KR20180046228A - Vehicle control device mounted at vehicle and method for controlling the vehicle - Google Patents

Abstract

The present invention relates to a vehicle control device to safely pass a vehicle and a method thereof. According to an embodiment of the present invention, the vehicle control device comprises: a communication unit receiving a passing request message from a following vehicle of a host vehicle; a display unit displaying the received passing request message; and a control unit detecting a passing estimated time of the following vehicle based on the passing request message, detecting an arrival estimated time to the host vehicle from a position of a first vehicle approaching from an opposite traffic lane, and transmitting a passing permission message to the following vehicle through the communication unit based on the passing estimated time and the arrival estimated time.

Description

TECHNICAL FIELD [0001] The present invention relates to a vehicle control device and a control method thereof, and more particularly to a VEHICLE CONTROL DEVICE MOUNTED AT VEHICLE AND METHOD FOR CONTROLLING THE VEHICLE,

The present invention relates to a vehicle control device provided in a vehicle and a control method of the vehicle.

The vehicle is a device capable of moving in a desired direction by a boarding user. Typically, automobiles are examples.

On the other hand, for the convenience of users who use the vehicle, various sensors and electronic devices are provided. Particularly, for the convenience of the user, research on the ADAS (Advanced Driver Assistance System) is being actively carried out. Furthermore, development of an autonomous vehicle is being actively carried out.

The vehicle may be equipped with various types of lamps. Generally, the vehicle is equipped with various vehicle lamps having an illuminating function for allowing an object located near the vehicle to be easily recognized when driving at night, and a signal function for notifying other road users of the road condition of the vehicle have.

For example, a vehicle may be operated by directly emitting light using a lamp, such as a headlamp that illuminates the front of the vehicle to secure the driver's field of view, a brake that is turned on when the brake is applied, or a turn signal used when turning clockwise or counterclockwise May be provided.

As another example, a reflector or the like is mounted on the front and rear of the vehicle so as to reflect the light so that the vehicle can be easily recognized from the outside.

These lamps for automobiles are stipulated by laws and regulations for their installation standards and specifications so that each function can be fully utilized.

Recently, as ADAS (Advanced Driving Assist System) has been actively developed, there is a need to develop a technology that maximizes user convenience and safety in vehicle operation.

As a part of this, technology development for various UI / UX (User Interface / User Experience) between a mobile terminal and a vehicle and development of technology for autonomous driving in which a vehicle runs without a driver's operation are actively performed.

Therefore, there is a need to develop a control method and a UI / UX technology that can switch between an autonomous mode in which the vehicle performs autonomous driving and a passive mode in which the vehicle runs by operation of the driver, more safely and conveniently Is emerging. In addition, the vehicle may perform an autonomous running to pass other vehicles, interrupt, or the like.

An object of the present invention is to provide a vehicle control apparatus and method which can pass a vehicle (forward vehicle) safely. For example, in a two-lane road (two-lane two-lane), two vehicles (front and rear vehicles) travel in the same lane and two of the two vehicles in the same time zone Provided is a vehicle control apparatus and method for allowing a rearward (rearward) vehicle to safely pass a frontward vehicle when the speed is faster than the forward vehicle and another vehicle is coming in the opposite lane and the rearward vehicle is difficult to pass the forward vehicle .

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

In order to achieve the above object, a vehicle control apparatus according to an embodiment of the present invention includes: a communication unit for receiving an overtaking request message from a trailing vehicle of a vehicle; A display unit for displaying the received overtaking request message; Detecting an expected time of overtaking of the following vehicle based on the overtaking request message, detecting an estimated arrival time from the position of the first vehicle approaching from the opposite lane to the vehicle, And a controller for transmitting an overtaking permit message to the trailing vehicle through the communication unit.

The control unit may generate the overtaking permit message if the expected arrival time exceeds the overtaking expected time, and may transmit the overtaking permit message to the following vehicle through the communication unit.

In an embodiment, the control unit may generate an overtaking prohibition message when the overtaking expected time exceeds the expected arrival time, and may transmit the overtaking prohibited message to the following vehicle through the communication unit.

The control unit detects the position of the first vehicle closest to the vehicle among the plurality of vehicles approaching from the opposite lane on the basis of the overtaking request message, The estimated arrival time can be detected on the basis of the distance between them.

In an embodiment, the control unit controls the rearward vehicle based on the speed of the following vehicle included in the overtaking request message, the length of the trailing vehicle, the distance between the trailing vehicle and the vehicle, the speed of the vehicle, It is possible to detect the anticipated overtaking time required to overtake.

The control unit detects the position of the first vehicle closest to the vehicle among the plurality of vehicles approaching from the opposite lane on the basis of the overtaking request message, The vehicle speed, and the speed of the first vehicle.

In an embodiment, the control unit may cause the trailing vehicle to pass the vehicle by reducing the speed of the vehicle in accordance with the variation of the arrival forecast time.

In an embodiment, the control unit generates a request message requesting to increase the speed of the following vehicle while reducing the speed of the vehicle in accordance with the variation of the arrival forecast time, and transmits the request message to the following vehicle Lt; / RTI >

A vehicle control method according to an embodiment of the present invention includes: receiving an overtaking request message from a trailing vehicle of a preceding vehicle; Displaying the received overtaking request message on a display unit; Detecting an anticipated time of overtaking of the following vehicle based on the overtaking request message and detecting an expected arrival time from the position of the first vehicle approaching at the opposite lane to the vehicle; Generating the overtaking permit message if the expected arrival time exceeds the expected overtaking time and transmitting the overtaking permit message to the trailing vehicle.

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

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

The present invention can safely pass the vehicle. For example, in the present invention, two vehicles (front and rear vehicles) travel in the same lane on a two-lane road (two-lane road) ) There is an effect that when the speed of the vehicle is faster than the forward vehicle and another vehicle is coming in the opposite lane, it is difficult for the rearward vehicle to overtake the forward vehicle so that the rearward vehicle can safely pass the forward vehicle.

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

1 is a view showing an appearance of a vehicle according to an embodiment of the present invention.
2 is a view of a vehicle according to an embodiment of the present invention viewed from various angles.
3 to 4 are views showing an interior of a vehicle according to an embodiment of the present invention.
5 to 6 are drawings referred to explain an object according to an embodiment of the present invention.
FIG. 7 is a block diagram for explaining a vehicle according to an embodiment of the present invention. FIG.
8 is a configuration diagram showing a vehicle control apparatus 800 according to an embodiment of the present invention.
9 is a diagram illustrating an example of a method for detecting an anticipated time of passing according to an embodiment of the present invention.
10 is a flowchart illustrating a vehicle control method according to an embodiment of the present invention.
FIG. 11 is an exemplary view showing an anticipated time of passing and a predicted arrival time according to an embodiment of the present invention.
FIG. 12 is another exemplary view showing the anticipated time of passing and the estimated arrival time according to the embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

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

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The vehicle described herein may be a concept including a car, a motorcycle. Hereinafter, the vehicle will be described mainly with respect to the vehicle.

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

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

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

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

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

5 to 6 are drawings referred to explain an object according to an embodiment of the present invention.

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

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

The vehicle 100 may be an autonomous vehicle.

The vehicle 100 can be switched to the autonomous running mode or the manual mode (running mode) based on the user input.

For example, the vehicle 100 can be switched from the manual mode to the autonomous mode, or switched from the autonomous mode to the manual mode, based on the received user input, via the user interface device 200. [

The vehicle 100 can be switched to the autonomous running mode or the manual mode based on the running situation information. The running situation information can be generated based on the object information provided by the object detecting apparatus 300. [

For example, the vehicle 100 can be switched from the manual mode to the autonomous mode or switched from the autonomous mode to the manual mode based on the running condition information generated by the object detection device 300. [

For example, the vehicle 100 can be switched from the manual mode to the autonomous mode or switched from the autonomous mode to the manual mode based on the running condition information received via the communication device 400. [

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

When the vehicle 100 is operated in the self-running mode, the autonomous vehicle 100 can be operated on the basis of the running system 700. [

For example, the autonomous vehicle 100 may be operated based on information, data or signals generated in the traveling system 710, the outgoing system 740, and the parking system 750. [

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

The overall length means the length from the front portion to the rear portion of the vehicle 100 and the width is the width of the vehicle 100 and the height means the length from the bottom of the wheel to the roof. In the following description, it is assumed that the total length direction L is a direction in which the full length direction of the vehicle 100 is measured, the full width direction W is a reference for the full width measurement of the vehicle 100, Which is a reference for the measurement of the height of the object 100.

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

According to the embodiment, the vehicle 100 may further include other components than the components described herein, or may not include some of the components described.

The user interface device 200 is a device for communicating between the vehicle 100 and a user. The user interface device 200 may receive user input and provide information generated by the vehicle 100 to the user. The vehicle 100 can implement UI (User Interfaces) or UX (User Experience) through the user interface device 200. [

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

According to the embodiment, the user interface device 200 may further include other components than the components described, or may not include some of the components described.

The input unit 200 is for receiving information from the user. The data collected by the input unit 120 may be analyzed by the processor 270 and processed by a user's control command.

The input unit 200 can be disposed inside the vehicle. For example, the input unit 200 may include one area of a steering wheel, one area of an instrument panel, one area of a seat, one area of each pillar, one area of the head console, one area of the door, one area of the center console, one area of the head lining, one area of the sun visor, one area of the windshield, One area or the like.

The input unit 200 may include an audio input unit 211, a gesture input unit 212, a touch input unit 213, and a mechanical input unit 214.

The voice input unit 211 can switch the voice input of the user into an electrical signal. The converted electrical signal may be provided to the processor 270 or the control unit 170.

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

The gesture input unit 212 can switch the user's gesture input to an electrical signal. The converted electrical signal may be provided to the processor 270 or the control unit 170.

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

According to an embodiment, the gesture input 212 may sense a user's three-dimensional gesture input. To this end, the gesture input unit 212 may include an optical output unit for outputting a plurality of infrared rays or a plurality of image sensors.

The gesture input unit 212 can sense a user's three-dimensional gesture input through a time of flight (TOF) method, a structured light method, or a disparity method.

The touch input unit 213 can switch the touch input of the user into an electrical signal. The converted electrical signal may be provided to the processor 270 or the controller 170.

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

According to the embodiment, the touch input unit 213 is integrated with the display unit 251, thereby realizing a touch screen. Such a touch screen may provide an input interface and an output interface between the vehicle 100 and a user.

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

The mechanical input unit 214 may be disposed on a steering wheel, a centepascia, a center console, a cockpit module, a door, or the like.

The internal camera 220 can acquire the in-vehicle image. The processor 270 can sense the state of the user based on the in-vehicle image. The processor 270 can obtain the user's gaze information from the in-vehicle image. The processor 270 may sense the user's gesture in the in-vehicle video.

The biometric sensor 230 can acquire biometric information of the user. The biometric sensor 230 includes a sensor capable of acquiring biometric information of a user, and can acquire fingerprint information, heartbeat information, etc. of a user using a sensor. Biometric information can be used for user authentication.

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

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

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

The display unit 251 may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED) display, a 3D display, and an e-ink display.

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

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

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

The transparent display can display a predetermined screen while having a predetermined transparency. Transparent displays can be made of transparent TFEL (Thin Film Elecroluminescent), transparent OLED (Organic Light-Emitting Diode), transparent LCD (Liquid Crystal Display), transmissive transparent display, transparent LED (Light Emitting Diode) Or the like. The transparency of the transparent display can be adjusted.

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

The display unit 251 includes one area of the steering wheel, one area of the inspiration panel 521a, 251b and 251e, one area of the seat 251d, one area of each filler 251f, 251g), one area of the center console, one area of the head lining, one area of the sun visor, one area 251c of the windshield, and one area 251h of the window.

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

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

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

In accordance with an embodiment, the user interface device 200 may include a plurality of processors 270, or may not include a processor 270. [

If the user interface device 200 does not include the processor 270, the user interface device 200 may be operated under the control of the processor or the control unit 170 of another apparatus in the vehicle 100. [

On the other hand, the user interface device 200 may be referred to as a vehicle display device.

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

The object detecting apparatus 300 is an apparatus for detecting an object located outside the vehicle 100. [

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

5 to 6, an object O is a vehicle that is a vehicle that has a lane OB10, another vehicle OB11, a pedestrian OB12, a two-wheeled vehicle OB13, traffic signals OB14 and OB15, Speed bumps, terrain, animals, and the like.

The lane OB10 may be a driving lane, a side lane of the driving lane, or a lane on which the opposed vehicle runs. The lane OB10 may be a concept including left and right lines Line forming a lane.

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

The pedestrian OB12 may be a person located in the vicinity of the vehicle 100. [ The pedestrian OB12 may be a person located within a predetermined distance from the vehicle 100. [ For example, the pedestrian OB12 may be a person who is located on the delivery or driveway.

The two-wheeled vehicle OB12 may mean a vehicle located around the vehicle 100 and moving using two wheels. The two-wheeled vehicle OB12 may be a rider having two wheels located within a predetermined distance from the vehicle 100. [ For example, the two-wheeled vehicle OB13 may be a motorcycle or a bicycle located on a sidewalk or a motorway.

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

The light may be light generated from lamps provided in other vehicles. Light can be light generated from a street light. Light can be solar light.

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

The structure may be an object located around the road and fixed to the ground. For example, the structure may include street lamps, street lamps, buildings, electric poles, traffic lights, and bridges.

The terrain may include mountains, hills, and the like.

On the other hand, an object can be classified into a moving object and a fixed object. For example, the moving object may be a concept including an other vehicle, a pedestrian. For example, the fixed object may be a concept including a traffic signal, a road, and a structure.

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

According to the embodiment, the object detecting apparatus 300 may further include other elements other than the described elements, or may not include some of the described elements.

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

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

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

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

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

The radar 320 may include an electromagnetic wave transmitting unit and a receiving unit. The radar 320 may be implemented by a pulse radar system or a continuous wave radar system in terms of the radio wave emission principle. The radar 320 may be implemented by a Frequency Modulated Continuous Wave (FMCW) scheme or a Frequency Shift Keying (FSK) scheme according to a signal waveform in a continuous wave radar scheme.

The radar 320 detects an object based on a time-of-flight (TOF) method or a phase-shift method through electromagnetic waves, and detects the position of the detected object, the distance to the detected object, Can be detected.

The radar 320 may be disposed at a suitable location outside the vehicle to sense objects located at the front, rear, or side of the vehicle.

The ladder 330 may include a laser transmitting unit and a receiving unit. The LIDAR 330 may be implemented in a time of flight (TOF) scheme or a phase-shift scheme.

The lidar 330 may be implemented as a drive or an unshifted drive.

When implemented in a driving manner, the LIDAR 330 is rotated by a motor and can detect an object in the vicinity of the vehicle 100. [

In the case of non-driven implementation, the LIDAR 330 can detect an object located within a predetermined range with respect to the vehicle 100 by optical steering. The vehicle 100 may include a plurality of non-driven RRs 330. [

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

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

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

The ultrasonic sensor 340 may be disposed at an appropriate position outside the vehicle for sensing an object located at the front, rear, or side of the vehicle.

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

The infrared sensor 350 may be disposed at an appropriate position outside the vehicle for sensing an object located at the front, rear, or side of the vehicle.

The processor 370 can control the overall operation of each unit of the object detecting apparatus 300. [

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

The processor 370 can detect and track the object based on the reflected electromagnetic waves that are reflected from the object by the transmitted electromagnetic waves. The processor 370 can perform operations such as calculating a distance to an object and calculating a relative speed with respect to the object based on electromagnetic waves.

The processor 370 can detect and track the object based on the reflected laser light reflected back from the object by the transmitted laser. Based on the laser light, the processor 370 can perform operations such as calculating the distance to the object and calculating the relative speed with respect to the object.

The processor 370 can detect and track the object on the basis of the reflected ultrasonic waves reflected by the object and transmitted back. The processor 370 can perform operations such as calculating the distance to the object and calculating the relative speed with respect to the object based on the ultrasonic waves.

The processor 370 can detect and track the object based on the reflected infrared light that the transmitted infrared light reflects back to the object. The processor 370 can perform operations such as calculating the distance to the object and calculating the relative speed with respect to the object based on the infrared light.

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

The object detecting apparatus 300 can be operated under the control of the processor of the apparatus in the vehicle 100 or the controller 170 when the object detecting apparatus 300 does not include the processor 370. [

The object detecting apparatus 400 can be operated under the control of the control unit 170. [

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

The communication device 400 may include at least one of a transmission antenna, a reception antenna, an RF (Radio Frequency) circuit capable of implementing various communication protocols, and an RF device to perform communication.

The communication device 400 may include a local communication unit 410, a location information unit 420, a V2X communication unit 430, an optical communication unit 440, a broadcast transmission / reception unit 450, and a processor 470.

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

The short-range communication unit 410 is a unit for short-range communication. The short-range communication unit 410 may be a wireless communication unit such as Bluetooth ™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, Near Field Communication (NFC) -Fidelity), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technology.

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

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

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

The optical communication unit 440 is a unit for performing communication with an external device via light. The optical communication unit 440 may include a light emitting unit that converts an electric signal into an optical signal and transmits it to the outside, and a light receiving unit that converts the received optical signal into an electric signal.

According to the embodiment, the light emitting portion may be formed so as to be integrated with the lamp included in the vehicle 100. [

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

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

In accordance with an embodiment, the communication device 400 may include a plurality of processors 470 or may not include a processor 470. [

When the processor 400 is not included in the communication device 400, the communication device 400 can be operated under the control of the processor or the control unit 170 of another apparatus in the vehicle 100. [

On the other hand, the communication device 400 can implement the vehicle display device together with the user interface device 200. [ In this case, the vehicle display device can be named as a telematics device or an AVN (Audio Video Navigation) device.

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

The driving operation device 500 is a device for receiving a user input for operation.

In the manual mode, the vehicle 100 can be operated on the basis of the signal provided by the driving operation device 500.

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

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

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

The driving operation device 500 can be operated under the control of the control unit 170. [

The vehicle driving device 600 is an apparatus for electrically controlling the driving of various devices in the vehicle 100. [

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

According to the embodiment, the vehicle drive system 600 may further include other elements other than the described elements, or may not include some of the elements described.

On the other hand, the vehicle drive apparatus 600 may include a processor. Each unit of the vehicle drive apparatus 600 may individually include a processor.

The power train driving unit 610 can control the operation of the power train apparatus.

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

The power source drive unit 611 can perform control on the power source of the vehicle 100. [

For example, when the fossil fuel-based engine is a power source, the power source drive unit 610 can perform electronic control of the engine. Thus, the output torque of the engine and the like can be controlled. The power source drive unit 611 can adjust the engine output torque under the control of the control unit 170. [

For example, when the electric energy based motor is a power source, the power source driving unit 610 can perform control on the motor. The power source drive unit 610 can adjust the rotation speed, torque, and the like of the motor under the control of the control unit 170. [

The transmission drive unit 612 can perform control on the transmission.

The transmission drive unit 612 can adjust the state of the transmission. The transmission drive unit 612 can adjust the state of the transmission to forward (D), reverse (R), neutral (N), or parking (P).

On the other hand, when the engine is a power source, the transmission drive unit 612 can adjust the gear engagement state in the forward (D) state.

The chassis driving unit 620 can control the operation of the chassis apparatus.

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

The steering driver 621 may perform electronic control of the steering apparatus in the vehicle 100. [ The steering driver 621 can change the traveling direction of the vehicle.

The brake driver 622 can perform electronic control of the brake apparatus in the vehicle 100. [ For example, it is possible to reduce the speed of the vehicle 100 by controlling the operation of the brakes disposed on the wheels.

On the other hand, the brake driver 622 can individually control each of the plurality of brakes. The brake driving unit 622 can control the braking forces applied to the plurality of wheels to be different from each other.

The suspension driving unit 623 can perform electronic control on a suspension apparatus in the vehicle 100. [ For example, when there is a curvature on the road surface, the suspension driving unit 623 can control the suspension device so as to reduce the vibration of the vehicle 100. [

On the other hand, the suspension driving unit 623 can individually control each of the plurality of suspensions.

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

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

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

The window driving unit 632 may perform an electronic control on a window apparatus. It is possible to control the opening or closing of the plurality of windows included in the vehicle 100. [

The safety device driving unit 640 can perform electronic control of various safety apparatuses in the vehicle 100. [

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

The airbag driver 641 may perform electronic control of the airbag apparatus in the vehicle 100. [ For example, the airbag driver 641 can control the deployment of the airbag when a danger is detected.

The seat belt driving portion 642 can perform electronic control on the seat belt appartus in the vehicle 100. [ For example, the seat belt driving portion 642 can control the passenger to be fixed to the seats 110FL, 110FR, 110RL, and 110RR using the seat belt when a danger is detected.

The pedestrian protection device driving section 643 can perform electronic control on the hood lift and the pedestrian airbag. For example, the pedestrian protection device driving section 643 can control the hood lift-up and the pedestrian airbag deployment when a collision with a pedestrian is detected.

The lamp driving unit 650 can perform electronic control of various lamp apparatuses in the vehicle 100. [

The air conditioning driving unit 660 can perform electronic control on the air conditioner in the vehicle 100. [ For example, when the temperature inside the vehicle is high, the air conditioning driving unit 660 can control the air conditioner to operate so that the cool air is supplied to the inside of the vehicle.

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

The vehicle drive apparatus 600 can be operated under the control of the control section 170. [

The operating system 700 is a system for controlling various operations of the vehicle 100. [ The travel system 700 can be operated in the autonomous mode.

The travel system 700 may include a travel system 710, an outbound system 740, and a parking system 750.

According to the embodiment, the travel system 700 may further include other components than the components described, or may not include some of the components described.

On the other hand, the travel system 700 may include a processor. Each unit of the travel system 700 may each include a processor individually.

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

According to the embodiment, the operating system 700 includes at least one of the user interface device 200, the object detecting device 300, the communication device 400, the vehicle driving device 600, and the control unit 170 It can be a concept that includes.

The traveling system 710 can perform traveling of the vehicle 100. [

The navigation system 710 can receive navigation information from the navigation system 770 and provide a control signal to the vehicle drive system 600 to perform the travel of the vehicle 100. [

The traveling system 710 can receive the object information from the object detecting apparatus 300 and provide the vehicle driving apparatus 600 with a control signal to perform the traveling of the vehicle 100. [

The traveling system 710 can receive the signal from the external device through the communication device 400 and provide a control signal to the vehicle driving device 600 to perform the traveling of the vehicle 100. [

The departure system 740 can perform the departure of the vehicle 100.

The outpost system 740 can receive navigation information from the navigation system 770 and provide control signals to the vehicle driving apparatus 600 to perform the departure of the vehicle 100. [

The departure system 740 can receive object information from the object detecting apparatus 300 and provide a control signal to the vehicle driving apparatus 600 to carry out the departure of the vehicle 100. [

The departure system 740 can receive a signal from the external device via the communication device 400 and provide a control signal to the vehicle driving device 600 to perform the departure of the vehicle 100. [

The parking system 750 can perform parking of the vehicle 100. [

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

The parking system 750 is capable of performing parking of the vehicle 100 by receiving object information from the object detecting apparatus 300 and providing a control signal to the vehicle driving apparatus 600. [

The parking system 750 can receive the signal from the external device via the communication device 400 and provide a control signal to the vehicle driving device 600 to perform parking of the vehicle 100. [

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

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

According to an embodiment, the navigation system 770 can receive information from an external device via the communication device 400 and update the stored information.

According to an embodiment, the navigation system 770 may be classified as a subcomponent of the user interface device 200.

The sensing unit 120 can sense the state of the vehicle. The sensing unit 120 may include a sensor such as a yaw sensor, a roll sensor, a pitch sensor, a collision sensor, a wheel sensor, a velocity sensor, A sensor, a weight sensor, a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward / backward sensor, a battery sensor, A vehicle interior temperature sensor, an internal humidity sensor, an ultrasonic sensor, an illuminance sensor, an accelerator pedal position sensor, a brake pedal position sensor, and the like.

The sensing unit 120 is configured to generate the sensing information based on the vehicle attitude information, the vehicle collision information, the vehicle direction information, the vehicle position information (GPS information), the vehicle angle information, the vehicle speed information, Obtain a sensing signal for information, fuel information, tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, steering wheel rotation angle, vehicle exterior illumination, pressure applied to the accelerator pedal, pressure applied to the brake pedal, can do.

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

The interface unit 130 may serve as a pathway to various kinds of external devices connected to the vehicle 100. For example, the interface unit 130 may include a port that can be connected to the mobile terminal, and may be connected to the mobile terminal through the port. In this case, the interface unit 130 can exchange data with the mobile terminal.

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

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

According to the embodiment, the memory 140 may be formed integrally with the controller 170 or may be implemented as a subcomponent of the controller 170. [

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

The power supply unit 190 can supply power necessary for the operation of each component under the control of the control unit 170. Particularly, the power supply unit 190 can receive power from a battery or the like inside the vehicle.

One or more processors and controls 170 included in vehicle 100 may be implemented as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs) field programmable gate arrays, processors, controllers, micro-controllers, microprocessors, and other electrical units for performing other functions.

The vehicle 100 related to the present invention can operate in either a manual driving mode or an autonomous driving mode. That is, the running mode of the vehicle 100 may include a manual running mode and an autonomous running mode.

The manual driving mode may mean a mode in which the vehicle travels by the driving operation of the driver. For example, in the manual driving mode, the steering of the vehicle is changed by the operation of the driver's steering wheel, and the speed of the vehicle can be varied by the operation of the brake pedal and the accelerator pedal.

The autonomous running mode (or the automatic running mode) may mean a mode in which the vehicle runs on its own based on a predetermined algorithm, regardless of the driver's driving operation. For example, the autonomous mode may be a mode in which the vehicle can travel on its own at least a part of a predetermined section or a section to a destination set by the user.

In the autonomous running mode, for example, even when there is a driver's driving operation, the vehicle can be driven according to a predetermined algorithm so as to perform autonomous driving without changing the steering or the speed of the vehicle.

Since the manual driving mode and the autonomous driving mode belong to the known technical field, a more detailed description will be omitted.

Hereinafter, a vehicle control apparatus and a method thereof capable of safely passing the front vehicle will be described. For example, in a two-lane road (two-lane two-lane), two vehicles (front and rear vehicles) travel in the same lane and two of the two vehicles in the same time zone A vehicle control apparatus and method for enabling a rearward vehicle to safely pass a front vehicle when the speed is faster than the forward vehicle and another vehicle is coming in the opposite lane and the rear vehicle is difficult to pass the forward vehicle, Will be described with reference to the drawings.

8 is a configuration diagram showing a vehicle control apparatus 800 according to an embodiment of the present invention.

The components included in the vehicle control apparatus 800 will now be described in more detail.

The vehicle control device 800 is capable of controlling at least one of the components described in Fig. The present invention is not limited to this, and the vehicle control apparatus 800 may be configured separately from the control section 170. [ When the vehicle control apparatus 800 is implemented as an independent component from the control section 170, the vehicle control apparatus 800 may be provided in a part of the vehicle 100. [

Hereinafter, for convenience of explanation, the vehicle control apparatus 800 will be described as being a separate structure independent of the control section 170. [ The function (operation) and the control method for describing the vehicle control apparatus 800 in this specification can be performed by the control section 170 of the vehicle. That is, all the contents described in connection with the vehicle control apparatus 800 can be applied to the controller 170 in the same or similar analogy.

In addition, the vehicle control device 800 described in this specification may include the components described in Fig. 7 and a part of various components provided in the vehicle. In this specification, for convenience of explanation, the constituent elements described in FIG. 7 and the various constituent elements provided in the vehicle will be described with different names and reference numerals.

As shown in Fig. 8, the vehicle control apparatus 800 according to the embodiment of the present invention includes:

A communication unit 803 installed in the vehicle and receiving an overtaking request message from the trailing vehicle of the vehicle;

A display unit 802 for displaying the received overtaking request message;

Detecting an expected time of overtaking of the trailing vehicle based on the overtaking request message, detecting an estimated arrival time (expected time to collision) from the position of the first vehicle approaching from the opposite lane to the vehicle, And a control unit 801 for generating an overtaking permit message based on the estimated arrival time and transmitting the overtaking permission message to the following vehicle through the communication unit. For example, the control unit 801 determines that two vehicles (front and rear vehicles) travel on the same lane in a two-lane road (two-lane road) (Trailing) Guide the rear (trailing) vehicle safely overtake when the speed of the vehicle is faster than the forward vehicle and another vehicle is coming in the opposite lane, making it difficult for the rear vehicle to overtake the front vehicle.

The control unit 801 detects the estimated time of overtaking of the following vehicle on the basis of the overtaking request message and detects the estimated arrival time from the position of the first vehicle approaching the opposite lane on the basis of the overtaking request message The overtaking permission message is generated and the overtaking permission message is transmitted to the trailing vehicle through the communication unit 803. The overtaking permission message is transmitted to the trailing vehicle through the communication unit 803. [

The control unit 801 detects the estimated time of overtaking of the following vehicle on the basis of the overtaking request message and detects the estimated arrival time from the position of the first vehicle approaching the opposite lane on the basis of the overtaking request message An overtaking prohibition message is generated when the expected time of passing exceeds the expected arrival time, and the overtaking prohibition message is transmitted to the trailing vehicle through the communication unit.

The anticipated overtaking time represents a time required for the rearward (trailing) vehicle to pass the vehicle 100. [

The expected arrival time represents the time required for the approaching first vehicle to reach the vehicle 100 in the opposite lane. The control unit 801 can detect the estimated arrival time based on the speed of the first vehicle and the distance between the first vehicle and the vehicle 100. [ For example, the control unit 801 detects the position of the first vehicle closest to the vehicle 100 among a plurality of vehicles approaching the opposite lane based on the overtaking request message, The estimated time of arrival can be detected based on the distance between the position of the vehicle 100 and the position of the vehicle 100.

The overtaking request message may include the speed of the rear vehicle, the total length (vehicle body length) of the rear vehicle, the distance between the rear vehicle and the front vehicle, and the like.

The control unit 801 determines the time (overtaking time) to pass the forward vehicle based on the speed of the rearward (backward) vehicle included in the overtaking request message, the total length (vehicle body length) .

The controller 801 controls the speed of the vehicle 100 and the speed of the vehicle 100 as well as the speed of the rear vehicle included in the overtaking request message, the total length of the rear vehicle (vehicle body length) (Calculates) the estimated time required for the trailing vehicle to pass the vehicle 100 based on the total length (vehicle body length) of the vehicle.

9 is a diagram illustrating an example of a method for detecting an anticipated time of passing according to an embodiment of the present invention.

9, the control unit 801 controls the speed of the rearward vehicle 101 included in the overtaking request message, the total length (body length) of the rearward vehicle 101, (Calculates) the estimated time required for the trailing vehicle 101 to overtake the vehicle 100 based on the distance of the vehicle 100 as well as the speed of the vehicle 100 and the overall length of the vehicle 100 )do.

For example, the control unit 801 determines whether the speed of the rearward vehicle 101 included in the overtaking request message is 150 Km / h, the length of the rear vehicle 101 (the length of the vehicle body) (2 meters) The distance between the rear vehicle 101 and the front vehicle 100 is 10 meters, the speed of the vehicle 100 is 100 km / h, and the total length (vehicle body length) of the vehicle 100 is 2 meters, A speed of 150 Km / h of the rearward vehicle 101 (speed of the rearward vehicle 101), a speed of the vehicle 100 (the speed of the vehicle 100), and a speed of the vehicle 100 (Calculate) the time required for the trailing vehicle 101 to pass the vehicle 100 by calculating the time required for driving the vehicle 100 at 100 Km / h = 50 Km / h. The method of detecting (calculating) the time required for the trailing vehicle 101 to pass the vehicle 100 may be detected (computed) through various methods.

The control unit 801 calculates the estimated time of overtaking and then detects the position of the opposite vehicle 103 coming from the opposite lane and calculates the estimated arrival time from the detected position of the opposite vehicle 103 to the vehicle 100 in real time And transmits an overtaking permit message to the rearward vehicle when the detected arrival estimated time exceeds the estimated overtaking time. For example, the control unit 801 detects the position of the first vehicle 103 closest to the vehicle 100 from a plurality of vehicles coming from the opposite lane based on the overtaking request message, The arrival predicted time can be detected based on the distance between the first vehicle position and the position of the vehicle 100, the speed of the vehicle 100, and the speed of the first vehicle 103. [

The control unit 801 controls the speed of the vehicle 100 when the rear vehicle 101 can not pass the vehicle 100 within the reaching predicted time while the rear vehicle 101 is passing by (the opposite vehicle 103 suddenly accelerates) So that the rear vehicle 101 can overtake. That is, the controller 801 reduces the speed of the vehicle 100 in accordance with the variation (decrease) in the arrival prediction time, thereby allowing the rear vehicle 101 to pass by.

When the vehicle 100 can not pass the vehicle 100 within the reaching predicted time (when the opposite vehicle 103 suddenly accelerates) while the rear vehicle 101 is overtaking, The rear vehicle 101 can be safely transmitted to the vehicle 100 by transmitting a request message to the rear vehicle 101 via the communication unit 803 requesting to increase the speed of the rear vehicle 101 while reducing the speed of the rear vehicle 101 ) To overtake. That is, the control unit 801 increases the speed of the rear vehicle 101 while reducing the speed of the vehicle 100 in accordance with the variation (reduction) of the arrival prediction time, thereby safely securing the rear vehicle 101 Thereby allowing the vehicle 100 to overtake.

Hereinafter, a vehicle control method capable of safely passing the vehicle will be described. For example, in a two-lane road (two-lane two-lane), two vehicles (front and rear vehicles) travel in the same lane and two of the two vehicles in the same time zone A vehicle control method for allowing a rearward vehicle to safely pass a forward vehicle when the speed is faster than the forward vehicle and another vehicle is coming from the opposite lane and the rear vehicle is difficult to pass the forward vehicle .

10 is a flowchart illustrating a vehicle control method according to an embodiment of the present invention.

The communication unit 803 is installed in the vehicle 100 and receives the overtaking request message from the trailing vehicle 101 of the vehicle 100 and transmits the received overtaking request message to the display unit 802 and the control unit 801 (S11).

The display unit 802 displays an overtaking request message on the screen. The display unit 802 may be at least one of a cluster of vehicles, a HUD, and a CID (Conter Information Display), or may be applied to a door window of a vehicle.

The communication unit 803 may include a local communication unit 410, a location information unit 420, a V2X communication unit 430, an optical communication unit 440, a broadcast transmission / reception unit 450, and a processor 470.

The communication unit 803 may be a unit for short range communication. The communication unit 803 is a communication unit that transmits and receives data to and from the wireless communication unit 803 via Bluetooth (TM), Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wide Band (UWB), ZigBee, Near Field Communication (NFC) ), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technology.

The communication unit 803 forms a wireless area network and can perform close range communication between the vehicle 100 and at least one external device (communication unit in the vehicle 101).

The control unit 801 detects the anticipated time of overtaking of the following vehicle based on the overtaking request message (S12).

FIG. 11 is an exemplary view showing an anticipated time of passing and a predicted arrival time according to an embodiment of the present invention.

11, the controller 801 controls the speed of the rearward vehicle 101 included in the overtaking request message, the total length (body length) of the rearward vehicle 101, (Calculates) the anticipated overtaking time required for the trailing vehicle 101 to pass the vehicle 100 based on the distance between the vehicles 100, the speed of the vehicle 100, and the total length (vehicle body length) do. For example, the control unit 801 determines whether the speed of the rearward vehicle 101 included in the overtaking request message is 150 Km / h, the length of the rear vehicle 101 (the length of the vehicle body) (2 meters) The distance between the rear vehicle 101 and the front vehicle 100 is 10 meters, the speed of the vehicle 100 is 100 km / h, and the total length (vehicle body length) of the vehicle 100 is 2 meters, A speed of 150 Km / h of the rearward vehicle 101 (speed of the rearward vehicle 101), a speed of the vehicle 100 (the speed of the vehicle 100), and a speed of the vehicle 100 (Calculate) the time required for the trailing vehicle 101 to pass the vehicle 100 by calculating the time required for driving the vehicle 100 at 100 Km / h = 50 Km / h.

The backward vehicle 100 may automatically transmit the overtaking request message to the forward vehicle 100 or may transmit the overtaking request message to the forward vehicle 100 according to a user request.

The control unit 801 detects the estimated arrival time from the position of the first vehicle 103 approaching the opposite lane to the vehicle 100 based on the overtaking request message (S13). For example, the control unit 801 calculates the estimated arrival time based on the speed of the vehicle 100, the speed of the first vehicle 103, and the distance between the first vehicle 103 and the vehicle 100 Can be detected. For example, the control unit 801 detects the position of the first vehicle 103 closest to the vehicle 100 from a plurality of vehicles coming from the opposite lane based on the overtaking request message, The estimated arrival time can be detected based on the distance between the first vehicle position and the position of the vehicle 100

The control unit 801 generates an overtaking permit message if the expected arrival time (for example, 6 seconds) exceeds the overtaking expected time (for example, 3 seconds), and transmits the overtaking permission message to the communication unit 803. [ To the following vehicle (101).

FIG. 12 is another exemplary view showing the anticipated time of passing and the estimated arrival time according to the embodiment of the present invention.

12, the control unit 801 detects an anticipated time of passing the overtaking vehicle 101 based on the overtaking request message, and based on the overtaking request message, (E.g., 5 seconds) exceeds the estimated arrival time (3 seconds), and generates an overtaking prohibition message when the overtaking expected time (e.g., 5 seconds) exceeds the expected arrival time And transmits the overtaking prohibition message to the following vehicle 101 via the communication unit 803. [

That is, the control unit 801 determines that two vehicles (front and rear vehicles) 100 and 101 travel on the same lane in a two-lane road (two-lane road) The speed of the rearward vehicle 101 is faster than the speed of the front vehicle 100 and the speed of the rear vehicle 101 is higher than the speed of the front vehicle 100 When it is difficult to pass, the rear (rear) vehicle 101 guides the front vehicle 100 to pass safely.

The backward vehicle 101 does not overtake the overtaking request message when the overtaking prohibition message is received from the forward vehicle 100 in response to the overtaking request message.

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

The present invention can safely pass the vehicle. For example, in the present invention, two vehicles (front and rear vehicles) travel in the same lane on a two-lane road (two-lane road) ) There is an effect that when the speed of the vehicle is faster than the forward vehicle and another vehicle is coming in the opposite lane, it is difficult for the rearward vehicle to overtake the forward vehicle so that the rearward vehicle can safely pass the forward vehicle.

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

The vehicle control apparatus 800 described above may be included in the vehicle 100. [

The operation or control method of the vehicle control device 800 described above can be applied to the operation or the control method of the vehicle 100 (or the control unit 170) in a similar or analogous manner.

Further, all of the functions, configurations, or control methods performed by the vehicle control device 800 described above can be performed by the control unit 170 provided in the vehicle 100. [ That is, all of the control methods described in this specification may be applied to a control method of a vehicle or a control method of a control apparatus.

The present invention described above can be embodied as computer-readable codes on a medium on which a program is recorded. The computer readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of the computer readable medium include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, , And may also be implemented in the form of a carrier wave (e.g., transmission over the Internet). In addition, the computer may include a processor or a control unit. Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

Claims (10)

A vehicle control device installed in a vehicle,
A communication unit for receiving an overtaking request message from a trailing vehicle of the vehicle;
A display unit for displaying the received overtaking request message;
Detecting an expected time of overtaking of the following vehicle based on the overtaking request message, detecting an estimated arrival time from the position of the first vehicle approaching from the opposite lane to the vehicle, And a control unit for transmitting an overtaking permit message to the following vehicle through the communication unit. The apparatus of claim 1,
And generates the overtaking permit message if the expected arrival time exceeds the overtaking expected time, and transmits the overtaking permit message to the following vehicle through the communication unit. The apparatus of claim 1,
Wherein the control unit generates an overtaking prohibition message when the overtaking expected time exceeds the expected arrival time and transmits the overtaking prohibited message to the following vehicle through the communication unit. The apparatus of claim 1,
Based on a distance between the detected first vehicle position and the position of the vehicle, detects the position of the first vehicle nearest to the vehicle among a plurality of vehicles approaching from the opposite lane based on the overtaking request message, Is detected. The apparatus of claim 1,
An overtaking expected time required for the trailing vehicle to pass the vehicle based on the speed of the trailing vehicle included in the overtaking request message, the length of the trailing vehicle, the distance between the trailing vehicle and the vehicle, the speed of the vehicle, The vehicle control apparatus comprising: The apparatus of claim 1,
Detecting a position of a first vehicle closest to the vehicle among a plurality of vehicles coming from an opposite lane on the basis of the overtaking request message and detecting a distance between the detected first vehicle position and the position of the vehicle, And detects the arrival expected time based on the speed of the first vehicle. The apparatus of claim 1,
So that the trailing vehicle passes the vehicle by reducing the speed of the vehicle in accordance with the variation of the arrival prediction time. The apparatus of claim 1,
Generates a request message requesting to increase the speed of the following vehicle while reducing the speed of the vehicle in accordance with the variation of the arrival forecast time, and transmits the request message to the following vehicle . Receiving an overtaking request message from a trailing vehicle of the preceding vehicle;
Displaying the received overtaking request message on a display unit;
Detecting an anticipated time of overtaking of the following vehicle based on the overtaking request message and detecting an expected arrival time from the position of the first vehicle approaching at the opposite lane to the vehicle;
Generating an overtaking permit message if the expected arrival time exceeds the expected overtaking time, and transmitting the overtaking permit message to the trailing vehicle. 10. The method according to claim 9, further comprising: generating an overtaking prohibition message if the expected overtaking time exceeds the expected arrival time, and transmitting the overtaking prohibited message to the trailing vehicle.

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