Patent Application
20220349728
The present disclosure relates to a system and a method.
A vehicle refers to a device that carries a passenger in a direction intended by a passenger. A car is a major example of such a vehicle. In the industrial field of vehicles, application of an advanced driver assistance system (ADAS) is under active study to increase the driving convenience of users. Furthermore, the application of autonomous driving of vehicles is also under active study.
The application of ADAS or the application of autonomous driving may be configured based on map data. Conventionally, low-scale standard definition (SD) map data is provided to users while being stored in a memory installed in a vehicle. However, recently, as the need for high-scale high-definition (HD) map data has increased, map data into which a cloud service is integrated has come to be provided to users.
A vehicle that supports ADAS application or autonomous driving application may travel based on electronic horizon data generated based on HD map data. There is a problem in that it is not possible to appropriately provide electronic horizon data when an HD map is not received at an appropriate time due to a poor communication environment or electronic horizon data is not generated due to overload in data processing while a vehicle travels.
To overcome the aforementioned problems, the present disclosure may provide a system for smoothly providing electronic horizon data to a vehicle even when a communication environment is not poor or overload is exerted in data processing while a vehicle travels.
The present disclosure may provide a method of smoothly providing electronic horizon data to a vehicle even when a communication environment is not poor or overload is exerted in data processing while a vehicle travels.
It will be appreciated by persons skilled in the art that that the effects that could be achieved with the present disclosure are not limited to what has been particularly described hereinabove and other advantages of the present disclosure will be more clearly understood from the detailed description.
In accordance with the present disclosure, the above and other objects can be accomplished by the provision of a system including a first vehicle configured to generate first data, and an infrastructure configured to acquire high-definition (HD) map data, to receive the first data, and to generate first electronic horizon data of a specified region in terms of the first vehicle based on the HD map data and the first data and to transmit the first electronic horizon data to the first vehicle when receiving a request signal from the first vehicle.
The first data may include sensing data generated by at least one sensor installed in the first vehicle, and the infrastructure may generate main path data defined as a trajectory formed by connecting roads having a high relative probability of being selected, and may generate a trajectory formed by connecting lanes having a high relative probability of being selected, as the main path data, based on the sensing data.
The first vehicle may include an electronic device configured to generate second electronic horizon data of a specified region based on the HD map data, the first vehicle may transmit the request signal to the infrastructure when determining that a first condition is satisfied, and whether the first condition is satisfied may be determined based on at least one of a communication environment, computation capability of the electronic device, or a traveling situation of the first vehicle.
The first vehicle may travel based on the first electronic horizon data when determining that the first condition is satisfied, and may travel based on the second electronic horizon data when determining that the second condition is not satisfied.
The infrastructure may receive second data from a second vehicle positioned around the first vehicle and may generate the first electronic horizon data in further consideration of the second data.
The infrastructure may measure a data amount of the first electronic horizon data and may generate billing data with respect to the first vehicle as a target based on the data amount.
Details of other embodiments are included in detailed descriptions and drawings.
As is apparent from the foregoing description, the embodiments of the present disclosure have the following one or more effects.
First, electronic horizon data may be continuously used even when high-definition (HD) map data is not received due to a poor communication environment while a vehicle travels.
Second, electronic horizon data may be continuously used even when overload is exerted in an electronic device installed in a vehicle.
Third, advanced driver assistance system (ADAS) application or autonomous driving application may be seamlessly used may be used while a vehicle travels.
It will be appreciated by persons skilled in the art that that the effects that could be achieved with the present disclosure are not limited to what has been particularly described hereinabove and other advantages of the present disclosure will be more clearly understood from the following claims.
Reference will now be made in detail to exemplary embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings. The suffixes “module” and “unit” of elements herein are used for convenience of description and thus can be used interchangeably, and do not have any distinguishable meanings or functions. In the following description of the at least one embodiment, a detailed description of known functions and configurations incorporated herein will be omitted for the purposes of clarity and brevity. The features of the present disclosure will be more clearly understood from the accompanying drawings, and should not be understood to be limited by the accompanying drawings, and it is to be appreciated that all changes, equivalents, and substitutes that do not depart from the spirit and technical scope of the present disclosure are encompassed in the present disclosure.
It will be understood that, although the terms “first”, “second”, “third” etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element.
It will be understood that when an element is referred to as being “on”, “connected to” or “coupled to” another element, it may be directly on, connected to or coupled to the other element, or intervening elements may be present. In contrast, when an element is referred to as being “directly on,” “directly connected to” or “directly coupled to” another element or layer, there are no intervening elements present.
Singular expressions in the present specification include the plural expressions unless clearly specified otherwise in context.
It will be further understood that the terms “comprises” or “comprising” when used in this specification specify the presence of stated features, integers, steps, operations, elements, or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof.
In the description below, the left side of the vehicle means the left side with respect to the travel direction of the vehicle and the right side of the vehicle means the right side with respect to the travel direction of the vehicle.
Referring to
The vehicle 10 may include an electronic device 100. The electronic device 100 may be referred to as an electronic horizon provider (EHP). The electronic device 100 may be conductively connected to another electronic device inside the vehicle 10 in the state of being installed in the vehicle 10.
Referring to
The infrastructure 20 may receive data generated by at least one electronic device installed in the vehicles 10a and 10b. For example, the infrastructure 20 may receive data generated by at least one of an EHP, a user interface device, an object detection device, a communication device, a driving manipulation device, a main ECU, a vehicle-driving device, a travel system, a sensor, and a position-data-generating-device. The infrastructure 20 may generate big data based on the data received from a plurality of vehicles. For example, the infrastructure 20 may receive dynamic data from the vehicles 10a and 10b and may generate big data based on the received dynamic data. The infrastructure 20 may update HD map data based on the data received from a plurality of vehicles. For example, the infrastructure 20 may receive data generated by an object detection device from the EHP included in the vehicles 10a and 10b and may update HD map data.
The infrastructure 20 may provide pre-stored data to the vehicles 10a and 10b. For example, the infrastructure 20 may provide at least one of high-definition (HD) map data or standard definition (SD) map data to the vehicles 10a and 10b. The infrastructure 20 may classify the map data into map data for respective sections, and may provide only the map data corresponding to a section requested by the vehicles 10a and 10b. The HD map data may be referred to as high-precision map data.
The infrastructure 20 may generate electronic horizon data. When receiving a request signal from the vehicles 10a and 10b, the infrastructure 20 may generate the electronic horizon data based HD map data and the data generated by the vehicles 10a and 10b. The electronic horizon data generated by the infrastructure 20 may be electronic horizon data about a specified region based on the specific vehicles 10a and 10b.
The infrastructure 20 may provide the data that is processed or manipulated by the infrastructure 20 to the vehicles 10a and 10b. The vehicles 10a and 10b may generate a driving control signal based on data received from the infrastructure 20. For example, the infrastructure 20 may provide the HD map data to the vehicles 10a and 10b. For example, the infrastructure 20 may provide the electronic horizon data to the vehicles 10a and 10b.
As shown in
As shown in
Referring to
The electronic device 100 may be referred to as an electronic horizon provider (EHP). The electronic device 100 may generate electronic horizon data and may provide the same to at least one electronic device included in the vehicle 10.
The electronic horizon data may be described as driving plan data used to generate a travel control signal of the vehicle 10 in the travel system 260. For example, the electronic horizon data may be understood as driving plan data within a range to a horizon from the point where the vehicle 10 is positioned. Here, the horizon may be understood as a point a preset distance ahead of the point at which the vehicle 10 is positioned based on a preset travel path. The horizon may refer to a point that the vehicle 10 is capable of reaching after a predetermined time from the point at which the vehicle is positioned along the preset traveling path. Here, the travel path may refer to a travel path to a final destination, and may be set by user input.
The electronic horizon data may include horizon map data and horizon path data.
The horizon map data may include at least one of topology data, ADAS data, HD map data, or dynamic data. In some embodiments, the horizon map data may include a plurality of layers. For example, the horizon map data may include a first layer matching the topology data, a second layer matching the ADAS data, a third layer matching the HD map data, and a fourth layer matching the dynamic data. The horizon map data may further include static object data.
The topology data may be described as a map made by connecting middle parts of roads. The topology data may be appropriate to broadly indicate the position of a vehicle and may be configured in the form of data that is mainly used in a navigation device for a driver. The topology data may be understood as data about road information other than information on lanes. The topology data may be generated based on data received from the infrastructure 20. The topology data may be based on data generated by the infrastructure 20. The topology data may be based on data stored in at least one memory included in the vehicle 10.
The ADAS data may refer to data related to information on a road. The ADAS data may include at least one of data on a slope of a road, data on a curvature of a road, or data on a speed limit of a road. The ADAS data may further include data on a no-passing zone. The ADAS data may be based on data generated by the infrastructure 20. The ADAS data may be based on data generated by the object detection device 210. The ADAS data may be referred to as road information data.
The HD map data may include topology information in units of detailed lanes of a road, information on connection between lanes, and information on characteristics for localization of a vehicle (e.g., a traffic sign, lane marking/attributes, or road furniture). The HD map data may be based on data generated by the infrastructure 20.
The dynamic data may include various pieces of dynamic information to be generated on a road. For example, the dynamic data may include information on construction, information on variable-speed lanes, information on the state of a road surface, information on traffic, and information on moving objects. The dynamic data may be based on data received from the infrastructure 20. The dynamic data may be based on data generated by the object detection device 210.
The electronic device 100 may provide map data within a range to a horizon from the point where the vehicle 10 is positioned.
The horizon path data may be described as the trajectory of the vehicle 10 within a range to a horizon from the point where the vehicle 10 is positioned. The horizon path data may include data indicating the relative probability of selection of any one among roads at a decision point (e.g., a forked road, a junction, or an intersection). The relative probability may be calculated based on the time taken to reach a final destination. For example, when a first road is selected at the decision point, if the time taken to reach a final destination is shorter than in the case in which a second road is selected, the probability of selecting the first road may be calculated to be higher than the probability of selecting the second road.
The horizon path data may include a main path and a sub path. The main path may be understood as a trajectory formed by connecting roads having a high probability of being selected. The sub path may branch from at least one decision point on the main path. The sub path may be understood as a trajectory formed by connecting roads having a low probability of being selected from at least one decision point on the main path.
The electronic device 100 may include an interface 180, a power supply 190, a memory 140, and a processor 170.
The interface 180 may exchange a signal with at least one electronic device included in the vehicle 10 in a wired or wireless manner. The interface 180 may exchange a signal with at least one of the user interface device 200, the object detection device 210, the communication device 220, the driving manipulation device 230, the main ECU 240, the vehicle-driving device 250, the travel system 260, the sensor 270, or the position-data-generating-device 280 in a wired or wireless manner. The interface 180 may include at least one of a communication module, a terminal, a pin, a cable, a port, a circuit, an element, or a device.
The power supply 190 may supply power to the electronic device 100. The power supply 190 may receive power from a power source (e.g., a battery) included in the vehicle 10 and may provide power to each unit of the electronic device 100. The power supply 190 may operate according to a control signal provided from the main ECU 240. The power supply 190 may be embodied as a switched-mode power supply (SMPS).
The memory 140 is conductively connected to the controller 170. The memory 140 may store default data for a unit, control data for controlling the operation of the unit, and input and output data. The memory 140 may be any of various storage devices in hardware, such as read only memory (ROM), random access memory (RAM), erasable and programmable ROM (EPROM), flash drive, and hard drive. The memory 140 may store various data for the overall operation of the vehicle 100, such as programs for processing or controlling in the controller 170.
The processor 170 may be conductively connected to the interface 180 and the power supply 190 and may exchange a signal therewith. The processor 170 may be embodied using at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, or electric units for performing other functions.
The processor 170 may be driven by power provided from the power supply 190. The processor 170 may continuously generate electronic horizon data in the state in which the power supply 190 supplies power.
The processor 170 may generate electronic horizon data. The processor 170 may generate electronic horizon data. The processor 170 may generate horizon path data.
The processor 170 may generate electronic horizon data by applying a traveling situation of the vehicle 10. For example, the processor 170 may generate the electronic horizon data based on traveling direction data and traveling speed data of the vehicle 10.
The processor 170 may combine the generated electronic horizon data with the pre-generated electronic horizon data. For example, the processor 170 may connect horizon map data generated at a first time with horizon map data generated at a second time in terms of position. For example, the processor 170 may connect horizon path data generated at a first time with horizon path data generated at a second time in terms of position.
The processor 170 may provide electronic horizon data. The processor 170 may provide the electronic horizon data to at least one of the travel system 260 or the main ECU 240 through the interface 180.
The processor 170 may include the memory 140, an HD map processor 171, a dynamic data processor 172, a matcher 173, and a path generator 175.
The HD map processor 171 may receive HD map data from the server 21 through the communication device 220. The HD map processor 171 may store the HD map data. In some embodiments, the HD map processor 171 may process and manipulate the HD map data.
The dynamic data processor 172 may receive dynamic data from the object detection device 210. The dynamic data processor 172 may receive the dynamic data from the server 21. The dynamic data processor 172 may store the dynamic data. In some embodiments, the dynamic data processor 172 may process and manipulate the dynamic data.
The matcher 173 may receive an HD map from the HD map processor 171. The matcher 173 may receive the dynamic data from the dynamic data processor 172. The matcher 173 may generate horizon map data by matching the HD map data and the dynamic data.
In some embodiments, the matcher 173 may receive topology data. The matcher 173 may receive ADAS data. The matcher 173 may generate horizon map data by matching topology data, ADAS data, HD map data, and dynamic data.
The path generator 175 may generate horizon path data. The path generator 175 may include a main path generator 176 and a sub path generator 177. The main path generator 176 may generate main path data. The sub path generator 177 may generate sub path data.
The electronic device 100 may include at least one printed circuit board (PCB). The interface 180, the power supply 190, and the processor 170 may be conductively connected to the PCB.
In some embodiments, the electronic device 100 may be integrated into the communication device 220. In this case, the vehicle 10 may include the communication device 220 as a lower-ranking component of the electronic device 100.
The user interface device 200 may be a device for communication between the vehicle 10 and a user. The user interface device 200 may receive user input and may provide information generated by the vehicle 10 to a user. The vehicle 10 may embody a user interface (UI) or user experience (UX) through the user interface device 200.
The object detection device 210 may detect an object outside the vehicle 10. The object detection device 210 may include at least one of a camera, a RADAR, a LiDAR, an ultrasonic sensor, or an infrared sensor. The object detection device 210 may provide data on an object, generated based on a sensing signal generated by a sensor, to at least one electronic device included in a vehicle.
The object detection device 210 may generate dynamic data based on a sensing signal for sensing an object. The object detection device 210 may provide the dynamic data to the electronic device 100.
The object detection device 210 may receive electronic horizon data. The object detection device 210 may include an electronic horizon re-constructor (EHR) 265. The EHR 265 may convert the electronic horizon data into the data format to be used in the object detection device 210.
The communication device 220 may exchange a signal with a device positioned outside the vehicle 10. The communication device 220 may exchange a signal with at least one of an infrastructure (e.g., a server) or other vehicles. The communication device 220 may include at least one of a transmission antenna and a reception antenna for communication, and a radio frequency (RF) circuit or an RF device for embodying various communication protocols.
The driving manipulation device 230 may be a device for receiving user input for driving. In the case of a manual mode, the vehicle 10 may be driven based on a signal provided by the driving manipulation device 230. The driving manipulation device 230 may include a steering input device (e.g., a steering wheel), an acceleration input device (e.g., an accelerator pedal), and a brake input device (e.g., a brake pedal).
The main ECU 240 may control the overall operation of at least one electronic device included in the vehicle 10.
The main ECU 240 may receive electronic horizon data. The main ECU 240 may include an electronic horizon re-constructor (EHR) 265. The EHR 265 may convert the electronic horizon data into a data format to be used in the main ECU 240.
The vehicle-driving device 250 may be a device for electrical control of various devices in the vehicle 10. The vehicle-driving device 250 may include a powertrain driver, a chassis driver, a door/window driver, a safety device driver, a lamp driver, and a conditioning driver. The powertrain driver may include a power source driver and a transmission driver. The chassis driver may include a steering driver, a brake driver, and a suspension driver.
The travel system 260 may perform a traveling operation of the vehicle 10. The travel system 260 may provide a control signal to at least one of a powertrain driver or a chassis driver of the vehicle-driving device 250, and may move the vehicle 10.
The travel system 260 may receive electronic horizon data. The travel system 260 may include an electronic horizon re-constructor (EHR) 265. The EHR 265 may convert the electronic horizon data into a data format to be used in an ADAS application and an autonomous driving application.
The travel system 260 may include at least one of an ADAS application or an autonomous driving application. The travel system 260 may generate a travel control signal using at least one of the ADAS application and the autonomous driving application.
The sensor 270 may sense the state of a vehicle. The sensor 270 may include at least one of an inertial navigation unit (IMU) sensor, a collision sensor, a wheel sensor, a speed sensor, an inclination sensor, a weight detection sensor, a heading sensor, a position module, a vehicle forward/backward sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor using rotation of a steering wheel, a vehicle interior temperature sensor, a vehicle interior humidity sensor, an ultrasonic sensor, an illumination sensor, an accelerator pedal position sensor, or a brake pedal position sensor. The inertial navigation unit (IMU) sensor may include one or more of an acceleration sensor, a gyro sensor, and a magnetic sensor.
The sensor 270 may generate data on the state of the vehicle based on a signal generated by at least one sensor. The sensor 270 may acquire a sensing signal for sensing vehicle posture information, vehicle motion information, vehicle yaw information, vehicle roll information, vehicle pitch information, vehicle collision information, vehicle direction information, vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle inclination information, vehicle forward/backward information, battery information, fuel information, tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, steering wheel rotation angle, vehicle external illumination, the pressure applied to an accelerator pedal, the pressure applied to a brake pedal, and the like.
In addition, the sensor 270 may further include an accelerator pedal sensor, a pressure sensor, an engine rotation speed sensor, an air flow sensor (AFS), an air temperature sensor (ATS), a water temperature sensor (WTS), a throttle position sensor (TPS), a TDC sensor, and a crank angle sensor (CAS).
The sensor 270 may generate vehicle state information based on sensing data. The vehicle state information may be information generated based on data detected by various sensors included in a vehicle.
For example, the vehicle state information may include vehicle posture information, vehicle speed information, vehicle inclination information, vehicle weight information, vehicle direction information, vehicle battery information, vehicle fuel information, vehicle tire air-pressure information, vehicle steering information, vehicle interior temperature information, vehicle interior humidity information, pedal position information, and vehicle engine temperature information.
The position-data-generating-device 280 may generate position data of the vehicle 10. The position-data-generating-device 280 may include at least one of a global positioning system (GPS) or a differential global positioning system (DGPS). The position-data-generating-device 280 may generate position data of the vehicle 10 based on a signal generated by at least one of the GPS or the DGPS. In some embodiments, the position-data-generating-device 280 may correct the position data based on at least one of an inertial measurement unit (IMU) of the sensor 270 or a camera of the object detection device 210.
The vehicle 10 may include an internal communication system 50. A plurality of electronic devices included in the vehicle 10 may exchange a signal using the internal communication system 50 as a medium. The signal may include data. The internal communication system 50 may use at least one communication protocol (e.g., CAN, LIN, FlexRay, MOST, or Ethernet).
Referring to
The electronic device 100 may receive dynamic data from the object detection device 210. In some embodiments, the electronic device 100 may also receive dynamic data from the server 21 through the communication device 220.
The electronic device 100 may receive position data of a vehicle from the position-data-generating-device 280.
In some embodiments, the electronic device 100 may receive a signal based on user input through the user interface device 200. In some embodiments, the electronic device 100 may receive vehicle state information from the sensor 270.
The electronic device 100 may generate electronic horizon data based on HD map data, dynamic data, and position data. The electronic device 100 may match the HD map data, the dynamic data, and the position data with each other to generate horizon map data. The electronic device 100 may generate horizon path data on a horizon map. The electronic device 100 may generate main path data and sub path data on the horizon map.
The electronic device 100 may provide electronic horizon data to the travel system 260. The EHR 265 of the travel system 260 may convert the electronic horizon data into a data format appropriate for applications 266 and 267. The applications 266 and 267 may generate a travel control signal based on the electronic horizon data. The travel system 260 may provide the travel control signal to the vehicle-driving device 250.
The travel system 260 may include at least one of an ADAS application 266 or an autonomous driving application 267. The ADAS application 266 may generate a control signal for assisting the driver in driving of the vehicle 10 through the driving manipulation device 230 based on the electronic horizon data. The autonomous driving application 267 may generate a control signal for moving the vehicle 10 based on the electronic horizon data.
With reference to
With reference to
The server 21 may divide the HD map data in units of HD map tiles and may provide the divided HD map data to the electronic device 100. The processor 170 may download the HD map data in units of HD map tiles from the server 21 through the communication device 220.
An HD map tile may be defined as sub HD map data obtained by geographically dividing an entire HD map into rectangular shapes. All HD map data may be acquired by connecting all HD map tiles. The HD map data is high-scale data, and thus the vehicle 10 requires a high-performance controller to download all of the HD map data and to use the downloaded HD map data by the vehicle 10. As communication technologies have been developed, the vehicle 10 may download and use the HD map data in the form of HD map tiles and may thus obviate a high-performance controller rather than requiring inclusion of the high-performance controller, and thus may effectively process data.
The processor 170 may store the downloaded HD map tile in the memory 140. The processor 170 may delete the stored HD map tile. For example, the processor 170 may delete the HD map tile when the vehicle 10 moves out of a section corresponding to the HD map tile. For example, the processor 170 may delete the HD map tile when a preset time elapses since the HD map tile was stored.
Referring to
Referring to
The processor 170 may receive all of the tiles 350, 352, 361, 362, 363, 364, 365, 366, 367, 368, 369, 370, and 371, which cover the path 391, at one time.
While the vehicle 10 moves along the path 391, the processor 170 may separately receive all of the tiles 350, 352, 361, 362, 363, 364, 365, 366, 367, 368, 369, 370, and 371. While the vehicle 10 moves along the path 391, the processor 170 may receive only at least some of the tiles 350, 352, 361, 362, 363, 364, 365, 366, 367, 368, 369, 370, and 371 based on the position of the vehicle 10. Then, the processor 170 may continuously receive tiles and may delete the pre-received tiles while the vehicle 10 moves.
Referring to
The vehicle 10 may travel in the state in which a final destination is set. The final destination may be set based on user input received through the user interface device 200 or the communication device 220. In some embodiments, the final destination may also be set by the travel system 260.
In the state in which the final destination is set, the vehicle 10 may be positioned within a preset distance from a first point while traveling. When the vehicle 10 is positioned within a preset distance from the first point, the processor 170 may generate electronic horizon data using a first point as a start point and a second point as an end point. Each of the first point and the second point may be one point on a path toward the final destination. The first point may be described as the point at which the vehicle 10 is currently positioned or is to be positioned in the near future. The second point may be described as the aforementioned horizon.
The processor 170 may receive an HD map of a region including a section to the second point from the first point. For example, the processor 170 may make a request for an HD map of a region within a predetermined radius from a section to the second point from the first point and may receive the HD map. The processor 170 may generate electronic horizon data on a region including the section to the second point from the first point based on the HD map. The processor 170 may generate horizon map data of the region including the section to the second point from the first point. The processor 170 may generate horizon path data of the region including the section to the second point from the first point. The processor 170 may generate data on a main path 313 of the region including the section to the second point from the first point. The processor 170 may generate data on a sub path 314 of the region including the section to the second point from the first point.
When the vehicle 10 is positioned within a preset distance from the second point, the processor 170 may generate electronic horizon data using a second point as a start point and a third point as an end point. Each of the second point and the third point may be one point on a path toward a final destination. The second point may be described as a point at which the vehicle 10 is currently positioned or is to be positioned in the near future. The third point may be described as the aforementioned horizon. The electronic horizon data using the second point as a start point and the third point as an end point may be geographically connected to the aforementioned electronic horizon data using the first point as a start point and the second point as an end point.
The aforementioned operation of generating the electronic horizon data using the first point as a start point and the second point as an end point may be applied in the same way to the operation of generating the electronic horizon data using the second point as a start point and the third point as an end point.
In some embodiments, the vehicle 10 may also travel in the state in which a final destination is not set.
Referring to
The infrastructure 20 may include at least one server. In some embodiments, the infrastructure 20 may include one server, as shown in
The description of the vehicle 10 described with reference to
The second vehicle 10b may be described as a vehicle located around the first vehicle 10a. For example, the second vehicle 10b may be described as a vehicle location within a preset radius based on the first vehicle 10a. The description of the vehicle 10 described with reference to
The infrastructure 20 may acquire HD map data (S703). The infrastructure 20 may include a database for storing and providing the HD map data. The infrastructure 20 may call required HD map data from the database and may use the HD map data. The database may be embodied as at least one server included in the infrastructure. The HD map data may be continuously updated based on the data received from the at least one vehicle 10a and 10b. At least one server included in the infrastructure 20 may acquire HD map data. When the infrastructure 20 includes a plurality of servers, the first server 21 (refer to
The first vehicle 10a may generate first data (S705). The first data may include data generated by at least one of the user interface device 200 of the first vehicle 10a, the object detection device 210, the communication device 220, the driving manipulation device 230, the main ECU 240, the vehicle-driving device 250, the travel system 260, the sensor 270, or the position-data-generating-device 280. For example, the first data may include sensing data sensed by at least one sensor installed in the first vehicle 10a. Here, the sensor may include at least one of a camera, a RADAR, a LiDAR, an ultrasonic sensor, or an infrared sensor.
The first vehicle 10a may transmit the first data to the infrastructure 20 through the communication device 220 (S710). The infrastructure 20 may receive the first data from the first vehicle 10a. At least one server included in the infrastructure 20 may receive the first data generated by the first vehicle 10a. The infrastructure 20 may include a communication device for exchanging a signal with an external device. The communication device of the infrastructure 20 may include at least one of a transmission antenna and a reception antenna that perform communication, a radio frequency (RF) circuit for embodying various communication protocols, or an RF device.
The second vehicle 10b may generate the second data (S715). The second data may include data generated by at least one of the user interface device 200 of the second vehicle 10b, the object detection device 210, the communication device 220, the driving manipulation device 230, the main ECU 240, the vehicle-driving device 250, the travel system 260, the sensor 270, or the position-data-generating-device 280. For example, the second data may include data sensed by at least one sensor installed in the second vehicle 10b. Here, the sensor may include at least one of a camera, a RADAR, a LiDAR, an ultrasonic sensor, or an infrared sensor.
The second vehicle 10b may transmit the second data to the infrastructure 20 through the communication device 220 (S720). The infrastructure 20 may receive the second data from the second vehicle 10b. At least one server included in the infrastructure 20 may receive the second data from the second vehicle 10b.
The first vehicle 10a may generate the electronic horizon data (S730). The first vehicle 10a may generate second electronic horizon data of a specified region based on the HD map data. The first vehicle 10a may include the electronic device 100 for generating the second electronic horizon data of the specified region based on the HD map data. The description given with reference to
The first vehicle 10a may determine whether a first condition is satisfied (S740). The electronic device 100 included in the first vehicle 10a may determine whether the first condition is satisfied. Whether the first condition is satisfied may be determined based on at least one of a communication environment, computation capability of the electronic device 100, or a traveling situation of the first vehicle 10a. For example, when determining that communication traffic is equal to or greater than a predetermined value, the electronic device 100 may determine that the first condition is satisfied. For example, when determining that computational load of the electronic device 100 is equal to or greater than a reference value, the electronic device 100 may determine that the first condition is satisfied. For example, when determining that the first vehicle 10a travels in a first section estimated to have large data throughput, the electronic device 100 may determine that the first condition is satisfied.
When determining that the first condition is satisfied, the first vehicle 10a may transmit a request signal to the infrastructure 20 through the communication device 220 (S750). The infrastructure 20 may receive the request signal from the first vehicle 10a. The request signal may be generated when the first condition is determined to be satisfied. At least one sever included in the infrastructure 20 may receive the request signal from the first vehicle 10a.
When receiving the request signal from the first vehicle 10a, the infrastructure 20 may generate first electronic horizon data of a specified region in terms of the first vehicle 10a based on the HD map data and the first data. At least one server included in the infrastructure 20 may generate the first electronic horizon data of a specified region in terms of the first vehicle 10a based on the HD map data and the first data.
The description of the electronic horizon data described with reference to
The infrastructure 20 may generate the main path data defined as a trajectory formed by connecting roads having a high relative probability of being selected and may generate a trajectory formed by connecting lanes having a high relative probability of being selected as the main path data. At least one server included in the infrastructure 20 may generate the main path data defined by connecting roads having a high relative probability of being selected and may generate a trajectory formed by connecting lanes having a high relative probability of being selected as the main path data based on sensing data. The sensing data may be data generated by at least one sensor installed in the first vehicle 10a.
The infrastructure 20 may generate the first electronic horizon data in further consideration of the second data. At least one server included in the infrastructure 20 may generate the first electronic horizon data in further consideration of the second data. For example, the second data may include travel planning data of the second vehicle 10b. The infrastructure 20 may generate a path that does not overlap an estimated travel path of the second vehicle 10b as a main path and a sub path of the first vehicle 10a based on the travel planning data of the second vehicle 10b.
The infrastructure 20 may transmit the first electronic horizon data to the first vehicle 10a (S770). At least one server included in the infrastructure 20 may transmit the first electronic horizon data to the first vehicle 10a. The first vehicle 10a may receive the first electronic horizon data through the communication device 220. The communication device 220 may receive the first electronic horizon data and may transmit the first electronic horizon data to at least one electronic device inside the first vehicle 10a. For example, the electronic device 100 of the first vehicle 10a may receive the first electronic horizon data and may transmit the first electronic horizon data to other electronic devices in the first vehicle 10a. At least one electronic device inside the first vehicle 10a may convert the first electronic horizon data into a data format to be used in the electronic device and may use the converted first electronic horizon data through the HER 265.
When determining that the first condition is satisfied in operation S740, the first vehicle 10a may travel based on the first electronic horizon data. When determining that the first condition is not satisfied in operation S740, the first vehicle 10a may travel based on the second electronic horizon data.
The infrastructure 20 may generate billing data (S780). The infrastructure 20 may recognize a resource (e.g., data throughput) of the infrastructure 20 used to generate the first electronic horizon data and may generate the billing data having the first vehicle 10a as a target based on the recognized resource. For example, the infrastructure 20 may measure the amount of data of the first electronic horizon data and may generate billing data with respect to the first vehicle 10a based on the amount of data. At least one server included in the infrastructure 20 may measure the amount of data of the first electronic horizon data and may generate billing data using the first vehicle 10a based on the amount of the data.
The infrastructure 20 may transmit the billing data to the first vehicle 10a (S790). The first vehicle 10a may receive the billing data. The first vehicle 10a may pay the sum of money corresponding to reception of the first electronic horizon data using a predetermined method of payment based on the billing data.
The aforementioned present disclosure can also be embodied as computer readable code stored on a computer readable recording medium. The computer readable recording medium is any data storage device that can store data which can thereafter be read by a computer. Examples of the computer readable recording medium include a hard disk drive (HDD), a solid state drive (SSD), a silicon disk drive (SDD), read-only memory (ROM), random-access memory (RAM), CD-ROM, magnetic tapes, floppy disks, optical data storage devices, carrier waves (e.g., transmission via the Internet), etc. The computer may include a processor or a controller. Accordingly, it is intended that the present disclosure cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/KR2019/000478 | 1/11/2019 | WO |
