KR20190025384A - Vehicle control method - Google Patents

Abstract

The present invention relates to a vehicle control method of a vehicle control device controlling a vehicle with a sensor. The vehicle control method comprises the steps of: generating map data corresponding to a predetermined range; extracting elements for estimating a position in the map data and setting the extracted elements as reference elements for the predetermined range; receiving an image sensing the exterior of the vehicle by the sensor when the vehicle enters into the predetermined range; searching for an element corresponding to at least one of the reference elements from the image; and calculating a coordinate value from the map data using the detected element.

Description

[0001] VEHICLE CONTROL METHOD [0002]

The present invention relates to a vehicle control method for estimating the position of a vehicle.

A vehicle is a device that moves a user in a desired direction by a boarding user. Typically, automobiles are examples.

Recently, a positioning technique using an AVM (Around View Monitoring) image, which is highly effective among the parking-related environment-aware sensors of a vehicle, has been developed recently. However, this positioning technique basically uses the GPS sensor, and the GPS information is often inaccurate depending on the surrounding environment. Therefore, it is necessary to grasp the location information when the GPS information is inaccurate. In addition, the conventional image - based recognition algorithm assumes an environment with a large number of surrounding features. However, since the surrounding environment is often monotonous in the parking situation, the direct use of the existing algorithm may be inadequate. Therefore, it is necessary to develop a vehicle control method for detecting the position of the vehicle with the sensor information in the case where the GPS performance is inaccurate.

The present invention aims to solve the following problems.

It is an object of the present invention to provide a vehicle control method capable of calculating the position of a vehicle based on map data and information received from a sensor in a situation in which it is impossible to receive information on the vehicle position information such as GPS information or in an incorrect state .

The present invention relates to a vehicle control method of a vehicle control device for controlling a vehicle equipped with a sensor, comprising the steps of generating map data corresponding to a predetermined range, extracting elements for estimating a position in the map data, The method comprising the steps of: setting elements as reference elements for the predetermined range; receiving, when the vehicle enters the predetermined range, an image in which the sensor senses the exterior of the vehicle; Searching for an element corresponding to one of the plurality of elements, and calculating coordinate values in the map data using the searched elements.

In one embodiment, in the vehicle control method, the step of setting reference elements for the predetermined range may include designating random samples on the received map data, and setting at least one of the random samples as center Extracting elements within a region of a predetermined size and setting the extracted elements as reference elements for the predetermined range.

In one embodiment, in the vehicle control method, the predetermined size may vary depending on the vehicle.

In one embodiment, in the vehicle control method, the step of setting the extracted elements to the reference elements for the predetermined range further comprises labeling the samples having the same reference elements with at least one label .

In one embodiment, in the vehicle control method, calculating the coordinate value in the map data using the searched element may include selecting at least one of the labeled labels, And calculating a value of the value.

In one embodiment, in the vehicle control method, the step of searching for an element corresponding to at least one of the reference elements from the image includes extracting subelements for estimating a detailed position from the searched reference element, And adding the extracted sub-elements as sub-reference elements of the searched reference element.

In one embodiment, in the vehicle control method, adding the extracted sub-elements to a sub-reference element of the searched reference element includes labeling samples with the same sub-reference elements with at least one label And further comprising:

In one embodiment, in the vehicle control method, the step of generating the map data is performed only when the predetermined condition is satisfied, and the predetermined condition is satisfied when the vehicle does not receive the vehicle position information, And the position information is out of the error tolerance range.

In one embodiment, in the vehicle control method, when the vehicle fails to receive the vehicle position information, the communication unit is controlled to perform close communication with the surrounding vehicle to receive the position information of the surrounding vehicle.

In one embodiment, in the vehicle control method, the step of generating the map data may include the step of receiving predetermined map data through the communication unit.

The effect of the vehicle control method according to the present invention will be described below.

The vehicle control method can calculate the coordinate values after searching the reference elements in the external image of the vehicle sensed by the sensor so that the position of the vehicle can be accurately grasped even when the GPS information is inaccurate. Specifically, the preprocessor may generate map data for a predetermined range, set reference elements in the range, and compare the reference data with reference elements of the image received by the vehicle sensor in the real-time processing unit to provide the positional information.

1 is a view showing an appearance of a vehicle according to an embodiment of the present invention;
2 is a view showing a vehicle according to an embodiment of the present invention viewed from various angles
3 to 4 are views showing the inside of the vehicle according to the embodiment of the present invention
5 to 6 are diagrams for explaining an object according to an embodiment of the present invention,
7 is a block diagram of a vehicle according to an embodiment of the present invention.
8 is a flowchart for explaining a vehicle control method according to an embodiment of the present invention.
9, 10 and 11 are illustrations for explaining a vehicle control method according to an embodiment of the present invention.
12 is a conceptual diagram for explaining a vehicle control method according to an embodiment of the present invention.
13 and 14 are illustrations for explaining a vehicle control method according to an 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.

Here, the autonomous driving is defined as controlling at least one of acceleration, deceleration, and driving direction based on a predetermined algorithm. In other words, this means that the driving operation device is automatically operated even if no user input is inputted to the driving operation device.

The vehicle 100 can be switched to the autonomous running mode or the manual 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 outbound 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 a user. The data collected by the input unit 200 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 300 can be operated under the control of the control section 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 be referred to as a 'wireless communication unit'.

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.

There is a need for a vehicle control method for detecting the position of a vehicle with sensor information in a situation where the GPS performance is inaccurate. To this end, the vehicle may be required to communicate internally or externally to receive map data.

Hereinafter, the vehicle control apparatus 800 may be mounted on a vehicle. According to a specific embodiment, the vehicle control apparatus 800 may be integrally formed with the control section 170 or may be implemented as a subcomponent of the control section 170. [ The vehicle control device 800 can control the overall operation of each unit in the vehicle 100. [ Specifically, the vehicle control device 800 can control the communication device 400 for communication between the inside / outside of the vehicle.

Although not shown in the drawings, the vehicle control apparatus may include a pre-processing unit and a real-time processing unit. The preprocessing section generates map data and extracts elements for a region centering on a specific sample on the map data to set a position candidate region of the vehicle. The real-time processing unit may include a function of extracting elements on an image sensed by a sensor provided in a vehicle and generating coordinate values on the map data by comparing the extracted elements with elements extracted from a pre-processing unit, . Therefore, the present invention can provide a position candidate region of the vehicle using the image and the elements existing on the image received from the environment-aware sensor without the positioning information such as GPS.

Hereinafter, the vehicle control method will be described in detail.

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

Referring to FIG. 8, the vehicle control method is performed by a vehicle control device. The vehicle control apparatus 800 may have processing steps of a pre-processing section and a real-time processing section to determine position information of the vehicle.

The pre-processing unit can label the combination of similar elements with the label indicating the same position based on the elements of the position candidate region that may exist on the map by using the map data of the specific space. Specifically, the vehicle control apparatus 800 can generate map data corresponding to a predetermined range (S810). The map data may be stored in the vehicle in advance, and a map of the place where the vehicle has entered may be downloaded from outside. In addition, the map data may be generated by searching the surrounding information through the sensor, not the existing map, as described above.

The vehicle control apparatus 800 may extract the elements for estimating the position from the map data and set the extracted elements as reference elements for the predetermined range (S820). The elements extracted from the map data may be elements existing on the map, and may be running information of the vehicle. Specifically, the actual data such as the pattern and direction of the parking slots on the map data, the number of slots on the image, the number of groups of slot groups, the presence, type, visibility, The number and location of peripheral elements, and the like.

The vehicle control apparatus 800 can receive information related to the running of the vehicle from most of the apparatuses provided in the vehicle 100. [ The information transmitted from the vehicle 100 to the vehicle control devices is referred to as " vehicle running information ". The elements extracted from the map data may be traveling information of the vehicle.

The vehicle running information includes vehicle information and peripheral information of the vehicle. Information relating to the inside of the vehicle based on the frame of the vehicle 100 can be defined as vehicle information, and information related to the outside of the vehicle can be defined as peripheral information.

The vehicle information means information about the vehicle itself. For example, the vehicle information may include at least one of vehicle speed, running direction, acceleration, angular speed, position (GPS), weight, vehicle occupant, , Whether or not the vehicle is in a traveling mode (whether it is an autonomous driving mode or a manual driving mode), a parking mode of the vehicle (autonomous parking mode, automatic parking mode, manual parking mode) .

The peripheral information means information relating to another object located within a predetermined range around the vehicle and information related to the outside of the vehicle. For example, the state of the road surface on which the vehicle is running (frictional force), the weather, the distance from the front (or rear) vehicle, the relative speed of the front (or rear) vehicle, Information related to an object existing in a reference area (a predetermined area) on the basis of the vehicle, whether the object enters / leaves the predetermined area, whether a user exists around the vehicle, and information related to the user Whether the user is an authorized user, etc.).

In addition, the peripheral information includes at least one of object information (a person, a vehicle, a signboard, etc.) located in the vicinity of the surrounding brightness, temperature, sun position, a kind of road surface during running, a feature, a lane information, ) Information, and information necessary for autonomous driving / autonomous parking / automatic parking / manual parking modes.

In addition, the peripheral information includes an object (object) for identifying the distance to the vehicle 100 and the vehicle existing in the vicinity of the vehicle, the possibility of collision, the type of the object, the parking space in which the vehicle can park, , A parking line, a cord, a car, a wall, etc.).

The vehicle running information is not limited to the example described above and may include all information generated from the components provided in the vehicle 100. [

The vehicle control apparatus may set the elements extracted from the map data as reference elements. These reference elements can be changed by learning. Specifically, assuming that the parking line is initially set as the reference element, the reference elements can be subdivided into sub reference elements by learning, and the predetermined reference element can be deleted by the color, the kind, etc. of the parking line.

In the real-time processing unit, after the vehicle senses the outside of the vehicle from the sensor, it searches the element corresponding to at least one of the reference elements on the sensed image, and calculates the coordinate value from the map data using the search element have. Accordingly, the vehicle can determine the position of the vehicle even in the case where the GPS information is inaccurate.

When the vehicle enters the predetermined range, the sensor may receive an image of the outside of the vehicle (S830). The case where the vehicle enters the predetermined range is not limited to the case where the vehicle is moving but may also include a state where the vehicle stops in a predetermined range. The sensor may include environmental awareness sensors such as a camera, a lidar. The vehicle control device can receive an image of a sensor sensed from a plurality of sensors provided in the vehicle,

The vehicle control apparatus may search for an element corresponding to at least one of the reference elements from the image (S840). As described above, the reference elements may be elements existing on the map, and may be travel information of the vehicle.

The vehicle control device may calculate the coordinate value from the map data using the searched element (S850). The coordinate value may be an exact value, and may be a coarse position range. Specifically, the position information may be provided in the candidate region range. It is possible to guarantee the flexibility according to various vehicle viewpoints and the robustness of recognition according to the change of environment by providing a region where convergence can be achieved by a general matching method rather than directly searching for the exact same position of the other algorithm. Thus, there is an advantage that map updating is not frequently required and accuracy of maps acquired at various points of time is not required. The vehicle control device can estimate the position area by integrating the elements measured on the image outside the vehicle received from the sensor.

The vehicle control apparatus can compare the reference elements set in the preprocessing process with the elements measured on the image of the vehicle outside the vehicle received from the sensor as described above. Thus, a point having a reference element such as the elements to be measured on the image can be determined as the position of the vehicle.

FIG. 9 is an exemplary diagram for explaining a vehicle control method according to an embodiment of the present invention.

The vehicle control apparatus can designate random samples on the received map data (S910). The random sample may be randomly varied samples based on a load network, for a region in which the vehicle can travel. Specifically, the sample point can be set at random for all the parts on the space in which the vehicle can travel.

The vehicle control apparatus may extract the elements within a predetermined size area centered on at least one of the random samples (S920). As described above, the elements may be elements existing on the map, and may be travel information of the vehicle. Thereafter, the vehicle controller may set the extracted elements as reference elements for a predetermined range (S930).

The vehicle control device may label the samples with the same sub reference elements with at least one label (S940). Based on the elements of candidate location groups that may exist on the map, you can group similar element combinations with the same location label and learn which labels are extracted when you have specific elements. Therefore, it is possible to determine in which area the vehicle exists due to the elements extracted on the image of the exterior of the vehicle.

The vehicle control apparatus can extract the elements for each of the generated samples. At this time, the size of the image on the map to be extracted may vary depending on the vehicle. Specifically, if the vehicle receives an image through the AVM system, it can form an area centered on any one of the random samples according to the FOV size of the AVM and extract the element from the area. After the above-described process, the vehicle control apparatus can label the samples having the same elements with one label. Accordingly, the vehicle control apparatus can perform learning based on the relationship between the label and the extracted element, and can generate a candidate region range for each label. That is, the position candidate label can be predicted as an output by using the learned information based on the input of the reference elements, and the candidate region range information corresponding to the predicted label can be used for positioning. The vehicle control device may select at least one of the labeled labels, and calculate the coordinate value using the selected label. The coordinate value can be estimated to be present in the selected label area.

10 is an exemplary diagram for explaining a vehicle control method according to an embodiment of the present invention.

The vehicle control apparatus may extract subelements for estimating the detailed position from the searched reference element (S1010). In addition, the vehicle control apparatus may add the extracted sub-elements as sub-reference elements of the searched reference element (S1020), and set the extracted elements as reference elements for a predetermined range (S1030).

The vehicle control apparatus can set elements extracted from the map data as reference elements. These reference elements can be changed by learning. Specifically, assuming that the parking line is initially set as the reference element, the reference elements can be subdivided into sub reference elements by learning, and the predetermined reference element can be deleted by the color, the kind, etc. of the parking line. New reference elements may also be added. In particular, elements that can change, such as the presence of other parked vehicles as time passes, can be added to the reference elements. In this way, the reference elements can be diversified through learning, and sub-elements can be added as sub-elements.

The vehicle control apparatus can label the samples having the same sub reference elements with one label as described above. Accordingly, the vehicle control apparatus can perform learning based on the relationship between the label and the extracted element, and can generate a candidate region range for each label. That is, the position candidate label can be predicted as an output by using the learned information based on the input of the reference elements, and the candidate region range information corresponding to the predicted label can be used for positioning.

11 is a diagram for explaining a vehicle control method according to an embodiment of the present invention.

The step of generating the map data may be performed only when the predetermined condition is satisfied. Specifically, the vehicle controller may determine whether the vehicle is at least one of a case where the vehicle can not receive the vehicle position information and a case where the vehicle position information is out of the tolerance range (S1110). This is to grasp the position of the vehicle based on the environment recognition sensor when the positioning information such as the GPS information can not be utilized to determine the accurate position information of the vehicle. In general, positioning technology is highly dependent on sensors such as GPS, so it may not be necessary to use an environment-aware sensor if the GPS information is accurate.

Thereby, the vehicle control apparatus may not generate the map data if the predetermined condition is not satisfied (S1120). On the contrary, if the predetermined condition is satisfied, the vehicle control apparatus may generate map data and extract elements for estimating the position (S1130).

12 is a conceptual diagram for explaining a vehicle control method according to an embodiment of the present invention.

Referring to Fig. 12, the vehicle control apparatus 800 can receive data through communication with the communication apparatus 400. Fig. Specifically, the vehicle control device can receive map data from the communication device. The map data may be stored in the vehicle in advance, and a map of the place where the vehicle has entered may be downloaded from outside. In addition, the vehicle control device may transmit and receive positioning information for estimating the position of the vehicle through the communication device 400.

13 is an exemplary diagram for explaining a vehicle control method according to an embodiment of the present invention.

Referring to FIG. 13, the vehicle control device can determine whether the vehicle can not receive the vehicle position information. Specifically, in the case of an underground parking lot or a parking lot near a high-rise building, GPS information may not be transmitted or received. If the vehicle does not receive the location information (S1310), there may be cases where the map data is not stored or can not be downloaded from around. In this case, in order to determine the position information of the vehicle, it is necessary to receive the map data and the position information of the surrounding vehicle from other surrounding vehicles.

The vehicle control apparatus may control the communication unit 400 to communicate with the surrounding vehicle in a short distance to receive the position information of the surrounding vehicle (S1320). In this way, the vehicle can receive map data or position information from the surrounding vehicle in the area. The vehicle can support near-field communication using at least one of Bluetooth, RFID infrared communication, UWB, ZigBee, NFC, Wi-Fi, Wi-Fi Direct and Wireless USB technology. Further, a short-range wireless communication network may be formed to perform short-range communication between the vehicle and at least one external vehicle.

14 is an exemplary diagram for explaining a vehicle control method according to an embodiment of the present invention.

Referring to FIG. 14, when the vehicle instructs to generate map data (S1410), the vehicle control apparatus can receive predetermined map data through the communication unit (S1420). The predetermined map data may be already stored in the vehicle memory or may be received from the outside. Specifically, when the vehicle enters the entrance of the underground parking lot, the vehicle can receive the map from the server of the underground parking lot in the corresponding parking area. In this case, it is possible to perform a pre-processing step of extracting elements for estimating a position on the received map data and setting the extracted elements as reference elements for a predetermined range. Thereafter, the environment recognition sensor receives an image of the exterior of the vehicle, searches for an element corresponding to at least one of the reference elements from the image, and calculates coordinate values from the map data using the element.

Through this, the vehicle control apparatus can estimate the candidate region of the vehicle position even when the elements such as the parking lot are not sufficient, by using the simple elements in the situation where the positioning information such as the GPS is inaccurate, .

The above-described present invention can be implemented as a computer-readable code (or application or software) on a medium on which the program is recorded. The control method of the above-described autonomous vehicle can be realized by a code stored in a memory or the like.

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 method for a vehicle control device for controlling a vehicle equipped with a sensor,
Generating map data corresponding to a predetermined range;
Extracting elements for estimating a position in the map data, and setting the extracted elements as reference elements for the predetermined range;
Receiving, when the vehicle enters the predetermined range, an image in which the sensor senses the outside of the vehicle;
Searching for an element corresponding to at least one of the reference elements from the image; And
And calculating a coordinate value from the map data using the searched element. The method according to claim 1,
Wherein the setting of the reference elements for the predetermined range comprises:
Extracting elements within a predetermined size region centered on at least one of the random samples, extracting the extracted elements from the reference elements for the predetermined range, designating random samples on the received map data, To the vehicle control device. 3. The method of claim 2,
And the predetermined size varies depending on the vehicle. 3. The method of claim 2,
The step of setting the extracted elements as reference elements for the predetermined range includes:
Further comprising the step of labeling samples with identical reference elements with at least one label. 5. The method of claim 4,
Wherein the step of calculating coordinate values from the map data using the searched elements comprises:
Selects at least one of the labeled labels, and calculates the coordinate value using the selected label. The method according to claim 1,
Wherein the step of searching for an element corresponding to at least one of the reference elements from the image comprises:
Further comprising extracting subelements for estimating a detailed position from the searched reference elements and adding the extracted subelements as subelement elements of the searched referenceelements. The method according to claim 6,
Wherein the step of adding the extracted sub-elements as sub-reference elements of the searched reference element comprises:
Further comprising the step of labeling the samples with the same sub reference elements with at least one label. The method according to claim 1,
Wherein the step of generating the map data is performed only when the predetermined condition is satisfied,
Wherein the predetermined condition is at least one of a case where the vehicle does not receive the vehicle position information and a case where the vehicle position information is out of the error tolerance range. 9. The method of claim 8,
When the vehicle does not receive the vehicle position information, controls the communication unit to communicate with the surrounding vehicle in a short distance to receive the position information of the surrounding vehicle. The method according to claim 1,
Wherein the step of generating the map data comprises the step of receiving the preset map data through the communication unit.

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