WO2023158101A1 - Dispositif électronique pour véhicule et son procédé de fonctionnement - Google Patents

Dispositif électronique pour véhicule et son procédé de fonctionnement Download PDF

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Publication number
WO2023158101A1
WO2023158101A1 PCT/KR2023/000362 KR2023000362W WO2023158101A1 WO 2023158101 A1 WO2023158101 A1 WO 2023158101A1 KR 2023000362 W KR2023000362 W KR 2023000362W WO 2023158101 A1 WO2023158101 A1 WO 2023158101A1
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WIPO (PCT)
Prior art keywords
information
vehicle
antenna
electronic device
log
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PCT/KR2023/000362
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English (en)
Korean (ko)
Inventor
백호언
김종우
정성식
Original Assignee
삼성전자 주식회사
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Priority claimed from KR1020220028218A external-priority patent/KR20230124835A/ko
Application filed by 삼성전자 주식회사 filed Critical 삼성전자 주식회사
Publication of WO2023158101A1 publication Critical patent/WO2023158101A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles

Definitions

  • Various embodiments relate to an in-vehicle electronic device for obtaining high-precision location information of a vehicle and an operation method thereof.
  • the autonomous vehicle performs autonomous driving based on location information of the autonomous vehicle calculated through a global navigation satellite system (GNSS) using a satellite navigation signal such as a Global Positioning System (GPS).
  • GNSS global navigation satellite system
  • GPS Global Positioning System
  • a high-precision GNSS capable of obtaining a precise position by receiving correction information obtained by calculating an error from a reference station having precise location information and applying the correction information to the location information provided from the satellite navigation system.
  • the technology is being applied to autonomous vehicles.
  • a vehicle electronic device may include a plurality of antennas for receiving GNSS signals.
  • the vehicular electronic device may include a GNSS module that obtains location information of the vehicle based on the GNSS signal.
  • the vehicular electronic device may include a communication module that communicates with an external device.
  • the vehicular electronic device may include a memory that stores one or more instructions, and a processor that executes the one or more instructions stored in the memory.
  • the processor by executing the one or more instructions, based on the GNSS signal, may collect log information including RTK state information of the driving vehicle.
  • the processor may determine one or more candidate regions based on the log information by executing the one or more instructions.
  • the processor may perform switching to an antenna determined based on the log information based on the vehicle entering the one or more candidate regions by executing the one or more instructions.
  • the processor by executing the one or more instructions, based on the GNSS signal received using the switched antenna and the RTK correction information received through the communication module, high-precision location information of the vehicle can be obtained. .
  • a method of operating a vehicular electronic device may include receiving a GNSS signal and collecting log information including the RTK state information of a driving vehicle based on the received GNSS signal. .
  • a method of operating a vehicular electronic device may include determining one or more candidate regions based on the log information.
  • the operating method of the vehicular electronic device may include switching to an antenna determined based on the log information based on the vehicle entering the one or more candidate areas.
  • a method of operating a vehicular electronic device includes acquiring high-precision location information of the vehicle based on a GNSS signal received using the switched antenna and RTK correction information received through a communication module.
  • FIG. 1 is a diagram for explaining a method of obtaining high-precision location information of a vehicle using RTK correction information according to an embodiment.
  • FIG. 2 is a diagram schematically illustrating an operation of switching a GNSS antenna using log information collected by a vehicle electronic device according to an embodiment.
  • FIG. 3 is a block diagram illustrating a configuration of an electronic device for a vehicle according to an exemplary embodiment.
  • FIG. 4 is a diagram illustrating a vehicle including a plurality of GNSS antennas according to an embodiment.
  • FIG. 5 is a diagram illustrating a method of correcting location information obtained through a plurality of antennas according to an embodiment.
  • FIG. 6 is a flowchart illustrating a method of operating a vehicular electronic device according to an exemplary embodiment.
  • FIG. 7 is a diagram illustrating an example of log information collected by a vehicle electronic device according to an exemplary embodiment.
  • FIG. 8 is a diagram illustrating a method for a vehicle electronic device to collect log information according to an exemplary embodiment.
  • FIG. 9 is a diagram illustrating a method in which a vehicular electronic device determines candidate points according to an exemplary embodiment.
  • FIG. 10 is a diagram illustrating a method in which a vehicle electronic device determines priority of antennas based on log information according to an exemplary embodiment.
  • FIG. 11 is a diagram illustrating a method of determining an antenna to be switched by a vehicular electronic device according to an exemplary embodiment.
  • FIG. 12 is a diagram illustrating a method of determining an antenna to be switched by a vehicle electronic device according to an exemplary embodiment.
  • 13 is a diagram for explaining an operation performed using artificial intelligence technology in the disclosed embodiment.
  • FIG. 14 is a diagram illustrating an electronic device for a vehicle according to an exemplary embodiment that operates in conjunction with a server.
  • FIG. 15 is a diagram for explaining FIG. 14 in detail.
  • the expression “at least one of a, b, or c” means “a”, “b”, “c”, “a and b”, “a and c”, “b and c”, “a, b” and c”, or variations thereof.
  • FIG. 1 is a diagram for explaining a method of obtaining high-precision location information of a vehicle using RTK correction information according to an embodiment.
  • RTK Real Time Kinematic
  • RTK technology is a representative satellite navigation augmentation system that generates precise correction information using a carrier phase measurement value, and can determine a high-precision position with a centimeter (cm) level error.
  • the location information calculated based on the GNSS signal received by the vehicle 30 may include various errors such as distortion due to passage of the satellite navigation signal through the atmosphere, error due to the time between the GNSS satellite and the vehicle, and error due to multipath. there is.
  • RTK correction information capable of correcting errors is received in real time from one or more reference stations 20, and the received RTK correction information is transmitted to the vehicle 30. It is necessary to correct the error by applying to the location information of . If RTK correction is performed, the error range for the location information of the vehicle 30 can be reduced from 1 m or more to 1 cm or less. At this time, a state in which high-precision location information is obtained through RTK correction may be referred to as an RTK Fix state.
  • one or more reference stations 20 are for providing RTK correction information to the vehicle 30, and while having precise location information measured in advance, location information generated by receiving an actual satellite navigation signal and Based on the measured location information, it may be an actual reference station that generates RTK correction information, or may include a virtual reference station created in a plurality of places (eg, roads, etc.) using satellite observation data of the actual reference station. may be
  • the satellite navigation signal means a carrier wave transmitted from a plurality of GNSS satellites 10 .
  • One or more reference stations 20 may calculate a pseudorange for each GNSS satellite using the phase observation value of the carrier of the GNSS satellites 10 .
  • One or more reference stations 20 may generate RTK correction information by generating a correction value for each of the calculated pseudoranges according to precisely measured location information. However, it is not limited thereto.
  • RTK correction information generated by one or more reference stations 20 may be provided to the vehicle 30 through various wireless communication methods.
  • GNSS signals of high quality must be received from the GNSS satellites 10 .
  • the strength of the GNSS signals received from the GNSS satellites 10 must be strong, and when the strength of the GNSS signals is weak, RTK correction cannot be performed. Accordingly, the vehicle 30 ) cannot obtain high-precision location information.
  • the on-vehicle electronic device mounted on the vehicle 30 collects log information including RTK state information based on the GNSS signal while the vehicle is driving, and based on the collected log information, RTK By switching to a GNSS antenna that is advantageous for performing correction, a high quality GNSS signal can be received.
  • FIG. 2 is a diagram schematically illustrating an operation of switching a GNSS antenna using log information collected by a vehicle electronic device according to an embodiment.
  • the electronic device for a vehicle includes RTK status information or GNSS signal strength information indicating whether high-precision location information of the vehicle can be obtained along with vehicle location information while the vehicle 30 is driving; Identification information of connected GNSS antennas may be collected as log information.
  • the RTK state information may include a first state and a second state.
  • the first state is an RTK Fix state, and may mean a state in which precise location information (high-precision location with a centimeter (cm) level error) of the vehicle is obtained using RTK correction information.
  • the second state is an RTK float state, and may mean a state in which precise location information of the vehicle cannot be obtained using RTK correction information. For example, when a GNSS signal cannot be received or the quality of the received GNSS signal is low, vehicle location information cannot be corrected using RTK correction information.
  • the RTK state information may include other states in addition to the first state and the second state described above.
  • the vehicular electronic device may predict an area with low quality of a GNSS signal based on collected log information. For example, the in-vehicle electronic device determines the first area 210 in which log information in which the RTK status information appears in the second state or the strength of the GNSS signal is less than a preset value is collected as an area with low GNSS signal quality. can However, it is not limited thereto.
  • the vehicular electronic device 100 may determine a GNSS antenna having the best performance in an area where the quality of the GNSS signal is low, based on the collected log information.
  • vehicle The electronic device may determine the first antenna as the antenna having the best performance in the first area 210 .
  • a first state eg, Fix state
  • the vehicular electronic device may switch to the determined GNSS antenna before or when the vehicle 30 enters an area where the quality of the GNSS signal is low, and receive the GNSS signal through the corresponding GNSS antenna. For example, when the vehicle 30 enters the first area 210, the vehicular electronic device 100 determines whether an antenna currently receiving a GNSS signal is a first antenna, and if it is not the first antenna, a first It is possible to switch to an antenna and receive a GNSS signal through the first antenna. On the other hand, if the antenna currently receiving the GNSS signal is the first antenna, the current antenna connection may be maintained.
  • FIG. 3 is a block diagram illustrating a configuration of an electronic device for a vehicle according to an exemplary embodiment.
  • the vehicle electronic device 100 may include a GNSS module 110 , a communication module 140 , a processor 120 and a memory 130 .
  • the GNSS module 110 may receive a GNSS signal through the GNSS antenna 115.
  • the GNSS module 110 may obtain information about the current location of the vehicle based on the GNSS signal obtained through the GNSS antenna 115 .
  • the GNSS module 110 may obtain vehicle location information by receiving a navigation message from at least one satellite located above the earth. Specifically, the GNSS module 110 may acquire the current location coordinates of the vehicle by measuring the delay time of radio waves emitted from GNSS satellites.
  • the GNSS module 110 may generate location data (latitude/longitude coordinates, movement direction, speed, quality, etc.) based on coordinates.
  • the GNSS module 110 may use the RTK correction information received through the communication module 140 to correct vehicle location information obtained based on the GNSS signal.
  • the GNSS module 110 may obtain high-precision location information of the vehicle by applying the RTK correction information to the location information of the vehicle and correcting an error.
  • the GNSS module 110 may provide location information of the vehicle to the processor 120 or store it in the memory 130 .
  • the communication module 140 may communicate with an external device or server through at least one wired or wireless communication network.
  • the communication module 140 is at least one that performs communication according to a communication standard such as Bluetooth, Wi-Fi, Bluetooth Low Energy (BLE), NFC/RFID, Wi-Fi Direct, UWB, or ZIGBEE. It may include a short-distance communication module (not shown) and a long-distance communication module (not shown) that performs communication with a server (not shown) for supporting long-distance communication according to a long-distance communication standard.
  • the remote communication module (not shown) may perform communication through a communication network conforming to 3G, 4G, and/or 5G communication standards, or a network for Internet communication.
  • the communication module 140 may receive RTK correction information from an external device or server. However, it is not limited thereto.
  • the communication module 140 may perform data communication with a vehicle sensor module (not shown) mounted in the vehicle.
  • the communication module 140 may perform communication with a vehicle sensor module (not shown) according to a controller area network (CAN).
  • CAN controller area network
  • the vehicle sensor module (not shown) is mounted on a vehicle and detects vehicle speed, steering angle, pedal, gear lever, vehicle turn signal operation, etc. to obtain driving-related information, and driving-related information. may be transmitted to the vehicular electronic device 100. Accordingly, the communication module 140 performs CAN communication with a vehicle sensor module (not shown), thereby providing driving speed sensing information, vehicle steering angle information, pedal sensing information, and gear lever (gear lever) information from a vehicle sensor module (not shown). lever) at least one of sensing information, whether a direction indicator is activated or not, and information about a direction of an activated direction indicator may be received.
  • the processor 120 may control overall operations of the vehicular electronic device 100 .
  • Processor 120 may execute one or more programs stored in memory 130 .
  • the memory 130 may store various data, programs, or applications for driving and controlling the electronic device 100 for a vehicle.
  • the processor 120 may be composed of hardware components that perform arithmetic, logic and input/output operations and signal processing.
  • the processor 120 may include, for example, a central processing unit, a microprocessor, a graphic processing unit, application specific integrated circuits (ASICs), digital signal processors (DSPs), and digital signal processors (DSPDs). Signal Processing Devices), PLDs (Programmable Logic Devices), and FPGAs (Field Programmable Gate Arrays).
  • the memory 130 may be, for example, a flash memory type, a hard disk type, a multimedia card micro type, or a card type memory (eg SD or XD memory). etc.), ROM (ROM, Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory), and RAM (Random Access Memory) and non-volatile memory including at least one ) or volatile memory such as SRAM (Static Random Access Memory).
  • ROM Read-Only Memory
  • EEPROM Electrical Erasable Programmable Read-Only Memory
  • PROM Programmable Read-Only Memory
  • RAM Random Access Memory
  • non-volatile memory including at least one
  • SRAM Static Random Access Memory
  • Instructions, data structures, and program codes readable by the processor 120 may be stored in the memory 130 .
  • the processor 120 may be implemented by executing instructions or codes of a program stored in memory.
  • the processor 120 Based on the GNSS signal received through the GNSS module 110, the processor 120 according to an embodiment collects log information including RTK status information of the vehicle in motion and stores it in the memory 130 as a database.
  • Log information includes RTK state information corresponding to vehicle location information and time information, received GNSS signal strength information, valid satellite information and identification information of connected GNSS antennas, information on the moving direction of the vehicle, and the like.
  • RTK state information may include a first state and a second state.
  • the first state is an RTK Fix state, and may mean a state in which precise location information (high-precision location with a centimeter (cm) level error) of the vehicle is obtained using RTK correction information.
  • the second state is an RTK float state, and may mean a state in which precise location information of the vehicle cannot be obtained using RTK correction information.
  • the processor 120 may collect log information for each of a plurality of antennas. Specifically, the processor 120 switches a plurality of antennas at each predetermined interval or at each predetermined time during which the vehicle moves, receives a GNSS signal through the switched antenna, and generates log information about the corresponding antenna based on the received GNSS signal. can be collected.
  • the processor 120 when there is an antenna for which log information is not collected among a plurality of antennas in the area where the vehicle is currently driving, switches to the antenna for which log information is not collected, and provides GNSS information through the switched antenna. A signal may be received, and log information on a corresponding antenna may be collected based on the received GNSS signal.
  • the processor 120 may determine an antenna from among a plurality of antennas to preferentially collect log information based on information about the driving direction of the vehicle and the position where the antenna is disposed.
  • the processor 120 groups log data included in log information collected while the vehicle is stopped with log data having the same or similar location information, and among the log data grouped into the same group, RTK status information is first
  • the first log data in a state eg, RTK Fix state
  • the processor 120 may determine the first log data as valid log information of a corresponding group having the same or similar location information.
  • the processor 120 maintains the log data having the largest GNSS signal strength and deletes the remaining log data when there is no log data having the first state of the RTK state information among the log data grouped into the same group.
  • the processor 120 When the vehicle is using a function (eg, a navigation function) using location information acquired through the GNSS module 110 and the RTK state information is in the first state, the processor 120 does not switch the antenna , log information about the corresponding antenna can be collected.
  • a function eg, a navigation function
  • the processor 120 may collect log information based on 3D map data. For example, the processor 120 obtains location information of high-rise buildings existing around the vehicle based on the 3D map data, and based on the location information of the high-rise buildings and the moving direction of the vehicle, among a plurality of antennas. An antenna to collect log information can be determined.
  • the processor 120 may control the communication module 140 to transmit the collected log information to other vehicles.
  • the processor 120 may analyze the collected log information in various ways to determine a point or region where it is difficult to maintain the RTK Fix state as one or more candidate points or candidate regions.
  • the processor 120 may perform switching of the antenna based on the current location information of the vehicle and the vehicle entering a candidate point or candidate area.
  • the antenna to be switched may be determined based on current location information and log information of the vehicle.
  • the processor 120 compares current location information of the vehicle, satellite information corresponding to a GNSS signal currently received by the vehicle, and current time information during driving of the vehicle with log information, thereby determining the priority of the plurality of antennas. can decide A method of determining the priority of a plurality of antennas will be described later in detail with reference to FIG. 10 .
  • the processor 120 may perform Dead Reckoning (DR) based on driving state information detected by a vehicle sensing module (not shown). For example, the processor 120 may acquire location information of the vehicle by performing DR when the vehicle enters a tunnel and cannot receive a GNSS signal. Specifically, the processor 120 may estimate a driving direction and driving speed of the vehicle based on information sensed by a vehicle sensing module (not shown), and perform DR using the estimated driving direction and driving speed. there is. Also, the processor 120 according to an embodiment may switch to an antenna disposed in front of the vehicle while the DR function is operating.
  • DR Dead Reckoning
  • the processor 120 may obtain high-precision location information of the vehicle based on the GNSS signal and the RTK correction information received through the switched antenna.
  • the processor 120 may correct an error by applying RTK correction information to vehicle location information obtained based on the received GNSS signal. Accordingly, it is possible to obtain high-precision location information having a centimeter (cm) level error.
  • the block diagram of the vehicular electronic device 100 shown in FIG. 3 is a block diagram for one embodiment.
  • Each component of the block diagram may be integrated, added, or omitted according to specifications of the vehicular electronic device 100 that is actually implemented. That is, if necessary, two or more components may be combined into one component, or one component may be subdivided into two or more components.
  • the functions performed in each block are for explaining the embodiments, and the specific operation or device does not limit the scope of the present invention.
  • FIG. 4 is a diagram illustrating a vehicle including a plurality of GNSS antennas according to an embodiment.
  • the vehicular electronic device 100 may include a plurality of GNSS antennas.
  • the vehicular electronic device 100 may include a first antenna 431, a second antenna 432, a third antenna 433, and a fourth antenna 434, but is not limited thereto.
  • the reception angle of the GNSS signal may be the first angle 410.
  • the reception angle of the GNSS signal may be a second angle 420 greater than the first angle 410. Accordingly, when a plurality of GNSS antennas are included (402) than when only one GNSS antenna is included (401), the possibility of receiving a GNSS signal may be increased.
  • a plurality of GNSS antennas may be disposed in various locations of the vehicle.
  • a plurality of GNSS antennas can be variously arranged in areas suitable for receiving GNSS signals incident at various angles, such as a flat area of a vehicle ceiling, as well as an inclined tilting area, a corner or a side area, etc. Chances of receiving may increase.
  • the vehicular electronic device 100 may perform correction on location information obtained through a plurality of GNSS antennas. This will be described in detail with reference to FIG. 5 .
  • FIG. 5 is a diagram illustrating a method of correcting location information obtained through a plurality of antennas according to an embodiment.
  • the vehicle electronic device 100 may determine the center point of the vehicle as the reference point 510 of the vehicle based on information about the type, manufacturer, and model of the vehicle. Alternatively, the vehicular electronic device 100 may determine the reference point 510 of the vehicle based on points where the plurality of antennas are disposed. However, it is not limited thereto.
  • the vehicular electronic device 100 may calculate a distance between a point where each of the plurality of antennas is disposed and the reference point 510 .
  • the vehicular electronic device 100 may obtain orientation information of the vehicle by using a sensor of the vehicle.
  • the vehicular electronic device 100 transmits location information acquired from each of the plurality of antennas to the reference point 510 of the vehicle based on the distance between each of the plurality of antennas and the reference point 510 and the orientation information of the vehicle. It can be corrected with location information.
  • the vehicle electronic device 100 obtains first location information of the vehicle based on a GNSS signal acquired through the second antenna 432, the position of the second antenna 432 and the reference point 510 ), the first location information may be corrected into the second location information for the reference point 520 based on the distance 520 between the vehicles and the orientation information 530 of the vehicle.
  • the vehicular electronic device 100 corrects location information including latitude/longitude obtained through each of a plurality of antennas, and obtains location information including latitude/longitude of the reference point 520 of the vehicle. can do.
  • FIG. 6 is a flowchart illustrating a method of operating a vehicular electronic device according to an exemplary embodiment.
  • the vehicular electronic device 100 may collect log information including RTK state information of a vehicle in motion based on a GNSS signal (S610).
  • S610 GNSS signal
  • Log information may include RTK state information corresponding to vehicle location information and time information, strength information of a received GNSS signal, valid satellite information, and identification information of a connected GNSS antenna.
  • RTK state information may include a first state and a second state.
  • the first state is an RTK Fix state, and may mean a state in which precise location information (high-precision location with a centimeter (cm) level error) of the vehicle is obtained using RTK correction information.
  • the second state is an RTK float state, and may mean a state in which precise location information of the vehicle cannot be obtained using RTK correction information.
  • the vehicular electronic device 100 may also collect driving information of the vehicle as log information.
  • the vehicular electronic device 100 may obtain information about the moving direction of the vehicle.
  • the vehicular electronic device 100 may obtain information about the moving direction of the vehicle before changing to the first state and the moving direction of the vehicle after changing to the first state. there is.
  • the vehicular electronic device 100 may collect log information for each of a plurality of antennas. Specifically, the vehicular electronic device 100 switches a plurality of antennas for each predetermined section or every predetermined time while the vehicle is moving, receives a GNSS signal through the switched antenna, and based on the received GNSS signal, provides information to the corresponding antenna. log information can be collected.
  • the vehicular electronic device 100 when the vehicle is driving in a first section, the vehicular electronic device 100 receives a GNSS signal through a first antenna among a plurality of antennas, and based on the received GNSS signal, provides information about the first antenna. Log information can be collected.
  • the vehicular electronic device 100 switches the antenna from the first antenna to the second antenna and receives a GNSS signal through the second antenna in the second section. and log information on the second antenna may be collected based on the received GNSS signal.
  • the vehicular electronic device 100 may receive a GNSS signal through the first antenna for a first time, and collect log information about the first antenna based on the received GNSS signal.
  • the vehicular electronic device 100 may switch the antenna from the first antenna to the second antenna, receive a GNSS signal through the second antenna during the second time, and based on the received GNSS signal
  • log information on the second antenna can be collected.
  • the vehicular electronic device 100 switches to an antenna for which log information is not collected, and selects the switched antenna.
  • a GNSS signal may be received through the antenna, and log information on a corresponding antenna may be collected based on the received GNSS signal.
  • the vehicular electronic device 100 may determine an antenna from among a plurality of antennas to preferentially collect log information based on information about the driving direction of the vehicle and the position where the antenna is disposed. For example, when the vehicle is driving in a southward direction in the first area and log information is collected indicating that the performance of the first antenna located in front of the vehicle is excellent, when the vehicle enters the first area in a northward direction, the vehicle Log information on the second antenna located at the rear of may be preferentially collected. However, it is not limited thereto.
  • the vehicular electronic device 100 groups log data included in the collected log information with log data having the same or similar location information, and RTK status information among the log data grouped into the same group.
  • the first log data in the first state eg, RTK Fix state
  • the remaining log data may be deleted.
  • the vehicular electronic device 100 may determine the first log data as valid log information of a corresponding group having the same or similar location information.
  • the vehicular electronic device 100 maintains log data having the greatest strength of a GNSS signal, and the remaining log data can be deleted.
  • the vehicular electronic device 100 does not switch the antenna when the RTK state information is in the first state when the vehicle is using a function (eg, a navigation function) using location information obtained through a GNSS module, Log information on the corresponding antenna may be collected.
  • a function eg, a navigation function
  • the vehicular electronic device 100 may perform antenna switching and collect log information about the switched antenna when the moving direction of the vehicle does not change.
  • the vehicular electronic device 100 may collect log information about the currently connected antenna without switching the antenna. It is determined whether the strength of the GNSS signal received through the currently connected antenna increases, and if the strength of the GNSS signal does not increase, the log information may be collected by switching to another antenna. However, it is not limited thereto.
  • the vehicular electronic device 100 may collect log information based on 3D map data. For example, based on 3D map data, location information of high-rise buildings existing around the vehicle may be obtained, and log information among a plurality of antennas may be collected based on the location information of the high-rise buildings and the moving direction of the vehicle. antenna can be determined. This will be described later in detail with reference to FIG. 8 .
  • the vehicular electronic device 100 may determine one or more candidate points based on the collected log information (S620).
  • the vehicular electronic device 100 detects log information in which the strength of the GNSS signal is less than a threshold value or the RTK state is the second state (eg, RTK float state) a predetermined number of times or more.
  • a collected point or area may be determined as one or more candidate points or areas.
  • the present invention is not limited thereto, and the vehicular electronic device 100 may analyze the collected log information in various ways and determine a point or region where it is difficult to maintain the RTK Fix state as one or more candidate points or regions.
  • one or more candidate points or areas may be represented by latitude/longitude, but is not limited thereto.
  • the vehicular electronic device 100 determines whether the distance between the vehicle and the candidate point is less than or equal to a threshold distance based on the current location information of the vehicle (S630), and if the distance is less than or equal to the threshold distance, the antenna is switched. It can (S640).
  • the antenna to be switched may be determined based on current location information and log information of the vehicle.
  • the vehicular electronic device 100 compares current location information of the vehicle, satellite information corresponding to a GNSS signal currently received by the vehicle, and current time information while the vehicle is driving with log information, thereby providing information about a plurality of antennas. You can decide your priorities. A method of determining the priority of a plurality of antennas will be described later in detail with reference to FIG. 10 .
  • the vehicular electronic device 100 may obtain high-precision location information of the vehicle based on a GNSS signal and RTK correction information received through a switched antenna (S650).
  • the vehicular electronic device 100 may correct an error by applying RTK correction information to vehicle location information acquired based on the received GNSS signal. Accordingly, it is possible to obtain high-precision location information having a centimeter (cm) level error.
  • FIG. 7 is a diagram illustrating an example of log information collected by a vehicle electronic device according to an exemplary embodiment.
  • the vehicular electronic device 100 includes RTK status information (RTK status), connected antenna information (Antenna No.), vehicle location information (latitude/longitude), time information, and a GNSS signal At least one of strength information (Avg CN0), effective satellite information (number of effective satellites, effective satellite No.), and vehicle movement direction information (movement direction before RTK Fix, movement direction after RTK Fix) is collected and mapped to each other. It can be stored as log information 710 .
  • RTK status information RTK status
  • connected antenna information Antenna No.
  • vehicle location information latitude/longitude
  • time information a GNSS signal
  • GNSS signal At least one of strength information (Avg CN0), effective satellite information (number of effective satellites, effective satellite No.), and vehicle movement direction information (movement direction before RTK Fix, movement direction after RTK Fix) is collected and mapped to each other. It can be stored as log information 710 .
  • RTK state information may include a first state and a second state.
  • the first state is an RTK Fix state, and may mean a state in which precise location information (high-precision location with a centimeter (cm) level error) of the vehicle is obtained using RTK correction information.
  • the second state is an RTK float state, and may mean a state in which precise location information of the vehicle cannot be obtained using RTK correction information. For example, when a GNSS signal cannot be received or the quality of the received GNSS signal is low, vehicle location information cannot be corrected using RTK correction information.
  • the RTK state information may include other states in addition to the first state and the second state described above.
  • the connected antenna information may include identification information about an antenna currently receiving a GNSS signal.
  • the location information of the vehicle may include information about latitude and longitude of a point where the vehicle is located, obtained through a GNSS module. However, it is not limited thereto.
  • the time information may include a standard time for collecting log information, and may be expressed in units of year, month, day hour, minute and second. However, it is not limited thereto.
  • GNSS signal strength information (eg, Avg CN0) may represent the average strength of currently received GNSS signals, and valid satellite information includes the number of satellites corresponding to the currently received GNSS signal and identification information of each satellite (eg, valid satellite No.).
  • the moving direction information of the vehicle may include a moving direction of the vehicle before entering the RTK Fix state and a moving direction of the vehicle after RTK Fix.
  • log information shown and described in FIG. 7 is only an example, and log information according to an embodiment may include various pieces of information other than the information shown and described in FIG. 7 .
  • FIG. 8 is a diagram illustrating a method for a vehicle electronic device to collect log information according to an exemplary embodiment.
  • the vehicular electronic device 100 may collect log information using 3D map data.
  • the 3D map data may be pre-stored in the vehicular electronic device 100 or may be received from an external device.
  • the 3D map data may be 3D detailed map data (HD Map data), but is not limited thereto.
  • the vehicular electronic device 100 may obtain information on artificial structures such as geographical features or buildings around the vehicle based on the 3D map data.
  • the vehicular electronic device may determine an antenna to collect log information from among a plurality of antennas based on location information of a high-rise building existing around a vehicle in motion and a moving direction of the vehicle.
  • the vehicular electronic device 100 may preferentially collect log information about an antenna disposed in a direction opposite to a direction in which the building is located among a plurality of antennas. .
  • the vehicular electronic device 100 may preferentially collect log information corresponding to an antenna located in the right front.
  • the vehicular electronic device 100 may receive a GNSS signal using an antenna located in the right front, and collect log information about the antenna located in the right front, based on the received GNSS signal.
  • the vehicle electronics The apparatus 100 may preferentially collect log information corresponding to an antenna located at the right rear.
  • FIG. 9 is a diagram illustrating a method in which a vehicular electronic device determines candidate points according to an exemplary embodiment.
  • the vehicular electronic device 100 may determine one or more candidate points based on collected log information. Specifically, the vehicular electronic device 100 selects points at which it is difficult to maintain the RTK state as the first state (eg, RTK Fix state) as candidate points based on the strength of the GNSS signal and the RTK state information included in the log information. can be determined by For example, the in-vehicle electronic device 100 determines points where log data where the strength of the GNSS signal is less than or equal to a threshold is collected more than a preset number of times, and where log data having a second state of RTK state information is collected more than a preset number of times. Points can be determined as candidate points.
  • the first state eg, RTK Fix state
  • the strength of the GNSS signal included in the collected log information may appear to be less than or equal to a threshold value.
  • the number of log data in which the strength of the GNSS signal is less than a threshold may be greater than or equal to a preset number, and the vehicular electronic device 100 determines the first point 910 can be determined as a candidate point.
  • RTK state information included in the log information collected when the vehicle is located at the second point 920 may be a second state (eg, RTK float).
  • log data having the second state of RTK state information may be more than a preset number, and the electronic device 100 determines the second point 920 as a candidate point.
  • RTK state information included in the log information for each antenna collected when the vehicle is located at the third point 930 may all be in the first state (eg, RTK Fix), and the vehicular electronic device 100
  • the third point 930 may not be determined as a candidate point. However, it is not limited thereto.
  • the vehicular electronic device 100 may acquire current location information of a driving vehicle through the GNSS module 110 .
  • the vehicular electronic device 100 may perform antenna switching when a distance between the current location of the vehicle and each of the first and second points 910 and 920 determined as candidate points is within a preset distance. .
  • the vehicular electronic device 100 may perform antenna switching.
  • the vehicular electronic device 100 may determine an antenna to be switched based on priorities of a plurality of GNSS antennas. A method for the vehicular electronic device 100 to determine the priority of antennas based on log information will be described in detail with reference to FIG. 10 .
  • FIG. 10 is a diagram illustrating a method in which a vehicle electronic device determines priority of antennas based on log information according to an exemplary embodiment.
  • the vehicular electronic device may prioritize antennas based on log information corresponding to a candidate area.
  • the log information collected by the vehicular electronic device 100 is stored in a first candidate region (eg, a region in which latitude is 38 or more and 40 or less, and longitude is 121 or more and 124 or less).
  • a first candidate region eg, a region in which latitude is 38 or more and 40 or less, and longitude is 121 or more and 124 or less.
  • Corresponding first to sixth log data may be included.
  • the vehicular electronic device 100 may determine the priority of antennas based on RTK status information, GNSS signal strength, time information, and satellite information included in log information.
  • the vehicular electronic device 100 includes first to sixth log data 1010 , 1020 , 1030 , 1040 , and 1050 in which RTK state information indicates a first state, first log data 1010 , and second log data 1010 indicating a first state.
  • Log data 1020 and fifth log data 1050 may be detected.
  • the priorities of the antennas corresponding to the first log data 1010, the second log data 1020, and the fifth log data 1050 are assigned to the third log data 1030 and the fourth log data 1050. Priorities of antennas may be determined to be higher than priorities of antennas corresponding to 1040 and the sixth log data 1060 .
  • the vehicular electronic device 100 converts time information close to the current time information (eg, 2:00 PM) among the first log data 1010, the second log data 1020, and the fifth log data 1050.
  • the priorities of the antennas may be determined so that the priorities of the antennas corresponding to the first log data 1010 and the second log data 1020 are higher than the priorities of the antennas corresponding to the fifth log data 1050.
  • the vehicular electronic device 100 converts satellite information identical to satellite information (for example, GNSS 43) corresponding to a currently received GNSS signal among the first log data 1010 and the second log data 1020 to valid satellites.
  • the priority of the antennas may be determined so that the priority of the antenna corresponding to the first log data 1010 included as information is higher than the priority of the antenna corresponding to the second log data 1020 .
  • the vehicular electronic device 100 prioritizes the plurality of antennas so that the priority of the antenna corresponding to the log data having the largest GNSS signal strength among the log data including time information close to the current time is higher. may decide However, it is not limited thereto.
  • the vehicular electronic device 100 When the vehicle enters the first candidate area, the vehicular electronic device 100 according to an embodiment switches to an antenna (eg, the first antenna) having the highest priority according to the priority order of the antennas, and A GNSS signal may be received through the antenna.
  • an antenna eg, the first antenna
  • FIG. 11 is a diagram illustrating a method of determining an antenna to be switched by a vehicular electronic device according to an exemplary embodiment.
  • the vehicular electronic device 100 may collect first log data when a vehicle 1101 in motion travels in a first candidate area.
  • the first log data includes location information of the first candidate region, RTK state information (eg, RTK Fix state) in the first candidate region, and connected GNSS antenna information (eg, the first antenna 1110). is connected), and movement direction information of the vehicle 1101 (eg, the movement direction of the vehicle is north).
  • the vehicular electronic device 100 may determine an antenna corresponding to the first candidate region as the first antenna 1110 based on the first log data.
  • the vehicular electronic device 100 may switch an antenna when the vehicle 1110 again enters the first candidate area based on the collected first log data. For example, the vehicular electronic device 100 may switch an antenna when the distance between the current location of the vehicle 1101 in motion and the first candidate region is within a threshold distance. In this case, the vehicular electronic device 100 may determine an antenna to be switched based on the first log data and the driving direction of the vehicle. For example, when the driving vehicle 1110 is moving toward the first candidate area while moving north (1130), the vehicular electronic device 100 may determine the first antenna 1110 as an antenna to be switched. . The vehicular electronic device 100 may receive a GNSS signal through the first antenna 1110 in the first candidate area by switching to the first antenna 1110 . The vehicular electronic device 100 may obtain high-precision location information of the vehicle 1101 based on the GNSS signal and the RTK correction information received through the first antenna 1110 .
  • the antenna to be switched may be determined as the second antenna 1120 disposed on the opposite side of the first antenna 1110.
  • the vehicular electronic device 100 may receive a GNSS signal through the second antenna 1120 in the first candidate region by switching to the second antenna 1120 .
  • the vehicular electronic device 100 may obtain high-precision location information of the vehicle 1101 based on the GNSS signal and the RTK correction information received through the second antenna 1120 .
  • FIG. 12 is a diagram illustrating a method of determining an antenna to be switched by a vehicle electronic device according to an exemplary embodiment.
  • the vehicular electronic device 100 may collect second log data when a vehicle 1201 in motion travels in a second candidate area along a first movement path 1230 .
  • the second log data includes location information of the second candidate region, RTK state information (eg, RTK Fix state) in the second candidate region, and connected GNSS antenna information (eg, the first antenna 1210 is Connected), the vehicle 1201 receives previous and subsequent movement direction information based on the RTK Fix state (eg, information indicating that the movement direction before RTK Fix is east and the movement direction after RTK Fix has changed to south) can include
  • RTK state information eg, RTK Fix state
  • connected GNSS antenna information eg, the first antenna 1210 is Connected
  • the vehicle 1201 receives previous and subsequent movement direction information based on the RTK Fix state (eg, information indicating that the movement direction before RTK Fix is east and the movement direction after RTK Fix has changed to south) can include
  • the vehicular electronic device 100 may collect third log data when the driving vehicle 1201 travels in the second candidate area along the second movement path 1240 .
  • the third log data includes location information of the second candidate region, RTK state information (eg, RTK Fix state) in the second candidate region, and connected GNSS antenna information (eg, the first antenna 1210 is Connected), the vehicle 1201 may include previous and subsequent movement direction information based on the RTK Fix state (eg, the movement direction before RTK Fix is east, and the movement direction after RTK Fix is also east) can
  • the vehicular electronic device 100 may perform antenna switching when the vehicle 1201 enters the second candidate area based on the collected log information. For example, when the driving vehicle 1201 is moving toward the second candidate region while moving in the north direction opposite to the movement direction included in the second log data (1250), the vehicular electronic device 100 2 Based on the log data, an antenna to be switched may be determined as the second antenna 1220 .
  • the first antenna 1210 may be an antenna disposed in the right front of the vehicle 1201
  • the second antenna 1220 may be an antenna disposed in the left rear of the vehicle 1201.
  • the vehicular electronic device 100 may receive a GNSS signal through the second antenna 1220 in the second candidate region by switching to the second antenna 1220 .
  • the vehicular electronic device 100 may obtain high-precision location information of the vehicle 1201 based on the GNSS signal and the RTK correction information received through the second antenna 1220 .
  • the vehicular electronic device (100) may determine an antenna to be switched as the second antenna 1220 based on the third log data.
  • the vehicular electronic device 100 may receive a GNSS signal through the second antenna 1220 in the second candidate region by switching to the second antenna 1220 .
  • the vehicular electronic device 100 may obtain high-precision location information of the vehicle 1201 based on the GNSS signal and the RTK correction information received through the second antenna 1220 .
  • the vehicular electronic device 100 switches from the second antenna 1220 to the first antenna 1210 again. can be performed. Accordingly, the vehicular electronic device 100 may receive a GNSS signal through the first antenna 1210 in an area entered after turning left, and may continuously maintain the RTK Fix state.
  • 13 is a diagram for explaining an operation performed using artificial intelligence technology in the disclosed embodiment.
  • At least one operation of determining an antenna to be switched may be performed using artificial intelligence (AI) technology that performs calculation through a neural network.
  • AI artificial intelligence
  • 'AI technology' Artificial intelligence technology is a technology that obtains a desired result by performing calculations through a neural network and processing input data such as analysis and/or classification.
  • an algorithm or a set of algorithms for implementing AI technology is called a neural network.
  • the neural network may receive input data, perform the above-described calculation for analysis and/or classification, and output result data. In this way, in order for the neural network to accurately output result data corresponding to the input data, it is necessary to train the neural network.
  • 'training' refers to inputting various data into the neural network, analyzing the input data, classifying the input data, and/or extracting features necessary for generating result data from the input data. It may mean training a neural network so that the neural network can discover or learn a method by itself.
  • the neural network may train learning data (eg, a plurality of different images) to optimize and set weight values inside the neural network. And, by self-learning the input data through a neural network having optimized weight values, a desired result is output.
  • learning data eg, a plurality of different images
  • a neural network is classified as a deep neural network when the number of hidden layers, which are internal layers that perform operations, is plural, that is, when the depth of the neural network that performs operations increases.
  • neural networks include Convolutional Neural Network (CNN), Deep Neural Network (DNN), Recurrent Neural Network (RNN), Restricted Boltzmann Machine (RBM), Deep Belief Network (DBN), Bidirectional Recurrent Deep Neural Network (BRDNN), and Deep Neural Network (BRDNN).
  • Q-networks (Deep Q-Networks), etc., are not limited to the above examples.
  • neural networks can be subdivided.
  • a CNN neural network may be subdivided into a Deep Convolution Neural Network (DCNN) or a Capsnet neural network (not shown).
  • DCNN Deep Convolution Neural Network
  • Capsnet neural network not shown.
  • an 'AI model' may refer to a neural network including at least one layer that operates to receive input data and output desired results.
  • an 'AI model' is an algorithm or a set of a plurality of algorithms that outputs a desired result by performing an operation through a neural network, a processor for executing such an algorithm or a set thereof, and a processor for executing such an algorithm or a set thereof. software, or hardware for executing such an algorithm or set thereof.
  • the neural network 1310 may be trained by receiving training data. Then, the trained neural network 1310 receives the input data 1311 through the input terminal 1320, and the output terminal 1340 analyzes the input data 1311 and calculates output data 1315 as a desired result. can be performed. An operation through a neural network may be performed through a hidden layer 1330 .
  • the hidden layer 1330 is simplified to be formed as a single layer, but the hidden layer 1330 may be formed as a plurality of layers.
  • the neural network 1310 is configured based on vehicle state information (eg, vehicle driving state, currently connected antenna information, information on functions running in the vehicle, etc.) and received GNSS signals.
  • vehicle state information eg, vehicle driving state, currently connected antenna information, information on functions running in the vehicle, etc.
  • the vehicular electronic device 100 may be taught to collect log information including RTK status information.
  • the neural network 1310 may be trained to determine candidate points based on collected log information.
  • the neural network 1310 may learn to prioritize the plurality of antennas corresponding to the candidate points based on the collected log information.
  • the neural network 1310 may be trained to determine an antenna to switch based on the priority of the plurality of antennas corresponding to the candidate points and the current moving direction of the vehicle.
  • the neural network 1310 performing at least one of the at least one operation may be implemented in the processor 120 of the electronic device 100 for a vehicle. Alternatively, performing at least one of i) collecting log information, ii) determining a candidate point based on the collected log information, and iii) determining an antenna to switch based on the collected log information.
  • the neural network 1310 is distinguished from the vehicle electronic device 100 and may be implemented in a separate electronic device (not shown) or a processor (not shown) located in the vehicle.
  • the above-described calculation through the neural network may be performed by a server (not shown) capable of communicating with the electronic device 100 for a vehicle according to an embodiment through a wireless communication network. Communication between the vehicular electronic device 100 and a server (not shown) will be described in detail below with reference to FIGS. 14 and 15 .
  • FIG. 14 is a diagram illustrating an electronic device for a vehicle according to an exemplary embodiment that operates in conjunction with a server.
  • the server 1400 may include a server, a server system, and a server-based device that transmits and receives data to and from the vehicle electronic device 100 through the communication network 1401 and processes the data.
  • the server 1400 includes a communication unit that communicates with the vehicle electronic device 100 installed inside the vehicle 1500 and a processor that executes at least one instruction.
  • the server 1400 may receive log information collected from the vehicular electronic device 100 . Also, the server 1400 may receive information related to driving of the vehicle from the vehicle sensor module.
  • the server 1400 may train an AI model and store the trained AI model. Then, the server 1400 uses the trained AI model and the received information, i) collecting log information, ii) determining a candidate point based on the collected log information, iii) collecting log information Based on , at least one of operations for determining an antenna to be switched may be performed.
  • the server 1400 may control the communication unit to transmit at least one of information about the determined candidate point, information about the priority of antennas corresponding to the candidate point, and information about an antenna to be switched to the vehicular electronic device 100.
  • the vehicular electronic device 100 may have a limited memory storage capacity, processing speed of calculation, ability to collect learning data sets, and the like compared to the server 1400 . Accordingly, operations requiring storage of large amounts of data and large amounts of computation may be performed in the server 1400, and then necessary data and/or AI models to be used may be transmitted to the vehicular electronic device 100 through a communication network. Then, the vehicular electronic device 100 can perform necessary operations quickly and easily by receiving and using necessary data and/or AI models through a server without a large-capacity memory and a processor having fast computing capability.
  • FIG. 15 is a diagram for explaining FIG. 14 in detail.
  • the vehicular electronic device 100 of FIG. 15 has been described and illustrated by taking the same case as the vehicular electronic device 100 described in FIG. 3 as an example.
  • a server 1400 may include a communication unit 1410, a processor 1420, and a database 1430.
  • the communication unit 1410 may include one or more components that communicate with the vehicular electronic device 100 .
  • the communication unit 1410 includes at least one communication module such as a short-distance communication module, a wired communication module, a mobile communication module, and a broadcast reception module.
  • at least one communication module includes a tuner for receiving broadcasting, Bluetooth, Wireless LAN (WLAN) (Wi-Fi), Wireless broadband (Wibro), World Interoperability for Microwave Access (Wimax), CDMA, WCDMA, Internet, and 3G , 4G, and/or 5G, means a communication module capable of transmitting and receiving data through a network conforming to communication standards such as a method of performing communication using mmWAVE.
  • the communication unit 1410 when the communication unit 1410 performs communication using mmWAVE, a large amount of data can be quickly transmitted and received. Specifically, by rapidly receiving a large amount of data in the vehicle, data necessary for vehicle safety (eg, data necessary for autonomous driving, data necessary for navigation service, etc.), user-used content (eg, movies, music, etc.) etc.), it is possible to increase the safety of the vehicle and/or user's convenience.
  • data necessary for vehicle safety eg, data necessary for autonomous driving, data necessary for navigation service, etc.
  • user-used content eg, movies, music, etc.
  • the mobile communication module included in the communication unit 1410 communicates with other devices (eg, a server (not shown)) located at a distance through a communication network conforming to communication standards such as 3G, 4G, and/or 5G. communication can be performed.
  • a communication module that communicates with a remote server (not shown) may be referred to as a 'remote communication module'.
  • the processor 1420 controls the overall operation of the server 1400.
  • the processor 1420 may perform required operations by executing at least one of at least one instruction and programs of the server 1400 .
  • the DB 1430 may include a memory (not shown), and may store at least one of at least one instruction, program, and data necessary for the server 1400 to perform a predetermined operation in the memory (not shown). there is.
  • the DB 1430 may store data necessary for the server 1400 to perform calculations according to the neural network.
  • the server 1400 may store the neural network 1310 described in FIG. 13 .
  • the neural network 1310 may be stored in at least one of the processor 1420 and the DB 1430.
  • the neural network 1410 included in the server 1400 may be a trained neural network.
  • the server 1400 may transmit the learned neural network to the communication module 150 of the vehicular electronic device 100 through the communication unit 1430 . Then, the vehicular electronic device 100 may obtain and store the neural network for which learning has been completed, and obtain desired output data through the neural network.
  • a vehicle electronic device may include a plurality of antennas for receiving GNSS signals.
  • the vehicular electronic device may include a GNSS module that obtains location information of the vehicle based on the GNSS signal.
  • the vehicular electronic device may include a communication module that communicates with an external device.
  • the vehicular electronic device may include a memory that stores one or more instructions, and a processor that executes the one or more instructions stored in the memory.
  • the processor by executing the one or more instructions, based on the GNSS signal, may collect log information including RTK state information of the driving vehicle.
  • the processor may determine one or more candidate regions based on the log information by executing the one or more instructions.
  • the processor may perform switching to an antenna determined based on the log information based on the vehicle entering the one or more candidate regions by executing the one or more instructions.
  • the processor by executing the one or more instructions, based on the GNSS signal received using the switched antenna and the RTK correction information received through the communication module, high-precision location information of the vehicle can be obtained. .
  • Log information may include vehicle location information, time information, and RTK state information, strength information of the GNSS signal, and valid satellite information.
  • the processor may collect the log information for each of the plurality of antennas when the vehicle is driving by executing the one or more instructions.
  • the processor may receive the GNSS signal through a first antenna among the plurality of antennas when the vehicle is driving in the first section by executing the one or more instructions.
  • the processor may collect the log information on the first antenna by executing the one or more instructions.
  • the processor may, by executing the one or more instructions, perform antenna switching when the vehicle moves to the second section to receive the GNSS signal through a second antenna among the plurality of antennas. can
  • the processor may collect the log information on the second antenna based on the received GNSS signal by executing the one or more instructions.
  • the processor may, by executing the one or more instructions, prevent the log information from being collected when an antenna from among the plurality of antennas exists in an area where the vehicle is currently driving. Switching can be performed with an antenna that is not
  • a processor may receive the GNSS signal through the switched antenna by executing the one or more instructions.
  • the processor may collect the log information on the switched antenna based on the received GNSS signal by executing the one or more instructions.
  • the processor according to an embodiment may group log data having the same location information among log data included in the collected log information when the vehicle is stopped by executing the one or more instructions. By executing the one or more instructions, the processor according to an embodiment converts first log data having the first state of the RTK state information among log data grouped into the same group into log information corresponding to the same location information. can decide
  • the processor may, by executing the one or more instructions, when the vehicle is driving, based on at least one of driving direction information of the vehicle, location information where the plurality of antennas are disposed, and surrounding building information , it is possible to determine an antenna to collect the log information.
  • the processor may receive the GNSS signal through the determined antenna by executing the one or more instructions.
  • the processor may collect the log information on the determined antenna by executing the one or more instructions.
  • the processor by executing the one or more instructions, when the function using the location information of the vehicle is being executed in the vehicle and the RTK state of the vehicle is the first state, without switching the antenna, the current The log information on connected antennas may be collected.
  • the processor may determine priorities for the plurality of antennas corresponding to the one or more candidate regions based on the log information by executing the one or more instructions.
  • the processor may determine an antenna to receive the GNSS signal based on the priority order by executing the one or more instructions.
  • the processor may perform the plurality of operations based on satellite information corresponding to a GNSS signal currently received by the vehicle, current time information while the vehicle is driving, and the log information. Priority can be determined for antennas.
  • the processor includes the same information as the current location information and the current time information of the vehicle among the collected log information by executing the one or more instructions, and the RTK state information is in a first state. , When there is first log data, the priority of the plurality of antennas may be determined so that the priority of the antenna corresponding to the first log data is higher.
  • the processor may, if second log data including satellite information corresponding to a GNSS signal currently received by the vehicle exists among the first log data, the second log data
  • the priorities of the plurality of antennas may be determined so that the priorities of antennas corresponding to log data are higher.
  • a method of operating a vehicular electronic device may include receiving a GNSS signal and collecting log information including the RTK state information of a driving vehicle based on the received GNSS signal. .
  • a method of operating a vehicular electronic device may include determining one or more candidate regions based on the log information.
  • the operating method of the vehicular electronic device may include switching to an antenna determined based on the log information based on the vehicle entering the one or more candidate regions.
  • a method of operating a vehicular electronic device includes acquiring high-precision location information of the vehicle based on a GNSS signal received using the switched antenna and RTK correction information received through a communication module.
  • the log information may include vehicle location information, time information, the RTK state information, strength information of the GNSS signal, and valid satellite information.
  • Collecting the log information may include collecting the log information for each of the plurality of antennas when the vehicle is driving.
  • Collecting the log information may include receiving the GNSS signal through a first antenna among the plurality of antennas and collecting the log information for the first antenna when the vehicle is driving in a first section. steps may be included.
  • Collecting the log information may include, when the vehicle moves to the second section, antenna switching is performed to receive the GNSS signal through a second antenna among the plurality of antennas, and the received GNSS signal based on the method, collecting the log information on the second antenna.
  • the collecting of the log information may include switching to an antenna from which the log information is not collected when an antenna from among the plurality of antennas exists in an area in which the vehicle is currently driving. steps may be included.
  • Collecting the log information may include receiving the GNSS signal through the switched antenna and collecting the log information on the switched antenna based on the received GNSS signal.
  • Collecting the log information may include grouping log data having the same location information among log data included in the collected log information when the vehicle is stopped.
  • the collecting of the log information may include determining first log data having a first state of the RTK state information among log data grouped into the same group as log information corresponding to the same location information. there is.
  • the collecting of the log information may include collecting the log information based on at least one of driving direction information of the vehicle, information on locations where the plurality of antennas are disposed, and information on surrounding buildings when the vehicle is driving. It may include determining an antenna.
  • Collecting the log information may include receiving the GNSS signal through the determined antenna and collecting the log information for the determined antenna.
  • Collecting the log information may include, when a function using location information of the vehicle is being executed in the vehicle and the RTK state of the vehicle is the first state, without switching the antenna, the log information for the currently connected antenna. It may include the step of collecting.
  • the switching to the determined antenna may include determining priorities of the plurality of antennas corresponding to the one or more candidate regions based on the log information.
  • the switching to the determined antenna may include determining an antenna to receive the GNSS signal based on the priority order.
  • the step of determining the priority of the plurality of antennas may include the plurality of antennas based on satellite information corresponding to a GNSS signal currently received by the vehicle, current time information while the vehicle is driving, and the log information. It may include determining the priority for the .
  • the step of determining the priority of the plurality of antennas includes, among the collected log information, the same information as the current location information and the current time information of the vehicle, and the RTK state information is in a first state, When the first log data exists, determining the priority of the plurality of antennas so that the priority of the antenna corresponding to the first log data is higher.
  • the step of determining the priority of the plurality of antennas may include, when second log data including satellite information corresponding to a GNSS signal currently received by the vehicle exists among the first log data, the second log data.
  • the method may include determining a priority of the plurality of antennas so that an antenna corresponding to data has a higher priority.
  • the vehicular electronic device may maintain the RTK Fix state by predicting a location or area where the RTK state is unstable in advance and switching to an antenna having the best performance in the corresponding location or area.
  • the vehicular electronic device may obtain high-precision location information of the vehicle by maintaining the RTK Fix state. Accordingly, it is possible to stably drive the vehicle and ensure the safety of the driver and passengers.
  • a method of operating a vehicle electronic device may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer readable medium.
  • the computer readable medium may include program instructions, data files, data structures, etc. alone or in combination.
  • Program instructions recorded on the medium may be those specially designed and configured for the present invention or those known and usable to those skilled in computer software.
  • Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks.
  • - includes hardware devices specially configured to store and execute program instructions, such as magneto-optical media, and ROM, RAM, flash memory, and the like.
  • Examples of program instructions include high-level language codes that can be executed by a computer using an interpreter, as well as machine language codes such as those produced by a compiler.
  • vehicle electronic device and the operating method of the vehicle electronic device according to the disclosed embodiments may be included in a computer program product and provided.
  • Computer program products may be traded between sellers and buyers as commodities.
  • a computer program product may include a S/W program and a computer-readable storage medium in which the S/W program is stored.
  • a computer program product may include a product in the form of a S/W program (eg, a downloadable app) that is distributed electronically through a manufacturer of an electronic device or an electronic marketplace (eg, Google Play Store, App Store). there is.
  • a part of the S/W program may be stored in a storage medium or temporarily generated.
  • the storage medium may be a storage medium of a manufacturer's server, an electronic market server, or a relay server temporarily storing SW programs.
  • a computer program product may include a storage medium of a server or a storage medium of a client device in a system composed of a server and a client device.
  • the computer program product may include a storage medium of the third device.
  • the computer program product may include a S/W program itself transmitted from the server to the client device or the third device or from the third device to the client device.
  • one of the server, the client device and the third device may execute the computer program product to perform the method according to the disclosed embodiments.
  • two or more of the server, the client device, and the third device may execute the computer program product to implement the method according to the disclosed embodiments in a distributed manner.
  • a server may execute a computer program product stored in the server to control a client device communicatively connected to the server to perform a method according to the disclosed embodiments.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mathematical Physics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

Un mode de réalisation de l'invention concerne un dispositif électronique pour un véhicule, qui comprend : un module GNSS qui comprend une pluralité d'antennes pour recevoir un signal GNSS et qui acquiert des informations d'emplacement d'un véhicule sur la base du signal GNSS ; un module de communication pour effectuer une communication avec un dispositif externe ; une mémoire pour stocker plus d'une instruction ; et un processeur pour réaliser la ou les instructions stockées dans la mémoire, le processeur pouvant : collecter, sur la base du signal GNSS, des informations de journal comprenant des informations d'état de RTK du véhicule de conduite ; déterminer plus d'une zone candidate, sur la base des informations de journal ; commuter vers une antenne déterminée sur la base des informations de journal, sur la base du fait que le véhicule a pénétré dans une des zones candidates ; et acquérir des informations d'emplacement de haute précision du véhicule, sur la base du signal GNSS reçu à l'aide de l'antenne commutée, et des informations de correction RTK reçues par l'intermédiaire du module de communication.
PCT/KR2023/000362 2022-02-18 2023-01-09 Dispositif électronique pour véhicule et son procédé de fonctionnement WO2023158101A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2022-0021728 2022-02-18
KR20220021728 2022-02-18
KR1020220028218A KR20230124835A (ko) 2022-02-18 2022-03-04 차량용 전자 장치 및 그 동작 방법
KR10-2022-0028218 2022-03-04

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WO2023158101A1 true WO2023158101A1 (fr) 2023-08-24

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0778532B2 (ja) * 1988-06-20 1995-08-23 日本無線株式会社 ダイバシティ受信ｇｐｓ受信機
JPH08223142A (ja) * 1995-02-08 1996-08-30 Fujitsu Ten Ltd ダイバシティーアンテナ切換システム
US5748145A (en) * 1995-09-13 1998-05-05 Trimble Navigation Limited Real-time kinematic initialization test system
KR20130072196A (ko) * 2010-05-18 2013-07-01 트림블 내비게이션 리미티드 지엔에스에스 기준 국 및 감시
KR20170127912A (ko) * 2016-05-13 2017-11-22 아이엘디바이스 주식회사 서버기반 gnss 위치결정 시스템 및 방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0778532B2 (ja) * 1988-06-20 1995-08-23 日本無線株式会社 ダイバシティ受信ｇｐｓ受信機
JPH08223142A (ja) * 1995-02-08 1996-08-30 Fujitsu Ten Ltd ダイバシティーアンテナ切換システム
US5748145A (en) * 1995-09-13 1998-05-05 Trimble Navigation Limited Real-time kinematic initialization test system
KR20130072196A (ko) * 2010-05-18 2013-07-01 트림블 내비게이션 리미티드 지엔에스에스 기준 국 및 감시
KR20170127912A (ko) * 2016-05-13 2017-11-22 아이엘디바이스 주식회사 서버기반 gnss 위치결정 시스템 및 방법

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