WO2021029466A1 - Technology for detecting pedestrian walking across road by server controlling tcu mounted in vehicle - Google Patents

Abstract

A disclosure of the present specification provides a server for controlling a telematics communication unit (TCU) mounted in a vehicle in a next generation mobile communication system. The server may comprise: a transceiver unit; and a processor for controlling the transceiver unit. The processor may perform the processes of: receiving information about an angle of arrival (AOA) measured on the basis of a signal transmitted from a terminal of a user who is near a road; receiving information from a first TCU mounted in a first vehicle traveling on the road; predicting a moving path of the first vehicle; and when a moving path of the user who possesses the terminal is present within an area according to the moving path of the first vehicle, transmitting a control command to the first TCU mounted in the first vehicle in order to control an operation of the first vehicle.

Description

A technology that detects pedestrians crossing the road in the server that controls the TCU installed in the vehicle.

The present invention relates to communication with a telematics communication unit installed in a vehicle in next-generation mobile communication.

Thanks to the success of LTE (long term evolution)/LTE-Advanced (LTE-A) for 4G mobile communication, interest in the next generation, that is, 5G (so-called 5G) mobile communication, is also increasing, and research is continuing. .

　5th generation mobile communication defined by the International Telecommunication Union (ITU) refers to providing a maximum 　20Gbps data transmission speed and a sensible transmission speed of at least 　100Mbps　 or more anywhere. Its official name is'IMT-2020' and it aims to be commercialized globally in 2020.

ITU proposes three usage scenarios, e.g. eMBB (enhanced mobile broadband), mMTC (massive machine type communication), and URLLC (Ultra Reliable and Low Latency Communications).

First, URLLC relates to a usage scenario that requires high reliability and low latency. For example, services such as automatic driving, factory automation, and augmented reality require high reliability and low latency (for example, a delay time of 1 ms or less). Currently, the latency of 4G (LTE) is statistically 21-43ms (best 10%), 33-75ms (median). This is insufficient to support a service that requires a delay time of less than 1ms.

Next, the eMBB usage scenario relates to a usage scenario requiring mobile ultra-wideband.

This ultra-wideband high-speed service seems difficult to be accommodated by the core network designed for the existing LTE/LTE-A.

Therefore, in the so-called 5th generation mobile communication, redesign of the core network is urgently required.

1 is a structural diagram of a next-generation mobile communication network.

5GC (5G Core) may include various components, and in FIG. 1, some of them include Access and Mobility Management Function (AMF) 51, Session Management Function (SMF) 52, and Policy Control (PCF). Function) (53), UPF (User Plane Function) (54), AF (Application Function) (55), UDM (Unified Data Management) (56), and N3IWF (Non-3GPP InterWorking Function) (59).

The UE 10 is connected to the data network 60 through the UPF 55 through a Next Generation Radio Access Network (NG-RAN).

The UE 10 may receive a data service even through untrusted non-3GPP access, for example, a wireless local area network (WLAN). In order to connect the non-3GPP access to the core network, an N3IWF 59 may be deployed.

<Autonomous driving>

Automotive driving is expected to be an important new driving force in 5G, along with various use cases of mobile communication for vehicles.

In the case of autonomous driving in which the server remotely controls the vehicle, the vehicle transmits data to the server and the vehicle receives control data from the server to achieve ultra-reliable and low-latency communication (URLLC) specified in 5G. It should take less than 5msec for operation.

However, in a conventional cloud server-based network structure (e.g., base station-wired network-cloud server), the base station transmits data received from the vehicle to the cloud server, analyzes the data in the cloud server, and transmits the data to the base station. , There is a problem that it takes about 30 to 40 msec only for the base station to receive it.

In order to improve the conventional network structure and achieve URLLC, discussions on Multi-access Edge Computing (MEC) have been made in ETSI (European Telecommunications Standards Institute) and 5GAA.

The MEC server controls the vehicle by communicating with the Telematics Communication Unit (TCU) provided in the vehicle.

Meanwhile, for autonomous driving, a technology for detecting a person walking on a road is urgently needed. A radar or lidar sensor is attached to the vehicle, but the radar or lidar of the vehicle may not detect a person walking in a blind spot covered by a large obstacle. Alternatively, it may not be possible to rule out the possibility that a person who is walking is detected later by a radar or a lidar of the vehicle after the vehicle has finished turning at the intersection.

Accordingly, the disclosures of the present specification aim to solve the above-described problems.

In order to achieve the above object, one disclosure of the present specification provides a server for controlling a Telematics Communication Unit (TCU) mounted on a vehicle in a next-generation mobile communication system. The server includes a transceiver; It may include a processor that controls the transceiver. The processor includes: a process of receiving information on an angle of arrival (AOA) measured based on a signal transmitted from a user's terminal near the road, and information from a first TCU mounted on a first vehicle driving on the road The process of receiving, predicting the movement path of the first vehicle, and when the movement path of the user who has the terminal exists in the region by the movement path of the first vehicle, the movement path of the first vehicle In order to control the operation, a process of transmitting a control command to the first TCU mounted on the first vehicle may be performed.

The processor may further perform a process of determining whether the user with the terminal is a passenger in the second vehicle.

The processor may further perform a process of transmitting a confirmation request to a second TCU mounted on the second vehicle to know whether the user who has the terminal is a passenger in the second vehicle.

The processor: may further perform a process of predicting a moving path of a user carrying the terminal.

The processor: may further perform a process of determining whether the user moves to another path outside the predicted movement path.

The processor further includes: when the user deviates from the predicted movement path and moves to another path, transmitting a control command to the first TCU mounted on the first vehicle to resume operation of the first vehicle. Can be done.

The control command may include at least one of: information about the moving speed of the vehicle, information about the deceleration of the vehicle, and information about the brake of the vehicle.

The information on the AOA may be received from a base station or a road side unit (RSU).

In order to achieve the above object, one disclosure of the present specification provides a Telematics Communication Unit (TCU) mounted on a vehicle. The TCU includes a memory; A plurality of transceivers including one or more antennas; And it may include a processor that controls the plurality of transceivers. The processor is: a process of comparing a predicted time (T1) until the vehicle reaches the pedestrian crossing area and a predicted time (T2) until the pedestrian crosses the road, If T1> T2, the process of periodically checking the latest position of the pedestrian until the pedestrian crosses the road, and if T1 <T2, the process of transmitting a control command for vehicle deceleration to the ECU (electronic control unit). Can be done.

The processor may further perform a process of transmitting a control command to an engine ECU in order to control the moving speed of the vehicle when the pedestrian crosses the road.

The processor: After transmitting the control command for deceleration of the vehicle to the engine ECU, the process of continuing to check the position of the pedestrian may be further performed.

In order to check the location of the pedestrian, the processor may further perform a process of comparing the signal strength from the terminal possessed by the pedestrian with a threshold value.

The vehicle includes Domain Control Unit (DCU), Local Interconnect Network (LIN) master, Media Oriented System Transport (MOST) master, Ethernet switch, radar sensor, lidar sensor, camera, AVN (Audio, Video, Navigation), RSE (Rear Side Entertainment) can be equipped with one or more.

The plurality of transceivers may include: a long term evolution (LTE) transceiver, a 5G transceiver, and a wireless local area network (WLAN).

The 5G transceiver may include: a first 5G transceiver using a band of 6Ghz or less and a second 5G transceiver using mmWave.

According to the disclosure of the present specification, existing problems are solved.

Specifically, according to the disclosure of the present specification, even if a pedestrian walks in a blind area covered by a large obstacle, according to the disclosure of the present specification, the TCU identifies the location of the terminal held by the pedestrian and stops the vehicle, thereby preventing a collision. have.

According to the disclosure of the present specification, it is possible to distinguish whether a pedestrian is walking on a road or a sidewalk. When the vehicle is close to a pedestrian within a safe distance, the disclosure of the present specification is that the TCU sends a control command to the engine ECU to stop, and when the pedestrian leaves the road, the TCU sends a control command to the engine ECU to resume operation.

1 is a structural diagram of a next-generation mobile communication network.

2 is an exemplary diagram showing an expected structure of next-generation mobile communication from a node perspective.

3 is an exemplary diagram showing an architecture for supporting simultaneous access to two data networks.

4 is another exemplary diagram showing the structure of a radio interface protocol between a UE and a gNB.

5A to 5D show an example implementation of a MEC server.

6 shows an example in which the MEC server remotely controls the vehicle.

7 is a block diagram illustrating an example of a MEC server and an example of a TCU according to one disclosure of the present specification.

8 is an exemplary view showing an example of a situation in which a technology for detecting the position of a pedestrian at an intersection is required.

9 shows the operation of the MEC server and the TCU in a handover process.

10 shows the operation of the MEC server and the TCU during a handover process.

11 is an exemplary view showing a method for determining a pedestrian.

12 and 13 show examples of specifying a pedestrian's area and location (center point).

14 shows an example of detecting a signal of a pedestrian's terminal.

15 shows an example of detecting a pedestrian while a vehicle equipped with a TCU moves and a handover is performed.

16 shows an example of determining the location of a pedestrian's terminal.

17 shows a method for determining the location of a vehicle/pedestrian in a base station.

18 shows a method of determining the location of a vehicle/pedestrian.

19 shows a moving path of a vehicle and a moving path of a pedestrian.

20 is an exemplary view showing a method of controlling a vehicle running along a path of a pedestrian.

21 shows a method of detecting the position of a pedestrian at an intersection.

22 is an exemplary view showing a vehicle and a pedestrian turning right at an intersection.

23 is an exemplary diagram showing a method of detecting the position of a pedestrian in the situation shown in FIG. 22.

24 illustrates a situation in which a pedestrian terminal (UE-i) and a passenger terminal (UE-n) of a vehicle (eg, a bus or a passenger car) are mixed.

FIG. 25 shows a procedure for distinguishing a pedestrian's terminal (UE-i) from a passenger's terminal (UE-n) in a vehicle (for example, a bus or a passenger car) in the situation shown in FIG. 24.

26 shows the coordinate system.

27 is a block diagram of a MEC server and a TCU according to an embodiment.

28 is a block diagram showing in detail the configuration of a TCU according to an embodiment of the present invention.

It should be noted that the technical terms used in the present specification are only used to describe specific embodiments and are not intended to limit the present invention. In addition, the technical terms used in the present specification should be interpreted as generally understood by those of ordinary skill in the technical field to which the present invention belongs, unless otherwise defined in the present specification, and excessively comprehensive It should not be construed as a person or an excessively reduced meaning In addition, when a technical term used in the present specification is an incorrect technical term that does not accurately express the spirit of the present invention, it should be replaced with a technical term that can be correctly understood by those skilled in the art. In addition, general terms used in the present invention should be interpreted as defined in the dictionary or according to the context before and after, and should not be interpreted as an excessively reduced meaning.

In addition, the singular expression used in the present specification includes a plurality of expressions, unless the context clearly indicates otherwise. In the present application, terms such as constitute or have should not be construed as necessarily including all of the various components or steps described in the specification, and some components or some steps may not be included, and Or, it should be interpreted that it may further include additional components or steps.

In addition, terms including ordinal numbers such as first and second used herein may be used to describe various elements, but the elements should not be limited by the terms. These terms are only used for the purpose of distinguishing one component from another component. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component.

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

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numerals regardless of the reference numerals, and redundant descriptions thereof will be omitted. In addition, in describing the present invention, when it is determined that a detailed description of a related known technology may obscure the subject matter of the present invention, a detailed description thereof will be omitted. In addition, it should be noted that the accompanying drawings are only intended to facilitate understanding of the spirit of the present invention, and should not be construed as limiting the spirit of the present invention by the accompanying drawings. The spirit of the present invention should be construed as extending to all changes, equivalents, or substitutes in addition to the accompanying drawings.

<Next-generation mobile communication system structure>

2 is an exemplary diagram showing an expected structure of next-generation mobile communication from a node perspective.

As can be seen with reference to FIG. 2, the UE is connected to a data network (DN) through a next-generation radio access network (RAN).

The illustrated control plane function (CPF) node is all or part of the functions of a mobility management entity (MME) of 4G mobile communication, and a control plane function of a serving gateway (S-GW) and a PDN gateway (P-GW). Do all or part of. The CPF node includes an Access and Mobility Management Function (AMF) and a Session Management Function (SMF).

The illustrated User Plane Function (UPF) node is a type of gateway through which user data is transmitted and received. The UPF node may perform all or part of the user plane functions of S-GW and P-GW of 4G mobile communication.

The illustrated PCF (Policy Control Function) is a node that controls the operator's policy.

The illustrated application function (AF) is a server for providing various services to the UE.

The illustrated Unified Data Management (UDM) is a kind of server that manages subscriber information, such as a 4G mobile communication HSS (Home Subscriber Server). The UDM stores and manages the subscriber information in a Unified Data Repository (UDR).

The illustrated authentication server function (AUSF) authenticates and manages the UE.

The illustrated network slice selection function (NSSF) is a node for network slicing as described below.

In FIG. 2, the UE can simultaneously access two data networks using multiple Protocol Data Unit (PDU) sessions.

3 is an exemplary diagram showing an architecture for supporting simultaneous access to two data networks.

In FIG. 3, an architecture for a UE to access two data networks simultaneously using one PDU session is shown.

In FIGS. 2 and 3, AF by a third parity other than an operator may be connected to 5GC through a Network Exposure Function (NEF).

4 is another exemplary diagram showing the structure of a radio interface protocol between a UE and a gNB.

The radio interface protocol is based on the 3GPP radio access network standard. The radio interface protocol horizontally consists of a physical layer (Physical layer), a data link layer (Data Link layer), and a network layer (Network layer), and vertically, a user plane and control for data information transmission. It is divided into a control plane for signal transmission.

The protocol layers are L1 (layer 1), L2 (layer 2), and L3 (layer 3) based on the lower 3 layers of the Open System Interconnection (OSI) reference model widely known in communication systems. ) Can be separated.

In the following, each layer of the radio protocol will be described.

The first layer, the physical layer, provides an information transfer service using a physical channel. The physical layer is connected to an upper medium access control layer through a transport channel, and data between the medium access control layer and the physical layer is transmitted through the transport channel. In addition, data is transmitted between different physical layers, that is, between the physical layers of the transmitting side and the receiving side through a physical channel.

The second layer includes a Medium Access Control (MAC) layer, a Radio Link Control (RLC) layer, and a Packet Data Convergence Protocol (PDCP) layer.

The third layer includes Radio Resource Control (hereinafter abbreviated as RRC). The RRC layer is defined only in the control plane, and is related to setting (setting), resetting (Re-setting) and release (Release) of radio bearers (Radio Bearer; RB). In charge of control. In this case, RB means a service provided by the second layer for data transmission between the UE and the E-UTRAN.

The NAS (Non-Access Stratum) layer performs functions such as connection management (session management) and mobility management.

The NAS layer is divided into a NAS entity for mobility management (MM) and a NAS entity for session management (SM).

1) NAS entity for MM provides the following functions in general.

NAS procedures related to AMF, including the following.

-Registration management and access management procedures. AMF supports the following functions.

-Secure NAS signal connection between UE and AMF (integrity protection, encryption)

2) The NAS entity for the SM performs session management between the UE and the SMF.

The SM signaling message is processed, that is, generated and processed at the NAS-SM layer of the UE and SMF. The contents of the SM signaling message are not interpreted by the AMF.

-In the case of SM signaling transmission,

-The NAS entity for the MM generates a NAS-MM message that derives how and where to deliver the SM signaling message through the security header representing the NAS transmission of SM signaling, and additional information about the receiving NAS-MM.

-Upon receiving the SM signaling, the NAS entity for the SM performs an integrity check of the NAS-MM message, analyzes the additional information, and derives a method and place to derive the SM signaling message.

Meanwhile, in FIG. 4, an RRC layer, an RLC layer, a MAC layer, and a PHY layer located below the NAS layer are collectively referred to as an Access Stratum (AS).

< Multi-access Edge Computing (MEC)>

In order to achieve ultra-reliable and low latency communications (URLLC), discussions on Multi-access Edge Computing (MEC) have been made in ETSI (European Telecommunications Standards Institute) and 5GAA.

MEC is a network architecture that enables cloud computing functions and IT service environments at the edge of the cellular network (typically, the edge of any network). The basic idea of MEC is to reduce network congestion and perform applications better by running applications (applications) and performing processing tasks related to cellular customers. MEC technology is designed to be implemented in a cellular base station or other edge node. MEC technology can flexibly and quickly deploy new applications and new services for customers. MEC enables cellular operators to open up a Radio Access Network (RAN) to authorized third parties such as application developers and content providers.

The MEC server described in the present specification refers to a communication device that provides a cloud computing function or an IT service environment at the edge of a network.

5A to 5D show an example implementation of a MEC server.

The UPF node 540 of FIGS. 5A to 5D is a type of gateway through which user data is transmitted/received. The UPF node 540 may perform all or part of a user plane function of a serving-gateway (S-GW) and a packet data network-gateway (P-GW) of 4G mobile communication. The core network 500 may be an Evolved Packet Core (EPC) or a 5G Core Network (5GC). N3 is a reference point between the (R)AN and the UPF node 540. N6 is a reference point between the UPF node 540 and the data network. The base station 200 may be a 5G base station (gNB) or an LTE base station (eNB). The base station 200 may be a base station including both a gNB and an eNB.

Logically, the MEC server (MEC host) 551 may be implemented in an edge or central data network. The UPF node 540 may play a role of coordinating user plane (UP) traffic to a target MEC application (application in the MEC server 551) of the data network. The location of the data network and UPF can be selected by the network operator. Network operators can allocate physical computing resources based on technical and business variables such as available facilities, supported applications and application requirements, measured or estimated user loads, and the like. The MEC management system can dynamically determine where to distribute the MEC application by adjusting the operation of the MEC server 551 (MEC host) and the application.

5A is an example implementation in which the MEC server 551 and the UPF node 540 are disposed together with the base station 200. 5B is an example implementation in which the MEC server 551 is deployed with a transmitting node (eg, UPF node 540). In FIG. 5B, the UPF node 540 and the MEC server 551 may perform communication through a network aggregation point. 5C is an example implementation in which the MEC server 551 and the UPF node 540 are deployed together with a network aggregation point. 5D is an example implementation in which the MEC server 551 is deployed together with core network functions (CPF). In FIG. 5D, the MEC server 551 may be located in the same data center as the core network functions.

<Disclosures of this specification>

According to the disclosure of the present specification, when the MEC server transmits data to the TCU through the base station, a plurality of heterogeneous antennas are selected, and the requirements for a plurality of services requested by the MEC client of the TCU (delay, minimum data transmission rate, priority) Etc.), the MEC server may select a plurality of heterogeneous beams and transmit data.

The MEC server allocates a channel for direct communication not overlapping with adjacent TCUs to the TCU by using the vehicle's location information.

When the TCU transmits data to electronic devices in the vehicle, a number of channels are allocated and used to minimize channel interference.

When the TCU transmits data to electronic devices in the vehicle at the same time, it creates a number of heterogeneous links (e.g., 1st 5G communication using sub 6GHz, 2nd 5G communication using mmWave, communication using LTE, and communication using WLAN) And, the same service (data streaming service) may be transmitted to electronic devices in the vehicle through a plurality of interfaces.

When the TCU receives a safety message (e.g. C-V2X, DSRC) from the MEC server, it analyzes the safety message first, and if immediate processing is required, the MEC client of the TCU generates an ECU control command message to the target ECU. To perform accurate control operation (eg, Brake ECU, etc.).

6 shows an example in which the MEC server remotely controls the vehicle.

6, a MEC server 551, a base station 200, and a vehicle are shown. The base station 200 may be a gNB or an eNB. The base station 200 may be a base station including both a gNB and an eNB. The MEC server 551 may be connected to the base station 200 through wired communication or wireless communication. The MEC server 551 may transmit data to or receive data from the base station 200. The figure shows that the MEC server 551 and the base station 200 are directly connected, but this is only an example, and the MEC server 551 may be connected to the base station 200 through another network node.

The base station 200 may transmit and receive data to and from the Telematics Communication Unit (TCU) 100 provided in the vehicle.

The TCU 100 may obtain state information from devices provided in the vehicle, and the state information may include various sensor data, video data, and the like. The TCU may transmit state information to the base station 200, and the base station 200 may transmit the state information to the MEC server 551. Then, the MEC server 551 may transmit data for controlling the vehicle to the base station 200 based on the state information. When the base station 200 transmits data for controlling the vehicle to the TCU 100, the TCU 100 may control the vehicle by transmitting the received data to electronic devices provided in the vehicle. In addition, the MEC server 551 may transmit map information to the base station 200, and the base station 200 may transmit it to the TCU. The TCU can control the vehicle using the map information.

The MEC server 551 and the TCU provided in the vehicle will be described in detail with reference to FIG. 7.

7 is a block diagram illustrating an example of a MEC server and an example of a TCU according to one disclosure of the present specification.

The MEC server is the MEC server 551 described with reference to FIGS. 5A to 5D and 6, and will be described below by omitting reference numerals.

The MEC server may be implemented like the examples described in FIGS. 5A to 5D. 7 shows that the MEC server communicates directly with base stations, but this is only an example, and the MEC server may communicate with base stations through other network nodes (eg, UPF node or NEF). The MEC server may include a processor (not shown) and a memory (not shown). The memory can store MEC server apps. The processor may perform the operations described in the disclosure of the present specification using the MEC server app stored in the memory.

The first 5G base station (eg, a 5G base station using sub 6 GHz) is a base station that performs communication based on the 5G standard in a frequency range 1 (FR1) band (a frequency band of 7125 MHz or less). The second 5G base station (eg, a 5G base station using mmWave) is a base station that performs communication based on the 5G standard in a frequency range 2 (FR2) band (frequency band of 24250-52600 MHz). The LTE base station performs communication based on the LTE standard. The Wi-Fi access point (AP) performs communication based on the Wi-Fi standard. The MEC server communicates with the TCU using at least one of a first 5G base station (eg, a 5G base station using sub 6 GHz), a second 5G base station (eg, a 5G base station using mmWave), an LTE base station, and a Wi-Fi base station. can do.

The TCU is an LTE transceiver (ie, LTE modem/antenna), a first 5G transceiver (ie, a modem/antenna using sub 6GHz), a second 5G transceiver (ie, a modem/antenna using mmWave), a WLAN transceiver (Ie, WiFi transceiver), a processor, and a memory may be included. The LTE transceiver is a communication module that performs communication based on the LTE standard. The first 5G transmission/reception unit (ie, modem/antenna using sub 6GHz) is a communication module that performs communication based on the 5G standard in the FR 1 band. The second 5G transceiver (ie, a modem/antenna using mmWave) is a communication module that performs communication based on the 5G standard in the FR 2 band. The WLAN transceiver (ie, WiFi transceiver) is a communication module that performs communication based on the WiFi standard. The LTE transceiver, the first 5G transceiver (i.e., modem/antenna using sub 6GHz), the second 5G transceiver (i.e., modem/antenna using mmWave) and WLAN transceiver (i.e., WiFi transceiver) are PCIe ( PCI express) can be connected to the processor through an interface. In addition, the LTE transceiver, the first 5G transceiver (ie, modem/antenna using sub 6GHz), the second 5G transceiver (ie, modem/antenna using mmWave) and WLAN transceiver (ie, WiFi transceiver) Although each is shown as a separate object, one communication module includes an LTE transceiver, a first 5G transceiver (ie, a modem/antenna using sub 6GHz), a second 5G transceiver (ie, a modem/antenna using mmWave) And it may perform the function of the WLAN transceiver (ie, WiFi transceiver).

The processor of the TCU includes a first 5G transceiver (ie, a modem/antenna using sub 6GHz), a second 5G transceiver (ie, a modem/antenna using mmWave), a WLAN transceiver (ie, a WiFi transceiver), and a memory. Connected. The memory can store MEC client apps. The processor includes an LTE transceiver, a first 5G transceiver (ie, a modem/antenna using sub 6GHz), a second 5G transceiver (ie, a modem/antenna using mmWave), and a WLAN transceiver (ie, a WiFi transceiver). The data transmitted by the base stations or terminals (terminal 1 and terminal 2) can be received. The processor includes an LTE transceiver, a first 5G transceiver (ie, a modem/antenna using sub 6GHz), a second 5G transceiver (ie, a modem/antenna using mmWave), and a WLAN transceiver (ie, a WiFi transceiver). By using, data can be transmitted to base stations or terminals (terminal 1 and terminal 2). Here, the terminals (terminal 1 and terminal 2) may be wireless communication devices used by a user in a vehicle.

The processor of the TCU may be connected to devices provided in the vehicle. For example, the processor may be connected to a Domain Control Unit (DCU), a Local Interconnect Network (LIN) master, a Media Oriented System Transport (MOST) master, and an Ethernet switch. The processor of the TCU can communicate with the DCU using CAN (Controller Area Network) communication technology. The processor of the TCU can communicate with the LIN master using LIN (Local Interconnect Network) communication technology. The TCU's processor can communicate with the MOST master connected by fiber optics using MOST communication technology. The TCU's processor can communicate with Ethernet switches and devices connected to them using Ethernet communication technology.

The DCU is a device that controls a plurality of ECUs (electronic control units). The DCU can communicate with multiple ECUs using CAN communication technology. Here, CAN is a standard communication technology designed to allow microcontrollers or devices to communicate with each other in a vehicle. CAN is a non-host bus message-based network protocol that is mainly used for communication between controllers.

The DCU may communicate with ECUs such as an engine control unit (ECU) that controls an engine, a brake ECU that controls a brake, and an HVAC ECU that controls a heating, ventilation, & air conditioning (HVAC) device. The DCU may transmit data received from the processor of the TCU to each ECU. In addition, the DCU can transmit the data received from each ECU to the processor of the TCU.

The LIN master can communicate with LIN slaves (LIN Slave #1 and LIN Slave #2) using LIN communication technology. For example, LIN Slave #1 may be a slave that controls one of a steering wheel, a roof top, a door, a seat, and a small motor. Here, LIN is a serial communication technology for communication between components in a vehicle network. The LIN master may receive data from the processor of the TCU and transmit it to the LIN slaves (LIN Slave #1 and LIN Slave #2). In addition, the LIN master can transmit data received from the LIN slaves to the processor of the TCU.

The MOST master can communicate with MOST slaves (MOST Slave #1 and MOST Slave #2) using MOST communication technology. Here, MOST is a serial communication technology that transmits audio, video, and control information using an optical cable. The MOST master can transmit data received from the processor of the TCU to the MOST slaves. In addition, the MOST master can transmit data received from MOST slaves to the processor of the TCU.

Ethernet is a computer networking technology used in local area networks (LAN), metropolitan area networks (MAN) and wide area networks (WAN). The TCU's processor can transmit data to individual devices through an Ethernet switch using Ethernet communication technology. Each device can transmit data to the TCU's processor through an Ethernet switch using Ethernet communication technology.

Radar (radio detection and ranging) is a technology that uses radio waves to measure the distance, direction, angle, and speed of a target. Radar sensors 1 to 5 are provided in the vehicle and measure the distance, direction, angle and speed of objects around the vehicle. Radar sensors 1 to 5 may transmit the measured sensor data to the processor of the TCU.

LiDAR (light detection and ranging) is a sensing technology that uses a light source and a receiver to detect remote objects and measure distances. Specifically, Rida is a technology that illuminates an object with pulsed laser light and measures the pulse reflected by the sensor to measure the distance, intensity, and speed to the object. LiDAR sensors 1 to 5 measure the distance and speed to the object. The lidar sensors 1 to 5 may transmit the measured sensor data to the processor of the TCU.

AVN (Audio, Video, Navigation) is a device that is provided in a vehicle and provides sound, video, and navigation. AVN may receive data from the processor of the TCU using Ethernet communication technology, and may provide sound, video, and navigation based on the received data. AVN can transmit data to the TCU's processor using Ethernet communication technology.

The camera (front) and camera (rear) can take images from the front and rear of the vehicle. In FIG. 7, it is shown that there are one camera in the front and only one in the rear, but this is only an example, and cameras may be provided on the left and right sides. In addition, a plurality of cameras may be provided at each of the front and rear sides. Cameras may use Ethernet communication technology to transmit camera data to the TCU's processor and receive data from the TCU's processor.

Rear Side Entertainment (RSE) means rear seat entertainment. RSE is a device that provides entertainment to occupants by being installed behind the passenger seat or driver seat of a vehicle. A tablet may also be provided inside the vehicle. The RSE or tablet can receive data from the processor of the TCU and transmit the data to the processor of the TCU using Ethernet communication technology.

The MEC server according to the disclosure of the present specification performs a function of receiving/storing/transmitting/analyzing various data such as video/audio/sensor data, which were performed in a conventional cloud server, and managing the TCU and devices provided in the vehicle. I can.

A MEC server application for performing operations according to various purposes may exist in the MEC server according to the disclosure of the present specification. The MEC server can perform the following functions using the MEC server application.

-The operation of the TCU and the ECU in the vehicle is monitored to comply with regulations such as the Road Traffic Act, ISO26262 (Standard for Industrial Safety, Road vehicles-Functional safety) or SAE (System Architecture Evolution) standards. If the operation of the TCU and the ECU in the vehicle violates the regulations, the operation of the vehicle ECU is controlled based on a predefined scenario.

-Vehicle-related information received from the TCU in the vehicle (e.g., engine ECU-related data, RPM (revolutions per minute) ECU-related data, wheel-related data, brake-related data, HVAC (heating, ventilation, & A function to analyze the status information of devices equipped in the vehicle, such as air conditioning) related data, and control the operation of the devices in the vehicle connected to the TCU based on a predefined operation scenario

-The MEC server can monitor the operation status of the TCU and determine the current status of the TCU. For example, the MEC server can monitor the operating state of the TCU and determine the current state of the TUC as one of inactive, active, sleeping, and moving.

-The MEC server can receive vehicle-related information (eg, information related to the location of the vehicle) from the TCU and manage the location of the vehicle (eg, collect/analyze/control/record).

-The MEC server can receive vehicle-related information (eg, vehicle speed-related information) from the TCU and manage the vehicle speed-related information (eg, collect/analyze/control/record). The MEC server manages information related to the speed of the vehicle and can determine whether the vehicle is speeding or whether the vehicle observes a safe speed.

-The MEC server can receive vehicle-related information (eg, engine ECU information) from the TCU and manage (eg, collect/analyze/control/record) engine ECU (ECU that controls the engine) information.

-The MEC server receives vehicle-related information from the TCU (e.g., information received from sensors and cameras provided in the vehicle) and manages vehicle sensor and camera information (Lidar, Radar, and front/rear/measurement/cabin camera) ( Example: collection/analysis/control/recording).

-As a result of analyzing the vehicle sensor and camera information, the MEC server transmits control data to the TCU based on the emergency response scenario when a vehicle collision with pedestrians, obstacles, etc. is expected to transmit the ECU (engine ECU, brake ECU, etc.) in the vehicle. Can be controlled.

8 is an exemplary view showing an example of a situation in which a technology for detecting the position of a pedestrian at an intersection is required.

In the example shown in FIG. 8, in a situation where there is a large obstacle (eg, a large bus, a truck, a tanker, etc.) on the right side of the intersection, the vehicle is turning right at a speed of v1(t). At this time, it is assumed that a person with a UE is walking across a lane.

The radar and lidar sensor of the vehicle may not be able to detect the walking person due to the large obstacle.

That is, the radar or the radar of the vehicle may not detect a person (UE) walking in a blind spot covered by the large obstacle, and an accident may occur. Alternatively, after the vehicle completes the turn at the intersection, the walking person (UE) is detected by a radar or a lidar of the vehicle late, and an accident may occur.

9 shows the operation of the MEC server and the TCU in a handover process.

The MEC client of the TCU 100 in the vehicle performs TCU information collection, TCU Ethernet packet forwarding, CAN frame conversion, and TCU control functions. 9 shows an example in which the TCU 100 in the vehicle performs handover from the first base station 200a to the second base station 200b.

The first base station 200a is connected to a first MEC server 551a, and the second base station 200b is connected to a second MEC server 551b.

Referring to FIG. 9, the TCU 100 in the vehicle transmits the collected information, eg, TCU information, to the first MEC server 551a through the first base station 200a.

The first MEC server 551a communicates with the MEC client of the TCU 100 to collect authentication and TCU information, and location information of the TCU.

The first MEC server 551a stores and updates TCU ID list and radio resource information (channel frequency number, antenna beam index (channel matrix), bandwidth, etc.) connected to the first base station 200a.

The first MEC server 551a calculates the location of the vehicle (TCU), the (past) movement path, the current vehicle speed, the vehicle future speed, and the movement path and speed of the pedestrian, and stores the result.

If the TCU 100 performs handover from the first base station 200a to the second base station 200b, the first MEC server 551a transfers the stored information to the second MEC server 551b. To pass.

Meanwhile, the second MEC server 551b acquires and stores a high-definition map (HD MAP) in advance before the TCU 100 performs handover to the second base station 200b. And, when the TCU (100) is handed over to the second base station (200b), the second MEC server (551b) transmits the high-definition map (HD MAP) to the TCU (100) through the second base station (200b). ).

10 shows the operation of the MEC server and the TCU during a handover process.

10 shows an example in which the TCU 100 in the vehicle performs handover from the first base station 200a to the second base station 200b. The first base station 200a is connected to a first MEC server 551a, and the second base station 200b is connected to a second MEC server 551b.

The first MEC server 551a transmits to the second MEC server 551b the driving information of the vehicle on which the TCU 100 is mounted (including information on GPS locations, lanes, traffic lights, etc.).

The traffic light information may include information on whether the traffic light is a traffic light for four signals or a traffic light for three signals. In addition, the traffic light information includes signal information currently displayed on the traffic light (i.e., information indicating whether the current signal is a straight signal or a stop signal) and next signal information of the traffic light (for example, when the signal is changed from a straight signal to a stop signal, a stop signal) Information) may include one or more. The traffic light information may include change time information of the traffic light. The new information on the change of the traffic light may include a time elapsed after the color of the traffic light is changed and a time remaining until the color of the traffic light is changed.

The second MEC server 551b collects driving information (lane, traffic light information, etc.) of each vehicle from the RSU (Road Side Unit) connected to the second base station 200b connected to it.

The second MEC server 551b predicts a moving path of the vehicle. Specifically, the second MEC server 551b predicts the moving path of the vehicle in real time based on the current lane position and speed, acceleration, location information (GPS) and the current lane position and speed, acceleration, and GPS information of other vehicles. do.

In addition, the second MEC server 551b obtains a list of one or more UEs and location information of the one or more UEs from a second base station 200b connected to it.

In addition, the second MEC server 551b predicts a movement path of the UE by combining the current location information, speed, direction information, and MAP information of the UE.

The second MEC server 551b acquires information on surrounding vehicles, and determines whether the UE is possessed by a person in another vehicle or whether the UE is carried by a pedestrian. If there is no vehicle in the vicinity, the second MEC server 551b may determine that the UE is carried by a pedestrian.

11 is an exemplary view showing a method for determining a pedestrian.

Referring to FIG. 11, the MEC server 551 collects driving information of the first vehicle from the RSU. In addition, the MEC server 551 collects driving information of the second vehicle from the RSU. When the first TCU 100a is mounted on the first vehicle and the second TCU 110b is mounted on the second vehicle, a V2X message may be received from each TCU.

Then, the MEC server 551 predicts the moving paths of the vehicles. Specifically, the MEC server 551 calculates a combination of lanes that can be changed on the road by each vehicle based on one or more of the current lane position, speed, acceleration, and GPS information of each of the vehicles. .

Meanwhile, the MEC server 551 collects ID and location information of the UE currently connected to the base station 200.

Further, the MEC server 551 compares the location information of the UE with the location information of the vehicle, and determines whether the vehicle and the UE exist within a specific distance and are moving at the same speed.

If the vehicle and the UE exist within a specific distance and are moving at the same speed, the MEC server 551 determines that the user who has the UE has boarded the vehicle.

The MEC server 551 transmits a request to confirm the existence of the UE to the TCU of the vehicle. The corresponding TCU performs direct communication with the UE to check whether the UE exists in the vehicle and obtains the ID of the UE.

The corresponding TCU sends the UE's ID to the MEC server, and the MEC server analyzes the driver's driving pattern information based on the UE's ID. For example, the MEC server analyzes information on the speed of each location on the map, angular speed, lane information, driving patterns on the highway, and driver habits (brake reaction speed, turning the steering wheel to the left or turning to the right, etc.) can do.

12 and 13 show examples of specifying a pedestrian's area and location (center point).

Self-driving vehicles have a problem in that the lidar signal is blocked by an obstacle when a pedestrian walks in a shaded area covered by a large truck at an intersection, and thus the pedestrian cannot be detected.

The general terminal (ie, the UE) has a problem in that it cannot avoid a vehicle collision because it cannot receive the V2X message broadcast by the RSU.

Therefore, in order to determine the location of a pedestrian, the base station can specify an area and a location (center point) by using an AOA (Arrival Of Angle) and a channel matrix.

In addition, when a signal is transmitted by a general terminal (i.e., UE) possessed by a pedestrian, the TCU and the base station receive it, and use the angle and channel matrix information of the received signal to specify the current location of the pedestrian and, if necessary, determine the vehicle. Can be stopped.

In this way, when a pedestrian walks on the road at an intersection, even if a large obstacle lies in front of the autonomous vehicle, the location of the pedestrian can be identified.

Explaining a specific method, the TCU is the GPS location information of the TCU (P _j,x (t), P _j,y (t))), the location information of the RSU-k (P _k,x (t), P _{k, y} (t)), location information (P _i,x (t), P _i,y (t)) of the terminals (i.e., UE) connected to the base station, the channel frequency of the terminal, and the identifier of the terminal (i.e. ID).

Next, compare as follows.

S _i,j (t)> S ₀ (t)

S _i,j (t) represents the strength of a signal that a pedestrian's terminal (ie, UE) sends to the TCU. S ₀ (t) is the threshold of the signal strength.

As above, the UEs (ie, UEs) that have transmitted a signal greater than the threshold value of the specific signal strength (S ₀ (t)) are grouped U (t) = {U ₁ (t), U ₂ (t) ,… ., U _N (t) }.

Calculate the distance from the received signal, and each receiving end (TCU, BS-l, RSU-k...) has a radius R = (r _T(I,j) (t), r _RS(i,k) (t ), r _BS(I,l) (t),… Create a group of }.

Calculate the “overlapping area” and “central point coordinates (P _i,x (t), P _i,y (t))” of the overlapped area.

Calculate the distance (distance on the X axis, distance on the Y axis) from the TCU.

[Equation 1]

Repeat the above process from U ₁ (t) to U _N (t)

The code above is as follows.

i: the index of UE-i

j: index of TCU-j

k: index of RSU-k

l: index of base station BS-l

A _T(i,j) (t): AOA or beam (channel matrix) of the signal when TCU-j receives a signal transmitted by UE-i

A _RS(i,k) (t): When RSU-k receives a signal transmitted by UE-i, the AOA or beam (channel matrix) of the corresponding signal

A _BS(i,l) (t): When BS-l receives a signal transmitted by UE-i, the AOA or beam (channel matrix) of the corresponding signal

14 shows an example of detecting a signal of a pedestrian's terminal.

As can be seen with reference to FIG. 14, when a pedestrian terminal (UE) transmits a signal through a first 5G transmission/reception unit, a second transmission/reception unit, a V2X transmission/reception unit, etc., the TCU, the base station, and the RSU installed in nearby vehicles are Can receive.

15 shows an example of detecting a pedestrian while a vehicle equipped with a TCU moves and a handover is performed.

As can be seen with reference to FIG. 15, the UE of the pedestrian transmits a signal to the second base station and the RSU. The vehicle equipped with the TCU moves from within the coverage of the first base station to the coverage of the second base station. The vehicle equipped with the TCU handovers over to the second base station and detects the pedestrian terminal.

16 shows an example of determining the location of a pedestrian's terminal.

As can be seen with reference to FIG. 16, the angle (AOA) or beam (channel matrix) of the terminal (i.e., UE) (i) received at the receiving end (base station) at a specific time t is A _Ui (t). I can.

The angle (AOA) or beam (channel matrix) of the terminal (ie, UE) (i) received from the TCU (vehicle) at a specific time t may be A _T(i) (t).

The angle (AOA) or beam (channel matrix) of the terminal (ie, UE) (i) received at the RSU at a specific time t may be A _R(i) (t).

17 shows a method for determining the location of a vehicle/pedestrian in a base station.

As can be seen with reference to FIG. 17, the base station checks the AOA and the beam (channel matrix) of the TCU.

The TCU in the vehicle measures AOA or beam (channel matrix) information of the signal transmitted by UE-i and transmits it to the MEC server through the base station.

Similarly, AOA or beam (channel matrix) information of a signal transmitted by UE-i in a plurality of RSUs is measured and transmitted to the MEC server.

18 shows a method of determining the location of a vehicle/pedestrian. 19 shows a moving path of a vehicle and a moving path of a pedestrian.

Referring to FIG. 18, the position of the vehicle/pedestrian may be found as a plane corresponding to an area where three spheres overlap.

Referring to FIG. 19, the MEC server may predict a movable trajectory based on a pedestrian's past moving trajectory.

First, the MEC server can calculate the minimum and maximum ranges of a pedestrian-movable area on the map based on the past movement trajectory.

Next, the MEC server calculates the trajectory by connecting the center points of each area.

Considering the moving speed (v ₂ (t)) of the pedestrian (UE-i), after T time, draw a circle as much as “radius (r _i (t)) =T xv _i (t)” (m), It is possible to draw a vehicle stop line and a “vehicle re-operation line”.

V _i,x (t): The horizontal movement speed of UE-i: The horizontal speed at which the center point of the overlapped area calculated by the TCU and MEC servers moved as shown in FIG. 18.

V _i,y (t): vertical movement speed of UE-i:

P _i,x (t): the horizontal coordinate of the UE-i position

P _i,y (t): vertical coordinate of the UE-i position

P _i,x (t+1) = P _i,x (t) + V _i,x (t) x T

P _i,y (t+1) = P _i,y (t) + V _i,y (t) x T

20 is an exemplary view showing a method of controlling a vehicle running along a path of a pedestrian.

Referring to FIG. 20, the MEC server, the MEC client of the TCU, or the ADSC (Auto Driving System Computer) considers the current position of the pedestrian and the movement speed of the pedestrian through the following calculation, and the pedestrian during the location update/detection period (T) Identify the area to move next.

The MEC server or the MEC client of the TCU or ADSC calculates the location of the driving vehicle on the map, the location of the other vehicle, and the location information the vehicle will move during the next detection period (T), and calculates the possible combinations (lane position, speed, signal) on the map. Predict the expected change time, etc.).

The MEC server or the MEC client of the TCU or ADSC determines whether the predicted position of the pedestrian and the predicted position of the vehicle overlap.

Specifically, if a pedestrian exists in a location (one lane) where the vehicle will move after T time, the MEC server or the MEC client of the TCU or the ADSC stops the vehicle or slows the vehicle speed.

However, if there are no pedestrians in the position (1 lane) the vehicle will move after T time, the MEC server or the MEC client of the TCU or ADSC will continue to move the vehicle to the next position and action combination (lane position, speed, brake operation, etc.) ) To grasp.

When the pedestrian's position is out of the vehicle's moving area, the MEC server or the TCU's MEC client or ADSC moves back to the vehicle's original travel speed.

In order to determine the current location of the pedestrian above, the location of the pedestrian can be identified by analyzing the image captured by the front camera of the vehicle with a deep learning algorithm (eg, DNN).

After transmitting the laser from the lidar sensor, the time of the reflected wave can be measured to determine the location of the pedestrian.

After the radar sensor transmits the lidar signal to the front, the position of the pedestrian can be determined by analyzing the reflected wave.

When the above three sensors/cameras do not exist in the vehicle, as shown in FIG. 18, the pedestrian's mobile phone signal AOA or beam (channel matrix) information is checked to identify the pedestrian's position.

On the other hand, when the V2X/DSRC is mounted in the pedestrian's terminal (ie, the UE), a method of determining the possibility of overlapping the pedestrian movement area and the expected movement area of the vehicle will be described as follows.

After the RSU or TCU receives a safety message broadcast by a pedestrian's terminal (UE), the safety message may be delivered to the base station/MEC server connected to the RSU.

The MEC server can instruct the TCU to send a CAN frame for engine RPM control of the Body Control Module (BCM).

Alternatively, after the TCU or ADSC determines the RPM value by itself, the CAN frame may be transmitted to the DCU/BCM/DCU/engine ECU.

Engine ECU RPM setting results can be transmitted to MEC clients and MEC servers.

The CAN frame may be transmitted in the following order: TCU (converts an Ethernet frame to a CAN frame), a CAN gateway that transmits a Domain Control Unit (DCU) CAN frame), a BCM, and an engine ECU.

The CAN frame is transmitted to the BCM and engine RPM control ECU (engine ECU), and the engine ECU can set the ECU with the RPM value specified by the MEC server.

After the engine ECU completes the configuration work, the ACK can be transmitted to the MEC server via BCM, DCU, TCU, 5G/LTE/WiFi modem and base station.

The MEC server can transmit information that needs to be shared immediately to the MEC server located in the target base station to which the vehicle will move by handover in the future. The information may include vehicle information (eg, a current GPS position, a past trajectory of the vehicle, an RPM value of a future moving trajectory, lane information, waiting time for a traffic light, etc.).

MEC server is the location information of the pedestrian (UE-i) connected to the base station (GPS information of the pedestrian terminal, AOA information received from the base station, beam information, AOA of UE-i, BEAM information, etc. recognized by multiple RSUs) And the estimated moving area can be calculated.

As described above, the calculation performed by the MEC server can be performed in the same manner in the TCU in the vehicle, and the result can be transmitted to the MEC server.

When the future movement trajectory of the vehicle and the future movement area of the pedestrian overlap, it is avoided through a scheme as shown in FIG. 20.

On the other hand, when the V2X/DSRC is not mounted on the pedestrian's terminal (ie, the UE), a method of determining the possibility of overlapping the pedestrian movement area and the expected movement area of the vehicle will be described as follows.

The MEC server can obtain the location information of pedestrians and calculate the expected area of pedestrian movement.

The MEC server may inform the pedestrian's frequency channel information and ID to the RSU near the pedestrian's location.

A number of RSUs monitor the frequency channel used by the UE-i of the corresponding pedestrian, i.e., f _i (t) and periodically monitor the pedestrian's location information (AOA, beam (channel matrix), 3D-beam information). It can be secured and transmitted to the MEC server and TCU.

The TCU or MEC server specifies the location of the terminal based on the AOA and beam (channel matrix) of the signals transmitted and received by the terminal (UE-i) of the pedestrian to the base station.

After the vehicle's ADSC or MEC server or TCU calculates the vehicle's current and future travel areas, it can calculate where the vehicle should be stopped.

21 shows a method of detecting the position of a pedestrian at an intersection.

Referring to Figure 21, the vehicle is about to turn right at the intersection. On the right side of the intersection, a pedestrian with a terminal (ie, UE) is crossing the road. In this case, the signal strength of the terminal (ie, the UE), that is, s _Ti (t) may be measured. If the signal strength s _Ti (t) of the terminal (i.e., UE) is greater than the threshold s _T0 (t), that is, s _Ti (t)> s _T0 (t), a control command is transmitted to stop the vehicle. .

However, if the signal strength s _Ti (t) of the terminal (that is, the UE) is less than the threshold s _T0 (t), that is, if s _Ti (t) <s _T0 (t), A control command is sent.

When the control command is received, the TCU may transmit the RPM of the engine ECU to the BCM (Body Control Module) by setting the RPM value of the engine ECU CAN frame to the specified speed or the RPM value received from the MEC server to the engine ECU.

22 is an exemplary view showing a vehicle and a pedestrian turning right at an intersection. 23 is an exemplary diagram showing a method of detecting the position of a pedestrian in the situation shown in FIG. 22.

As shown in FIG. 22, a pedestrian covered by a large obstacle (eg, a bus or a freight car) may be located on the right side of the intersection.

TCU-equipped vehicles attempt to detect through rider signals and radar signals, but the area covered by large obstacles is a blind spot and cannot detect pedestrians (with UE), or after the vehicle has completed a turn at the intersection. There is a high likelihood of an accident by finding a pedestrian (with a UE).

Referring to FIG. 23, it is determined whether T1> T2.

Here, T1 represents the time it takes before the vehicle reaches the pedestrian zone.

T2 represents the time it takes for a pedestrian to cross the crosswalk. The TCU or MEC server can inform the minimum and maximum time required by tracking the trajectory of the pedestrian's past movement.

If T1> T2, the latest pedestrian location can be identified. Specifically, the TCU can obtain the latest pedestrian location by requesting the MEC server.

The TCU acquires the latest position (P _i,x (t), P _i,y (t)) and movement speed of the pedestrian.

Here, P _i,x (t) is a horizontal coordinate indicating the location of the terminal (UE) possessed by the pedestrian, and P _i,y (t) is a vertical coordinate indicating the location of the terminal (UE) possessed by the pedestrian. And, i is the index of the terminal (UE) possessed by the pedestrian.

The TCU or MEC server determines whether the pedestrian position is completely off the road.

When the pedestrian does not get off the road, the TCU or MEC server determines the moving speed of the vehicle.

Meanwhile, if T1> T2 is not, the MEC server transmits a deceleration command to the TCU of the vehicle. In addition, the MEC server may transmit vehicle driving speed, deceleration/stop duration, terminal ID, frequency channel, terminal location (area) on a map, vehicle stop line, and vehicle re-line.

The TCU monitors the channel of the terminal (ie, the UE) and measures the ID and OA of the terminal, beam information (channel matrix) and signal strength.

The TCU determines whether S _T,i (t)> S ₀ .

If the moving speed of the vehicle is determined above, or S _T,i (t)> S ₀ , the TCU or ADSC drives the vehicle at a safe speed (eg, 30 km/h) or a driving speed informed by the MEC server, The DCU (Domain Control Unit) or BCM (Body Control Module) sends an AN frame to the ECU to lower the RPM of the engine.

If the engine ECU supports Ethernet, the control frame is transmitted through the path TCU->DCU->BCM->ECU.

When the engine ECU completes the RPM change, the TCU sends an ACK to the MEC server.

The TCU may transmit driving information, such as the ID of the TCU, the current RPM, the current location (information obtained by GPS, GNSS), lane information, and information of an adjacent terminal to the MEC server. The information on the neighboring terminal may include AOA, beam information, signal strength information, and the like.

In addition, the MEC server may transmit information of a neighboring terminal, that is, AOA, beam information, signal strength information, and the like to the RSU.

In the above description, the symbols are as follows.

j: index of TCU-j

k: RSU-k index

S _T0: As the threshold value of the signal strength, if the strength of the signal received from the vehicle TCU is higher than this value, there is a high possibility of collision with a pedestrian.

S _T(i,j) (t): Signal strength of the pedestrian terminal (UE-i) received by TCU-j

S _RS(i,k) (t): Signal strength of the pedestrian terminal (UE-i) received by RSU-k

A _T(i,j) (t): When TCU-j receives a signal transmitted by a pedestrian's terminal (UE-i), the AOA or beam of the corresponding signal (channel matrix)

A _RS(i,k) (t): When RSU-k receives a signal transmitted by a pedestrian's terminal (UE-i), the AOA or beam of the corresponding signal (channel matrix)

V _i,x (t): Horizontal movement speed of pedestrian terminal (UE-i):

V _i,y (t): The vertical movement speed of the pedestrian terminal (UE-i)

V _j,x (t): The horizontal movement speed of the pedestrian terminal (UE-i)

V _j,y (t): The horizontal movement speed of the pedestrian terminal (UE-i)

FIG. 24 shows a situation in which a pedestrian's terminal (UE-i) and a passenger's terminal (UE-n) of a vehicle (for example, a bus or a passenger car) are mixed, and FIG. 25 is a vehicle in the situation shown in FIG. A procedure for distinguishing a pedestrian's terminal (UE-i) from a passenger's terminal (UE-n) in a bus or a passenger car) is shown, and FIG. 26 shows a coordinate system.

As shown in FIG. 24, a terminal UE-i of a pedestrian crossing the road and a terminal UE-i of a user standing on the sidewalk exist on the down road. In addition, terminals (eg, UE-1, UE-2, ..., UE-N) of occupants in the vehicle may exist on the ascending road.

In such a situation, as shown in FIG. 25, the MEC server acquires information on the TCU-j and RSU-k groups in the corresponding region every T period.

TCU-j is the index of the TCU attached to the vehicle traveling on the road.

RSU-k is the index of RSU installed near the road.

In addition, the MEC server is a terminal (UE) in which the locations (areas) of a plurality of terminals received from neighboring RSU-k and target TCU-j among terminals connected to the base station overlap with the area to which a vehicle will move after T time. -i: U _i (t)) are selected and the following Group_m(t) = G _m (t) is created.

Group_m(t) = G _m (t) = {U ₁ (t), U ₂ (t),… . U _M (t)}

Next, the MEC server divides the elements of the same speed within the group V _m (t) into subgroups (Group vehicle: G _v (t)).

V _m (t) is a set of speeds of all terminals (eg, UE) belonging to G _m (t).

V _m (t) = {v ₁ (t), v ₂ (t),… . v _M (t)}

v _m (t) is a value obtained by dividing the distance (L _m (t)) that the center points of all UEs belonging to G _m (t) have moved during T time by T time, and calculating the speed.

v _m (t) = Lm(t)/T

Next, the MEC server collects the remaining elements in the V _m (t) group and divides it into a pedestrian group (Group Pedestrian: G _p (t)).

Then, the MEC server determines whether the "current + future moving area" of the arbitrary pedestrian p _n (t) is located in the "current + moving area of the vehicle".

If it is determined that the "current + future movement area" of a random pedestrian p _n (t) is not located in the "current + movement area of the vehicle", the MEC server controls the vehicle to operate based on the specified speed and lane information. do.

However, if it is determined that the "current + future moving area" of the arbitrary pedestrian p _n (t) is located in the "current + moving area of the vehicle", the MEC server will be in a group of pedestrians (Group Pedestrian: G _p (t)). Group Pedestrian in Road (G _r (t)) again.

And when the MEC server is the current position of the pedestrian g _r (t) on the road "P _r,,x (t) = P _r,,x (t)-V _r (t) x T", the group G _r, In (t), the horizontal and vertical position of the vehicle closest to the vehicle is secured, and the "vehicle stop line" is selected.

Min (P _r,,x (t), P _r,y (t) = Gr(t))

In addition, the MEC server transmits information on the vehicle stop line to the vehicle. The vehicle slows down and stops according to the "vehicle stop line".

V _i,x (t): The horizontal movement speed of the terminal (UE-i), which is the horizontal speed at which the center point of the overlapped area calculated by the TCU and MEC server as calculated on the previous page moved.

V _i,y (t): the vertical movement speed of the terminal (UE-i)

P _i,x (t): the horizontal coordinate of the location of the terminal (UE-i)

P _i,y (t): the vertical coordinate of the location of the terminal (UE-i)

P _i,x (t+1) = P _i,x (t) + V _i,x (t) x T

P _i,y (t+1) = P _i,y (t) + V _i,y (t) x T

In the exemplary system described above, the methods are described on the basis of a flowchart as a series of steps or blocks, but the present invention is not limited to the order of the steps, and certain steps may occur in a different order or concurrently with the steps described above. I can. In addition, those skilled in the art will appreciate that the steps shown in the flowchart are not exclusive, other steps may be included, or one or more steps in the flowchart may be deleted without affecting the scope of the present invention.

27 is a block diagram of a MEC server and a TCU according to an embodiment.

Referring to FIG. 27, the MEC server 551 and the TCU 100 may each include a memory, a processor, and a transceiver.

The illustrated processor, memory, and transceiver may each be implemented as separate chips, or at least two or more blocks/functions may be implemented through a single chip.

The transceiver includes a transmitter and a receiver. When a specific operation is performed, only one of the transmitter and the receiver may be performed, or both the transmitter and the receiver may be performed. The transceiver may include one or more antennas for transmitting and/or receiving radio signals. In addition, the transmission/reception unit may include an amplifier for amplifying a reception signal and/or a transmission signal, and a bandpass filter for transmission over a specific frequency band.

As described above, the transceiver of the TCU includes a first 5G transceiver (ie, a modem/antenna using sub 6GHz), a second 5G transceiver (ie, a modem/antenna using mmWave), an LTE transceiver (i.e., LTE It may include a modem/antenna).

The processor may implement the functions, processes and/or methods proposed in the present specification. The processor may include an encoder and a decoder. For example, the processor may perform an operation according to the above description. Such a processor may include an application-specific integrated circuit (ASIC), another chipset, a logic circuit, a data processing device, and/or a converter for converting a baseband signal and a radio signal to each other.

The memory may include read-only memory (ROM), random access memory (RAM), flash memory, memory card, storage medium, and/or other storage device.

28 is a block diagram showing in detail the configuration of a TCU according to an embodiment of the present invention.

The illustrated TCU 100 includes a transceiver 110, a processor 120, a memory 130, one or more antennas, and a subscriber identification module (SIM) card.

The illustrated TCU 100 may further include a speaker 161 and a microphone 162 as necessary.

The illustrated TCU 100 may further include a display 151 and an input unit 152 as necessary.

Processor 120 may be configured to implement the proposed functions, procedures, and/or methods described herein. Layers of the air interface protocol may be implemented in the processor 120. The processor 120 may include an application-specific integrated circuit (ASIC), another chipset, a logic circuit, and/or a data processing device. The processor 102 may be an application processor (AP). The processor 120 may include at least one of a digital signal processor (DSP), a central processing unit (CPU), a graphics processing unit (GPU), and a modem (modulator and demodulator). Examples of the processor 120 are SNAPDRAGONTM series processors manufactured by Qualcomm®, EXYNOSTM series processors manufactured by Samsung®, A series processors manufactured by Apple®, HELIOTM series processors manufactured by MediaTek®, INTEL®. It may be an ATOMTM series processor manufactured by or a corresponding next-generation processor.

The display 151 outputs a result processed by the processor 120. The input unit 152 receives an input to be used by the processor 120. The input unit 152 may be displayed on the display 151. A SIM card is an integrated circuit used to securely store an international mobile subscriber identity (IMSI) used to identify and authenticate a subscriber in a mobile phone device such as a mobile phone and a computer and a key associated therewith. The SIM card is not physically implemented, but may be implemented as a computer program and stored in the memory.

The memory 130 is operatively coupled to the processor 120 and stores various information for operating the processor 120. The memory 130 may include read-only memory (ROM), random access memory (RAM), flash memory, memory card, storage medium, and/or other storage device. When an embodiment is implemented as software, the techniques described in this specification may be implemented as a module (eg, a procedure, a function, etc.) that performs a function described in this specification. Modules can be stored in memory 130 and executed by processor 120. The memory 130 may be implemented inside the processor 120. Alternatively, the memory 130 may be implemented outside the processor 120 and may be communicatively connected to the processor 120 through various means known in the art.

The transceiver 110 is operatively coupled to the processor 120 and transmits and/or receives a radio signal. The transceiver 110 includes a transmitter and a receiver. The transceiver 110 may include a baseband circuit for processing a radio frequency signal. The transceiver unit controls one or more antennas to transmit and/or receive radio signals.

The speaker 161 outputs a sound-related result processed by the processor 120. The microphone 162 receives a sound related input to be used by the processor 120.

In the above, preferred embodiments of the present invention have been exemplarily described, but the scope of the present invention is not limited to such specific embodiments, and thus the present invention is in various forms within the scope described in the spirit and claims of the present invention. It can be modified, changed, or improved.

Claims (15)

1. As a server that controls the TCU (Telematics Communication Unit) installed in the vehicle in the next-generation mobile communication system,

   A transceiver;

   And a processor for controlling the transmission/reception unit, wherein the processor

   A process of receiving information on an angle of arrival (AOA) measured based on a signal transmitted from a user's terminal near the road;

   The process of receiving information from the first TCU mounted on the first vehicle driving on the road,

   A process of predicting a moving path of the first vehicle, and

   When there is a movement path of the user who has the terminal in the area by the movement path of the first vehicle, a control command is transmitted to the first TCU mounted on the first vehicle to control the operation of the first vehicle. The server that performs the process.
2. The method of claim 1, wherein the processor

   The server further performing a process of determining whether the user with the terminal is a passenger in a second vehicle.
3. The method of claim 2, wherein the processor

   A server further performing a process of transmitting a confirmation request to a second TCU mounted on the second vehicle in order to know whether the user with the terminal is a passenger in the second vehicle.
4. The method of claim 1, wherein the processor

   A server that further performs a process of predicting a moving path of a user carrying the terminal.
5. The method of claim 4, wherein the processor

   A server further performing a process of determining whether the user moves to another path outside the predicted movement path.
6. The method of claim 5, wherein the processor

   When the user deviates from the predicted movement path and moves to another path, the server further performs a process of transmitting a control command to a first TCU mounted on the first vehicle to resume operation of the first vehicle.
7. The method of claim 1, wherein the control command is

   A server including at least one of information on the moving speed of the vehicle, information on deceleration of the vehicle, and brake information on the vehicle.
8. The method of claim 1,

   The information on the AOA is received from a base station or a road side unit (RSU).
9. As a TCU (Telematics Communication Unit) mounted on a vehicle,

   Memory;

   A plurality of transceivers including one or more antennas;

   And a processor for controlling the plurality of transceivers, the processor

   A process of comparing the predicted time (T1) until the vehicle reaches the pedestrian crossing the road and the predicted time (T2) until the pedestrian crosses the road;

   If T1> T2, the process of periodically checking the latest position of the pedestrian until the pedestrian crosses the road;

   If T1 <T2, a TCU that performs a process of transmitting a control command for vehicle deceleration to an electronic control unit (ECU).
10. The method of claim 9, wherein the processor

    When the pedestrian crosses the road, the TCU further performs a process of transmitting a control command to the engine ECU in order to control the moving speed of the vehicle.
11. The method of claim 9, wherein the processor

    After transmitting the control command for decelerating the vehicle to the engine ECU, the TCU further performs a process of continuously checking the position of the pedestrian.
12. The method of claim 11, wherein the processor to check the location of the pedestrian

    The TCU further performs a process of comparing the signal strength from the terminal possessed by the pedestrian with a threshold value.
13. The method of claim 9, wherein the vehicle

    DCU (Domain Control Unit), LIN (Local Interconnect Network) master, MOST (Media Oriented System Transport) master, Ethernet switch, radar sensor, lidar sensor, camera, AVN (Audio, Video, Navigation), RSE (Rear Side Entertainment) TCU to be equipped with one or more of the.
14. The method of claim 9, wherein the plurality of transceivers

    A TCU including a long term evolution (LTE) transceiver, a 5G transceiver, and a wireless local area network (WLAN).
15. The method of claim 14, wherein the 5G transceiver

    A TCU comprising a first 5G transceiver using a band of 6Ghz or less and a second 5G transceiver using mmWave.

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