous navigation of a vehicle in a confluence area, comprising: an information obtaining unit for obtaining autonomous travel route information and position information of a self-driving vehicle; A communication unit for performing communication with other vehicles; And when a plurality of vehicles are close to each other within a predetermined distance from the confluence area during autonomous travel according to the respective traveling routes, broadcasts the confluence area traveling information through the communication unit, and according to the determined joining area entry order information, And a control unit for controlling the entry of the image data.

When the vehicle is located in an area for determining a joining area order, the control unit determines an entry order of the joining road, and then broadcasts the determined joining entry order information to other vehicles through the communication unit.

The controller determines whether the vehicle is within a predetermined distance from the confluence area by using the travel route information, the location information, and the map information on the set travel route.

The communication unit broadcasts joining area traveling information and joining area entering order information via V2V communication.

When the joining area driving information is broadcasted through the communication unit, the control unit determines whether a broadcasting signal of the joining order from the other vehicle to the joining area has been received via the V2V communication. If it is determined that the joining sequence to the joining area It is determined that the broadcast order is determined to be broadcasted by another vehicle and the response signal is received indicating that the joining order information has been received. Thereafter, according to the joining order information, .

If it is determined that the broadcast signal for the joining order from the other vehicle through the V2V communication is not received as a result of the determination, the control unit determines whether the current vehicle is located in the joining order determining area, Determines the joining order of the joining region using the joining region driving information received from the autonomous driving vehicles that run in the joining region, and transmits the determined joining ranking information to the broadcasting station through the V2V communication And controls the entry into the confluence area by performing vehicle control according to the joining sequence.

In the control section, the joining order determination is determined according to the speed and position of the vehicle and the set rule.

The control unit controls autonomous travel of the vehicle in accordance with the generated travel route when the vehicle is not located in the joining order determining area.

According to the present invention, there is provided an invention capable of improving the traveling performance of a sensor-based autonomous traveling vehicle by using V2V communication, wherein a vehicle approaching a confluence area exchanges information of the vehicle using V2V communication, It is possible to improve the sensor-based driving situation recognition / judgment performance by sharing the information after determining the joining order according to the rules. That is, according to the present invention, when the autonomous mobile car travels in the joining region, it can perform autonomous travel more stably than the sensor-based autonomous mobile car.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 shows a road structure in which a general lane merging situation occurs.
2 is a view showing paths of two autonomous vehicles on a confluence road;
Fig. 3 is a view showing a confluence area defined in a road structure in which a general lane merge situation occurs; Fig.
4 is a view showing an outline of an autonomous running operation of a vehicle in a merging region according to the present invention;
FIG. 5 is a block diagram of an autonomous travel apparatus of a vehicle in a merging region according to the present invention; FIG.
6 is a flowchart showing an operational flow of broadcasting joining area driving information to a nearby vehicle when the autonomous driving vehicle according to the present invention approaches the joining area.
7 is a view showing an example of an operation of a merging area traveling information broadcast shown in FIG.
8 is a diagram illustrating an example of an operation for determining a merging order in a merging region;
Fig. 9 is a flowchart showing an operation for determining a merging sequence as shown in Fig. 8, and a control operation for controlling the autonomous vehicle. Fig.
10 is a view showing an example of autonomous travel of a vehicle in a confluence area according to the present invention and an example of autonomous travel using the method.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the invention to those skilled in the art. And the present invention is defined by the description of the claims. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. It is noted that " comprises, " or "comprising," as used herein, means the presence or absence of one or more other components, steps, operations, and / Do not exclude the addition.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of an autonomous vehicle traveling system and a method thereof in a merging area according to the present invention will be described in detail with reference to the accompanying drawings.

First, with reference to FIG. 1 to FIG. 3, a brief description will be given of a situation where a vehicle runs autonomously on a joining road structure and a joining region defined in the present invention, before a specific description of the present invention.

FIG. 1 shows a road structure in which a general lane merging situation occurs.

As shown in Fig. 1, the road can be composed of a main lane, an access road, and an acceleration lane, and the vehicle can join and travel on the main road through an access road and an acceleration lane. On the other hand, the autonomous vehicle carries out autonomous travel based on the map information of the road on which it is traveling, and the map information may include not only lane information but also road condition and sign information.

2 shows a route of two autonomous vehicles. As shown in Fig. 2, the vehicle A runs on a route that goes straight on the main secondary lane, the vehicle B passes main road 2 There is a case where the vehicle travels along a route joining the lane.

In this case, the route of the vehicle A and the vehicle B overlap, and the area where the vehicle B joins the main line and travels is defined as the confluence area as shown in FIG.

The autonomous vehicle has map information, and the map information may include joining local information. In the case of autonomous vehicles based on existing sensors, it may be difficult to travel in order to merge into these regions due to limitations and inaccuracies of the sensor range.

Therefore, in order to solve such a problem, the present invention is capable of performing autonomous traveling in a merging region through V2V communication between vehicles in the merging region shown in FIG. Referring to FIG. 4, the autonomous driving operation of the vehicle in the merging area according to the present invention will be schematically described.

4 is a diagram showing an outline of an autonomous running operation of a vehicle in a confluence area according to the present invention.

As shown in FIG. 4, when autonomous travel is performed according to the traveling route of the vehicle A and the vehicle B, both the vehicle A and the vehicle B first recognize whether there is a joining area in the traveling route of the vehicle using the map information.

When recognizing that there is a joining area in both of the vehicles A and B, each of the vehicles A and B broadcasts joining area driving information indicating that the joining area will be driven soon by using the V2V communication.

Vehicle A driving on the main lane recognizes that vehicle B joins the main line through V2V communication, determines the order of entry into the joining area, and broadcasts it via V2V communication.

The vehicle B that has received the entry order information broadcasted from the vehicle A controls the vehicle in accordance with the received entry order information and sensing information to perform the autonomous traveling with the set route. That is, it is possible to expand the sensing range of the existing sensor and cooperate with each other by fusing the V2V information with the sensor information, so that the traveling in the confluence area becomes more stable.

Hereinafter, an apparatus and method for autonomous travel of a vehicle in a confluence area according to the present invention will be described in detail with reference to the accompanying drawings.

5 is a block diagram of an autonomous vehicle traveling apparatus in a merging region according to the present invention.

5, the autonomous vehicle traveling apparatus in the joining region according to the present invention includes a position information obtaining unit 10, a route setting unit 11, a map database 12, a travel information obtaining unit 13, A storage unit 14, a display unit 15, a control unit 16, an autonomous drive control unit 17, and a communication unit 18.

The positional information obtaining unit 10 senses the position of the self-driving vehicle in the set path and provides the detected position of the self-driving vehicle to the controller 16. Here, the position information can be obtained by using various sensors such as a GPS, a camera, and the like, and the position of the vehicle can be obtained using the map information. Such a position acquiring method is a known technique and will not be described in detail.

The route setting unit 11 sets the traveling route to the destination using the map information stored in the map database 12 and provides the traveling route information to the control unit 16. [

The storage unit 14 may store the acquired position information, the driving information, and the set travel route information.

The display unit 15 displays the autonomous travel route map information set by the route setting unit 11. When the user approaches the joining area during the autonomous driving, You can display the information so you can see it. In addition, it is possible to receive the driving information from the neighboring vehicles entering the joining region and display the position information of the vehicles on the driving route map according to the received driving information.

The driving information obtaining unit 13 obtains driving information including the speed information of the own vehicle and other obstacle information during driving and provides the driving information to the control unit 16.

The communication unit 18 performs V2V communication with neighboring vehicles to broadcast the joining area driving information of the own vehicle and the entry priority order determination information to the joining area. The joining area driving information of the other vehicles broadcasted from other vehicles, And may provide the control unit 16 with the priority ranking information.

The control unit 160 periodically monitors the position information provided from the position information obtaining unit 10 and the traveling path set in the path setting unit 11. [

If it is determined that the vehicle is close to the confluence area, the controller 160 determines whether the vehicle is close to the confluence area using the position information and the traveling path information of the monitored vehicle. If it is determined that the vehicle is close to the confluence area, And broadcasts the running information through the communication unit 18. [ Here, the determination as to whether or not it is close to the joining area can be confirmed by using the map information on the set route. The joining area traveling route information includes at least one of speed information of the own vehicle obtained by the driving information obtaining unit 13, position information of the own vehicle acquired by the position information obtaining unit 10, And may include one or more pieces of information.

The control unit 16 stops broadcasting the joining area driving information through the communication unit 18 when the vehicle enters the joining area.

On the other hand, in the state where the joining area driving information broadcasting is performed through the communication unit 18, when the joining priority determination information broadcast from the other vehicle through the communication unit 18 is not received, It is determined whether or not it is located in the lane for order determination.

As a result of the determination, when the vehicle is located in the lane for determining the joining area entry order, the traveling information including the speed and position information of the other vehicles received from the other vehicle through the communication unit 18, After determining the priority of entry, the determined priority information is broadcasted to other vehicles. Here, the set rule may be a priority entry rule of a joining region established by, for example, traffic regulations.

Then, the control unit 16 controls the autonomous drive control unit 17 in accordance with the decided merging order after broadcasting the priority information, and controls the autonomous drive so as to enter the confluence area.

When receiving the merging order broadcast from other vehicles via the communication unit 18, the control unit 16 transmits a merging order broadcast reception response message to the corresponding vehicle through the communication unit 18, 17) and controls to enter the joining area according to the received joining order.

A method of autonomous driving of a vehicle in a merging area according to the present invention corresponding to the operation of the autonomous vehicle of the vehicle in the confluence area according to the present invention will be described step by step with reference to FIG. 6 to FIG.

First, in a self-running method of a vehicle in a confluence area according to the present invention, in a state in which a plurality of vehicles are autonomously traveling along their own traveling route, all of a plurality of vehicles use map information of their own traveling route And recognizes whether there is a joining area in the traveling path of the car.

When it is recognized that there is a joining area for all of the vehicles, each of the vehicles broadcasts joining area driving information indicating that the joining area will be driven soon by using the V2V communication.

Each vehicle that runs in the main lane recognizes that it will join the main line through V2V communication, determines the order of entry into the joining area, and broadcasts it via V2V communication.

The other vehicle controls the own vehicle according to the entering order information and sensing information broadcast from the vehicle traveling in the main lane, and performs autonomous traveling with the set route. Here, the received joining area entry order information may be displayed on the displayed driving route map.

Here, each of the above operations will be described in detail with reference to FIGS. 6 to 9. FIG.

FIG. 6 is a flowchart showing an operational flow of broadcasting joining region driving information to a neighboring vehicle when the autonomous driving vehicle according to the present invention approaches a joining region, FIG. 7 is a flowchart illustrating a joining region driving information broadcasting operation FIG. 8 is a view showing an example of an operation for determining a merging order in a merging region, FIG. 9 is a flowchart showing an operation for determining a merging order as shown in FIG. 8, and a vehicle autonomous- Fig.

First, referring to FIG. 6, a description will be given of the operation of the merging region driving information broadcasting.

As shown in FIG. 6, first, the route and the position of the self-driving vehicle are periodically monitored (S601). Here, the position information of the vehicle can be acquired by using various sensors such as a GPS and a camera, and map information, and the travel route is a route from the travel route to the destination set by the user.

Next, the autonomous vehicle determines whether the vehicle is close to the confluence area using the monitored position information and the traveling path (S602). Here, the determination of the proximity of the joining region can be made based on whether or not the joining region is traveling within the set distance from the joining region.

As a result of the determination, if it is determined that the path of the own vehicle is close to the merging area, the merging area driving information of the own vehicle is started to be broadcast (S603). Here, the information on the joining area can be obtained from the map information, and the joining area driving information can include the position, the speed, and the indication information that the car is traveling in the joining area.

In this way, the traveling route and the position information of the car are monitored periodically while broadcasting the joining area driving information.

If it is determined in step S604 that the vehicle does not enter the joining area, the joining area driving information is continuously broadcast. If the joining area is entered, the joining area driving information broadcasting (S605).

As shown in FIG. 7, in the case of the vehicle A, since the traveling route does not pass through the joining area, the joining area driving information is not broadcast even if the joining area is close to the joining area.

However, in the case of the vehicle B, since the traveling route passes through the joining region, the joining region driving information is periodically broadcast when the joining region is close to the joining region.

Referring to FIGS. 8 and 9, the operation of determining the joining order of joining regions after broadcasting the joining region driving information as described above will be described. First, as shown in FIG. 8, And it is possible to define a certain interval that is close to the joining region of the first and second lanes of the main line to be the joining order determining region.

The vehicles in the joining order determination area use the received joining area driving information to determine the joining order in which the surrounding vehicles including the car enter the joining area.

As shown in FIG. 9, when the car senses that the car is broadcasting the merging area driving information (S901), it is judged whether or not the merging order broadcasting to the merging area has been received (S902). Here, the broadcast sensing in step S901 is an operation for detecting whether or not the own vehicle is approaching the joining area and broadcasting joining area driving information to other vehicles.

As a result of the determination in step S902, when the broadcast signal for the joining sequence to the joining region is received through the V2V communication, it is determined that the joining order has already been determined in the other vehicle, and the response signal indicating that the joining sequence information has been received After the transmission, the access to the joining area is controlled according to the joining order information to the joining joining area received (S903).

However, if it is determined in step S902 that the broadcast signal for the joining order from the other vehicle through the V2V communication is not received, the current car is notified to the joining order determination area (for example, Lane for entry into the confluence area) (S904).

As a result of the determination, when the vehicle is located in the area for determining the joining order, the joining priority of the joining area is determined using the joining area driving information received from the autonomous vehicles traveling in the joining area. That is, the vehicle traveling in the joining order determining region determines the joining region entry order based on the joining region driving information, and the joining region entry order can be determined by the speed and position of the vehicle to be entered and certain rules. For example, the distance and speed to the confluence area can give priority to vehicles that can arrive first, and may give priority to vehicles that want to join unconditionally.

When the joining priority order of the joining regions is determined, the determined joining sequence information is broadcast through the V2V communication and the vehicle control is performed according to the joining order (S906).

If it is determined in step S904 that the vehicle is not located in the merging order determination area, the control unit performs autonomous travel control of the vehicle according to the generated route (S905).

The autonomous travel method of the vehicle in the confluence area according to the present invention will now be described with reference to FIG. Here, FIG. 10 shows an example of autonomous V2V communication based joining area.

As shown in FIG. 10, it is assumed that the cars A, B, and C run along the junction area. The three vehicles broadcast the merged area driving information as they approach the merging area.

The vehicle A receives the merging area driving information received from the vehicles B and C, determines the entry order to be A-C-B by using the merging area driving information, and broadcasts the merged area entering order through the V2V communication.

The vehicles B and C that received the response message transmit the reception response message to the vehicle A, and control the vehicle according to the determined joining area entry order to travel in the joining area.

Although the present invention has been described in connection with the preferred embodiments thereof with reference to the accompanying drawings, it is to be understood that the scope of the present invention is not limited to the specific embodiments, And various alternatives, modifications, and alterations can be made within a range.

Therefore, the embodiments described in the present invention and the accompanying drawings are intended to illustrate rather than limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and accompanying drawings . The scope of protection of the present invention should be construed according to the claims, and all technical ideas within the scope of equivalents should be interpreted as being included in the scope of the present invention.

10: Position information obtaining unit 11: Path setting unit
12: map database 13: travel information obtaining unit
14: storage unit 15: display unit
16: control unit 17: autonomous drive control unit
18:

Claims

Determining whether a plurality of vehicles are close to each other within a predetermined distance from a confluence area during an autonomous running along the traveling path;
If the plurality of vehicles approach each other within a predetermined distance from the merging area, each of the plurality of vehicles broadcasts merging area traveling information;
Broadcasting a joining area entry order information determined after determining a joining area entry order of all the vehicles for entering a joining area, the joining area entry order information having a high entry priority into the joining area; And
And performing entry into a merging region according to the entry order information broadcast from the one vehicle.

The method according to claim 1,
Wherein the determining step comprises:
And monitoring autonomous travel route information and location information of the vehicle during autonomous travel.

3. The method of claim 2,
Determining whether the vehicle is within a predetermined distance from the merging area in the determining step is determined by using the traveling route information, the position information, and the map information on the set traveling route of the monitored vehicle, Way.

The method according to claim 1,
Wherein the joining area driving information and the joining area entering order information are broadcast through the V2V communication.

The method of claim 3,
Wherein the position information of the vehicle is obtained using GPS, a camera, and set map information.

5. The method of claim 4,
Wherein the joining area travel information includes at least one of position information of the car, speed information, and display information to which the joining area is intended to travel.

The method according to claim 1,
Further comprising the step of stopping broadcasting the joining area driving information when the vehicle enters the set joining area.

The method according to claim 1,
The broadcasting of the determined joining area entry order information comprises:
Determining whether a broadcast signal of a joining order from another vehicle to a merging region has been received through V2V communication when the own vehicle broadcasts joining region driving information;
As a result of the determination, when the broadcast signal for the joining order to the joining region is received through the V2V communication, it is determined that the joining order has already been determined in the other vehicle, and the response signal indicating that joining order information has been received is transmitted. And controlling entry into the confluence area according to the order information.

9. The method of claim 8,
Determining whether the current vehicle is located in a merging order determining region when a broadcast signal for the merging order from the other vehicle through the V2V communication is not received as a result of the determination;
Determining a merging order to a confluence area using merging area traveling information received from autonomous vehicles traveling in a merging area when the vehicle is located in an area for determining a merging order;
And broadcasting the determined merging order information through V2V communication and performing vehicle control according to the merging order to enter the merging region.

10. The method of claim 9,
Wherein the joining order determination is determined in accordance with a speed and a position of the vehicle and a set rule.

10. The method of claim 9,
And controlling the autonomous travel of the vehicle according to the generated travel route when the vehicle is not located in the joining order determination area as a result of the determination.

An information obtaining unit for obtaining autonomous travel route information and position information of the own vehicle during autonomous driving;
A communication unit for performing communication with other vehicles; And
When a plurality of vehicles are close to each other within a predetermined distance from the confluence area during self-running according to their own traveling route, the confluence area broadcasting information is broadcasted through the communication unit, and according to the decided joining area entry order information, And a control unit for controlling entry of the vehicle.

13. The method according to claim 12,
Wherein,
When the vehicle is located in an area for determining the order of joining areas, determines the order of entry of the joining roads, and then broadcasts the determined joining ordering information to other vehicles through the communication unit.

13. The method of claim 12,
Wherein the control unit judges whether the vehicle is within a predetermined distance from the confluence area by using the travel route information, the position information, and the map information about the set travel route of the obtained vehicle.

14. The method of claim 13,
Wherein the communication unit broadcasts joining area driving information and joining area entering order information via V2V communication.

13. The method of claim 12,
Wherein the joining area travel information includes at least one of position information of a car, speed information, and display information for driving a joining area.

13. The method of claim 12,
When the joining area driving information is broadcasted through the communication unit, the control unit determines whether a broadcasting signal of the joining order from the other vehicle to the joining area has been received via the V2V communication. If it is determined that the joining sequence to the joining area It is determined that the broadcast order is determined to be broadcasted by another vehicle and the response signal is received indicating that the joining order information has been received. Thereafter, according to the joining order information, Of the vehicle in the confluence area.

18. The method of claim 17,
If it is determined that the broadcast signal for the joining order from the other vehicle through the V2V communication is not received as a result of the determination, the control unit determines whether the current vehicle is located in the joining order determining area, Determines the joining order of the joining region using the joining region driving information received from the autonomous driving vehicles that run in the joining region, and transmits the determined joining ranking information to the broadcasting station through the V2V communication And controlling entry into the joining region by performing vehicle control according to the joining order.

19. The method of claim 18,
Wherein, in the control section, the joining order determination is determined according to a speed and a position of the vehicle and a set rule.

19. The method of claim 18,
Wherein the control unit controls the autonomous travel of the vehicle according to the generated travel route when the vehicle is not located in the joining order determination area.