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METHOD AND APPARATUS FOR PERFORMING USER EQUIPMENT TRIGGERED SEMI-PERSISTENT SCHEDULING ACTIVATION IN WIRELESS COMMUNICATION SYSTEMA user equipment (UE) receives a SPS resource configuration from an eNodeB (eNB), and transmits information related to a semi-persistent scheduling (SPS) activation for a specific logical channel to the eNB. The information may include timing information for the specific logical channel which indicates when a SPS resource for the specific logical channel should be activated. The specific logical channel may correspond to a vehicle-to-everything (V2X) communication.What is claimed is: | 1. A method performed by a user equipment (UE) in a wireless communication system, the method comprising: receiving, from a network, a radio resource control (RRC) release message comprising a resource configuration including i) information for at least one periodic uplink resource and ii) information for a validity duration during which a data transmission using the at least one periodic uplink resource is valid; suspending one or more radio bearers; resuming the one or more suspended radio bearers for the data transmission; and performing the data transmission using the at least one periodic resource to the network during the validity duration. | 2. The method of claim 1, further comprising: transmitting, to the network while the UE is in a connected mode, a request message for requesting periodic scheduling of uplink resources, wherein the request message comprises timing information for the at least one periodic uplink resource. | 3. The method of claim 1, further comprising: storing the resource configuration to be maintained after receiving the RRC release message. | 4. The method of claim 1, wherein the at least one periodic uplink resource is valid at a specific cell. | 5. The method of claim 1, wherein the RRC release message further comprises an interval of the at least one periodic uplink resource and a radio network temporary identifier (RNTI) related to the at least one periodic uplink resource. | 6. The method of claim 1, wherein the RRC release message further comprises a physical uplink control channel (PUCCH) configuration. | 7. The method of claim 1, wherein the one or more radio bearers are related to a specific logical channel, and wherein the at least one periodic uplink resource is used for data of the specific logical channel configured by the network. | 8. The method of claim 7, wherein a buffer status report is transmitted via a random access procedure to inform the network about an amount of uplink data available for transmission over the specific logical channel after receiving the RRC release message. | 9. The method of claim 1, wherein the resource configuration further comprises information informing a specific cell for which the at least one periodic uplink resource is valid. | 10. The method of claim 1, wherein the UE is in communication with at least one of a mobile device, a network or autonomous vehicles other than the UE. | 11. A user equipment (UE) configured to operate in a wireless communication system, the UE comprising: at least one transceiver; at least processor; and at least one computer memory operably connectable to the at least one processor and storing instructions that, based on being executed by the at least one processor, perform operations comprising: receiving, from a network, a radio resource control (RRC) release message comprising a resource configuration including i) information for at least one periodic uplink resource and ii) information for a validity duration during which a data transmission using the at least one periodic uplink resource is valid; suspending one or more radio bearers; resuming the one or more suspended radio bearers for the data transmission; and performing the data transmission using the at least one periodic resource to the network during the validity duration. | 12. The UE of claim 11, wherein the operations further comprises: transmitting, to the network while the UE is in a connected mode, a request message for requesting periodic scheduling of uplink resources, wherein the request message comprises timing information for the at least one periodic uplink resource. | 13. The UE of claim 11, wherein the operations further comprises: storing the resource configuration to be maintained after receiving the RRC release message. | 14. The UE of claim 11, wherein the at least one periodic uplink resource is valid at a specific cell. | 15. The UE of claim 11, wherein the RRC release message further comprises an interval of the at least one periodic uplink resource and a radio network temporary identifier (RNTI) related to the at least one periodic uplink resource. | 16. The UE of claim 11, wherein the RRC release message further comprises a physical uplink control channel (PUCCH) configuration. | 17. The UE of claim 11, wherein the one or more radio bearers are related to a specific logical channel, and wherein the at least one periodic uplink resource is used for data of the specific logical channel configured by the network. | 18. The UE of claim 17, wherein a buffer status report is transmitted via a random access procedure to inform the network about an amount of uplink data available for transmission over the specific logical channel after receiving the RRC release message. | 19. The UE of claim 11, wherein the resource configuration further comprises information informing a specific cell for which the at least one periodic uplink resource is valid. | 20. At least one computer readable medium (CRM) storing instructions that, based on being executed by at least one processor, perform operations comprising: receiving, from a network, a radio resource control (RRC) release message comprising a resource configuration including i) information for at least one periodic uplink resource and ii) information for a validity duration during which a data transmission using the at least one periodic uplink resource is valid; suspending one or more radio bearers; resuming the one or more suspended radio bearers for the data transmission; and performing the data transmission using the at least one periodic resource to the network during the validity duration.

The method involves receiving (S100) a SPS resource configuration from an eNodeB (eNB). The information related to the SPS activation for a specific logical channel is transmitted (S110) to the eNB. The information is transmitted through a scheduling request (SR) on one of a physical uplink control channel (PUCCH), media access control (MAC) control element (CE) or a radio resource control (RRC) message. An INDEPENDENT CLAIM is included for an user equipment in wireless communication system. Method for performing semi-persistent scheduling (SPS) activation by user equipment (UE) in wireless communication system (claimed). The method for performing semi-persistent scheduling activation by user equipment in wireless communication system is achieved. The gap between generations of UL data and the configured SPS resource can be reduced. The drawing shows a method for performing a SPS activation by UE. S100Step for receiving SPS resource configuration from eNodeBS110Step for transmitting information related to SPS activation for specific logical channel to eNB

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METHOD AND APPARATUS FOR PAGING PROCEDURE CONSIDERING NETWORK SLICING IN A WIRELESS COMMUNICATION SYSTEMA method and apparatus for paging procedure considering network slicing in a wireless communication system is provided. A wireless device receives, from a network, a paging message including information related to a mobile terminated (MT) service. A wireless device transmits, to the network, a paging response message including information on Single-Network Slice Selection Assistance Information (S-NSSAI) for the MT service. A wireless device receives, from the network, the MT service from a cell related to the S-NSSAI. The cell is determined based on the paging response message.What is claimed is: | 1. A method performed by a wireless device in a wireless communication system, the method comprising, receiving, from a network, a paging message including information related to a mobile terminated (MT) service; transmitting, to the network, a paging response message including information on Single-Network Slice Selection Assistance Information (S-NSSAI) for the MT service; and receiving, from the network, the MT service from a cell related to the S-NSSAI, wherein the cell is determined based on the paging response message. | 2. The method of claim 1, wherein the method further comprises, checking whether secondary cells (SCells) of master cell group (MCG) and/or secondary cell group (SCG) support a network slice for the MT service; and based on that a specific cell among the SCells supports the network slice for the MT service, including a cell identity of the specific cell in the paging response message. | 3. The method of claim 1, wherein the paging response message includes a group ID for network slices assigned for the MT service. | 4. The method of claim 1, wherein the method further comprises, determining whether a serving cell supports a network slice assigned for the MT service based on the information related to the MT service. | 5. The method of claim 4, wherein the method further comprises, including an indication, informing that the network slice assigned for the MT service is not supported by the serving cell, in the paging response message, based on the determination. | 6. The method of claim 1, wherein the MT service includes at least one of a massive Internet of Things (mIoT) service, an enhanced Mobile Broadband (eMBB) service, an Ultra-Reliable and Low Latency Communications (URLLC) service, a Vehicle-to-Everything (V2X) service, an Internet service, and/or an Internet Protocol (IP) Multimedia Subsystem (IMS) service. | 7. The method of claim 1, wherein the wireless device is in radio resource control (RRC)_INACTIVE, and wherein the paging response message is an RRC resume request message. | 8. The method of claim 1, wherein the wireless device is in RRC_IDLE, and wherein the paging response message is an RRC setup request message or a service request message. | 9. The method of claim 1, wherein the information related to the MT service includes a specific Slice/Service Type (SST) related to a network slice assigned for the MT service. | 10. The method of claim 9, wherein the method further comprises, checking whether the specific SST is matched with a Configured S-NSSAI and/or an Allowed S-NSSAI stored in the wireless device. | 11. The method of claim 10, wherein the method further comprises, based on determining that the specific SST is matched with a certain Configured S-NSSAI, and the certain Configured S-NSSAI is not allowed in a serving cell: including information on the certain Configured S-NSSAI in the paging response message. | 12. The method of claim 10, wherein the method further comprises, based on determining that the specific SST is matched with a certain Allowed S-NSSAIs of a serving cell: including an indication informing that the serving cell supports the network slice assigned for the MT service in the paging response message. | 13. The method of claim 1, wherein the information related to the MT service includes at least one of (1) information on an S-NSSAI related to a network slice assigned for the MT service, (2) information on a service type of the MT service, and/or (3) information on a group identity of network slices assigned for the MT service. | 14. The method of claim 1, wherein the wireless device is in communication with at least one of a user equipment, a network, or an autonomous vehicle other than the wireless device. | 15. A wireless device in a wireless communication system comprising: a transceiver; a memory; and at least one processor operatively coupled to the transceiver and the memory, and configured to: control the transceiver to receive, from a network, a paging message including information related to a mobile terminated (MT) service; control the transceiver to transmit, to the network, a paging response message including Single-Network Slice Selection Assistance Information (S-NSSAI) for the MT service; and control the transceiver to receive, from the network, the MT service from a cell related to the S-NSSAI, wherein the cell is determined based on the paging response message. | 16. A method performed by a radio access network (RAN) node in a wireless communication system, the method comprising, receiving, from a core network (CN), an indication for a mobile terminated (MT) service; transmitting, to a wireless device, a paging message including information related to the MT service; receiving, from the wireless device, a paging response message including information on S-NSSAI for the MT service; and transmitting, to the wireless device, a mobility message without performing UE context retrieving procedure. | 17. The method of claim 16, wherein the information related to the MT service includes a specific Slice/Service Type (SST) related to a network slice assigned for the MT service. | 18. The method of claim 16, wherein the UE context retrieving procedure comprises, transmitting, to a last serving RAN node, a retrieve UE context request; and receiving, from the last serving RAN node, a retrieve UE context response.

The method involves receiving a paging message including information related to a mobile terminated (MT) service from a network. Paging response message including information on single-network slice selection assistance information (S-NSSAI) for the MT service is transmitted to the network. The MT service is received from the network from a cell related to the S-NSSAI, where the cell is determined based on the paging response message. Determination is made to check whether secondary cells (SCells) of master cell group (MCG) and/or secondary cell group (SCG) support a network slice for the MT service, where the paging response message includes a group identity (ID) for network slices assigned for the MT service and paging response message is a radio resource control (RRC) resume request message. An INDEPENDENT CLAIM is included for a method for realizing paging procedure considering network slicing by a RAN. Method for realizing paging procedure considering network slicing by a wireless device for being communicated with a user equipment, a network, or an autonomous vehicle (all claimed). Uses include but are not limited to cellular phone, smartphone, laptop computer, digital broadcast terminal, personal digital assistant (PDA), portable multimedia player (PMP), navigation system, slate personal computer (PC), tablet PC and ultrabook. The method enables performing paging operation with reduced cost per bit, increased service availability, flexible use of a frequency band, simple structure, open interface, and adequate power consumption of a terminal as an upper-level requirement. The method enables transmitting intended slice information for DL data in a paging response message by an UE, so that a network can quickly decide, without UE context, whether a serving cell supports a network slice assigned to the service. The method enables performing performs paging procedure considering network slicing efficiently with less user and provider cost, high service quality, thus expanding and improving coverage and system capacity. The drawing shows a schematic block diagram of a communication system.1Communication System 100-b2Vehicle 100b-1Vehicle 100dHand-held device 100eHome appliance

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SMART NAVIGATION/BLACK BOX PROVIDING MULTIPLEX COMMUNICATION FOR AUTONOMOUS DRIVING BASED ON LOW-ORBIT SATELLITE SIGNAL AND METHOD FOR PROVIDING SAMEThe present invention provides a smart navigation/black box comprising: a satellite transmitting/receiving portion for transmitting/receiving a satellite signal to/from a low-orbit satellite; a low-noise downward amplification portion for performing low-noise amplification and transformation with regard to the satellite signal from the satellite transmitting/receiving portion, thereby generating an intermediate signal; a first signal portion for interlinking the intermediate signal from the low-noise downward amplification portion with a wireless Internet signal, thereby generating a first signal; a second signal portion for interlinking the intermediate signal from the low-noise downward amplification portion with radio signals for communication from a vehicle to everything (V2X) and for communication from a vehicle to infrastructure (V2I), thereby generating a second signal; a third signal portion for interlinking the intermediate signal from the low-noise downward amplification portion with position information received from a position information satellite and processing the same, thereby generating a third signal; and a multiple signal control portion for processing and distributing signals processed by the first to third signal portions in real time through a platform (kernel), thereby processing the first signal, the second signal, and the third signal.|1. With the satellite transceiver sending and receives the satellite signal from the low earth orbit satellite. With the low noise downstream amplifier performing the low-noise-amplification about the satellite signal of the satellite transceiver and conversion and produces the intermediate signal. With the first signal part operating the intermediate signal of the low noise downstream amplifier with to the wireless internet signal and produces the first signal. With the second signal part operating the intermediate signal of the low noise downstream amplifier with to the communication between the object (V2X) and the vehicle, and the radio signal for the communication between the vehicle and the infra (V2I) and produces the second signal. With the third signal part operating the intermediate signal of the low noise downstream amplifier with the location information received from the location information satellite and processes and produces the third signal. The processing through the real-time the platform (kernel) and the smart navigation - black box distributing and includes first signal, second signal, and the multiple signal control unit processing the third signal the signal processed at the first ~ third signal part. | 2. As for claim 1. The smart navigation - black box in which the low noise downstream amplifier sends and receives the satellite signal through the folding type flat board phase array antenna. | 3. As for claim 1. It is the radio signal in which the first signal observes 802.11 b / g / n. It is the radio signal in which the second signal observes 802.11 P. The smart navigation - black box which is the radio signal in which the third signal includes the location information. | 4. As for claim 1. The smart navigation - black box including first and second signal part, is the band reject filter (BRF), and band pass filter (BPF). | 5. As for claim 1. With the first signal part, is the transmission and/or reception the first signal through the built-in antenna. With the second signal part, is the transmission and/or reception the second signal through the monopole antenna or the patch antenna. The smart navigation - black box in which the third signal part sends and receives the third signal through the SMA antenna. | 6. As for claim 1. The smart navigation - black box in which the satellite signal is the upturn 27.5~28.35GHz and the downstream is the Ka bandwidth signal of 17.8~18.6GHz. | 7. As for claim 1. The smart navigation - black box preparing the separate process management and device driver the signal in which the multiple signal control unit is processed at the first ~ third signal part with the production in the platform (kernel) which is the operating system and operates the hardware device. | 8. As for claim 1. The smart navigation - black box which further includes the user connection part in which multiple user terminals are configured to manage using the satellite signal in the emergency. | 9. As to the multiplex communication providing method for the autonomous driving of the smart navigation - black box including the satellite transceiver, low noise downstream amplifier, first signal part, second signal part, third signal part, multiple signal control unit. The multiplex communication providing method for the autonomous driving of the smart navigation - black box including performing the low noise downstream amplifier ; the step that the satellite transceiver sends and receives the satellite signal from the low earth orbit satellite is the low-noise-amplification about the satellite signal of the satellite transceiver and conversion to process the processing through the real-time the platform (kernel) and the first signal the signal in which the multiple signal control unit is processed at the first ~ third signal part ; the step of producing the third signal it processes the third signal part operates the intermediate signal of the low noise downstream amplifier with the location information received from the location information satellite ; the step that the second signal part produces the second signal it operates the intermediate signal of the low noise downstream amplifier with to the communication between the object (V2X) and the vehicle, and the radio signal for the communication between the vehicle and the infra (V2I) ; the step of producing the first signal the first signal part operates the intermediate signal of the low noise downstream amplifier with to the wireless internet signal ; the step, of producing the intermediate signal the second signal, and the third signal it distributes.

The box has a satellite transceiver for transmitting and receiving satellite signal from a low earth orbit satellite. A first signal part operates intermediate signal of a low noise downstream amplifier (112) with wireless internet signal to produces the first signal. A second signal part operates the intermediate signal of the low noise downstream amplifier with communication between an object and a vehicle. A third signal part (116) operates the intermediate signal of the low noise downstream amplifier with the location information received from the location information satellite to produce the third signal. A signal control unit (120) processes the third signal at the third signal part. Low-orbit satellite signal based smart navigation/black box for use in an automatic driving vehicle. The box receives low earth orbit satellite signal through wireless communication network so as to receive wireless internet and location service in a desert or resolution, so that communication between the vehicle and a road side unit can be implemented, and wireless communication can be utilized during emergency including region without a cable transmission base station or earthquake or typhoon. The drawing shows a block diagram of a low-orbit satellite signal based smart navigation/black box. '(Drawing includes non-English language text)' 102Monopole antenna103Sub-miniature version A antenna112Low noise downstream amplifier116Signal part120Signal control unit

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Method And System for Providing Virtual Reality Game by using Autonomous Vehicle InformationDisclosed are a method and system for providing a VR game using autonomous vehicle information. This embodiment is a technology that provides a virtual game based on external information of the vehicle when the vehicle moves inside the autonomous vehicle. After recognizing the surrounding situation using the camera, radar, and lidar provided in the autonomous vehicle, A method and system for providing VR games using self-driving vehicle information that borrows the determination result based on the surrounding situation recognition result and transmits and receives VR game data that exchanges information with the self-driving vehicle using the in-vehicle HMD within the determination result It is intended to provide|1. Using a camera, radar, lidar, and positioning module provided in the vehicle to generate surrounding situation information that recognizes the surrounding situation, and based on the surrounding situation information, the vehicle autonomously drives an autonomous driving device that generates vehicle control information while controlling the vehicle to be driven, and generates autonomous driving information about the vehicle including the surrounding situation information and the vehicle control information; a wearable device that is worn on a user's body mounted in the vehicle and generates body motion information according to the body motion; It is configured to communicate with the autonomous driving device V2X based on V2X (Vehicle to Everything), and extracts the surrounding situation information and the vehicle control information included in the received autonomous driving information, and the surrounding situation information and the vehicle control a game providing server that generates and outputs virtual game data based on the information; and being worn on the head of a user mounted in the vehicle, while outputting virtual game data, causes a viewpoint of the virtual game data to move according to gaze information corresponding to the movement of the head, and to the body movement information and a Head Mounted Display (HMD) that updates and outputs the virtual game data accordingly, wherein the autonomous driving device extracts a nearby digital map based on current location information, and uses the digital map with the HMD and the game Transmission to the providing server - using the radar or the lidar from the digital map to read the surrounding sign information within a preset radius around the current location information and then transmit it to the game providing server, the game providing server, Object recognition information that recognizes an object located in the vicinity using the radar or the lidar, the current location information, The virtual game data is controlled to match and output on the digital map output to the HMD, and on the digital map, on the road and building recognized based on 3D image data received from the autonomous driving device through V2X communication. Matching and outputting mascots or game characters, extracting scenario data and target characters corresponding to the surrounding sign information and reflecting them in the virtual game data, extracting vehicle steering information, acceleration information, and braking information from the vehicle control information, , controlling the mascot or game character to move to the left or right according to the vehicle steering information, controlling the mascot or the game character to move upward or downward according to the acceleration information and the braking information, and the gaze information , When a first specific motion among the body motion information is determined in a state in which the body motion information is determined to be aimed at a mascot or a game character on a digital map, it is recognized as a launch command, Controlling the mascot or the game character to be destroyed or exploding, and when a second specific motion is determined among the body movement information, it is recognized as a weapon replacement command or a magazine loading command, and controlling the user character to change the weapon or load the magazine VR game providing system using self-driving vehicle information, characterized in that. | 2. The method of claim 1 , wherein the autonomous driving device generates image data captured by the camera and calculates in real time current location information that changes according to the movement of the vehicle using the positioning module. A VR game providing system using self-driving vehicle information. | 3. The system for providing a VR game using autonomous driving vehicle information according to claim 2, wherein the autonomous driving device allows the vehicle to autonomously drive to an input destination based on the surrounding situation information. | 4. delete | 5. The method of claim 3, wherein the game providing server extracts a mascot or game character corresponding to the specific area when the vehicle enters a specific area based on the current location information, and selects the mascot or the game character. VR game providing system using self-driving vehicle information, characterized in that it is reflected in the virtual game data. | 6. The system of claim 5, wherein the game providing server controls the mascot or the game character to be destroyed or exploded based on the gaze information and the body movement information. . | 7. delete | 8. delete | 9. delete | 10. The method according to claim 1, wherein the game providing server sets a location of a user character based on the current location information on the digital map, and uses the mascot or the game character to attack the user character with a preset artificial intelligence. VR game providing system using self-driving vehicle information, characterized in that it controls to attack. | 11. delete | 12. delete | 13. The system of claim 1, wherein the autonomous driving device and the game providing server communicate based on Vehicle to Everything (V2X). | 14. Using a camera, radar, lidar, and positioning module provided in the vehicle to generate surrounding situation information that recognizes the surrounding situation, and based on the surrounding situation information, the vehicle autonomously drives an autonomous driving device that generates vehicle control information while controlling the vehicle to be driven, and generates autonomous driving information about the vehicle including the surrounding situation information and the vehicle control information; a wearable device that is worn on a user's body mounted in the vehicle and generates body motion information according to the body motion; It is configured to communicate with the autonomous driving device V2X based on V2X (Vehicle to Everything), and extracts the surrounding situation information and the vehicle control information included in the received autonomous driving information, and the surrounding situation information and the vehicle control a game providing server that generates and outputs virtual game data based on the information; and a Head UP Display (HUD) installed on one side of the front window of the vehicle to output the virtual game data while updating and outputting the virtual game data according to the body movement information; , extracts a nearby digital map based on current location information, and transmits the digital map to the HUD and the game providing server After reading the surrounding sign information within the radius, the information is transmitted to the game providing server, and the game providing server recognizes an object located in the vicinity using the radar or the lidar information, Controlling the current location information and the virtual game data to match and output on the digital map output to the HUD, Based on the 3D image data received from the autonomous driving device through V2X communication on the digital map, the mascot or game character is matched and outputted to the recognized road and building, and scenario data corresponding to the surrounding sign information and the target character extract and reflect it in the virtual game data, extract vehicle steering information, acceleration information, and braking information from the vehicle control information, and control the mascot or game character to move left or right according to the vehicle steering information, Control the mascot or the game character to move upward or downward according to the acceleration information and the braking information, and when the gaze information and the body movement information determine the aiming state of the mascot or the game character on the digital map When a first specific motion is identified among the body movement information, it is recognized as a launch command, and the mascot or the game character is controlled to be destroyed or exploded, VR game providing system using self-driving vehicle information, characterized in that when a second specific motion is identified among the body movement information, it is recognized as a weapon replacement command or a magazine loading command, and the user character's weapon replacement or magazine loading is controlled to be performed. .

The method involves using a camera, radar, light detection and ranging, and positioning module provided in a vehicle to generate surrounding situation information that recognizes the surrounding situation. The autonomous driving information is generated about the vehicle including the surrounding situation information and the vehicle control information. A game providing server extracts the surrounding situation information and the vehicle control information included in the received autonomous driving information, and generates and outputs virtual game data based on the surrounding situation information and the vehicle control information. An INDEPENDENT CLAIM is included for a system for providing a virtual game game using autonomous vehicle information. Method for providing a virtual game using autonomous vehicle information. Simple and efficient virtual game providing method is ensured. The drawing shows a schematic view of a virtual reality game output using autonomous vehicle information using a head mounted display. 130Wearable device140Head mounted display150-1,150-2,150-3,150-4,150-5Mascots or game characters

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Vehicle seat system with seat user vital sign monitoringA vehicle seat system includes a vehicle seat, piezoelectric sensors individually disposed at respective locations in the seat corresponding to anatomical locations of a person sitting on the seat and a controller. The sensors are for generating electrical signals in response to mechanical stress applied to the sensors of biologically motivated force inputs from the person. The controller is for detecting the electrical signal generated by the sensors from biometric information from the person corresponding to the biologically motivated force inputs from the person.|1. A seating system for a vehicle comprising: a vehicle seat; a plurality of piezoelectric sensors individually positioned at respective locations in the vehicle seat corresponding to anatomical positions of a person sitting on the vehicle seat, the sensors being for generating electrical signals corresponding to mechanical stresses applied to the vehicle seat piezoelectric sensors of biologically motivated force inputs from the person; and a controller for sensing the electrical signals generated by the piezoelectric sensors from biometric information of the person corresponding to the biologically motivated force inputs from the person. | 2. The vehicle seat system of Claim 1, in which: a subset of piezoelectric sensors are individually positioned at respective locations in the vehicle seat corresponding to cardiac anatomical locations of the subject; the subset of piezoelectric sensors is for generating electrical signals in response to stress applied to the subset of sensors of FIG Force inputs caused by cardiac-spatial dislocation of the person's heart; and the controller is for detecting the electrical signals generated by the subset of the piezoelectric sensors from biometric information of the person's heart. | 3. The seating system of Claim 1, in which: a subset of the piezoelectric sensors is individually positioned at respective locations in the vehicle seat corresponding to resplrective-anatomical locations of the subject; the subset of the piezoelectric sensors is for generating electrical signals in response to stress applied to the subset of the piezoelectric sensors Sensors of force inputs caused by respiratory-spatial dislocation of one or more lungs of the person; and the controller is for detecting the electrical signals generated by the subset of the piezoelectric sensors, biometric information from the one or more lungs of the person. | 4. The seating system of Claim 1, in which: a subset of piezoelectric sensors are individually positioned at respective locations in the vehicle seat away from cardiac or respiratory anatomical locations of the subject; the subset of piezoelectric sensors is for generating electrical signals in response to stress applied to the subset the piezoelectric sensors, caused by force inputs by twitching of the person; and the controller is for detecting the electrical signals generated by the subset of piezoelectric sensors, biometric information of the person's twitching. | 5. The seating system of Claim 4, in which: the controller is for controlling the seat due to the person's twitching to change a seating position of the person. | 6. The seating system of Claim 1which further includes: one or more piezoelectric noise sensors individually positioned at respective locations in the vehicle seat remote from the subject's anatomical locations, the piezoelectric noise sensors being for generating electrical signals in response to stress applied to the piezoelectric ones Noise sensors by noise; the controller is for detecting, from the electrical signals generated by the piezoelectric noise sensors, noise information corresponding to the noise; and the controller is to use the sensed noise to remove the noise from the electrical signals generated by the piezoelectric sensors from the biometric information acquired by the controller from the person corresponding to the biologically motivated force inputs of the person. | 7. The seating system of Claim 1which further includes: a digital signal processor (DSP) sensor; and the controller is to use the DSP sensor to detect noise from the electrical signals generated by the piezoelectric sensors from which the controller collects the biometric information from the person corresponding to the person's biometrically and biologically motivated force inputs, to remove. | 8. The seating system of Claim 1, in which: the controller is further for controlling a component of the vehicle to control operation of the vehicle depending on the person's biometric information. | 9. The seating system of Claim 1, in which: the controller is further for controlling an indication of the vehicle to communicate an occupant of the vehicle information corresponding to the biometric information of the person. | 10. The seating system of Claim 1, in which: the controller is further to control an autonomous vehicle drive control system from the vehicle to have an autonomous vehicle drive control system to drive the vehicle to a medical station corresponding to the person's biometric information. | 11. The seating system of Claim 1, in which: the controller is for controlling a component of the vehicle to generate an alert depending on the biometric information from the person and a detected status of the vehicle. | 12. The seating system of Claim 1, in which: the controller is for controlling a wireless communication transmission from the vehicle to communicate the detected biometric information of the person to a first responder when the vehicle is in an accident. | 13. The seating system of Claim 1, in which: the controller is for storing a database of the biometric information of the person for future treatment by the person or a third party entity. | 14. A method for a vehicle comprising: Detecting, from one or more sensors in a seat of the vehicle, biometric data of a person sitting in the seat; Detecting, from the acquired biometric data, a controller in communication with the one or more sensors that the person requires medical attention; and Communicate via V2X communication from a V2X transceiver of the vehicle, a request to assist the person to a physician near the vehicle. | 15. The procedure of Claim 14which further includes: Received, by the controller, a response from the physician answering the request for assistance. | 16. The procedure of Claim 15which further includes: Communicating the biometric data of the person to the responding physician; and receiving, by the controller, a recommended course of treatment from the responding physician. | 17. The procedure of Claim 16which further includes: Determining that the recommended course of treatment is to seek immediate medical attention; and autonomous driving of the vehicle to a medical station. | 18. The procedure of Claim 14, in which: the one or more sensors are piezoelectric sensors. | 19. A method for a vehicle comprising: Detecting, from one or more sensors in a seat of the vehicle, biometric data of a person sitting in the seat; Detecting, from the acquired biometric data, control in communication with the one or more sensors that the person requires medical attention; and autonomously driving the vehicle to a medical station in response to detecting that the person requires medical attention. | 20. The procedure of Claim 19, in which: the one or more sensors are piezoelectric sensors.

The seating system (10) comprises piezoelectric sensors (22,23) that are individually positioned at respective locations within the vehicle seat corresponding to anatomical locations of a person sitting in the vehicle seat, while generating the electrical signals in response to mechanical stress applied on the piezoelectric sensors from biologically motivated force inputs of the person. A first subset of the piezoelectric sensors are individually positioned at respective locations within the vehicle seat away from cardiac and respiratory anatomical locations of the person, and generate electrical signals in response to mechanical stress applied on the first subset of the piezoelectric sensors from force inputs caused by twitching of the person. A controller (24) detects the biometric information of the person from the electrical signals generated by the piezoelectric sensors corresponding to the biologically motivated force inputs of the person. Seating system for a vehicle for monitoring or sensing the presence, physiological attributes, conditions, or states of a person sitting in a vehicle seat. The controller detects the biometric information of the person from the electrical signals generated by the piezoelectric sensors corresponding to the biologically motivated force inputs of the person, and thus enables the driver of vehicle to cede full control of all safety critical functions under certain traffic and environmental conditions, such that it ensures the enhancement in the safety of vehicle operation. The drawing shows a schematic block diagram of a seating system. 10Seating system22,23Piezoelectric sensors24Controller50Activate autonomous vehicle control system52Vehicle component control system

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Method and systems for detecting from biometrics that person sitting in seat of vehicle requires medical attention and for providing medical attention to the personA method for a vehicle includes using sensors in a vehicle seat to detect biometrics of a person sitting in the seat and a vehicle controller determining from the biometrics of the person whether the person requires medical attention. In response to the person requiring medical attention, a request for assistance for the person is broadcasted via a V2X transceiver of the vehicle to medical practitioners of a medical practitioner network who are near a location of vehicle during the broadcasting. The medical practitioner network includes the person as a subscriber and medical practitioners as providers. Alternately, in response to the person requiring medical attention, the vehicle controller uses an autonomous vehicle control system of the vehicle to drive the vehicle to a medical facility.What is claimed is: | 1. A method for a vehicle, comprising: establishing a medical practitioner network having as a subscriber to the medical practitioner network a person that is sitting in a seat of the vehicle and having as providers of the medical practitioner network a plurality of medical practitioners; detecting, from one or more sensors in the seat of the vehicle, biometrics of the person; determining from the biometrics of the person, by a vehicle controller in communication with the one or more sensors, whether the person requires medical attention; and in response to the vehicle controller determining from the biometrics of the person that the person requires medical attention, broadcasting, from a V2X transceiver of the vehicle, a request for assistance for the person to medical practitioners of the medical practitioner network who are near a location of vehicle during the broadcasting. | 2. The method of claim 1 further comprising: broadcasting with the request for assistance, from the V2X transceiver, the location of the vehicle. | 3. The method of claim 1 further comprising: broadcasting with the request for assistance, from the V2X transceiver, the biometrics of the person. | 4. The method of claim 1 further comprising: receiving, by the V2X transceiver, a response from a medical practitioner responding to the request for assistance. | 5. The method of claim 4 further comprising: transmitting to the responding medical practitioner, by the V2X transceiver, the location of the vehicle. | 6. The method of claim 4 further comprising: transmitting to the responding medical practitioner, by the V2X transceiver, the biometrics of the person. | 7. The method of claim 6 further comprising: receiving, by the V2X transceiver, a recommended course of action from the responding medical practitioner; and communicating the recommended course of action, by the vehicle controller, to the person. | 8. The method of claim 7 wherein the vehicle has an autonomous vehicle control system and the recommended course of action is that the person be taken to an emergency room, the method further comprising: using the autonomous vehicle control system, by the vehicle controller, to drive the vehicle to an emergency room. | 9. The method of claim 7 wherein the recommended course of action is a prescription for the person, the method further comprising: employing navigation information from a navigation system of the vehicle, by the vehicle controller, to advise the person of pharmacies near the location of the vehicle. | 10. The method of claim 7 wherein the recommended course of action is an in-person visit with the responding medical practitioner, the method further comprising: communicating between the person and the responding medical practitioner a mutually feasible location to meet. | 11. The method of claim 1 wherein: determining from the biometrics of the person, by the vehicle controller, that the person requires medical attention includes transmitting, via a transceiver of the vehicle, the biometrics of the person to a remote diagnostic facility for the remote diagnostic facility to analyze the biometrics of the person. | 12. The method of claim 1 wherein: the one or more sensors are piezoelectric sensors. | 13. A system for a vehicle for use with a medical practitioner network having as providers of the medical practitioner network a plurality of medical practitioners, the system comprising: a seat; one or more sensors in the seat to detect biometrics of a person sitting in the seat, wherein the person is a subscriber to the medical practitioner network; a vehicle controller in communication with the one or more sensors to determine from the biometrics of the person whether the person requires medical attention; and a V2X transceiver to broadcast, in response to the vehicle controller determining from the biometrics of the person that the person requires medical attention, a request for assistance for the person to medical practitioners of the medical practitioner network who are near a location of vehicle during the broadcasting. | 14. The system of claim 13 wherein: the one or more sensors are piezoelectric sensors. | 15. A method for a vehicle having an autonomous vehicle control system, the method comprising: detecting, from one or more sensors in a seat of the vehicle, biometrics of a person sitting in the seat; determining from the biometrics of the person, by a vehicle controller in communication with the one or more sensors, whether the person requires immediate medical attention; and in response to the vehicle controller determining from the biometrics of the person that the person requires immediate medical attention, using the autonomous vehicle control system, by the vehicle controller, to drive the vehicle to a medical facility. | 16. The method of claim 15 wherein: determining from the biometrics of the person, by the vehicle controller, that the person requires immediate medical attention includes transmitting, via a transceiver of the vehicle, the biometrics of the person to a remote diagnostic facility for the remote diagnostic facility to analyze the biometrics of the person. | 17. The method of claim 15 further comprising: in response to the vehicle being driven to the medical facility because of the person requiring immediate medical attention, transmitting to the medical facility, via a transceiver of the vehicle, the biometrics of the person to the medical facility and/or an indication that the person is being driven to the medical facility. | 18. The method of claim 15 further comprising: in response to the vehicle being driven to the medical facility because of the person requiring immediate medical attention, transmitting to a physician of the person, via a transceiver of the vehicle, the biometrics of the person to the medical facility and/or an indication that the person is being driven to the medical facility. | 19. The method of claim 15 further comprising: in response to the vehicle being driven to the medical facility because of the person requiring immediate medical attention, transmitting to a contact of the person, via a transceiver of the vehicle, the biometrics of the person to the medical facility and/or an indication that the person is being driven to the medical facility. | 20. The method of claim 19 wherein: the one or more sensors are piezoelectric sensors.

The detecting method involves determining from the biometrics of the person, by a vehicle controller (24) in communication with the one or more sensors (22), whether the person requires medical attention. Broadcasting from a V2X transceiver (46) of the vehicle (12) is performed for a request for assistance for the person to medical practitioners of the medical practitioner network who are near a location of vehicle during the broadcasting. This is in response to the vehicle controller determining from the biometrics of the person that the person requires medical attention. An INDEPENDENT CLAIM is also included for a detecting system for detecting whether person seated on vehicle seat requires medical attention through biometrics and used with a medical practitioner network. Detecting method for whether person seated on vehicle seat of e.g. car, truck requires medical attention through biometrics. The vehicle seating system can be used as a relay of the number of patients to the first responders, allowing for optimal responder/patient ratios and communicate the vital measurements of the patients to the first responders as a pre-arrival triage tool. This assessment should improve response time for more critically injured vehicle occupants thus resulting in a greater likelihood of survival. The drawing shows a schematic block diagram of the vehicle seating system including perspective view of the vehicle seat. 10Vehicle seating system12Vehicle22Sensors24Vehicle controller46Transceiver

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System and method for decision making for autonomous vehiclesA system and method for decision making for autonomous vehicles. The method includes determining if a decision scenario is present; generating a first random number; communicating the first random number to a receiver via visible light communication; receiving a second random number and determining a priority order based on the generated random numbers. The priority is communicated to all relevant units to determine the order in which the vehicles should proceed. An optical random generator may be used to generate the random number associated with each vehicle.What is claimed is: | 1. A method for decision making for autonomous vehicles, comprising: determining a decision scenario involving a first vehicle and at least a second vehicle; generating, using an optical random number generator employing a Quantum Random Number Generation (QRNG), a first random number for the first vehicle; receiving a second random number generated for the at least a second vehicle over a visible light communication; determining a priority of the first vehicle and the at least the second vehicle for the decision scenario based on the first random number and the second random number over a vehicle-to-vehicle connection; responsive to the determined priority granting a right of way to the first vehicle, assigning a bonus number comprising a bit to the at least the second vehicle, wherein the bonus number is applied to generation of a next random number for the at least the second vehicle; and communicating the determined priority to the first vehicle and the at least the second vehicle over the vehicle-to-vehicle connection comprising the visible light communication. | 2. The method of claim 1, wherein the first random number and the second random number are generated using the optical random number generator. | 3. The method of claim 1, further comprising receiving the first random number and the second random number by an intermediary receiver configured to pass the first random number and the second random number to a plurality of vehicles located within an access range. | 4. A non-transitory computer readable medium having stored thereon instructions for causing a processing circuitry to perform a process comprising: determining a decision scenario involving a first vehicle and at least a second vehicle; generating, using an optical random number generator employing a Quantum Random Number Generation (QRNG), a first random number for the first vehicle; receiving a second random number generated for the at least a second vehicle over a visible light communication; determining a priority of the first vehicle and the at least the second vehicle for the decision scenario based on the first random number and the second random number over a vehicle-to-vehicle connection; responsive to the determined priority granting a right of way to the first vehicle, assigning a bonus number comprising a bit to the at least the second vehicle, wherein the bonus number is applied to generation of a next random number for the at least the second vehicle; and communicating the determined priority to the first vehicle and the at least the second vehicle over the vehicle-to-vehicle connection comprising the visible light communication. | 5. A system for decision making for autonomous vehicles, comprising: a processing circuitry; and a memory, the memory containing instructions that, when executed by the processing circuitry, configure the system to: determine a decision scenario involving a first vehicle and at least a second vehicle; generate, using an optical random number generator employing a Quantum Random Number Generation (QRNG), a first random number for the first vehicle; receive a second random number generated for the at least a second vehicle over a visible light communication; determine a priority of the first vehicle and the at least the second vehicle for the decision scenario based on the first random number and the second random number over a vehicle-to-vehicle connection; responsive to the determined priority granting a right of way to the first vehicle, assign a bonus number comprising a bit to the at least the second vehicle, wherein the bonus number is applied to generation of a next random number for the at least the second vehicle; and communicate the determined priority to the first vehicle and the at least the second vehicle over the vehicle-to-vehicle connection comprising the visible light communication. | 6. The system of claim 5, wherein the first random number and the second random number are generated using the optical random number generator. | 7. The system of claim 5, wherein the system is further configured to: receive the first random number and the second random number by an intermediary receiver configured to pass the first random number and the second random number to a plurality of vehicles located within an access range. | 8. The method of claim 1, wherein the visible light communication involves sending pulses of a visible light indicating the second random number. | 9. The method of claim 1, wherein in the next random number for the at least the second vehicle includes the bit from the bonus number indicating the priority.

The method (100) involves determining (S110) a decision scenario involving a first vehicle and at least a second vehicle. A first random number is generated (S120) for the first vehicle. A second random number generated for a second vehicle is received (S140). A priority of the first vehicle and a second vehicle for the decision scenario is determined (S150) based on the first random number and the second random number. The determined priority is communicated (S160) to the first vehicle and a second vehicle. Method for decision making for autonomous vehicle e.g. car using visible light communication. The method of transmission allows for direct communication between two devices without requiring an intermediate cellular tower or service provider, allowing for faster and more efficient communication. The LEDs or lasers are able to be turned on and off much faster than the human eye can detect, allowed for the transmission of binary data in the form of light pulses which cannot be detected by humans. The drawing shows a flowchart illustrating a process for decision making for autonomous vehicle using visible light communication. 100Method for decision making for autonomous vehicleS110Step for determining a decision scenarioS120Step for generating a first random number for the first vehicleS140Step for receiving a second random number generated for the second vehicleS150Step for determining a priority based on the first random number and the second random numberS160Step for communicating the determined priority to the first vehicle and the second vehicle

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SAFE DRIVING SUPPORT DEVICE AND SAFE DRIVING SUPPORT METHOD FOR AUTONOMOUS VEHICLES IN THE INTERSECTION DILEMMA ZONEThe present invention relates to a safe driving support method performed in a dilemma zone of an intersection by a safety driving support device provided in an autonomous vehicle interlocking with an external device for autonomous driving, and V2X (Vehicle to everything) communication with the external device. checking availability; Collecting information about different driving environments of the vehicle from the external device according to whether the V2X communication is possible; detecting an intersection on a driving route along which the vehicle travels based on information about a driving environment; and controlling the vehicle by determining whether it is possible to pass through the intersection based on the information about the driving environment. This reduces the length of the intersection dilemma zone when an autonomous vehicle passes through an intersection, thereby reducing the time required to determine whether or not the intersection has passed, reducing the risk of traffic accidents at intersections, and preventing vehicles from stopping in intersections or crossings. This can reduce the frequency of dangerous situations such as obstructing the passage of other vehicles or pedestrians.|1. In the safe driving support method performed in the dilemma zone of an intersection by a safety driving support device provided in an autonomous vehicle that is interlocked with an external device for autonomous driving, it is confirmed whether V2X (Vehicle to everything) communication with the external device is possible. doing; Collecting information about different driving environments of the vehicle from the external device according to whether the V2X communication is possible; detecting an intersection on a driving route along which the vehicle travels based on information about a driving environment; and controlling the vehicle by determining whether it is possible to pass through the intersection based on the information on the driving environment, wherein in the step of collecting information on the different driving environments of the vehicle, V2X communication with the external device is performed. If this is not possible, first driving environment information including color information of the traffic light located at the intersection is collected, and if V2X communication with the external device is possible, the current signal currently being output from the traffic light located at the intersection and the current signal A safe driving support method comprising collecting second driving environment information including remaining time. | 2. The method of claim 1, wherein the controlling of the vehicle comprises: determining a stopping point of the vehicle and controlling the vehicle to stop at the stopping point; and controlling the driving of the vehicle to pass through the intersection. | 3. The method of claim 2, wherein the controlling of the vehicle comprises, when vehicle to everything (V2X) communication with the external device is impossible, when the vehicle approaches the detected intersection within a predetermined distance after the detecting of the intersection, Further comprising the step of decelerating the driving speed of the vehicle to reduce the section of the dilemma zone, and in the step of controlling the vehicle to pass through the intersection, the driving speed of the vehicle is accelerated within the prescribed speed of the road on which it is traveling to avoid the intersection. A safe driving support method characterized by controlling to pass. | 4. The method of claim 3, wherein the controlling of the vehicle further comprises checking color information of the traffic light included in the first driving environment information, and in the controlling to stop at the stopping point, the color information of the traffic light is included in the first driving environment information. And if the information does not match the preset color information, the stopping point is determined to be the stop line of the intersection or the rear of the preceding vehicle. | 5. The method of claim 4, wherein the controlling of the vehicle comprises: determining whether to secure a safe distance from a following vehicle while maintaining driving of the vehicle when the color information matches preset color information; and controlling the vehicle to turn off a brake lamp of the vehicle while maintaining the driving of the vehicle when the safety distance is not secured. | 6. The method of claim 5, wherein the controlling of the vehicle comprises: reconfirming color information of the traffic light; determining the driving mode of the preceding vehicle when the reconfirmed color information of the traffic light matches preset color information; and if the color information of the reconfirmed traffic light does not match the preset color information, determining whether or not the stop line can be stopped and preset conditions are satisfied. If stopping at the stop line is possible and meeting a predetermined condition in the step of determining, or if it is determined that the driving mode of the preceding vehicle is stopped or slowed down within the intersection in the step of determining the driving mode of the preceding vehicle, the vehicle stops A method for supporting safe driving, characterized in that the point is determined as the stop line of the intersection. | 7. The method of claim 6, wherein the controlling to pass through the intersection determines whether the driving mode of the preceding vehicle within the intersection is normal driving or whether the condition is satisfied in the step of determining the driving mode of the preceding vehicle. A method for supporting safe driving, characterized in that the step of determining is performed if at least one of the impossible to stop at the stop line and the predetermined condition are not satisfied. | 8. The method of claim 7, wherein in the controlling to pass through the intersection, when controlling to pass through the intersection corresponding to at least one of the stop line not being able to stop and a predetermined condition not being satisfied, the emergency lights of the vehicle are turned on and the horn is output. A safe driving support method comprising controlling a vehicle. | 9. The method of claim 2, wherein the controlling of the vehicle comprises: checking a current signal included in the second driving environment information; and comparing a time required for the vehicle to arrive at a stop line at an intersection at the current speed with a remaining time of the current signal when the current signal matches predetermined signal information. and determining the driving type of the preceding vehicle if the required time is shorter than the remaining time in the step of comparing with the remaining time. | 10. The method of claim 9, wherein in the controlling to stop at the stopping point, the current signal does not match predetermined signal information, the required time is greater than or equal to the remaining time, or the driving pattern of the preceding vehicle within the intersection. and determining that the stop point is the stop line of the intersection or the rear of a preceding vehicle when it is determined that is slow-moving or stopped. | 10. The safe driving support method of claim 9, wherein the controlling to pass through the intersection is performed when it is determined that the preceding vehicle is driving normally in the intersection. | 12. A safe driving support device provided in an autonomous vehicle that interworks with an external device for autonomous driving, comprising: a communication determination unit that checks whether vehicle to everything (V2X) communication with the external device is possible; an information collection unit that collects information about different driving environments of the vehicle from the external device according to whether the V2X communication is possible; an intersection detecting unit detecting an intersection on a driving path along which the vehicle travels based on information about a driving environment; a driving reduction unit for reducing a traveling speed of the vehicle to reduce a section of an intersection dilemma zone when the vehicle approaches the detected intersection within a predetermined distance; and a driving determination unit configured to control the vehicle by determining whether or not an intersection can be passed based on the information on the driving environment, wherein the information collection unit, when V2X communication with the external device is impossible, determines whether a traffic light located at the intersection If first driving environment information including color information is collected and V2X communication with the external device is possible, second driving environment information including the current signal currently being output from the traffic light located at the intersection and the remaining time of the current signal A safety driving support device characterized in that for collecting.

The method involves confirming whether vehicle to everything (V2X) communication with an external device is available (S110). Information of different driving environments of a vehicle is collected (S130) from the external device according to whether the V2X communication is available. An intersection on a driving route along which the vehicle travels is detected (S150) based on information of the driving environment. The vehicle is controlled (S170) when the V2X communication with the external device is available. First driving environment information including color information of traffic lights located at the intersection and second driving environment information including a current signal and remaining time of the current signal are collected when the V2X communication with the external device is possible. An INDEPENDENT CLAIM is also included for a device for supporting safe driving of an autonomous vehicle interlocked with an external device in an intersection dilemma zone. Method for supporting safe driving of an autonomous vehicle interlocked with an external device in an intersection dilemma zone through V2X communication. The method enables can adjust transparency, so that different display effects are produced depending on the situation. The module can shorten conversion time of transparency and can maximize range of change in transmittance. The drawing shows a flowchart diagram illustrating the method for supporting safe driving of an autonomous vehicle interlocked with an external device in an intersection dilemma zone (Drawing includes non-English language text).S110Step for confirming whether V2X communication with the external device is availableS130Step for collecting information of different driving environments of the vehicleS140Step for detecting intersection on the driving route along which the vehicle travelsS170Step for controlling the vehicle when the V2X communication with the external device is available

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Edge computing for clusters of vehiclesAutonomous vehicle communications are managed by assigning vehicle clusters to process collected data as a unified cluster, whether transmitting the data to a remote server or processing the data by an assigned vehicle within the cluster. Efficient travel guidance is produced in a timely manner by reducing the network bandwidth usage and volume of data transferred by autonomous vehicles traveling on a roadway with other autonomous vehicles.What is claimed is: | 1. A computer-implemented method comprising: assigning a set of vehicles to a first cluster, the set of vehicles traveling along a common trajectory; assigning a data collection task to a first vehicle in the first cluster, the data collection task being to: collect a first set of data from a set of sensors of the first vehicle; and transmit the first set of data to a second vehicle; collecting, by the second vehicle, a second set of data from onboard sensors of the second vehicle; combining the first set of data with the second set of data to create a travel dataset; performing analysis on the travel dataset to generate driving instructions; and instructing vehicles in the first cluster, including the first vehicle and the second vehicle, to operate according to the driving instructions. | 2. The computer-implemented method of claim 1 wherein the step of performing analysis includes: transmitting the travel dataset to a remote server; and receiving the driving instructions from the remote server. | 3. The computer-implemented method of claim 1, further comprising: identifying the first vehicle traveling within range of a vehicle-to-vehicle network associated with the second vehicle, the first vehicle having characteristics suitable to participate in the first cluster; and establishing communication between the first vehicle and the second vehicle over the vehicle-to-vehicle network. | 4. The computer-implemented method of claim 1, further comprising: monitoring locations of the vehicles in the first cluster, the locations making up the physical configuration of the first cluster; identifying a change in roadway characteristics at a location toward which the first cluster is moving; and adjusting the physical configuration of cluster to accommodate the change in roadway characteristics by causing the first vehicle to move to another location within the first cluster. | 5. The computer-implemented method of claim 1, wherein the step of combining the first set of data with the second set of data includes: de-duplicating the combined first and second sets of data to create the travel dataset. | 6. The computer-implemented method of claim 1, wherein the first set of data is a subset of all data collected by the first vehicle while traveling the common trajectory. | 7. The computer-implemented method of claim 1, wherein the first vehicle is an autonomous vehicle and the set of sensors of the first vehicle generate data used by the first vehicle to travel the common trajectory. | 8. The computer-implemented method of claim 1, further comprising: monitoring cluster membership of the vehicles in a plurality of travel clusters, including the first cluster, traveling along a common trajectory; determining the first cluster includes more vehicles than a second cluster of the plurality of travel clusters; and responsive to determining the first cluster includes more vehicles than the second cluster, causing the first vehicle to move from the first cluster to the second cluster. | 9. A computer program product comprising computer-readable storage media having collectively stored therein a set of instructions which, when executed by a processor, causes the processor to instruct a set of vehicles to take driving actions by: assigning a set of vehicles to a travel cluster, the set of vehicles traveling along a common trajectory; assigning a data collection task to a first vehicle in the travel cluster, the data collection task being to: collect a first set of data from a set of sensors of the first vehicle; and transmit the first set of data to a second vehicle; collecting, by the second vehicle, a second set of data from onboard sensors of the second vehicle; combining the first set of data with the second set of data to create a travel dataset; performing analysis on the travel dataset to generate driving instructions; and instructing vehicles in the travel cluster, including the first vehicle and the second vehicle, to operate according to the driving instructions. | 10. The computer program product of claim 9, wherein the instructions which, when executed by the processor, cause the processor to perform analysis includes: instructions to transmit the travel dataset to a remote server; and instructions to receive the driving instructions from the remote server. | 11. The computer program product of claim 9, further causing the processor to instruct a set of vehicles to take driving actions by: identifying the first vehicle traveling within range of a vehicle-to-vehicle network associated with the second vehicle, the first vehicle having characteristics suitable to participate in the travel cluster; and establishing communication between the first vehicle and the second vehicle over the vehicle-to-vehicle network. | 12. The computer program product of claim 9, further causing the processor to instruct a set of vehicles to take driving actions by: monitoring locations of the vehicles in the travel cluster, the locations making up the physical configuration of the travel cluster; and adjusting the physical configuration of cluster by causing the first vehicle to move to another location within the travel cluster. | 13. The computer program product of claim 8, wherein the instructions which, when executed by the processor, cause the processor to combine the first set of data with the second set of data includes: instructions to de-duplicate the combined first and second sets of data to create the travel dataset. | 14. The computer program product of claim 8, wherein the first vehicle is an autonomous vehicle and the set of sensors of the first vehicle generate data used by the first vehicle to travel the common trajectory. | 15. A computer system comprising: a processor set; and a computer readable storage medium; wherein: the processor set is structured, located, connected, and/or programmed to run program instructions stored on the computer readable storage medium; and the program instructions which, when executed by the processor set, cause the processor set to instruct a set of vehicles to take driving actions by: assigning a set of vehicles to a travel cluster, the set of vehicles traveling along a common trajectory; assigning a data collection task to a first vehicle in the travel cluster, the data collection task being to: collect a first set of data from a set of sensors of the first vehicle; and transmit the first set of data to a second vehicle; collecting, by the second vehicle, a second set of data from onboard sensors of the second vehicle; combining the first set of data with the second set of data to create a travel dataset; performing analysis on the travel dataset to generate driving instructions; and instructing vehicles in the travel cluster, including the first vehicle and the second vehicle, to operate according to the driving instructions. | 16. The computer system of claim 15, wherein the instructions which, when executed by the processor, cause the processor to perform analysis includes: instructions to transmit the travel dataset to a remote server; and instructions to receive the driving instructions from the remote server. | 17. The computer system of claim 15, further causing the processor to instruct a set of vehicles to take driving actions by: identifying the first vehicle traveling within range of a vehicle-to-vehicle network associated with the second vehicle, the first vehicle having characteristics suitable to participate in the travel cluster; and establishing communication between the first vehicle and the second vehicle over the vehicle-to-vehicle network. | 18. The computer system of claim 15, further causing the processor to instruct a set of vehicles to take driving actions by: monitoring locations of the vehicles in the travel cluster, the locations making up the physical configuration of the travel cluster; and adjusting the physical configuration of cluster by causing the first vehicle to move to another location within the travel cluster. | 19. The computer system of claim 15, wherein the instructions which, when executed by the processor, cause the processor to combine the first set of data with the second set of data includes: instructions to de-duplicate the combined first and second sets of data to create the travel dataset. | 20. The computer system of claim 15, wherein the first set of data is a subset of all data collected by the first vehicle while traveling the common trajectory.

The method involves assigning a set of vehicles to a cluster. A data collection task is assigned to a first vehicle in the cluster, where data collection task collects first set of data from a set of sensors of the first vehicle. The first set of data is transmitted to a second vehicle. A second set of data is collected by the second vehicle from onboard sensors of the second vehicle. The first set of data is combined with the second set of data to create a travel dataset. Analysis is performed on the travel dataset to generate driving instructions. Vehicles including the first vehicle and the second vehicle are instructed in the cluster to operate according to the driving instructions. INDEPENDENT CLAIMS are also included for the following:(1) a computer program product comprising a set of instructions for realizing travel guidance for autonomous vehicles on roadways;(2) a computer system for realizing travel guidance for autonomous vehicles on roadways. Method for realizing travel guidance for autonomous vehicles on roadways for identifying static or moving objects and obstacles and road conditions. The method enables dynamically determining number of vehicles in a cluster and the distance between any pair of vehicles in the cluster, so that power consumption is optimized according to the current context. The method enables improving communications within the cluster, so that a vehicle can be directed to move closer to the reference vehicle by changing lanes to achieve a target communications reliability. The method enables reducing aggregated power consumption and taking real-time driving decisions and determining actual position, speed, direction of movement, and vehicle-to-vehicle network connectivity capability of the autonomous vehicle in the particular region by a remote server. The drawing shows a block diagram of a cloud computing node. 12 Computer system 14External devices 24Display 28Memory 30RAM

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A SYSTEM FOR EFFICIENT ACCESS AND RESOURCE MANAGEMENT IN VEHICULAR COMMUNICATION USING MACHINE LEARNING IN FIFTH GENERATION NETWORKThe present invention relates to network resource management techniques applied to connected vehicles for communication between and with the cloud system using machine learning in the 5G communication network. The SDN-based 5G network can provide an excellent platform for autonomous vehicles because SDN offers open programmability and flexibility for new services incorporation. This separation of control and data planes enables centralized and efficient management of resources in a very optimized and secure manner by having a global overview of the whole network while it promises the overall improved performance. The flow-based policy framework of the present invention is on the basis of two tiers virtualization for vehicular networks using SDNs. The vehicle to vehicle (V2V) communication is quite possible with wireless virtualization where different radio resources are allocated to V2V communications based on the flow classification, and the controller is responsible for managing the overall vehicular environment and V2X communications.|1. A system for efficient access and resource management in vehicular communication using machine learning in fifth generation network comprising, an software defined network controller capable of monitoring and controlling the network parameters; a wireless slice manager capable of scheduling the slices of user request packets; a base station capable of receiving and processing packets from wireless slice manager, mobility management entities and access points of vehicles. | 2. The system as claimed in claim 1 wherein, the said SDN controller comprises a network hypervisor, global scheduler, an adaptive policy generator, a resource management module, a network resource optimizer and a network statistic analyzer. | 3. The system as claimed in claims 1 and 2 wherein, the said adaptive policy generator works through a machine learning program integrated with the network resource optimizer and statistics analyzer towards generative strategic decision policies. | 4. The system as claimed in claim 1 wherein, the said wireless slice manager takes inputs from the adaptive policy generated and prioritizes the message as slices based on priorities for any current situation and schedules the loading the base station as applicable. | 5. The system as claimed in claims 1 and 4 wherein, the said base station collects and transmits data from the access points capable of colleting requests from vehicles and transmitting them to the processing system and the mobility management entity. | 6. The system as claimed in claim 1 wherein, the said mobility management entity is a processer capable of processing the category of input signals and schedule them accordingly to the base station for any moving vehicle towards ensuring better communication between vehicles in near and far distances through the internet.

The system has a software defined network (SDN) controller for monitoring and controlling network parameters. A wireless slice manager schedules slices of user request packets. A base station receives and processes the packets from the slice manager, mobility management entities and access points of vehicles. The SDN controller comprises a network hypervisor, a global scheduler, an adaptive policy generator, a resource management module, a network resource optimizer and a network statistic analyzer. The wireless slice manages takes inputs from the adaptive policy generated and prioritizes the message as slices based on priorities for current situation and schedules loading the base station as applicable. System for efficient access and resource management in vehicular communication using machine learning in fifth generation (5G) communication network such as long term evolution (LTE) network, Wi-Fi network and WiMAX network. The method enables providing mobility, high flexibility, low latency, high reliability, security, privacy, low cost, high availability, low power consumption, and high performance. The method allows a user equipment (UE) to provide a high-bandwidth, high-speed, low-power consumption, high capacity, high throughput, high efficiency, and low latency network for a wide variety of applications and services. The drawing shows a schematic representation of the system.

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Autonomous vehicle and its control method using Vehicle to Vehicle antennaThe present invention relates to an autonomous vehicle using a V2V antenna and a method of controlling the same. The present invention relates to reading a tag installed in a slope area on a path and controlling the output and the direction of the V2V antenna according to the read information. The present invention relates to a self-driving vehicle using a V2V antenna, which solves a problem in which a shaded area of ??radio waves is generated and V2V communication service is not provided smoothly. One aspect of the present invention provides an autonomous vehicle comprising: a plurality of V2V antennas for communication; A control unit controlling operations of the plurality of V2V antennas; And a tag reader unit reading at least one tag installed in a path, wherein the tag reader unit reads a tag installed in at least a part of a slope region of the path, wherein the controller is configured to read the plurality of V2Vs. At least one of the output and the directionality of the first predetermined antenna among the antennas may be controlled according to the read information.|1. A plurality of V2V antennas for communication; A control unit controlling operations of the plurality of V2V antennas; And a tag reader unit reading at least one tag installed in a path, wherein the tag reader unit reads a tag installed in at least a part of a slope region of the path, wherein the controller is configured to read the plurality of V2Vs. At least one of an output and a directionality of a first predetermined antenna among the antennas is controlled according to the read information, and the controller controls the V2V of another first autonomous vehicle adjacent to the communicable area of ??the first antenna and the autonomous vehicle. And controlling at least one of the output and the directionality of the first antenna such that the first communicable area of ??the antenna is at least partially overlapped. | 2. delete | 3. The autonomous vehicle of claim 1, wherein the tag is disposed at a start area and an end area of ??the slope area. | 4. The controller of claim 3, wherein the controller controls at least one of the output and the directionality of the first antenna by using a time when the tag reader reads a tag disposed in a start region and an end region of the slope region. Autonomous vehicle, characterized in that. | 4. The controller of claim 3, wherein the control unit turns on the first antenna when the tag reader reads a tag disposed in a start area of ??the slope area, and the tag reader part turns on the gradient ( and the first antenna is turned off when the tag arranged in the end region of the slope area is read. | 6. The output of the determined first antenna according to claim 1, wherein the control unit determines the output and the directionality of the first antenna according to the read information, and the determined first output until the autonomous vehicle leaves the slope region. Autonomous vehicle, characterized in that to maintain a constant and direction. | 7. The apparatus of claim 1, further comprising an actuator connected to the first antenna to support the first antenna to move in the vertical direction, wherein the first antenna moved in the vertical direction includes a plurality of pilot information to the periphery. Receive the first information corresponding to the plurality of pilot information from another autonomous vehicle, and the controller is configured to control at least one of the output and the direction of the first antenna by additionally using the first information. Autonomous vehicle, characterized in that. | 8. According to claim 1, The sensing unit for sensing the current speed of the autonomous vehicle; And a communicator configured to determine a current position of the autonomous vehicle, wherein the controller is configured to predict a future position of the autonomous vehicle after a predetermined time by using the current speed and the current position, And a V2V antenna periodically broadcasts a message including the future location to the surroundings under the control of the controller. | 9. The method of claim 8, wherein at least some of the plurality of V2V antennas receive a first message from the periphery comprising a first future location of the first autonomous vehicle from a first autonomous vehicle that is different from the autonomous vehicle. In this case, the control unit, the autonomous vehicle, characterized in that for determining the risk of accident using the future location and the first future location. | 10. The apparatus of claim 9, wherein the communication unit determines the current location using at least one of a location information collection module, a GPS / GNSS module, and electronic map information, and wherein the message includes at least one or more locations and states of the autonomous vehicle. An autonomous vehicle comprising at least one of event information, an uncontrollable state, and anti-lock brake system (ABS), electronic stability control (ESC), and operation control system (TCS) operation state information. | 11. A first step in which a plurality of V2V antennas communicate with the surroundings under control of a controller; A second step of reading, by a tag reader, at least one tag installed in a path; A third step of reading, by the tag reader unit, a tag installed at at least a part of a slope area of ??the path; And a fourth step of controlling, by the control unit, at least one of the output and the directionality of the first predetermined antenna among the plurality of V2V antennas according to the read information. Controlling at least one of the output and the directionality of the first antenna such that the communicable area of ??the first antenna and the communicable first area of ??the V2V antenna of another first autonomous vehicle adjacent to the autonomous vehicle are at least partially overlapped. A control method for an autonomous vehicle, characterized in that. | 12. delete | 12. The method of claim 11, wherein the tag is disposed in the start area and the end area of ??the slope area, and in the fourth step, the control unit is characterized in that the tag reader is the start area and the end area of ??the slope area. And controlling at least one of an output and a directionality of the first antenna by using a time for reading a tag disposed in the tag. | 14. The method of claim 13, wherein between the second step and the third step, the control unit turns on the first antenna when the tag reader reads a tag disposed in the start area of ??the slope area. The first antenna is further turned off when the tag reader reads a tag disposed in an end region of the slope region. The control method of the autonomous vehicle, characterized in that it further comprises. | 12. The method of claim 11, wherein in the fourth step, the controller determines the output and directivity of the first antenna according to the read information, and the determination is performed until the autonomous vehicle leaves the slope region. A control method for an autonomous vehicle, characterized in that the output and the direction of the first antenna is kept constant. | 12. The method of claim 11, further comprising, after the fourth step: moving the first antenna in a vertical direction through an actuator; Receiving a plurality of pilot information around the first antenna moved in the vertical direction; Receiving, by the first antenna moved in the vertical direction, first information corresponding to the plurality of pilot information from another autonomous vehicle; And controlling, by the control unit, at least one of the output and the directionality of the first antenna by using the first information. | 17. The method of claim 11, further comprising: a fifth step of sensing a current speed and a current position of the autonomous vehicle after the fourth step; A sixth step of the control unit predicting a future position of the autonomous vehicle after a predetermined time using the current speed and the current position; And a seventh step in which the plurality of V2V antennas periodically broadcast a message including the future location to the surroundings under the control of the control unit. | 18. The method of claim 17, wherein after the seventh step, at least some of the plurality of V2V antennas include a first future position of the first autonomous vehicle from a first autonomous vehicle that is different from the autonomous vehicle from the surroundings. An eighth step of receiving a first message; And a ninth step of determining, by the controller, the risk of an accident using the future location and the first future location.

The vehicle (100a) has a control unit for controlling operation of multiple vehicle to vehicle (V2V) communication antennas (111a, 112a). A tag reader unit (170) reads a tag (10) established in a route of the vehicle. The control unit controls a slope domain of the vehicle in accordance with directionality of the first antenna among multiple V2V antennas in advance based on tag information associated with the route of the vehicle. The control unit regularly maintains output and directionality of the first antenna until the vehicle deviates from the slope domain. An INDEPENDENT CLAIM is also included for a method for controlling an autonomous vehicle. Autonomous vehicle i.e. autonomous car. The control unit controls the slope domain of the vehicle in accordance with directionality of the first antenna among the V2V antennas in advance based on tag information associated with the route of the vehicle, and selects optimal antenna direction after confirmation of directionality of the antenna so as to optimize driving of the vehicle, thus preventing traffic accident to the vehicle in optimal manner. The drawing shows a schematic view of an autonomous vehicle. '(Drawing includes non-English language text)' 10Tag20Base station100a, 100bAutonomous vehicles111a, 112aV2V communication antennas170Tag reader unit

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The autonomous vehicle control device used and method thereof the communication between vehicle.The invention relates the communication between vehicle to the autonomous vehicle control device used and method thereof. The case where the autonomous vehicle, and the communication unit transmitting the information with the outside; the control unit producing the information for informing the main part side of the above-mentioned condition that it is satisfied can be included. The case where the autonomous vehicle is one aspect of the invention is satisfied the pre-set condition.|1. A autonomous vehicle, wherein: The autonomous vehicle comprises the control unit producing the case of being satisfied the pre-set condition, and the information for informing the main part side of the above-mentioned condition that it is satisfied; and the communication unit transmitting the information with the outside. | 2. The autonomous vehicle of claim 1, wherein: the autonomous vehicle detects the traveling speed of the autonomous vehicle; and it further includes the sensing part detecting the current position and traveling direction of the autonomous vehicle, and the control unit predicts the future location after the time already designated by using the present speed and location information; and the control unit produces the WAVE message including the future location information after the already designated time, and the communication unit periodically broadcasts the message to the ambient vehicle and infra; the communication unit receives the WAVE message broadcasted in the ambient vehicle and infra; and the above-mentioned pre-set condition is the condition that the ambient vehicle is the control inability state, and the control unit senses the accident hazard by using the future location information of the autonomous vehicle and future location information of the ambient vehicle; and the control unit produces the information informing the above-mentioned accident hazard sensed. | 3. The autonomous vehicle of claim 2, wherein: in the front of the same traveling direction, as the autonomous vehicle the left / right adjacency forked road of front, the rearward, the left / right adjacency forked road of the rearward, and the front side, the control unit detects at least one among the forked road of the left / right direction intersecting with the forked road which face to face comes and the control unit senses the accident hazard. | 4. The autonomous vehicle of claim 2, wherein: the WAVE (Wireless Access in Vehicular Environments) message comprises the position and state of the autonomous vehicle, at least one event information, the ABS (Anti-Lock Brake System) as the control inability possible status or not and detailed information, the ESC (Electronic Stability Control), and at least one among the TCS (Traction Control System) operating state information. | 5. The autonomous vehicle of claim 1, wherein: the camera scanning the front surface of road of the autonomous vehicle further is included; and the above-mentioned pre-set condition is the condition that it determines that the information about the state of road was input to the control unit from the camera and road was damaged, and the information is the warning message informing the road damage. | 6. The autonomous vehicle of claim 5, wherein: the above-mentioned pre-set condition further includes the condition that the speed of the autonomous vehicle is the pre-set speed or greater. | 7. The autonomous vehicle of claim 5, wherein: the control unit estimates the impulse quantity or the accident production possibility of the autonomous vehicle from the traveling speed and road disrepair of the autonomous vehicle; and the above-mentioned pre-set condition are the condition that the above-mentioned presumed impulse quantity or the accident production possibility exceeds the threshold. | 8. The autonomous vehicle of claim 5, wherein: the brake of the autonomous vehicle is in operation or the communication unit changes the lane which is in the driving the information into the outside after doing the transmission; and it discontinues the information transmission operation of the communication unit. | 9. The autonomous vehicle of claim 1, wherein: the sensing part sensing the current position of the autonomous vehicle further is included; and the above-mentioned pre-set condition is the condition that the route of the autonomous vehicle grasped based on the above-mentioned sensed current position is the dangerous zone, and the information is the information for transferring the driving authority of the autonomous vehicle. | 10. The autonomous vehicle of claim 1, wherein: the communication unit is positioned in the central part of the intersection; it performs the wireless communication using the vehicles and the multiple wireless communication methods which is in the communication service zone (Green Zone); the communication unit receives the contextual information of the vehicles which are in the communication service zone and it manages; communicates with the base station broadcasting the contextual information to vehicles and delivers; it collects the contextual information of the autonomous vehicle and the base station transmits a message to the base station; and the communication unit receives the contextual information of the dissimilar vehicles which are in the communication service zone from the base station, and the control unit determines the degree of danger when passing through the blind spot which is in the communication service zone based on the contextual information of the above-mentioned dissimilar vehicles receiving; as to the above-mentioned pre-set condition, the degree of danger exceeds the pre-set value; and the control unit determines the entry to the blind spot of the autonomous vehicle according to the determination result of the degree of danger.

The autonomous vehicle (100) comprises a control unit (180), which produces a case of being satisfy a pre-set condition. A information for informing the main portion side of the pre-set condition. A communication unit transmits the information with the outside. A sensing portion (140) detects the current position and traveling direction of the autonomous vehicle. The control unit predicts the future location after the time already designated by using the present speed and location information. The control unit produces the wireless access in vehicular environments (WAVE) message includes the future location information. The communication unit periodically broadcasts the message to a ambient vehicle. The communication unit receives the. Autonomous vehicle. The autonomous vehicle prevents the traffic accident in advance. It efficiently utilizes the traffic flow. The collision expected in the intersection can be prevented. The drawing shows a block diagram of a autonomous vehicle. (Drawing includes non-English language text). 100Autonomous vehicle120WAVE message Driving portion130Braking portion140Sensing portion180Control unit

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The autonomous driving road for exclusive use event monitor system and the method for controlling the same using the real time traffic the amount of change of the radio channel in the V2 X (Vehicle to Everything) environment.The present invention relates to the autonomous driving road for exclusive use event monitor system and the method for controlling the same using the real time traffic the amount of change of the radio channel in the V2 X (Vehicle to Everything) environment, and in the radio channel of the specific base station due to the traffic jam, it relates to system and method for monitoring the event situation by using the event in which the vehicle does not perform the connection procedure of the radio channel and corresponding base station within the event or the preset time so that traffic increase without the separate sensor or the wireless data information transmission. The autonomous driving vehicle control system which is one aspect of the invention manages multiple cell coverage areas and it includes the multiple base stations (RSE) forming the network, and the smart control (SCC). The case , and the smart control where the traffic of the primary channel which is at least one of the multiple communication channels related to the network increases over the pre-set standard determine the first base station related to the primary channel among multiple base stations and the event is generated in at least one autonomous vehicle positioned within the first cell cover geographical domain which the above-mentioned first base station determining manages among multiple cell coverage areas and it can determine. The smart control (SCC) communicates with multiple base stations; the multiple autonomous vehicles communicating through at least one and network of the multiple base stations.|1. A autonomous driving vehicle control system, wherein: Multiple cell coverage areas are managed and the multiple base stations (RSE) forming the network, the multiple autonomous vehicles communicating among multiple base stations through at least one and network, and the smart control (SCC) are included; the case , and the smart control where the traffic of the primary channel which is at least one increases among multiple communication channels related to the network over the pre-set standard determine the first base station related to the primary channel among multiple base stations; the event is generated in at least one autonomous vehicle positioned within the first cell cover geographical domain which the above-mentioned first base station determining manages among multiple cell coverage areas and it determines; the accident event disturbing the operation of the multiple autonomous vehicles is generated within the first cell cover geographical domain; and the traffic of the primary channel increases over the pre-set standard, and the smart control (SCC) communicates with multiple base stations. The accident event is generated among at least one autonomous vehicle positioned within the first cell coverage area in the first vehicle; and the traffic of the primary channel increases over the pre-set standard. | 2. The autonomous driving vehicle control system of claim 1, wherein: the multiple base stations transmits the information associated with the autonomous vehicle of the above-mentioned at least one entering into communicates with at least one autonomous vehicle entering respectively on multiple cell coverages managed to the smart control. | Deletion. | Deletion. | 5. A autonomous driving vehicle control system, wherein: the autonomous driving vehicle control system includes the multiple base stations managing multiple cell coverage areas and forms the network (RSE); the multiple autonomous vehicles communicating among multiple base stations through at least one and network; and the smart control which communicates with multiple base stations; and stores the travel information of the multiple autonomous vehicles in advance (SCC), and as to the multiple base stations, communicates with at least one autonomous vehicle entering respectively on multiple cell coverages which manage; it transmits the information associated with the autonomous vehicle of the above-mentioned at least one entering into with the smart control; the case , and the smart control in which the first vehicle which is at least one among multiple autonomous vehicles does not communicate with multiple base stations for the pre-set period distinguish the first vehicle based on the travel information stored in advance; and the event is generated in the identified first vehicle and at least one first base station related to the first vehicle among multiple base stations and it determines. | 6. The autonomous driving vehicle control system of claim 5, wherein: the accident event is generated in the accident event or the first vehicle disturbing the operation of the first vehicle; and the first vehicle is unable to communicate with at least a part due to the accident event among multiple base stations. | 7. A autonomous driving vehicles control method, wherein: At least one autonomous vehicle which multiple base stations (RSE) manage multiple cell coverage areas and it includes the first step of forming the network, the second step that multiple autonomous vehicles communicate among multiple base stations through at least one and network, 3rd step that the smart control (SCC) communicates with multiple base stations, 4th step that the traffic of the primary channel, 5th step that the smart control determines the first base station related to the primary channel among multiple base stations, and 6th step of the event being generated in at least one autonomous vehicle; the accident event disturbing the operation of the multiple autonomous vehicles is generated in 4th step within the first cell cover geographical domain; and is positioned within the first cell coverage area is caused by transmitting the above-mentioned information sensed to the first base station; and the traffic of the primary channel increases over the pre-set standard. At least one autonomous vehicle which multiple base stations (RSE) manage multiple cell coverage areas and it includes the first step of forming the network, the second step that multiple autonomous vehicles communicate among multiple base stations through at least one and network, 3rd step that the smart control (SCC) communicates with multiple base stations, 4th step that the traffic of the primary channel, 5th step that the smart control determines the first base station related to the primary channel among multiple base stations, and 6th step of the event being generated in at least one autonomous vehicle; the accident event disturbing the operation of the multiple autonomous vehicles is generated in 4th step within the first cell cover geographical domain; and is positioned within the first cell coverage area senses the accident event, and 4th step that the traffic of the primary channel is at least one increases among multiple communication channels related to the network over the pre-set standard; and as to 6th step of the event, the smart control (SCC) is positioned within the first cell cover geographical domain which the above-mentioned first base station determining manages among multiple cell coverage areas and determining. In 4th step, the accident event is generated among at least one autonomous vehicle positioned within the first cell coverage area in the first vehicle; and the traffic of the primary channel increases over the pre-set standard. | 8. The autonomous driving vehicles control method of claim 7, wherein: the multiple base stations in the second step and 3rd step transmit the information associated with the autonomous vehicle of the above-mentioned at least one entering into communicates with at least one autonomous vehicle entering respectively on multiple cell coverages managed to the smart control. | Deletion. | Deletion. | 11. A autonomous driving vehicles control method, wherein: the autonomous driving vehicles control method includes the first step of multiple base stations (RSE) managing multiple cell coverage areas and forming the network; the second step that multiple autonomous vehicles communicate among multiple base stations through at least one and network; and 3rd step the smart control (SCC) communicates with multiple base stations; and of storing the travel information of the multiple autonomous vehicles in advance, and the multiple base stations transmits the information associated with the autonomous vehicle of the above-mentioned at least one entering into communicates with at least one autonomous vehicle entering respectively on multiple cell coverages managed to the smart control, and 4th step in which the first vehicle which is at least one among multiple autonomous vehicles does not communicate with multiple base stations for the pre-set period; 5th step that the smart control distinguishes the first vehicle based on the travel information stored in advance; and 6th step of the event being generated in the first vehicle in which the smart control is identified and at least one first base station related to the first vehicle among multiple base stations and determining further is included after 3rd step. | 12. The autonomous driving vehicles control method of claim 11, wherein: in 4th step, the accident event is generated in the accident event or the first vehicle disturbing the operation of the first vehicle; and the first vehicle is unable to communicate with at least a part due to the accident event among multiple base stations.

The system has a smart control unit (100) that determines a first base station (300a-300n) associated with the first channel of several base stations. Determination is made that an event is occurred in one autonomous vehicle (200a-200n) located in a first cell cover geographical area of the determined first base station among several cell coverage areas. The autonomous vehicle is located within the first cell coverage area, for sensing the incident event and transmitting the sensed information to the first base station, when accident event that disturbs the driving of autonomous vehicles is generated in the first cell cover geographical area. The autonomous vehicle is located within the first cell coverage area for sensing the incident event, so that the traffic of the first channel is increased above a preset reference value, by transmitting the sensed information to the first base station. An INDEPENDENT CLAIM is included for a method for controlling autonomous driving vehicle. System for controlling autonomous driving vehicle. The existing problem of monitoring the event situation in which trouble occurs in securing the regularity of the vehicle due to the failure of the own vehicle in real time and taking appropriate measures at the right time can be eliminated. Since the autonomous traveling public transit vehicle operates predetermined traveling route to a private car, the order of the vehicles approaching the corresponding base station can be predicted by the terrestrial base station. The event is generated in the base station radio area or the neighbor base station radio area, if the vehicle radio does not perform the connection procedure between the base station and the radio channel within a predetermined time. The drawing shows a schematic view of the system for controlling autonomous driving vehicle. 10Event monitoring system100Smart control unit200a-200nAutonomous vehicle300a-300nBase station310a,310bCells

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Geotagged and time stamped data secured by digital signature shared on private networkAn autonomous vehicle and method for vehicle-to-vehicle communication is disclosed. The vehicle has a computer system capable of creating anonymous geotagged data and transmitting and receiving the geotagged data through a secured network for storage on a private cloud. The vehicle is equipped with a navigation system in communication with said computer and at least one sensor in communication with said computer system. The sensors are capable of creating data signals indicative of at least one of vehicle telemetry, travel visibility, and road conditions. The system includes a timer in communication with the computer system capable of creating a time stamp. The geotagged data can be used to control an automatic brake system and/or an autonomous driving system.What is claimed is: | 1. A vehicular peer-to-peer communication system over a secure network, comprising: a plurality of vehicles; each of said plurality of vehicles having at least one onboard sensor capable of creating data indicative of at least one of travel visibility and road conditions; a navigation system for determining global position location of the vehicle at the time the data is created; a timer for creating a time stamp at the time the data is created; and a computer associating the created data with the global position location and time stamp, and making the geo-tagged, time-stamped data available to the plurality of vehicles through a secured network. | 2. The system of claim 1, wherein said secure network is a cell phone network or Wi-Fi network. | 3. The system of claim 1, wherein said sensor to collect road conditions is a camera. | 4. The system of claim 1, wherein data received by said vehicle is parsed, time stamped and communicated to said navigation system, automatic brake system and autonomous driving system.

The system (64) has a computer system connected with a memory for creating, transmitting and receiving anonymous geo-tagged data through a secured network for storage on a private cloud, where the anonymous secure geo-tagged data identifies a particular vehicle (68). A navigation system is communication with a computer. A sensor is communication with the computer system, where the sensor creates data signals indicative of vehicle telemetry (80), travel visibility (82) and road conditions (84). A timer is communication with the computer system for creating a time stamp (86). An INDEPENDENT CLAIM is also included for a method for controlling autonomous vehicles through peer-to-peer communication of geo-tagged and time stamped data secured by digital signature shared on a private network. System for controlling autonomous vehicles by an automatic brake system through peer-to-peer communication of geo-tagged and time stamped data secured by a digital signature shared on a secure network e.g. cellular phone network or Wi-Fi network (claimed). The system facilitators gathering of vehicle telemetry, travel visibility and/or road condition data that is geo-tagged and time-stamped so as to communicated to a private cloud over a wireless network. The system facilitates vehicle peer-to-peer communication, so that road conditions, visibility and travel telemetry can be shared between vehicles traveling opposite each other on a same road so as to use data received to alter or manage vehicle operation, thus enhancing safety performance. The drawing shows a schematic view of two vehicles on a section of a road. 64Vehicle-to-vehicle communication system68Vehicle80Vehicle telemetry82Travel visibility84Road conditions86Time stamp

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The vehicle and infra link base digital map generation system and method.Provided are a digital map creation system based on vehicles and infrastructure, and a method thereof. According to an embodiment of the present invention the map creation method receives vehicle information from vehicles on the road, detects road information, and creates a map using the vehicle information and the road information. Accordingly, it is possible to distinguish lanes and vehicles on the road when unexpected situation happens and also to track moving paths without high capacity precision maps and high price measurement devices. COPYRIGHT KIPO 2017 REPRESENTATIVE DRAWING - Reference numerals: (110) Road detection module; (120) V2X communication module; (130) Road information input module; (140) Vehicle information input module; (150) Road information/vehicle information integration module; (160) Light-weight digital map generation module; (170) Light-weight digital map output module; (AA) Vehicle: light weight digital map information utilization-location based safety service provision-available for cooperative and autonomous driving aid; (BB) V2X vehicle terminal; (CC) V2X communication network (vehicle gathering); (DD) Other detection information providing entity (providing expandability); (EE) Detecting road information; (FF) Receiving BSM; (GG) Transmitting digital map information; (HH) Other vehicle information providing entity; (II) - Individual vehicle information: latitude/longitude, speed, direction, moving path road information: unidentified vehicle, latitude/longitude, speed, direction, moving path, and unexpected situation information light-weight digital map: location of a vehicle itself/surrounding vehicle, moving information, and unexpected situation information; (JJ) Road information; (KK) Individual vehicle information; (LL) Real time light-weight digital map information generating/sharing system; (MM) Light-weight digital map; (NN) Other digital map information consumption entity (providing expandability)|1. A map generating method, wherein: The map generating method comprises the step of receiving information of cars from vehicles having on road; the step of detecting the road information; and the step of producing the map by using information of cars and road information. | 2. The map generating method of claim 1, wherein: the map generating method, is information of cars includes the car identification of the target vehicles, the position, and the speed and at least one among the direction. | 3. The map generating method of claim 2, wherein: the position, and the speed and direction are generated in the target vehicles by using the GPS signal received. | 4. The map generating method of claim 2, wherein: the map generating method, is the road information includes at least one among the location information, the speed, the direction, the movement route of the objects having on road, and the objects includes vehicles having on road and obstacles. | 5. The map generating method of claim 4, wherein: the map generation step produces the vehicles having on road and the map in which obstacles are marked by using information of cars and road information. | 6. The map generating method of claim 5, wherein: the map generating method further includes transmitting in vehicles the map. | 7. The map generating method of claim 5, wherein: vehicles recognize the vehicle coinciding with its own identifier among vehicles indicated on the map as the oneself. | 8. A map generation system, wherein: The map generation system comprises the communication unit receiving information of cars from vehicles having on road; the detection part detecting the road information; and the generating unit producing the map by using information of cars and road information.

The method involves receiving vehicles i.e. cars, information on a road. A road information detecting process is performed. A map is generated by using the vehicles information and the road information, where the vehicle information includes identification, position and speed of a target vehicle along direction. The position and the speed are generated in the target vehicles by using received GPS signal, where the road information includes at location information, speed, direction and movement route of objects on the road. An INDEPENDENT CLAIM is also included for a digital map generating system. Digital map generating method. The method enables performing lane classification of the vehicles so as to trace outbreak situation and movement path in an easy manner without need of precision map of high-capacity, so that map generating adaptability can be improved and map generating cost can be reduced, thus improving communication resource efficiency and ensuring soft management at different outbreak situations in an easy manner. The drawing shows a block diagram of a digital map generating system. '(Drawing includes non-English language text)' 110Drawing scanning module120V2X communication module130Road information input module140Information input module150Road information fusion module

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Method for determining road conditions through sharing sensor data and object recognition results in V2X communication environmentA method of determining road conditions is provided through sharing sensor data and object recognition results in a V2X communication environment. The road condition determination method according to an embodiment of the present invention acquires sensor data, analyzes the obtained sensor data to recognize objects, receives sensor data and object recognition results from external terminals, and recognizes the received object. The reliability of the results and sensor data is determined, and the road situation is determined based on the obtained sensor data, object recognition results, and object recognition results and sensor data for which reliability has been granted. As a result, autonomous driving performance is improved by accurately determining road conditions through sharing of sensor data and object recognition results in a V2X environment, and road reliability is judged based on the sensor data and object recognition results received from outside through sharing. By determining whether or not to use it for situation judgment, the accuracy of road situation judgment can be further improved.|1. acquiring sensor data; Recognizing objects by analyzing acquired sensor data; Receiving sensor data and object recognition results from external terminals; A first judgment step of determining the reliability of the received object recognition results; A second determination step of determining the reliability of the received sensor data; Based on the sensor data acquired in the acquisition stage, the object recognition results obtained in the recognition stage, the object recognition results given reliability in the first decision stage, and the sensor data given reliability in the second decision stage, the road situation A third decision step of determining; wherein the first decision step includes: measuring a reception delay time of the object recognition result; If the measured delay time is below the threshold, checking the object recognition rate of the external terminal that transmitted the object recognition result; If the confirmed object recognition rate is greater than or equal to a threshold, providing reliability to the object recognition result. | 2. The method according to claim 1, wherein the external terminals include terminals of surrounding vehicles, infrastructure, and pedestrian terminals. | 3. The method according to claim 2, wherein the receiving step includes receiving sensor data and object recognition results from nearby terminals through V2X communication. | 4. delete | 5. delete | 6. The method of claim 1, wherein in the reliability granting step, if the confirmed object recognition rate is less than a threshold, reliability is not granted to the object recognition result. | 7. The method according to claim 1, wherein in the first determination step, if the measured delay time exceeds a threshold, reliability is not given to the object recognition result. | 8. The method according to claim 1, wherein the second determination step includes measuring a reception delay time of sensor data; A method for determining road conditions, comprising: providing reliability to sensor data if the measured delay time is less than or equal to a threshold. | 9. The method of claim 8, wherein in the reliability granting step, reliability is not granted to the sensor data if the measured delay time exceeds a threshold. | 10. An acquisition unit that acquires sensor data; A recognition unit that recognizes objects by analyzing acquired sensor data; A receiving unit that receives sensor data and object recognition results from external terminals; a first determination unit that determines the reliability of the received object recognition results; a second determination unit that determines the reliability of the received sensor data; Based on the sensor data obtained from the acquisition unit, the object recognition results obtained from the recognition unit, the object recognition results granted reliability by the first determination unit, and the sensor data granted reliability by the second determination unit, the road situation and a third determination unit that determines, wherein the first determination unit measures the reception delay time of the object recognition result, and if the measured delay time is less than a threshold, checks the object recognition rate of the external terminal that transmitted the object recognition result., A road situation judgment system characterized in that, if the confirmed object recognition rate is above a threshold, reliability is given to the object recognition results. | 11. Receiving sensor data and object recognition results from external terminals; A first determination step of determining the reliability of the received sensor data and object recognition results; A second determination step of determining the road situation based on internally acquired sensor data, internally acquired object recognition results, and sensor data and object recognition results given reliability in the determination step; Controlling vehicle driving based on the determined road condition, wherein the first determination step includes: measuring a reception delay time of the object recognition result; If the measured delay time is below the threshold, checking the object recognition rate of the external terminal that transmitted the object recognition result; If the confirmed object recognition rate is greater than or equal to a threshold, providing reliability to the object recognition result. | 12. A receiving unit that receives sensor data and object recognition results from external terminals; a first determination unit that determines the reliability of the received sensor data and object recognition results; a second determination unit that determines road conditions based on internally acquired sensor data, internally acquired object recognition results, and sensor data and object recognition results for which reliability is given by the first determination unit; A control unit that controls vehicle driving based on the determined road situation; a first determination unit measures a reception delay time of the object recognition result, and if the measured delay time is less than a threshold, an external device transmits the object recognition result. A vehicle control system that checks the object recognition rate of the terminal and, if the confirmed object recognition rate is greater than a threshold, gives reliability to the object recognition result.

The method involves acquiring sensor data. Objects are recognized by analyzing the acquired sensor data. The sensor data and object recognition results are received from external terminals. Reliability of the received object recognition results is determined. Reliability of the received sensor data is determined. A reception delay time of the object recognition result is measured based on the sensor data, the object recognition results obtained in the recognition stage, the object recognition results reliability, and the sensor data reliability and a road situation. Object recognition rate of the external terminal is checked (S250) based on the object recognition result when the measured delay time is less than the threshold value. The reliability is provided to the object recognition result when the confirmed object recognition rate is greater than or equal to a threshold. An INDEPENDENT CLAIM is also included for a road condition determination system. Method for determining road conditions through sharing sensor data and object recognition results in a vehicle-to-everything (V2X) communication environment to control vehicle driving. The method enables improving autonomous driving performance by accurately determining road conditions through sharing the sensor data and the object recognition results in a V2X environment, so that accuracy of road situation judgment is improved. The drawing shows a flowchart diagram illustrating a method for determining road conditions through sharing sensor data and object recognition results in a V2X communication environment (Drawing includes non-English language text).S250Step for checking object recognition rate of the external terminal based on the object recognition result when the measured delay time is less than the threshold value

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Autonomous vehicle location fine asynchronization method based on CCTV videoA method for precise synchronization of autonomous vehicle locations based on CCTV footage is provided. The method for refining the location of a self-driving vehicle according to an embodiment of the present invention includes receiving location information of a surrounding self-driving vehicle, obtaining location information of a surrounding self-driving vehicle from CCTV images, and converting the received location information into the acquired location information. Mapping is performed, and the obtained mapped location information is corrected based on the received location information. As a result, even if there is a communication delay in transmitting the location information of the autonomous vehicle through V2X communication in the process of recognizing and classifying autonomous vehicles that are subject to autonomous driving negotiations and non-autonomous vehicles, the location of surrounding autonomous vehicles can be accurately located. Synchronization is possible.|1. A self-driving vehicle terminal receiving location information of a surrounding self-driving vehicle; A self-driving vehicle terminal acquiring location information of surrounding self-driving vehicles from CCTV images; A step of mapping, by an autonomous vehicle terminal, received location information to acquired location information; A self-driving vehicle location precision method comprising: correcting, by the autonomous vehicle terminal, the acquired location information mapped based on the received location information. | 2. The method of claim 1, wherein the acquisition step involves estimating and obtaining location information of surrounding autonomous vehicles from CCTV images. | 3. The method of claim 2, wherein the acquisition step estimates the location information of surrounding autonomous vehicles through homography estimation based on CCTV images. | 4. The method of claim 2, wherein in the receiving step, location information of surrounding autonomous vehicles is received from surrounding infrastructure through V2X. | 5. The method according to claim 1, wherein the acquisition step predicts and obtains location information of surrounding autonomous vehicles from CCTV images. | 6. The method of claim 5, wherein in the receiving step, location information of surrounding autonomous vehicles is received through V2X from surrounding infrastructure, and the surrounding infrastructure predicts location information of surrounding autonomous vehicles and transmits the information to the autonomous vehicles. Method for refining driving vehicle position. | 7. The method of claim 1, wherein the mapping step maps the received location information to location information with the shortest distance difference. | 8. The method according to claim 1, wherein the correction step corrects the acquired location information with the received location information. | 9. The method of claim 8, wherein the correction step further corrects the corrected location information based on communication delay in the reception step. | 10. A communication unit that receives location information of surrounding autonomous vehicles; Includes a processor that acquires location information of surrounding autonomous vehicles from CCTV images, maps the received location information to the acquired location information, and corrects the mapped acquired location information based on the location information received through the communication unit. A self-driving vehicle terminal characterized in that.

The method involves receiving (S110) location information of a surrounding self-driving vehicle from a CCTV images. The location information of surrounding self-driving vehicles from CCTV images is acquired (S120). The received location information is mapped (S130) by an autonomous vehicle terminal. The acquired location information mapped based on the received information is corrected (S140). The location information about the surrounding autonomous vehicles is estimated and obtained from the CCTV images through homography estimation. The position information of the surrounding vehicles is received from a surrounding infrastructure through a video-to-video (V2X) communication unit. The corrected position information is transmitted to the autonomous vehicles. Method for accurately determining location of autonomous vehicle (claimed) based on CCTV video. The method enables reducing communication delay in transmitting the location information of the autonomous vehicle through vehicle-to-everything (V2X) communication in process of recognizing/classifying an autonomous vehicle that is subject of autonomous driving negotiation and a regular vehicle, so that the locations of surrounding autonomous vehicles can be precisely synchronized by mapping and correcting the received location information and the location of the vehicle obtained from the CCTV images. The drawing shows a flowchart illustrating the method for determining location of autonomous vehicle (Drawing includes non-English language text).S110Step for receiving location information of a surrounding self-driving vehicle from a CCTV imagesS120Step for acquiring the location information of surrounding self-driving vehicles from CCTV imagesS130Step for mapping the received location information by an autonomous vehicle terminalS140Step for correcting the acquired location information mapped based on the received information

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V2X data management method using integrated V2X data formatA V2X data processing method using an integrated V2X data format is provided. The V2X data processing method according to an embodiment of the present invention is to store/manage data generated in various V2X environments in a DB and communicate by including them in messages, by utilizing integrated V2X data in a common format, thereby improving vehicle/infrastructure V2X Through accurate data transmission/processing and interconnection between services, accurate and safe autonomous driving is possible.|1. Generating V2X data; Recording the generated V2X data in the DB; V2X data includes a header, payload, and CRC, and the header includes device type, mobile communication type, device ID, time stamp, and application service ID. And the application service ID is a V2X data management method characterized by specifying one of Platooning, Sensor sharing, Remote driving, and Advanced driving. | 2. The method of claim 1, wherein the device type is specified as OBU (On Board Unit) or RSU (Road Side Unit), and the mobile communication type is specified as one of WAVE, LTE, 5G, and 6G.. | 3. The method according to claim 1, wherein the time stamp is used for time synchronization with other devices. | 4. delete | 5. The method of claim 1, wherein the header further includes an action type that specifies the action status of the application service when storing the DB. | 6. The method according to claim 1, wherein the header further includes a region ID specifying the region in which the communication performance verification test was performed. | 7. The method according to claim 1, wherein the header further includes a communication ID specifying a communication situation based on the payload data type and the device generating the DB. | 8. The method according to claim 1, wherein the recording step records the V2X data as a file in the DB, and the name of the file is device type, device ID, start time, end time, and storage time. | 9. The method according to claim 1, comprising: receiving a V2X message; A V2X data management method further comprising: recording V2X data included in the received V2X message in a DB. | 10. A storage unit where a DB where V2X data is recorded is built; A processor that generates V2X data and records the generated V2X data in the DB; V2X data includes a header, payload, and CRC, and the header includes device type, mobile communication type, device ID, and time stamp., A V2X device that includes an application service ID, and the application service ID specifies one of Platooning, Sensor sharing, Remote driving, and Advanced driving. | 11. Acquiring V2X data recorded in DB; Providing the acquired V2X data to the application service; V2X data includes a header, payload, and CRC, and the header includes device type, mobile communication type, device ID, time stamp, and application service ID. A V2X data management method that includes, and the application service ID specifies one of Platooning, Sensor sharing, Remote driving, and Advanced driving. | 12. A storage unit where a DB where V2X data is recorded is built; A processor that acquires V2X data recorded in the DB and provides it to the application service; V2X data includes a header, payload, and CRC, and the header includes device type, mobile communication type, device ID, and time stamp., A V2X device that includes an application service ID, and the application service ID specifies one of Platooning, Sensor sharing, Remote driving, and Advanced driving.

The method involves generating vehicle-to-everything (V2X) data; recording the generated V2X data in a database (DB), where the V2X data comprises a CRC, payload, and header including device type, mobile communication type, device identifier (ID), time stamp, and application service ID; specifying the device type as on board unit (OBU) or road side unit (RSU); selecting mobile communication type as WAVE, Long Term Evolution (LTE) , Fifth Generation (5G) , and Sixth Generation (6G) ; using the time stamp for time synchronization with other devices; and specifying an action type of the header as an action status of an application service when storing the data in the DB. Method for processing V2X data of a vehicle in a DB using an integrated V2X data format. The data generated in various V2X environments is stored/managed in a DB and included in messages for communication by utilizing integrated V2x data in a common format, so that accurate data transmission/processing and interconnection are performed, and accurate and safe autonomous driving is achieved. The drawing shows a flowchart diagram illustrating a method for processing V2X data of a vehicle in a DB using an integrated V2X data format (Drawing includes non-English language text).

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Failure safety test evaluation system and the method for autonomous vehicleThe present invention relates to a failure safety test and evaluation system for autonomous vehicles. According to the present invention, in a test evaluation system for evaluating the failure safety test of an autonomous vehicle, a driving simulation module that generates virtual simulation driving information of an autonomous vehicle and obtains and transmits simulation vehicle state information of the autonomous vehicle.; A real-vehicle linked simulation module that provides generated virtual simulation driving information to an autonomous vehicle; an autonomous driving error information injection module that injects autonomous driving error information into the autonomous vehicle and provides the autonomous driving error information; and a failure safety determination module that receives simulated vehicle status information and autonomous driving error information and determines failure safety using the information.|1. A test evaluation system for evaluating failure safety tests of an autonomous vehicle, comprising: a driving simulation module that generates virtual simulation driving information of the autonomous vehicle and obtains and transmits simulated vehicle state information of the autonomous vehicle; a real vehicle linkage simulation module that provides the generated virtual simulation driving information to the autonomous vehicle; an autonomous driving error information injection module that injects autonomous driving error information into the autonomous vehicle and provides the autonomous driving error information; and a failure safety judgment module that receives the simulation vehicle status information and autonomous driving error information and determines failure safety using the information, wherein the failure safety determination module receives input from the autonomous driving error information injection module. If the error information controls longitudinal driving, the safety of the vehicle is evaluated by injecting the error information into the autonomous vehicle utilizing a chassis dynamometer environment capable of longitudinal straight driving, and the safety of the vehicle is evaluated from the autonomous driving error information injection module. When the input error information controls lateral behavior, the safety of the autonomous vehicle is evaluated through the vehicle model of the autonomous vehicle on the virtual simulation driving information synchronized with the autonomous vehicle. Failure of the autonomous vehicle Safety test evaluation system. | 2. The method of claim 1, wherein the driving simulation module controls the autonomous vehicle to enable autonomous driving without moving when driving according to a virtual simulation driving environment simulated through the actual vehicle linkage simulation module, and A failure safety test and evaluation system for an autonomous vehicle further comprising a chassis dynamometer that senses autonomous driving information according to autonomous driving and provides the sensed simulation vehicle state information. | 3. The failure safety test and evaluation system for an autonomous vehicle according to claim 1, wherein the virtual simulation driving information includes a driving scenario simulator that provides driving route information from the virtual simulation driving information. | 4. The failure safety test and evaluation system for an autonomous vehicle according to claim 1, wherein the actual vehicle linkage simulation module includes a V2X simulator that provides vehicle communication information with surrounding vehicles from virtual simulation driving information. | 5. The failure safety test of an autonomous vehicle according to claim 1, wherein the actual vehicle linkage simulation module includes a sensing simulator that simulates objects such as lanes and a vehicle ahead of a virtual road recognized through a camera sensor of the autonomous vehicle. Evaluation system. | 6. The failure safety test and evaluation system for an autonomous vehicle according to claim 1, wherein the actual vehicle linked simulation module is a driving simulator that provides driving simulation environment information including surrounding vehicle (traffic) information. | 7. The failure safety test and evaluation system for an autonomous vehicle according to claim 1, wherein the actual vehicle-linked simulation module includes a target simulator that simulates actual target information through sensors mounted on the autonomous vehicle. | 8. The failure safety test and evaluation system for an autonomous vehicle according to claim 1, wherein the actual vehicle linkage simulation module includes a GPS simulator that provides virtual location information of the autonomous vehicle. | 9. The method of claim 1, wherein the autonomous vehicle operates through driving information such as actuator control information, braking control information, and steering information according to the provided autonomous driving information of the autonomous vehicle and virtual simulation driving information simulated on the monitor. An autonomous driving control unit that performs autonomous driving; a steering drive blocking unit that blocks steering information transmitted through the autonomous driving control unit from being transmitted to the steering device; and a steering information transmission unit that transmits the steering information transmitted through the autonomous driving control unit to the driving simulation module. | 10. A test evaluation method for evaluating a failure safety test of an autonomous vehicle, comprising: generating, by a driving simulation module, virtual simulation driving information of the autonomous vehicle; Synchronizing autonomous driving information of the autonomous vehicle by providing the generated virtual simulation driving information to the autonomous vehicle by an actual vehicle linked simulation module; Injecting autonomous driving error information into the autonomous vehicle by an autonomous driving error information injection module; providing autonomous driving error information provided to the autonomous vehicle by an autonomous driving error information injection module to the driving simulation module; The driving simulation module obtaining and transmitting simulation vehicle state information of the autonomous vehicle; and a step where the fail-safe determination module receives the simulated vehicle state information and autonomous driving error information and determines the fail-safe using the information, wherein the step of determining the fail-safe is performed by the fail-safe determination module. When the error information input from the autonomous driving error information injection module controls longitudinal driving, the error information is injected into the autonomous vehicle utilizing a chassis dynamometer environment capable of longitudinal straight driving, thereby injecting the error information into the vehicle. Safety is evaluated, and when the error information input from the autonomous driving error information injection module controls lateral behavior, the vehicle is operated through the vehicle model of the autonomous vehicle on the virtual simulation driving information synchronized with the actual autonomous vehicle. A failure safety test evaluation method for autonomous vehicles characterized by evaluating the safety of. | 11. The method of claim 10, wherein the virtual simulation driving information includes a virtual road database, traffic environment information including surrounding vehicle information, driver interface information, driving scenario information, vehicle dynamics model, GSP model, virtual sensor model, and control interface information. Failure safety test evaluation method for autonomous vehicles, including: | 12. The method of claim 10, wherein the virtual simulation driving information includes at least one of driving road information, sensor target information, front camera image information, vehicle communication information, and vehicle location information. Safety test evaluation method. | 13. The method of claim 10, wherein in the step of synchronizing autonomous driving information of the autonomous vehicle, the V2X simulator provides vehicle communication information with surrounding vehicles from virtual simulation driving information. | 14. The method of claim 10, wherein the step of synchronizing the autonomous driving information of the autonomous vehicle involves a sensing simulator simulating objects such as lanes of a virtual road and a vehicle ahead recognized through a camera sensor of the autonomous vehicle. Failure safety test evaluation method for driving vehicles. | 15. The method of claim 10, wherein in the step of synchronizing the autonomous driving information of the autonomous vehicle, the driving simulator provides driving simulation environment information including surrounding vehicle information. | 16. The method of claim 10, wherein in the step of synchronizing the autonomous driving information of the autonomous vehicle, the target simulator simulates actual target information through sensors mounted on the autonomous vehicle. | 17. The method of claim 10, wherein in the step of synchronizing autonomous driving information of the autonomous vehicle, a GPS simulator provides virtual location information of the autonomous vehicle. | 18. The method of claim 10, further comprising: performing autonomous driving through driving information such as actuator control information, braking control information, and steering information according to virtual simulation driving information in which the autonomous vehicle is simulated; blocking steering information transmitted through the autonomous driving control unit from being transmitted to the steering device; and transmitting steering information transmitted through the autonomous driving control unit to the driving simulation module.

The test evaluation system comprises a driving simulation module (100) that generates virtual simulation driving information of the autonomous vehicle (500). The simulated vehicle state information of the autonomous vehicle is obtained and transmitted. A real vehicle linkage simulation module (200) provides the generated virtual simulation driving information to the autonomous vehicle. An autonomous driving error information injection module (300) is provided for injecting autonomous driving error information into the autonomous driving vehicle for providing the autonomous driving error information. A failure safety determination module (400) is provided for receiving the simulation vehicle state information and autonomous driving error information. An INDEPENDENT CLAIM is included for a test evaluation method for evaluating a failure safety test for an autonomous vehicle. System for evaluating a failure safety test for an autonomous vehicle. The performance and failure safety of an autonomous driving vehicle can be improved. The lateral failure safety evaluation can be performed easily. The drawing shows a block diagram of system for evaluating a failure safety test for an autonomous vehicle. (Drawing includes non-English language text). 100Driving simulation module200Real vehicle linkage simulation module300Autonomous driving error information injection module400Failure safety determination module500Autonomous vehicle

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SYSTME AND METHOD OF GUIDING THE TRAFFIC SITUATION OF AN AUTONOMOUS VEHICLE USING V2I-LINKED AMBIENT LIGHTThe present invention relates to a traffic situation guidance system and method for an autonomous vehicle using ambient light linked to V2I. A traffic situation guidance system for an autonomous vehicle using V2I-linked ambient light according to the present invention includes a recognition unit that inputs vehicle driving information and traffic situation information acquired through V2I communication, and ambient light information using vehicle driving information and traffic situation information. A determination unit for determining whether or not a situation requiring guidance using lights is included, and a control unit for controlling output of the ambient light in response to a situation requiring guidance.|1. A recognition unit that inputs vehicle driving information and traffic situation information obtained through V2I communication; a determination unit that determines whether a situation requires guidance using ambient light using the vehicle driving information and traffic situation information; and a control unit that controls the output of the ambient light for the situation requiring guidance, wherein the recognition unit acquires the vehicle driving information including the status, location, and driving path information of the driving vehicle, and determines the current location of the driving vehicle. Based on the nearest infrastructure facility, information on traffic lights near the vehicle, location of each traffic light, time when it changes to red, yellow, blue, and left turn signal, information on construction and accident details and location, fire truck and ambulance dispatch information, and driving route. Obtains the traffic situation information including data, and the determination unit determines whether a case is classified as a school zone, silver zone, lane change, stop by signal, construction, accident, or emergency situation, If the distance to pass the intersection is greater than the product of the current speed of the vehicle and the time remaining until the signal change, it is determined that a situation requires stopping, and the control unit determines a situation where a lane change is required, a school zone driving situation, a stopping situation due to a signal, Caution conditions due to construction and accidents; Control is provided to provide preset voice information for situations driving on the same route as an emergency vehicle, and the control unit changes the color and output pattern of the ambient light to provide information to the passenger about situations requiring guidance, but the driving path If a lane change is necessary, before changing the actual lane, set the color of the ambient light to the preset color and turn it on in the same pattern as the actual turn signal, or control it in sequential output mode to notify the passenger of the lane change situation, and notify the passenger of the lane change situation. In school zone driving situations, the color of the ambient light is changed to flash to provide guidance regarding slow driving, and the front traffic light located in the vehicle's direction of travel changes the color of the ambient light to a color corresponding to the signal expected to change. Provide guidance on relevant traffic conditions, A traffic situation guidance system for an autonomous vehicle using a V2I-linked ambient light that controls the ambient light to continuously operate an alternating flashing pattern while driving on the same driving path as the emergency vehicle. | 2. delete | 3. delete | 4. delete | 5. delete | 6. delete | 7. delete | 8. delete | 9. delete | 10. delete | 11. delete

The system has a recognition unit (110) for acquiring behavioral information of an occupant, in-vehicle voice information, seat-position information or personalization data. A determination unit (120) determines a behavioral pattern of the occupant or purpose of using the vehicle, and uses information transferred through the recognition unit. A controller (130) controls in-vehicle illumination and window transparency level according to purpose of using a vehicle. The recognition unit analyzes an in-vehicle image, and acquires behavioral information of the occupant including age of the occupant, gender of the occupant, motion of the occupant, a posture of the occupant and facial expression of the occupant. The determination unit learns the behavioral information, and builds personalization data. An INDEPENDENT CLAIM is included for a method for controlling an in-vehicle environment based on purpose of using a vehicle. System for controlling an in-vehicle environment such as illumination and window transparency level, based on purpose of using an autonomous vehicle. The system improves occupant's satisfaction, and minimizes fatigue of the occupant riding in the vehicle, and automatically adjusts in-vehicle illumination or window transparency level according to purpose of using the vehicle. The drawing shows a block diagram of a system for controlling an in-vehicle environment based on purpose of using an autonomous vehicle.110Recognition unit 120Determination unit 130Controller

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APPARATUS AND METHOD FOR SIMULATING INTERACTIVE LDM-HILAn interactive local dynamic map (LDM)-hardware-in-the-loop (HIL) simulation device reflecting real and virtual environments is provided. The apparatus includes a real environment information system for collecting real environment data including first vehicle data in a real road environment, an HIL simulation system for generating virtual environment data including second vehicle data in a virtual environment, and the real environment. An information system and a dynamic information system that performs bi-directional communication with an HIL simulation system and stores the real environment data and virtual environment data, wherein the HIL simulation system receives real environment data from the dynamic information system and the real environment data. HIL verification simulation for V2X-based electronic controller is performed based on mixed environment data projected onto virtual environment data.|1. In a bi-directional Local Dynamic Map (LDM)-Hardware-In-the-Loop (HIL) simulation device reflecting real and virtual environments, real environment data including first vehicle data and first event data in a real road environment A real environment information system for collecting, a HIL simulation system for generating virtual environment data including second vehicle data and second event data in a virtual environment, and interactive communication with the real environment information system and the HIL simulation system, A dynamic information system for storing the real environment data and virtual environment data, wherein the HIL simulation system generates virtual environment data corresponding to the real environment data as the real environment data is received from the dynamic information system;, When the first event data at the first location is received at a specific time on the actual road, In order to prevent a collision between the first event data and the second event data, virtual second event data is generated at a second location different from the first location, and the dynamic information system generates a collision between the real environment data and the virtual environment data. Priority is set between each element information between the real environment data and the virtual environment data to prevent the real environment data, the HIL simulation system receives real environment data from the dynamic information system, and projects the real environment data onto the virtual environment data. It is a bi-directional LDM-HIL simulation device that reflects real and virtual environments, which performs HIL verification simulation for V2X-based electronic controllers based on mixed environment data. | 2. delete | 3. The bi-directional LDM-HIL simulation device according to claim 1, wherein the HIL simulation system performs HIL verification simulation for a V2X-based electronic controller mounted on an autonomous vehicle. | 4. delete | 5. The method of claim 1, wherein the HIL simulation system generates and transmits virtual environment data reflecting the HIL verification simulation results to the dynamic information system, and the dynamic information system transmits the virtual environment data to the real environment information system,, The real environment information system of the self-driving vehicle performs self-driving logic verification in the real road environment of the self-driving vehicle based on the mixed environment data projected onto the collected real environment data. and interactive LDM-HIL simulation device reflecting the virtual environment. | 6. In the bidirectional Local Dynamic Map (LDM)-Hardware-In-the-Loop (HIL) simulation method reflecting real and virtual environments, real environment data including first vehicle data and first event data in a real road environment Collecting; in a dynamic information system, receiving and storing the real environment data; generating virtual environment data including second vehicle data and second event data in the virtual environment; receiving and storing the virtual environment data in the dynamic information system; In the HIL simulation system, receiving real environment data from the dynamic information system; generating mixed environment data obtained by projecting the real environment data onto virtual environment data in the HIL simulation system; And performing an HIL verification simulation for a V2X-based electronic controller based on the mixed environment data, generating virtual environment data including second vehicle data and second event data in the virtual environment. generates virtual environment data corresponding to the real environment data as real environment data is received from the dynamic information system, but receives the first event data at a first location at a specific time on a real road, In order to prevent a collision between the first event data and the second event data, virtual second event data is generated at a second location different from the first location, and the dynamic information system receives and stores the virtual environment data. The step of doing is setting a priority between each element information between the real environment data and the virtual environment data to prevent a collision between the real environment data and the virtual environment data. Bidirectional LDM-HIL simulation method reflecting real and virtual environments. | 7. delete | 8. The method of claim 6, wherein the step of performing the HIL verification simulation for the V2X-based electronic controller based on the mixed environment data is to perform the HIL verification simulation for the V2X-based electronic controller mounted on the autonomous vehicle, a bidirectional LDM-HIL simulation method reflecting real and virtual environments. | 9. delete | 10. The method of claim 6, further comprising: generating virtual environment data reflecting the HIL verification simulation results in the HIL simulation system and transmitting the virtual environment data to the dynamic information system; transferring the virtual environment data from the dynamic information system to a real environment information system of an autonomous vehicle; generating mixed environment data obtained by projecting the virtual environment data onto the collected real environment data in the real environment information system of the autonomous vehicle; and performing autonomous driving logic verification in a real road environment of the autonomous vehicle based on the mixed environment data in the real environment information system of the autonomous vehicle, wherein the two-way LDM reflecting the real environment and the virtual environment is further included. - HIL simulation method. | 11. In a bi-directional Local Dynamic Map (LDM)-Hardware-In-the-Loop (HIL) simulation device reflecting real and virtual environments, real environment data including first vehicle data and first event data in a real road environment A real environment information system for collecting, a HIL simulation system for generating virtual environment data including second vehicle data and second event data in a virtual environment, and interactive communication with the real environment information system and the HIL simulation system, A dynamic information system for storing the real environment data and virtual environment data, wherein the HIL simulation system generates virtual environment data corresponding to the real environment data as the real environment data is received from the dynamic information system;, When the first event data at the first location is received at a specific time on the actual road, In order to prevent a collision between the first event data and the second event data, virtual second event data is generated at a second location different from the first location, and the dynamic information system generates a collision between the real environment data and the virtual environment data. Priority is set between each element information between the real environment data and the virtual environment data to prevent the real environment data, the real environment information system receives virtual environment data from the dynamic information system, and the virtual environment data is stored in the real environment data. Based on the projected mixed environment data, it is a two-way LDM-HIL simulation device that reflects real and virtual environments to perform verification of V2X-based electronic controllers. | 12. In the bidirectional Local Dynamic Map (LDM)-Hardware-In-the-Loop (HIL) simulation method reflecting real and virtual environments, in a real environment information system, first vehicle data and first event data in a real road environment Collecting real environment data including; in a dynamic information system, receiving and storing the real environment data; In the HIL simulation system, generating virtual environment data including second vehicle data and second event data in the virtual environment; receiving and storing the virtual environment data in the dynamic information system; receiving, in the real environment information system, virtual environment data from the dynamic information system; generating mixed environment data obtained by projecting the real environment data onto virtual environment data in the real environment information system; And performing verification on the V2X-based electronic controller based on the mixed environment data in the real environment information system, but including second vehicle data and second event data in the virtual environment. The generating data may include generating virtual environment data corresponding to the real environment data as real environment data is received from the dynamic information system, and the first event at a first location at a specific time on a real road. When data is received, virtual second event data is generated at a second location different from the first location in order to prevent a collision between the first event data and the second event data, and in the dynamic information system, the virtual environment The receiving and storing data may include setting a priority between each element information between the real environment data and the virtual environment data to prevent a collision between the real environment data and the virtual environment data. Bidirectional LDM-HIL simulation method reflecting real and virtual environments.

The device has a hardware-in-the-loop (HIL) simulation system (120) that generates virtual environment data including second vehicle data in a virtual environment, and performs interactive communication with a real environment information system (110). The HIL simulation system receives real environment data from a dynamic information system (130), and generates HIL verification simulation for a V2X-based electronic controller based on mixed environment data obtained by projecting the real environment. A virtual-to-exchange-based electronic controller is provided for performing verification simulations. The real environment information system collects real environment data including event data. An INDEPENDENT CLAIM is also included for a method for simulating a bi-directional local dynamic map (LDM)- HIL that reflects real and virtual environments. Bi-directional bidirectional LDM- HIL simulation device for reflecting real and virtual environments of an autonomous vehicle. The device performs verification simulation by mixing the real environment data and the virtual environment data so as to perform technical verification of dangerous scenarios and unintended control of autonomous vehicles and prevent a dangerous situation caused by failure in autonomous driving control, thus performing empirical verification corresponding to actual traffic environment. The drawing shows a schematic diagram of a bi-directional bidirectional LDM- HIL simulation environment (Drawing includes non-English language text).110Real environment information system120HIL simulation system130Dynamic information system

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AUTONOMOUS DRIVING PART INTERFACE FOR AUTONOMOUS DRIVING OF COMMERCIAL VEHICLESAn autonomous driving component interface is provided for autonomous driving of commercial vehicles. The device transmits and receives data with the vision sensor, SSVM system and Long Range RADAR through Automated CAN communication, and transmits and receives data with the Middle Range RADAR through CAN-FD communication and through Ethernet communication. A communication module that transmits and receives data with LiDAR, a complex positioning and digital map integration module, and a V2X OBU, a memory storing a program that processes data for autonomous driving of a commercial vehicle based on the sensing information received through the communication module, and the above As the program stored in the memory is executed, data is transmitted and received from at least one of the vision sensor, SSVM system, long-range radar, mid-range radar, complex positioning and digital map integration module, and V2X OBU through the communication module to perform cognitive processing. It includes a processor for driving, determining autonomous driving modes, and generating driving information.|1. In the autonomous driving component interface for autonomous driving of commercial vehicles, data is transmitted and received with vision sensors, SSVM systems, and long-range radar through Automated CAN communication, and middle range radar (Middle Range RADAR) through CAN-FD communication.) and a communication module that transmits and receives data with LiDAR, complex positioning and digital map integration module and V2X OBU through Ethernet communication, autonomous driving of commercial vehicles based on sensing information received through the communication module. As the program stored in the memory is stored and the program stored in the memory is executed, the vision sensor, SSVM system, long-range radar, mid-range radar, complex positioning and digital map integration module, and V2X OBU are transmitted through the communication module. Comprising a processor for transmitting and receiving data to and from at least one device to perform cognitive processing, determine an autonomous driving mode, and generate driving information, Self-driving component interface for autonomous driving of commercial vehicles. | 2. According to claim 1, the vision sensor, which transmits and receives data through the Automated CAN communication, detects the front camera, rear camera, and corresponding front and sides of the commercial vehicle to support side proximity object recognition. The SSVM system provides top view images through a plurality of short-range cameras and SSVM modules, and the long-range radar is installed at the front of the vehicle at a predetermined distance. An autonomous driving component interface for autonomous driving of commercial vehicles, which recognizes the above objects. | 3. The method of claim 1, wherein the middle range radar (Middle Range RADAR) that transmits and receives data through the CAN-FD communication is a first radar (MRR Front Left) provided on the front left side of the commercial vehicle, and a second radar provided on the front right side of the commercial vehicle. Autonomous driving for autonomous driving of commercial vehicles, including 2 radar (MRR Front Right), a third radar (MRR Rear Left) provided on the rear left, and a fourth radar (MRR Rear Right) provided on the rear right. Part interface. | 4. According to claim 1, wherein the integrated positioning and digital map module, which transmits and receives data through the Ethernet communication, provides separate precision map and composite positioning functions for autonomous driving considering the route of the commercial vehicle, and the V2X OBU It operates on a hybrid basis equipped with WAVE communication and LET wireless communication functions, and the LIDAR is equipped with a front left corner LIDAR and a front right corner LIDAR provided at each corner of the commercial vehicle. LIDAR), the first LIDAR including Rear Left Corner LIDAR, Rear Right Corner LIDAR, Front Wide VFOV LIDAR, and Left Wide Angle LIDAR (Left Wide VFOV LIDAR) and a second LIDAR including a right wide VFOV LIDAR, Self-driving component interface for autonomous driving of commercial vehicles. | 5. The method of claim 1, wherein the processor acquires cognitive information from sensing information obtained from the lidar, long-range and mid-range radar, and vision sensors, information on traffic lights through the V2X OBU, and the complex positioning and digital map integration module. Autonomous commercial vehicle, which acquires a short-distance map, location and attitude information, and vehicle status information as cognitive information, and generates cognitive processing results that determine the surrounding road shape and static and dynamic objects based on the acquired cognitive information. Autonomous driving component interface for driving. | 6. The method of claim 5, wherein the processor generates a driving strategy for a commercial vehicle based on the cognitive processing results, generates a driving path corresponding to the driving strategy, and includes speed and steering information based on the driving path. A commercial vehicle that generates driving information, manages autonomous driving and manual driving modes, and performs autonomous driving management including error recovery, self-diagnosis signal management, autonomous driving mode termination signal generation, and GPS-based driving trace storage data management functions. Self-driving component interface for autonomous vehicle driving.

The interface has a communication module that is provided to transmit and receive data with data vision sensor, SSVM system and long-range radar through Automated CAN communication, and is provided to transmit and receive data with the middle range RADAR through FD communication, and data with the LIDAR, complex positioning and digital map integration module and V2X OBU through Ethernet communication. The autonomous driving of commercial vehicles is performed based on sensing information received through the communication module. The program stored in the memory is executed, and the data is transmitted and received from the vision sensor, SSVM system, long-range radar, mid-range radar, complex positioning and digital map integration module, and V2X OBU are transmitted through the communication module. The processor is provided for transmitting and receiving data to and from device to perform cognitive processing, determine an autonomous driving mode, and generate driving information. Self-driving component interface for autonomous driving of commercial vehicle e.g. large vehicle. The interface provides an autonomous driving architecture and an interface optimized for commercial vehicles, especially large vehicles. The fused driving trajectory is applied when the error range between the first and second driving traces is too large beyond a preset range, so as to reduce the difference between the forward trajectory and the backward trajectory. The drawing shows a block diagram of autonomous driving system that provides an autonomous driving architecture for commercial vehicle.

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APPARATUS AND METHOD CONTROLLING COMMUNICATION INTER-VEHICLEAn inter-vehicle communication control device according to an aspect of the present invention includes a sensor that detects driving-related information including the driving state of the vehicle and the surrounding environment, a light-emitting module that irradiates light, and the driving-related information detected through the sensor. A processor that determines the current vehicle situation based on the current vehicle situation, generates communication content corresponding to the determined vehicle situation, and displays the communication content on the road by irradiating the communication content through the light emitting module to enable communication between vehicles. Includes.|1. A sensor that detects driving-related information, including the driving status of the vehicle and the surrounding environment; A light emitting module that irradiates light; and determine the current vehicle situation based on the driving-related information detected through the sensor, generate communication content corresponding to the determined vehicle situation, and display the communication content on the road by irradiating the communication content through the light emitting module. By doing so, an inter-vehicle communication control device including a processor that enables inter-vehicle communication. | 2. The method of claim 1, further comprising a photographing module, wherein the processor acquires a communication content image displayed on the road by a surrounding vehicle through the photographing module, and analyzes the obtained communication content image to capture a communication content image displayed on the road by a surrounding vehicle. An inter-vehicle communication control device characterized by recognizing situational information. | 3. The inter-vehicle communication control device of claim 2, further comprising an output module, wherein the processor outputs situation information of the recognized surrounding vehicles through the output module. | 4. The device of claim 2, wherein the processor transmits situation information of the recognized surrounding vehicles to the autonomous driving system to provide a driving guide according to the situation information. | 5. The vehicle-to-vehicle communication control method of claim 2, wherein the processor preprocesses the communication content image using at least one method of image quality improvement, color improvement, noise improvement, image conversion, and variable threshold parallel processing. Device. | 6. The vehicle-to-vehicle communication control device according to claim 1, wherein the light emitting module emits light in the infrared band. | 7. The method of claim 1, further comprising a V2X communication module for transmitting and receiving data with surrounding vehicles and roadside facilities, wherein the processor converts the vehicle situation or the communication content into a V2X communication protocol and transmits it to the outside through the V2X communication module. An inter-vehicle communication control device characterized in that transmission. | 8. The method of claim 1, wherein the vehicle situation includes at least one of an emergency situation including a situation in which an emergency command is input or a high risk of an accident occurring, and a communication situation indicating a situation requiring communication with surrounding vehicles. A vehicle-to-vehicle communication control device. | 9. The vehicle-to-vehicle communication control device according to claim 1, wherein the processor generates the communication content in the form of at least one of a code, sign, number, symbol, text, and image and irradiates it through the light emitting module. | 10. Receiving, by a processor, driving-related information including the driving state of the vehicle and the surrounding environment; determining, by the processor, a current vehicle situation based on the driving-related information; generating, by the processor, communication content corresponding to the vehicle situation; and enabling communication between vehicles by having the processor irradiate the communication content through a light emitting module and display it on the road. | 11. The method of claim 10, wherein in the step of determining the current vehicle situation, the processor determines the current vehicle situation as at least one of a basic situation, an emergency situation, a communication situation, and an external environment change situation based on the driving-related information. A communication control method between vehicles characterized by determining. | 12. The method of claim 10, wherein in the step of generating the communication content, if the current vehicle situation is an emergency situation or a communication situation, the processor generates communication content corresponding to the vehicle situation, wherein the communication content is code., A method of controlling communication between vehicles, characterized in that it is in the form of at least one of signs, numbers, symbols, text, and images. | 13. The method of claim 10, wherein in the step of enabling communication between vehicles, the processor displays the communication content on the road through light in the infrared band. | 14. The method of claim 10, wherein, when there is communication content displayed on the road by a surrounding vehicle, the processor acquires a communication content image through a photographing module, analyzes the obtained communication content image, and provides situation information of the surrounding vehicle. A method of controlling communication between vehicles, further comprising a recognition step. | 15. The method of claim 14, wherein after the step of recognizing the situation information of the surrounding vehicles, the processor outputs the recognized situation information of the surrounding vehicles through an output module or transmits it to the autonomous driving system to provide a driving guide according to the situation information. A method for controlling inter-vehicle communication, further comprising the step of providing.

The device (100) has a sensor (130) which detects the driving-related information including the driving status of the vehicle and the surrounding environment. A light emitting module (140) irradiates light and determines the current vehicle situation based on the driving-related information detected through the sensor. The light emitting module generates the communication content corresponding to the determined vehicle situation, and displays the communication content on the road by irradiating the communication content through the light emitting module. A processor (170) enables the inter-vehicle communication. An INDEPENDENT CLAIM is included for an inter-vehicle communication control method for controlling communication between vehicles. Inter-vehicle communication control device for controlling communication between vehicles such as car (From drawings). The more reliable inter-vehicle communication in response to uncertainty such as delay and data loss during transmission in data transmission using the inter-vehicle communication network is achieved. The device can control the inter-vehicle communication generates communication content for inter-vehicle communication in a frequency band outside the visible range such as infrared band, and can acquire the communication content through a photographing module. The inter-vehicle communication eliminates the uncertainty such as delay, and data loss during transmission occurred when transmitting data using the inter-vehicle communication network. The communication environment free of distractions to drivers compared to the communication environment in the visible area is provided. The drawing shows the block diagram illustrating the configuration of the inter-vehicle communication control device. (Drawing includes non-English language text) 100Inter-vehicle communication control device130Sensor140Light emitting module160Output module170Processor

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AUTONOMOUS DRIVING SYSTEM ARCHITECTURE FOR COMMERCIAL VEHICLESAn autonomous driving system architecture for commercial vehicles is provided. The architecture acquires recognition information from a plurality of sensor units provided at a predetermined location of the commercial vehicle and sensing information from the sensor units, performs recognition processing through the recognition information, and operates an autonomous driving mode based on the recognition processing results. It includes a control unit that determines and generates driving information according to the determined autonomous driving mode, and a driving unit that drives and controls a driver of a commercial vehicle according to the driving information.|1. In the autonomous driving system architecture for commercial vehicles, recognition information is acquired from a plurality of sensor units provided at a predetermined location of the commercial vehicle and sensing information from the sensor units, recognition processing is performed through the recognition information, and recognition processing results are obtained. An autonomous driving system architecture for a commercial vehicle, including a control unit that determines an autonomous driving mode based on the autonomous driving mode and generates driving information according to the determined autonomous driving mode, and a driving part that controls the driving of a commercial vehicle according to the driving information. | 2. The method of claim 1, wherein the control unit acquires cognitive information from sensing information obtained from lidar, radar, and camera sensors, information on traffic lights through V2X OBU, short-range maps, and location and posture of the complex positioning and digital map integration module. An autonomous driving system architecture for a commercial vehicle, including an AP that acquires information and vehicle status information as cognitive information, and generates cognitive processing results that determine surrounding road shapes and static and dynamic objects based on the acquired cognitive information. | 3. The method of claim 2, wherein the control unit generates a driving strategy for a commercial vehicle based on the cognitive processing results, generates a driving path corresponding to the driving strategy, and includes speed and steering information based on the driving path. Autonomous driving system architecture for commercial vehicles, including an MCU that generates driving information. | 4. The method of claim 3, wherein the MCU manages autonomous driving and manual driving modes, and performs autonomous driving management including error recovery, self-diagnosis signal management, autonomous driving mode end signal generation, and GPS-based driving trace storage data management functions. autonomous driving system architecture for commercial vehicles. | 5. The method of claim 1, wherein the sensor unit detects the front, rear, and corresponding front and sides of the commercial vehicle, respectively, and includes vision sensors provided on both sides of the rear side to support side proximity object recognition, a plurality of short-range cameras, and an SSVM module. SSVM system that provides top view images, multiple radars installed at each corner and rear of the commercial vehicle, precision map for autonomous driving considering the route of the commercial vehicle, and complex positioning function are provided separately and digital positioning and complex positioning functions are provided separately. A map integration module, a hybrid-based V2X OBU equipped with WAVE and LET wireless communication functions, a plurality of first LIDARs provided at each corner of the commercial vehicle, and a plurality of first LIDARs provided at the front and left and right sides of the commercial vehicle, respectively. Autonomous driving system architecture for commercial vehicles, including a plurality of secondary LIDARs. | 6. According to claim 5, the V2X OBU wirelessly receives current information through WAVE communication with a roadside communication base station, transmits vehicle information to the bus control center through LTE communication, and receives bus control information through LTE., Autonomous driving system architecture for commercial vehicles that generates a PVD message to be sent to the bus control center based on the vehicle information provided through Ethernet. | 7. The method of claim 1, which provides current autonomous driving mode information to the driver of the commercial vehicle and includes an HVI that provides an interface for changing the mode, a camera mounted on the upper front of the driver, and a contact sensor provided on the steering wheel. An autonomous driving system architecture for a commercial vehicle, further comprising a driver monitoring system that determines whether to return to manual driving mode.

The architecture has a control unit that determines an autonomous driving mode based on the autonomous driving mode and generates driving information, according to the determined autonomous driving mode. A driving unit controls the driving of a commercial vehicle, according to the driving information. The control unit acquires cognitive information from sensing information obtained from radar, and camera sensors, information on traffic lights through V2X OBU, short-range maps, and location and posture of the complex positioning and digital map integration module. The AP acquires information and vehicle status information as cognitive information, and generates cognitive processing results that determine surrounding road shapes and static and dynamic objects based on the acquired cognitive information. Autonomous driving system architecture for commercial vehicles e.g. buses and trucks. The complex positioning and digital map integration module improves reception performance in shaded areas through the use of dual antennas in complex positioning. Since the backward trajectory is generated predetermined time later than the forward trajectory, the MCU generates driving information that adjusts steering information or speed information to reduce the difference. The fused driving trajectory is applied when the error range between the first and second driving traces is too large beyond preset range, which reduces the difference between the forward trajectory and the backward trajectory. The second driving strategy prevents collision with vehicles located at the rear and rear sides of the vehicle is created. The drawing shows a block diagram of the autonomous driving system architecture for commercial vehicle.

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Target path generation method and system for vehicle following and lane keepingA method for generating a target path for platooning vehicles according to the present invention includes the steps of acquiring a front trajectory of a preceding vehicle and a target line for maintaining a lane, determining the driving situation of an own vehicle, and determining the driving situation based on this. Determining a control mode, determining a control point located on at least one of a front trajectory of the preceding vehicle and a target line for lane keeping by reflecting a weight for each control mode, and determining a control point based on the determined control point and generating a target path with|1. Acquisition of the front trajectory of the preceding vehicle and a target line for maintaining the lane, determining the driving situation of the host vehicle, determining a control mode based on the determination of the driving situation, and determining a weight for each control mode and determining a control point located on at least one of a front trajectory of the preceding vehicle and a target line for maintaining a lane, and generating a target path based on the determined control point. How to create a goal path. | 2. The method of claim 1, wherein the determining of the control mode comprises determining one of three modes: an LV following and lane keeping mode, an LV following mode, and a lane keeping mode. | 3. The method of claim 2, wherein the LV following and lane keeping mode is a mode selected in a basic driving situation in which the vehicle follows a preceding vehicle and simultaneously maintains a lane without departing from the lane. | 3. The method of claim 2, wherein the LV following mode is a mode selected when a lane change or lane recognition sensor is at least one of abnormal and lane information absence. | 3. The method of claim 2, wherein the lane keeping mode is a mode selected when another vehicle cuts in or a lateral direction control system is deactivated. | 6. The platooning of claim 1, wherein the determining of the control points comprises setting the same number of control points on a front trajectory of the preceding vehicle and a target line for maintaining a lane according to a change in a weight. How to create a vehicle's target path. | 7. The platooning vehicle of claim 1, wherein the determining of the control points comprises setting all control points on one of a front trajectory of the preceding vehicle and a target line for keeping a lane. How to create a goal path. | 8. A sensor fusion unit for lane recognition, a V2X communication unit that communicates with a preceding vehicle or infrastructure, an LV trajectory and target line acquisition unit that calculates a trajectory in front of a preceding vehicle and a target line for maintaining a lane,, a mode determining and path generating unit for determining a control mode and generating a path based thereon, and a target path generator for platooning vehicles. | 9. The method of claim 8, wherein the mode determining and path generating unit sets a plurality of control points to at least one of a trajectory in front of the preceding vehicle and a target line for maintaining a lane according to the control mode, and based on the control points, A target path generator for a platooning vehicle that creates a target path using a geo-curve technique. | 10. The method of claim 9, wherein the mode determining and path generating unit sets the same number of control points on the front trajectory of the preceding vehicle and a target line for lane keeping when the control mode is an LV following and lane keeping mode. A target path generator for platooning vehicles. | 10. The generator of claim 9, wherein the mode determining and path generating unit sets a control point on a front trajectory of the preceding vehicle when the control mode is an LV following mode. | 12. The target path generator of claim 9, wherein the mode determining and path generating unit sets control points on the target line when the control mode is a lane keeping mode. | 13. A method for generating a target path for an autonomous vehicle, comprising: acquiring a front trajectory of a preceding vehicle and a target line for maintaining a lane; determining a control mode in consideration of a driving situation of a host vehicle; and determining a weight for each control mode. determining a control point located on at least one of the front trajectory of the preceding vehicle and a target line for lane keeping by reflecting the preceding vehicle, and generating a target path using a Bezier curve based on the determined control point A method for generating a target path for an autonomous vehicle including: | 14. The method of claim 13, wherein the determining of the control points comprises placing all control points on a front trajectory of the preceding vehicle when a lane is not recognized. | 14. The method of claim 13, wherein the determining of the control points comprises placing the control points on both the front trajectory of the preceding vehicle and the target line in case of normal driving. | 16. The target path of claim 13, wherein the determining of the control point comprises determining the control point by reducing a trajectory weight of a front part of the preceding vehicle when the relative distance to the preceding vehicle is equal to or greater than a predetermined distance. How to create.

The method involves determining a target line for maintaining a lane, and determining a driving situation of a host vehicle. A control mode is determined based on the determination of the driving situation, and a control point located on a front trajectory of the preceding vehicle and the target line is determined for maintaining the lane. A target path is generated based on a determined control point. The control point is determined by setting the same number of the control points on the front trajectory. The target line maintains the lane according to a change in a weight. Method for generating a target path for an autonomous vehicle i.e. lorry. The stability through clustering is improved. The information is provided by referring to the driving trajectory of a preceding vehicle in front in situations such as intersection driving, lane recognition sensor failure, and lane loss on the road. The drawing shows a flow chart illustrating a method for generating a target path for an autonomous vehicle(Drawing includes non-English language text).

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APPARATUS FOR ESTIMATING POSITION OF AUTONOMOUS VEHICLE AND METHOD THEREOFThe present invention relates to an apparatus for estimating a location of an autonomous vehicle, comprising: a sensor unit for detecting an external environment or driving condition of a vehicle using a plurality of sensors; a GPS receiver for receiving a GPS signal for calculating a vehicle location; a communication unit capable of communicating in a V2X (Vehicle to Everything) communication method; When a positioning service is requested from a nearby target vehicle through V2X communication, global 3D Cartesian coordinates for the target vehicle are obtained using the target vehicle information detected through the sensor unit and the GPS receiver and the location information of the own vehicle 3D Cartesian coordinate estimation unit to calculate; and a control unit that provides global 3D Cartesian coordinate information to a target vehicle by controlling the sensor unit, GPS receiving unit, communication unit, and 3D Cartesian coordinate estimation unit, or receives global 3D Cartesian coordinate information from a surrounding vehicle and utilizes it for autonomous driving; do.|1. a sensor unit for sensing an external environment or driving condition of the vehicle using a plurality of sensors; a GPS receiver for receiving a GPS signal for calculating a vehicle location; a communication unit capable of communicating in a V2X (Vehicle to Everything) communication method; When a positioning service is requested from a nearby target vehicle through V2X communication, global 3D Cartesian coordinates for the target vehicle are obtained using the target vehicle information detected through the sensor unit and the GPS receiver and the location information of the own vehicle 3D Cartesian coordinate estimation unit to calculate; and a control unit that provides global 3D Cartesian coordinate information to a target vehicle by controlling the sensor unit, GPS receiving unit, communication unit, and 3D Cartesian coordinate estimation unit, or receives global 3D Cartesian coordinate information from a surrounding vehicle and utilizes it for autonomous driving; A device for estimating the location of an autonomous vehicle, characterized in that | 2. The apparatus of claim 1, wherein the nearby vehicle that can receive the positioning service request is a vehicle capable of estimating absolute position information of the own vehicle by receiving a GPS signal. | 3. According to claim 1, wherein the positioning service, when the target vehicle cannot utilize GPS location information or is in a GPS shadow area, it is a service for requesting a nearby vehicle to estimate and provide the location information of the target vehicle itself. A device for estimating the location of an autonomous driving vehicle. | 4. The control unit of claim 1, wherein when the control unit of the device for estimating the location of the autonomous vehicle installed in the target vehicle requests a positioning service from any surrounding vehicle through V2X communication, the control unit of the device for estimating the location of the autonomous vehicle installed in the surrounding vehicle The location information of the own vehicle is measured using the GPS signal, the distance and angle information from the target vehicle are obtained using a sensor provided in the own vehicle, and the control unit of the location estimation device of the autonomous vehicle installed in the surrounding vehicle obtains The global 3D Cartesian coordinates of the target vehicle are calculated using the information and transmitted to the target vehicle through V2X communication, and the global 3D Cartesian coordinates received by the control unit of the location estimation device of the autonomous vehicle installed in the target vehicle from the surrounding vehicles A device for estimating the location of an autonomous vehicle, characterized in that the coordinates are used for autonomous driving as its own location information. | 5. The method of claim 4, wherein the control unit of the device for estimating the location of the autonomous vehicle installed in the target vehicle, if there is one surrounding vehicle to which the global 3D Cartesian coordinate information is transmitted, the global 3D Cartesian coordinates received from the one surrounding vehicle A location estimation device for an autonomous vehicle, characterized in that it is used for autonomous driving as its own location information. | 6. [Claim 5] The method of claim 4, wherein the control unit of the device for estimating the location of the autonomous vehicle installed in the target vehicle comprises a plurality of global 3D Cartesian coordinates received from all surrounding vehicles when there are two or more surrounding vehicles to which the global 3D Cartesian coordinate information has been transmitted. An apparatus for estimating the location of an autonomous vehicle, characterized in that the information is reprocessed according to a predetermined method and used for autonomous driving as its own location information. | 7. requesting, by the control unit of the apparatus for estimating the location of the autonomous vehicle installed in the target vehicle, a positioning service to any surrounding vehicle through V2X communication; measuring, by a controller of a location estimation device of an autonomous vehicle installed in the surrounding vehicle, location information of the own vehicle using a GPS signal, and obtaining distance and angle information from a target vehicle using a sensor provided in the own vehicle; calculating global 3D Cartesian coordinates of the target vehicle by using the information obtained by the control unit of the location estimation device of the autonomous vehicle installed in the surrounding vehicle and transmitting it to the target vehicle through V2X communication; and using, by the control unit of the device for estimating the location of the autonomous vehicle installed in the target vehicle, the global 3D Cartesian coordinates received from the surrounding vehicle as its location information for autonomous driving; Location estimation method. | 8. The method according to claim 7, wherein the control unit of the apparatus for estimating the location of the autonomous vehicle installed in the target vehicle receiving the global 3D Cartesian coordinates received from the surrounding vehicle comprises one surrounding vehicle to which the global 3D Cartesian coordinate information has been transmitted, A method for estimating the location of an autonomous vehicle, characterized in that the global 3D Cartesian coordinates received from the one surrounding vehicle are used for autonomous driving as their own location information. | 9. The method of claim 7, wherein the control unit of the apparatus for estimating the location of the autonomous driving vehicle installed in the target vehicle receiving the global 3D Cartesian coordinates received from the surrounding vehicle, when the number of surrounding vehicles to which the global 3D Cartesian coordinates information is transmitted is two or more , A method of estimating the location of an autonomous driving vehicle, characterized in that the plurality of global 3D Cartesian coordinates received from all surrounding vehicles are reprocessed according to a predetermined method and utilized for autonomous driving as its own location information. | 10. The method of claim 7 , wherein the nearby vehicle that can receive the positioning service request is a vehicle capable of estimating absolute location information of the own vehicle by receiving a GPS signal. | 11. The method of claim 7, wherein the positioning service is a service for requesting a nearby vehicle to estimate and provide location information of the target vehicle when the target vehicle cannot utilize GPS location information or is in a GPS shadow area. A method for estimating the location of an autonomous driving vehicle.

The electronic device (700) has processor (720) that is operatively coupled to communication circuitry (790), memory (730), and sensor (780). The processor includes reference data broadcast from beacon and indicates positional relationship between position of beacon and specified object located in specified place when several instructions are executed. A broadcast information including data for designated place is received in response to receiving broadcast information. The sensing data indicating positional relationship between designated object and vehicle is obtained through sensor in response to obtaining sensed data. A difference between sensed data and reference data is identified to determine that calibration of the sensor is required based on identification outside the reference range. An INDEPENDENT CLAIM is included for a method for calibrating sensing data relate to environment recognition sensor mounted on autonomous vehicle and infrastructure. Electronic device for calibrating sensing data relate to environment recognition sensor mounted on autonomous vehicle and infrastructure. The location information of target vehicle estimated by the vehicle is received for autonomous driving when target vehicle requests positioning service from nearby vehicle. The driving stability is improved by notifying the front vehicle of failure of front vehicle, which is easily grasped by rear vehicle to determine whether the vehicle is failed. The drawing shows a block diagram of the electronic device. (Drawing includes non-English language text) 700Electronic device720Processor730Memory780Sensor790Communication circuitry

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APPARATUS AND METHOD FOR CONTROLLING AUTONOMOUS DRIVINGThe autonomous driving control apparatus of the present invention includes a communication unit that collects information necessary for detecting a surrounding situation of an autonomous vehicle from a surrounding infrastructure, vehicle, or mobile device through V2X (Vehicle-to-everything) communication; A vehicle sensor for detecting information necessary for detecting a surrounding situation of an autonomous vehicle; an ambient situation detecting unit that detects an ambient situation based on information necessary for detecting the ambient situation received from the communication unit or a vehicle sensor; a driving pattern detecting unit for detecting a driving pattern according to the surrounding situation detected by the surrounding situation detecting unit; and a vehicle controller controlling a vehicle speed of the autonomous vehicle according to the driving pattern detected by the driving pattern detection unit.|1. A communication unit that collects information necessary for detecting surrounding conditions of an autonomous vehicle from surrounding infrastructure, vehicles, or mobile devices through V2X (Vehicle-to-everything) communication; a vehicle sensor for detecting information necessary for detecting the surrounding situation of the self-driving vehicle; an ambient situation detecting unit that detects a surrounding situation based on information necessary for detecting the surrounding situation received from the communication unit or the vehicle sensor; a driving pattern detecting unit that detects a driving pattern according to the surrounding situation detected by the surrounding situation detecting unit; and a vehicle controller controlling a vehicle speed of the autonomous vehicle according to the driving pattern detected by the driving pattern detection unit. | 2. The autonomous driving control apparatus according to claim 1, wherein the driving pattern is set based on a driver's actual driving pattern. | 3. The autonomous driving control apparatus according to claim 1, wherein the vehicle controller controls a vehicle speed of the autonomous vehicle according to whether there is an intersection ahead or whether a vehicle accident has occurred as the surrounding situation. | 4. The autonomous driving control apparatus according to claim 1, wherein the vehicle controller decelerates and controls a vehicle speed of the autonomous driving vehicle. | 5. The autonomous driving control apparatus according to claim 1, wherein the driving pattern detection unit updates the driving pattern based on a vehicle speed detected in the surrounding situation in a driver driving mode. | 6. The communication unit collects information necessary for detecting the surrounding situation of the self-driving vehicle from the surrounding infrastructure, vehicle or mobile device through V2X (Vehicle-to-everything) communication, or the vehicle sensor detects the surrounding situation of the self-driving vehicle detecting information necessary to do so; detecting, by a surrounding situation detecting unit, a surrounding situation based on information necessary for detecting the surrounding situation received from the communication unit or the vehicle sensor; detecting, by a driving pattern detecting unit, a driving pattern according to the surrounding situation detected by the surrounding situation detecting unit; and controlling, by a vehicle controller, a vehicle speed of the autonomous vehicle according to the driving pattern detected by the driving pattern detection unit. | 7. The method of claim 6, wherein the driving pattern is set based on a driver's actual driving pattern. | 7. The method of claim 6, wherein in the step of controlling the vehicle speed of the self-driving vehicle, the vehicle controller controls the vehicle speed of the autonomous vehicle according to whether an intersection exists ahead or whether a vehicle accident occurs as the surrounding situation. Autonomous driving control method. | 7. The autonomous driving control method according to claim 6, wherein in the step of controlling the vehicle speed of the autonomous vehicle, the vehicle controller decelerates and controls the vehicle speed of the autonomous vehicle. | 10. The autonomous driving control method according to claim 6, wherein the driving pattern is updated based on a vehicle speed detected in the surrounding situation in a driver driving mode.

The apparatus has a communication unit (10) that collects information necessary for detecting surrounding conditions of an autonomous driving vehicle from surrounding infrastructure. A vehicle sensor (20) is provided for detecting information necessary to detect the surrounding conditions of the autonomous driving vehicle. An ambient situation detecting unit (30) detects a surrounding situation based on the information received from the communication unit or the vehicle sensor. A driving pattern detecting unit (40) is provided to detect a driving pattern according to the detected surrounding situation. A vehicle controller (50) controls a vehicle speed of the autonomous driving vehicle according to the driving pattern detected by the driving pattern detecting unit. The driving pattern is set based on a driver's actual driving pattern. An INDEPENDENT CLAIM is also included for a method for controlling an autonomous driving of a vehicle. Apparatus for controlling autonomous driving of a vehicle. The apparatus recognizes the surrounding situation through vehicle-to-everything (V2X) communication or the vehicle sensor and controls the vehicle speed according to the driving pattern of an actual driver set in the surrounding condition, so that driving can be performed similarly to actual driving of the driver. The apparatus improves reliability of an autonomous driving mode from an emotional point of view by allowing the autonomous vehicle to drive similarly to the actual driver's driving. The drawing shows a schematic representation of the apparatus for controlling autonomous driving of a vehicle (Drawing includes non-English language text).10Communication unit20Vehicle sensor30Ambient situation detecting unit40Driving pattern detecting unit50Vehicle controller

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APPRATUS AND MEHTOD FOR AVIODING COLLISION OF AUTONOMOUS VEHICLE BASED ON V2X COMMUNICATIONAn apparatus for preventing collision of an autonomous vehicle based on V2X communication of the present invention includes a communication unit performing vehicle-to-everything (V2X) communication; A control unit that collects an expected movement path and an estimated transit time from surrounding vehicles through a communication unit, and determines a possibility of collision with an autonomous vehicle based on the expected movement path of the surrounding vehicle and the estimated transit time of a section of a preset section; and a vehicle controller that controls driving of the self-driving vehicle to prevent a collision with surrounding vehicles according to a determination result of the controller.|1. A communication unit that performs V2X (Vehicle-to-everything) communication; a control unit that collects an expected movement path and an expected transit time from surrounding vehicles through the communication unit, and determines a possibility of collision with an autonomous vehicle based on the expected movement path of the surrounding vehicle and the estimated transit time of a section of a preset section; and a vehicle controller configured to prevent a collision with a surrounding vehicle by controlling driving of the autonomous vehicle according to a determination result of the control unit. | 2. The method of claim 1, wherein the control unit determines whether the expected moving path of the surrounding vehicles overlaps with the expected moving path of the autonomous vehicle, and the overlap between the expected transit time of the segment of the surrounding vehicle and the expected transit time of the autonomous vehicle segment Collision avoidance device for autonomous vehicles based on V2X communication, characterized in that for determining the possibility of collision based on whether or not. | 3. The method of claim 2, wherein the vehicle controller determines that the expected moving path of the surrounding vehicle and the expected moving path of the autonomous vehicle do not overlap, and the estimated transit time of the surrounding vehicle and the expected transit time of the autonomous vehicle overlap. A collision avoidance device for a V2X communication-based autonomous vehicle, characterized in that for controlling the driving of the autonomous vehicle so as not to be. | 4. The collision avoidance device for an autonomous vehicle based on V2X communication according to claim 3, wherein the vehicle controller controls at least one of a vehicle speed and a path of the autonomous vehicle. | 5. The method of claim 1, wherein the control unit expresses the expected movement path and estimated section transit time of the surrounding vehicle, and the expected movement route and expected section passage time of the autonomous vehicle through an output unit. Anti-collision device for driving vehicles. | 6. The method of claim 1, wherein the controller transmits an expected movement path of the autonomous vehicle to a pedestrian terminal through the communication unit when the autonomous vehicle enters the set section. prevention device. | 7. The self-driving vehicle based on V2X communication according to claim 1, wherein the control unit receives an expected movement path of the pedestrian from the pedestrian terminal through the communication unit and outputs it through an output unit when the self-driving vehicle enters the set section. anti-collision device. | 8. Collecting, by a control unit, an expected movement path and an expected transit time from surrounding vehicles through a communication unit, and determining a possibility of collision with an autonomous vehicle based on the expected movement path of the surrounding vehicle and the expected transit time of a section of a preset section; and controlling, by a vehicle controller, driving of the self-driving vehicle according to the determination result of the control unit to prevent a collision with the surrounding vehicle. | 9. The method of claim 8, wherein in the step of determining the possibility of collision, the control unit determines whether the expected movement path of the surrounding vehicle overlaps with the expected movement path of the autonomous vehicle, and the expected passage time of the section of the surrounding vehicle and the autonomous vehicle A collision avoidance method for autonomous vehicles based on V2X communication, characterized in that the possibility of collision is determined based on whether the estimated transit time of the section of the driving vehicle overlaps. | 10. The method of claim 9, wherein in the step of preventing the collision with the surrounding vehicle, the expected moving path of the surrounding vehicle and the expected moving path of the autonomous vehicle do not overlap, and the estimated passage time of the section of the surrounding vehicle and the autonomous driving A method for preventing collision of an autonomous vehicle based on V2X communication, characterized in that for controlling the driving of the autonomous vehicle so that the estimated transit time of the section of the vehicle does not overlap. | 11. The method of claim 10, wherein in the step of preventing a collision with a nearby vehicle, the vehicle controller controls at least one of a vehicle speed and a path of the autonomous vehicle.. | 10. The method of claim 9, V2X communication based, characterized in that the step of the output unit further comprising the step of expressing the expected movement path and expected section transit time of the surrounding vehicle, and the expected movement path and expected section transit time of the self-driving vehicle Collision avoidance method of autonomous vehicle. | 10. The method of claim 9, further comprising transmitting an expected movement path of the self-driving vehicle to a pedestrian terminal through the communication unit when the control unit enters the setting section. how to prevent it. | 10. The method of claim 9, V2X further comprising the step of receiving the expected movement path of the pedestrian from the pedestrian terminal through the communication unit and outputting it through an output unit when the self-driving vehicle enters the set section. Collision avoidance method of communication-based autonomous vehicles.

The apparatus has a communication unit (10) for performing vehicle-to-everything communication. A control unit (40) collects an expected movement path and an expected transit time from surrounding vehicles through the communication unit. The control unit determines possibility of collision with an autonomous vehicle based on the estimated transit time of a section of a preset section. A vehicle controller (60) is configured to prevent collision with the surrounding vehicles by controlling driving of the autonomous vehicle according to a determination result of the control unit. An INDEPENDENT CLAIM is also included for a method for preventing collision of an autonomous vehicle based on vehicle-to-everything communication. Apparatus for preventing collision of an autonomous vehicle based on vehicle-to-everything communication. The apparatus shares expected movement path between vehicles or between a vehicle and a pedestrian based on the V2X communication so as to prevent collision of the vehicles with each other based on the expected path. The drawing shows a schematic representation of the apparatus for preventing collision of an autonomous vehicle (Drawing includes non-English language text).10Communication unit30GPS module40Control unit50Driver operation sensor60Vehicle controller

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INTELLIGENT ROAD SIGN BOARD AND CONTROL METHOD THEREOFDisclosed is an intelligent road sign and a control method thereof. The intelligent road sign of the present invention includes a V2X communication unit for receiving weather information and traffic information based on V2X communication; A pedestrian detecting unit for detecting a pedestrian crossing the road; a vehicle detecting unit that detects a vehicle approaching the road sign; a laser projector that projects a crosswalk at a location crossing the road; A display unit displaying weather information and traffic information on the front of a road sign installed at an intersection; And weather information received through the V2X communication unit is displayed through the display unit, when a pedestrian is detected through the pedestrian detection unit, a crosswalk is projected with a laser projector, and when a vehicle is detected through the vehicle detection unit, traffic conditions are displayed through the display unit. It is characterized in that it includes; a control unit to do.|1. V2X communication unit for receiving weather information and traffic information based on V2X communication; A pedestrian detecting unit for detecting a pedestrian crossing the road; a vehicle detecting unit that detects a vehicle approaching the road sign; a laser projector projecting a crosswalk at a location crossing the road; a display unit displaying weather information and traffic information on the front of the road sign installed at an intersection; And displaying the weather information received through the V2X communication unit through the display unit, projecting a crosswalk with the laser projector when a pedestrian is detected through the pedestrian detection unit, and displaying a crosswalk when a vehicle is detected through the vehicle detection unit. An intelligent road sign comprising a; control unit for displaying traffic conditions through. | 2. The intelligent road sign according to claim 1, wherein the pedestrian detector detects a pedestrian crossing on one side or the other side of the road. | 3. The intelligent road sign according to claim 1, wherein the controller displays a crosswalk through the display unit when projecting the crosswalk. | 4. The intelligent road sign according to claim 1, wherein the control unit displays at least one of speed limit, intersection vehicle entry information, and collision warning information based on the received traffic information. | 5. The intelligent road sign according to claim 1, wherein the control unit sequentially displays the number of traffic conditions to be displayed on the display unit. | 6. Control unit receiving weather information and traffic information through a V2X communication unit; displaying, by the control unit, weather information on a display unit; determining whether the controller detects a pedestrian crossing the road; Projecting a crosswalk by operating a laser projector when the controller determines whether the pedestrian is detected and the pedestrian is detected; determining whether the controller detects a vehicle approaching the road sign; and determining whether or not the vehicle is detected by the control unit and displaying a traffic condition on the display unit when the vehicle is detected. | 7. The intelligent road sign control method according to claim 6, wherein the step of determining whether the pedestrian is detected comprises detecting the pedestrian crossing on one side or the other side of the road. | 8. The intelligent road sign control method according to claim 6, wherein the projecting of the crosswalk further comprises displaying a crosswalk through the display unit when the control unit projects the crosswalk. | 7. The intelligent road sign according to claim 6, wherein, in the displaying of the traffic conditions, the control unit displays at least one of speed limit, intersection vehicle entry information, and collision warning information based on the received traffic information. control method. | 7. The method of claim 6, wherein, in the step of displaying the traffic conditions, the control unit sequentially displays the traffic conditions to be displayed on the display unit when there are multiple traffic conditions.

The signboard has a vehicle-to-vehicle (V2X) communication unit (10) for receiving weather information and traffic information based on V2X communication. A pedestrian detecting unit (20) detects a pedestrian crossing a road. A laser projector projects a crosswalk at a location crossing the road, and a display unit (50) displays the weather information. A control unit (40) displays weather information and traffic information received through V2X communication unit through display unit, and displays crosswalk when vehicle is detected through vehicle detection unit (30), where the control unit displays speed limit, intersection vehicle entry information and collision warning information. The control unit sequentially displays the number of traffic conditions. An INDEPENDENT CLAIM is also included for a smart road sign control method. Used as a smart road signboard installed on roadside. The signboard collects the weather information and the traffic information through the V2X communication unit so as to display traffic conditions and driving information for safe driving on roads with mixed vehicles and pedestrians, so that safe crossing of the pedestrians can be identified and recognized in an effective manner. The drawing shows a block diagram illustrating a smart road signboard (Drawing includes non-English language text).10Vehicle-to-vehicle communication unit20Pedestrian detecting unit30Vehicle detection unit40Control unit50Display unit

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AUTONOMOUS DRIVING CONTROL APPARATUS AND METHOD USING SOUND-BASED OBJECT RECOGNITIONThe present invention relates to an autonomous driving control device and method using sound-based object recognition, which installs a plurality of microphones inside and outside a car, analyzes the sounds collected from the plurality of microphones, and integrates them with sensor data to create an object. recognizes and shares data using road infrastructure to control driving according to objects and road conditions, compares sounds input from multiple microphones to recognize the direction of the object from which the sound was generated, and detects it through sensor data By detecting objects that are not recognized using sound data, the performance and accuracy of object recognition are improved, and objects and road conditions can be accurately recognized, thereby improving safety.|1. A plurality of microphones installed in the car to collect sounds; a memory that stores data for sound analysis and sound data collected from the plurality of microphones; By analyzing the sounds collected from the plurality of microphones, recognize objects including at least one of other vehicles, obstacles around the roadside, and pedestrians, and determine road conditions by detecting events on the road based on the analysis results of the sounds. a processor that controls driving; and a communication unit that transmits the object and the road condition to the outside. Autonomous driving control device using sound-based object recognition including. | 2. The method of claim 1, wherein the processor detects the type of sound, the frequency of the sound, the characteristics of the sound, and the direction in which the sound is generated from the sound collected from the plurality of microphones, and recognizes the object from which the sound was generated. An autonomous driving control device using sound-based object recognition, characterized in that: | 3. The method of claim 2, wherein when a specific sound is input through some of the plurality of microphones, the processor compares the loudness of the specific sound input through some of the microphones and places An autonomous driving control device using sound-based object recognition, characterized in that it determines the direction in which the specific sound occurred. | 4. The autonomous driving control device using sound-based object recognition according to claim 2, wherein the processor analyzes the sound data using the Doppler effect. | 3. The method of claim 2, wherein the processor performs frequency analysis, 1/3 octave map analysis, spectrum peak hold map analysis, Kurtosis and An autonomous driving control device using sound-based object recognition, characterized in that the sound data is analyzed using at least one of crest factor analysis. | 6. The method of claim 1, further comprising a sensor unit including at least one of a distance sensor, an obstacle sensor, and a proximity sensor installed in the vehicle, wherein the processor integrates the sensor data of the sensor unit and the sound data to identify the object and the An autonomous driving control device that uses sound-based object recognition to make a final judgment on road conditions. | 7. The sound-based object recognition method of claim 6, wherein the processor detects an object not detected by the sensor unit through the sound data and controls the traveling direction or traveling speed in response to movement of the object. Autonomous driving control device used. | 8. The autonomous driving control device according to claim 1, wherein at least one of the plurality of microphones is installed on each of the front, rear, left, and right sides of the vehicle. | 9. The sound-based object recognition method of claim 1, wherein the communication unit communicates with a roadside unit (RSU) installed around the road to receive road information and sound data received from a microphone provided in the roadside unit. Autonomous driving control device using. | 10. The autonomous driving control device according to claim 9, wherein the communication unit transmits the object and the road condition to another vehicle or a control center through the roadside unit (RSU). | 11. Collecting sounds through a plurality of microphones installed in a car; Analyzing sound data collected from the plurality of microphones; Recognizing objects including other vehicles, obstacles around the roadside, and pedestrians in response to the analysis results; Determining road conditions by detecting events on the road based on the analysis results of the sound; transmitting the object and the road condition to the outside; and controlling driving in response to the road conditions; Autonomous driving control method using sound-based object recognition including. | 12. The method of claim 11, wherein the step of recognizing the object detects the type of sound, the frequency of the sound, the characteristics of the sound, and the direction in which the sound is generated, with respect to the sound collected from the plurality of microphones, and detects the direction in which the sound is generated. An autonomous driving control method using sound-based object recognition, characterized in that the object is recognized. | 13. The method of claim 11, wherein the step of recognizing the object comprises comparing sounds input from the plurality of microphones installed on each of the front, rear, left side, and right side of the vehicle to identify the object from which the sound was generated. An autonomous driving control method using sound-based object recognition characterized by determining direction or location. | 14. The method of claim 11, wherein the step of recognizing the object includes, when a specific sound is input through some of the plurality of microphones, comparing the loudness of the specific sound input through some of the microphones, and comparing the loudness of the specific sound input through some of the microphones. An autonomous driving control method using sound-based object recognition, characterized in that the direction of the object from which the sound originated is determined in response to the location of some microphones. | 15. The method of claim 11, before analyzing the sound data, comprising: communicating with a roadside unit (RSU) installed around the road to receive road information and sound data received from a microphone provided in the roadside unit; An autonomous driving control method using sound-based object recognition further comprising: | 16. The method of claim 11, wherein determining the road condition comprises: inputting sensor data from a sensor unit including at least one of a distance sensor, an obstacle sensor, and a proximity sensor; and making a final determination of the object and the road condition by integratedly analyzing the sensor data and the sound data. An autonomous driving control method using sound-based object recognition further comprising: | 17. The method of claim 16, wherein determining the road condition includes: detecting an object not detected by the sensor unit through the sound data; An autonomous driving control method using sound-based object recognition further comprising: | 18. The sound-based object recognition method of claim 11, wherein the step of transmitting the object and the road situation to the outside includes transmitting the object and the road situation to another vehicle or a control center through a roadside unit (RSU). Autonomous driving control method using. | 19. The autonomous driving control method using sound-based object recognition according to claim 11, wherein the step of transmitting the object and the road condition to the outside is transmitted to another vehicle using a V2X communication method. | 20. The method of claim 11, wherein transmitting the object and the road condition to the outside includes outputting at least one of voice guidance, sound effects, and warning sounds; Autonomous driving control method using sound-based object recognition including.

The device has multiple microphones (160) installed in a car (100) to collect sound. A memory stores data for sound analysis and sound data collected from the microphones. A processor determines road conditions by detecting events on a road based on analysis results of the sound, and a communication unit transmits an object and the road conditions to an outer side. The processor analyzes the sound data using Doppler effect. A sensor unit is provided with a distance sensor, an obstacle sensor and a proximity sensor that is installed in the vehicle. An INDEPENDENT CLAIM is also included for an autonomous driving control method using sound-based object recognition. Autonomous driving control device using sound-based object recognition. The performance and accuracy of object recognition are improved. The various information can be obtained by sharing data using road infrastructure, objects and road conditions can be accurately recognized, and driving safety is improved. The drawing shows a schematic view of an autonomous driving control device.20Roadside unit100Car160Microphone

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SYSTEM AND METHOD FOR CONTROLLING VEHICLEThe present invention provides a preceding vehicle that precedes the road on which the vehicle is traveling and measures road surface condition information, an infrastructure provided on the road to measure road surface condition information, and a server for receiving road surface condition information from the preceding vehicle or infrastructure. A communication module for communication, a sensor module for measuring road surface condition information, and road surface condition information received through the communication module and road surface condition information measured through the sensor module are used to determine the condition of the road surface, and the condition of the road surface is determined by It is characterized in that it includes a processor that outputs the state of the road surface to an advanced driver assistance system (ADAS) provided in the own vehicle to prevent the riding comfort of the own vehicle from being reduced.|1. A preceding vehicle preceding the road on which the host vehicle is traveling and measuring road surface condition information, an infrastructure provided on the road and measuring the road surface condition information, and receiving the road surface condition information from the preceding vehicle or the infrastructure a communication module that communicates with the server; a sensor module measuring state information of the road surface; and determining the state of the road surface by using the state information of the road surface received through the communication module and the state information of the road surface measured through the sensor module, and determining that the riding comfort of the own vehicle is reduced by the road surface. In order to prevent the condition of the road surface, the advanced driving support system (ADAS: Advanced Driver Assistance Systems), and the road surface condition information includes information on at least one of unevenness, freezing, flooding, and frictional force, and information on a sensor used to measure the road surface condition information. wherein the processor communicates information included in state information measured through the sensor module when information of a type measurable through the sensor module is included in state information received through the communication module The vehicle control device, characterized in that for determining the information to be used to determine the state of the road surface among the information included in the state information received through the module, according to the information on the sensor included in the state information. | 2. The vehicle control device according to claim 1, wherein the communication module communicates with the preceding vehicle using V2V communication and communicates with the infrastructure and the server using V2I communication. | 3. The vehicle control device according to claim 1, wherein the advanced driving support system includes at least one of a Smart Cruise Control (SCC), an Electronic Stability Control (ESC), and a Traction Control System (TCS). | 4. The vehicle control device according to claim 1, wherein, as at least part of the determining operation, the processor calculates a friction coefficient of the road surface based on the state of the road surface. | 5. The vehicle control device according to claim 1, wherein the processor reflects the road surface condition to a path plan for autonomous driving. | 6. A processor, through a communication module, precedes the road on which the host vehicle is traveling and measures road surface condition information, an infrastructure provided on the road and measuring the road surface condition information, and the preceding vehicle or the infrastructure Receiving the condition information of the road surface from at least one of servers receiving the condition information of the road surface; determining, by the processor, a state of the road surface by using the received road surface state information and the road surface state information measured through a sensor module provided in the vehicle; and outputting, by the processor, the condition of the road surface to Advanced Driver Assistance Systems (ADAS) installed in the own vehicle to prevent the road surface from reducing the riding comfort of the own vehicle. wherein the road surface condition information includes information on at least one of irregularities, icing, flooding, and frictional force, and information on a sensor used to measure the road surface condition information, and in the determining step, the The processor, when the type of information measurable through the sensor module is included in the state information received through the communication module, the information included in the state information measured through the sensor module and the information received through the communication module A vehicle control method comprising determining information to be used to determine a state of the road surface among information included in the state information according to information about a sensor included in the state information. | 7. The vehicle control method according to claim 6, wherein the communication module communicates with the preceding vehicle using V2V communication and communicates with the infrastructure and the server using V2I communication. | 8. The vehicle control method according to claim 6, wherein the advanced driving support system includes at least one of a Smart Cruise Control (SCC), an Electronic Stability Control (ESC), and a Traction Control System (TCS). | 7. The method of claim 6, wherein in the determining step, the processor calculates the friction coefficient of the road surface based on the condition information of the road surface, and uses the calculated friction coefficient of the road surface as the state of the road surface. vehicle control method. | 10. The vehicle control method according to claim 6, further comprising reflecting, by the processor, the state of the road surface to a path plan for autonomous driving.

The device has a communication module that communicates with a server. A sensor module measures state information of a road surface, and determines the state of the road surface by using the state information. An advanced driving support system (ADAS) includes a smart cruise control (SCC), an electronic stability control (ESC) and a traction control system (TCS). The communication module communicates with the preceding vehicle using a vehicle-to-vehicle (V2V) communication, and communicates with an infrastructure (100) and the server using a V2I communication. An INDEPENDENT CLAIM is included for a method for controlling vehicle. Device for controlling vehicle in consideration of road conditions. Safe driving of the vehicle is promoted by collecting information on road conditions through the own vehicle, preceding vehicle, and infrastructure, and sharing the collected information. The riding comfort of vehicle is improved by controlling the vehicle in consideration of the condition of the road surface. The drawing shows a perspective view of device for controlling vehicle in consideration of road conditions. (Drawing includes non-English language text) 100Infrastructure200Control server300Own server

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Apparatus and method for danger recognition and accident evasion using motion of forward vehicleMethod for risk recognition and vehicle control device and method for identifying dangerous situations based on the motion of the vehicle in front and preventing accidents to be. First, motion information of the front vehicle is extracted from the status information of the vehicle in front acquired by sensors such as cameras, radar, and lidar or received through V2X communication or communication with traffic control. Motion information includes deceleration, disappearance, appearance, pitch, roll, and yaw of the vehicle ahead. The dangerous situation of the current driving road is estimated from the motion information of the forward vehicle thus extracted. If a dangerous situation is estimated by extracting motion information of the vehicle ahead, the vehicle is controlled according to the estimated situation.|1. extracting motion information of the front vehicle from the status information of the front vehicle; estimating a dangerous situation on the current driving road from the extracted motion information of the vehicle ahead; A front vehicle motion-based risk recognition and accident avoidance device, configured to control a vehicle according to a dangerous situation estimated from the extracted front vehicle motion information. | 2. According to claim 1, wherein the extracted motion information of the front vehicle includes at least one of speed, acceleration, deceleration, disappearing, appearing, pitch, roll, and yaw of the front vehicle, based on front vehicle motion, risk recognition and accident avoidance Device. | 3. The apparatus of claim 1, wherein the control of the vehicle includes at least one of vehicle deceleration, vehicle braking, and vehicle steering. | 4. an acquisition unit configured to acquire state information of a vehicle in front of the host vehicle and surrounding objects; a dangerous situation determination unit for judging a forward dangerous situation based on the forward vehicle motion information extracted from the forward vehicle state information obtained from the acquisition unit; and a vehicle control unit for controlling the own vehicle based on the motion of the forward vehicle estimated from the dangerous situation determination unit. | 5. The apparatus of claim 4, wherein the acquisition unit includes at least one of a camera, a radar, and a lidar for detecting state information of surrounding objects including a front vehicle. | 6. The device of claim 4, wherein the acquisition unit includes at least one of V2X communication for receiving the state of surrounding objects including the vehicle in front and communication with traffic control. | 7. The apparatus of claim 4, wherein the front vehicle motion information includes at least one of speed, acceleration, deceleration, disappearance, appearance, pitch, roll, and yaw of the vehicle ahead. | 8. [Claim 5] The dangerous situation according to claim 4, wherein the dangerous situation determination unit comprises: a front vehicle motion information extraction unit that receives state information from the acquisition unit and extracts motion information of the vehicle in front; Forward vehicle motion-based risk recognition and accident avoidance device, including an estimator. | 9. The dangerous situation according to claim 4, wherein the dangerous situation determination unit comprises: a front vehicle motion information extraction unit that receives state information from the acquisition unit and extracts motion information of the vehicle in front; A front vehicle motion-based risk recognition and accident avoidance device, comprising: an estimating unit; | 5. The method of claim 4, wherein the vehicle control unit comprises: a dangerous situation classification unit for classifying a control category for vehicle control to cope with the dangerous situation estimated by the dangerous situation determination unit; and a control unit for controlling the vehicle according to the classified dangerous situation A front vehicle motion-based risk recognition and accident avoidance device comprising a control signal generator for generating a control signal for | 11. According to claim 4, wherein the vehicle control unit comprises a control signal generation unit for generating a control signal for controlling the vehicle in response to the dangerous situation estimated by the dangerous situation determination unit, front vehicle motion-based risk recognition and accident avoidance device. | 12. The apparatus of claim 4, wherein the vehicle control performed by the vehicle controller includes at least one of vehicle deceleration, vehicle braking, and vehicle steering. | 5. The method of claim 4, wherein the dangerous situation determination unit is configured to determine a forward dangerous situation based on surrounding object information in addition to the forward vehicle motion information extracted from the forward vehicle state information; The vehicle control unit is a front vehicle motion-based risk recognition and accident avoidance device, characterized in that configured to perform vehicle control based on the front vehicle motion information and the surrounding object information. | 14. A method performed in an electronic calculation device comprising at least one of hardware and software, the method comprising: acquiring status information including a vehicle in front; extracting motion information of the vehicle ahead from the state information; estimating a dangerous situation ahead from the extracted motion information; A front vehicle motion-based risk recognition and accident avoidance method, comprising generating a control signal for controlling the vehicle in response to the estimated dangerous situation and controlling the own vehicle with the generated control signal. | 15. The method of claim 14, Between the step of estimating the dangerous situation and the step of generating the control signal, further comprising classifying the estimated dangerous situation into a control category for vehicle control, forward vehicle motion-based risk recognition and How to avoid accidents. | 15. The method of claim 14, wherein the step of extracting the motion information of the vehicle ahead from the obtained state information further comprises extracting object information from the state information, and estimating a dangerous situation ahead from the extracted motion information. The step includes estimating a dangerous situation based on both the extracted front vehicle motion information and the object information.

The apparatus has a front vehicle motion-based risk recognition and accident avoidance device that is configured to control a vehicle according to a dangerous situation estimated from the extracted front vehicle movement information. The dangerous situation is estimated on a current driving road from the forward vehicle motion information extracted from the front vehicle. The front vehicle is controlled by a vehicle deceleration, a vehicle braking and a vehicle steering. An acquisition unit acquires the state information of the vehicle in front of a host vehicle and surrounding objects. A dangerous situation determination unit (200) judges a forward dangerous situation. An INDEPENDENT CLAIM is included for a method performed in an electronic calculation device. Apparatus for recognizing and preventing accident based on motion of a front vehicle i.e. car. The method enables preventing accidents by predicting dangerous situations such as collisions and falls through driving information such as motion of the front vehicle in the dangerous situations. The drawing shows a block diagram of the apparatus for recognizing and preventing accident. (Drawing includes non-English language text) 100Sensor unit200Dangerous situation determination unit300Vehicle control unit310Dangerous situation classification unit

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APPARATUS AND METHOD FOR PROVIDING ROAD CONSTRUCTION INFORMATIONAn apparatus and method for providing road construction information on an autonomous vehicle and a traffic management system is disclosed. The construction information providing apparatus includes at least one processor configured to execute a computer readable instruction, and is configured as a visual safety device indicating that the construction is on a road for a construction section on a road, wherein the at least one processor is configured to: A process of providing road construction information related to the construction section may be processed for a vehicle traveling in a lane adjacent to the construction section. |1. An apparatus for providing construction information implemented by a computer, the apparatus comprising: at least one processor configured to execute a computer readable instruction; A user interface for receiving road construction information related to a construction section on a road by a construction person; A wireless network interface for wireless transmission and reception; And a lighting control module for providing a sign based on the road construction information, wherein the construction information providing apparatus is a visual safety device indicating that a road construction is under construction for a construction section on the road. And a construction notification structure disposed or installed on the at least one processor, wherein the at least one processor targets a vehicle traveling in a lane adjacent to the construction section and is separated from the visible light communication method through the lighting control module. Providing road construction information received through the user interface using sign recognition using an in-rider, and the wireless network interface for a vehicle to infrastructure (ITS) based traffic management system (ITS) The road construction information received through the user interface through The step of processing, and The road construction information includes vehicle control information for autonomous driving in the construction section of the autonomous vehicle, and the vehicle control information includes autonomous driving restriction information on whether direct driving of a driver is required. Construction information providing device. | 2. The construction information providing apparatus of claim 1, wherein the construction information providing apparatus comprises a wireless network interface for communicating with the vehicle, and transmits the road construction information to the vehicle through the wireless network interface. Device. | 3. The construction information providing apparatus of claim 1, wherein the construction information providing apparatus transmits the road construction information to the vehicle through the traffic management system in association with a vehicle to infrastructure (V2I) -based traffic management system. Device. | 4. The construction information providing apparatus of claim 1, wherein the construction information providing apparatus comprises a GPS module for obtaining location information of the construction information providing apparatus, and transmits the road construction information including the position information of the construction information providing apparatus to the vehicle. Construction information providing device characterized in that. | 5. The construction information providing apparatus according to claim 1, wherein the construction information providing apparatus comprises a lighting control module for providing a self-illumination or a sign based on the road construction information. | 6. According to claim 1, The construction information providing device, The road construction including a sensor module for measuring the environmental information including scattering dust, odor, gas temperature, humidity, noise of the construction section, the environmental information Construction information providing device, characterized in that for transmitting information to the vehicle. | 7. According to claim 1, The construction information providing device, Construction work including a risk level indicating the risk level of the construction section, the presence or absence of construction workers present in the construction section, the scattering dust and noise and smell of the construction section whether the construction And the road construction information including environmental information is transmitted to the vehicle. | 8. The construction information providing apparatus according to claim 1, wherein the construction information providing apparatus provides a function of notifying a start point and an end point of the construction section. | 9. The method of claim 1, wherein the at least one processor comprises: setting a distance for providing entry notification information for the construction section according to a characteristic of the construction section; And a process of transmitting the entry notification information to the vehicle when the vehicle enters within the set distance. | 10. The road construction system of claim 1, wherein the construction information providing device operates a timer for operation based on a construction time included in the road construction information, and targets the vehicle approaching the construction section at an operation time of the timer. A construction information providing device, characterized by transmitting construction information. | 11. A construction information providing device, comprising: a visual safety device indicating that a road construction is under construction for a construction section on a road, configured as a construction notification structure disposed or installed on the road, and associated with the construction section by a construction person. A user interface for receiving construction information; A GPS module for obtaining location information based on information received from the GPS; A lighting control module for providing a sign based on the road construction information; A sensor module for measuring environmental information including scattering dust, odor, gas temperature, humidity, and noise of the construction section; And a wireless network interface for wireless transmission and reception, and targeting a vehicle driving in a lane adjacent to the construction section, through a lighting control module, a sign recognition using a rider, which is a separate communication method from the visible light communication method. using the recognition, the location information, the environment information and the road construction information received through the user interface, and provides the wireless network interface for a vehicle to infrastructure (V2I) based traffic management system (ITS). Providing the location information, the environment information, and the road construction information input through the user interface, wherein the road construction information includes vehicle control information for autonomous driving in the construction section of the autonomous vehicle. Vehicle control information can be used to determine whether direct driver driving is required. Construction information providing device, characterized in that it comprises one autonomous running restriction information. | 12. In the construction information providing method in a computer-implemented construction information providing apparatus, the construction information providing apparatus is a visual safety device indicating that the construction of the road for the construction section on the road, the construction notification that is disposed or installed on the road The construction information providing method comprises: receiving road construction information related to the construction section by a construction person through a user interface included in the construction information providing apparatus; Targeted to a vehicle traveling in a lane adjacent to the construction section, a sign recognition using a rider, which is a separate communication method from the visible light communication method, is received through the user interface through a lighting control module. Providing road construction information; And providing road construction information related to the construction section through a wireless network interface included in the construction information providing device, for a vehicle to infrastructure (ITS) based traffic management system (ITS). The information includes vehicle control information for autonomous driving in the construction section of the autonomous vehicle, and the vehicle control information includes autonomous driving restriction information on whether direct driving of the driver is required. How to Provide. | 13. In the construction information providing method in a computer-implemented construction information providing apparatus, the construction information providing apparatus is a visual safety device indicating that the construction of the road for the construction section on the road, the construction notification that is disposed or installed on the road The construction information providing method comprises: receiving road construction information related to the construction section by a construction person through a user interface included in the construction information providing apparatus; Obtaining location information based on information received from the GPS; Measuring environmental information including scattering dust, odor, gas temperature, humidity, and noise of the construction section; The location information and the environment information for a vehicle traveling in a lane adjacent to the construction section by using a sign recognition using a rider, which is a communication method separate from the visible light communication method, through a lighting control module. And providing road construction information received through the user interface. And the road construction information input through the location information, the environment information, and the user interface through a wireless network interface included in the construction information providing device, for a vehicle to infrastructure (ITS) based traffic management system (ITS). And providing the vehicle construction information for the autonomous driving in the construction section of the autonomous vehicle, and the vehicle control information for the autonomous driving of whether the driver's direct driving is required. Construction information providing method comprising the restriction information.

The apparatus (100) has a processor implemented to execute command such that a computer is readable. A visual safety system shows the road construction heavy responsibility in terms of drawing about a phase construction section. The processor processes process of providing the construction information of a forked road adjacent to the construction section against a driving vehicle as drawing associated with the construction section. A wireless network interface (170) is communicated with a vehicle-to-vehicle for drawing the construction information through the wireless network interface. An INDEPENDENT CLAIM is also included for a method for providing construction information on an autonomous vehicle and a traffic management system. Apparatus for providing construction information on an autonomous vehicle i.e. unmanned aerial vehicle, and a traffic management system. The apparatus utilizes different visual tools for showing road construction heavy responsibility so as to secure stability at an autonomous driving environment through explicit information provision on a direct autonomous vehicle or vehicle-to-infrastructure (V2I)-based traffic management system by providing the corresponding construction information and combining with the present road traffic law phase construction authorization process and providing and managing the construction information with safe drawing. The apparatus determines the information about a construction situation through a wireless interface between the vehicle and a construction notice apparatus, so that a danger of malfunction can be minimized, additional information according to road construction is delivered to the vehicle and safe driving of the vehicle can be supported. The drawing shows a schematic view of an apparatus for providing construction information on an autonomous vehicle and a traffic management system. 100Apparatus for providing construction information on autonomous vehicle and traffic management system170Wireless network interface

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