WO2022139058A1

WO2022139058A1 - Vehicle control apparatus

Info

Publication number: WO2022139058A1
Application number: PCT/KR2021/000448
Authority: WO
Inventors: 김용환
Original assignee: 주식회사 시로코
Priority date: 2020-12-21
Filing date: 2021-01-13
Publication date: 2022-06-30
Also published as: KR20220089730A

Abstract

Disclosed is a vehicle control apparatus. The vehicle control apparatus of the present invention comprises: a storage unit for storing map information and road information in a map; and a control unit which, when an autonomous driving mode is being performed, controls autonomous driving on the basis of road image information acquired through an image acquisition unit, distance information about the distance to an obstacle detected through a distance detection unit, current position information received by a position reception unit, the map information, and the road information, and while a manual driving mode is being performed, recognizes and stores driving tendencies of a driver on the basis of information about the pressing of a brake pedal, information about the pressing of an accelerator pedal, and steering angle information corresponding to the operation of a steering wheel. The control unit checks driving information corresponding to the acceleration, deceleration, and steering of a vehicle, controls switching between the autonomous driving mode and the manual driving mode on the basis of the stored driving tendencies of the driver and the checked driving information, and controls the output of information about the switching between the driving modes. The present invention has the advantage that autonomous driving can be effectively performed while recognizing the tendencies or state of the driver and reflecting the driving intentions of the driver to satisfy the desires of the driver.

Description

vehicle control unit

The present invention relates to a vehicle control device that enables switching between an autonomous driving mode and a manual driving mode.

A vehicle is a machine driven by wheels for the purpose of transporting people or cargo, and it moves on the road.

Recently, various advanced driver assistance systems (ADAS) have been developed to deliver driving information of a vehicle to a driver or perform autonomous driving for the driver's convenience in order to prevent accidents caused by driver negligence.

As an example of the driver assistance device, there is a collision avoidance device that detects an obstacle around the vehicle and informs the driver of collision information with the vehicle based on the detected distance information with the obstacle.

As another example, a vehicle control device that automatically drives to a destination by recognizing the road environment (road information, lanes, obstacles, traffic signals, etc.), determining the driving situation, and controlling the driving of the vehicle according to the planned driving route. there is

A vehicle control device allows a user to manually drive a vehicle by giving a control right to a vehicle according to road conditions or a driver's driving situation, or allows autonomous driving by giving a control right to a vehicle to a vehicle.

Such a vehicle control device has a problem of increasing driver dissatisfaction because it switches between autonomous driving and manual driving without considering the driver's tendency or state while driving.

SUMMARY OF THE INVENTION The present invention aims to solve the above and other problems.

Another object of the present invention is to provide a vehicle control device capable of effectively performing autonomous driving while recognizing a driver's disposition or state and reflecting the driver's driving intention to satisfy the driver's desire.

According to an aspect of the present invention in order to achieve the above or other objects, a storage unit for storing map information and road information in the map; And when the autonomous driving mode is performed, autonomous driving is performed based on image information of the road acquired through the image acquisition unit, distance information with an obstacle detected through the distance detection unit, current position information received from the position receiving unit, map information, and road information. and a control unit configured to control and recognize and store the driving tendency of the driver based on information on pressing a brake pedal, information on pressing an accelerator pedal, and information on a steering angle corresponding to operation of a steering wheel while performing a manual driving mode, the control unit comprising: checks driving information corresponding to acceleration, deceleration, and steering of the vehicle, and controls switching between the autonomous driving mode and the manual driving mode based on the stored driving tendency of the driver and the checked driving information, and switching between driving modes You can control the output of information.

Further comprising: a biometric information detector for detecting the driver's biometric information; and an emotion information detector for detecting the driver's emotional information, wherein the control unit is configured to include: Thus, it is possible to recognize the driving tendency corresponding to the type of road.

The control unit may control at least one of acceleration, deceleration, and steering based on at least one of pressurization information of the brake pedal, pressurization information of the accelerator pedal, and steering angle information corresponding to manipulation of the steering wheel during execution of the autonomous driving mode. At least one of the cluster and the sound output unit may be controlled to output corresponding feedback information.

The control unit may be configured to recognize the driving intention of the driver based on at least one of pressurization information of the brake pedal, pressurization information of the accelerator pedal, and steering angle information corresponding to manipulation of the steering wheel while the autonomous driving mode is being performed, and the recognition Driving intention information for one driving intention may be selectively reflected in autonomous driving information.

Further comprising: a biometric information detector for detecting the driver's biometric information; and an emotion information detector for detecting the driver's emotion information, wherein the controller includes the biometric information detected by the biometric information detector and the emotion information detected by the emotion information detector Switching between the autonomous driving mode and the manual driving mode may be controlled based on the received emotional information.

The controller may control switching between the autonomous driving mode and the manual driving mode based on traffic information and weather information.

In addition, according to an aspect of the present invention in order to achieve the above or other objects, among a plurality of nodes of a block chain having a plurality of blocks including at least one header and at least one transaction value recording first traffic information related to a vehicle traveling on a road in at least one; collecting first traffic information in which identification information for a vehicle in which the first traffic information is recorded is anonymized; It may include the step of supplying the collected first traffic information to a traffic information service provider (traffic information service provider).

The method may further include providing a reward for the recording of the first traffic information, wherein the providing of the reward includes: a vehicle in which the first traffic information is recorded, a terminal of the vehicle driver, and a terminal of the vehicle owner At least one hash code may be used.

collecting second traffic information from the traffic information service provider; and providing third traffic information obtained by processing the first traffic information and the second traffic information to at least one of the traffic information service provider and the vehicle. may further include.

It may further include the step of proceeding with the approval of whether the collection of the first traffic information.

The first traffic information includes at least one of state information including at least one of speed, acceleration/deceleration, steering, torque, surrounding vehicles, traffic signals, sound, temperature, humidity, illuminance, precipitation and snowfall, a departure point, a waypoint, a destination, and a route. Can include at least one information of route information including one, vehicle information including at least one of fuel amount, charging amount, indoor temperature, engine condition, and motor condition, and boarding information including at least one of number of people, gender, and age have.

In addition, according to an aspect of the present invention in order to achieve the above or other objects, among a plurality of nodes of a block chain having a plurality of blocks including at least one header and at least one transaction value collecting first traffic information obtained by anonymizing identification information for a vehicle in which first traffic information related to a vehicle traveling on a road is recorded on at least one; processing the first traffic information; and providing the processed first traffic information to a following vehicle having the same at least some route as the vehicle providing the first traffic information.

The processing includes supplying the collected first traffic information to a traffic information service provider and acquiring second traffic information generated by the traffic information service provider, The processed first traffic information may be the second traffic information obtained from the traffic information service provider.

The first traffic information may be information obtained from a plurality of vehicles at least partially overlapping with the path of the following vehicle, and the processed first traffic information may be a combination of information obtained from the plurality of vehicles.

In addition, according to an aspect of the present invention in order to achieve the above or other objects, among a plurality of nodes of a block chain having a plurality of blocks including at least one header and at least one transaction value collecting first traffic information related to a vehicle traveling on at least one road by anonymizing identification information for a vehicle in which the first traffic information is recorded; collecting fourth traffic information through a plurality of sensors installed on the at least one road; supplying the collected first and fourth traffic information to a traffic information service provider; and providing a reward for recording the first traffic information.

The plurality of sensors may be at least one of a detection sensor embedded in the at least one road and a radar sensor installed in the at least one road to detect at least one of the vehicle speed and acceleration/deceleration.

The effect of the vehicle control apparatus according to the present invention will be described as follows.

According to at least one of the embodiments of the present invention, there is an advantage that autonomous driving can be effectively performed while recognizing the driver's tendency or state and reflecting the driver's driving intention to satisfy the driver's desire.

Further scope of applicability of the present invention will become apparent from the following detailed description. However, it should be understood that the detailed description and specific embodiments such as preferred embodiments of the present invention are given by way of example only, since various changes and modifications within the spirit and scope of the present invention may be clearly understood by those skilled in the art.

1 is a diagram illustrating communication between a vehicle in which a vehicle control apparatus is provided and a server according to an embodiment of the present invention.

2 is a view showing the interior of a vehicle in which a vehicle control apparatus according to an embodiment of the present invention is provided.

3 is a configuration diagram of a vehicle having a vehicle control device according to an embodiment of the present invention.

4 is a diagram illustrating a process of switching a driving mode of a vehicle control apparatus according to an exemplary embodiment of the present invention.

5 is a diagram illustrating an example of output of feedback information when driving in an autonomous driving mode through the vehicle control device according to an embodiment of the present invention.

6 and 7 are diagrams illustrating examples in which driver's driving intention information is reflected when driving in an autonomous driving mode through the vehicle control device according to an embodiment of the present invention.

8 is a diagram illustrating an example in which information on a driver's driving intention is reflected when parking in an autonomous driving mode through the vehicle control device according to an embodiment of the present invention.

9 is a control flowchart of a vehicle control apparatus according to an embodiment of the present invention.

10 is a diagram illustrating a flow of traffic information according to an embodiment of the present invention.

11 is a diagram illustrating the structure of block chain information that transmits traffic information of FIG. 10 .

12 is a signal flow diagram of traffic information according to an embodiment of the present invention.

13 is a diagram illustrating traffic information according to an embodiment of the present invention.

14 to 18 are diagrams illustrating a relationship between vehicles of traffic information according to an embodiment of the present invention.

19 is a view related to compensation according to an embodiment of the present invention.

20 is a signal flow diagram of traffic information according to an embodiment of the present invention.

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numbers regardless of reference numerals, and redundant description thereof will be omitted. The suffixes "module" and "part" for components used in the following description are given or mixed in consideration of only the ease of writing the specification, and do not have distinct meanings or roles by themselves. In addition, in describing the embodiments disclosed in the present specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical idea disclosed herein is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention , should be understood to include equivalents or substitutes.

Terms including an ordinal number such as 1st, 2nd, etc. may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When an element is referred to as being “connected” or “connected” to another element, it is understood that it may be directly connected or connected to the other element, but other elements may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In the present application, terms such as “comprises” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

The vehicle provided with the vehicle control device according to an embodiment of the present invention may be a vehicle that performs a manual driving mode in which the vehicle is driven in response to a driver's driving intention and an autonomous driving mode in which the vehicle autonomously drives to a destination.

The vehicle having the vehicle control device may communicate with at least one other vehicle 2 , the infrastructure 3 and the server 4 .

When the vehicle performs the autonomous driving mode, it can control autonomous driving using various information transmitted from other vehicles 2 or the server 4, and when performing the manual driving mode, other vehicles 2 or the server ( 4) can be displayed so that the user can recognize the various information transmitted from.

The vehicle 1 may radiate electromagnetic waves to the outside through an antenna. In this case, the antenna of the vehicle 1 may emit an electromagnetic wave corresponding to an electrical signal transmitted from the vehicle control device provided in the vehicle 1 . In addition, the vehicle 1 receives the electromagnetic wave emitted from the other vehicle 2 through the antenna, converts the received electromagnetic wave into an electrical signal, generates a control signal corresponding to the converted electrical signal, and transmits the generated control signal to the vehicle. It can be used for the control of (1).

That is, the vehicle 1 may communicate with at least one other vehicle (V2V communication).

In addition, the vehicle 1 may receive an electromagnetic wave emitted from the infrastructure 3 of the road, or may emit the electromagnetic wave to the infrastructure 3 of the road.

The infrastructure 3 may receive the electromagnetic wave emitted from the antenna of the vehicle 1 , and obtain information provided by the vehicle 1 or generate a control signal by using an electrical signal corresponding to the received electromagnetic wave.

The infrastructure 3 may transmit an electrical signal, a control signal generated according to the electrical signal, or information acquired based on the electrical signal to the external server 4 through a separate cable.

In addition, the infrastructure 3 may emit the generated control signal or information as an electromagnetic wave through an antenna of the infrastructure. At this time, the vehicle 1 may receive the electromagnetic wave emitted from the infrastructure 3 , and based on the electrical signal corresponding to the received electromagnetic wave, various parts of the vehicle 1 , for example, a control signal for the display unit of the vehicle is generated. can do.

Accordingly, V2I communication can be performed between the vehicle 1 and the infrastructure (ie, structure).

The server 4 may generate route information for guiding a route to a destination according to a request of the vehicle 1 and provide it to the vehicle 1 . The server 4 may receive traffic information, road environment information, and the like from a plurality of other vehicles 2 , and provide it to the vehicle 1 .

The server 4 can also control switching of the driving mode of the vehicle 1 based on traffic information, user driving state information, vehicle driving information, vehicle failure information, and road environment information, and the vehicle 1 ), it is also possible to send a command to change the driving mode.

Here, the switching of the driving mode may include switching from the autonomous driving mode to the manual driving mode and switching from the manual driving mode to the autonomous driving mode.

The server 4 may be a server provided in a digital asset exchange, a service center that manages a plurality of vehicles, a vehicle manufacturer, an application developer, an application supplier, and the like. Also, the server 4 may be a server having an application (ie, an app) that provides a vehicle-related service.

As shown in FIG. 2 , the interior 110 of the vehicle body includes a seat 111 on which an occupant sits, a dashboard 112, and a dashboard disposed on the dashboard and includes a tachometer, a speedometer, a coolant thermometer, a fuel gauge, and a direction. The instrument cluster (i.e. cluster, 113) with the switchover indicator, high beam indicator, warning lamp, seat belt warning lamp, odometer, odometer, automatic shift selector indicator, door open warning lamp, engine oil warning lamp and low fuel warning lamp It includes a center fascia 114 on which the air vent and throttle of the air conditioner are disposed and an audio device is disposed.

A head unit 115 for controlling an audio device, an air conditioner, and a heater may be installed in the center fascia 114 .

The interior 110 of the vehicle body may further include an input unit 116 and a display unit 117 for an interface with a user, and may further include a vehicle terminal 130 .

The input unit 116 receives a user input.

The input unit 116 may receive an operation on/off command of various functions and a user input for changing the setting values of various functions.

The input unit 116 may receive a user input for selecting any one of an autonomous driving mode and a manual driving mode, receive destination information on a destination, and a user input for selecting any one of a plurality of routes , a user input for selecting a target driving speed of the autonomous driving mode may be received.

The input unit 116 may include a physical button, switch, keyboard, pedal, lever, or the like.

The input unit 116 may further include a jog dial (not shown) or a touch pad for inputting a cursor movement command and a selection command displayed on the vehicle terminal 130 .

The display unit 117 is provided in at least one of the cluster 113 and the head unit 115 and displays information about a function being performed in the vehicle 1 and information input by a user.

The display unit 117 may display information on the driving mode currently being performed, and may display notification information notifying the change of the driving mode.

The vehicle 1 may further include a sound output unit 118 for outputting at least one of a sound corresponding to information on a function being performed in the vehicle 1 and a sound corresponding to an image displayed on the vehicle terminal 130 . can

The sound output unit 118 may include one or more speakers.

The vehicle 1 includes a steering wheel 121 of a steering device for adjusting the driving direction, a brake pedal 122 pressed by the user according to the user's will to brake, and a brake pedal 122 pressed by the user according to the user's will to accelerate. It may include an accelerator pedal 123 .

The vehicle 1 may further include a shift lever for changing a position to any one of a forward stage (D), a reverse stage (R), a neutral stage (N), and a parking stage (P) according to the will of the driver.

The steering wheel 121 , the brake pedal 122 , the accelerator pedal 123 , and the shift lever may be input units for performing driving intention information corresponding to the driver's driving intention.

The in-vehicle terminal 130 (or the terminal) performs an audio mode, a video mode, a navigation mode, a broadcast output mode, and a radio mode, and it is also possible to display a map degree, route information, and route guidance information in the navigation mode.

The vehicle terminal 130 may include a display panel, and may include a touch screen in which the touch panel is integrated with the display panel.

When only the display panel is provided in the terminal 130 , a button or icon displayed on the terminal 130 may be selected using the input unit 116 .

The terminal 130 may also display information about a function being performed and information input by the user.

When the driving mode is the autonomous driving mode, the terminal 130 can display images in the forward, backward, left, and right directions, and it is also possible to display the map level and road guidance information in conjunction with the navigation mode, and it is also possible to display the driving information. . The driving information may be driving information for autonomous driving or driving information corresponding to the driver's driving intention while the autonomous driving mode is being performed.

When the driving mode is the manual driving mode, the terminal 130 may display the map level and road guidance information in conjunction with the navigation mode, and also display driving information. The driving information is driving information for the manual driving mode, and may be driving information corresponding to the driving intention of the driver.

3 is a configuration diagram of a vehicle having a vehicle control device according to an embodiment of the present invention. This will be described with reference to FIGS. 4 to 8 .

The vehicle 1 includes a distance detection unit 124 , an image acquisition unit 125 , a speed detection unit 126 , a steering angle detection unit 127 , a first pressure detection unit 128 , a second pressure detection unit 129 , and a terminal 130 . , the biometric information detection unit 133, the emotion information detection unit 134, the lever signal receiving unit 135, the position receiving unit 140, the control unit 150, the storage unit 151, the communication unit 160, and the driving device 170. include

The distance detection unit 124 detects a distance to other nearby vehicles and obstacles. The distance detector 124 may be provided on the front, rear, left, and right sides of the exterior of the vehicle, respectively.

The distance detection unit 124 includes a lidar sensor. LiDAR (Light Detection And Ranging) sensor is a non-contact distance detection sensor using the principle of laser radar. The lidar sensor may include a transmitter that transmits a laser, and a receiver that receives the laser reflected back from the surface of an object existing within the sensor range.

The distance detector 124 may include an ultrasonic sensor or a radar sensor.

The ultrasonic sensor generates ultrasonic waves for a certain period of time and then detects a signal that is reflected back from an object. The ultrasonic sensor may be used to determine the presence or absence of an obstacle, such as a pedestrian, within a short range.

A radar sensor is a device that detects the position of an object by using a reflected wave generated by the radiation of radio waves when transmission and reception are performed in the same place. The radar sensor uses the Doppler effect to prevent the transmitted and received radio waves from overlapping and difficult to distinguish, or changes the frequency of the transmit radio wave according to time, or outputs a pulse wave as the transmit radio wave.

For reference, since the radar sensor has a higher detection accuracy in the lateral direction than the RaDAR (Radio Detecting And Ranging) sensor, the accuracy of the process of determining whether a passage exists in the front can be improved.

The image acquisition unit 125 acquires an image of the road and transmits the acquired image to the controller 150 . Here, the image of the road may be an image of the road in a forward direction based on the driving direction of the own vehicle.

The image acquisition unit 125 may be provided on the roof panel to be exposed to the outside. The image acquisition unit 125 is provided on the front window glass, and may be provided on the window glass inside the vehicle, or may be provided on the rearview mirror inside the vehicle.

The image acquisition unit 125 may acquire an image inside the vehicle.

The image acquisition unit 125 is one or two or more cameras, and may include a CCD or CMOS image sensor.

The speed detection unit 126 detects the traveling speed of the vehicle.

The speed detection unit 126 includes a plurality of wheel speed sensors that output detection information (ie, wheel speed information) corresponding to the rotational speeds of wheels provided on front, rear, left, and right wheels of the vehicle.

The speed detection unit 126 may include an acceleration sensor that outputs detection information (ie, acceleration information) corresponding to the acceleration of the vehicle. The speed detection unit 126 may include both a plurality of wheel speed sensors and an acceleration sensor.

The steering angle detection unit 127 detects a steering angle with respect to the rotation direction and amount of the steering wheel, and transmits steering angle information on the detected steering angle to the controller 150 .

The steering angle detector 127 may include at least one of a steering angle sensor detecting steering angle information, a steering angular velocity sensor detecting steering angular velocity information, and a steering torque detector detecting steering torque.

The first pressure detection unit 128 outputs detection information (ie, pressure information) corresponding to the pressure applied to the brake pedal 122 . The first pressure detection unit 128 may be provided on the brake pedal 133 . The first pressure detection unit 128 may also detect the pressure of the brake hydraulic pressure of the braking device.

The second pressure detection unit 129 is provided in the accelerator pedal 123 and outputs detection information (ie, pressure information) corresponding to the pressure applied to the accelerator pedal 123 .

The vehicle may recognize the driver's driving intention and the driver's driving tendency based on the pressure information detected from the first pressure detection unit 128 and the second pressure detection unit 129 .

The terminal 130 receives information on an audio function, a video function, a DMB function, a radio function, a navigation mode, and a platoon driving mode, and displays operation information on a function or mode being performed.

The input unit 131 of the terminal receives a user input. The input unit 131 of the terminal may receive selection information of the autonomous driving mode or the manual driving mode, may receive destination information, and may receive route information for at least one of a plurality of routes.

When there are a plurality of routes to the destination before driving, the display unit 132 of the terminal may display a driving time and a driving distance corresponding to each route.

The display unit 132 of the terminal may display map information and route guidance information matched with each route, and it is also possible to display rest areas, traffic information, road condition information, weather information, and the like.

The display unit 132 of the terminal may display information on the currently running driving mode and may display notification information for mode change.

The display unit 132 of the terminal may also display content information in the autonomous driving mode. Here, the content information may include movies, music, news, advertisements, lectures, and the like.

The display unit 132 of the terminal displays route information and route guidance information matched to a map while the autonomous driving mode is being performed, and it is also possible to display situation information of surrounding roads, and it is also possible to display the target speed, forward and backward information of the vehicle. It is also possible to display driving information for driving.

The display unit 132 of the terminal may display driving intention information corresponding to the driver's driving intention while the autonomous driving mode is being performed, and may also display whether the driving intention information is reflected. The driving intention information may or may not be reflected in the autonomous driving control according to the control of the vehicle.

The display unit 132 of the terminal may display driving intention information corresponding to the driver's driving intention while the manual driving mode is being performed.

The biometric information detection unit 133 may detect the driver's biometric information. The driver's biometric information may include blood pressure, heart rate, and sweat amount.

The biometric information detector 133 may further include a fingerprint detector for driver identification, an iris detector, a voice detector, a face detector, and a vein detector.

The biometric information detection unit 133 may be provided on the steering wheel or on the seat.

The vehicle may further include an emotion information detection unit 134 for detecting emotion information corresponding to the emotional state of the driver who is the user.

The emotion information detection unit 134 may detect information about the movement of the user's hand and foot in which the user's emotional state is expressed. Here, the emotional state may include a happy state, a happy state, a pleasurable state, an angry state, a excited state, an annoyed state, a frustrated state, a disappointed state, a depressed state, a nervous state, a bored state, a fearful state, and a tired state. .

In general, people's expressions of angry, excited, and irritable states are similar, people's expressions of frustrated, disappointed, and depressed states are similar, and people's expressions of bored and tired states are generally similar. The method is similar.

That is, emotional information corresponding to the angry state, excited state, and annoyed state may be identical to each other, and emotional information corresponding to the frustrated state, disappointing state, and depressed state may be identical to each other, and the emotional information corresponding to the bored state and the tired state may be identical to each other. The corresponding emotion information may be identical to each other.

The emotional information corresponding to the angry, excited, and annoyed states includes price information generated when hitting an object with a hand or foot and shaking (or vibration) information generated when shaking an object with a hand. It may include at least one.

The emotional information corresponding to the frustrated state, the disappointing state, and the depressed state may include contact information generated when the head is placed on an object, and may further include grip information generated when the object is strongly gripped with a hand. can

The emotional information corresponding to the tense state may include tapping information generated when tapping an object using a finger.

The emotional information corresponding to the bored state and the tired state may include grip information generated when an object is strongly gripped using a hand.

The object on which the user's emotion is expressed is provided at a position adjacent to the user, and may include a steering wheel 121 , a console, an arm rest, and a headrest of a seat.

The emotion information detecting unit includes a pressure detecting unit detecting a pressure applied to the rim of the steering wheel; and a contact detection unit that detects a user's face contact with the boss of the steering wheel.

Here, the touch detection unit may include a touch sensor such as a capacitive type, and may include a laser sensor that detects a distance to an object (ie, a user's head).

The emotion information detection unit includes a sound wave detection unit that detects sound waves generated by the user from the console and the armrest. The sound wave detection unit may be a microphone, and the vibration detection unit may be any one of a gyro sensor, an acceleration sensor, and a geomagnetic sensor.

The emotion information detecting unit includes a pressure detecting unit detecting the pressure applied to the side surface of the headrest.

The vehicle can also recognize the driver's emotions by recognizing the driver's expression and voice. Such a vehicle may include one or two or more microphones in addition to the image acquisition unit.

The lever signal receiving unit 135 receives a signal corresponding to the position of the shift lever.

The position of the shift lever may include the position of the forward stage (D), the position of the reverse stage (R), the position of the neutral stage (N), and the position of the parking stage (P).

The location receiving unit 140 receives a signal from a satellite for obtaining current location information of the vehicle 1 . The location receiver 140 may transmit the acquired current location information to the controller 150 . The location receiver 140 may include a Global Positioning System (GPS) receiver that communicates with a plurality of satellites to calculate the location of the own vehicle.

The controller 150 may be a vehicle control device capable of autonomous driving control. The vehicle control apparatus autonomously drives the vehicle based on the input information of the input unit, the image information of the image acquisition unit 125 , the detection information of the distance detection unit 124 and the speed detection unit 126 , and the position information of the position receiving unit 140 . It is a control device that controls These control units will be described in detail.

The controller 150 may control operations of various devices provided in the vehicle in response to a user input received through the input unit.

The controller 150 may control autonomous driving or manual driving in response to the driving mode input to the input unit.

The controller 150 may automatically control execution of the navigation mode in the autonomous driving mode, and may selectively control the execution of the navigation mode in response to a user's selection in the manual driving mode.

When the navigation mode is executed, the controller 150 checks the current location information received from the location receiving unit 140 , checks the destination information received through the input unit 131 , and the current location based on the current location information and the destination information The display unit may be controlled to search for a route from to the destination and display information on the searched route by matching it with map information.

The controller 150 may transmit the current location information and the destination information to the server 4 to receive route information from the server 4 .

The controller 150 may control the operation of the display unit of the terminal 130 to match and display the route from the current location to the destination on the map, and to display route guidance information from the current location to the destination, and at the same time guide the route. The operation of the sound output unit 118 may be controlled so that information is output as sound.

The controller 150 may acquire the driving speed of the vehicle based on the detection information output from the plurality of wheel speed sensors and control display of driving speed information on the acquired driving speed.

The controller 150 may also obtain the driving speed of the vehicle based on the detection information output from the acceleration sensor. The controller 150 may also obtain the driving speed of the vehicle based on the detection information output from the plurality of wheel speed sensors and the detection information output from the acceleration sensor.

The control unit 150 may also obtain the driving speed based on the change information of the position provided from the position receiving unit 140 .

The control unit 150 controls the power unit and the braking device based on the operation information of the brake pedal and the accelerator pedal operated by the driver while the manual driving mode is being performed, so that the speed of the vehicle is adjusted, and the vehicle speed is controlled by the driver. The driving direction of the vehicle is adjusted by controlling the steering device based on the steering information of the obtained steering wheel.

When the image information of the road is received through the image acquisition unit while the autonomous driving mode is being performed, the controller 150 performs image processing to recognize the lane of the road, recognizes the lane based on the recognized position information of the lane, and recognizes the recognized lane It can be controlled to drive autonomously.

It is also possible for the control unit 150 to display the images in the front, rear, left and right directions of the own vehicle acquired through the image acquisition unit 125 while the autonomous driving mode is being performed.

In the autonomous driving mode, the controller 150 checks the positions of other vehicles and obstacles traveling in the left and right lanes of the own lane based on the distance information from the obstacle detected by the distance detection unit 124, It is also possible to check the distance corresponding to the position of the other vehicle and the obstacle, and control the driving device and the braking device so that the driving speed of the vehicle is adjusted to the target speed based on the identified distance to the other vehicle and the obstacle.

The control unit 150 recognizes the driver based on at least one of the biometric information detected through the biometric information detection unit 133, the image information obtained through the image acquisition unit, and the voice information received through the microphone. Rotation of a seat and a steering wheel may be adjusted based on the driver's identification information, and a driving tendency corresponding to the driver's identification information may be checked.

The driving propensity may be a propensity for beginner driving, old-age driving, driving mania, driving avoidance, highway preference, trial preference, and acidity preference.

The controller 150 may check the driving history, the driver's age, and the driver's gender based on the driver's identification information, and recognize the driver's age and gender from the image information obtained through the image acquisition unit and the voice information received through the microphone can do.

The control unit 150 recognizes the driver's emotional state corresponding to the driver's expression from the image information acquired through the image acquisition unit during the manual driving mode, and the driver's voice or breath sounds from the voice information acquired through the microphone and recognizes the driver's emotional state from the recognized voice or sound information, and recognizes the driver's emotional state based on the detection information detected by the emotional information detection unit and the biometric information detected by the biometric information detection unit.

The controller 150 may recognize a driving tendency with respect to a driving preference based on the driving information and the emotional state of the driver recognized during the manual driving mode. Here, the driving information may include driving speed information, steering information, acceleration/deceleration information, and lane change and maintenance information.

The controller 150 may recognize each driver's driving tendency whenever the manual driving mode is performed, and may recognize each driver's driving tendency through learning using deep learning or the like.

The controller 150 may recognize the emotional state of the driver based on at least one of the detection information detected by the emotion information detection unit and the biometric information detected by the biometric information detection unit.

The driver's driving state may include physical states such as drowsy or tired state, and may further include driver's emotional states such as angry, depressed, joyous, sad, irritable, excited, fearful, nervous, stable and anxious, etc. have.

For example, the controller 150 determines whether at least one of the steering wheel and the armrest is priced, and when it is determined that at least one of the steering wheel and the armrest is priced, the user's emotional state is an angry state, annoyed state, or an excited state judged to be one of

The controller 150 determines whether the steering wheel is shaken, and when it is determined that the steering wheel is shaken, determines that the user's emotional state is any one of an angry state, an annoyed state, and an excited state.

The controller 150 determines whether at least one of the steering wheel, the console, and the armrest is tapped, and when it is determined that the tap is detected in at least one of the steering wheel, the console, and the armrest, it is determined that the user's emotional state is a tense state.

When it is determined that the steering wheel is gripped and the user's head is in contact with the steering wheel, the controller 160 determines that the user's emotional state is any one of a frustrated state, a disappointing state, and a depressed state.

The controller 160 determines whether the head rest is gripped, and when it is determined that the head rest is gripped, the controller 160 determines that the user's emotional state is a bored state or a tired state.

The controller 150 may control the operation of at least one of the terminal and the driving device based on the emotional information corresponding to the recognized emotional state, and may control the change of the target driving speed in the autonomous driving mode.

The controller 150 recognizes the driver's driving intention based on the operation information of the first and second pressure detectors and the steering wheel while the autonomous driving mode is being performed, and outputs feedback information based on the recognized driving intention information on the recognized driving intention. and driving intention information for the recognized driving intention can be selectively reflected in autonomous driving control.

The control unit 150 may select an autonomous driving mode or a manual driving mode based on route information, in-path road information, traffic situation information, weather information, vehicle state information, and driver's emotional state information while driving from the current location to the destination. In addition, it is possible to control switching to another driving mode while one driving mode is being performed.

For example, if the type of road is a highway and the density of other vehicles on the road is less than or equal to the reference density, the controller 150 controls the execution of the autonomous driving mode, If the density exceeds the standard density and the road can be walked by people, driving can be controlled in the manual driving mode.

If it is determined based on the weather information that it is snowing or raining more than the reference amount or the type of road is a mountain road or a park road, the controller 150 may control driving in the manual driving mode.

When it is determined that the type of road is a highway and the driver's state is a drowsy driving state, the controller 150 may control driving in an autonomous driving mode.

The controller 150 may control driving in the autonomous driving mode when it is determined that the driver's emotional state is a fear state or an anxious state in a state in which snow or rain falls more than a reference amount based on the weather information.

As shown in FIG. 4 , the controller 150 has the control right for driving of the vehicle when the autonomous driving mode is performed in response to a handover. When it is determined that it is necessary to switch to the manual driving mode while the autonomous driving mode is being performed, the controller 150 may control the output of request information for the takeover request.

The control unit 150 outputs notification information for switching to the manual driving mode through the display unit or the sound output unit so that the driver can recognize it. The controller 150 may output notification information for a predetermined time ( T2-T3 ) when the transition to the manual driving mode is completed. The predetermined time T2 - T3 may be a time during which switching between driving modes is performed.

When it is determined that the driver recognizes the change to the manual driving mode, the controller 150 transfers the control right for driving the vehicle to the driver.

If it is determined that it is necessary to switch to the autonomous driving mode while the manual driving mode is being performed, the controller 150 may control the output of request information for the handover request.

The control unit 150 outputs notification information about the transition to the autonomous driving mode through the display unit 132 or the sound output unit 118 so that the driver can recognize it. The controller 150 may output notification information for a predetermined time when the transition to the autonomous driving mode is completed. The notification information may be output through a display unit or a sound output unit, and may also be output through a vibrating unit provided on a seat or a steering wheel.

When it is determined that the driver recognizes the transition to the autonomous driving mode, the controller 150 has the control right for driving the vehicle.

The controller 150 identifies the driver while the autonomous driving mode is being performed, and checks the driving tendency of the identified driver.

If the checked driving tendency of the driver is driving avoidance tendency, the controller 150 does not reflect the information detected by the first and second pressure detectors and the steering angle detector while performing the autonomous driving mode in the autonomous driving control information. That is, if the checked driving tendency of the driver is driving avoidance tendency, the control unit 150 ignores the information detected by the first and second pressure detection units and the steering angle detection unit during execution of the autonomous driving mode, or detects the information detected by the first and second pressure detection units and the steering angle detection unit It is possible to block the reception of the specified information.

If the confirmed driving tendency of the driver is a driving mania tendency, the control unit 150 controls the output of feedback information on the driving intention based on the driving intention information detected by the first and second pressure detection units and the steering angle detection unit during the execution of the autonomous driving mode. .

When controlling the output of the feedback information, the controller 150 may control at least one of a cluster, a sound output unit, and a suspension device.

As shown in FIG. 5 , when pressure is detected through the second pressure detection unit during autonomous driving control at a target driving speed of 100 km/h, the control unit 150 can control the movement of the pointer of the tachometer in the cluster and The movement of the pointer can be controlled.

Also, the controller 150 may control the shaking corresponding to the acceleration by controlling the suspension device, and may control the sound output unit to output a sound corresponding to the acceleration. In this way, the driver can feel as if he or she is directly driving while the autonomous driving mode is being performed.

If the checked driving tendency of the driver is a driving mania tendency, the driving intention information detected by the first and second pressure detectors and the steering angle detector during the execution of the autonomous driving mode may be reflected in the autonomous driving control information to control autonomous driving. have. That is, the controller 150 may control autonomous driving based on the driving intention information and autonomous driving control information detected by the first and second pressure detectors and the steering angle detector while the autonomous driving mode is being performed.

The control unit 150 checks the amount of pressurization and the number of pressurizations of the brake pedal 122 based on the pressure information detected by the first pressure detection unit 128 while the autonomous driving mode is being performed, and is detected by the second pressure detection unit 129 The amount of pressurization and the number of pressurizations of the accelerator pedal 123 are checked based on the obtained pressure information, and the steering direction and the number of steering manipulations of the steering wheel 121 are checked based on the steering angle information detected by the steering angle detection unit 127 for driving. It is determined whether the will information is reflected or not.

The controller 150 checks the amount of pressurization and the number of pressurizations of the brake pedal 122 based on the pressure information detected by the first pressurization detection unit 128 during the execution of the autonomous driving mode, and determines the number of pressurizations of the brake pedal as the first reference If the number of times or more or the amount of pressurization is equal to or greater than the first reference amount, the target speed may be reduced by a predetermined speed, and the change of the driving lane may be controlled based on the changed target driving speed and road information.

As shown in FIG. 6 , the controller 150 may control the steering device to move from the inner lane to the outer lane based on the center line when it is determined that the driver's driving intention is the will to decelerate during autonomous driving in the first lane of the highway. . Through this, it is possible to prevent interference with other vehicles traveling at high speed in the inner lane.

The control unit 150 checks the amount of pressurization and the number of pressurizations of the accelerator pedal 123 based on the pressure information detected by the second pressurization detector 129 while the autonomous driving mode is being performed, and determines the number of pressurizations of the accelerator pedal as the second reference If the number of times or more or the amount of pressurization is equal to or greater than the second reference amount, the target speed may be increased by a predetermined speed, and the change of the driving lane may be controlled based on the changed target driving speed and road information.

As shown in FIG. 7 , when it is determined that the driving intention of the driver is the will to accelerate during autonomous driving in the third lane of the highway, the controller 150 may control the steering device to move from the outer lane to the inner lane based on the center line. . In this way, it is possible to minimize the interference of other vehicles traveling at low speed in the outer lane to the driving of the own vehicle.

The control unit 150 checks the steering direction and the number of steering manipulations of the steering wheel 121 based on the steering angle information detected by the steering angle detection unit 127, and if the number of steering manipulations in the first steering direction is equal to or greater than the third reference number, the first It is also possible to control the steering device to move in the steering direction, and if the number of steering manipulations in the second steering direction is equal to or greater than the third reference number, it is also possible to control the steering device to move in the second steering direction.

The control unit 150 may control the steering device based on the operation direction and the number of operations of the direction indicator lever.

The control unit 150 checks the driving tendency of the driver corresponding to the type of road while the autonomous driving mode is being performed, and if the driving tendency of the driver is the preference for highway, checks the type of road, and when it is determined that the checked type of road is a highway, manual The transition to driving mode can be controlled.

The control unit 150 checks the driving tendency of the driver corresponding to the type of road while the autonomous driving mode is being performed, and if the driving tendency of the driver is the preference for acidity, the control unit 150 checks the type of road, and when it is determined that the checked type of road is acidity, manual operation The transition to driving mode can be controlled.

The control unit 150 checks the driving tendency of the driver corresponding to the type of road while the manual driving mode is being performed, and if the driving tendency of the driver is acidity avoidance, checks the type of road, and when it is determined that the checked road type is acidity, autonomously The transition to driving mode can be controlled.

The controller 150 may control the transition to the autonomous driving mode based on the driver's emotional state and driver's disposition while the manual driving mode is being performed, and based on the driver's emotional state and the driver's disposition while performing the autonomous driving mode to control the transition to the manual driving mode.

When it is determined that the current location is the destination based on the current location information and the destination information while the autonomous driving mode is being performed, the controller 150 may control parking. The controller 150 may control the position and driving speed of the shift lever and control the lighting of the emergency light during parking control in the autonomous driving mode.

When a plurality of parking spaces exist within a certain distance or adjacent parking spaces exist within a certain distance during parking control in the autonomous driving mode, the controller 150 determines the boarding location information of the occupant based on the internal image acquired by the image acquisition unit. the occupant in the vehicle based on the image information of the parking space acquired by the image acquisition unit, the obstacle information detected by the distance detection unit, the location information of the parking space, and the boarding position information of the occupant. It is convenient to get off and boarding, or it can control parking by recognizing a parking space closer to the entrance and exit of the destination and determining the recognized parking space as the target parking space.

When a plurality of parking spaces exist within a predetermined distance or adjacent parking spaces exist within a certain distance during parking control in the autonomous driving mode, the controller 150 recognizes the driver's will to park based on the internal image acquired by the image acquisition unit. And based on the recognized driver's parking intention information, it is possible to determine a desired parking space by the driver and control parking in the determined parking space.

The controller 150 obtains autonomous parking information for parking in the desired parking space when the driver controls the parking in the desired parking space during the autonomous driving mode, and corrects the driver's driving intention information based on the obtained autonomous parking information It is also possible to control the parking to the desired parking space by the driver.

Even in autonomous driving mode, it can make you feel as if you are performing self-directed parking.

As shown in FIG. 8 , the controller 150 may determine the target parking space as the first parking space PA1 in consideration of the convenience of getting on and off the occupants, and control autonomous parking to the determined first parking space.

As shown in FIG. 8 , the controller 150 recognizes the target parking space desired by the driver based on the driver's gaze, the driver's head movement, and the steering direction of the steering wheel, and sets the recognized parking space to the second parking space PA2. ), autonomous parking can be controlled to the second parking space.

When the steering wheel is operated during autonomous parking in the second parking space desired by the driver, the controller 150 acquires a target steering angle for autonomously parking into the second parking space based on the relative direction of the second parking space, and operates the steering The steering angle of the wheel may be corrected to the target steering angle, and the steering device may be controlled to move the wheel based on the corrected steering angle.

When the shift lever is moved to the forward (D) position and the brake pedal or accelerator pedal is pressed during autonomous parking to the second parking space desired by the driver, the control unit 150 controls the second parking space based on the distance to the second parking space and the relative direction. Acquire target forward distance information for autonomous parking into a parking space, correct the forward distance corresponding to the degree of pressure of the brake pedal or accelerator pedal to the target forward distance, and control the driving device to move the wheels based on the corrected forward distance can do.

When the shift lever is moved to the reverse (R) position and the brake pedal or accelerator pedal is pressed during autonomous parking to the second parking space desired by the driver, the control unit 150 controls the second parking space based on the distance to the second parking space and the relative direction. Acquire target reverse distance information for autonomous parking into a parking space, correct the reverse distance corresponding to the degree of pressure of the brake pedal or accelerator pedal to the target reverse distance, and control the driving device to move the wheel based on the corrected reverse distance can do.

The controller 150 recognizes the driver's driving state based on the image information inside the vehicle and the biometric information detected by the biometric information detector 133 among the image information acquired by the image acquisition unit, and the driver's driving state is a drowsy state If it is judged that I am tired, the reflection of driving intention information can be withdrawn.

The control unit 150 ignores the information detected by the first and second pressure detection units and the steering angle detection unit during execution of the autonomous driving mode in response to the reflection and withdrawal of the driving intention information, or information detected by the first and second pressure detection units and the steering angle detection unit reception can be blocked.

The controller 150 includes a memory (not shown) that stores data about an algorithm for controlling the operation of components in the vehicle or a program that reproduces the algorithm, and a processor (not shown) that performs the above-described operation using the data stored in the memory. not shown) may be implemented. In this case, the memory and the processor may be implemented as separate chips. Alternatively, the memory and the processor may be implemented as a single chip.

The storage unit 151 may store driver identification information and information on driving propensity for each driver.

The storage unit 151 may store reference information for the first and second reference amounts and the first, second, and third reference times for reflecting the driver's driving intention information while the autonomous driving mode is being performed.

The storage unit 151 may store map information.

The storage unit 151 may be a memory implemented as a chip separate from the processor described above with respect to the controller 150 , or may be implemented as a single chip with the processor.

The storage unit 151 is a nonvolatile memory device or RAM such as a cache, read only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), and flash memory. It may be implemented as at least one of a volatile memory device such as (Random Access Memory), a hard disk drive (HDD), or a storage medium such as a CD-ROM, but is not limited thereto.

The communication unit 160 may include an antenna, communicate with the infrastructure 3 through the antenna, and receive information transmitted from the server 4 from the infrastructure 3 . That is, the communication unit 160 may communicate with the server 4 through the road infrastructure 3 .

The communication unit 160 communicates with the server 4 , infrastructure, and other vehicles.

The communication unit 160 transmits the control signal of the control unit 150 to the server 4 and transmits various information transmitted from the server 4 to the control unit 150 .

The communication unit 160 may include one or more components that enable communication with the control unit 150 , and may include, for example, at least one of a short-range communication module, a wired communication module, and a wireless communication module.

The short-distance communication module transmits signals using a wireless communication network in a short distance such as a Bluetooth module, an infrared communication module, an RFID (Radio Frequency Identification) communication module, a WLAN (Wireless Local Access Network) communication module, an NFC communication module, and a Zigbee communication module. It may include various short-distance communication modules for transmitting and receiving.

The wired communication module includes various wired communication modules such as a Controller Area Network (CAN) communication module, a Local Area Network (LAN) module, a Wide Area Network (WAN) module, or a Value Added Network (VAN) module. Various cable communication such as USB (Universal Serial Bus), HDMI (High Definition Multimedia Interface), DVI (Digital Visual Interface), RS-232 (recommended standard232), power line communication, or POTS (plain old telephone service) as well as communication module It can contain modules.

The wired communication module may further include a Local Interconnect Network (LIN).

In addition to the Wi-Fi module and the Wireless broadband module, the wireless communication module includes a global system for mobile communication (GSM), a code division multiple access (CDMA), a wideband code division multiple access (WCDMA), and a universal mobile telecommunications system (UMTS). ), Time Division Multiple Access (TDMA), Long Term Evolution (LTE), etc. may include a wireless communication module supporting various wireless communication methods.

The driving device 170 may include a braking device that generates braking force of the vehicle, a suspension device that adjusts damping of the vehicle, a power device that generates and transmits vehicle power to the wheels, and a steering device that changes the driving direction of the vehicle. have. Here, the power device may include a power generating device for generating power and a power transmitting device for transmitting the generated power to the wheel.

Meanwhile, each component illustrated in FIG. 3 refers to a hardware component such as software and/or a Field Programmable Gate Array (FPGA) and an Application Specific Integrated Circuit (ASIC).

When the ignition is turned on, the vehicle control device may control output of request information for requesting input of destination information. In this case, the vehicle may output request information for requesting input of destination information through the display unit and the sound output unit in response to a control command of the vehicle control device.

The vehicle control device checks the current location information received by the location receiving unit 140, checks the destination information received through the input unit 131 of the terminal, and routes from the current location to the destination based on the current location information and the destination information The display unit 132 of the terminal may be controlled to search for and display information on the searched route by matching it with map information.

The vehicle control device controls the operation of the display unit of the terminal to match and display the route from the current location to the destination on the map, and controls the operation of the display unit of the terminal 130 to display route guidance information from the current location to the destination. can do. Also, the vehicle control device may control the operation of the sound output unit 118 so that the road guidance information is output as sound.

The vehicle control device converts the autonomous driving mode or the manual driving mode to the driving mode based on route information, road information on the route, traffic situation information, weather information, vehicle state information, and driver's emotional state information while driving from the current location to the destination. You can choose

When it is determined that the type of road is a road corresponding to an alley during an attempt and a road on which pedestrians exist, the vehicle control device may control the display of the terminal to display request information for requesting driving in a manual driving mode.

When the vehicle control device determines that the driver's state is ready for manual driving, the vehicle control device completes handing over the control right to the driver. The state for manually performing driving may include a state in which the driver's hand is gripping the steering wheel and a state in which the foot is in contact with the brake pedal.

The vehicle control device drives the vehicle at a speed corresponding to the driver's will by controlling the power unit and the braking device based on the operation information of the brake pedal and the accelerator pedal operated by the driver while the manual driving mode is performed ( S201 ). The speed is adjusted, and the driving direction of the vehicle is adjusted in a direction corresponding to the will of the driver by controlling the steering device based on the steering information of the steering wheel operated by the driver.

The vehicle control device determines whether it is necessary to switch to the autonomous driving mode based on route information, in-path road information, traffic situation information, weather information, vehicle state information, and driver's emotional state information while driving in the manual mode (S202) can do.

For example, when the type of road is changed to a highway while the manual driving mode is being performed, and it is determined that the density of other vehicles on the highway is less than or equal to the reference density, it may be determined that the switch to the autonomous driving mode is necessary. .

As another example, when it is determined that the density of the vehicle is less than or equal to the reference density and the driver's state is a drowsy state, the vehicle control device may determine that a transition to the autonomous driving mode is necessary.

As another example, the vehicle control device may determine that it is necessary to switch to the autonomous driving mode when it is determined that it snows or rains more than a reference amount and the emotional state of the driver is a fear or anxious state based on the weather information.

When it is determined that it is necessary to switch to the autonomous driving mode, the vehicle control device outputs a notification regarding the change of the driving mode to the driver ( S203 ).

In order to notify the driver of the change of the driving mode, the vehicle control device controls the display unit of the terminal to display driving mode change information as an image, controls the sound output unit to output a guide sound, and includes a vibration generating unit provided on a seat or steering wheel. Vibration generation can be controlled.

The vehicle control apparatus controls the vehicle to drive in the autonomous driving mode (S205) when a predetermined time for performing the switching of the driving mode has elapsed (S204). That is, the vehicle control device may take over the control right of the vehicle.

When the image information of the road is received through the image acquisition unit 125 when the autonomous driving mode is performed, the vehicle control device recognizes a lane of the road by performing image processing, and recognizes a lane based on location information of the recognized lane, Controls autonomous driving along the recognized lane, and checks the positions of other vehicles and obstacles traveling in the left and right lanes of the own lane based on distance information from the obstacle detected by the distance detection unit 124, A distance corresponding to the identified position of the other vehicle and the obstacle is checked, and the driving device and the braking device are controlled so that the driving speed of the vehicle is adjusted to the target driving speed based on the identified distance to the other vehicle and the obstacle.

The vehicle control device based on at least one of the biometric information detected by the biometric information detection unit 133 at the start time of the autonomous driving mode, the image information acquired by the image acquisition unit 125, and the voice information received through the microphone. to identify the driver and confirm the driving tendency of the driver corresponding to the driver's identification information identified from the information stored in the storage unit (S206).

The vehicle control device determines whether the checked driving tendency of the driver is a driving enthusiast or a driving avoidance. When it is determined that the driver's driving tendency is a driving mania (S207), the vehicle control device determines whether information on the driver's intention to drive is received during autonomous driving (S208), and when it is determined that the information on the driver's intention to drive has been received, the received driving intention information It is possible to control autonomous driving based on

The driving intention information may be information about pressing a brake pedal, pressing an accelerator pedal, rotating a steering wheel, and moving a position of a shift lever.

More specifically, when it is determined that the driving tendency of the driver is a driving mania tendency, the vehicle control device may analyze the driving intention of the driver based on the pressure information detected by the first and second pressure detection units and the steering angle information detected by the steering angle detection unit. and the driving intention can be analyzed based on the position information on the operation position of the shift lever.

For example, the vehicle control device may recognize the driver's will to brake and decelerate by analyzing the amount of pressure and the number of times of pressurization of the first pressure detection unit pressurized within the reference time, and the amount of pressure of the second pressure detection unit pressurized within the reference time and The driver's will to accelerate can be recognized by analyzing the number of times of pressurization, and the steering intention of the driver can be recognized by analyzing the steering direction of the steering wheel operated within the reference time and the number of steering manipulations.

The vehicle control device may control autonomous driving by reflecting the analyzed and recognized driving intention information to the autonomous driving control information (S209). That is, the vehicle control device may control autonomous driving based on driving intention information and autonomous driving control information detected by the first and second pressure detectors and the steering angle detector while the autonomous driving mode is being performed.

The vehicle control device controls the output S210 of the feedback information on the driving intention based on the driving intention information. When controlling the output of the feedback information, the vehicle control device may control at least one of a cluster, a sound output unit, and a suspension device.

For example, during autonomous driving control at a target driving speed of 100 km/h, when pressure is detected through the second pressure detection unit, the driver controls the movement of the tachometer pointer and speedometer in the cluster, and controls the output of the acceleration sound, thereby allowing the driver to move at 100 km/h. It can be recognized as an acceleration situation exceeding h. In this case, the vehicle control device may be in a state where the driving speed of the vehicle is maintained at 100 km/h in a state in which the driving intention information is not reflected in the autonomous driving control information.

When it is determined that it is unnecessary to reflect the driving intention information based on the analysis result, the vehicle control device may control the output of the feedback information.

When it is determined that the reflection of the driving intention information is necessary based on the analysis result, the vehicle control device may control the output of the feedback information along with the reflection of the driving intention information.

When the driving tendency of the driver is a driving mania while performing the autonomous driving mode, the vehicle control device selectively reflects the driving intention information of the driver to control autonomous driving while recognizing the driver's state ( S211 ).

The vehicle control device determines the driver's condition based on at least one of the biometric information detected by the biometric information detection unit, the emotion information detected by the emotion information detection unit, the driver's expression information obtained by the image acquisition unit, and the voice information received through the microphone. can recognize

The vehicle control device determines whether or not to maintain the reflection of the driving intention information based on the driver's state ( S212 ), and if it is determined that the reflection of the driving intention information should be terminated, ignores the received driving intention information, road image information, and obstacle information , it is possible to control autonomous driving based on road information. For example, when it is determined that the driver's state is a drowsy driving state or an angry state, the vehicle control device may end reflection of the driving intention information.

As shown in this figure, the traffic information collector 10 according to an embodiment of the present invention may collect traffic information of the vehicle V using the block chain BC.

The traffic information collector 10 may collect traffic information through various means. For example, the traffic information collected by the traffic information collector V may include movement collection information and fixed collection information. The movement collection information may be traffic information collected using a movable means including the vehicle (V). For example, traffic information using a vehicle (V), etc. which travels on a road and is capable of collecting speed and/or its changes, weather and/or its changes, icing and/or its changes in real-time and/or in real-time can be The fixed collection information may be traffic information continuously/discontinuously collected at a stationary and/or fixed location. For example, it may be traffic information collected using a detection sensor installed on and/or along the road. The fixed collection information may be information collected through a device installed by the traffic information collector 10 . For example, it may include a camera installed to observe the amount of traffic, a speed sensor buried in the road to measure the speed of the vehicle, and a temperature sensor to measure the temperature of the road and/or the surroundings.

The traffic information collector 10 may be an authorized institution. Traffic information may be industrial/socially useful information and sensitive personal information. For example, it means that the current location of the specific vehicle V, the speed of the vehicle V, the number of occupants of the vehicle V, etc. may be public information and personal information to be protected at the same time. Therefore, the collection of traffic information should be kept to a minimum within the limits consistent with the public nature, and the management of the collected traffic information should be carried out. The scope and/or method shall be used. In this respect, it is clear that the speed information of a vehicle (V) moving at a speed exceeding the speed limit on a road with a speed limit is also meaningful information to understand the road traffic situation, but if this information is disclosed to the public, the law allows This is easy to understand given that they can be criticized regardless of whether they fall under the reason for doing so. If providing speed information of the speeding vehicle (V) is likely to result in criticism or a fine based on this, the information may not be provided. In addition, if this trend spreads, there may be obstacles in the collection of traffic information necessary for data analysis. Therefore, it may be necessary for the smooth collection of traffic information for organizations and/or public institutions that are authorized not to misuse or abuse information.

Blockchain (BC) records continuously increasing data in a specific unit block, and each node (ND, Node) composing a P2P (Peer-To-Peer) network manages the block as a chain-type data structure. It may refer to data itself composed of data management technology and/or chain-type data structures.

The blockchain (BC) may perform a consensus process across the network to ensure data integrity and/or conformity. The consensus process is made through processes such as block creation, propagation, and verification, and the blockchain (BC)-based system proposed so far is based on consensus such as Proof Of Work and Proof Of Stake. An algorithm can be used to perform the consensus process. Blockchain (BC) can reduce security costs and protect privacy by using a distributed ledger that is distributed and stored in nodes (ND).

Blockchain (BC), although Bitcoin (Bitcoin) is known to the public, it may exist in various other forms. For example, Corda, Ethereum, etc. may be configured to embed a smart contract code in a block.

Blockchain (BC) introduces the concept of Miner. The miner stores the block chain (BC), composes transactions into blocks at arbitrary specified time intervals, and inserts them into the block chain (BC), and this process can be viewed as a mining process. The blockchain (BC) updated through the mining process can be distributed and stored in the nodes (ND) again.

The block chain (BC) may anonymize traffic information according to an embodiment of the present invention. For example, it means that the provider information of traffic information can be anonymized. When the provider information of traffic information is anonymized, the content of the traffic information can be identified, but the provider of the traffic information may not be specified. For example, when a specific vehicle V moving from point A to point B provides information, the speed information of vehicle V can be utilized, but it is not specified which vehicle V provided the information. means it may not. Therefore, the possibility of disadvantages due to the provision of information to the person providing the information can be fundamentally blocked, and the traffic information collector 10, which is the above-mentioned authorized organization, is an authorized organization or separately from it. can be a motivator to voluntarily provide

The vehicle V may refer to at least one of a GPS system installed on a vehicle body, a system connected to an ECU of the vehicle body, and a terminal possessed by an occupant. That is, a device that is installed in the vehicle V and can directly provide information related to the movement of the vehicle V and/or is located in the vehicle V and can provide information related to the movement of the vehicle V It means that it can include devices.

The vehicle V may be plural. For example, the first, second, and third vehicles V1 to V3 may be included. The plurality of vehicles V may be linked to each node ND of the block chain BC. In other words, at least some of the nodes ND may be said to correspond to each vehicle V. In other words, it can be said that each vehicle V can exchange information with a node ND corresponding thereto.

The vehicle V may provide traffic information to the block chain BD. At least a portion of the traffic information provided to the block chain BD may be provided to the traffic information collector 10 . The traffic information provided to the block chain BD may include at least one of status information, route information, vehicle information, and boarding information.

The state information may include at least one of speed, acceleration/deceleration, steering, torque, surrounding vehicles, traffic signals, sound, temperature, humidity, illumination, and precipitation and snowfall. In other words, the state information may be information related to driving of the vehicle V and/or information related to the surrounding environment of the vehicle V. For example, through the state information, it may be possible to determine whether the vehicle is smoothly traveling through the speed of the vehicle V, whether there is a possibility of an accident through the acceleration/deceleration of the vehicle V, and the like.

The route information may include at least one of a starting point, a waypoint, a destination, and a route. In other words, the route information may be referred to as information related to the trajectory of the vehicle V. For example, it may be possible to provide a traffic condition of a road through which the corresponding vehicle V will pass through the route information. In addition, by synthesizing the route information of the plurality of vehicles V, it may be expected that congestion will occur at a specific point/section at a specific point in time. Accordingly, it is possible to induce the vehicle V to avoid the congestion point/section in advance.

The vehicle information may include at least one of a fuel amount, a charging amount, an indoor temperature, an engine state, and a motor state. In other words, the vehicle information may be referred to as information related to the state of the vehicle V. For example, through vehicle information, information on which gas station should be refueled may be provided when the fuel amount of the corresponding vehicle V is taken into consideration.

The boarding information may include at least one of number of people, gender, and age. In other words, the boarding information may be information related to persons and/or articles being transported by the vehicle V. For example, through the boarding information, it is possible to provide information on a rest area optimized therefor in consideration of the number of people boarding the corresponding vehicle V.

The traffic information provided by the vehicle V may be used in combination with each other. For example, it means that a congestion section can be predicted by combining speed, fuel amount, and route, and the optimal gas station can be guided based on it. For example, it means that it is possible to determine whether an accident has occurred by combining acceleration/deceleration, engine state, and surrounding vehicles, and to guide the relevant matters to surrounding vehicles based on the combination.

As shown, the block of the block chain BC provided by the vehicle V according to an embodiment of the present invention is,

The block chain (BC) may include blocks. A block may include a header (Header, H) and a body (Body, B).

The header (H) is a hash value obtained by hashing the previous block, a Merklhash hashing the transaction history of the current block, a timestamp of the current block, a hash target value, and at least one of a nonce value. A passcode may be included.

The body (B) may include transaction contents (TV). The body B may include traffic information TI according to an embodiment of the present invention.

As shown, the vehicles V1 and V2, the traffic information collector 10, and the traffic information service provider 20 according to an embodiment of the present invention can exchange information through the block chain BC. . Each step shown in FIG. 12 may be omitted or replaced as needed. The order of each step shown in FIG. 12 may be changed as needed. The steps shown in FIG. 12 may be selectively used as necessary.

The first and second vehicles V1 and V2 may provide traffic information ( S1 , S2 ). Traffic information provided by the first and second vehicles V1 and V2 may be provided by a block chain BC. The first and second vehicles V1 and V2 may proceed with approval of whether information is collected. Approval may proceed prior to provision of information. Approval is comprehensive, so re-approval may not be necessary for a certain period and/or a certain range with one approval.

Traffic information provided by blockchain (BC) can be anonymized. Through anonymization, it may become impossible to know that the corresponding traffic information is the traffic information provided by the first and second vehicles (V1, V2).

The traffic information collector 10 may collect the anonymized first traffic information through the block chain BC (S3). The first traffic information may be information provided by a plurality of vehicles, and big data analysis may be performed on the first traffic information.

The traffic information collector 10 may provide the first traffic information to the traffic information service provider 20 (S4). The traffic information service provider 20 may be a person who generates necessary information by processing the first traffic information. For example, the traffic information service provider 20 may be a navigation service provider. For example, the traffic information service provider 20 may be a private company. The first traffic information may be anonymized traffic information. Therefore, even if the anonymized first traffic information is provided to a private navigation service provider, the provider of the information cannot be specified, so a problem due to information leakage may not occur.

The traffic information collector 10 may obtain a reward from the traffic information service provider 20 (S5). The compensation obtained from the traffic information service provider 20 may be a return for the first traffic information provided by the traffic information service provider 20 .

The traffic information collector 10 may provide the reward obtained from the traffic information service provider 20 in the block chain BC (S6). The reward provided by the block chain BC may be provided to each of the first and second vehicles V1 and V2 that provided traffic information (S7, S8). The provision of compensation to the first and second vehicles V1 and V2 may be performed by using a hash code of at least one of a vehicle providing information, a terminal of a vehicle driver, and a terminal of a vehicle owner. For example, it means that a reward corresponding to the first vehicle V1 can be obtained by using a unique hash code possessed by the first vehicle V1. For example, the information is provided through the first vehicle V1 itself, but the compensation may be provided to the terminal of the driver of the first vehicle V1 according to selection.

The traffic information service provider 20 may process the first traffic information (S9). For example, the processing of the first traffic information may be processing the first traffic information into information that can be used for navigating.

The traffic information service provider 20 may generate second traffic information by processing the first traffic information (S10). The traffic information service provider 20 may have know-how necessary for processing navigation information. Accordingly, the second traffic information generated by the traffic information service provider 20 may be provided to the block chain BC via the traffic information collector 10 (S11) (S12). The second traffic information provided to the block chain BC may be provided to the first and second vehicles V1 and V2 (S13, S14). The first and second vehicles V1 and V2 may output the received information to a display device or the like.

The traffic information collector 10 may process the first and second traffic information (S15) to generate the third traffic information (S16). For example, the traffic information collector 10 provides the traffic information service provider 20 with some of the first traffic information, and then processes the second traffic information and the first traffic information provided by the traffic information service provider 20 . It means that the process of processing can be carried out using other parts of the traffic information. In other words, information necessary for the generation of navigation information among the first traffic information is selectively provided to the traffic information service provider 20, and the navigation information generated by the traffic information service provider 20 and the traffic information collector ( It can be said that the third traffic information can be generated using the information possessed by 10).

The traffic information collector 10 provides the generated third traffic information S16 to the block chain BC, and the first and second vehicles V1 and V2 can obtain the third traffic information (S17). , S18).

As shown in this figure, the traffic information collector 10 according to an embodiment of the present invention may collect traffic information through various means and provide the collected traffic information to the vehicle.

The traffic information collector 10 may acquire information through a block chain (BC). The information obtained through the block chain (BC) may be information obtained through other vehicles, etc.

The traffic information collector 10 may acquire information through the sensors C1 and C2. The sensors C1 and C2 may be devices for acquiring fixed collection information. The sensors C1 and C2 may be devices installed by the traffic information collector 10 . That is, as described above, the traffic information collector 10 may be an authenticated institution and/or a public institution, and may be a management subject of public goods roads and/or highways. Accordingly, the traffic information collector 10 may install, manage, and operate various sensors C1 and C2 on roads and/or highways. For example, the first sensor C1 may be a sensor embedded in a road to detect a vehicle. In other words, the first sensor C1 may be a sensor that detects vibrations generated from a vehicle. At least one of frequency, speed, and acceleration/deceleration through which the vehicle passes may be detected through the first sensor C1 . For example, the second sensor C2 may be a sensor installed near the road to detect the first vehicle V1 passing through the road. In other words, the second sensor C2 may be a sensor that detects an image of a vehicle. The situation of the vehicle may be detected through the second sensor C2 .

The traffic information collector 10 may directly acquire information collected by the first and second sensors C1 and C2.

The traffic information collector 10, based on the information obtained through the block chain BC and/or the information obtained through the first and second sensors C1 and C2, the first vehicle V1 2 It is possible to provide information to the vehicle V2. Accordingly, the second vehicle V2 receiving the information may recognize the situation ahead and perform necessary measures in advance.

As shown in these drawings, traffic information according to an embodiment of the present invention can be shared with vehicles within a certain range to contribute to traffic safety.

As shown in FIG. 14 , the first to fourth vehicles V1 to V4 may have a certain relationship with each other. For example, the first to fourth vehicles V1 to V4 may have a relationship in which the first vehicle V1 is first and the second to fourth vehicles V2 to V4 follow.

When the situation OT occurs in front of the first vehicle V1 , the driver of the first vehicle V1 may reduce the speed. In other words, it means that a situation in which the acceleration of the first vehicle V1 is greatly reduced may occur. The situation OT may include an accident of a vehicle, presence of an obstacle, and congestion of the vehicle.

The traffic information generated by the first vehicle V1 may be shared with vehicles within a predetermined range. For example, it may be shared with the second to fourth vehicles V2 to V4 within a range that may be affected by the corresponding situation OT.

Traffic information can be shared between both parties. For example, it means that traffic information generated by the fourth vehicle V4 located at the rear can also be shared with the first to third vehicles V1 to V3 if necessary.

As shown in (a) of FIG. 15 , the vehicle V may want to move from the first point P1 to the fourth point P4 . Different paths may exist from the first point P1 to the fourth point P4 . The first path R1 may be the shortest path. The second path R2 may be a medium-length path. The third path R3 may be the longest path.

In the first to third paths R1 to R3, there may be other variables other than the length of the path. For example, a large number of vehicles exist on the first path R1, causing congestion, and the second path R2 is smaller than the first path R1 but is moving slowly, and the third path R3 has a vehicle. Less traffic can be facilitated.

The traffic information collector 10 may guide the vehicle V based on various situations of the first to third routes R1 to R3. For example, the traffic information collector 10 may guide another route if it is determined that the first route R1 is not appropriate due to a delay even though it is a short distance.

The traffic information collector 10 may adjust the toll based on the conditions of the first to third routes R1 to R3. For example, it means that the toll of the first route R1 may be increased and the toll of the third route R3 may be decreased. For example, the adjustment of the toll may be performed with respect to the vehicle V that intends to enter a new route. The width of adjustment of the toll may be equal to or greater than the fuel cost according to the difference between the third path R3 through which the passage is to be induced and the first path R1 that is the shortest distance. The adjustment width of the toll may be determined based on traffic information provided by the vehicle V to enter the route. For example, it means that it can be changed in real time according to the type of vehicle V, the number of passengers in the vehicle V, the age of the passengers in the vehicle V, and the like.

As shown in (b) of FIG. 15 , the preceding first and second vehicles V1 and V2 may provide necessary traffic information to the following third vehicle V3 . For example, the preceding first and second vehicles V1 and V2 may have passed through the first and second service stations GS1 and GS2. Passing through the first and second service stations GS1 and GS2, the first and second vehicles V1 and V2 can obtain the latest price information of fuel sold at the corresponding service station.

The latest oil price information obtained by the first and second vehicles V1 and V2 may be provided to the third vehicle V3. The latest price information of fuel obtained by the first and second vehicles V1 and V2 may be used for refueling guidance for the third vehicle V3. For example, it means that an appropriate gas station among the first and second service stations GS1 and GS2 can be guided based on the latest price information of fuel and oil among vehicle information of the third vehicle V3. For example, if the fuel price of the first service station GS1 is lower than that of the second service station GS2 and the fuel amount of the third vehicle V3 is sufficient to reach the first service station GS1, the fuel price This means that the first service station GS1 can be recommended rather than the expensive second service station GS2.

As shown in (c) of FIG. 15 , boarding information of the vehicle V may be provided to the traffic information collector 10 through the block chain BC. The traffic information collector 10 may acquire promotion information of the rest area GS. The traffic information collector 10 may deliver promotion information of the rest area GS to the vehicle V based on the acquired boarding information. In other words, it can be expressed that promotion information corresponding to the current state of the vehicle V is transmitted. For example, when boarding information indicating that a family including adults and children moves by riding in the vehicle V is obtained, the corresponding vehicle V among the promotion information of the rest area GS located on the path of the vehicle V This means that the corresponding information can be provided.

The traffic information collector 10 may provide information of the vehicle V to the rest area GS located on the route. The service station GS that has received the information may propose a promotion corresponding to the corresponding vehicle V by using the information.

As shown in FIG. 16 , traffic information may be provided to a following vehicle having the same at least some route as the preceding vehicle.

At a first time point t1 , the first, second, and third vehicles V1 to V3 may be driving in the first section S1 . At the junction J where the first section S1 ends, the first and second vehicles V1 and V2 proceed to the second section S2, and the third vehicle V3 proceeds to the third section S3. can proceed.

In the first section S1 in which the first, second, and third vehicles V1 to V3 move together, the preceding first vehicle V1 provides necessary traffic information to the following second and third vehicles V2 and V3. can provide Accordingly, the second and third vehicles V2 and V3 can move more safely.

At a second time point t2 past the branch point J, the first and second vehicles V1 and V2 and the third vehicle V3 move on different roads. Accordingly, the traffic information provided by the first vehicle V1 may be provided to the second vehicle V2 moving in the same second section S2, but the third vehicle V3 moving in the third section S3 may not be provided to This point may be applied even when the first distance D1 between the first and second vehicles V1 and V2 is greater than the second distance D2 between the first and third vehicles V1 and V3. That is, it means that information can be provided based on whether or not the moving sections overlap rather than the distance between vehicles.

17 , at a first time point t1 , the first, second, and third vehicles V1 , V2 , and V3 may be driving in the first section S1 . At the first branch point J1 , the first vehicle V1 may move to the second section S2 . The second and third vehicles V2 and V3 that were moving together from the first branch point J1 to the third section S3, the second vehicle V2 at the second branch point J2 are the fourth section S4 ) and the third vehicle V3 may move to the fifth section S5.

Information obtained by the first vehicle V1 in the first section S1 may be transmitted to the second and third vehicles V2 and V3. Information obtained by the first vehicle V1 in the second section V2 may not be transmitted to the second and third vehicles V2 and V3.

Information obtained by the second vehicle V2 in the third section S3 may be transmitted to the third vehicle V3. Information obtained by each of the second and third vehicles V2 and V3 in the fourth and fifth sections S4 and S5 may not be shared with each other. That is, when vehicles travel on the same route, it means that necessary information can be shared.

As shown in FIG. 18 , traffic information according to an embodiment of the present invention may be divided for each group and shared.

As shown in (a) of FIG. 18 , there may be a plurality of vehicles moving on a path. For example, 11th to 1nth vehicles (V11 to V1n) and 21st to 2mth vehicles (V21 to V2m) may exist. The 11th to 1nth vehicles V11 to V1n may be divided into a first group G1 , and the 21st to 2mth vehicles V21 to V2m may be divided into a second group G2 .

The first group G1 and the second group G2 may be in different situations. For example, although it is common to travel on the same route, it means that the trailing vehicle of the first group G1 and the leading vehicle of the second group G2 may be traveling with a certain distance D apart. When the distance D is greater than or equal to a certain distance, information may not be shared between the first and second groups G1 and G2. For example, it means that traffic information obtained from vehicles constituting the first group G1 may not be transmitted to the second group G2.

The separation distance D for classifying the groups may correspond to a distance at which the information obtained in the first group G1 may not be useful to the second group G2. For example, the weather information acquired in the first group G1 may be highly useful information to the second group G2 that follows with a significant separation distance D, but the weather information acquired in the first group G1 The steering information may be information of low usefulness to the second group G2 that follows with a relatively short separation distance D. Therefore, the separation distance D for classifying groups may vary depending on the type of traffic information.

As shown in (b) of FIG. 18 , the first group G1 is the first section S1 , the second group G2 is the second section S2 , and the third group G3 is the third section (S3) may be running. The first, second, and third sections S1 , S2 , and S3 may be roads branching from the junction J. The first, second, and third groups G1 to G3 may be divided based on the branch point J. When a vehicle belonging to the third group (G3) enters the first section (S1) from the branch point (J), the vehicle may change its affiliation from the third group (G3) to the first group (G1). have.

As shown here, compensation according to the sharing of traffic information according to an embodiment of the present invention may be provided.

As shown in (a) of Figure 19, the traffic information collector 10 can provide a reward through the block chain (BC). The compensation provided by the traffic information collector 10 may be a compensation provided from a traffic information service provider ( 20 in FIG. 12 ) that has received traffic information.

The compensation provided by the traffic information collector 10 may be provided to the vehicle V in return for contributing to traffic safety. The vehicle (V) can use a unique hash code to access the block chain (BC) to receive the reward allocated to it.

The compensation provided by the traffic information collector 10 may be provided to the terminal T. The terminal T may be a terminal T of the driver and/or owner of the vehicle V. For example, it means that one blockchain account may be shared by the vehicle V and the terminal T of the driver and/or owner.

As shown in (b) of FIG. 19 , the vehicle V may use the received compensation at the service area GS and/or the toll gate TG for calculating the toll road. For example, it means that when passing through the toll gate (TG), the road usage fee can be settled using the compensation automatically assigned to the vehicle (V).

As shown here, traffic information according to an embodiment of the present invention may be obtained through various means and used in various ways.

The traffic information obtained by the vehicle V may be transmitted (S22) to the traffic information collector 10 in the form of anonymized first traffic information through the block chain (S21).

The fourth traffic information acquired by the sensor C may be transmitted to the traffic information collector 10 (S23). The information acquired by the sensor C may be different from the first traffic information S22 in that it can be transmitted to the traffic information collector 10 without going through the block chain BC. That is, it may mean that the traffic information collector 10 may be equipped with various means for collecting traffic information. This may be possible because the traffic information collector 10 is an institution and/or a public institution that manages roads and/or highways that are public goods.

The traffic information collector 10 may transmit the first and fourth traffic information to the traffic information service provider 20 (S24).

The traffic information service provider 20 may process the first and second traffic information (S25) to generate the second traffic information (S26).

The traffic information collector 10 collects the second traffic information (S27) and provides the second traffic information to the block chain (BC) (S28), and the vehicle (V) provides the second traffic information through the block chain (BC) as a medium. 2 It is possible to obtain traffic information (S29).

The second traffic information generated by the traffic service provider 20 may be directly transmitted to the vehicle V (S30). The second traffic information may be comprehensive navigation information. In the case of not navigating information targeting a specific vehicle V, the load of the system may be managed by providing the second traffic information to the vehicle V through a separate route.

The above detailed description should not be construed as restrictive in all respects and should be considered as exemplary. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are included in the scope of the present invention.

Claims

a storage unit for storing map information and road information in the map; and

When performing autonomous driving mode, autonomous driving is controlled based on image information of the road acquired through the image acquisition unit, distance information from obstacles detected through the distance detection unit, current position information received from the position receiving unit, map information, and road information and a control unit configured to recognize and store the driving tendency of the driver based on information on pressing a brake pedal, information on pressing an accelerator pedal, and information on a steering angle corresponding to operation of a steering wheel while the manual driving mode is being performed,

The control unit is

Check driving information corresponding to acceleration, deceleration, and steering of the vehicle, control switching between the autonomous driving mode and the manual driving mode based on the stored driving tendency of the driver and the checked driving information, and control the switching information between driving modes A vehicle control unit that controls the output.
According to claim 1,

a biometric information detection unit for detecting the driver's biometric information;

Further comprising an emotion information detection unit for detecting the emotion information of the driver,

The control unit is

A vehicle control device for recognizing a driving tendency corresponding to a road type based on the current location information, the road information, the biometric information, and the emotion information.
According to claim 1,

The control unit is

Feedback information corresponding to at least one of acceleration, deceleration, and steering based on at least one of pressurization information of the brake pedal, pressurization information of the accelerator pedal, and steering angle information corresponding to manipulation of the steering wheel during execution of the autonomous driving mode A vehicle control device that controls at least one of the cluster and the sound output unit to output
According to claim 1,

The control unit is

During the execution of the autonomous driving mode, the driver's driving intention is recognized based on at least one of the brake pedal pressurization information, the accelerator pedal pressurization information, and the steering angle information corresponding to the manipulation of the steering wheel, and A vehicle control device that selectively reflects driving intention information for autonomous driving information.
According to claim 1,

a biometric information detection unit for detecting the driver's biometric information;

Further comprising an emotion information detection unit for detecting the emotion information of the driver,

The controller is configured to control switching between the autonomous driving mode and the manual driving mode based on the biometric information detected by the biometric information detecting unit and the emotion information detected by the emotion information detecting unit.
According to claim 1,

The control unit is

A vehicle control device configured to control switching between the autonomous driving mode and the manual driving mode based on traffic information and weather information.