KR20210122553A - Wave/c-v2x autonomous driving ststem using dual active technology - Google Patents

Abstract

The present invention relates to an autonomous driving control apparatus and, more particularly, to a technology for more precisely controlling an autonomous driving apparatus by simultaneously using both of wireless access in vehicle environment (WAVE)(DSRC) vehicle to everything (V2X) communication and cellular vehicle to everything (C-V2X) communication. According to one embodiment of the present invention, an operation method of an autonomous driving control apparatus implementing an integrated application comprises the steps of: determining whether to perform communication between vehicles, on the basis of a simultaneous communication mode in which an integrated application simultaneously supports the WAVE V2X communication and the C-V2X communication; when it is determined to perform the communication between vehicles on the basis of the simultaneous communication mode, transmitting a WAVE short message (WSM) payload to a security module included in the autonomous driving control apparatus, by the integrated application to perform the WAVE V2X communication; and when it is determined to perform the communication between vehicles on the basis of the simultaneous communication mode, transmitting an internet protocol version 6 (IPv6) packet to an integrated low layer interface (LLI) included in the autonomous driving control apparatus, by the integrated application to perform the C-V2X communication.

Description

Autonomous driving system using WAVE/C-V2X dual active technology {WAVE/C-V2X AUTONOMOUS DRIVING STSTEM USING DUAL ACTIVE TECHNOLOGY}

The present invention relates to an autonomous driving control device, and more particularly, to a technology for more precisely controlling an autonomous driving device using both WAVE V2X communication and C-V2X communication technologies simultaneously.

Recently, a vehicle is becoming the result of a complex industrial technology fusion of electric, electronic, and communication technologies at the center of mechanical engineering, and in this respect, a vehicle is also called a smart car. Smart cars connect drivers, vehicles, and transportation infrastructure to provide various user-customized mobility services as well as traditional vehicle technologies such as traffic safety/complexity resolution. Such connectivity may be implemented using V2X (Vehicle to Everything) communication technology.

As the development of wireless communication technology for autonomous driving progresses, the V2X technology using 802.11p-based WAVE (DSRC) communication has undergone a stabilization process to some extent and is about to enter the market, C-V2X based on LTE (5G) communication With the advent of technology, the camp of wireless communication technology for autonomous driving is divided into two categories. While each country or coalition is contemplating the introduction of WAVE technology and C-V2X technology, it seems highly likely that the two technologies will coexist and compete until the autonomous driving wireless communication technology is decided on either side.

Therefore, this application intends to propose a technology that can communicate for autonomous driving using both WAVE technology and C-V2X technology in one stack.

The present invention intends to develop an autonomous driving control device capable of simultaneously using WAVE V2X communication technology and C-V2X communication technology in developing a wireless communication protocol for autonomous driving.

In the operating method of an autonomous driving control device in which an integrated application is implemented according to an embodiment of the present invention, the integrated application comprises WAVE V2X (Wireless Access in Vehicle Environment Vehicle to Everything) communication and C-V2X (Cellular Vehicle to Everything) determining whether to perform vehicle-to-vehicle communication based on a simultaneous communication mode supporting simultaneous communication; When it is decided to perform inter-vehicle communication based on the simultaneous communication mode, the integrated application uses a first WSM payload (WAVE short message payload) and a first IPv6 packet (Internet Protocol version 6) to perform the WAVE V2X communication. Packet) to an integrated LLI (Low Layer Interface) included in the autonomous driving control device and when it is decided to perform inter-vehicle communication based on the simultaneous communication mode, the C-V2X communication is performed and transmitting, by the aggregation application, at least one of a second WSM payload and a second IPv6 packet to the aggregation LLI.

In an embodiment of the present invention, the method comprising: transmitting the first WSM payload and the first IPv6 packet through a first physical layer performing the WAVE V2X communication; and transmitting the second WSM payload and the second IPv6 packet through a second physical layer performing the C-V2X communication.

In one embodiment of the present invention, the first WSM payload is the same as the second WSM payload, and the first IPv6 packet is the same as the second IPv6 packet.

In one embodiment of the present invention, the step of the security module generating a first message by adding a first header to the WSM payload; generating, by a WAVE short message protocol (WSMP) module, a second message by adding a second header to the first message; and transmitting, by the integrated application, the second message to the integrated LLI.

In an embodiment of the present invention, the first header is an IEEE 1609.2 header, and the second header is an IEEE 1609.3 header.

In an embodiment of the present invention, when inter-vehicle communication is not performed based on the simultaneous communication mode and vehicle-to-vehicle communication is performed based on the WAVE V2X communication, the integrated application receives the first WSM payload transmitting to the security module; generating, by the security module, a first message by adding a first header to the first WSM payload; generating, by the WSMP module, a second message by adding a second header to the first message; and transmitting, by the integrated application, at least one of the second message and the first IPv6 packet to the integrated LLI.

In one embodiment of the present invention, when the vehicle-to-vehicle communication is not performed based on the simultaneous communication mode and the vehicle-to-vehicle communication is performed based on the C-V2X communication, vehicle-to-vehicle communication based on the simultaneous communication mode without performing, when performing inter-vehicle communication based on the WAVE V2X communication, transmitting, by the integrated application, the second WSM payload to the security module; generating, by the security module, a third message by adding a first header to the second WSM payload; generating, by the WSMP module, a fourth message by adding a second header to the third message; and transmitting, by the integrated application, at least one of the fourth message and the second IPv6 packet to the integrated LLI.

In one embodiment of the present invention, the at least one protocol includes a WME (Wave Management Entity), a protocol for controlling transmission (TCP) and a datagram protocol (UDP), and the WME relates to the WAVE V2X communication The WSM payload is transmitted to the integrated LLI, and the transmission control protocol (TCP) and the datagram protocol (UDP) transmit the IPv6 packet related to the C-V2X communication to the integrated LLI. do.

In the autonomous driving control device according to an embodiment of the present invention, communication between vehicles is performed based on a simultaneous communication mode that simultaneously supports Wireless Access in Vehicle Environment Vehicle to Everything communication and C-V2X (Cellular Vehicle to Everything) communication. It is determined whether to perform, and when it is determined to perform inter-vehicle communication based on the simultaneous communication mode, a first WSM payload (WAVE short message payload) and a first IPv6 packet (Internet Protocol version) to perform the WAVE V2X communication 6 Packet), an integrated application for transmitting at least one of, and transmitting at least one of a second WSM payload and a second IPv6 packet to perform the C-V2X communication; and an integrated LLI (Low Layer Interface) receiving the first WSM payload, the first IPv6 packet, the second WSM payload, and the second IPv6 packet from the integrated application.

In one embodiment of the present invention, a security module for adding a first header; and a WAVE short message protocol (WSMP) module for adding a second header.

In an embodiment of the present invention, the first header is an IEEE 1609.2 header, and the second header is an IEEE 1609.3 header.

In one embodiment of the present invention, at least one protocol includes a WME (Wave Management Entity), a protocol for controlling transmission (TCP) and a datagram protocol (UDP), and the WME is the WAVE V2X communication related to the The WSM payload is transmitted to the integrated LLI, and the transmission controlling protocol (TCP) and the datagram protocol (UDP) transmit the IPv6 packet related to the C-V2X communication to the integrated LLI. .

The present invention can realize technology coexistence in a situation where two technologies compete with each other by performing communication using WAVE V2X technology or C-V2X technology at the same time, and is flexible in the result no matter what technology is introduced into the autonomous driving market later be able to deal with

1 is a block diagram of an autonomous driving control apparatus according to an embodiment of the present invention.
2 is a flowchart illustrating message transmission/reception by an autonomous driving control device according to an embodiment of the present invention.
3 is a block diagram of an autonomous driving apparatus according to an embodiment of the present invention.
4 is a flowchart illustrating a method of operating an autonomous driving control apparatus step by step according to an embodiment of the present invention.
5 is a flowchart illustrating an additional operation method of an autonomous driving control apparatus step-by-step according to an embodiment of the present invention.

Hereinafter, the present disclosure will be described with reference to the accompanying drawings. As the present disclosure is capable of various changes and may have various embodiments, specific embodiments are illustrated in the drawings and the related detailed description is set forth. However, this is not intended to limit the present disclosure to specific embodiments, and should be understood to include all modifications and/or equivalents or substitutes included in the spirit and scope of the present disclosure. In connection with the description of the drawings, like reference numerals have been used for like components.

The terms used in the present disclosure are used only to describe specific embodiments, and are not intended to limit the present disclosure. The singular expression includes the plural expression unless the context clearly dictates otherwise.

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

1 is a block diagram of an autonomous driving control apparatus 100 according to an embodiment of the present invention.

Referring to FIG. 1 , an autonomous driving control device 100 according to an embodiment of the present invention includes an integrated application 110 , a security module 150 , a WAVE short message protocol (WSMP) module, and an integrated LLI 160 ( Low Layer Interface).

The integrated application 110 performs inter-vehicle communication based on a simultaneous communication mode that simultaneously supports WAVE V2X (Wireless Access in Vehicle Environment Vehicle to Everything) 131 communication and C-V2X (Cellular Vehicle to Everything) 133 communication. decide whether to When it is decided to perform inter-vehicle communication based on the simultaneous communication mode, among a first WSM payload (WAVE short message payload) and a first IPv6 packet (Internet Protocol version 6 Packet) to perform WAVE V2X (131) communication The integrated application 110 transmits at least one of the second WSM payload and the second IPv6 packet in order to transmit at least one and perform C-V2X (133) communication. In this case, the first WSM payload may be the same as the second WSM payload, and the first IPv6 packet may be the same as the second IPv6 packet. Hereinafter, for convenience of description, the first WSM payload and the second WSM payload may be written as the WSM payload, and the first IPv6 packet and the second IPv6 packet may be written together as the IPv6 packet 190 .

The WSM payload provides information actually required for autonomous driving, and the IPv6 (190) packet communicates with the security center to provide certificate information necessary for security.

In this case, the WAVE V2X 131 may be IEEE 802.11p-based. WAVE V2X (131) includes many standards for vehicle communication as well as IEEE 802.11p. Among them, the IEEE 1609 standard series defines the system structure, communication model, management structure, security mechanism, physical layer access, etc. WAVE V2X (131) communication technology is focused on vehicle safety through direct communication.

In addition, since vehicle communication using a mobile communication network can use a mobile communication network other than direct communication between vehicles, it is possible to solve the communication coverage problem. Accordingly, there is an advantage in that more data can be transmitted and thus various services such as images can be supported. Therefore, other vehicle communication technologies are introduced according to the situation and environment of each country or region, or they are composed of a combination of these.

C-V2X (133) is an abbreviation of 'Cellular Vehicle-to-Everything'. It uses mobile communication technology to share information such as traffic and road conditions between vehicles, vehicles, pedestrians, and infrastructure. it is a system It is a V2X communication technology based on mobile communication (3GPP Release 14) technology.

The C-V2X 133 has two transmission modes. The first transmission mode is a mode in which vehicles, pedestrians, and road infrastructure can communicate directly. Based on LTE Direct technology, it is possible to communicate between vehicles traveling at high speed, or to exchange information between vehicles in real time in complex traffic situations or even outside the coverage of mobile networks. The second transmission mode utilizes the existing wide-established LTE network, and can receive news of accidents several kilometers ahead or notifications of parking spaces.

The security module 150 receives the first WSM payload from the integrated application 110 and adds a first header to the first WSM payload. The security module 150 generates a first message M1 by adding a first header to the WSM payload in order to perform WAVE V2X communication. In this case, the first header may be an IEEE 1609.2 Header.

A WAVE short message protocol (WSMP) module generates a second message M2 by adding a second header to the first message M1. In this case, the second header may be an IEEE 1609.3 Header.

The security module 150 generates a third message by adding a first header to the second WSM payload in order to perform C-V2X communication. In this case, the first header may be an IEEE 1609.2 Header.

A WAVE short message protocol (WSMP) module generates a fourth message by adding a second header to the third message. In this case, the second header may be an IEEE 1609.3 Header.

The integrated LLI 160 receives an IPv6 (190) packet from the integrated application 110 for at least one of WAVE V2X (131) communication and C-V2X (133) communication, and receives a second message from the WSMP module 170 ( M2) or a fourth message is received.

The autonomous driving control apparatus 100 according to an embodiment of the present invention may further include a WME 141 (Wave Management Entity), a protocol for controlling transmission, and a datagram protocol. WME 141 transmits the WSM payload for the WAVE V2X (131) communication to the integrated LLI (160). A protocol (TCP) 142 and datagram protocol (UDP) 142 that control transmission transmits an IPv6 (190) packet for C-V2X (133) communication to the integrated LLI 160.

2 is a flowchart of message transmission/reception by the autonomous driving control apparatus 100 according to an embodiment of the present invention.

Referring to FIG. 2 , the message transmission of the autonomous driving control device 100 based on the simultaneous communication mode simultaneously supporting WAVE V2X (131) communication and C-V2X (133) communication is an integrated application for WAVE V2X (131) communication. 110 sends the first WSM payload to the security module 150 . The security module 150 generates a first message M1 by adding a first header to the transmitted first WSM payload. The first message M1 is transmitted to the WSMP module 170 . The WSMP module 170 generates a second message M2 by adding a second header to the transmitted first message M1. The generated second message (M2) and IPv6 (190) packet are transmitted to the integrated LLI (160) by the integrated application (110).

In the message transmission of the autonomous driving control device 100 , the integrated application 110 transmits the second WSM payload to the security module 150 for C-V2X (133) communication. The security module 150 generates a third message by adding a first header to the transmitted second WSM payload. The third message is sent to the WSMP module 170 . The WSMP module 170 generates a fourth message by adding a second header to the transmitted third message. The generated fourth message and IPv6 (190) packet are transmitted to the integrated LLI (160) by the integrated application (110).

Although not shown in the figure, the integrated LLI 160 transmits at least one of a first WSM payload and a first IPv6 packet to a first physical layer performing WAVE V2X communication.

In addition, at least one of the second WSM payload and the second IPv6 packet is transmitted through the second physical layer performing C-V2X communication.

On the other hand, the message reception of the autonomous driving control device 100 based on the simultaneous communication mode that supports WAVE V2X(131) communication and C-V2X(133) communication at the same time is the integrated LLI 160 for WAVE V2X(131) communication. The second message (M2) and the first IPv6 (190) packet is transmitted to the WSMP module (170). The WSMP module 170 generates the first message M1 by removing the second header from the second message M2. The first message M1 is transmitted to the security module 150 . The security module 150 removes the first header from the received first message M1 to generate a first WSM payload. The generated first WSM payload and the first IPv6 (190) packet are transmitted to the integrated application (110).

In addition, the message reception of the autonomous driving control device 100 based on the simultaneous communication mode that simultaneously supports WAVE V2X(131) communication and C-V2X(133) communication is integrated LLI(160) for C-V2X(133) communication. transmits the fourth message and the second IPv6 (190) packet to the WSMP module (170). The WSMP module 170 generates a third message by removing the second header from the fourth message. The third message is sent to the security module 150 . The security module 150 generates a second WSM payload by removing the first header from the received third message. The generated second WSM payload and the second IPv6 (190) packet are transmitted to the integrated application (110).

In the case of single-mode message transmission supporting only WAVE V2X (131) communication, the integrated application 110 transmits the first WSM payload to the security module 150 for WAVE V2X (131) communication. The security module 150 generates a first message M1 by adding a first header to the transmitted first WSM payload. The first message M1 is transmitted to the WSMP module 170 . The WSMP module 170 generates a second message M2 by adding a second header to the transmitted first message M1. At least one of the generated second message M2 and the first IPv6 packet 190 is transmitted to the integrated LLI 160 by the integrated application 110 .

In the case of a single mode message reception supporting only WAVE V2X (131) communication, the integrated LLI 160 transmits at least one of the second message M2 and the first IPv6 packet 190 to the WSMP module 170 . The WSMP module 170 generates the first message M1 by removing the second header from the second message M2. The first message M1 is transmitted to the security module 150 . The security module 150 removes the first header from the received first message M1 to generate a first WSM payload. At least one of the generated first WSM payload and the first IPv6 packet 190 is transmitted to the integrated application 110 .

In the case of single-mode message transmission supporting only C-V2X (133) communication, the integrated application 110 transmits a second WSM payload to the security module 150 for C-V2X (133) communication. The security module 150 generates a third message by adding a first header to the transmitted second WSM payload. The third message is sent to the WSMP module 170 . The WSMP module 170 generates a fourth message by adding a second header to the transmitted third message. At least one of the generated fourth message and the second IPv6 packet 190 is transmitted to the integrated LLI 160 by the integrated application 110 .

In the case of single-mode message transmission supporting only C-V2X (133) communication, the integrated LLI 160 for C-V2X (133) communication transmits at least one of the fourth message and the second IPv6 packet 190 to the WSMP module (170). The WSMP module 170 generates a third message by removing the second header from the fourth message. The third message is sent to the security module 150 . The security module 150 generates a second WSM payload by removing the first header from the received third message. At least one of the generated second WSM payload and the second IPv6 packet 190 is transmitted to the integrated application 110 .

3 is a block diagram of an autonomous driving device 300 according to an embodiment of the present invention.

Referring to FIG. 3 , the autonomous driving device 300 includes a human machine interface (HMI) device 300_1 and a service providing vehicle terminal (OBU) 300_2 . The service providing vehicle terminal (OBU) 300_2 includes a communication unit 330 , a control unit 340 , an interface unit 350 , a driving unit 360 , and a power supply unit 370 .

The HMI device 300_1 is a vehicle-mounted human-machine interface (Human Machine Interface) mounted in a vehicle for a driver to grasp vehicle information or status. The HMI device 310 may include a smartphone 311 , a navigation device 313 , and an IC card reader 315 .

The communication unit 330 in the service providing vehicle terminal (OBU) 300_2 may include a WAVE V2X 331 and a C-V2X 333 . WAVE V2X 331 and C-V2X 333 may be the same as WAVE V2X 331 and C-V2X 333 mentioned in FIGS. 1 and 2 .

The interface unit 350 in the service providing vehicle terminal (OBU) 300_2 is a UART (Universal asynchronous receiver/transmitter) 351, CAN (Controller Area Network) 352, Ethernet (Ethernet) 353 ), a Universal Serial Bus (USB) 354 , Bluetooth 355 , Wi-Fi 356 , and a Secure Digital (SD) card 357 .

The UART 351 is a type of computer hardware that transmits data by converting the form of parallel data into a serial method. UART 351 is generally used with communication standards such as EIA RS-232, RS-422, and RS-485. U in UART (351) stands for universal, which means that the data type or baud rate can be directly configured, and the actual electrical signal level and manner (eg, differential signal) is usually specified by a specific driver circuit outside the UART (351). It means being managed through

The CAN 352 is a standard communication standard designed to allow microcontrollers or devices to communicate with each other in a vehicle without a host computer. The CAN 352 is a message-based protocol and is recently used not only in vehicles but also in industrial automation devices or medical equipment. A controller area network (CAN) 352 is a message-based network protocol of a non-host bus method mainly used for communication between respective controllers.

Ethernet 353 is one of computer network technologies, and is a technical standard most commonly used in LAN, MAN, and WAN. The Ethernet 353 defines the format of a signal and wiring in the physical layer of the OSI model, and a media access control (MAC) packet and protocol in the data link layer.

The USB 354 is one of the input/output standard protocols used to connect a computer and peripheral devices.

Bluetooth 355 is an industry standard for personal short-range wireless communication for digital communication devices. Bluetooth 355, which defines a short-distance data communication method between electronic devices using a short-wave ultrahigh frequency (UHF) wave of 2.4 to 2.485 GHz included in ISM (Industrial Scientific Medical) band, a mouse used in a personal computer, Text information and voice information can be used for sending and receiving digital information through wireless communication at a relatively low speed, such as a keyboard, a mobile phone, a smart phone 311, a tablet, and a speaker.

The Wi-Fi 356 is a technology that enables electronic devices to connect to a wireless LAN (WLAN), mainly 2.4 gigahertz (12 centimeters) UHF and 5 gigahertz (6 centimeters) superhigh frequency (SHF), ISM (Industrial Scientific Medical). Use the wireless band. Wireless LANs are usually password-protected, but they can be opened so that any device located within the band can access the resources of the WLAN network.

SD card 357 is a flash (non-volatile) memory card format developed for use in portable devices.

The control unit 340 in the service providing vehicle terminal (OBU) 300_2 controls the communication unit 330 and the interface unit 350 . The controller 340 may store firmware and drive system operation and higher-level services. Furthermore, the controller 340 may manage interfaces with peripheral devices and manage the operation of the entire autonomous driving device.

The driving unit 360 in the service providing vehicle terminal (OBU) 300_2 may drive the autonomous driving device 300 based on the result of the control unit 340 . It can be driven in a simultaneous communication mode that simultaneously supports C-V2X(333) communication and WAVE V2X(331) communication. On the other hand, it can be driven in a single communication mode that supports only C-V2X (333) communication or only WAVE V2X (331) communication.

The power supply unit 370 in the service providing vehicle terminal (OBU) 300_2 may include a PMIC 371 module, a PoE module, a power filter 373 , and/or a power protection device 375 . The PMIC 371 module may supply power to each component of the vehicle-mounted device. A power over ethernet (PoE) module can supply data and power through an Ethernet 353 cable. The PoE module of the roadside base station can be powered through an RJ45 connector. According to another embodiment of the present invention, a PoE module may be used internally to supply data and power by separating the Ethernet 353 PHY and the power supply unit 370 .

4 is a flowchart illustrating a method of operating the autonomous driving control apparatus 100 step by step according to an embodiment of the present invention.

Referring to FIG. 4 , it is a step-by-step diagram illustrating an operation method when transmitting a message by the autonomous driving control apparatus 100 according to an embodiment of the present invention.

The operation method when transmitting the message of the autonomous driving control device 100 includes the steps of determining a communication mode (S110), determining the communication mode (S120), and performing WAVE V2X (131) communication based on the simultaneous communication mode. (S130), performing C-V2X (133) communication based on the simultaneous communication mode (S140), determining whether WAVE V2X (131) communication (S150), WAVE V2X (131) based on a single communication mode It may include performing communication (S160), and performing C-V2X (133) communication based on a single communication mode (S170).

The step of determining the communication mode ( S110 ) is a step of determining whether to perform inter-vehicle communication based on a simultaneous communication mode that simultaneously supports WAVE V2X (131) communication and C-V2X (133) communication. The communication mode may include a simultaneous communication mode that simultaneously supports WAVE V2X(131) communication and C-V2X(133) communication, a mode that supports only WAVE V2X(131) communication, and a mode that supports only C-V2X(133) communication. can

The step of determining the communication mode ( S120 ) is a step of determining whether or not the simultaneous communication mode is present.

Performing the WAVE V2X (131) communication based on the simultaneous communication mode (S130) is a step of performing WAVE V2X (131) communication based on the simultaneous communication mode when it is determined as the simultaneous communication mode in step S120.

Performing C-V2X (133) communication based on the simultaneous communication mode (S140) is a step of performing C-V2X (133) communication based on the simultaneous communication mode when it is determined as the simultaneous communication mode in step S120 . In this case, the order of steps S130 and S140 is not limited thereto, and may be changed as necessary.

The step (S150) of determining whether WAVE V2X (131) communication is a step is a step when it is determined that the communication mode is not at the same time in step S120. If it is not the simultaneous communication mode, it is a step of determining whether the WAVE V2X (131) communication mode or the C-V2X (133) communication mode is used.

Performing the WAVE V2X (131) communication based on the single communication mode (S160) is WAVE V2X (131) communication based on the single communication mode when it is determined as the WAVE V2X (131) communication among the single communication modes in the step S150. is a step to perform.

Performing the C-V2X (133) communication based on the single communication mode (S170) is when it is determined that the C-V2X (133) communication among the single communication modes in the step S150, based on the single communication mode C-V2X ( 133) is the step of performing communication.

On the other hand, in the case of an operation method when receiving a message, the reverse direction of the step disclosed in FIG. 4 may be performed. In one embodiment of the present invention, the operation when receiving a message based on the simultaneous communication mode may be as follows.

The integrated LLI 160 transmits at least one of the second message M2 and the IPv6 190 packet to the WSMP module 170 . The WSMP module 170 generates the first message M1 by removing the second header from the second message M2. The first message M1 is transmitted to the security module 150 . The security module 150 removes the first header from the received first message M1 to generate the WSM payload. At least one of the generated WSM payload and IPv6 (190) packet is transmitted to the integrated application (110).

5 is a flowchart illustrating an additional operation method of the autonomous driving control apparatus 100 step by step according to an embodiment of the present invention.

The WSM payload described below may be at least one of a first WSM payload and a WSM payload, the first message may be a third message, the second message may be a fourth message, and IPv6 is the first IPv6 and It may be at least one of the second IPv6.

Referring to FIG. 5 , the operation method of the autonomous driving control device 100 includes a WSM payload transmission step S510 , a first message M1 generation step S530 , a second message M2 generation step S550 , and transmitting the second message (M2) (S570). S510 to S570 may be steps for performing the WAVE V2X (131) communication of steps S130 and S160 of FIG.

The WSM payload transmission step S510 is a step in which the integrated application 110 transmits the WSM payload to the security module 150 .

The step of generating the first message M1 ( S530 ) is a step in which the security module 150 generates the first message M1 by adding a first header to the WSM payload. In this case, the first header may be an IEEE 1609.2 Header. The generated first message M1 is transmitted to the WSMP module 170 .

The second message M2 generation step S550 is a step in which the WSMP module 170 generates the second message M2 by adding a second header to the first message M1. In this case, the second header may be an IEEE 1609.3 Header.

The second message M2 transmission step S570 is a step in which the integrated application 110 transmits at least one of the generated second message M2 and the IPv6 packet to the integrated LLI 160 .

100: autonomous driving control device
110: integrated application
131 : WAVE V2X
133 : C-V2X
141 : WME
142: Protocol (TCP. UDP)
150: security module
160: Integrated LLI (Low Layer Interface)
170: WSMP module
190 : IPv6
M1: first message
M2: second message
300: autonomous driving device
300_1 : HMI device
300_2 : Service providing vehicle terminal (OBU)
311: Smartphone
313: navigation
315: IC card reader
330: communication department
331 : WAVE V2X
333 : C-V2X
340: control unit
350: interface unit
351 : UART
352 : CAN
353 : Ethernet
354 : USB
355 : Bluetooth
356: wifi
357 : SD card
360: driving part
370: power supply
371: PMIC
373: power filter
375: power protection device

Claims (12)

In the operating method of an autonomous driving control device in which an integrated application is implemented,
determining whether to perform inter-vehicle communication based on a simultaneous communication mode in which the integrated application simultaneously supports WAVE V2X (Wireless Access in Vehicle Environment Vehicle to Everything) communication and C-V2X (Cellular Vehicle to Everything) communication;
When it is decided to perform inter-vehicle communication based on the simultaneous communication mode, the integrated application uses a first WSM payload (WAVE short message payload) and a first IPv6 packet (Internet Protocol version 6) to perform the WAVE V2X communication. Packet) transmitting at least one of the integrated LLI (Low Layer Interface) included in the autonomous driving control device; and
When it is determined to perform vehicle-to-vehicle communication based on the simultaneous communication mode, the integrated application transmits at least one of a second WSM payload and a second IPv6 packet to the integrated LLI to perform the C-V2X communication A method of operating an autonomous driving control device comprising the steps of: According to claim 1,
transmitting the first WSM payload and the first IPv6 packet through a first physical layer performing the WAVE V2X communication; and
and transmitting the second WSM payload and the second IPv6 packet through a second physical layer performing the C-V2X communication. According to claim 1,
the first WSM payload is the same as the second WSM payload;
The method of claim 1, wherein the first IPv6 packet is the same as the second IPv6 packet. According to claim 1,
generating, by the security module, a first message by adding a first header to the WSM payload;
generating, by a WAVE short message protocol (WSMP) module, a second message by adding a second header to the first message; and
Transmitting the second message to the integrated LLI by the integrated application; Method of operating an autonomous driving control device further comprising a. 5. The method of claim 4,
The first header is an IEEE 1609.2 Header,
The method of operating an autonomous driving control device, characterized in that the second header is an IEEE 1609.3 header. According to claim 1,
When performing inter-vehicle communication based on the WAVE V2X communication without performing vehicle-to-vehicle communication based on the simultaneous communication mode,
transmitting, by the integrated application, the first WSM payload to the security module;
generating, by the security module, a first message by adding a first header to the first WSM payload;
generating, by the WSMP module, a second message by adding a second header to the first message; and
transmitting, by the integrated application, at least one of the second message and the first IPv6 packet to the integrated LLI;
An operating method of an autonomous driving control device comprising a. According to claim 1,
When performing inter-vehicle communication based on the C-V2X communication without performing vehicle-to-vehicle communication based on the simultaneous communication mode,
When performing inter-vehicle communication based on the WAVE V2X communication without performing vehicle-to-vehicle communication based on the simultaneous communication mode,
transmitting, by the integrated application, the second WSM payload to the security module;
generating, by the security module, a third message by adding a first header to the second WSM payload;
generating, by the WSMP module, a fourth message by adding a second header to the third message; and
transmitting, by the integrated application, at least one of the fourth message and the second IPv6 packet to the integrated LLI;
An operating method of an autonomous driving control device comprising a. According to claim 1,
The at least one protocol includes a Wave Management Entity (WME), a protocol for controlling transmission (TCP), and a datagram protocol (UDP),
The WME transmits the WSM payload for the WAVE V2X communication to the integrated LLI,
The protocol (TCP) and the datagram protocol (UDP) for controlling the transmission transmit the IPv6 packet related to the C-V2X communication to the integrated LLI. In the autonomous driving control device,
Determines whether to perform vehicle-to-vehicle communication based on a simultaneous communication mode that simultaneously supports Wireless Access in Vehicle Environment Vehicle to Everything communication and C-V2X (Cellular Vehicle to Everything) communication, and communication between vehicles based on the simultaneous communication mode When it is determined to perform, at least one of a first WSM payload (WAVE short message payload) and a first IPv6 packet (Internet Protocol version 6 Packet) is transmitted to perform the WAVE V2X communication, and the C-V2X communication an integrated application for transmitting at least one of a second WSM payload and a second IPv6 packet to perform and
and an integrated Low Layer Interface (LLI) receiving the first WSM payload, the first IPv6 packet, the second WSM payload, and the second IPv6 packet from the integrated application. . 10. The method of claim 9,
a security module for adding a first header; and
The autonomous driving control device further comprising; a WSMP (WAVE short message protocol) module for adding a second header. 11. The method of claim 10,
The first header is an IEEE 1609.2 Header,
and the second header is an IEEE 1609.3 header. 12. The method of claim 11,
The at least one protocol includes a Wave Management Entity (WME), a protocol for controlling transmission (TCP) and a datagram protocol (UDP),
The WME transmits the WSM payload for the WAVE V2X communication to the integrated LLI,
The protocol (TCP) for controlling the transmission and the datagram protocol (UDP) transmit the IPv6 packet related to the C-V2X communication to the integrated LLI.

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