WO2020179957A1

WO2020179957A1 - Vehicle control device

Info

Publication number: WO2020179957A1
Application number: PCT/KR2019/002678
Authority: WO
Inventors: 김성환
Original assignee: 엘지전자 주식회사
Priority date: 2019-03-07
Filing date: 2019-03-07
Publication date: 2020-09-10

Abstract

A vehicle control device is disclosed. A vehicle control device for cleaning the inside of a vehicle according to an embodiment of the present invention comprises: a body; a wheel provided at the body to move the body according to a cleaning movement path; a wireless communication unit for receiving information from the vehicle; a memory for storing cleaning route information relating to the inside of the vehicle; a sensor for recognizing an object on the basis of the cleaning route information; and a processor for controlling the cleaning movement path on the basis of the cleaning route information, wherein if the processor receives pre-configured travelling route information from the vehicle through the wireless communication unit, the processor extracts a cleanable section from the travelling route information, and if the vehicle enters the cleanable section, the processor operates at least one of the body and wheel.

Description

Vehicle control device

The present invention relates to a vehicle control device provided inside a vehicle.

Vehicles can be classified into internal combustion engine vehicles, external combustion engine vehicles, gas turbine vehicles, or electric vehicles, depending on the type of prime mover used.

In recent years, for the safety or convenience of drivers and pedestrians, the development of smart vehicles has been actively conducted, and research on sensors mounted in intelligent vehicles is actively being conducted. Cameras, infrared sensors, radar, GPS, Lidar, and gyroscopes are being used in intelligent vehicles, among which cameras play a role in replacing the human eye.

Due to the development of various sensors and electronic equipment, vehicles with functions of assisting occupants' driving and improving driving safety and convenience are attracting attention.

Among them, the need for a device that cleans the interior space of a vehicle is increasing, and for efficient cleaning, it is problematic to determine the lost item of the occupant and the movement of the seat.

An object of the present invention may be to provide a vehicle control device provided in a vehicle.

Another object may be to provide a vehicle control device for cleaning the interior of a vehicle.

Another object may be to provide a vehicle control device that determines the lost item of the occupant.

Another object may be to provide a vehicle control device that moves a seat for cleaning a vehicle and controls a cleaning movement based on seat movement information.

A vehicle control apparatus for cleaning an interior of a vehicle according to at least one embodiment of the present invention for achieving the above object includes: a body; A wheel provided on the body and moving the body along a cleaning movement line; A wireless communication unit for receiving information from the vehicle; A memory for storing cleaning route information inside the vehicle; A sensor for recognizing an object based on the cleaning path information; And a processor for controlling the cleaning movement line based on the cleaning route information, wherein the processor includes, when receiving preset driving route information from the vehicle through the wireless communication unit, a cleanable section from the driving route information. After extraction, when the vehicle enters the cleanable section, at least one of the body and the wheel may be operated.

The processor may receive driving mode information of the vehicle through the wireless communication unit and, when the vehicle is in the manual driving mode, may exclude the vicinity of the driver's seat of the vehicle from the cleaning line.

When receiving a first seat cleaning request from the vehicle through the wireless communication unit, the processor may control the cleaning movement so that the body moves to the first seat.

The processor may extract information on the cleaned seat based on the cleaning route information, and transmit information on the cleaned seat to the vehicle through the wireless communication unit.

The processor may extract information on a seat in which cleaning is in progress based on the cleaning route information, and transmit information on a seat in which cleaning is in progress to the vehicle through the wireless communication unit.

The sensor includes a camera that photographs the object, and the processor compares the boarding image and the getting off image of the occupant through the camera, and when the object is determined to be a lost item, the object is transmitted to the object through the wireless communication unit. It is possible to transmit an image for the vehicle to the vehicle.

The sensor may include a camera for photographing the object, and the processor may clean the object when it is determined that the object is not a lost item by comparing the boarding image and the getting off image of the passenger through the camera.

When the lost item information is received through the wireless communication unit, the processor may detect the lost item through the sensor.

The sensor may include a camera for photographing the object, and the processor may transmit an image of the lost article to the vehicle through the wireless communication unit when the lost article is recognized through the camera.

The cleanable section may include at least one of a straight travel route, a stop section, a congestion section, or a section in which the vehicle speed is less than a predetermined speed.

The driving route information may include at least one of departure point information, destination information, stopover point information, road information, terrain information, and weather information.

The processor may control the cleaning movement so that the body moves to the seat where the occupant was boarded when detecting the getting off of the occupant through the sensor.

When detecting that the door of the vehicle is opened through the sensor, the processor may move the body toward the opened door and output an alarm based on the driving route information.

The processor, through the wireless communication unit, receives seat movement information inside the vehicle from the vehicle, updates the cleaning route information based on the seat movement information, and cleans the cleaning route based on the updated cleaning route information. You can control the movement line.

The processor transmits a control signal to move the seat inside the vehicle to the vehicle through the wireless communication unit, updates the cleaning route information based on the moved seat, and the updated cleaning route information Based on the cleaning movement line can be controlled.

The processor may detect a seat in which the occupant is seated through the sensor and control the cleaning movement in consideration of a seat occupancy state.

The processor may extract an uncleanable section from the driving route information, and when the vehicle enters the non-cleanable section, may move the body to a charging module provided inside the vehicle.

The effects of the vehicle control apparatus according to the present invention are as follows.

According to at least one of the embodiments of the present invention, a vehicle control device provided in a vehicle may be provided.

According to at least one of the embodiments of the present invention, a vehicle control device for cleaning the interior of a vehicle may be provided.

According to at least one of the embodiments of the present invention, it is possible to provide a vehicle control device for determining a lost item of a passenger.

According to at least one of the embodiments of the present invention, a vehicle control device may be provided that moves a seat for cleaning a vehicle and controls a cleaning movement based on seat movement information.

1 shows the exterior of a vehicle including a vehicle control device according to an embodiment of the present invention.

2 is an example of an internal block diagram of a vehicle.

3 is an example of an internal block diagram of a vehicle control apparatus according to an embodiment of the present invention.

4 to 10 are diagrams illustrating an embodiment of a vehicle control device for cleaning the interior of a vehicle, among embodiments of the present invention.

11 to 14 are diagrams illustrating an embodiment of a vehicle control apparatus for determining a lost item of a passenger, among embodiments of the present invention.

15 and 16 are diagrams illustrating an embodiment of a vehicle control apparatus that outputs an alarm to a passenger based on driving route information of a vehicle, among embodiments of the present invention.

17 to 22 are diagrams illustrating an embodiment of a vehicle control apparatus that controls a cleaning movement based on seat movement information of a vehicle, among embodiments of the present invention.

23 and 24 are diagrams illustrating an embodiment of a vehicle control device that performs charging through a charging module, among embodiments of the present invention.

25 is an example of a system block diagram according to an embodiment of the present invention.

26 is a diagram showing an embodiment of a system according to an embodiment of the present invention.

Hereinafter, exemplary embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but identical or similar elements are denoted by the same reference numerals regardless of reference numerals, and redundant descriptions thereof will be omitted. The suffixes "module" and "unit" for components used in the following description are given or used interchangeably in consideration of only the ease of preparation of the specification, and do not have meanings or roles that are distinguished from each other by themselves. In addition, in describing the embodiments disclosed in the present specification, when it is determined that a detailed description of related known technologies may obscure the subject matter of the embodiments disclosed in the present specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are for easy understanding of the embodiments disclosed in the present specification, and the technical idea disclosed in the present specification is not limited by the accompanying drawings, and all modifications included in the spirit and scope of the present invention It should be understood to include equivalents or substitutes.

Terms including ordinal numbers, such as first and second, may be used to describe various elements, but the elements are not limited by the terms. These terms are used only for the purpose of distinguishing one component from another component.

When a component is referred to as being "connected" or "connected" to another component, it is understood that it may be directly connected or connected to the other component, but other components may exist in the middle. Should be. On the other hand, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there is no other component in the middle.

Singular expressions include plural expressions unless the context clearly indicates otherwise.

In the present application, terms such as "comprises" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance.

Vehicles described herein may be concepts including automobiles and motorcycles. Hereinafter, the vehicle will be mainly described.

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

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

Unless otherwise stated in the following description, a left hand drive (LHD) vehicle will be described.

Hereinafter, a user, a driver, a passenger, and a passenger may be mixed according to embodiments.

In the following description, the vehicle control device 400 is a separate device provided in the vehicle 700 and may exchange necessary information with the vehicle 700 through data communication. However, the vehicle control device 400 may include at least some of the units of the vehicle 700. The vehicle control device 400 may be referred to as a vacuum cleaner 400, a robot cleaner 400, a vehicle cleaner 400, a driving assistance device 400, a vehicle driving assistance device 400, or an auxiliary device 400.

Alternatively, at least some of the units of the vehicle control apparatus 400 may be units of the vehicle 700 or other devices mounted on the vehicle 700. In addition, these external units may be understood to be included in the vehicle control apparatus 400 by transmitting and receiving data through the interface unit of the vehicle control apparatus 400.

Referring to FIG. 1, the vehicle 700 may include wheels 13FL and 13RL that rotate by a power source.

Referring to FIG. 2, the vehicle includes a communication unit 710, an input unit 720, a sensing unit 760, an output unit 740, a vehicle driving unit 750, a memory 730, an interface unit 780, and a control unit 770. ), a power supply unit 790, a control device 100, and an AVN device 300. The communication unit 710 may include one or more modules that enable wireless communication between the vehicle and the mobile terminal 600, between the vehicle and the external server 500, or between the vehicle and other vehicles 510. In addition, the communication unit 710 may include one or more modules that connect the vehicle to one or more networks.

The communication unit 710 may include a broadcast reception module 711, a wireless Internet module 712, a short-range communication module 713, a location information module 714, and an optical communication module 715.

The broadcast receiving module 711 receives a broadcast signal or broadcast-related information from an external broadcast management server through a broadcast channel. Here, the broadcast includes radio broadcast or TV broadcast.

The wireless Internet module 712 refers to a module for wireless Internet access, and may be built-in or external to a vehicle. The wireless Internet module 712 is configured to transmit and receive wireless signals in a communication network according to wireless Internet technologies.

As a wireless Internet technology, for example, WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX ( World Interoperability for Microwave Access), HSDPA (High Speed Downlink Packet Access), HSUPA (High Speed Uplink Packet Access), LTE (Long Term Evolution), LTE-A (Long Term Evolution-Advanced), etc., and the wireless Internet module 712 transmits and receives data according to at least one wireless Internet technology in a range including Internet technologies not listed above. For example, the wireless Internet module 712 may wirelessly exchange data with the external server 500. The wireless Internet module 712 may receive weather information and traffic condition information (eg, TPEG (Transport Protocol Expert Group)) information from the external server 500.

The short-range communication module 713 is for short range communication, and includes Bluetooth™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, and Near field communication may be supported by using at least one of NFC (Near Field Communication), Wi-Fi (Wireless-Fidelity), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technologies.

The short-range communication module 713 may form short-range wireless communication networks (Wireless Area Networks) to perform short-range communication between the vehicle and at least one external device. For example, the short-range communication module 713 may wirelessly exchange data with the mobile terminal 600. The short-range communication module 713 may receive weather information and road traffic condition information (eg, Transport Protocol Expert Group (TPG)) from the mobile terminal 600. For example, when a user boards a vehicle, the user's mobile terminal 600 and the vehicle may perform pairing with each other automatically or by executing an application by the user.

The location information module 714 is a module for obtaining a location of a vehicle, and a representative example thereof is a GPS (Global Positioning System) module. For example, if a vehicle uses a GPS module, it can acquire the location of the vehicle using a signal transmitted from a GPS satellite.

The optical communication module 715 may include an optical transmitting unit and an optical receiving unit.

The light receiving unit may receive information by converting a light signal into an electric signal. The light receiving unit may include a photodiode (PD) for receiving light. Photodiodes can convert light into electrical signals. For example, the light receiving unit may receive information on the vehicle in front through light emitted from a light source included in the vehicle in front.

The light-emitting unit may include at least one light-emitting element for converting an electrical signal into an optical signal. Here, the light emitting device is preferably an LED (Light Emitting Diode). The optical transmitter converts the electric signal into an optical signal and transmits it to the outside. For example, the light transmitting unit may emit an optical signal to the outside through blinking of a light emitting device corresponding to a predetermined frequency. Depending on the embodiment, the light emitting unit may include a plurality of light emitting device arrays. Depending on the embodiment, the light transmitting unit may be integrated with a lamp provided in the vehicle. For example, the light transmitting unit may be at least one of a headlight, a taillight, a brake light, a turn signal, and a vehicle width light. For example, the optical communication module 715 may exchange data with another vehicle 510 through optical communication.

The input unit 720 may include a driving operation means 721, a camera 195, a microphone 723, and a user input unit 724.

The driving operation means 721 receives a user input for driving a vehicle. The driving operation means 721 may include a steering input means, a shift input means, an acceleration input means, and a brake input means.

The camera 722 may include an image sensor and an image processing module. The camera 722 may process a still image or a moving picture obtained by an image sensor (eg, CMOS or CCD). The image processing module may process a still image or a moving image acquired through an image sensor, extract necessary information, and transmit the extracted information to the controller 770. Meanwhile, the vehicle may include a camera 722 for capturing an image in front of the vehicle or an image around the vehicle and a monitoring unit 725 for capturing an image inside the vehicle.

The monitoring unit 725 may acquire an image of a passenger. The monitoring unit 725 may acquire an image for biometric recognition of the occupant.

The microphone 723 may process an external sound signal as electrical data. The processed data can be used in various ways depending on the function being performed in the vehicle. The microphone 723 may convert a user's voice command into electrical data. The converted electrical data may be transmitted to the controller 770. The microphone 723 may be referred to as a microphone 723.

Meanwhile, according to an embodiment, the camera 722 or the microphone 723 may not be a component included in the input unit 720, but may be a component included in the sensing unit 760.

The user input unit 724 is for receiving information from a user. When information is input through the user input unit 724, the control unit 770 may control the operation of the vehicle to correspond to the input information. The user input unit 724 may include a touch input means or a mechanical input means. According to an embodiment, the user input unit 724 may be disposed in one area of the steering wheel. In this case, the driver can manipulate the user input unit 724 with a finger while holding the steering wheel.

The sensing unit 760 senses a signal related to driving of a vehicle. To this end, the sensing unit 760 includes a collision sensor, a wheel sensor, a speed sensor, a tilt sensor, a weight detection sensor, a heading sensor, a yaw sensor, a gyro sensor. , Position module, vehicle forward/reverse sensor, battery sensor, fuel sensor, tire sensor, steering sensor by steering wheel rotation, vehicle interior temperature sensor, vehicle interior humidity sensor, ultrasonic sensor, radar, rider, etc. I can.

Accordingly, the sensing unit 760 includes vehicle collision information, vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle inclination information, vehicle forward/reverse information, and battery information. , Fuel information, tire information, vehicle lamp information, vehicle internal temperature information, vehicle internal humidity information, and a sensing signal for a steering wheel rotation angle.

Meanwhile, the sensing unit 760 includes, in addition, 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), and a throttle. It may further include a position sensor (TPS), a TDC sensor, a crank angle sensor (CAS), and the like.

The sensing unit 760 may include a biometric information sensing unit. The biometric information detector detects and acquires biometric information of a passenger. Biometrics information includes fingerprint recognition (Fingerprint) information, iris recognition (Iris-scan) information, retina-scan information, hand geo-metry information, facial recognition information, and voice recognition ( Voice recognition) information may be included. The biometric information sensing unit may include a sensor for sensing biometric information of a passenger. Here, the monitoring unit 725 and the microphone 723 may operate as sensors. The biometric information detector may acquire hand shape information and face recognition information through the monitoring unit 725.

The output unit 740 is for outputting information processed by the control unit 770 and may include a display unit 741, an audio output unit 742, and a haptic output unit 743.

The display unit 741 may display information processed by the control unit 770. For example, the display unit 741 may display vehicle-related information. Here, the vehicle-related information may include vehicle control information for direct control of the vehicle or vehicle driving assistance information for a driving guide to a vehicle driver. In addition, the vehicle-related information may include vehicle state information indicating the current state of the vehicle or vehicle operation information related to the operation of the vehicle.

The display unit 741 includes a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display. display), a 3D display, and an e-ink display.

The display unit 741 may form a mutual layer structure with the touch sensor or be integrally formed to implement a touch screen. Such a touch screen may function as a user input unit 724 that provides an input interface between the vehicle and the user, and may provide an output interface between the vehicle and the user. In this case, the display unit 741 may include a touch sensor that senses a touch on the display unit 741 so as to receive a control command by a touch method.

By using this, when a touch is made to the display unit 741, the touch sensor detects the touch, and the controller 770 may be configured to generate a control command corresponding to the touch based on this. Content input by the touch method may be letters or numbers, or menu items that can be indicated or designated in various modes.

The touch sensor and the proximity sensor are independently or in combination, and a short (or tap) touch, a long touch, a multi touch, a drag touch, and a flicker on the touch screen Touch (flick touch), pinch-in touch (pinch-in touch), pinch-out touch (pinch-out touch), swipe (swype) touch, hovering (hovering) touch, etc. I can. Hereinafter, the touch or touch input may be collectively referred to as various types of touches mentioned above.

Meanwhile, the display unit 741 may include a cluster so that the driver can check vehicle status information or vehicle operation information while driving. Clusters can be placed on the dashboard. In this case, the driver can check information displayed on the cluster while keeping his gaze in front of the vehicle.

Meanwhile, according to an embodiment, the display unit 741 may be implemented as a head up display (HUD). When the display unit 741 is implemented as a HUD, information may be output through a transparent display provided in the windshield. Alternatively, the display unit 741 may include a projection module to output information through an image projected onto the windshield.

The sound output unit 742 converts the electrical signal from the control unit 770 into an audio signal and outputs it. To this end, the sound output unit 742 may include a speaker or the like. The sound output unit 742 may output sound corresponding to the operation of the user input unit 724.

The haptic output unit 743 generates a tactile output. For example, the haptic output unit 743 may vibrate a steering wheel, a seat belt, and a seat, and operate so that a user can recognize the output.

The vehicle driving unit 750 may control operations of various vehicle devices. The vehicle driving unit 750 includes a power source driving unit 751, a steering driving unit 752, a brake driving unit 753, a lamp driving unit 754, an air conditioning driving unit 755, a window driving unit 756, an airbag driving unit 757, and a sunroof. A driving unit 758 and a suspension driving unit 759 may be included.

The power source driving unit 751 may perform electronic control on a power source in the vehicle. For example, when a fossil fuel-based engine (not shown) is a power source, the power source driving unit 751 may perform electronic control on the engine. Thereby, it is possible to control the output torque of the engine and the like. When the power source driving unit 751 is an engine, the speed of the vehicle may be limited by limiting the engine output torque under the control of the control unit 770. As another example, when an electricity-based motor (not shown) is a power source, the power source driver 751 may control the motor. Thereby, it is possible to control the rotational speed and torque of the motor.

The steering drive unit 752 may perform electronic control on a steering apparatus in the vehicle. Thereby, the traveling direction of the vehicle can be changed.

The brake driving unit 753 may perform electronic control of a brake apparatus (not shown) in the vehicle. For example, by controlling the operation of a brake disposed on a wheel, it is possible to reduce the speed of the vehicle. As another example, the driving direction of the vehicle may be adjusted to the left or to the right by differently operating brakes disposed on the left and right wheels.

The lamp driving unit 754 may control turn on/off of lamps disposed inside or outside the vehicle. In addition, it is possible to control the light intensity and direction of the lamp. For example, it is possible to control a direction indicator lamp, a brake lamp, and the like.

The air conditioning driver 755 may perform electronic control on an air conditioner (not shown) in the vehicle. For example, when the temperature inside the vehicle is high, the air conditioner is operated to control the supply of cold air into the vehicle.

The window driver 756 may perform electronic control on a window apparatus in the vehicle. For example, it is possible to control the opening or closing of the left and right windows on the side of the vehicle.

The airbag driver 757 may perform electronic control on an airbag apparatus in a vehicle. For example, in case of danger, the airbag can be controlled to fire.

The sunroof driving unit 758 may perform electronic control on a sunroof apparatus (not shown) in the vehicle. For example, it is possible to control the opening or closing of the sunroof.

The suspension driving unit 759 may perform electronic control on a suspension apparatus (not shown) in the vehicle. For example, when there is a curvature in the road surface, the suspension device may be controlled to reduce vibration of the vehicle.

The memory 730 is electrically connected to the controller 770. The memory 770 may store basic data for a unit, control data for controlling the operation of the unit, and input/output data. In terms of hardware, the memory 790 may be various storage devices such as ROM, RAM, EPROM, flash drive, and hard drive. The memory 730 may store various data for operation of the vehicle, such as a program for processing or controlling the controller 770.

The interface unit 780 may serve as a passage for various types of external devices connected to the vehicle. For example, the interface unit 780 may include a port that can be connected to the mobile terminal 600, and may connect to the mobile terminal 600 through the port. In this case, the interface unit 780 may exchange data with the mobile terminal 600.

Meanwhile, the interface unit 780 may serve as a path for supplying electric energy to the connected mobile terminal 600. When the mobile terminal 600 is electrically connected to the interface unit 780, the interface unit 780 provides the electric energy supplied from the power supply unit 790 to the mobile terminal 600 under the control of the control unit 770 do.

The controller 770 may control the overall operation of each unit in the vehicle. The control unit 770 may be referred to as an ECU (Electronic Control Unit).

The control unit 770 may execute a function corresponding to the transmitted signal according to the transmission of an execution signal from the control device 100.

In hardware, the control unit 770 includes application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), and processors. processors), controllers, micro-controllers, microprocessors, and electrical units for performing other functions.

The power supply unit 790 may supply power required for operation of each component under the control of the controller 770. In particular, the power supply unit 770 may receive power from a battery inside a vehicle.

The audio video navigation (AVN) device 300 may exchange data with the control unit 770. The controller 770 may receive navigation information from the AVN device 300 or a separate navigation device. Here, the navigation information may include set destination information, route information according to the destination, map information related to vehicle driving, or vehicle location information.

The vehicle control device 400 may be understood to be included in the vehicle 700.

The seat movement device 731 may be referred to as a seat movement system 731 or a seat system 731. The seat movement device 731 may move or rotate a seat inside the vehicle 700. The seat movement device 731 may control the seat arrangement by moving or rotating the seat inside the vehicle 700.

Referring to FIG. 3, the vehicle control device 400 includes an input unit 410, a communication unit 420, an interface unit 430, a memory 440, a camera 460, a sensor unit 450, a processor 470, and It may include at least one of the display unit 480, the audio output unit 485, and the power supply unit 490. The vehicle control apparatus 400 may have more or fewer components than those listed above. Here, a unit included in the vehicle control apparatus 400 and a unit having the same name among units described in the vehicle 700 may be included in the vehicle 700 or included in the vehicle control apparatus 400.

The vehicle control device 400 may include an input unit 410 that senses a user's input. For example, the user inputs a setting for a cleaning function provided by the vehicle control device 400 through the input unit 410 or turns on/off the power of the vehicle control device 400. You can enter execution, etc.

The input unit 410 includes a gesture input unit (for example, (optical sensor), etc.) for sensing a user gesture, and a touch input unit (for example, a touch sensor, a touch key), A user input may be sensed by including at least one of a mechanical key and the like) and a microphone for detecting a voice input.

The vehicle control device 400 may include a communication unit 420 that communicates with another vehicle 510, a terminal 600, and a server 500. The communication unit 420 may be referred to as a wireless communication unit 420.

The vehicle control apparatus 400 may receive communication information including at least one of navigation information, other vehicle 510 driving information, and traffic information through the communication unit 420. The vehicle control device 400 may transmit information on the vehicle 700 through the communication unit 420.

The communication unit 420 receives at least one of location information, weather information, and road traffic information (eg, TPEG (Transport Protocol Expert Group)) from the mobile terminal 600 or/and the server 500 can do.

In addition, the communication unit 420 may receive traffic information from the server 500 equipped with an intelligent transportation system (ITS). Here, the traffic information may include traffic signal information, lane information, vehicle surrounding information, or location information.

In addition, the communication unit 420 may transmit navigation information from the server 500 or/and the mobile terminal 600. Here, the navigation information may include at least one or more of map information related to vehicle driving, lane information, vehicle location information, set destination information, and route information according to the destination.

For example, the communication unit 420 may receive a real-time location of a vehicle as navigation information. In detail, the communication unit 420 may acquire the location of the vehicle by including a GPS (Global Positioning System) module or/and a WiFi (Wireless Fidelity) module.

In addition, the communication unit 420 may share driving information between vehicles by receiving driving information of the other vehicle 510 from the other vehicle 510 and transmitting information of the present vehicle. Here, the driving information shared with each other may include at least one of information on a moving direction of a vehicle, location information, vehicle speed information, acceleration information, movement route information, forward/reverse information, adjacent vehicle information, and turn signal information. .

In addition, when the user boards the vehicle, the user's mobile terminal 600 and the vehicle control device 400 may perform pairing with each other automatically or by executing an application by the user.

The communication unit 420 may exchange data with the other vehicle 510, the mobile terminal 600, or the server 500 in a wireless manner. The communication unit 420 may perform wireless communication using a wireless data communication method. As a wireless data communication method, technical standards or communication methods for mobile communication (for example, GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), CDMA2000 (Code Division Multi Access 2000)), EV-DO (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only), WCDMA (Wideband CDMA), HSDPA (High Speed Downlink Packet Access), HSUPA (High Speed Uplink Packet Access), LTE (Long Term Evolution), LTE-A (Long Term Evolution-Advanced), etc.) can be used.

In addition, the communication unit 420 may use wireless Internet technology, for example, wireless Internet technology such as WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access), HSDPA (High Speed Downlink Packet Access), HSUPA (High Speed Uplink Packet Access), LTE (Long Term Evolution), LTE-A (Long Term Evolution-Advanced), etc. can be used.

In addition, the communication unit 420 may use short range communication, for example, Bluetooth™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB). ), ZigBee, NFC (Near Field Communication), Wi-Fi (Wireless-Fidelity), Wi-Fi Direct, Wireless USB (Wireless Universal Serial Bus) technology may be used to support short-range communication.

In addition, the vehicle control device 400 is paired with a mobile terminal inside the vehicle using a short-range communication method, and wirelessly with the other vehicle 510 or the server 500 using a long-distance wireless communication module of the mobile terminal. You can also exchange data.

Next, the vehicle control apparatus 400 may include an interface unit 430 that receives data of the vehicle 700 or transmits a signal processed or generated by the processor 470 to the outside.

The vehicle control apparatus 400 may receive at least one of driving information, navigation information, and sensor information of another vehicle through the interface unit 130.

The vehicle control device 400 may transmit a control signal for executing a cleaning function or information generated by the vehicle control device 400 to the control unit 770 of the vehicle through the interface unit 430. To this end, the interface unit 430 performs data communication with at least one of the control unit 770 inside the vehicle, the audio video navigation (AVN) device 300, and the sensing unit 760 by wired communication or wireless communication. I can. The interface unit 430 may receive navigation information through data communication with the control unit 770, the AVN device 300, or/and a separate navigation device. In addition, the interface unit 430 may receive sensor information from the control unit 770 or the sensing unit 760.

The sensor information includes direction information, location information, vehicle speed information, acceleration information, tilt information, forward/reverse information, fuel information, distance information between front and rear vehicles, distance information between vehicles and lanes, and turn signal information. It may include at least one or more pieces of information.

In addition, the sensor information includes a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward/reverse sensor, a wheel sensor, a vehicle speed sensor, It may be obtained from a vehicle body tilt sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by rotating a steering wheel, a temperature sensor inside a vehicle, a humidity sensor inside a vehicle, a door sensor, and the like. Meanwhile, the position module may include a GPS module for receiving GPS information.

The interface unit 430 may receive a user input received through the user input unit 110 of the vehicle. The interface unit 130 may receive a user input from an input unit of a vehicle or through the control unit 770. That is, when the input unit is arranged in a configuration in the vehicle itself, a user input may be transmitted through the interface unit 430.

In addition, the interface unit 430 may receive traffic information obtained from the server 500. The server 500 may be a server located in a traffic control center that controls traffic. For example, when traffic information is received from the server 500 through the communication unit 710 of the vehicle 700, the interface unit 430 may receive the traffic information from the controller 770.

Next, the memory 440 may store various data for the overall operation of the vehicle control apparatus 400 such as a program for processing or controlling the processor 470.

In addition, the memory 440 may store a plurality of application programs (applications) driven by the vehicle control device 400, data for operation of the vehicle control device 400, and instructions. At least some of these application programs may be downloaded from an external server through wireless communication. In addition, at least some of these application programs may exist on the memory 440 from the time the vehicle control device 400 is shipped. In addition, such an application program may be stored in the memory 440 and driven by the processor 470 to perform an operation (or function) of the vehicle control device 400.

Meanwhile, the memory 440 may store data for checking an object included in an image. For example, when a predetermined object is detected in an image acquired through the camera 460, the memory 440 may store data for confirming what the object corresponds to by a predetermined algorithm. For example, the memory 440 may store data for identifying a predetermined object such as a passenger, garbage, or lost property in an image acquired through the camera 460.

In hardware, the memory 440 is a flash memory type, a hard disk type, an SSD type, an SDD type (Silicon Disk Drive type), a multimedia card micro type ( multimedia card micro type), card type memory (e.g., SD or XD memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), EEPROM ( An electrically erasable programmable read-only memory), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, and an optical disk may include at least one type of storage medium.

In addition, the vehicle control device 400 may be operated in connection with a web storage that performs a storage function of the memory 440 over the Internet.

The sensor unit 450 may obtain information on the internal situation of the vehicle 700. The sensor unit 450 may detect an object or an object inside the vehicle 700. The camera 460 may photograph the interior of the vehicle 700. The camera 460 may photograph the surroundings of the vehicle control device 400. Alternatively, the camera 460 may photograph the surroundings of a seat (seat) on which the vehicle control device 400 is installed. Alternatively, the camera 460 may photograph an occupant of the vehicle 700.

The processor 470 may be referred to as a controller 470 and a controller 470. The processor 470 may detect an object around the vehicle control apparatus 400 through the camera 460. Alternatively, the processor 470 may detect the occupant, the belongings of the occupant, or garbage through the camera 460. The processor 470 may control the operation of the vehicle control device 400.

The body 481 may clean the interior of the vehicle 700. The body 481 may clean dust, foreign matter, etc. by inhaling garbage or wiping the interior of the vehicle 481. The wheel 482 may be provided on the body 481. The wheel 482 may move the body 481. The seat movement device 495 may move or rotate a seat inside the vehicle 700. The processor 470 may control the wheel 481 to move the body 481, and may control the body 481 to clean the interior of the vehicle 700.

The processor 470 may receive cleaning route information from the vehicle 700 through the communication unit 420. The memory 440 may store cleaning route information. The cleaning route information may be spatial information inside the vehicle 700. The cleaning route information may include information on a seat arrangement inside the vehicle 700, a cleaning available area, and a cleaning non-cleaning area. The cleaning route information may be updated according to the presence or absence of a passenger, objects loaded in the interior space of the vehicle 700, and movement of the seat. The processor 470 may obtain cleaning route information through the camera 460 or the sensor unit 450.

The processor 470 may extract a cleaning movement line based on the cleaning route information. The cleaning movement line may mean a movement line through which the body 481 moves to clean the interior of the vehicle 700. The processor 470 may control the wheel 482 to move the body 481 according to the cleaning movement and clean the interior of the vehicle 700. The cleaning movement line may be changed or updated according to cleaning route information, driving conditions, presence or absence of occupants, objects loaded in the interior space of the vehicle 700, and movement of seats.

The processor 470 may receive preset driving route information from the vehicle 700 through the communication unit 420. The driving route information includes current location information, driving speed information, departure point information, destination information, driving route information from the starting point to the destination, estimated time required, weather information according to the driving route, road surface information according to the driving route, road information, and topography. Information, traffic volume information according to the driving route, traffic light information according to the driving route, stopover information, stop information, driving mode information, etc. may be included. The processor 470 may receive driving route information from an external server or an external device through the communication unit 420. The driving mode may include a manual driving mode, a semi-autonomous driving mode, an autonomous driving mode, and the like. The manual driving mode may mean that the vehicle 700 is driven from a driver's manipulation. The autonomous driving mode may mean that the vehicle 700 is driven without a driver's manipulation. The semi-autonomous driving mode may mean that a part of the driving of the vehicle 700 is performed by a driver's manipulation, and the rest of the driving of the vehicle 700 is performed without a driver's manipulation.

The processor 470 may extract a cleanable section based on the driving route information. The cleanable section may mean a section suitable for the vehicle control device 400 to move or clean within the vehicle 700. The cleanable section may mean a specific time section of the estimated driving time or a specific driving section on a driving route. The section that can be cleaned is a section in which the expected driving speed of the vehicle 700 is less than a certain speed, the expected stopping section of the vehicle 700, the expected stopping section after the vehicle 700 arrives at the stopover, the waiting section for the signal of the vehicle 700, and straight driving. It may include a section, a traffic congestion section, a section in which a turning radius is greater than or equal to a predetermined value. The processor 470 may receive driving route information from the vehicle 700 in real time, and the processor 470 may receive the body 481 or the wheel 482 when it is determined that the vehicle 700 has entered the cleanable section. ) At least one of them can be activated.

The processor 470 may extract a section that cannot be cleaned based on the driving route information. The non-cleanable section may mean a section inappropriate for the vehicle control device 400 to move or clean inside the vehicle 700. The non-cleanable section may include a section in which the estimated driving speed of the vehicle 700 is greater than or equal to a certain speed, an unpaved road section, an inclined section, a sharp curve section, and a section in which a turning radius is less than a certain value. The processor 470 may receive driving route information from the vehicle 700 in real time, and the processor 470 may receive the body 481 or the wheel 482 when it is determined that the vehicle 700 has entered an uncleanable section. ) At least one of them can be stopped.

The processor 470 may control the cleaning movement differently according to the driving mode of the vehicle 700. For example, when the driving mode of the vehicle 700 is a manual driving mode, the processor 470 may exclude the driver's seat and the vicinity of the driver's seat from the cleaning line. Accordingly, the driver may not be disturbed by the cleaning of the vehicle control apparatus 400. For another example, when the driving mode of the vehicle 700 is an autonomous driving mode, the processor may include the driver's seat and the periphery of the driver's seat in the cleaning path.

When receiving a request for cleaning a specific seat through the communication unit 420, the processor 470 may modify, change, or update the cleaning movement to move the body 481 to the specific seat. The cleaning request may be received from the vehicle 700, the external server 500, the external device 600, or a user's input. In the case of a shared vehicle, the user may reserve a specific seat of the vehicle 700 in real time through the terminal. In this case, the processor 470 may control the cleaning movement so as to preferentially clean the specific seat by receiving a reservation for use for a specific seat from the user's terminal.

The processor 470 may transmit the cleaning progress to the vehicle 700, the external server 500, or the external device 600 through the communication unit 420. The cleaning progress may include a seat or area in which cleaning is completed, a seat or area in which cleaning is not performed, or a seat or area in which cleaning is in progress. In the case of a shared vehicle, the user may reserve a specific seat of the vehicle 700 in real time through the terminal. In this case, the user's terminal may receive information on available or reserved seats by receiving the cleaning progress status from the processor 470. For example, the user's terminal may inform the user that cleaning is in progress or that a seat that has not been cleaned is a seat that cannot be used or reserved.

Referring to FIG. 4, the vehicle 700 may include a first seat 910a and a second seat 920a. The first seat 910a may include a first seat plate 911a and a first backrest 912a connected to the first seat plate 911a. The second seat 920a may include a second seat plate 921a and a second backrest 922a connected to the second seat plate 921a. The second sheet 920a may be located on one side of the first sheet 910a. The first sheet 910a and the second sheet 920a may be spaced apart from each other. The door 940 may open and close the interior space of the vehicle 700. The

seats

910a and 920a may be installed on the floor 930 of the vehicle 700. The vehicle control device 400 may be located in an interior space of the vehicle 700. The vehicle control device 400 may move along the cleaning movement line 101a. The vehicle control device 400 may be located on the

seats

910a and 920a or the floor 930 along the cleaning movement line 101a.

Referring to FIG. 5, the vehicle control device 400 may move along the cleaning movement line 101b and may clean the foreign matter 102 on the floor 930. The processor 470 may control the body 481 or the wheel 482 to clean the foreign matter 102.

Referring to FIG. 6, the vehicle control device 400 moves along the cleaning movement lines 101c1 and c101c2 and may clean the foreign matter 102 on the floor 930 and the seat 921a. The processor 470 may control the body 481 or the wheel 482 to clean the foreign matter 102.

Referring to FIG. 7, the processor 470 may store cleaning route information inside the vehicle 700 (S710 ). The cleaning path information may be stored in the memory 440. The processor 470 may recognize an object inside the vehicle 700 based on the cleaning route information (S730). The processor 470 may recognize an object inside the vehicle 700 through the sensor unit 450 or the camera 460. The processor 470 may control the cleaning movement line based on the cleaning route information (S750).

Referring to FIG. 8, the processor 470 may receive preset driving route information from the vehicle 700 (S810 ). The processor 470 may extract a cleanable section from the driving route information (S820). The processor 470 may determine whether the vehicle 700 has entered the cleanable section (S830). When the vehicle 700 enters the cleanable section, the processor 470 may operate at least one of the body 481 and the wheel 482 (S840). When the vehicle 700 enters an uncleanable section, the processor 470 may stop the operation of at least one of the body 481 and the wheel 482 (S850).

Referring to FIG. 9, the processor 470 may receive driving mode information of the vehicle 700 (S910). The processor 470 may determine whether the driving mode of the vehicle 700 is a manual driving mode (S920). When the driving mode of the vehicle 700 is the manual driving mode, the processor 470 may exclude the vicinity of the driver's seat from the cleaning path (S930). When the driving mode of the vehicle 700 is not the manual driving mode, the processor 470 may determine whether the driving mode of the vehicle 700 is an autonomous driving mode (S940). When the driving mode of the vehicle 700 is the autonomous driving mode, the processor 470 may include the vicinity of the driver's seat in the cleaning movement line (S950).

Referring to FIG. 10, the processor 470 may detect a passenger's getting off (S1010). The processor 470 may detect the seat on which the disembarked occupant boarded (S1030). The processor 470 may control the wheel 482 so that the body 481 moves to the seat where the passenger who got off the vehicle boarded (S1050).

Referring to FIG. 11, the processor 470 may photograph the surroundings of the occupant 901a and the seat 920a on which the occupant 901a is boarded through the

cameras

160h and 460. Alternatively, the processor 470 may capture an image of the occupant 901a boarding the vehicle 700 through the

cameras

160h and 460. The

cameras

160h and 460 may be provided in the vehicle 700 or the vehicle control device 400. The processor 470 may identify the occupant 901a and the belongings 902a of the occupant 901a from images captured by the

cameras

160h and 460.

Referring to FIG. 12, after the occupant 901a gets off, the processor 470 may photograph the periphery of the seat 920a on which the occupant 901a has boarded through the

cameras

160h and 460. Alternatively, the processor 470 may capture an image where the passenger 901a gets off through the

cameras

160h and 460. The processor 470 may identify the

objects

902a and 902b from images captured by the

cameras

160h and 460. The processor 470 may compare or determine whether the identified

objects

902a and 902b are the same as the belongings 902a identified from the image captured while the occupant is on board. Alternatively, the processor 470 may determine whether the identified

objects

902a and 902b are lost items by comparing the boarding image and the getting off image of the passenger 901a. When the processor 470 determines that the identified object 902a is the same as the belongings 902a identified from the image captured when the occupant 901a is on board, the identified object 902a is replaced with the lost property of the occupant 901a. It can be determined that it is (902a). In this case, the processor 470 may transmit the image of the identified object 902a to the outside.

In addition, when it is determined that the identified object 902a is the belongings 902a of the occupant 901a, the processor 470 may control the cleaning movement to avoid the belongings 902a of the occupant 901a.

Alternatively, if the processor 470 determines that the identified object 902a is not the same as the belongings 902a identified from the image captured when the occupant 901a is on board, the identified object 902b is It can be judged as. When it is determined that the identified object 902b is garbage, the processor 470 may control the cleaning movement to clean the identified object 902b.

Alternatively, or, if the processor 470 determines that the identified object 902a is not the same as the identified belongings 902a from the image captured when the occupant 901a is on board, the identified object 902b Images can be sent externally. When receiving information that the identified object 902b is not the belongings 902a of the occupant 901a, the processor 470 may control the cleaning movement to clean the identified object 902b.

Referring to FIG. 13, the processor 470 may acquire a first peripheral image of a passenger (S1310). The surrounding image may include a photographed image of the occupant, a photographed image of a seat occupied by the occupant, and a photographed image of the surroundings of the seat occupied by the occupant. The processor 470 may acquire a second peripheral image of the seat where the occupant was boarded after getting off the occupant (S1320). The processor 470 may detect an object left in the seat by comparing the first surrounding image and the second surrounding image (S1330). The processor 470 may determine whether the left object is a lost object based on a result of comparing the first and second surrounding images (S1340). When it is determined that the left object is a lost object, the processor 470 may transmit an image of the lost object to the vehicle (S1350). When it is determined that the left object is not a lost object, the processor 470 may clean the left object (S1360).

Referring to FIG. 14, the processor 470 may receive lost and found information from the outside through the communication unit 420 (S1410). The processor 470 may detect an object inside the vehicle 700 through the camera 450 or the sensor unit 460 (S1420). The processor 470 may determine whether the detected object matches the lost property information (S1430). When the detected object and lost property information match, the processor 470 may transmit an image of the detected object to the vehicle 700 (S1440). Alternatively, the processor 470 may transmit an image of the detected object to the server 500 or the external device 600.

Referring to FIG. 15, when the door 940 is opened, the processor 470 may move the body 481 toward the opened door 940 based on driving route information. The processor 470 may receive information indicating that the door 940 of the vehicle 700 has been opened from the vehicle 700. Alternatively, the processor 470 may detect that the door 940 of the vehicle 700 is opened through the camera 460 or the sensor unit 450. When the door 940 is opened, the processor 470 may control the cleaning movement line 101e to move the body 481 toward the opened door 940 based on the driving route information. The processor 470 may sound an alarm after moving to the door 940 in which the body 481 is opened. For example, when it rains or snows at the time the door 940 is opened, the processor 470 may output a message or sound informing the person who intends to board to board with their shoes off. Alternatively, when the vehicle 700 is located on a dirt or mud road at the time the door 940 is opened, the processor 470 may output a message or sound informing the person who intends to board to wear off their shoes and board.

Referring to FIG. 16, the processor 470 may receive driving route information from the vehicle 700 (S1610). The processor 470 may detect that the door 940 of the vehicle 700 is opened (S1620). The processor 470 may move the body 481 toward the opened door 940 (S1630). When the body 481 moves to the opened door 940, the processor 470 may output an alarm (S1640).

Referring to FIG. 17, the vehicle 700 may include a plurality of seats 950, and a plurality of passengers 901c may ride. The processor 470 may control the cleaning movement line 101f based on the position of the seat 950 and the seat position in which the occupant 901c boards. Alternatively, the processor 470 may control the cleaning movement line 101f based on the position of the seat 950 and the seat occupancy information occupied by the occupant 901c.

Referring to FIG. 18, the

seat movement devices

731 and 495 may move a plurality of seats 950. Alternatively, the processor 470 may move the plurality of seats 950. The plurality of seats 950 may be gathered in one direction and may be in close contact with each other. Accordingly, the processor 470 may update the cleaning route information according to the location information of the moved seat 950. The processor 470 may receive location information of the moved seat 950 from the vehicle 700 through the communication unit 420. Alternatively, the processor 470 may acquire location information of the seat 950 moved through the camera 460 or the sensor unit 450. The updated cleaning route information may be set as a cleaning area up to the space where the seat 950 was located before moving. The processor 470 may control the cleaning movement line 101g based on the updated cleaning path information. By moving the seat 950, the processor 470 may clean a portion that is difficult to clean due to the seat 950 (eg, a portion of the floor 930a positioned under the seat 950 ).

Referring to FIG. 19, the

seat movement devices

731 and 495 may move and rotate a plurality of seats 950. Alternatively, the processor 470 may move and rotate the plurality of seats 950. The plurality of seats 950 may rotate and may be in close contact with the side panel 930b of the vehicle 700. Accordingly, the processor 470 may update the cleaning route information according to the location information of the moved seat 950. The processor 470 may receive location information of the moved seat 950 from the vehicle 700 through the communication unit 420. Alternatively, the processor 470 may acquire location information of the seat 950 moved through the camera 460 or the sensor unit 450. The updated cleaning route information may be set as a cleaning area up to the space where the seat 950 was located before moving. The processor 470 may control the cleaning movement line 101h based on the updated cleaning route information. By moving the seat 950, the processor 470 may clean a portion that is difficult to clean due to the seat 950 (eg, a portion of the floor 930a positioned under the seat 950 ).

Referring to FIG. 20, the processor 470 may store cleaning route information inside the vehicle 700 (S2010 ). The processor 470 may receive seat movement information inside the vehicle 700 (S2020). The processor 470 may update the cleaning route information based on the seat movement information (S2030). The processor 470 may control the cleaning movement line based on the updated cleaning path information (S2040).

Referring to FIG. 21, the processor 470 may store cleaning route information inside the vehicle 700 (S2110). The processor 470 may transmit a control signal for moving a seat inside the vehicle 700 to the vehicle (S2120). The processor 470 may update the cleaning route information based on the moved seat information (S2130). The processor 470 may control the cleaning movement line based on the updated cleaning path information (S2140).

Referring to FIG. 22, the processor 470 may store cleaning route information inside the vehicle 700 (S2210 ). The processor 470 may detect the seat in which the occupant is seated (S2220). Alternatively, the processor 470 may acquire seat occupancy information occupied by the occupant (S2230). The processor 470 may control the cleaning movement line based on the seat occupancy information (S2240).

Referring to FIG. 23, the charging module 102 may be provided inside the vehicle 700. The processor 470 may move the body 481 to the charging module 102. The power supply unit 490 may receive power from the charging module 102 and may store power. The processor 470 may move the body 481 to the charging module 102 when the vehicle 700 enters an uncleanable section.

Referring to FIG. 24, the processor 470 may receive preset driving route information from the vehicle 700 (S2410). The processor 470 may extract a cleanable section from the received driving route information (S2420). The processor 470 may determine whether the vehicle 700 has entered a section that cannot be cleaned (S2430). The processor 470 may move the body 481 to the charging module 102 when the vehicle 700 enters an uncleanable section (S2440). After the body 481 moves to the charging module 102, the processor 470 may perform power charging of the power supply unit 490 (S2450).

25 is an example of a system block diagram according to an embodiment of the present invention. Referring to FIG. 25, the server 500, the mobile terminal 600, the other vehicle 510, the vehicle 700, and the vehicle control device 400 may exchange information through a network.

26 is a diagram showing an embodiment of a system according to an embodiment of the present invention. Referring to FIG. 26, the vehicle 700 may transmit cleaning route information to the vehicle control device 400 (S2501 ). The vehicle control device 400 may receive cleaning route information (S2502). The vehicle 700 may receive an input from a user (S2503). The input received from the user may include at least one of departure information, destination information, stopover information, route information, departure time, and arrival time. The vehicle 700 may transmit information received from the user to the server 500 (S2504). The server 500 may receive a user input (S2505). The server 500 may calculate driving route information and transmit the driving route information to the vehicle 700 (S2506). The vehicle 700 may receive driving route information (S2507). The vehicle 700 may transmit driving route information to the vehicle control apparatus 400 (S2508). The vehicle control device 400 may receive driving route information (S2509). The vehicle control device 400 may extract a cleanable section (S2510). The vehicle 700 may control the cleaning movement line based on the cleaning available section and the driving route information (S2511). The vehicle 700 may transmit driving mode information to the vehicle control device 400 (S2512). The vehicle control device 400 may receive driving mode information (S2513). The vehicle control device 400 may update the cleaning movement line based on the driving mode information (S2514). The vehicle 700 may transmit seat movement information to the vehicle control device 400 (S2515). The vehicle control device 400 may receive seat movement information (S2516). The vehicle control device 400 may update the cleaning route information based on the seat movement information (S2517). The vehicle control device 400 may detect a lost item inside the vehicle (S2518). The vehicle control apparatus 400 may transmit lost and found information to the vehicle 700 (S2519). The vehicle 700 may receive lost and found information (S2520). The vehicle 700 may transmit the lost and found information to the server 500 (S2521). The server 500 may receive lost and found information (S2522). The server 500 may transmit lost and found information to the passenger's mobile terminal 600.

According to another embodiment, the processor may receive driving mode information of the vehicle through the wireless communication unit, and when the vehicle is in a manual driving mode, the vicinity of the driver's seat of the vehicle may be excluded from the cleaning line.

According to another embodiment, when receiving a first seat cleaning request from the vehicle through the wireless communication unit, the processor may control the cleaning movement so that the body moves to the first seat.

According to another embodiment, the processor may extract information on the cleaned seat based on the cleaning route information, and transmit information on the cleaned seat to the vehicle through the wireless communication unit. .

According to another embodiment, the processor extracts information on a seat on which cleaning is in progress based on the cleaning route information, and transmits information on the seat on which cleaning is in progress to the vehicle through the wireless communication unit. I can.

According to another embodiment, the sensor includes a camera for photographing the object, and the processor compares the boarding image and the alighting image of the passenger through the camera, and when the object is determined to be a lost item, the An image of the object may be transmitted to the vehicle through a wireless communication unit.

According to another embodiment, the sensor includes a camera for photographing the object, and the processor compares the boarding image and the getting off image of the passenger through the camera, and when it is determined that the object is not a lost item, The object can be cleaned.

According to another embodiment, when receiving the lost item information through the wireless communication unit, the processor may detect the lost item through the sensor.

According to another embodiment, the sensor includes a camera that photographs the object, and the processor, when recognizing the lost item through the camera, transmits an image of the lost item to the vehicle through the wireless communication unit. Can send.

According to another embodiment, the cleanable section may include at least one of a straight travel route, a stop section, a congestion section, or a section in which the vehicle speed is less than a predetermined speed.

According to another embodiment, the driving route information may include at least one of departure point information, destination information, stopover point information, road information, terrain information, and weather information.

According to another embodiment, the processor may control the cleaning movement so that the body moves to the seat where the occupant was boarded when detecting the getting off of the occupant through the sensor.

According to another embodiment, when detecting the opening of the door of the vehicle through the sensor, the processor may move the body toward the opened door and output an alarm based on the driving route information.

According to another embodiment, the processor, through the wireless communication unit, receives the seat movement information inside the vehicle from the vehicle, updates the cleaning route information based on the seat movement information, and the updated cleaning The cleaning movement can be controlled based on the route information.

According to another embodiment, the processor transmits a control signal for moving the seat inside the vehicle to the vehicle through the wireless communication unit, and updates the cleaning route information based on the moved seat, The cleaning movement may be controlled based on the updated cleaning route information.

According to another embodiment, the processor may detect a seat in which a passenger is seated through the sensor and control the cleaning movement in consideration of a seat occupancy state.

According to another embodiment, the processor extracts an uncleanable section from the driving route information, and when the vehicle enters the non-cleanable section, moves the body to a charging module provided inside the vehicle. have.

The vehicle control apparatus according to the above-described embodiment may improve the convenience of a passenger. The vehicle control apparatus according to the above-described embodiment may be used during autonomous or semi-autonomous driving of the vehicle.

Features, structures, effects, and the like described in the above-described embodiments are included in at least one embodiment of the present invention, and are not necessarily limited to only one embodiment. Further, the features, structures, effects, etc. illustrated in each embodiment may be combined or modified for other embodiments by a person having ordinary knowledge in the field to which the embodiments belong. Accordingly, contents related to such combinations and modifications should be interpreted as being included in the scope of the present invention.

In addition, although the embodiments have been described above, these are only examples and do not limit the present invention, and those of ordinary skill in the field to which the present invention belongs are illustrated above without departing from the essential characteristics of the present embodiment. It will be seen that various modifications and applications that are not available are possible. For example, each component specifically shown in the embodiments can be modified and implemented. And differences related to these modifications and applications should be construed as being included in the scope of the present invention defined in the appended claims.

Claims

In the vehicle control device for cleaning the interior of the vehicle,

body;

A wheel provided on the body and moving the body along a cleaning movement line;

A wireless communication unit for receiving information from the vehicle;

A memory for storing cleaning route information inside the vehicle;

A sensor for recognizing an object based on the cleaning path information; And

And a processor for controlling the cleaning movement line based on the cleaning path information,

The processor,

When receiving preset driving route information from the vehicle through the wireless communication unit, extracts a cleanable section from the driving route information, and when the vehicle enters the cleanable section, at least one of the body or the wheel Vehicle control device, characterized in that to operate one.
The method of claim 1,

The processor,

A vehicle control device for receiving driving mode information of the vehicle through the wireless communication unit, and excluding the vicinity of the driver's seat of the vehicle from the cleaning line when the vehicle is in the manual driving mode.
The method of claim 1,

The processor,

When receiving a first seat cleaning request from the vehicle through the wireless communication unit, the vehicle control device for controlling the cleaning movement so that the body moves to the first seat.
The method of claim 1,

The processor,

A vehicle control device for extracting information on a seat that has been cleaned based on the cleaning route information, and transmitting information on the cleaned seat to the vehicle through the wireless communication unit.
The method of claim 1,

The processor,

A vehicle control device for extracting information on a seat undergoing cleaning based on the cleaning route information, and transmitting information on a seat undergoing cleaning to the vehicle through the wireless communication unit.
The method of claim 1,

The sensor,

Including a camera for photographing the object,

The processor,

Vehicle control apparatus for transmitting an image of the object to the vehicle through the wireless communication unit when the object is determined to be a lost item by comparing the boarding image and the getting off image of the passenger through the camera.
The method of claim 1,

The sensor,

Including a camera for photographing the object,

The processor,

A vehicle control device that cleans the object when it is determined that the object is not a lost item by comparing the boarding image and the getting off image of the passenger through the camera.
The method of claim 1,

The processor,

A vehicle control device that detects the lost item through the sensor when the lost item information is received through the wireless communication unit.
The method of claim 8,

The sensor,

Including a camera for photographing the object,

The processor,

When the lost article is recognized through the camera, the vehicle control device transmits an image of the lost article to the vehicle through the wireless communication unit.
The method of claim 1,

The cleanable section,

A vehicle control apparatus comprising at least one of a straight travel route, a stop section, a congestion section, or a section in which the vehicle speed is less than a predetermined speed.
The method of claim 1,

The driving route information,

A vehicle control device comprising at least one of departure point information, destination information, stopover point information, road information, terrain information, and weather information.
The method of claim 1,

The processor,

A vehicle control device configured to control the cleaning movement so that the body moves to the seat where the occupant was boarded when detecting the getting off of the occupant through the sensor.
The method of claim 1,

The processor,

When detecting that the door of the vehicle is opened through the sensor, the vehicle control device moves the body toward the opened door and outputs an alarm based on the driving route information.
The method of claim 1,

The processor,

Receiving the seat movement information inside the vehicle from the vehicle through the wireless communication unit, updating the cleaning route information based on the seat movement information, and controlling the cleaning route based on the updated cleaning route information Vehicle control device.
The method of claim 1,

The processor,

Transmitting a control signal for moving the seat inside the vehicle to the vehicle through the wireless communication unit, updating the cleaning route information based on the moved seat, and cleaning the cleaning based on the updated cleaning route information Vehicle control device that controls the traffic line.
The method of claim 1,

The processor,

A vehicle control device configured to detect a seat occupied by an occupant through the sensor and to control the cleaning movement in consideration of a seat occupancy state.
The method of claim 1,

The processor,

A vehicle control device for extracting an uncleanable section from the driving route information, and moving the body to a charging module provided inside the vehicle when the vehicle enters the non-cleanable section.