KR101896253B1 - Vehicle and Control method thereof - Google Patents

Abstract

The present invention is characterized in that the roadside apparatus broadcasts RSU (Roadside Unit) information corresponding to a Global Positioning System (GPS) shaded area in a GPS shaded area, a step in which a traveling vehicle receives RSU information based on GPS information, And a step in which the vehicle travels based on the substitute position information including the reception time of the RSU information and the RSU information.

Description

VEHICLE AND CONTROL METHOD THEREFOR

The present invention relates to a vehicle and a control method thereof.

A vehicle is a device that moves a user in a desired direction by a boarding user. Typically, automobiles are examples.

On the other hand, for the convenience of users who use the vehicle, various sensors and electronic devices are provided. Particularly, for the convenience of the user, research on the ADAS (Advanced Driver Assistance System) is being actively carried out. Furthermore, development of an autonomous vehicle is being actively carried out.

The vehicle must be able to determine the current position of the vehicle in order to autonomously travel or to complete the route to the destination via the navigation device. The vehicle can determine the current position of the vehicle through GPS (Global Positioning System) position information.

GPS is a satellite navigation system that calculates the position of a receiver through communication with satellites. Accordingly, in an area where communication with the satellite is not smooth, the receiver can not smoothly receive the GPS signal, and thus the receiver can not be located.

Accordingly, a technique for determining the position of the vehicle using a roadside apparatus provided in the road is being studied in a shaded area of the GPS where it is difficult to determine the position through the GPS.

An object of the present invention is to provide a control method of a vehicle capable of determining the position of the vehicle 100 by using position information provided by the roadside apparatus in a shadow area of a GPS in order to solve the above problems.

It is another object of the present invention to provide a control method of a vehicle capable of determining the relative position between a vehicle and another vehicle using position information provided by the roadside apparatus in the shadow area of the GPS and using the received time have.

The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

According to another aspect of the present invention, there is provided a method of controlling a vehicle, the method including: broadcasting RSU (Roadside Unit) information corresponding to a shaded area of a Global Positioning System (GPS) A step in which the vehicle traveling on the basis of the GPS information receives the RSU information, and a step in which the vehicle travels based on the substitute position information including the reception time of the RSU information and the RSU information.

A vehicle according to an embodiment of the present invention receives RSU information broadcast by one of a plurality of RSEs through a communication device and a communication device that communicate with other devices, And a control unit for controlling the vehicle to autonomously travel based on the substitute position information including the information.

The details of other embodiments are included in the detailed description and drawings.

According to an embodiment of the present invention, there is one or more of the following effects.

First, it is possible to determine the position of the vehicle in the shadow area of the GPS and perform autonomous traveling.

Second, the relative position of the vehicle and the other vehicle can be determined within the shadow area of the GPS.

Third, there is an effect that the location of the accident and information about the accident can be shared when an accident occurs in the shadow area of the GPS.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

1 is a view showing an appearance of a vehicle according to an embodiment of the present invention.
2 is a view of a vehicle according to an embodiment of the present invention viewed from various angles.
3 to 4 are views showing an interior of a vehicle according to an embodiment of the present invention.
5 to 6 are drawings referred to explain an object according to an embodiment of the present invention.
FIG. 7 is a block diagram for explaining a vehicle according to an embodiment of the present invention. FIG.
FIG. 8 is a block diagram for explaining a roadside apparatus according to the present invention. FIG.
9 is a flowchart for explaining a vehicle control method according to the present invention.
10 is a view for explaining a GPS shadow region and a sidewalk apparatus according to the present invention.
Figs. 11 to 13 are flowcharts for explaining how the vehicle according to the present invention travels using the alternative position information. Fig.
14 to 16 are diagrams for explaining the determination of the relative position of the vehicle and the other vehicle according to the control method of the vehicle according to the present invention.
17 and 18 are diagrams for explaining a process of transmitting emergency situation information in a shadow area of a GPS when an emergency situation occurs according to a control method of a vehicle according to the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The vehicle described herein may be a concept including a car, a motorcycle. Hereinafter, the vehicle will be described mainly with respect to the vehicle.

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

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

1 is a view showing an appearance of a vehicle according to an embodiment of the present invention.

2 is a view of a vehicle according to an embodiment of the present invention viewed from various angles.

3 to 4 are views showing an interior of a vehicle according to an embodiment of the present invention.

5 to 6 are drawings referred to explain an object according to an embodiment of the present invention.

FIG. 7 is a block diagram for explaining a vehicle according to an embodiment of the present invention. FIG.

Referring to FIGS. 1 to 7, the vehicle 100 may include a wheel rotated by a power source, and a steering input device 510 for adjusting the traveling direction of the vehicle 100.

The vehicle 100 may be an autonomous vehicle. The vehicle 100 can autonomously run under the control of the control unit 170. [

The vehicle 100 can perform autonomous travel based on the position of the vehicle 100 and information on the map. The vehicle 100 can acquire the map information through communication with other devices.

The vehicle 100 can acquire positional information of the vehicle 100 using a GPS (Global Positioning System). The GPS is a system for determining the position of the vehicle 100 based on GPS information obtained through communication with at least one GPS satellite.

When the communication between the vehicle 100 and the GPS satellite is not smooth, the vehicle 100 can not acquire the complete GPS information. In this case, the accuracy of determining the position of the vehicle 100 may be degraded. An area where communication between the vehicle 100 and the GPS satellites is not smooth is referred to as a GPS shaded area. For example, the interior of the tunnel may be a GPS shaded area.

The roadside apparatus is a device provided around the road and capable of performing communication with a vehicle that runs on the road. The RSE provided in correspondence with the shadow area of the GPS can provide RSU information corresponding to the current position of the vehicle 100 instead of the GSP satellite.

The vehicle and its control method according to the present invention can determine the position of the vehicle 100 based on the time when the RSU information and the RSU information broadcasted by the roadside apparatus in the GPS shaded area are received in the vehicle. Further, the vehicle and the control method thereof according to the present invention can determine the relative position of the vehicle and the vehicle 100 in the shadow area of the GPS. A detailed description thereof will be described later.

The vehicle 100 can be remotely controlled by an external device. The external device may be a server, a mobile terminal, another vehicle, or the like. For example, the server may perform remote control of the vehicle 100 when the vehicle 100 determines that remote control is necessary.

The control mode of the vehicle 100 may be a mode that indicates what the vehicle 100 is controlling. For example, the control mode of the vehicle 100 may be an autonomous driving mode in which the control unit 170 included in the vehicle 100 or the driving system 700 controls the vehicle 100, A manual mode in which the vehicle 100 is controlled, and a remote control mode in which devices other than the vehicle 100 control the vehicle 100. [

When the vehicle 100 is in the self-running mode, the control unit 170 and the operating system 700 can control the vehicle 100. [ Accordingly, the vehicle 100 can be operated without the driver's control. When the vehicle 100 is in the manual mode, the driver of the vehicle 100 can control the vehicle 100. [ When the vehicle 100 is in the remote control mode, a device other than the vehicle 100 can control the vehicle 100. [ The vehicle 100 can be controlled based on a remote control signal transmitted by the device.

The vehicle 100 may enter one of an autonomous drive mode, a manual mode, and a remote control mode based on a user input received through the user interface device 200. [ The control mode of the vehicle 100 may be switched to one of an autonomous driving mode, a manual mode, and a remote control mode based on at least one of driver state information, vehicle driving information, and vehicle state information.

The driver status information may be generated based on images or biometric information of the driver sensed through the internal camera 220 or the biometric sensor 230. [ For example, the driver status information may be information generated based on an image of the driver's gaze, face, behavior, facial expression, and position acquired through the internal camera 220. [ For example, the driver status information may be information generated based on the user's biometric information obtained through the biometric sensor 230. [

For example, the driver state information may indicate the direction in which the driver's gaze is directed, the driver's sleepiness, the driver's health state, and the driver's emotional state.

Driver status information may be generated through the user interface device 200 and provided to the control unit 170. [

The vehicle running information may be generated based on object information provided by the object detecting apparatus 300 or information received through the communication apparatus 400. [ For example, the vehicle running information may include position information of the vehicle 100, information on another vehicle to be received from another vehicle, information on a running route of the vehicle, navigation information including map information, and the like.

For example, the vehicle travel information indicates the type, location, and movement of an object existing around the vehicle 100, whether there is a lane around the vehicle 100, whether the vehicle 100 is stationary, The possibility of collision between the vehicle and the object, how pedestrians or bicycles are distributed around the vehicle 100, whether the vehicle 100 is traveling or not, The state of the traffic light around the vehicle 100, the movement of the vehicle 100, and the like.

The vehicle running information is generated through at least one of the object detecting apparatus 300, the communication apparatus 400, the navigation system 770, the sensing unit 120, and the interface unit 130 and provided to the control unit 170 .

 The vehicle status information may be information related to the status of various units provided in the vehicle 100. [ For example, the vehicle state information may include at least one of a user interface device 200, an object detection device 300, a communication device 400, a driving operation device 500, a vehicle driving device 600, Information about the state, and information on the abnormality of each unit.

For example, the vehicle status information indicates whether the GPS signal of the vehicle 100 is normally received, whether at least one sensor provided in the vehicle 100 has an error, each device provided in the vehicle 100 operates normally Can be displayed.

The control mode of the vehicle 100 can be switched to one of an autonomous drive mode, a manual mode, and a remote control mode based on various information.

For example, the control mode of the vehicle 100 may be switched from the manual mode to the autonomous mode or switched from the autonomous mode to the manual mode, based on the object information generated by the object detection device 300. [

For example, the control mode of the vehicle 100 may be switched from the manual mode to the autonomous mode or switched from the autonomous mode to the manual mode, based on the information received via the communication device 400.

The control mode of the vehicle 100 may be switched from the manual mode to the autonomous mode or from the autonomous mode to the manual mode based on information, data, and signals provided by the external device.

When the vehicle 100 is operated in the self-running mode, the vehicle 100 can be operated based on the travel system 700. [ For example, the vehicle 100 in the autonomous driving mode can be operated based on information, data, or signals generated in the traveling system 710, the outgoing system 740, and the parking system 750. [

When the vehicle 100 is operated in the manual mode, the vehicle 100 can receive a user input for driving through the driving operation device 500. [ The vehicle 100 can be operated based on a user input received through the driving operation device 500. [

When the vehicle 100 is operated in the remote control mode, the vehicle 100 can receive, via the communication device 400, a remote control signal transmitted by another device. The vehicle 100 can be controlled based on the remote control signal.

The overall length means the length from the front portion to the rear portion of the vehicle 100 and the width is the width of the vehicle 100 and the height means the length from the bottom of the wheel to the roof. In the following description, it is assumed that the total length direction L is a direction in which the full length direction of the vehicle 100 is measured, the full width direction W is a reference for the full width measurement of the vehicle 100, Which is a reference for the measurement of the height of the object 100.

7, the vehicle 100 includes a user interface device 200, an object detection device 300, a communication device 400, a driving operation device 500, a vehicle driving device 600, A navigation system 770, a sensing unit 120, an interface unit 130, a memory 140, a control unit 170, and a power supply unit 190.

According to the embodiment, the vehicle 100 may further include other components than the components described herein, or may not include some of the components described.

The user interface device 200 is a device for communicating between the vehicle 100 and a user. The user interface device 200 may receive user input and provide information generated by the vehicle 100 to the user. The vehicle 100 can implement UI (User Interfaces) or UX (User Experience) through the user interface device 200. [

The user interface device 200 may include an input unit 210, an internal camera 220, a biological sensing unit 230, an output unit 250, and a processor 270.

According to the embodiment, the user interface device 200 may further include other components than the components described, or may not include some of the components described.

The input unit 210 is for receiving information from a user. The data collected by the input unit 210 may be analyzed by the processor 270 and processed by a user's control command.

The input unit 210 may be disposed inside the vehicle. For example, the input unit 210 may include one area of a steering wheel, one area of an instrument panel, one area of a seat, one area of each pillar, one area of the head console, one area of the door, one area of the center console, one area of the head lining, one area of the sun visor, one area of the windshield, One area or the like.

The input unit 210 may include a voice input unit 211, a gesture input unit 212, a touch input unit 213, and a mechanical input unit 214.

The voice input unit 211 can switch the voice input of the user into an electrical signal. The converted electrical signal may be provided to the processor 270 or the control unit 170.

The voice input unit 211 may include one or more microphones.

The gesture input unit 212 can switch the user's gesture input to an electrical signal. The converted electrical signal may be provided to the processor 270 or the control unit 170.

The gesture input unit 212 may include at least one of an infrared sensor and an image sensor for detecting a user's gesture input.

According to an embodiment, the gesture input 212 may sense a user's three-dimensional gesture input. To this end, the gesture input unit 212 may include an optical output unit for outputting a plurality of infrared rays or a plurality of image sensors.

The gesture input unit 212 can sense a user's three-dimensional gesture input through a time of flight (TOF) method, a structured light method, or a disparity method.

The touch input unit 213 can switch the touch input of the user into an electrical signal. The converted electrical signal may be provided to the processor 270 or the controller 170.

The touch input unit 213 may include a touch sensor for sensing a touch input of a user.

According to the embodiment, the touch input unit 213 is integrated with the display unit 251, thereby realizing a touch screen. Such a touch screen may provide an input interface and an output interface between the vehicle 100 and a user.

The mechanical input unit 214 may include at least one of a button, a dome switch, a jog wheel, and a jog switch. The electrical signal generated by the mechanical input 214 may be provided to the processor 270 or the controller 170.

The mechanical input unit 214 may be disposed on a steering wheel, a centepascia, a center console, a cockpit module, a door, or the like.

The occupant detection unit 240 can sense a passenger inside the vehicle 100. [ The occupant detection unit 240 may include an internal camera 220 and a living body detection unit 230.

The internal camera 220 can acquire the in-vehicle image. The processor 270 can sense the state of the user based on the in-vehicle image. For example, the sensed user's condition may be for the driver's gaze, face, behavior, facial expression, and position.

The processor 270 can obtain information on the driver's gaze, face, behavior, facial expression, and position in the in-vehicle image. The processor 270 may obtain information about the user's gesture in the in-vehicle image. The information that the processor 270 acquires from the in-vehicle image may be referred to as driver status information. In this case, the driver status information may indicate the driver's gaze direction, driver's behavior, facial expression, gesture, and the like. The processor 270 may provide the controller 170 with driver status information obtained from the in-vehicle image.

The biometric sensor 230 can acquire biometric information of the user. The biometric sensor 230 includes a sensor capable of acquiring biometric information of the user, and can acquire fingerprint information, heartbeat information, and brain wave information of the user using the sensor. The biometric information can be used for user authentication or for determining the status of the user.

The processor 270 can determine the status of the driver through the biometric information of the driver. The information obtained by the processor 270 by judging the driver's state may be referred to as driver state information. In this case, the driver status information may indicate whether the driver is stunned, sleepy, excited, or in an emergency. The processor 270 can provide the controller 170 with driver status information obtained from the driver's biometric information.

The output unit 250 is for generating an output related to a visual, auditory or tactile sense or the like.

The output unit 250 may include at least one of a display unit 251, an acoustic output unit 252, and a haptic output unit 253.

The display unit 251 may display graphic objects corresponding to various information.

The display unit 251 may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED) display, a 3D display, and an e-ink display.

The display unit 251 may have a mutual layer structure with the touch input unit 213 or may be integrally formed to realize a touch screen.

The display unit 251 may be implemented as a Head Up Display (HUD). When the display unit 251 is implemented as an HUD, the display unit 251 may include a projection module to output information through an image projected on a windshield or a window.

The display unit 251 may include a transparent display. The transparent display may be attached to the windshield or window.

The transparent display can display a predetermined screen while having a predetermined transparency. Transparent displays can be made of transparent TFEL (Thin Film Elecroluminescent), transparent OLED (Organic Light-Emitting Diode), transparent LCD (Liquid Crystal Display), transmissive transparent display, transparent LED (Light Emitting Diode) Or the like. The transparency of the transparent display can be adjusted.

Meanwhile, the user interface device 200 may include a plurality of display units 251a to 251g.

The display unit 251 includes one area of the steering wheel, one area of the inspiration panel 521a, 251b and 251e, one area of the seat 251d, one area of each filler 251f, 251g), one area of the center console, one area of the head lining, one area of the sun visor, one area 251c of the windshield, and one area 251h of the window.

The audio output unit 252 converts an electric signal provided from the processor 270 or the control unit 170 into an audio signal and outputs the audio signal. To this end, the sound output section 252 may include one or more speakers.

The haptic output unit 253 generates a tactile output. For example, the haptic output section 253 may operate to vibrate the steering wheel, the seat belt, the seat 110FL, 110FR, 110RL, and 110RR so that the user can recognize the output.

The processor 270 may control the overall operation of each unit of the user interface device 200.

In accordance with an embodiment, the user interface device 200 may include a plurality of processors 270, or may not include a processor 270. [

If the user interface device 200 does not include the processor 270, the user interface device 200 may be operated under the control of the processor or the control unit 170 of another apparatus in the vehicle 100. [

On the other hand, the user interface device 200 may be referred to as a vehicle display device.

The user interface device 200 may be operated under the control of the control unit 170.

The object detecting apparatus 300 is an apparatus for detecting an object located outside the vehicle 100. [

The object may be various objects related to the operation of the vehicle 100.

5 to 6, an object O is an object O that is a vehicle that is a vehicle such as a car OB10, another vehicle OB11, a pedestrian OB12, a two-wheeled vehicle OB13, traffic signals OB14 and OB15, Speed bumps, terrain, animals, and the like.

The lane OB10 may be a lane on which the opposed vehicle travels, as a driving lane, a side lane of the lane. The lane OB10 may be a concept including left and right lanes forming a lane.

The other vehicle OB11 may be a vehicle running in the vicinity of the vehicle 100. [ The other vehicle may be a vehicle located within a predetermined distance from the vehicle 100. For example, the other vehicle OB11 may be a preceding vehicle or a trailing vehicle.

The pedestrian OB12 may be a person located in the vicinity of the vehicle 100. [ The pedestrian OB12 may be a person located within a predetermined distance from the vehicle 100. [ For example, the pedestrian OB12 may be a person who is located on the delivery or driveway.

The two-wheeled vehicle OB12 may mean a vehicle located around the vehicle 100 and moving using two wheels. The two-wheeled vehicle OB12 may be a rider having two wheels located within a predetermined distance from the vehicle 100. [ For example, the two-wheeled vehicle OB13 may be a motorcycle or a bicycle located on a sidewalk or a motorway.

The traffic signal may include a traffic light (OB15), a traffic sign (OB14), a pattern drawn on the road surface, or text.

The light may be light generated from lamps provided in other vehicles. Light can be light generated from a street light. Light can be solar light.

The road may include a slope such as a road surface, a curve, an uphill, a downhill, and the like.

The structure may be an object located around the road and fixed to the ground. For example, the structure may include street lamps, street lamps, buildings, electric poles, traffic lights, and bridges.

The terrain may include mountains, hills, and the like.

On the other hand, an object can be classified into a moving object and a fixed object. For example, the moving object may be a concept including an other vehicle, a pedestrian. For example, the fixed object may be a concept including a traffic signal, a road, and a structure.

The object detection apparatus 300 may include a camera 310, a radar 320, a LR 330, an ultrasonic sensor 340, an infrared sensor 350, and a processor 370.

According to the embodiment, the object detecting apparatus 300 may further include other elements other than the described elements, or may not include some of the described elements.

The camera 310 may be located at an appropriate location outside the vehicle to obtain the vehicle exterior image. The camera 310 may be a mono camera, a stereo camera 310a, an AVM (Around View Monitoring) camera 310b, or a 360 degree camera.

For example, the camera 310 may be disposed in the interior of the vehicle, close to the front windshield, to acquire an image of the front of the vehicle. Alternatively, the camera 310 may be disposed around a front bumper or radiator grill.

For example, the camera 310 can be disposed in the interior of the vehicle, close to the rear glass, to acquire images of the rear of the vehicle. Alternatively, the camera 310 may be disposed around a rear bumper, trunk, or tailgate.

For example, the camera 310 may be disposed close to at least one of the side windows in the interior of the vehicle to obtain the image of the side of the vehicle. Alternatively, the camera 310 may be disposed around a side mirror, fender, or door.

The camera 310 may provide the acquired image to the processor 370.

The radar 320 may include an electromagnetic wave transmitting unit and a receiving unit. The radar 320 may be implemented by a pulse radar system or a continuous wave radar system in terms of the radio wave emission principle. The radar 320 may be implemented by a Frequency Modulated Continuous Wave (FMCW) scheme or a Frequency Shift Keying (FSK) scheme according to a signal waveform in a continuous wave radar scheme.

The radar 320 detects an object based on a time-of-flight (TOF) method or a phase-shift method through an electromagnetic wave, and detects the position of the detected object, the distance to the detected object, Can be detected.

The radar 320 may be placed at a suitable location outside the vehicle to sense objects located at the front, rear, or side of the vehicle.

The ladder 330 may include a laser transmitting unit and a receiving unit. The LIDAR 330 may be implemented in a time of flight (TOF) scheme or a phase-shift scheme.

The lidar 330 may be implemented as a drive or an unshifted drive.

When implemented in a driving manner, the LIDAR 330 is rotated by a motor and can detect an object in the vicinity of the vehicle 100. [

In the case of non-driven implementation, the LIDAR 330 can detect an object located within a predetermined range with respect to the vehicle 100 by optical steering. The vehicle 100 may include a plurality of non-driven RRs 330. [

The lidar 330 detects an object based on a laser light medium, a time of flight (TOF) method, or a phase-shift method, and detects the position of the detected object, The relative speed can be detected.

The lidar 330 may be disposed at an appropriate location outside the vehicle to sense objects located at the front, rear, or side of the vehicle.

The ultrasonic sensor 340 may include an ultrasonic transmitter and a receiver. The ultrasonic sensor 340 can detect the object based on the ultrasonic wave, and can detect the position of the detected object, the distance to the detected object, and the relative speed.

The ultrasonic sensor 340 may be disposed at an appropriate position outside the vehicle for sensing an object located at the front, rear, or side of the vehicle.

The infrared sensor 350 may include an infrared ray transmitter and a receiver. The infrared sensor 340 can detect the object based on the infrared light, and can detect the position of the detected object, the distance to the detected object, and the relative speed.

The infrared sensor 350 may be disposed at an appropriate position outside the vehicle for sensing an object located at the front, rear, or side of the vehicle.

The processor 370 can control the overall operation of each unit of the object detecting apparatus 300. [

The processor 370 can detect and track the object based on the acquired image. The processor 370 can calculate the distance to the object, calculate the relative speed with respect to the object, the type, position, size, shape, color, travel route of the object, Can be performed.

The processor 370 can detect and track the object based on the reflected electromagnetic waves that are reflected from the object by the transmitted electromagnetic waves. The processor 370 can perform operations such as calculating a distance to an object and calculating a relative speed with respect to the object based on electromagnetic waves.

The processor 370 can detect and track the object based on the reflected laser light that is transmitted and reflected back to the object. Based on the laser light, the processor 370 can perform operations such as calculating the distance to the object and calculating the relative speed with respect to the object.

The processor 370 can detect and track the object on the basis of the reflected ultrasonic waves reflected by the object and transmitted back. The processor 370 can perform operations such as calculating the distance to the object and calculating the relative speed with respect to the object based on the ultrasonic waves.

The processor 370 can detect and track the object based on the reflected infrared light that the transmitted infrared light reflects back to the object. The processor 370 can perform operations such as calculating the distance to the object and calculating the relative speed with respect to the object based on the infrared light.

The processor 370 is configured to receive the image acquired through the camera 310, the reflected electromagnetic wave received through the radar 320, the reflected laser light received through the laser 330, the reflection received through the ultrasonic sensor 340, The ultrasound waves, and the reflected infrared light received through the infrared ray sensor 350. [0156]

The object information may be information on the type, location, size, shape, color, moving path, speed, and the content of the character to be detected, etc., existing around the vehicle 100.

For example, the object information indicates whether there are lanes around the vehicle 100, where the vehicle 100 is stationary, another vehicle around the vehicle 100 is traveling, and a section that can stop around the vehicle 100 The state of the traffic light around the vehicle 100, the state of the vehicle 100, the state of the vehicle 100, the state of the vehicle 100, the possibility of collision between the vehicle and the object, how pedestrians or bicycles are distributed around the vehicle 100, Motion and so on.

The processor 370 can provide the generated object information to the control unit 170. [

According to the embodiment, the object detecting apparatus 300 may include a plurality of processors 370 or may not include the processor 370. [ For example, each of the camera 310, the radar 320, the RI 330, the ultrasonic sensor 340, and the infrared sensor 350 may individually include a processor.

The object detecting apparatus 300 can be operated under the control of the processor or the control unit 170 of the apparatus in the vehicle 100. [

The communication device 400 is a device for performing communication with an external device. Here, the external device may be another vehicle, a mobile terminal, or a server.

The communication device 400 may include at least one of a transmission antenna, a reception antenna, an RF (Radio Frequency) circuit capable of implementing various communication protocols, and an RF device to perform communication.

The communication device 400 may include a local communication unit 410, a location information unit 420, a V2X communication unit 430, an optical communication unit 440, a broadcast transmission / reception unit 450, and a processor 470.

According to the embodiment, the communication device 400 may further include other components than the components described, or may not include some of the components described.

The short-range communication unit 410 is a unit for short-range communication. The short-range communication unit 410 may be a wireless communication unit such as Bluetooth ™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, Near Field Communication (NFC) -Fidelity), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technology.

The short-range communication unit 410 may form short-range wireless communication networks to perform short-range communication between the vehicle 100 and at least one external device.

The position information section 420 is a unit for acquiring the position information of the vehicle 100. [ For example, the location information unit 420 may include at least one of a Global Positioning System (GPS) module, a Differential Global Positioning System (DGPS) module, and a Carrier Phase Differential GPS (CDGPS) .

The position information section 420 can acquire GPS information through the GPS module. The location information unit 420 can transmit the obtained GPS information to the control unit 170 or the processor 470. [ The GPS information acquired by the position information section 420 can be utilized at the time of autonomous operation of the vehicle 100. [ For example, the control unit 170 can control the vehicle 100 to autonomously drive based on the GPS information and the navigation information obtained through the navigation system 770.

The V2X communication unit 430 is a unit for performing wireless communication with a server (V2I: Vehicle to Infra), another vehicle (V2V: Vehicle to Vehicle), or a pedestrian (V2P: Vehicle to Pedestrian). The V2X communication unit 430 may include an RF circuit capable of implementing communication with the infrastructure (V2I), inter-vehicle communication (V2V), and communication with the pedestrian (V2P) protocol.

The V2X communication unit 430 can perform communication with the roadside apparatus provided on the road. The V2X communication unit 430 can receive information transmitted by the roadside apparatus provided on the road. The sidewalk device may be included in the infrastructure.

For example, the RSE provided in correspondence with the GPS shaded area where the communication sensitivity of the vehicle 100 and the GPS satellite is lower than the set sensitivity may broadcast the RSU information. When the vehicle 100 enters the shadow area of the GPS, the V2X communication unit 430 can receive the RSU information. The RSU information may include location information corresponding to the GPS shadow area.

In a case where a plurality of sidewalk apparatuses are provided in the shadowed area of the GPS, the RSU information broadcasted by each sidewalk apparatus may indicate the order of the sidewalk apparatuses. For example, if the first and second arcs are arranged in order in the shadow area of the GPS, the first RSU information broadcast by the first arsenal may indicate that the first arsenal is in the first order . The second RSU information that the second averaging device broadcasts may indicate that the second averaging device is in the second order.

The V2X communication unit 430 can transmit or broadcast information related to the vehicle 100 to a specific device. For example, the V2X communication unit 430 can broadcast the substitute position information of the vehicle 100. [ The alternative location information may be information used in place of the GPS information to determine the location of the vehicle 100 in the shadow area of the GPS. The alternative location information may include RSU information reception time and RSU information.

The optical communication unit 440 is a unit for performing communication with an external device via light. The optical communication unit 440 may include a light emitting unit that converts an electric signal into an optical signal and transmits it to the outside, and a light receiving unit that converts the received optical signal into an electric signal.

According to the embodiment, the light emitting portion may be formed so as to be integrated with the lamp included in the vehicle 100. [

The broadcast transmission / reception unit 450 is a unit for receiving a broadcast signal from an external broadcast management server through a broadcast channel or transmitting a broadcast signal to a broadcast management server. The broadcast channel may include a satellite channel and a terrestrial channel. The broadcast signal may include a TV broadcast signal, a radio broadcast signal, and a data broadcast signal.

The processor 470 can control the overall operation of each unit of the communication device 400.

The processor 470 is configured to transmit information to the vehicle 470 based on information received through at least one of the short-range communication unit 410, the position information unit 420, the V2X communication unit 430, the optical communication unit 440, and the broadcast transmission / It is possible to generate driving information.

For example, the processor 470 can generate the vehicle running information based on the information about the position, the vehicle type, the running route, the speed, various sensing values, and the like of the other vehicle received from the other vehicle. The processor 470 can acquire information about various objects existing in the vicinity of the vehicle 100 when information on various sensed values of the other vehicle is received and there is no separate sensor in the vehicle 100. [

For example, the vehicle travel information generated by the processor 470 includes information such as the type, position, and movement of objects existing around the vehicle 100, whether there are lanes around the vehicle 100, There is a possibility that a vehicle around the vehicle 100 is traveling, there is a zone in which the vehicle 100 can stop, a possibility that an object collides with the vehicle, how pedestrians or bicycles are distributed around the vehicle 100 The type of the road on which the vehicle 100 travels, the state of the traffic light around the vehicle 100, the movement of the vehicle 100, and the like.

 In accordance with an embodiment, the communication device 400 may include a plurality of processors 470 or may not include a processor 470. [

When the processor 400 is not included in the communication device 400, the communication device 400 can be operated under the control of the processor or the control unit 170 of another apparatus in the vehicle 100. [

On the other hand, the communication device 400 can implement the vehicle display device together with the user interface device 200. [ In this case, the vehicle display device can be named as a telematics device or an AVN (Audio Video Navigation) device.

The communication device 400 may be operated under the control of the control unit 170. [

The driving operation device 500 is a device for receiving a user input for operation.

In the manual mode, the vehicle 100 can be operated based on the signal provided by the driving operation device 500. [

The driving operation device 500 may include a steering input device 510, an acceleration input device 530, and a brake input device 570.

The steering input device 510 may receive a forward direction input of the vehicle 100 from a user. The steering input device 510 is preferably formed in a wheel shape so that steering input is possible by rotation. According to an embodiment, the steering input device may be formed as a touch screen, a touch pad, or a button.

The acceleration input device 530 may receive an input for acceleration of the vehicle 100 from a user. The brake input device 570 can receive an input for deceleration of the vehicle 100 from the user. The acceleration input device 530 and the brake input device 570 are preferably formed in a pedal shape. According to an embodiment, the acceleration input device or the brake input device may be formed as a touch screen, a touch pad, or a button.

The driving operation device 500 can be operated under the control of the control unit 170. [

The vehicle driving device 600 is an apparatus for electrically controlling the driving of various devices in the vehicle 100. [

The vehicle driving apparatus 600 includes a power train driving unit 610, a chassis driving unit 620, a door / window driving unit 630, a safety driving unit 640, a lamp driving unit 650 and an air conditioning driving unit 660 .

According to the embodiment, the vehicle drive system 600 may further include other elements other than the described elements, or may not include some of the elements described.

On the other hand, the vehicle drive apparatus 600 may include a processor. Each unit of the vehicle drive apparatus 600 may individually include a processor.

The power train driving unit 610 can control the operation of the power train apparatus.

The power train driving unit 610 may include a power source driving unit 611 and a transmission driving unit 612.

The power source drive unit 611 can perform control on the power source of the vehicle 100. [

For example, when the fossil fuel-based engine is a power source, the power source drive unit 610 can perform electronic control of the engine. Thus, the output torque of the engine and the like can be controlled. The power source drive unit 611 can adjust the engine output torque under the control of the control unit 170. [

For example, when the electric energy based motor is a power source, the power source driving unit 610 can perform control on the motor. The power source drive unit 610 can adjust the rotation speed, torque, and the like of the motor under the control of the control unit 170. [

The transmission drive unit 612 can perform control on the transmission.

The transmission drive unit 612 can adjust the state of the transmission. The transmission drive unit 612 can adjust the state of the transmission to forward (D), reverse (R), neutral (N), or parking (P).

On the other hand, when the engine is a power source, the transmission drive unit 612 can adjust the gear engagement state in the forward (D) state.

The chassis driving unit 620 can control the operation of the chassis apparatus.

The chassis driving unit 620 may include a steering driving unit 621, a brake driving unit 622, and a suspension driving unit 623.

The steering driver 621 may perform electronic control of the steering apparatus in the vehicle 100. [ The steering driver 621 can change the traveling direction of the vehicle.

The brake driver 622 can perform electronic control of the brake apparatus in the vehicle 100. [ For example, it is possible to reduce the speed of the vehicle 100 by controlling the operation of the brakes disposed on the wheels.

On the other hand, the brake driver 622 can individually control each of the plurality of brakes. The brake driving unit 622 can control the braking forces applied to the plurality of wheels to be different from each other.

The suspension driving unit 623 can perform electronic control on a suspension apparatus in the vehicle 100. [ For example, when there is a curvature on the road surface, the suspension driving unit 623 can control the suspension device so as to reduce the vibration of the vehicle 100. [

On the other hand, the suspension driving unit 623 can individually control each of the plurality of suspensions.

The door / window driving unit 630 may perform electronic control of a door apparatus or a window apparatus in the vehicle 100.

The door / window driving unit 630 may include a door driving unit 631 and a window driving unit 632.

The door driving unit 631 can control the door device. The door driving unit 631 can control the opening and closing of a plurality of doors included in the vehicle 100. [ The door driving unit 631 can control the opening or closing of a trunk or a tail gate. The door driving unit 631 can control the opening or closing of the sunroof.

The window driving unit 632 may perform an electronic control on a window apparatus. It is possible to control the opening or closing of the plurality of windows included in the vehicle 100. [

The safety device driving unit 640 can perform electronic control of various safety apparatuses in the vehicle 100. [

The safety device driving unit 640 may include an airbag driving unit 641, a seat belt driving unit 642, and a pedestrian protection device driving unit 643. [

The airbag driver 641 may perform electronic control of the airbag apparatus in the vehicle 100. [ For example, the airbag driver 641 can control the deployment of the airbag when a danger is detected.

The seat belt driving portion 642 can perform electronic control on the seat belt appartus in the vehicle 100. [ For example, the seat belt driving portion 642 can control the passenger to be fixed to the seats 110FL, 110FR, 110RL, and 110RR using the seat belt when a danger is detected.

The pedestrian protection device driving section 643 can perform electronic control on the hood lift and the pedestrian airbag. For example, the pedestrian protection device driving section 643 can control the hood lift-up and the pedestrian airbag deployment when a collision with a pedestrian is detected.

The lamp driving unit 650 can perform electronic control of various lamp apparatuses in the vehicle 100. [

The air conditioning driving unit 660 can perform electronic control on the air conditioner in the vehicle 100. [ For example, when the temperature inside the vehicle is high, the air conditioning driving unit 660 can control the air conditioner to operate so that the cool air is supplied to the inside of the vehicle.

The vehicle drive apparatus 600 may include a processor. Each unit of the vehicle drive apparatus 600 may individually include a processor.

The vehicle drive apparatus 600 can be operated under the control of the control section 170. [

The operating system 700 is a system for controlling various operations of the vehicle 100. [ The travel system 700 can be operated in the autonomous mode. The driving system 700 can perform the autonomous driving of the vehicle 100 based on the position information of the vehicle 100 and the navigation information. The location information of the vehicle 100 may be GPS information or alternative location information.

The travel system 700 may include a travel system 710, an outbound system 740, and a parking system 750.

According to the embodiment, the travel system 700 may further include other components than the components described, or may not include some of the components described.

On the other hand, the travel system 700 may include a processor. Each unit of the travel system 700 may each include a processor individually.

Meanwhile, according to the embodiment, when the driving system 700 is implemented in software, it may be a sub-concept of the control unit 170.

According to the embodiment, the operating system 700 includes at least one of the user interface device 200, the object detecting device 300, the communication device 400, the vehicle driving device 600, and the control unit 170 It can be a concept that includes.

The traveling system 710 can perform traveling of the vehicle 100. [

The driving system 710 can perform the autonomous driving of the vehicle 100 by providing the control signal to the vehicle driving device 600 based on the positional information of the vehicle 100 and the navigation information provided by the navigation system 770 Can be performed.

The running system 710 can perform the running of the vehicle 100 by providing a control signal to the vehicle driving apparatus 600 based on the object information provided by the object detecting apparatus 300. [

The traveling system 710 can perform the traveling of the vehicle 100 by receiving a signal from the external device via the communication device 400 and providing a control signal to the vehicle driving device 600. [

The departure system 740 can perform the departure of the vehicle 100.

The outpost system 740 provides the control signal to the vehicle driving apparatus 600 based on the position information of the vehicle 100 and the navigation information provided by the navigation system 770 to thereby control the automatic output of the vehicle 100 Can be performed.

The departure system 740 can perform the departure of the vehicle 100 by providing the control signal to the vehicle drive device 600 based on the object information provided by the object detection device 300. [

The departure system 740 can receive the signal from the external device through the communication device 400 and can provide the control signal to the vehicle driving device 600 to perform the departure of the vehicle 100. [

The parking system 750 can perform parking of the vehicle 100. [

The parking system 750 provides automatic parking of the vehicle 100 by providing a control signal to the vehicle driving apparatus 600 based on the position information of the vehicle 100 and the navigation information provided by the navigation system 770 Can be performed.

The parking system 750 can perform parking of the vehicle 100 by providing a control signal to the vehicle driving device 600 based on the object information provided by the object detecting device 300. [

The parking system 750 can perform parking of the vehicle 100 by receiving a signal from the external device through the communication device 400 and providing a control signal to the vehicle driving device 600. [

The navigation system 770 may provide navigation information. The navigation information may include at least one of map information, set destination information, route information according to the destination setting, information about various objects on the route, lane information, and current location information of the vehicle.

The navigation system 770 may include a memory, a processor. The memory can store navigation information. The processor may control the operation of the navigation system 770.

According to an embodiment, the navigation system 770 can receive information from an external device via the communication device 400 and update the stored information.

According to an embodiment, the navigation system 770 may be classified as a subcomponent of the user interface device 200.

The sensing unit 120 can sense the state of the vehicle. The sensing unit 120 may include a sensor such as a yaw sensor, a roll sensor, a pitch sensor, a collision sensor, a wheel sensor, a velocity sensor, A sensor, a weight sensor, a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward / backward sensor, a battery sensor, A vehicle interior temperature sensor, an internal humidity sensor, an ultrasonic sensor, an illuminance sensor, an accelerator pedal position sensor, a brake pedal position sensor, and the like.

The sensing unit 120 is configured to generate the sensing information based on the vehicle attitude information, the vehicle collision information, the vehicle direction information, the vehicle position information (GPS information), the vehicle angle information, the vehicle speed information, Obtain a sensing signal for information, fuel information, tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, steering wheel rotation angle, vehicle exterior illumination, pressure applied to the accelerator pedal, pressure applied to the brake pedal, can do.

The sensing unit 120 may further include an accelerator pedal sensor, a pressure sensor, an engine speed sensor, an air flow sensor AFS, an intake air temperature sensor ATS, a water temperature sensor WTS, (TPS), a TDC sensor, a crank angle sensor (CAS), and the like.

The interface unit 130 may serve as a pathway to various kinds of external devices connected to the vehicle 100. For example, the interface unit 130 may include a port that can be connected to the mobile terminal, and may be connected to the mobile terminal through the port. In this case, the interface unit 130 can exchange data with the mobile terminal.

Meanwhile, the interface unit 130 may serve as a channel for supplying electrical energy to the connected mobile terminal. When the mobile terminal is electrically connected to the interface unit 130, the interface unit 130 may provide the mobile terminal with electric energy supplied from the power supply unit 190 under the control of the controller 170.

The memory 140 is electrically connected to the control unit 170. The memory 140 may store basic data for the unit, control data for controlling the operation of the unit, and input / output data. The memory 140 may be, in hardware, various storage devices such as ROM, RAM, EPROM, flash drive, hard drive, and the like. The memory 140 may store various data for operation of the vehicle 100, such as a program for processing or controlling the controller 170. [

According to the embodiment, the memory 140 may be formed integrally with the controller 170 or may be implemented as a subcomponent of the controller 170. [

The power supply unit 190 can supply power necessary for the operation of each component under the control of the control unit 170. Particularly, the power supply unit 190 can receive power from a battery or the like inside the vehicle.

The control unit 170 can control the overall operation of each unit in the vehicle 100. [ The control unit 170 may be referred to as an ECU (Electronic Control Unit).

The control unit 170 can perform the autonomous travel of the vehicle 100 based on the information obtained through the apparatus provided in the vehicle 100. [ For example, based on the navigation information provided by the navigation system 770 and the information about the object near the vehicle 100 provided by the object detection apparatus 300 or the communication apparatus 400, The vehicle 100 can be controlled.

The control unit 170 can use the position information of the vehicle 100 to perform the autonomous running of the vehicle 100. [ The control unit 170 can determine the current position of the vehicle 100 based on the position information of the vehicle 100. [ The location information of the vehicle 100 may include at least one of GPS information and alternative location information.

The GPS information is information based on the GPS signal acquired by the control unit 170 through communication with the GPS satellite. The GPS information may indicate the position of the vehicle 100. [ The control unit 170 can determine the position of the vehicle 100 based on the GPS information. In the shadow area of the GPS, the reception ratio of the GPS signal may decrease. Accordingly, the control unit 170 can not obtain accurate GPS information in the GPS shaded area, and accuracy of determining the position of the vehicle 100 may be degraded.

Alternate location information may be used to determine the location of the vehicle 100 in the shadow area of the GPS. The alternative location information may include information provided by the roadside apparatus provided in the shadow area of the GPS and time information when the vehicle 100 receives the information. The information provided by the RSE may be RSU information.

The road may be provided with at least one roadside apparatus for broadcasting information corresponding to the position of the shadow area of the GPS. The information corresponding to the position of the GPS dark region may be RSU information. The RSU information may include map information on the geographical location, area, and shape of the shadow area of the GPS. The control unit 170 can determine the geographical position, area, and shape of the GPS shaded area based on the RSU information.

The control unit 170 can determine the position of the vehicle 100 in the shadow area of the GPS based on the movement route of the vehicle 100 and the RSU information from the time when the RSU information is received. The control unit 170 can perform autonomous travel of the vehicle 100 based on the position of the vehicle 100 determined based on the alternative position information.

One or more processors and controls 170 included in vehicle 100 may be implemented as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs) field programmable gate arrays, processors, controllers, micro-controllers, microprocessors, and other electrical units for performing other functions.

Hereinafter, the operation of the vehicle 100, the control method thereof, and the control unit 170 according to the present invention will be described in detail with reference to Figs. 8 to 16. Fig.

FIG. 8 is a block diagram for explaining a roadside apparatus according to the present invention. FIG.

9 to 16 are views for explaining a vehicle and a control method thereof according to the present invention.

8, the RSE 800 according to the present invention includes a communication unit 810, an input unit 820, a memory 830, a power supply unit 840, an output unit 850, and a processor 860 .

The communication unit 810 can perform communication with an object other than the vehicle 100 or the vehicle 100. [ The communication unit 810 may be a device that performs wireless communication.

The communication unit 810 may be electrically connected to the processor 860 and may communicate the acquired information to the processor 860. [ For example, the communication unit 810 may acquire at least one of information transmitted by the vehicle 100 and information transmitted by objects other than the vehicle 100, and may be transmitted to the processor 860. [

The communication unit 810 can broadcast specific information in a specific area. In this case, a device existing in the specific area can receive the specific information.

For example, the communication unit 810 may broadcast the RSU information within the GPS shadow area. The RSU information may include information related to the GPS shaded area. The RSU information may include information related to some area corresponding to the RSE information broadcasting the RSU information among the entire GPS shadow areas.

A vehicle located in the shadow area of the GPS can receive RSU information.

The input unit 820 may receive user input to the RS 800. The input unit 820 may receive at least one of a voice input, a gesture input, a touch input, and a mechanical input. The input 820 may be electrically coupled to the processor 860 and may communicate signals to the processor 860 corresponding to the received user input.

The memory 830 is electrically connected to the processor 860. The memory 830 may store basic data for at least one unit provided in the sidewalk apparatus 800, control data for controlling the operation of the unit, and data input to and output from the sidewalk apparatus 800. The memory 830 may store a program for processing or controlling the processor 860.

The memory 830 can be, in hardware, various storage devices such as ROM, RAM, EPROM, flash drive, hard drive, and the like.

Depending on the embodiment, the memory 830 may be formed integrally with the processor 860 or may be implemented as a sub-component of the processor 860. [

The power supply unit 840 can supply power necessary for the operation of each component of the roadside apparatus 800 under the control of the processor 860. [

The output unit 850 can output at least one of image, sound, and vibration. The output unit 850 may include at least one of a display device (not shown), a sound output device (not shown), and a vibration output device (not shown). The output unit 850 can output various information based on the control of the processor 860. [ For example, the output unit 850 can implement the monitoring function for the vehicle 100 by outputting information related to the vehicle 100. [

The processor 860 may be connected to the units provided in the roadside apparatus 800 to control the overall operation of the roadside apparatus 800. [

The processor 860 may perform various operations and determinations. For example, the processor 860 can transmit emergency information to at least one tandem apparatus when emergency information indicating an emergency is received from the vehicle 100. At least one tachometer device may broadcast the received emergency information.

Processor 860 may be any of a variety of devices including, but not limited to, application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs) for example, at least one of controllers, micro-controllers, microprocessors, and other electronic units for performing other functions.

9, a method of controlling a vehicle according to the present invention includes the steps of broadcasting RSU information corresponding to a shaded area of a GPS in a GPS shaded area (S100) (S300) in which the traveling vehicle 100 receives the RSU information (S200), and the vehicle 100 travels based on the replacement position information including the reception time of the RSU information and the RSU information have. Each step will be described in detail below.

The processor 860 of the roadside apparatus 800 can broadcast the RSU information through the communication unit 810 (S100).

Processor 860 may broadcast RSU information within a GPS shadow region. In this case, the vehicle 100 can receive the RSU information in the GPS shaded area.

The RSU information may be information corresponding to the GPS shaded area. The RSU information may include map information of the shadow area of the GPS. For example, if the GPS shadow area is a tunnel, the RSU information may include information about the geographical location, length and shape of the tunnel.

The control unit 170 of the vehicle 100 can receive the RSU information through the communication device 400 (S200).

Before the RSU information is received, the control unit 170 can control the vehicle 100 based on the GPS information. The control unit 170 can determine the position of the vehicle 100 based on the GPS information and control the vehicle 100 to travel in accordance with the current position.

The control unit 170 can control the vehicle 100 based on the substitute position information (S300). When the RSU information is received, the control unit 170 can generate the substitute position information based on the RSU information reception time and the RSU information.

The alternative location information may include RSU information reception time and RSU information. For example, the alternative location information may include time information indicating that the RSU information is received at 10:30 am and the received RSU information.

The control unit 170 can determine the position of the vehicle 100 based on the substitute position information. The control unit 170 can determine the position of the vehicle 100 based on the reception time of the RSU information included in the substitute position information and the RSU information.

For example, when the RSU information is received at 10:30 am and the RSU information indicates the map information of the GPS shaded area, the control unit 170 determines that the vehicle 100 enters the GPS shadow area at about 10:30 am As shown in FIG. The control unit 170 can estimate the position of the vehicle 100 in the shadow area of the GPS by calculating the movement path and the movement distance of the vehicle 100 after 10:30 am.

The control unit 170 can control the vehicle 100 in accordance with the position of the vehicle 100 determined based on the substitute position information.

Referring to Fig. 10, there may be a plurality of roadside apparatuses. The plurality of sidewalk devices 800a to 800d may be arranged at predetermined intervals in a shadow area of the GPS to broadcast RSU information corresponding to a part of the GPS shadow area.

In the entire GPS shaded area, a first aqueduct 800a, a second aqueduct 800b, a third aqueduct 800c and a fourth aqueduct 800d may be disposed. Alternatively, the roadside apparatus may be disposed outside the shadow area of the GPS.

The entire GPS shadow area may be divided into a first GPS shadow area 801a, a second GPS shadow area 801b, a third GPS shadow area 801c, and a fourth GPS shadow area 801d.

The first RSA 800a may broadcast the first RSU information in the first GPS shadow area 801a. The second RS 800b may broadcast the second RSU information to the second GPS shaded area 801b. The third RS 800b may broadcast the third RSU information to the third GPS shadow area 801c. The fourth RSE 800d may broadcast the fourth RSU information to the fourth GPS shaded area 801d.

The first RSU information may include information about the first GPS shadowed area 801a, or may indicate that the first avalanche 800a is the first order. The second RSU information may include information about the second GPS shadow area 801b, or may indicate that the second avalanche 800b is the second order. The third RSU information may include information about the third GPS shadow area 801c or may indicate that the third avalanche 800c is the third order. The fourth RSU information may include information about the fourth GPS shaded area 801d, or may indicate that the fourth rowing device 800d is the fourth order. When each RSU information indicates the order of each roadside apparatus, the control unit 170 can determine the relative position of the vehicle 100 and the other vehicle based on the order of the roadside apparatus.

When the vehicle 100 enters the first GPS shaded area 801a, the controller 170 may receive the first RSU information broadcasted by the first RS 800a. The controller 170 may determine the time at which the first RSU information was received. The time at which the first RSU information was received may be the time at which the vehicle 100 enters the first GPS shaded region 801a. The control unit 170 may generate the first alternative position information including the time at which the first RSU information was received and the first RSU information. The first alternative position information can be used to determine the position of the vehicle 100 within the first GPS shadowed area 801a. When the vehicle 100 is located within the first GPS shaded area 801a, the control unit 170 can determine the position of the vehicle 100 based on the first alternative position information.

When the vehicle 100 enters the second GPS shaded area 801b, the control unit 170 can receive the second RSU information broadcasted by the second RS 800b. The controller 170 may determine the time at which the second RSU information was received. The time at which the second RSU information was received may be the time at which the vehicle 100 enters the second GPS shaded region 801b. The control unit 170 may generate second alternative position information including the time at which the second RSU information was received and the second RSU information. The second alternative position information can be used to determine the position of the vehicle 100 within the second GPS shaded area 801b. When the vehicle 100 is located in the second GPS shaded area 801b, the controller 170 can determine the position of the vehicle 100 based on the second alternative position information.

When the vehicle 100 enters the third GPS shaded region 801c, the control unit 170 can receive the third RSU information broadcasted by the third avalanche 800c. The controller 170 may determine the time at which the third RSU information was received. The time at which the third RSU information was received may be the time at which the vehicle 100 enters the third GPS shaded area 801c. The control unit 170 may generate the third alternative location information including the time at which the third RSU information was received and the third RSU information. The third alternative position information can be used to determine the position of the vehicle 100 within the third GPS shadowed area 801c. When the vehicle 100 is located in the third GPS shadow area 801c, the controller 170 can determine the position of the vehicle 100 based on the third alternative position information.

When the vehicle 100 enters the fourth GPS shaded area 801d, the controller 170 can receive the fourth RSU information broadcasted by the fourth RSE 800d. The controller 170 may determine the time at which the fourth RSU information was received. The time at which the fourth RSU information is received may be the time at which the vehicle 100 enters the fourth GPS shaded region 801d. The control unit 170 may generate fourth alternative position information including the time at which the fourth RSU information was received and the fourth RSU information. The fourth alternative positional information can be used to determine the position of the vehicle 100 within the fourth GPS shadowed area 801d. When the vehicle 100 is located in the fourth GPS shade area 801d, the controller 170 can determine the position of the vehicle 100 based on the fourth alternative position information.

11, the vehicle 100 includes first RSU information broadcasted by a first RSA device 800a corresponding to an entry area 801a of a GPS shaded area among a plurality of RSA devices 800a through 800d, (S100, S200), the use of the GPS information is interrupted, and the vehicle can be driven based on the first substitute position information including the reception time of the first RSU information and the first RSU information (S300).

When the vehicle 100 enters the first GPS shaded area 801a, the controller 170 may receive the first RSU information broadcasted by the first RS 800a (S200).

The first RSU information may include information on all of the GPS shadowed areas 801a to 801d. Based on the first RSU information, the control unit 170 can determine the total distance of the GPS shaded area, the distinction of the GPS shaded area, the distance of each GPS shaded area, and the like.

The first RSU information is information that is initially received when the vehicle 100 enters the GPS shaded area and therefore provides the vehicle 100 with information on the entire GPS shaded area 801a to 801d, .

When the first RSU information is received, the control unit 170 stops use of the GPS information and can control the vehicle 100 based on the first alternative position information (S300).

When the GPS information is used in the shadow area of the GPS, communication between the vehicle 100 and the GPS satellite is not smooth, so that the controller 170 may misjudge the position of the vehicle 100. [ Accordingly, when the first RSU information is received, the controller 170 can stop using the GPS information because the vehicle 100 has entered the shadow area of the GPS.

The control unit 170 can determine the position of the vehicle 100 based on the reception time of the first RSU information and the first RSU information included in the first alternative position information. For example, if the first RSU information is received at 10:30 am and the first RSU information indicates map information of the first GPS shadow area 801a and the entire GPS shadow areas 801a through 801d, 170 may determine that the vehicle 100 has entered the first GPS shaded area 801a at about 10:30 am. The controller 170 also calculates the travel path and the travel distance of the vehicle 100 at 10:30 am and calculates the position and the time of the vehicle 100 in the entire GPS shaded regions 801a to 801d Can be predicted.

12, a method of controlling a vehicle according to the present invention includes a step in which a vehicle 100 receives second RSU information broadcasted by a second avalanche 800b, 1 alternate position information, and traveling based on the second alternative position information including the reception time of the second RSU information and the second RSU information.

The control unit 170 can determine whether or not the second RSU information broadcast by the second avalanche 800b is received through the communication device 400 during traveling of the vehicle 100 based on the first alternative position information (S400).

The control unit 170 can determine that the vehicle 100 has entered the second GPS shaded area 801b when the second RSU information is received.

If the second RSU information is received, the control unit 170 may stop using the first alternative position information and control the vehicle 100 using the second alternative position information (S500).

If the second RSU information is received, the controller 170 may determine the reception time of the second RSU information and generate the second alternative position information including the reception time of the second RSU information and the second RSU information have.

When the vehicle 100 enters the second GPS shaded area 801b, the information on the second GPS shaded area 801b is included in the second RSU information, The vehicle 100 can be controlled.

13, the method for controlling a vehicle according to the present invention includes the steps of: determining whether the GPS signal sensitivity of the vehicle 100 is equal to or higher than the set sensitivity; and if the GPS signal sensitivity is equal to or higher than the set sensitivity, Stopping the use of the substitute position information, and traveling based on the GPS information.

The control unit 170 can measure the GPS signal sensitivity through the communication device 400 while the vehicle 100 is running.

The controller 170 can determine whether the GPS signal sensitivity is higher than the set sensitivity during the control of the vehicle 100 using the substitute position information (S400).

The set sensitivity may be a value determined by experiments. The set sensitivity may be the GPS signal sensitivity when the controller 170 can determine the position of the vehicle 100 based on the received GPS information.

When the GPS signal sensitivity is equal to or higher than the set sensitivity, the control unit 170 stops use of the substitute position information and can control the vehicle 100 based on the GPS information (S500).

Referring to FIG. 12A, it is possible to determine a relative position by broadcasting alternative position information between vehicles in a GPS shaded area.

The control unit 170 can broadcast the position of the vehicle 100 determined based on the GPS information when the vehicle 100 is traveling. Accordingly, the other vehicle in the vicinity of the vehicle 100 can recognize the position of the vehicle 100 and can run in response thereto.

Alternatively, in the GPS shadowed area, the vehicle 100 or the other vehicles 900a and 900b that have received the RSU information can broadcast their respective alternative location information. In the shaded area of the GPS, since the vehicle can not acquire the complete GPS information, each vehicle can broadcast the alternative position information to announce its position.

14 and 15, a method of controlling a vehicle according to an embodiment of the present invention includes a step of broadcasting vehicle position information, and a step of causing another vehicle 900a, And determining the position of the vehicle 100 based on the substitute position information of the vehicle 100. [ The alternative position information broadcasted by the vehicle 100 may further include information on the movement path and the moving distance of the vehicle 100 after the reception time of the RSU information.

When the control unit 170 controls the vehicle 100 based on the substitute position information, the control unit 170 can broadcast the substitute position information via the communication device 400 (S100).

For example, when the vehicle 100 is traveling in the third GPS shaded area, the control unit 170 controls the vehicle 100 based on the third alternative position information, and transmits, via the communication device 400, The third alternative location information can be broadcast.

The other vehicles 900a and 900b can receive third alternative position information broadcasted from the vehicle 100. [

 The other vehicles 900a and 900b can determine the position of the vehicle 100 based on the third alternative position information when the third alternative position information is received (S200) (S300).

The third alternative position information broadcasted by the vehicle 100 includes the time when the vehicle 100 received the third RSU information, the distance of the vehicle 100 after the third RSU information, and the time when the third RSU information was received, And may include path information.

Since the time when the vehicle 100 receives the third RSU information is the time when the vehicle 100 enters the third GPS shaded area, the other vehicles 900a and 900b can determine the time 100) enters the third GPS shaded area.

The other vehicles 900a and 900b can predict the position of the vehicle 100 in the third GPS shadowed area based on the travel distance and the travel route information of the vehicle 100 after the third RSU information reception time.

14 and 16, a method of controlling a vehicle according to an embodiment of the present invention includes the steps of: receiving vehicle 100's alternative location information of the other vehicles 900a and 900b; And determining the relative position of the other vehicle (900a, 900b) based on the alternative position information and the alternative position information of the other vehicle (900a, 900b).

The step of determining the relative positions of the other vehicles 900a and 900b may be performed by broadcasting the RSU information received by the other vehicles 900a and 900b Comparing the RSU information with the other vehicles 900a and 900b and comparing RSU information reception times of the vehicles 100a and 900a and 900b with each other when the RSU is the same , And determining the relative position of the other vehicle (900a, 900b).

At least one other vehicle traveling in the shadow area of the GPS can also be driven based on the respective alternative location information. Further, the other vehicle can broadcast the alternative position information while driving.

Since the other vehicle 900a is located in the third GPS shadow area, the third RSU can receive the third RSU information broadcast by the third RSA. In this case, the alternative location information that the other vehicle 900a broadcasts may include the third RSU information and the time when the other vehicle 900a received the third RSU information.

Since the other vehicle 900b is located in the second GPS shadow area, it can receive the second RSU information broadcast by the second averaging device. In this case, the alternative location information that the other vehicle 900b broadcasts may include the second RSU information and the time when the other vehicle 900a received the second RSU information.

The control unit 170 can receive the alternative position information broadcast by the other vehicles 900a and 900b through the communication device 400. [

The control unit 170 receives the substitute position information broadcasted by the other vehicles 900a and 900b (S400), and transmits the RSU information included in the alternative position information of the other vehicles 900a and 900b, And RSU information broadcasted by the vehicle 100 are identical (S410).

If the RSU information broadcasting the RSU information included in the alternative location information of the other vehicle and the RSU information broadcasting the RSU information received by the vehicle 100 are the same, The RSU information reception times of the vehicles 900a and 900b may be compared (S420).

14, since the other vehicle 900a and the vehicle 100 are currently located in the third GPS shaded area 801c, the third RSU information is included in the alternative position information of the other vehicle 900a, The third RSU information is also included. Since the control unit 170 includes the third RSU information in the same manner as the substitute position information of the other vehicle 900a and the substitute position information of the vehicle 100, the time when the other vehicle 900a receives the third RSU information And the time when the vehicle 100 receives the third RSU information.

The control unit 170 may determine the other vehicle as the preceding vehicle when the other vehicle having received the same RSU information as the vehicle 100 receives the RSU information before the vehicle 100 in operation S510.

The control unit 170 may determine the other vehicle as a following vehicle when the other vehicle having received the same RSU information as the vehicle 100 receives RSU information later than the vehicle 100 in operation S520.

The control unit 170 determines that the other vehicle 900a is a trailing vehicle since the time at which the other vehicle 900a received the third RSU information is later than the time at which the vehicle 100 received the third RSU information .

If the RSU information broadcasting the RSU information included in the alternative location information of the other vehicle and the RSU information broadcasting the RSU information received by the vehicle 100 are not the same, The RSE information broadcasting the RSU information included in the location information may be determined to be the RSE located ahead of the RSE information broadcasted by the vehicle 100 in operation S430.

When it is determined that the roadside apparatus broadcasting the RSU information received by the other vehicle is a roadside apparatus positioned ahead of the roadside apparatus that broadcasts the RSU information received by the vehicle 100, It can be determined that the vehicle is a preceding vehicle (S510).

When it is determined that the RSE information broadcasted by the other vehicle is the RSE information broadcasted by the vehicle 100, the controller 170 determines that the RSE information broadcasted by the other vehicle is the RSE information broadcasted by the vehicle 100, It can be determined that the vehicle is a trailing vehicle (S520).

14, since the other vehicle 900b is located in the second GPS shaded area, the RSU information included in the alternative position information of the other vehicle 900b is the second RSU information broadcasted by the second avalanche device 800b to be. Since the vehicle 100 is located in the third GPS shadow area, the RSU information included in the substitute position information of the vehicle 100 is third RSU information broadcasted by the third averaging device 800c. Since the second arbor device 800b is located behind the third arbor device 800c, the controller 170 can determine the other vehicle 900b as a trailing vehicle.

17 and 18, a method of controlling a vehicle according to an embodiment of the present invention includes the steps of broadcasting emergency information when an emergency situation occurs in the vehicle 100, Receiving the emergency situation information and transmitting the emergency state information to the other sidewalk devices and broadcasting the emergency information to a part of the GPS shadow area corresponding to each of the other sidewalk devices . The emergency information may include information on the location of the vehicle 100 and emergency situations.

The control unit 170 can determine whether an emergency situation has occurred in the vehicle 100 while driving in the shadow area of the GPS (S400).

The emergency situation may be a situation in which it is necessary for the other vehicle traveling around the vehicle 100 to recognize it. For example, an emergency situation may occur when an abnormality occurs in the operation of the vehicle 100, when the occupant of the vehicle 100 is in an emergency, when the vehicle 100 collides with an object, when an accident occurs in the vehicle 100 .

For example, the control unit 170 can determine that an abnormality has occurred in the operation of the vehicle 100 when an abnormality occurs in the function of the apparatus provided in the vehicle 100. [

For example, the control unit 170 can determine whether the occupant is in an emergency state based on the driver state information obtained through the occupant detection unit 240. [

For example, the control unit 170 may include a sensing unit 120, an interface unit 130, a user interface device 200, an object detection device 300, a communication device 400, It is possible that an abnormality occurs in the vehicle 100 or a collision with the object occurs in the vehicle 100 or an accident occurs in the vehicle 100 based on a signal provided by at least one of the driving device 600 and the driving system 700 Can be determined.

If an emergency occurs, the control unit 170 may broadcast the emergency information (S500).

The emergency information may be a message indicating that an emergency has occurred or information including an alarm. For example, the device that has received the emergency situation information can display the contents of the emergency situation, the occurrence location, the occurrence time, the necessary action, or the like, or output it as sound.

The emergency information may include location information that can indicate the emergency occurrence position of the vehicle 100. [ For example, the control unit 170 controls the vehicle 100 using the substitute position information corresponding to the shaded area of the GPS, and when it is determined that an emergency situation is to occur, Can be broadcasted as context information.

For example, when the vehicle 100 collides with the object in the third GPS shaded area 801c, the controller 170 may broadcast the third alternative position information and a message indicating the occurrence of an accident. In this case, the third alternative position information may include the third RSU information and the time at which the vehicle 100 received the third RSU information. A message that indicates the occurrence of the accident, and a time when the vehicle 100 is damaged.

Of the plurality of roadside apparatuses provided in the shadow area of the GPS, the roadside apparatus corresponding to the current position of the vehicle 100 can receive the emergency information broadcasted by the vehicle 100 (S600).

The roadside apparatus corresponding to the current position of the vehicle 100 may be the roadside apparatus closest to the current position of the vehicle 100. [ For example, when the vehicle 100 collides with an object in the third GPS shaded area 801c, the control unit 170 can broadcast the emergency information through the communication device 400. [ Since the vehicle 100 is located in the third GPS shadow area 801c, the third avalanche 800c is closest to the vehicle 100 and the third avalanche 800c will first receive the emergency information .

The RSE having received the emergency situation information can transmit the received emergency situation information to the remaining RSEs (S700).

The plurality of sideward devices provided in the shadow area of the GPS can be connected by a separate network communication network. Accordingly, it is faster for the roadside apparatus, which receives the emergency information first, to transmit the emergency situation information to the remaining roadside apparatuses than to the emergency roadside apparatuses that the vehicle 100 broadcasts .

For example, when the third avalanche 800c receives the emergency information broadcast by the vehicle 100, the third avalanche 800c includes first, second, and fourth avalanche devices 800a, 800b , 800d.

The remaining sidewalk devices can broadcast the emergency information to a part of the GPS shadow area corresponding to each of them (S800).

For example, if the third avalanche 800c delivers emergency information to the first, second and fourth aisle devices 800a, 800b and 800d, the first, second and fourth aisle devices 800a, 800b, 800d may broadcast emergency information to the first, second, and fourth GPS shadow areas 801a, 801b, 801c, respectively. In this case, the other vehicle 900a can receive both the emergency situation information broadcasted by the second avenue 800b and the emergency situation information broadcasted by the vehicle 100. [ The other vehicle 900b can receive the emergency situation information broadcasted by the first avalanche 800a.

Since the broadcasting range of the vehicle 100 is fixed, the RSE having received the emergency information from the vehicle 100 transmits the emergency situation information to the remaining RSEs via a separate communication network, The emergency situation information can be obtained from the whole.

The present invention described above can be embodied as computer-readable codes on a medium on which a program is recorded. The computer readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of the computer readable medium include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, , And may also be implemented in the form of a carrier wave (e.g., transmission over the Internet). In addition, the computer may include a processor or a control unit. Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

100: vehicle

Claims (14)

The vehicle receiving roadside unit (RSU) information corresponding to a Global Positioning System (GPS) shaded area from any one of the plurality of roadside apparatuses;
Receiving, from the other vehicle, the substitute position information of the other vehicle including the RSU information received by the other vehicle from any one of the plurality of the RSE devices and the time at which the other vehicle received the RSU information ; And
Determining the relative position of the other vehicle on the basis of the received RSU information, the RSU information reception time, and the alternative position information of the other vehicle,
The step of determining the relative position of the other vehicle includes:
Comparing a roadside apparatus broadcasting the RSU information received by the vehicle with a roadside apparatus broadcasting the RSU information received by the other vehicle to determine a relative position with respect to the other vehicle; And
When the RSU information broadcasting the RSU information received by the vehicle is the same as the RSU information broadcasting the RSU information received by the other vehicle, the RSU information reception times of the vehicle and the other vehicle are compared, And determining a relative position with respect to the vehicle. The method according to claim 1,
Wherein the plurality of sidewalk apparatuses comprise:
And broadcasting the RSU information corresponding to a part of the GPS shaded area, the RSU information being disposed at predetermined intervals in the GPS shadowed area. 3. The method of claim 2,
Further comprising broadcasting the emergency information when the vehicle is in an emergency situation,
The emergency situation information includes information on the location of the vehicle and the emergency situation including the RSU information received from any one of the plurality of the roadside apparatuses and the time when the vehicle received the RSU information Of the vehicle. delete The method according to claim 1,
Further comprising: driving the vehicle based on the alternative position information of the vehicle including the time at which the RSU information and the RSU information received from any one of the plurality of the RSE devices are received. delete delete delete The method according to claim 1,
The method according to claim 1,
Further comprising broadcasting the vehicle's alternative location information including the time at which the vehicle received the received RSU information and RSU information,
The alternative location information, which the vehicle broadcasts,
Further comprising information on a movement path and a movement distance of the vehicle after the time when the vehicle received the RSU information. The method according to claim 1,
Further comprising: driving the vehicle based on the substitute position information of the vehicle including the time at which the RSU information and the RSU information received from any one of the plurality of the RSE devices are received,
Wherein the driving of the vehicle comprises:
Determining whether the GPS signal sensitivity is higher than the set sensitivity; And
When the GPS signal sensitivity is equal to or higher than the set sensitivity,
Stopping use of the substitute position information by the vehicle and traveling based on GPS information; Further comprising the steps of: A communication device; And
Receiving RSU information corresponding to a GPS dark area from any one of a plurality of sidewalk devices via the communication device,
Receives from the other vehicle through the communication device the alternative location information of the other vehicle including the RSU information received from any one of the plurality of the RSE devices and the time at which the other vehicle received the RSU information ,
And a controller for determining a relative position of the other vehicle on the basis of the received RSU information, the time at which the RSU information was received, and the alternative position information of the other vehicle,
Wherein,
The control unit compares the RSU information broadcasted by the RSU with the RSU information broadcasted by the other vehicle to determine the relative position with respect to the other vehicle,
When the RSU information broadcasting the RSU information received by the vehicle is identical to the RSE information broadcasting the RSU information received by the other vehicle, the RSU information reception times of the vehicle and the other vehicle are compared, And determines a relative position with respect to the other vehicle. Receiving, by the vehicle, RSU information corresponding to a shaded area of the GPS from any one of the plurality of sidewalk devices; And
Wherein the vehicle travels based on alternative location information including received RSU information and RSU information reception time,
Wherein the driving of the vehicle comprises:
Wherein when the first RSU information is received, the first RSU corresponding to an entry area of the GPS shaded area among the plurality of RSEs is broadcast,
The vehicle traveling on the basis of the GPS information stops using the GPS information and travels based on the reception time of the first RSU information and the first alternative location information including the first RSU information A method of controlling a vehicle. 13. The method of claim 12,
Wherein the first RSU information includes information on the entire GPS shaded area. 13. The method of claim 12,
Wherein the driving of the vehicle comprises:
Wherein when the second RSU information is received, wherein the second RSU broadcasts,
Stopping use of the first alternative location information, and traveling based on second alternative location information including the reception time of the second RSU information and the second RSU information.

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