V2X communication module

Abstract

A communication module according to a first embodiment of the present invention comprises: a communication unit that receives communication channel configuration information for performing V2X communication from a base station; and a processing unit that allocates a bandwidth for each function for performing V2X communication in accordance with received communication channel configuration information that varies in accordance with an area in which the communication module is located, and generates communication data.

Description

Technical Field

[0001] The present invention relates to a communication module, and more particularly, to a communication module, a base station, and an autonomous driving and intelligent transportation system for autonomous driving and intelligent transportation systems. Background Art

[0002] In order to commercialize autonomous driving and intelligent transportation systems, V2X functions for communication between vehicles and objects are required. V2X communication refers to communication that provides information through vehicle-centric wired and wireless networks; wireless communication between vehicles (V2V: vehicle to vehicle), wireless communication between vehicles and infrastructure (V2I: vehicle to infrastructure), in-vehicle networking (IVN: In-Vehicle Networking), vehicle to mobile terminal communication (V2P: vehicle to pedestrian), etc. are collectively referred to as V2X. V2X can be used to enhance the information environment, stability and convenience of vehicles and roads.

[0003] There may be various types of applications that utilize V2X, and efficient use of limited frequency resources may be an issue. If the environment in which traffic is concentrated for a specific application is not considered, the quality of the application itself may be problematic.

[0004] In addition, V2X communication uses GNSS to perform time synchronization of communication, but since GNSS communication is difficult in a GNSS shadow area such as a tunnel, a technology that can perform synchronization between communication modules is required.

[0005] In addition, when vehicles driving on different roads merge, such as at an intersection, there is a risk of an accident unless V2V communication between the vehicles is smooth and driving cooperation is performed well. Summary of the invention

[0006] Technical Topics

[0007] The technical problem to be solved by the present invention is to provide a communication module, a base station and an autonomous driving and intelligent transportation system for dynamically allocating V2X frequency bandwidth for autonomous driving and intelligent transportation systems.

[0008] Another technical problem to be solved by the present invention is to invent a communication module capable of performing V2X communication in a GNSS shadow area and a communication method of the communication module.

[0009] Another technical problem to be solved by the present invention is to provide a communication module, a base station, and an automatic driving and intelligent transportation system for performing driving cooperation.

[0010] Technical Solutions

[0011] In order to solve the above technical problem, a communication module according to a first embodiment of the present invention includes: a communication unit, which receives communication channel configuration information for performing V2X communication from a base station; and a processing unit, which allocates bandwidth to each function for performing V2X communication according to the received communication channel configuration information, and generates communication data, wherein the communication channel configuration information varies according to the area where the communication module is located.

[0012] In addition, the communication channel configuration information is set according to the area information within the coverage area of ​​the base station, but may be changed according to the situation changes within the coverage area of ​​the base station.

[0013] In addition, the communication channel configuration information may have different bandwidths for the autonomous driving function according to at least one of pedestrian information, traffic information, and vehicle density within the coverage area of ​​the base station.

[0014] Additionally, communication channel configuration information may be periodically transmitted from the base station.

[0015] In addition, the communication channel configuration information is transmitted in a first cycle, but when the communication channel configuration information changes, the transmission cycle of the communication channel configuration information may be transmitted in a second cycle faster than the first cycle within a predetermined time.

[0016] In order to solve the above technical problem, a base station according to a first embodiment of the present invention includes: a processing unit, which uses area information within a coverage area to set communication channel configuration information for performing V2X communication; and a communication unit, which transmits the communication channel configuration information set as above to the coverage area.

[0017] In addition, the processing unit may change the communication channel configuration information according to changes in conditions within the coverage area.

[0018] In addition, the processing unit can set communication channel configuration information to allocate bandwidth for the autonomous driving function based on at least one of pedestrian information, traffic information and vehicle density in the coverage area.

[0019] In addition, the communication unit receives module information from one or more communication modules located within the coverage area, and the processing unit may set the communication channel configuration information using the module information received as above.

[0020] In addition, the communication unit may transmit the communication channel configuration information in a first cycle.

[0021] In addition, when the processing unit changes the communication channel configuration information, the communication unit may transmit the communication channel configuration information changed as above at a second cycle faster than the first cycle within a predetermined time.

[0022] In order to solve the above technical problems, an autonomous driving and intelligent transportation system according to a first embodiment of the present invention includes: a base station, which uses area information within a coverage area to set communication channel configuration information for performing V2X communication, and transmits the set communication channel configuration information to the coverage area; and a communication module, which receives the communication channel configuration information when located within the coverage of the base station, and allocates bandwidth to each function for performing V2X communication according to the communication channel configuration information for performing V2X communication as received above.

[0023] In addition, the base station can set communication channel configuration information to allocate bandwidth for the autonomous driving function based on at least one of pedestrian information, traffic information and vehicle density in the coverage area.

[0024] In order to solve the above technical problems, according to the communication method of the communication module of the second embodiment of the present invention, in the communication method of the communication module in the GNSS shadow area, the following steps are included: when entering the GNSS shadow area, the latest time point for performing GNSS communication based on the internal timer is stored as the shadow area entry time point, and the shadow area entry time point is broadcast; and when the shadow area entry time point is received from another communication module, synchronization is performed using the shadow area entry time point of the other communication module as received and the latest shadow area entry time point among the stored shadow area entry time points.

[0025] In addition, the communication method may include the following step: setting a communication module having a latest shadow area entry time point as a synchronization reference communication module.

[0026] Additionally, the communication method may include forming a first group with the communication modules performing synchronization, and performing communication with other communication modules within the first group.

[0027] In addition, when a shadow area entry time point is received from another communication module that does not belong to the first group, the communication method may include performing synchronization using the latest shadow area entry time point of the shadow area entry time point of the other communication module that does not belong to the first group and the shadow area entry time point of the first group.

[0028] In addition, the shadow area entry time points as stored may be broadcast periodically.

[0029] In addition, if the latest shadow area entry time point changes, the following step may be included: saving the latest shadow area entry time point as the communication module's own shadow area entry time point.

[0030] In addition, before receiving the shadow area entry time point from another communication module, the communication method may include the following steps: calculating the minimum and maximum values ​​of the time uncertainty between the GNSS communication and the internal timer, and performing temporary synchronization with the other communication module based on a reference signal within the range of the minimum and maximum values ​​of the time uncertainty; and receiving the shadow area entry time point from the other communication module through temporary synchronization.

[0031] In order to solve the above technical problem, a communication module according to a second embodiment of the present invention includes: a processing unit, which stores the latest time point of performing GNSS communication based on an internal timer when entering a GNSS shadow area as a shadow area entry time point; and a communication unit, which broadcasts the shadow area entry time point, wherein, when the processing unit receives the shadow area entry time point from another communication module, the processing unit uses the shadow area entry time point of the other communication module as received and the latest shadow area entry time point among the stored shadow area entry time points to perform synchronization.

[0032] In addition, the processing unit forms a first group with the communication module that performs synchronization, and when the communication unit receives a shadow area entry time point from another communication module that does not belong to the first group, synchronization can be performed using the latest shadow area entry time point of the other communication module that does not belong to the first group and the shadow area entry time point of the first group.

[0033] In addition, the communication unit may periodically broadcast the stored shadow area entry time points.

[0034] In addition, when the latest shadow area entry time point changes, the processing unit may store the latest shadow area entry time point as its own shadow area entry time point.

[0035] In addition, before receiving the shadow area entry time point from another communication module, the minimum and maximum values ​​of the time uncertainty between the GNSS communication and the internal timer are calculated, temporary synchronization with the other communication module is performed based on a reference signal within the range of the minimum and maximum values ​​of the time uncertainty, and the shadow area entry time point can be received from the other communication module through temporary synchronization.

[0036] In order to solve the above technical problem, a communication module according to a third embodiment of the present invention includes: a communication unit, which uses a base station or another communication module to transmit and receive driving negotiation messages when entering an area where driving negotiation is required; and a processing unit, which uses the driving negotiation message received from the base station to determine the driving scene within the area where driving negotiation is required when the base station is located in the area where driving negotiation is required, wherein the base station is searched through broadcast communication, and the driving negotiation message is received through unicast communication.

[0037] Furthermore, the communication unit may transmit a search message including information on entering the driving negotiation required area when searching for the base station, and receive a response message including unicast link setting information from the base station.

[0038] Furthermore, the unicast link configuration information may include at least one of a location of a subchannel, the number of subchannels, a transmit (Tx) power, and a valid time of a radio resource.

[0039] Furthermore, the processing unit may connect the unicast link using a sub-channel having a lowest received signal strength among the sub-channels included in the response message.

[0040] Furthermore, the processing unit may release the unicast link connection after receiving the driving negotiation message.

[0041] In addition, the communication unit receives from the base station through unicast communication: whether another communication module is located in the driving negotiation required area and a driving negotiation message including driving information of the other communication module when the other communication module is located in the driving negotiation required area, or a driving assistance message according to another communication module in the driving negotiation required area, wherein the driving assistance message may include at least one of an entry order, a driving route, a driving speed, and an expected position of another vehicle while driving.

[0042] In addition, the base station can receive a driving information message including a driving route and a driving speed from another communication module within the driving negotiation required area through broadcast communication, perform paging with another communication module within the driving negotiation required area through multicast communication, and transmit a driving assistance message to another communication module within the driving negotiation required area through unicast communication.

[0043] In addition, when a vehicle not equipped with a communication module is located in a driving negotiation required area, the base station may detect driving information of the vehicle not equipped with a communication module and generate a driving negotiation message or a driving assistance message using the detected driving information.

[0044] Furthermore, the communication module is a communication module mounted on a vehicle, and the above driving negotiation required area may be a merging area where a plurality of roads converge.

[0045] In addition, the base station may include at least one of a base station (RSU) and a mobile communication base station (NB).

[0046] In addition, when accessing another communication module, the communication unit transmits an overtaking message to the other communication module through broadcast communication, transmits and receives a driving negotiation message with the other communication module through unicast communication, and transmits a second driving negotiation message after transmitting the first driving negotiation message to the other communication module, wherein, when a NACK signal for the first driving negotiation information is received, the first driving negotiation message can be retransmitted.

[0047] In addition, the communication unit transmits an overtaking request message to another communication module, and receives an overtaking approval message or an overtaking rejection message from another communication module, wherein the overtaking approval message may include front camera information of another communication module.

[0048] In order to solve the above technical problems, a communication module according to another embodiment of the third embodiment of the present invention includes: a communication unit, which uses a base station to transmit and receive driving negotiation messages when entering a driving negotiation required area; and a processing unit, which uses the driving negotiation message received from the base station to determine the driving scene within the driving negotiation required area, wherein information about the driving negotiation required area is received from the base station using broadcast communication, and wherein the driving negotiation message or driving assistance message is received through multicast communication of the communication module located in the driving negotiation required area.

[0049] Furthermore, the driving negotiation required area is a roundabout, and the driving assistance message may include at least one of an entry time point into the roundabout and a driving priority.

[0050] In addition, the driving negotiation required area is an intersection, and the multicast being performed varies according to the type of lane in the driving negotiation required area, and the communication unit can receive the driving negotiation message through multicast communication corresponding to the multicast to which the communication module belongs.

[0051] In order to solve the above technical problems, the automatic driving and intelligent transportation system according to the third embodiment of the present invention includes: a base station, which is located in a driving negotiation required area, receives a search message or a driving information message from a communication module in the driving negotiation required area, and transmits a driving negotiation message to a communication module that requires driving negotiation when driving negotiation is required between communication modules in the driving negotiation required area; and a communication module, which, when entering the driving negotiation required area, uses the driving negotiation message received from the base station to determine the driving scene in the driving negotiation required area, wherein the search message or the driving information message is transmitted and received via broadcast communication, and wherein the driving negotiation message is transmitted and received via unicast communication.

[0052] Beneficial Effects

[0053] According to an embodiment of the present invention, in autonomous driving using V2X, the efficiency of frequency resource use can be improved compared to using frequency resources in a fixed form. By considering regional characteristics, more bandwidth can be allocated to important applications to improve service quality. Dynamic frequency resource utilization can be achieved by using only a small portion of bandwidth and base stations in V2X without using separate hardware or communication technology. In addition, in addition to dynamic frequency allocation based on geographical characteristics, dynamic frequency allocation can be achieved by considering regional characteristics that change over time.

[0054] In addition, according to an embodiment of the present invention, V2V communication can be achieved even in a GNSS shadow area, and stable communication between surrounding vehicles can be achieved even if the GNSS shadow lasts for a long time. In addition, if the error of the internal timer is small, communication can be achieved without performing a time synchronization operation between groups, and if a large error occurs, temporary time synchronization can be achieved by predicting the time synchronization part through the time uncertainty variable and the reference signal, and time synchronization between groups can be achieved using the data received thereafter.

[0055] In addition, according to an embodiment of the present invention, in autonomous driving using V2X, geographical limitations of communication can be overcome by a base station during driving negotiations. In addition, by linking with an intelligent transportation system (C-ITS), smooth traffic control can be achieved, and the base station can act as a mediator during driving negotiations. In addition, in the case of conventional LTE-V2X-based communication, only broadcasting is possible, so it is impossible to know whether a communication packet has been received, but during driving negotiations, the intention of the receiving vehicle can be confirmed by utilizing unicast or multicast, and communication efficiency can be improved and interference can be minimized by utilizing unicast and multicast instead of simple broadcasting. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 is a block diagram of a communication module and a base station according to a first embodiment of the present invention.

[0057] Figures 2 to 11 2 is a diagram for explaining a process of dynamically allocating V2X frequency bandwidth for autonomous driving and intelligent transportation systems by a communication module and a base station according to a first embodiment of the present invention.

[0058] Fig.12 is a block diagram of an automatic driving and intelligent transportation system according to a first embodiment of the present invention.

[0059] Fig.13 is a flowchart of a method for dynamically allocating V2X frequency bandwidth according to a first embodiment of the present invention.

[0060] Fig.144 is a flowchart of a V2X frequency bandwidth dynamic allocation method according to a first embodiment of the present invention.

[0061] Fig.15 is a block diagram of a communication module according to a second embodiment of the present invention.

[0062] Figures 16 to 19 A communication situation of a communication module according to a comparative example of the second embodiment of the present invention is shown.

[0063] Figure 20 to Figure 23 1 is a diagram for explaining a process in which a communication module according to a second embodiment of the present invention performs communication through time synchronization with another communication module.

[0064] Fig.24 is a flowchart of a communication method of a communication module according to a second embodiment of the present invention.

[0065] Figure 25 to Figure 29 is a flowchart of a communication method of a communication module according to a second embodiment of the present invention.

[0066] Fig.30 is a block diagram of a communication module and a base station according to a third embodiment of the present invention.

[0067] Figures 31 to 40 2 is a diagram for explaining a process of dynamically allocating V2X frequency bandwidth for autonomous driving and intelligent transportation systems by a communication module and a base station according to an embodiment of the present invention.

[0068] Fig.41 is a block diagram of an automatic driving and intelligent transportation system according to a third embodiment of the present invention.

[0069] Fig.42 is a flowchart of a method for dynamically allocating V2X frequency bandwidth according to a third embodiment of the present invention.

[0070] Fig.43 is a flowchart of a method for dynamically allocating V2X frequency bandwidth according to a third embodiment of the present invention. DETAILED DESCRIPTION

[0071] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0072] However, the technical concept of the present invention is not limited to some embodiments to be described, but can be implemented in various forms, and within the scope of the technical concept of the present invention, one or more of the constituent elements can be selectively combined or replaced between the embodiments.

[0073] In addition, unless explicitly defined and described, the terms (including technical terms and scientific terms) used in the embodiments of the present invention may be interpreted as meanings that can be generally understood by those skilled in the art, and commonly used terms such as terms defined in dictionaries may be interpreted in consideration of the contextual meaning of the relevant technology.

[0074] In addition, the terms used in this specification are for describing the embodiments and are not intended to limit the present invention.

[0075] In this specification, unless explicitly stated in a phrase, the singular form may include the plural form, and when described as "at least one (or more than one) of A and B and C", the singular form may include one or more of all combinations that can be combined with A, B and C.

[0076] In addition, in the description of the components of the embodiments of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only intended to distinguish a component from other components, and the terms do not limit the nature, order, or sequence of the components.

[0077] Furthermore, when a component is described as being “connected,” “coupled” or “interconnected” to another component, the component is not only directly connected, coupled or interconnected to the other component but may also include a case where the component is “connected,” “coupled” or “interconnected” due to the presence of another component between the other components.

[0078] In addition, when described as being formed or arranged “on (above)” or “under (below)” of each component, “on (above)” or “under (below)” means that it includes not only a case where two components are in direct contact, but also a case where one or more other components are formed or arranged between the two components. In addition, when expressed as “on (above) or under (below)”, it may include the meaning of not only an upward direction but also a downward direction relative to one component.

[0079] The modified embodiment according to the present embodiment may include some parts of each embodiment and some parts of other embodiments. That is to say, the modified embodiment may include one of the various embodiments (the first embodiment to the third embodiment), but some parts may be omitted, and some parts of other corresponding embodiments may be included. Or, it may be the opposite. The features, structures, effects, etc. to be described in the embodiments are included in at least one embodiment, and are not necessarily limited to one embodiment. In addition, the features, structures, effects, etc. illustrated in each embodiment may be combined or modified and implemented in other embodiments by personnel with ordinary skills in the field to which the embodiments belong. Therefore, the content related to such combinations and modifications should be interpreted as being included in the scope of the embodiments.

[0080] Figure 1 is a block diagram of a communication module and a base station according to a first embodiment of the present invention.

[0081] The communication module 110 and the base station 120 according to the first embodiment of the present invention transmit and receive data through V2X communication to realize autonomous driving and intelligent transportation system. The communication module 110 according to the first embodiment of the present invention includes a communication unit 111 and a processing unit 112, and the base station 120 according to the first embodiment of the present invention includes a communication unit 121 and a processing unit 122.

[0082] The communication module 110 may be a communication module that performs V2X communication and is installed on a mobile device such as a vehicle. The base station 120 is a base station capable of V2X communication and may be a roadside base station or a mobile communication base station (eNB) located around a road, which performs communication with a vehicle through a roadside unit (RSU). When the communication module 110 installed on the vehicle communicates with the roadside base station, this is V2I communication, and when the communication module 110 installed on the vehicle communicates with the mobile communication base station, V2N communication may be performed. In the following, the base station will be described with a focus on the roadside base station, but is not limited thereto.

[0083] When the communication module 110 and the base station 120 perform V2X communication, they first transmit and receive communication channel configuration information for performing V2X communication. At this time, the communication channel configuration information can be set differently for each base station 120 according to the characteristics of the area where the base station 120 is located, and as the area where the communication module 110 is located changes, the communication channel configuration information can change according to the base station 120 covering the area where the current communication module 110 is located.

[0084] Wireless communications such as V2X require frequency resources to be utilized. In particular, since frequency allocations must be used only for designated purposes within a given bandwidth, efficient utilization of frequency resources is an important issue in wireless communications including V2X. Figure 2 is an example of classifying bandwidths according to communication methods. Heterogeneous V2X technology can utilize different frequency bands simultaneously for autonomous driving or intelligent transportation systems. In the case of V2X, band 47 is used, and Figure 2 is an example of using 70MHz as the bandwidth for V2X. Figure 2 As shown in , different frequency bands can be used to simultaneously utilize LTE-V2X, dedicated short range communication (DSRC), and new radio (NR) V2X.

[0085] Figure 3is an example of additional classification according to applications utilizing bandwidth, where different applications can reduce frequency interference and increase the reliability of V2X communication by utilizing only the bandwidth allocated to each application. That is, platooning, vehicle-to-pedestrian (V2P, an application for safety between vehicles and pedestrians), charging (toll payment), traffic information, and autonomous driving applications can each be allocated bandwidth to achieve autonomous driving and intelligent transportation systems.

[0086] The communication module 110 and the base station 120 according to the first embodiment of the present invention use a variable bandwidth in which the bandwidth is dynamically allocated according to regional characteristics, rather than using a fixed bandwidth for each application. Since important applications or applications with a large amount of data to be processed may vary according to regional characteristics, the bandwidth configuration may be dynamically allocated in different ways.

[0087] For example, Figure 4 As shown in , bandwidth can be dynamically allocated differently depending on the application. (A) is a bandwidth allocation configuration on a general road, and (B) is a bandwidth allocation configuration on a highway. Since pedestrians do not need to be considered much in an environment such as a highway, the bandwidth for V2P around vehicles in the area can be excluded, and more bandwidth can be allocated to traffic information or autonomous driving, where the data size may become relatively large.

[0088] According to Shannon's theorem, C = Blog2 (1 + s / N), where B is the bandwidth, and it can be seen that the size of the bandwidth plays a vital role in the channel capacity. Therefore, improvements in the communication quality of important intelligent traffic information or autonomous driving on highways can be expected.

[0089] When trying to control parameters including bandwidth configuration of V2X terminals, the data size required for this is not large. In the case of narrowband Internet of Things (NB-IOT), 180kHz bandwidth is used to send and receive very small data, which makes the data rate low but only allows low power and very small bandwidth usage. Therefore, in the first embodiment of the present invention, a part of the total bandwidth of V2X is allocated to the main control channel for control, and the bandwidth configuration of V2X for autonomous driving and intelligent transportation system operation can be controlled through the main control channel.

[0090] Figure 5is an example of allocating the main control channel according to the entire bandwidth. The bandwidth of the main control channel can be variably set from 180kHz to 1.4MHz according to the information to be transmitted. The main control may include the start and end positions of the bandwidth that C-V2X and DSRC should use, the start and end positions of the broadband that each application should use, and information about the applications required in the current area. In addition, for V2X device control, technical standards such as Open Mobile Alliance Device Management DM (OMA) can be applied while taking into account safety and standard factors.

[0091] The base station 120 can allocate bandwidth according to the regional characteristics within the coverage area covered by the base station 120, set the communication channel configuration information according to how the bandwidth is allocated, and transmit the communication channel configuration information to the communication module 110 located in the coverage area, thereby realizing V2X communication between the base station 120 and the communication module 110.

[0092] The processing unit 122 of the base station 120 sets communication channel configuration information for performing V2X communication using the area information within the coverage area, and the communication unit 121 transmits the set communication channel configuration information to the coverage area.

[0093] The processing unit 122 may set the communication channel configuration information to allocate bandwidth for the autonomous driving function based on at least one of pedestrian information, traffic information, and vehicle density within the coverage area.

[0094] As previously explained, in environments such as highways, the demand for pedestrians is reduced, so the bandwidth for V2P can be reduced or eliminated, and more bandwidth can be allocated to traffic information or autonomous driving.

[0095] In addition, in the case of a central area of ​​a city with complex roads or a complex signal system, a large bandwidth for traffic information can be allocated compared to an outer area with a simple road and a simple signal system. In addition, even if the complexity or amount of traffic information is similar, the vehicle density may be different, and if the vehicle density is high, a large bandwidth for autonomous driving can be allocated. In addition to pedestrian information, traffic information, and vehicle density, the required applications may differ according to various regional characteristics, and the communication channel configuration information including the bandwidth may be set differently according to the importance or amount of data.

[0096] The processing unit 122 may change the communication channel configuration information according to changes in the situation within the coverage area. The communication channel configuration information is set to reflect regional characteristics, but is not fixed by setting it once, and the communication channel configuration information may change according to changes in the situation. When road conditions or traffic systems change, or vehicle density changes according to peak hours, weekends, etc., the bandwidth required for each application may change, so the communication channel configuration information may change according to changes in the situation within the coverage area.

[0097] like Figure 6 As shown in , after platoon driving, V2P, charging, traffic information, and autonomous driving are allocated bandwidths as in (A), when the traffic volume increases due to changes in conditions such as rush hour, the communication channel configuration information can be changed by greatly allocating bandwidth for traffic information and autonomous driving by excluding V2P. For example, when many autonomous driving-capable vehicles enter the coverage area managed by the base station, the bandwidth for autonomous driving may be greatly changed to 35MHz, and the bandwidth for intelligent traffic information may be changed from 20MHz to 15MHz. When the traffic volume is high, a decision can be made by referring to the vehicle registration information, and the bandwidth setting can also be determined by monitoring the received signal strength indicator (RSSI) of each sub-bandwidth to determine the degree of congestion.

[0098] Since the communication module 110 and the base station 120 performing V2X communication must have the same communication channel configuration information to enable communication, the communication unit 121 transmits the set communication channel configuration information to the coverage area. At this time, the communication unit 121 can transmit the communication channel configuration information to the entire coverage area by broadcasting.

[0099] The communication unit 121 may transmit the communication channel configuration information to the master configuration block (MCB) through the master control channel. The MCB may include the activated communication methods (LTE-V2X, NR-V2X or DSRC) and applications in the coverage area currently managed by the base station, the start and end of the frequency of the bandwidth of each application, the area information of the application corresponding information, the expiration time, etc.

[0100] The communication unit 121 may transmit the communication channel configuration information in a first cycle. Even if the data size for transmitting the communication channel configuration information is small, some bandwidth is required, so the communication channel configuration information may be transmitted in the first cycle as a preset cycle. Figure 7 As shown in , MCB can be transmitted every 100 ms within the coverage area.

[0101] When the processing unit 122 changes the communication channel configuration information according to a change in the situation, etc., the communication unit 121 may transmit the changed communication channel configuration information in a second cycle faster than the first cycle within a predetermined time. When the communication channel configuration information changes, if the changed communication channel configuration information is transmitted in the first cycle, it may not be feasible to communicate with the communication module 110 that performs V2X communication using the previous communication channel configuration information in one cycle and autonomous driving. Since an accident may occur during this time, when the communication channel configuration information changes, the changed communication channel configuration information may be transmitted in a second cycle faster than the first cycle within a predetermined time. The time for transmitting the communication channel configuration information in the second cycle may be the period of the first cycle.

[0102] like Figure 8 As shown in , when a change in the situation occurs at time E1 and the communication channel configuration information changes from MCB A to MCB B, the communication channel configuration information transmission cycle can be accelerated from the first cycle to the second cycle. After the changed communication channel configuration information is fully transmitted within the coverage area, the communication channel configuration information can be transmitted again with the first cycle.

[0103] The communication module 110 may be a module for V2X communication installed on a mobile device such as a vehicle. The location may change according to the movement of the mobile device, and the base station 120 covering the area where the communication module 110 is located may change. As described above, the communication channel configuration information may change according to the area information of each base station 120, and in order to perform V2X communication with the corresponding base station 120, the communication unit 111 receives the communication channel configuration information for performing V2X communication from the corresponding base station 120. The received communication channel configuration information may be stored in a memory.

[0104] When entering the coverage area of ​​the base station 120, the communication channel configuration information may be received, and when located within the coverage area, the communication channel configuration information may be received in every first period in which the base station 120 transmits the communication channel configuration information.

[0105] The above communication channel configuration information may be set according to the area information within the coverage area of ​​the base station 120. Here, the communication channel configuration information may have a bandwidth for the autonomous driving function, and the bandwidth for the autonomous driving function varies according to at least one of pedestrian information, traffic information, and vehicle density within the coverage area of ​​the base station 120.

[0106] In addition, the communication channel configuration information may be changed according to changes in the situation within the coverage area of ​​the base station 120. When the communication channel configuration information changes, the transmission cycle of the communication channel configuration signal may be transmitted at a second cycle faster than the first cycle within a predetermined time, and when the communication unit 111 receives the changed communication channel configuration information, the communication unit 111 may confirm the change of the communication channel configuration information by comparing the changed communication channel configuration information with the previously received and stored communication channel configuration information. When the communication channel configuration information changes, V2X communication may be performed according to the changed communication channel information.

[0107] The processing unit 112 may generate communication data by allocating a bandwidth for each function for performing V2X communication according to the communication channel configuration information received by the communication unit 111. In order to transmit data to the base station 120 covering the area where the current communication module 110 is located, the communication unit 111 may generate communication data by allocating a bandwidth for each function for performing V2X communication according to the received communication channel configuration information. In addition, in order to process the data received from the base station 120, the data included in each bandwidth may be processed according to the communication channel configuration information.

[0108] The communication channel configuration information may change depending on the area where the communication module is located. The communication channel configuration information may change when the communication module 110 enters the coverage area of ​​a new base station 120, or even when within the coverage area of ​​one base station 120, when the corresponding base station 120 changes the communication channel configuration information.

[0109] Therefore, the processing unit 112 can use the latest communication channel configuration information to perform V2X communication by comparing the communication channel configuration information received by the communication unit 111 with the previously received and stored communication channel configuration information. When the communication channel configuration information received by the communication unit 111 is different from the previously stored communication channel configuration information, it may be a communication error or a temporary coverage interruption. Therefore, when the same communication channel configuration information is received a preset number of times or more, the corresponding communication channel configuration information can be used to perform V2X communication. For example, when the same communication channel configuration information is received twice in a row, the corresponding communication channel configuration information can be used to perform V2X communication.

[0110] like Fig. 9As shown in , when the communication module 110 moves from 110a to 110b to 110c to 110d and enters the coverage area 123-1 of the base station 120-1, the communication channel configuration information (MCB A) is received from the base station 120-1 and the corresponding communication channel configuration information (MCB A) is used within the coverage area 123-1 of the base station 120-1, so that the communication module 110 can perform V2X communication with the base station 120-1 or another communication module located in the coverage area 123-1 of the base station 120-1. Afterwards, according to the movement, when leaving the coverage area 123-1 of the base station 120-1 and entering the coverage area 123-2 of the base station 120-2, the communication channel configuration information (MCB B) is received from the base station 120-2, and the communication channel configuration information changes. Thereafter, V2X communication with the base station 120 - 2 or another communication module located in the coverage area 123 - 2 of the base station 120 - 2 may be performed using the corresponding communication channel configuration information (MCB B).

[0111] When entering a shadow area outside the coverage area of ​​a base station, the most recently received communication channel configuration information of the base station may be retained for operation until communication channel configuration information of a new base station is received.

[0112] like Fig.10 As shown in , after leaving the coverage area 123-1 of the base station 120-1, before entering the coverage area 123-2 of the base station 120-2 (110e), the communication channel configuration information (MCB A) received from the base station 120-1 can be maintained for operation. Thereafter, after entering the coverage area 123-2 of the base station 120-2, the communication channel configuration information (MCBB) is received from the base station 120-2, the communication channel configuration information is changed, and the corresponding communication channel configuration information (MCB B) can be used to perform V2X communication with the base station 120-2 or another communication module located in the coverage area 123-2 of the base station 120-2.

[0113] In addition, when entering the shadow area outside the coverage of the base station, the communication channel configuration information can be changed to the reference communication channel configuration information for operation until the new communication channel configuration information of the base station is received. At this time, when entering the shadow area outside the coverage area of ​​the base station, when no new communication channel configuration information is received within the preset time, the communication channel configuration message can be changed to the reference communication channel configuration message (default preconfiguration) for operation after the corresponding time has passed. The corresponding time can be set using the expiration time included in the communication channel configuration information.

[0114] Through this, communication between different communication modules entering the shadow area can be made possible. For example, in the case where a vehicle operating with different communication channel configuration information enters the shadow area from an opposite lane, communication may become impossible or difficult according to the different communication channel configuration information. That is, if there are vehicles A and B from opposite lanes, and the latest communication channel configuration information of vehicle A is A and the latest communication channel configuration information of vehicle B is B, communication between each other may become impossible. In this case, by changing to standard communication channel configuration information after a certain time after entering the shadow area, communication between each other using standard communication channel configuration information can be made possible.

[0115] The communication unit 121 of the base station 120 receives module information from one or more communication modules 110 located in the coverage area, and the processing unit 122 can use the received module information to set the communication channel configuration information. The base station 120 can set the communication channel configuration information using the module information from one or more communication modules 110 located in the coverage area and the regional characteristics or situation changes. When the number of communication modules 110 in the coverage area increases, the communication channel configuration information can be set by using the module information of the communication module 110 (for example, whether it is an autonomous driving vehicle) to determine whether to increase the bandwidth for the autonomous driving application. Alternatively, when a communication module 110 with a high priority or requiring special processing appears, such as an emergency vehicle entering the coverage area, the communication channel configuration information can be changed for processing of the corresponding communication module 110.

[0116] For example, when an emergency vehicle enters the road, the traffic system needs to be changed or the driving of other vehicles needs to be controlled, so the bandwidth used for traffic information or autonomous driving may be temporarily greatly expanded and allocated.

[0117] like Fig.11 As shown in , the main control channel is not only used for downlink purposes to broadcast the MCB of the base station 120, but also can be used for the purpose of transmitting basic information of the vehicle. When the communication module 110 of the vehicle enters the coverage area of ​​the base station 120, the communication module 110 of the vehicle can receive the MCB of the base station 120 and transmit the registration information of the vehicle to the base station 120. The registration information may include vehicle information (size, current speed, whether it is an emergency vehicle, etc.) and whether automatic driving is supported, whether platoon driving is being performed, whether an intelligent transportation system is supported, etc. This information can be used to set the communication channel configuration information.

[0118] As described above, by dynamically allocating V2X bandwidth, the efficiency of frequency resource use can be increased and the quality of service can be improved compared to when frequency resources are used in a fixed form in autonomous driving. In addition, dynamic frequency resource utilization is possible by utilizing the bandwidth of V2X and only a very small part of the base station without utilizing separate hardware or communication technology. In addition, in addition to dynamic frequency allocation based on geographical characteristics, it is also possible to perform dynamic frequency allocation by considering regional characteristics that change over time. For example, frequency bandwidth can be dynamically allocated based on regional characteristics instead of allocating a fixed frequency bandwidth by considering regional characteristics such as densely populated urban areas, highways, and suburban areas. Through this, communication reliability can be improved and delays can be prevented by setting the frequency bandwidth according to the driving environment.

[0119] Fig.12 is a block diagram of an automatic driving and intelligent transportation system according to a first embodiment of the present invention. Fig.12 A detailed description of each component corresponds to Figures 1 to 11 A detailed description of the communication module and the base station is given, and therefore any redundant description will be omitted below.

[0120] The autonomous driving and intelligent transportation system 200 according to the first embodiment of the present invention uses area information within a coverage area to set communication channel configuration information for performing V2X communication, and includes: a base station 120, which transmits the set communication channel configuration information to the coverage area; and a communication module 110, which receives the communication channel configuration information when located within the coverage area of ​​the base station 120, and allocates bandwidth to each function for performing V2X communication according to the received communication channel configuration information to perform V2X communication.

[0121] Here, the base station 120 may allocate bandwidth for the autonomous driving function by setting communication channel configuration information according to at least one of pedestrian information, traffic information, and vehicle density in the coverage area.

[0122] Fig.13 is a flow chart of a method for dynamically allocating V2X frequency bandwidth according to a first embodiment of the present invention, and Fig.14 4 is a flowchart of a V2X frequency bandwidth dynamic allocation method according to a first embodiment of the present invention. Fig.13 and Fig.14 A detailed description of each step corresponds to Figures 1 to 11 A detailed description of the communication module and the base station is given, and therefore any redundant description will be omitted below.

[0123] In order to perform V2X communication, in step S11, the communication module first receives communication channel configuration information for performing V2X communication from the base station, and in step S12, allocates bandwidth for each function for performing V2X communication according to the received communication channel configuration information to generate communication data. Using the generated communication data, V2X communication can be performed with the corresponding base station or another communication module within the coverage area of ​​the corresponding base station.

[0124] In step S21, the base station sets communication channel configuration information for performing V2X communication using area information within the coverage area, and transmits the set communication channel configuration information to the coverage area in step S22.

[0125] By this, in consideration of regional characteristics, the frequency bandwidth can be dynamically allocated according to the regional characteristics instead of allocating a fixed frequency bandwidth. By this, communication reliability can be improved and delays can be prevented by setting the frequency bandwidth according to the driving environment.

[0126] Fig.15 is a block diagram of a communication module according to a second embodiment of the present invention.

[0127] The communication module 1110 according to the second embodiment of the present invention performs V2X communication with other communication modules 1121 and 1122. In addition, the communication module 1110 can perform not only V2X communication with other communication modules 1121 and 1122, but also V2X communication with a road side unit (RSU) to achieve autonomous driving and an intelligent transportation system. The communication module 1110 according to the second embodiment of the present invention is composed of a communication unit 1111 and a processing unit 1112, and may include a storage unit and a timer.

[0128] The communication module 1110 may be a communication module that performs V2X communication and is installed on a mobile device such as a vehicle.

[0129] The communication module 1110 requires time synchronization to perform V2X communication with other communication modules, and in V2X communication, time synchronization is performed using the time received from the satellite using the Global Satellite Navigation System (GNSS). However, in a GNSS shadow area such as a tunnel where GNSS communication is difficult, it is difficult to perform synchronization using GNSS.

[0130] The communication distance between the communication modules installed on the vehicle is ideally about 1 km when there are no other vehicles around, but is limited to about 500 m in an environment with many vehicles and obstacles. Fig.16 As shown in , it is generally difficult to synchronize the time in a GNSS shadow area 1 exceeding 500 m (eg, the time inside a tunnel, etc.).

[0131] When the tunnel is short, such as about 1 km, synchronization can be performed by receiving GNSS time information from roadside base stations (RSUs) 20 and 21. Fig.17 As shown in , in the case of a long tunnel, or when there is traffic congestion or other obstacles around the tunnel entrance, the communication distance may be shortened and the time information may not be correctly transmitted. Therefore, the vehicles 10 and 11 inside the tunnel may not be synchronized, resulting in communication failure.

[0132] like Fig.18 As shown in , when many roadside base stations are installed regardless of the shadow area inside the tunnel, vehicles can communicate with each other by receiving time information from roadside base stations 20 and 21, however, depending on the length of the tunnel, the cost of installing the roadside base stations is generated, and the cost problem of constructing the infrastructure may arise.

[0133] As in Fig.19 When the length of the tunnel is quite long, Figures 16 to 18 In Korea, there are 7 tunnels longer than 5 km, and in countries with large territories such as China and the United States, there are many more tunnels longer than those in Korea, so the problem of synchronization between vehicles becomes more important in V2X communication.

[0134] In order to synchronize the time between the communication modules in the GNSS shadow area as described above, the processing unit 1112 of the communication module 1110 according to the second embodiment of the present invention stores the latest time point of the GNSS communication performed based on the internal timer as the shadow area entry time point when entering the GNSS shadow area. In order to synchronize the time between the communication modules, synchronization is performed by communication between the communication modules in the absence of GNSS communication, and at this time, the latest time point of the GNSS communication of each communication module 1110 is used. To this end, when the processing unit 1112 determines that it has entered the GNSS shadow area, the processing unit 1112 stores the latest time point of the GNSS communication performed based on the internal timer as the shadow area entry time point. Here, the shadow area entry time point means the latest reliable time for synchronization performed by GNSS communication. The communication module 1110 includes an internal timer, and the timer calculates the time even when performing GNSS communication. The internal time can be counted using an oscillator, an X-TAL, a resonator, etc. By performing GNSS communication and operating the timer, the time between time synchronization cycles can be calculated.

[0135] If the processing unit 1112 does not receive a GNSS signal within a period longer than that for performing GNSS communication, the processing unit 1112 may determine that it has entered a GNSS shadow area. Alternatively, when the processing unit 1112 enters a tunnel on a map or route, the processing unit 1112 may determine that it has entered a GNSS shadow area. When the processing unit 1112 determines that it has entered a GNSS shadow area, the processing unit 1112 may calculate the time point at which the latest GNSS synchronization occurred as the shadow area entry time point, and store it by setting the shadow area entry time point to the UTC timestamp at that time. In order to align the reference time between the communication modules, the shadow area entry time point may be stored based on the coordinated universal time (UTC).

[0136] The communication unit 1111 broadcasts the shadow area entry time point in order to perform V2X communication with other communication modules 1121 and 1122. Since synchronization is essential for communication in the GNSS shadow area, the communication unit 1111 can broadcast its own shadow area entry time point so that other communication modules 1121 and 1122 that will perform V2X communication can perform synchronization using the corresponding signal. V2X communication can be performed in different methods such as unicast, through the communication module with which synchronization has been achieved. The communication unit 1111 can periodically broadcast the stored shadow area entry time point. The stored shadow area entry time point can be periodically broadcast so that communication with other communication modules 1121 and 1122 can be performed.

[0137] When the processing unit 1112 receives the shadow area entry time point from another communication module 1121 or 1122, the processing unit 1112 performs synchronization using the received shadow area entry time point of the other communication module and the latest shadow area entry time point in the stored shadow area entry time points. In order to perform communication with another communication module 1121 and 1122 located in the GNSS shadow area, synchronization must be performed by matching the shadow area entry time points stored together. At this time, in order to match the shadow area entry time points stored together to one shadow area entry time point, the latest shadow area entry time point in the shadow area entry time points is used. Since the latest shadow area entry time point is the latest reliable time point, synchronization is performed based on this time point. Before receiving the shadow area entry time point from another communication module 1121 and 1122, its stored shadow area entry time point is set as a synchronization reference, but when receiving the shadow area entry time point from another communication module 1121 and 1122, its stored shadow area entry time point is compared with the received shadow area entry time point. If its stored shadow area entry time point is a closer shadow area entry time point than the shadow area entry time point of other communication modules 1121 and 1122, synchronization with other communication modules 1121 and 1122 is performed based on its stored shadow area entry time point, and if the shadow area entry time point of other communication modules 1121 and 1122 is a closer shadow area entry time point than its stored shadow area entry time point, synchronization with other communication modules 1121 and 1122 is performed based on the latest shadow area entry time point among the shadow area entry time points of other communication modules 1121 and 1122.

[0138] Since the shadow area entry time point of the other communication module 1121 and 1122 is a closer shadow area entry time point than its stored shadow area entry time point, and the shadow area entry time point is changed to the latest shadow area entry time point, the processing unit 1112 stores the latest shadow area entry time point as its own shadow area entry time point, so that the processing unit 1112 can use the synchronization reference time point for subsequent communication between the communication modules.

[0139] The processing unit 1112 can form a first group with the communication module that performs the above synchronization. Based on the latest shadow area entry time point, other communication modules 1121 and 1122 perform synchronization, and form a group with corresponding communication modules 1121 and 1122 so that communication with other communication modules in the group can be performed.

[0140] During communication performed between the communication modules forming the group, when the communication unit 1111 receives a shadow area entry time point from another communication module that does not belong to the first group, the processing unit 1112 can perform synchronization using the received shadow area entry time point of the other communication module that does not belong to the first group and the latest shadow area entry time point of the shadow area entry time point of the first group. When the group is formed, each communication module stores the latest shadow area entry time point within the group, so in the case of receiving the shadow area entry time point from another communication module that does not belong to the group, the processing unit 1112 can perform synchronization using the received shadow area entry time point of the other communication module that does not belong to the first group and the latest shadow area entry time point of the shadow area entry time point of the first group. At this time, if the shadow area entry time point of the communication module that does not belong to the group is the latest shadow area entry time point, the processing unit 1112 can update the shadow area entry time point within the group by resynchronizing not only the communication module but also all the communication modules included in the group using the corresponding shadow area entry time point.

[0141] When the group meets the requirements for performing synchronization, synchronization can be performed by comparing the shadow area entry time points between representative communication modules. The communication module with the latest shadow area entry time point can be set as the synchronization reference communication module, and the reference communication module can be set as the representative communication module of the group. When synchronization between groups is required, synchronization can be performed by comparing the shadow area entry time points between representative communication modules. Since all communication modules within a group store the same shadow area entry time point, regardless of the representative communication module, synchronization can be performed between communication modules within other groups that first exchange signals; and a new group can be formed by sharing the latest shadow area entry time point.

[0142] like Fig. 20As shown in, the communication module 1110 enters the GNSS shadow (fading) area, transmits and receives the shadow area entry time point with other communication modules 1121 and 1122, and performs synchronization using the shadow area entry time point of the communication module 1110 storing the latest shadow area entry time point. The latest vehicle following behind may have the latest shadow area entry time point, but its position may change according to vehicle speed, joining the group and leaving the group, etc. In other words, synchronization is performed based on the currently stored shadow area entry time point. The communication modules 1110, 1121 and 1122 that perform synchronization form a group. Other communication modules 1110-1, 1121-1 and 1122-1 that enter the GNSS shadow area in the opposite direction and synchronize also form a group. When the first group 1110, 1121 and 1122 and the second group 1110-1, 1121-1 and 1122-1 meet in the GNSS shadow area, inter-group synchronization can be performed. At this time, inter-group synchronization can be performed in the order of the slow internal timer synchronization start time. In other words, since the shadow area entry time point is likely to be satisfied first in the latest order, synchronization can be performed in the order of transmitted and received signals that are close to each other.

[0143] like Fig. 20 As shown in , when the vehicle being driven enters the GNSS shadow area, V2X communication can be performed based on the internal timer. Here, the internal timer works even in the GNSS area. When it is determined to be in the GNSS shadow area, the UTC timestamp value is stored during communication by synchronizing with reference to the internal timer. When synchronizing time with other vehicles, the vehicle with the latest UTC timestamp value can become the reference vehicle for time synchronization. This is because the vehicle has the latest GNSS time information. When synchronizing time between groups, the UTC timestamps of representative vehicles are compared, and synchronization between groups is performed based on the vehicle with the latest GNSS time information.

[0144] Before receiving the shadow area entry time point from other communication modules, the processing unit 1112 calculates the minimum and maximum values ​​of the time uncertainty between the GNSS communication and the internal timer, performs temporary synchronization with other communication modules based on a reference signal within the range of the minimum and maximum values ​​of the time uncertainty, and can receive the shadow area entry time point from other communication units through temporary synchronization.

[0145] Temporary synchronization may be performed to receive the shadow area entry time point from other communication modules. Synchronization may be performed by sending and receiving the shadow area entry time point through temporary synchronization and sharing the latest shadow area entry time point.

[0146] To this end, first, Fig.21As shown in , the CV2X terminal vehicle can calculate the time uncertainty value by operating the internal timer at the same time and synchronizing the time with the GNSS at the same time. At this time, the time uncertainty value records the minimum and maximum values. Here, the minimum value (min) of the time uncertainty can be mim (Uusm), and the maximum value (max) can be max (Uussm). In addition, if the time synchronization between the groups is significantly closed during future synchronization between the groups and communication cannot be performed, synchronization is performed based on the reference signal (RS) within the measured time uncertainty value range. The synchronization method can use a synchronization method using a reference signal, and data can be received by fast temporary synchronization using a time uncertainty variable. After temporary synchronization, time and timestamp data can be received, and if the time information of the received data is the latest (compared to the timestamp), time synchronization can be performed with the corresponding data. After synchronization is performed, the timestamp data can update its timestamp value to the value of the synchronization terminal.

[0147] The synchronization between communication modules in the GNSS shadow area can be as follows Fig. 22 and Fig.23 First, when entering the GNSS shadow area, as shown in Fig. 22 As shown in , the shadow area entry time point is recorded, stored, and broadcasted. Thereafter, if there is no received data, its own communication module can be selected as a synchronization reference communication module (vehicle). If there is received data, the shadow area entry time point included in the corresponding data is compared with the stored shadow area entry time point. If there is no communication module (vehicle) with the latest shadow area entry time point, its own communication module is selected as the synchronization reference communication module (vehicle), and if there is a communication module (vehicle) with the latest shadow area entry time point, its own communication module is set as the synchronization target communication module (vehicle), and the latest shadow area entry time point is used to perform synchronization.

[0148] like Fig.23 As shown in , inter-group synchronization can be performed. After inter-group synchronization, data reception can be monitored, and the shadow area entry time point can be broadcast periodically. Thereafter, if no data is received, its own group can be used as a reference group to maintain intra-group communication. If there is received data, the shadow area entry time point of the other group included in the data is compared with the stored shadow area entry time point of the current group. If the shadow area entry time point of the current group is the latest, the group to which a group belongs is used as the reference group to maintain communication, and if the shadow area entry time point of the other group is the latest, the shadow area entry time point of the other group is used to perform time synchronization with the other group.

[0149] As described above, by performing synchronization using the shadow area entry time point, V2V communication can be performed even in the GNSS shadow area, and stable communication between surrounding vehicles can be performed even if the GNSS shadow lasts for a long time. In addition, if the error of the internal timer is small, communication can be performed without performing a time synchronization operation between groups, and if the error is large, temporary time synchronization can be performed by predicting the time synchronization part using the time uncertainty variable and the reference signal, and thereafter, time synchronization between groups can be performed using the received data.

[0150] Fig.24 is a flow chart of a communication method of a communication module according to a second embodiment of the present invention, and Figure 25 to Figure 29 is a flowchart of a communication method of a communication module according to a second embodiment of the present invention. Figure 24 to Figure 29 A detailed description of each step in Figures 15 to 23 A detailed description of the communication module in is given below, and any redundant description will be omitted below.

[0151] In order to enable the communication module in the GNSS shadow area to perform V2X communication, after entering the GNSS shadow area, in step S111, the latest time point of performing GNSS communication is stored as the shadow area entry time point based on the internal timer, and the shadow area entry time point is broadcast. Here, the stored shadow area entry time point can be broadcast periodically.

[0152] Thereafter, when a shadow area entry time point is received from another communication module, synchronization is performed using the latest shadow area entry time point of the received shadow area entry time point of the other communication module and the stored shadow area entry time points at step S112. Synchronization between communication modules is performed using the latest reliable shadow area entry time point.

[0153] Here, in step S121 , the communication module having the latest shadow area entry time point may be set as the synchronization reference communication module.

[0154] In addition, in step S131, a first group is formed with the communication modules performing synchronization, and communication with other communication modules within the first group may be performed.

[0155] During synchronization and communication as a group, if a shadow area entry time point is received from another communication module that does not belong to the first group, synchronization can be performed at step S141 using the latest shadow area entry time point of the received shadow area entry time point of the other communication module that does not belong to the first group and the shadow area entry time point of the first group.

[0156] In addition, if the latest shadow area entry time point changes, then in step S151 , the latest shadow area entry time point may be stored as its own shadow area entry time point.

[0157] Before receiving the shadow area entry time point from another communication module in step S112, temporary synchronization and data reception may be performed through steps S161 and S162. In step S161, the minimum and maximum values ​​of the time uncertainty between the GNSS communication and the internal timer are calculated, and temporary synchronization with another communication module is performed based on a reference signal within the range of the minimum and maximum values ​​of the time uncertainty, and in step S162, the shadow area entry time point may be received from another communication module through temporary synchronization.

[0158] Fig.30 is a block diagram of a communication module and a base station according to a third embodiment of the present invention.

[0159] The communication module 2110 and the base station 2120 according to the third embodiment of the present invention send and receive data through V2X communication to realize autonomous driving and intelligent transportation system. The communication module 2110 according to the third embodiment of the present invention includes a communication unit 2111 and a processing unit 2112, and the base station 2120 according to the third embodiment of the present invention includes a communication unit 2121 and a processing module 2122.

[0160] The communication module 2110 may be a communication module installed on a mobile device such as a vehicle to perform V2X communication. The base station 2120 may be a base station that performs V2X communication for autonomous driving using the communication module 2110 of the vehicle. Here, the base station 2120 may include at least one of a roadside base station (RSU, roadside unit) and a mobile communication base station (eNB). When communicating with a roadside base station, it may be V2I communication, and when communicating with a mobile communication base station, it may be V2N communication.

[0161] The communication module 2110 is installed on the vehicle, and when the vehicle enters the driving negotiation area, the communication module 2110 must perform driving negotiation with another communication module for automatic driving. At this time, in order to participate in the driving negotiation area, that is, in the lane, the base station 2120 can be a roadside base station located around the lane.

[0162] When entering the driving negotiation required area, the communication module 2110 performs driving negotiation using a driving negotiation message. To this end, when entering the driving negotiation required area, the communication unit 2111 sends and receives the driving negotiation message using the base station 2120 or another communication module 2131.

[0163] In order to achieve autonomous driving at level 4 or higher, vehicle-to-vehicle driving negotiation is necessary, rather than relying solely on the vehicle's own camera, LIDAR or radar to perform autonomous driving. In this case, driving negotiation can be achieved in autonomous driving by utilizing V2X communication, which enables communication with surrounding vehicles and infrastructure.

[0164] In particular, vehicle-to-vehicle driving negotiation is critical in areas where vehicles may come into contact. Here, areas where driving negotiation is required may be areas where vehicles on different roads meet, such as merging areas or intersections where roads intersect. In these areas, there is a risk of accidents due to lane overlap, and it is necessary to cooperate in driving between vehicles on how to drive in order to prevent accidents. In other words, in order to achieve autonomous driving at level 4 or higher, the autonomous vehicle must communicate with other vehicles at intersections and merging roads to exchange driving priorities and intentions to give way.

[0165] For example, Fig.31 As shown in , when vehicle B enters a merging road where vehicle A is driving, vehicle B can drive on route B-1 or route B-2 at the merging point. The decision on the driving route may vary depending on the speed or driving route of vehicle A. If the driving routes of vehicle A and vehicle B overlap, this may cause an accident. To prevent accidents, driving negotiation between vehicle A and vehicle B can be performed through V2V communication before vehicle B merges. At this time, vehicle A can decide whether to change its driving route to A-1 or continue driving on A-2. When vehicle A changes its driving route to A-1, vehicle B can decide whether to merge directly onto B-1, or if vehicle A continues to drive on A-2, continue to drive on route B-2 instead of B-1, and change the driving route of vehicle B after vehicle A passes. For vehicle-to-vehicle driving negotiation between vehicle A and vehicle B, a broadcast-based communication method in LTE-V2X can be used, but it is not easy to implement with only broadcast communication. In addition, considering that the communication frequency band of V2X is mainly 5.9GHz, there may be environmental conditions that make direct communication between vehicles difficult. The communication band used in V2X is 5.9GHz, and because V2X uses a higher frequency band, the frequency linearity is stronger than cellular communications such as LTE, which is not conducive to communication in non-line-of-sight (NLOS) environments. In addition, since the transmission power of each vehicle is limited, direct V2V communication between vehicles may not be smooth in environments such as highways.

[0166] For example, in an environment where communication is difficult due to the altitude difference between vehicle A and vehicle B on an elevated highway, or there is an obstacle such as a noise barrier between vehicle A and vehicle B, V2V communication between vehicles may have communication quality problems due to obstacles and altitude issues.

[0167] For driving cooperation in such an area where driving cooperation is required, the communication unit 2111 can perform driving negotiation through the base station 2120. In the case of V2I (Vehicle to Infrastructure) communication using a base station that can ensure LOS by adjusting a relatively high elevation angle and antenna angle, rather than V2V communication between vehicles, particularly a roadside base station (RSU), communication can be maintained with high reliability. In other words, when a roadside base station is used for driving negotiation, an environment conducive to communication in areas where communication is difficult, such as NLOS, can be ensured, and traffic flow can be controlled by reducing traffic volume through a link with a cooperative intelligent transportation system (C-ITS), and the roadside base station can mediate priorities in driving negotiation.

[0168] When the base station 2120 is located in an area where driving negotiation is required, the processing unit 2112 determines the driving scene in the area where driving negotiation is required by using the driving negotiation message received from the base station 2120. When the processing unit 2112 does not receive data for autonomous driving from the base station 2120 or another communication module 2131 or another infrastructure, the processing unit 2111 determines the driving scene for autonomous driving by using data about the external environment detected by a camera, LIDAR or radar installed on the vehicle, however, when data for autonomous driving or a driving negotiation message or a driving assistance message for driving negotiation is received from the outside, the driving scene can be determined by taking these into consideration together. Here, the driving scene determines how to continue driving in the future, and may be a scene of safe driving including driving speed, driving direction, driving lane, priority, whether to give way, etc.

[0169] The driving negotiation message received from the base station 2120 may include whether the other communication module 2131 is located in an area requiring driving negotiation, and driving information of the other communication module when the other communication module 2131 is located in an area requiring driving negotiation. The driving negotiation message may include various information in an area requiring driving negotiation, and in particular, the driving negotiation message may include driving information of the other communication module 2131 that may cause an accident. The driving negotiation message may include not only the other communication module 2131, but also various driving information related to driving in an area requiring driving negotiation (such as a vehicle or pedestrian not equipped with a V2X communication module).

[0170] The communication unit 2111 may receive not only a driving negotiation message but also a driving assistance message from the base station 2120. Here, the driving assistance message may include driving information determined by the base station 2120. For example, the driving assistance message may include at least one of an entry order, a driving route, a driving speed, and an expected position of another vehicle at a driving time point. The base station 2120 may not only play a role in transmitting driving information, but also determine which communication module has priority so that no accident occurs between the communication modules, and which driving route can prevent accidents when each communication module is driving, and may perform the role of an intermediary that transmits the judgment to the corresponding communication module.

[0171] When the base station 2120 is located in an area where driving negotiation is required, the communication unit 2111 performs V2I communication with the base station 2120 through the base station 2120 for driving negotiation, and when the base station 2120 is not located in an area where driving negotiation is required, the communication unit 2111 can directly perform driving negotiation through V2V communication using another communication module 2131.

[0172] Here, driving negotiation can be performed not only using broadcast communication but also using unicast communication or multicast communication.

[0173] The communication unit 2111 may search for the base station 2120 through broadcast communication, and receive the driving negotiation message through unicast communication. Both broadcast communication and unicast communication may be used according to the driving negotiation process.

[0174] When searching for the base station 2120, the communication unit 2111 transmits a search message including information about entering an area where driving negotiation is required, and a response message including unicast link setting information can be received from the base station 2120. When entering an area where driving negotiation is required, a base station 2120 that will perform driving negotiation in the area where driving negotiation is required can be searched (discovered) through broadcast communication. At this time, the search message for searching may include information that driving negotiation is required. Information that the current own vehicle requires driving negotiation, such as merging, may be included in a part of the search message.

[0175] The base station 2120 receives a search message from the communication module 2110 through the communication unit 2121, and if driving negotiation is required according to the information included in the search message, a response (answer) message is transmitted in response to the search message. At this time, the response message may transmit the information required for unicast link establishment, that is, information about radio resources. Here, the unicast link establishment information may include at least one of the position of the subchannel, the number of subchannels, the transmission (Tx) power, and the effective time of the radio resources. The subchannel is a channel distinguished by time and frequency, and may include the position and number of subchannels available for driving negotiation, the transmission power, and the effective time of the radio resources. When a response message is received from the base station 2120, the processing unit 2112 may connect the unicast link using the subchannel with the lowest received signal strength among the subchannels included in the response message. The unicast link can be connected by selecting a subchannel with a low RSSI (received signal strength) in the bandwidth designated for driving negotiation through a sensing-based method, and the driving negotiation can be performed through unicast communication with the base station 2120. As Fig.32 and Fig.33 As shown in , broadcast communication 2141 may be used when searching for a base station 2120, and unicast communication 2142 may be used when sending and receiving a driving negotiation message.

[0176] When the base station 2120 receives the search message including the information that driving negotiation is required from the communication module 2110, the base station 2120 transmits a response message and generates a driving negotiation message or a driving assistance message, and may transmit it to the communication module 2110. When generating the driving negotiation message or the driving assistance message, the base station 2120 may use driving information of another communication module in the area where driving negotiation is required.

[0177] The base station 2120 may receive a driving information message including a driving route and a driving speed from another communication module 2131 in the area requiring driving negotiation through broadcast communication, perform paging to another communication module in the area requiring driving negotiation through multicast communication, and transmit a driving assistance message to another communication module in the area requiring driving negotiation through unicast communication. The base station 2120 may receive a report of a driving information message from another communication module 2131 in the area requiring driving negotiation. Fig.34 and Fig.35As shown in , when another communication module 2131 and 2132 enters an area where driving negotiation is required, it transmits its own driving information message to the base station 2120 through broadcast communication 2141. When driving negotiation is required, the base station 2120 performs paging on other communication modules 2131 and 2132 that need to perform driving negotiation by using multicast communication 2143. Here, multicast communication is a V2X communication method that performs communication only on the communication module 2110 set as a group, and data can be effectively transmitted to all communication modules 2110 grouped by multicast. Paging is a method of transmitting a call signal to identify the location of the corresponding communication module in order to perform communication, and by performing paging by using multicast communication 2143 instead of broadcast communication 2141, paging can be effectively performed only on the communication module that needs driving negotiation. Through paging, information that the driving negotiation message needs to be transmitted and received for driving negotiation and information about wireless resources for establishing a unicast link can be transmitted. Here, the information about wireless resources may include the location of the subchannel, the number of subchannels, the transmission power, and the effective time of the wireless resource. Thereafter, when a unicast link is established, driving negotiation messages may be transmitted and received with another communication module 2131 via unicast communication 2142 .

[0178] The base station 2120 can generate a driving assistance message using the driving information of other communication modules 2131 in the driving negotiation required area, and the communication unit 2111 can receive a driving assistance message according to another communication module in the driving negotiation required area from the base station through unicast communication. Here, the driving assistance message can be a driving scene of each communication module determined by the base station 2120 using the driving information of the communication module in the driving negotiation required area received by the base station 2120, and can be a merged assistance (help) message according to the intermediary role of the base station 2120. Here, the driving assistance message may include a recommended moving route, a moving speed, the expected position of surrounding vehicles at the driving time point, etc. The processing unit 2112 can determine the driving scene in the driving negotiation required area using information obtained from sensors installed on its own vehicle, a high-precision map, and a driving negotiation message and a driving assistance message received from the base station 2120 through C-V2X. At this time, a weight can be applied to the driving assistance message received from the base station 2120, and the driving scene can be determined based on this. The base station 2120 may also transmit a driving negotiation message to another communication module 2131 and receive a driving negotiation message to implement autonomous driving according to the driving negotiation between the communication modules.

[0179] The communication module 2110 is a communication module installed on the vehicle, and the driving negotiation required area may be a merging area where multiple roads merge. The base station 2120 receives reports on the expected driving routes of other communication modules 2131 and 2132 entering the main road, and when a merging request to merge into the driving road appears from the communication module 2110, it can be communicated through Fig.36 and Fig.37 The communication module 2110 that wishes to merge first checks whether the base station 2120 exists in the merged area as the driving negotiation required area through broadcast communication, such as Fig.36 As shown in , and if the base station 2120 does not exist, driving negotiation can be performed through direct V2V communication. If the base station 2120 exists, a unicast link can be established, and the driving negotiation message can be transmitted to the base station 2120 and received from the base station 2120 through unicast communication. After receiving the above driving negotiation message, the unicast link connection can be released. When the message exchange is completed, the unicast link connection can be released so that the frequency of the corresponding subchannel can be reused. Thereafter, the communication module 2110 can use the data included in the driving negotiation message or driving assistance message received from the base station 2120 and the high-precision positioning calculated by latitude / longitude, distance measurement, azimuth and driving speed included in the sensor measurement data to determine the driving scenario and perform collaborative driving accordingly.

[0180] When the base station 2120 receives a merge request from the communication module 2110 through a search message, the base station 2120 determines whether the other communication modules 2131 and 2132 driving on the driving road need driving control, and if there is no accident risk with the other communication modules 2131 and 2132 and driving control is not required, the base station 2120 does not perform any operation on the other communication modules 2131 and 2132. When driving control is required for the other communication modules 2131 and 2132, the communication module of the target vehicle can be called by paging, a unicast link can be established, and a driving negotiation message can be transmitted and received by unicast communication, so that the other communication modules 2131 and 2132 can drive according to the driving negotiation. After receiving the driving negotiation message, the unicast link connection can be released.

[0181] When a vehicle not equipped with a communication module is located in the driving negotiation required area, the base station 2120 may detect driving information of the vehicle not equipped with a communication module and generate a driving negotiation message or a driving assistance message using the detected driving information. Fig.38As shown in , when a vehicle 2133 not equipped with a V2X communication module is located, the base station 2120 can estimate the moving speed of the driving vehicle 2133 by utilizing sensors such as a camera, LIDAR, and radar, determine the driving scene, and transmit a driving assistance message to the communication module 2110 that wants to merge into the merge lane. Here, as Fig.38 As shown in , a vehicle equipped with a V2X communication module but without a driving negotiation function can also perform driving negotiation via base station 2120.

[0182] like Fig.39 As shown in , when a vehicle 2131 equipped with a V2X communication module and a vehicle 2133 not equipped with a V2X communication module are located in a driving lane, the base station 2120 can predict the driving path of the vehicle 2133, exchange driving negotiation messages with the vehicle 2131, and then transmit a driving assistance message to the communication module 2110.

[0183] As described above, for the communication module 2110 merging into the merging road, the base station 2120 can mediate the driving negotiation with another communication module driving on the driving road so that the driving negotiation can occur. Through this, in autonomous driving using V2X, the geographical limitations of communication during driving negotiation can be overcome by the base station, and smooth traffic control can be performed through the link with the intelligent transportation system (C-ITS), and the base station can act as a mediator during driving negotiation. In addition, in the case of conventional LTE-V2X-based communication, only broadcasting is possible, so it is impossible to know whether the communication packet has been received, but during driving negotiation, unicast or multicast can be used to confirm the intention of the receiving vehicle, and by using unicast and multicast instead of simple broadcasting, the efficiency of communication can be increased and interference can be minimized.

[0184] The driving negotiation required area may include a situation where overtaking occurs, and at this time, the communication unit 2111 may transmit an overtaking message to another communication module through broadcast communication when approaching another communication module, and may transmit and receive driving negotiation messages with another communication module through unicast communication. The driving negotiation required area may include a situation where overtaking occurs, and at this time, the communication unit 2111 may transmit an overtaking message to another communication module through broadcast communication when approaching another communication module, and may transmit and receive driving negotiation messages with another communication module through unicast communication.

[0185] like Fig.40 and Fig.41As shown in , when a vehicle equipped with a communication module 2110 approaches a vehicle equipped with another communication module 2131, an overtaking message including information that the vehicle is approaching from behind may be transmitted through broadcast communication 2141. At this time, information for establishing a unicast link may be transmitted, and a subchannel with a low RSSI received through a sensing-based method may be selected in a bandwidth specified through driving negotiation to establish a unicast link.

[0186] In the case of LTE-V2X, blind retransmission can be used to retransmit messages regardless of whether the other vehicle successfully received the message. Fig.40 In a scenario such as overtaking in a two-lane environment shown in , since the intention of the other vehicle 2131 is very important, a unicast communication method to which a hybrid automatic repeat request (HARQ) can be applied can be used instead of using a broadcast communication method in LTE-V2X.

[0187] The communication unit 2111 transmits an overtaking request message to another communication module, and receives an overtaking approval message or an overtaking rejection message from another communication module, wherein the overtaking approval message may include the front camera information of the other communication module.

[0188] The overtaking request message may include information such as the driving speed of the vehicle equipped with the communication module 2110, the driving speed during overtaking acceleration, and whether the vehicle A is requested to decelerate. The vehicle equipped with another communication module 2131 can send back an overtaking consent (acceptance) or refusal to accept (rejection) message after receiving the overtaking request message, and at this time, the capability of the vehicle sensor can be transmitted to transmit information such as whether the front camera device information can be transmitted. Through this, the communication module 2110 can receive the sensor data of the previous vehicle in a two-lane two-way road environment where it is difficult to ensure the front view, and stably receive the sensor data about the front view ensured by the previous vehicle through unicast communication.

[0189] The communication unit 2111 transmits the second driving negotiation message after transmitting the first driving negotiation message to the other communication module 2131 , and may retransmit the first driving negotiation message upon receiving a NACK signal of the first driving negotiation message. Fig.42An example of transmitting and receiving messages by the HARQ method when driving negotiation is performed with unicast communication is shown. In order to increase the transmission efficiency with the HARQ method, the transmission efficiency can be increased by using at least two channels instead of a single channel. For example, in the case where a large amount of transmission data such as sensor data is required, the use of multiple channels is more advantageous in terms of transmission efficiency than the use of a single channel. That is, the communication module 2110 transmits message 1 through channel A and sends message 2 through channel B without waiting for ACK / NACK from another communication module 2131, but when a NACK signal for message 1 is received, message 1 can be retransmitted through an available channel in the next transmission round.

[0190] The communication module 2110 according to the third embodiment of the present invention can use multicast as well as broadcast and unicast when performing driving negotiation. The communication module 2110 according to the third embodiment of the present invention includes: a communication unit 2111, which transmits a driving negotiation message to a base station 2120 and receives a driving negotiation message from the base station 2120 when entering a driving negotiation required area; and a processing unit 2112, which uses the driving negotiation message received from the base station 2120 to determine the driving scene in the driving negotiation required area, and can use broadcast communication to receive information about the driving negotiation required area from the base station, and can receive a driving negotiation message or a driving assistance message for a communication module located in the driving negotiation required area through multicast communication. In the case where a message for driving negotiation must be transmitted to and received from a communication module corresponding to a specific condition, multicast communication can be used to effectively transmit and receive messages.

[0191] Here, the driving negotiation required area may be an intersection or a roundabout. In the case of a roundabout, the communication module 2110 rotating in the roundabout may be multicasted, and a driving assistance message for driving negotiation may be transmitted through multicast communication. At this time, the driving assistance message may include at least one of an entry time point to the roundabout and a driving priority.

[0192] like Fig.43 As shown in , in a roundabout, a multicast method can be used to determine the entry time and driving priority of the roundabout. The base station 2120 in the roundabout can basically form a group broadcast with the vehicles that wish to enter the roundabout. Fig.44As shown in , before entering the roundabout, the communication module 2110 can receive roundabout information from the roadside base station through broadcast communication 2141. The received roundabout information may include information for unicast link setting. The communication module 2110 can receive multicast information of the roundabout from the base station 2120 through unicast communication 2142, and then receive information such as the entry time and driving priority of the roundabout through multicast communication 2143 to perform driving negotiation.

[0193] In the case where the driving negotiation required area is an intersection, multicast is set according to the type of driving lane in the driving negotiation required area, and the communication unit 2111 can receive the driving negotiation message through the multicast communication corresponding to the multicast to which the communication module 2110 belongs. Unlike a roundabout where multicast is set according to whether it is within the rotating part of the roundabout, multicast can be set for vehicles with high driving relevance in a general intersection. At this time, Fig.43 As shown in , multicast can be set according to the type of driving lane. For example, driving negotiation can be performed by dividing the multicast into a left-turn lane 2144 and a right-turn lane 2145. Since each multicast has different signal information and pedestrian information, automatic driving can be performed by judging the signal information and the presence or absence of pedestrians, etc. The base station 2120 transmits the multicast information currently used at the intersection through constant broadcast communication 2141, and the communication module receives the driving negotiation message corresponding to the communication module's own driving lane through multicast communication 2143. Each communication module uses the following method, in which only the multicast message corresponding to each communication module itself is received, and the remaining multicast messages are discarded. Through this, the time for message decoding can be reduced, and if directionality is added to the Tx transmission direction of the base station, the frequency interference between multicast communications can also be minimized.

[0194] Fig.47 is a block diagram of an automatic driving and intelligent transportation system according to a third embodiment of the present invention. Fig.47 A detailed description of each component corresponds to Figures 30 to 46 A detailed description of the communication module and the base station is given below, and therefore, any redundant description will be omitted.

[0195] The automatic driving and intelligent transportation system 2200 according to the third embodiment of the present invention includes: a base station 2120, which is located in a driving negotiation required area, receives a search message or a driving information message from a communication module in the driving negotiation required area, and transmits the driving negotiation message to the communication module requiring driving negotiation when driving negotiation is required between the communication modules in the driving negotiation required area; and a communication module 2110, which determines the driving scene in the driving negotiation required area by using the driving negotiation message received from the base station when entering the driving negotiation required area. Here, the base station 2120 and the communication module 2110 can transmit and receive the search message or the driving information message through broadcast communication, and can transmit and receive the driving negotiation message through unicast communication.

[0196] Fig.48 is a flowchart of a V2X driving negotiation method according to a third embodiment of the present invention, and Fig.49 4 is a flowchart of a V2X driving negotiation method according to a third embodiment of the present invention. Fig.48 and Fig.49 A detailed description of each step corresponds to Figures 30 to 47 A detailed description of the communication module and the base station is given, and therefore, any redundant description will be omitted below.

[0197] In order to perform V2X driving negotiation, in step S211, the communication module first searches for a base station through broadcast communication, and receives a driving negotiation message through unicast communication in step S212. Then in step S213, the driving negotiation message is used to determine the driving scene in the driving negotiation required area. That is, driving negotiation can be performed through the base station, but broadcast communication and unicast communication can be used to increase communication efficiency.

[0198] In addition, in order to perform V2X driving negotiation, in step S221, the communication module receives information about the driving negotiation required area from the base station through broadcast communication, in step S222, receives a driving negotiation message or a driving assistance message for the communication module located in the driving negotiation required area through multicast communication, and then in step S213, determines the driving scene in the driving negotiation required area using the driving negotiation message. That is, the driving negotiation can be performed by the base station, but the communication efficiency can be improved by using broadcast communication, unicast communication, and multicast communication.

[0199] Through this, geographical limitations of communication during driving negotiation in autonomous driving using V2X can be overcome by the base station, unimpeded traffic control can be performed through a link with an intelligent transportation system (C-ITS), and the base station can act as a mediator during driving negotiation. In addition, in the case of conventional LTE-V2X-based communication, only broadcasting is possible, which makes it impossible to know whether a communication packet is received, but during driving negotiation, unicast or multicast can be utilized to confirm the intention of the receiving vehicle, and by utilizing unicast and multicast instead of simple broadcasting, communication efficiency can be increased and interference can be minimized.

[0200] Meanwhile, the embodiments of the present invention may be implemented as computer-readable codes on a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices storing data readable by a computer system.

[0201] As examples of computer-readable recording media, there are ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage device; in addition, the computer-readable recording medium is distributed on a networked computer system; and the computer-readable code can be stored and executed in a distributed manner. In addition, programmers in the technical field to which the present invention belongs can easily infer the functional program, code, and code segment for implementing the present invention.

[0202] Those skilled in the art associated with this embodiment will be able to understand that this embodiment can be implemented in a modified form without departing from the basic features described above. Therefore, the disclosed method should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is shown in the claims rather than in the foregoing description, and all differences within the scope of equivalence will be interpreted as included in the present invention.

Claims

1. A communication module, comprising: a communication unit configured to receive communication channel configuration information for performing V2X communication from a base station; as well as a processor configured to allocate bandwidth for each function for performing V2X communication according to the communication channel configuration information and generate communication data, The communication channel configuration information varies according to the area where the communication module is located.

2. The communication module according to claim 1, in, The communication channel configuration information is set according to area information within a coverage area of ​​the base station, and changes according to changes in conditions within the coverage area of ​​the base station.

3. The communication module according to claim 1, in, The communication channel configuration information varies in bandwidth used for an autonomous driving function according to at least one of pedestrian information, traffic information, and vehicle density within a coverage area of ​​the base station.

4. The communication module according to claim 1, in, The communication channel configuration information is periodically transmitted from the base station.

5. The communication module according to claim 1, in, The communication channel configuration information is transmitted at a first cycle, and when the communication channel configuration information changes, the transmission cycle of the communication channel configuration information is transmitted at a second cycle faster than the first cycle within a predetermined time.

6. A base station, comprising: a processor configured to set communication channel configuration information for performing V2X communication using area information within a coverage area; as well as A communication unit is configured to transmit the communication channel configuration information to the coverage area.

7. The base station according to claim 6, in, The processor changes the communication channel configuration information according to changes in conditions within the coverage area.

8. The vehicle terminal according to claim 6, in, The processor sets the communication channel configuration information to allocate bandwidth for the autonomous driving function according to at least one of pedestrian information, traffic information, and vehicle density within the coverage area.

9. The base station according to claim 6, in, The communication unit receives module information from one or more communication modules located within the coverage area, and The processor uses the received module information to set the communication channel configuration information.

10. The base station according to claim 6, in, The communication unit transmits the communication channel configuration information in a first cycle.

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