V2X communication module

Abstract

The communication module according to the first embodiment of the present invention includes a communication unit that receives communication channel configuration information for performing V2X communication from a base station, and a processing unit that assigns bandwidths for each function for performing V2X communication according to the received communication channel configuration information and generates communication data. The communication channel configuration information is variable according to the area where the communication module is located.

Description

Technical Field

[0001] The present invention relates to a communication module, and more specifically, 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] For the commercialization of autonomous driving and intelligent transportation systems, a V2X function capable of communicating between vehicles and things is required. V2X communication means communication that provides information through wired and wireless networks centered on vehicles. Wireless communication between vehicles (V2V: Vehicle to Vehicle), wireless communication between vehicles and infrastructure (V2I: Vehicle to Infrastructure), in-vehicle wired and wireless networking (IVN: In-Vehicle Networking), communication between vehicles and mobile terminals (V2P: Vehicle to Pedestrian), etc. are collectively called V2X. By using V2X, the information environment, stability, convenience, etc. of vehicles and roads can be improved.

[0003] There are various types of applications that utilize V2X, and it may be a problem to efficiently utilize limited frequency resources. If the environment where traffic of a specific application gathers is not considered, there may be problems with the quality of the application itself.

[0004] In addition, V2X communication performs time synchronization for communication using GNSS. However, in GNSS shadow areas such as tunnels, GNSS communication is difficult, so a technology capable of synchronizing between communication modules is required.

[0005] In addition, when vehicles traveling on different roads merge, such as at an intersection, if V2V communication between them is not smoothly performed, driving cooperation cannot be carried out and there is a risk of accidents.

Summary of the Invention

Problems to be Solved by the Invention

[0006] 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 that dynamically allocate the V2X frequency bandwidth for autonomous driving and intelligent transportation systems.

[0007] Another technical problem to be solved by the present invention is an invention related to a communication module capable of V2X communication in a GNSS shadow area and a communication method of the communication module.

[0008] Yet another 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 that perform driving cooperation.

Means for Solving the Problems

[0009] To solve the above technical problems, a communication module according to a first embodiment of the present invention includes a communication unit that receives communication channel configuration information for performing V2X communication from a base station, and a processing unit that generates communication data by allocating a bandwidth for each function for performing V2X communication according to the received communication channel configuration information, wherein the communication channel configuration information varies according to the area where the communication module is located.

[0010] Further, the communication channel configuration information is set according to the regional information within the coverage area of the base station, but can be varied according to changes in the situation within the coverage area of the base station.

[0011] Further, the communication channel configuration information can change the bandwidth 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.

[0012] Further, the communication channel configuration information can be periodically transmitted from the base station.

[0013] Also, although the communication channel configuration information is transmitted in a first period, when the communication channel configuration information is changed, the transmission period of the communication channel configuration information can be transmitted in a second period faster than the first period for a predetermined time.

[0014] To solve the above technical problem, a base station according to a first embodiment of the present invention includes a processing unit that sets communication channel configuration information for performing V2X communication by using regional information within a coverage area, and a communication unit that transmits the set communication channel configuration information to the coverage area.

[0015] Also, the processing unit can change the communication channel configuration information according to a change in the situation within the coverage area.

[0016] Also, the processing unit can set the communication channel configuration information so as to allocate a bandwidth for an autonomous driving function according to at least one of pedestrian information, traffic information, and vehicle density within the coverage area.

[0017] Also, the communication unit receives module information from one or more communication modules located within the coverage area, and the processing unit can set the communication channel configuration information by using the received module information.

[0018] Also, the communication unit can transmit the communication channel configuration information in a first period.

[0019] Also, when the processing unit changes the communication channel configuration information, the communication unit can transmit the changed communication channel configuration information in a second period faster than the first period for a predetermined time.

[0020] To solve the above technical problems, the autonomous driving and intelligent transportation system according to the first embodiment of the present invention sets communication channel configuration information for performing V2X communication by using regional information within a coverage area, and transmits the set communication channel configuration information to the coverage area. A base station, and when located within the coverage of the base station, receives the communication channel configuration information, and assigns a bandwidth for each function for performing V2X communication according to the received communication channel configuration information, and includes a communication module for performing V2X communication.

[0021] Further, the base station can set the communication channel configuration information so as to allocate a bandwidth for the autonomous driving function according to at least one of pedestrian information, traffic information, and vehicle density within the coverage area.

[0022] To solve the above technical problems, the communication method of the communication module according to the second embodiment of the present invention is a communication method of the communication module within the GNSS shadow area. When entering the GNSS shadow area, the latest time point when GNSS communication was performed based on an internal timer is saved as the shadow area entry time point, and the step of broadcasting the shadow area entry time point, and when receiving the shadow area entry time point from another communication module, using the latest shadow area entry time point among the received shadow area entry time point of the other communication module and the saved shadow area entry time point for synchronization.

[0023] Further, it may include the step of setting the communication module having the (most) latest shadow area entry time point as a synchronization reference communication module.

[0024] Further, it may include the step of forming a first group with the communication module that has performed synchronization and communicating with other communication modules within the first group.

[0025] Also, when receiving the shadow area entry time from another communication module that does not belong to the first group, it may include the step of performing synchronization by using the (most) recent shadow area entry time among the received shadow area entry time of the other communication module that does not belong to the first group and the shadow area entry time of the first group.

[0026] Also, the stored shadow area entry time can be periodically broadcast.

[0027] Also, when the (most) recent shadow area entry time is changed, it may include the step of storing the (most) recent shadow area entry time as its own shadow area entry time.

[0028] Also, before receiving the shadow area entry time from the other communication module, calculate the minimum and maximum values of the time uncertainty degree between the GNSS communication and the internal timer, and perform temporary synchronization with the other communication module based on the reference signal within the range of the minimum to maximum values of the time uncertainty degree, and receiving the shadow area entry time from the other communication module through the temporary synchronization.

[0029] To solve the above technical problem, the communication module according to the second embodiment of the present invention includes a processing unit that stores the most recent time point when GNSS communication was performed based on the internal timer as the shadow area entry time when entering the GNSS shadow area, and a communication unit that broadcasts the shadow area entry time. When the processing unit receives the shadow area entry time from another communication module, it performs synchronization by using the (most) recent shadow area entry time among the received shadow area entry time of the other communication module and the stored shadow area entry time.

[0030] In addition, the processing unit forms a first group with the communication module that has performed the synchronization. When the communication unit receives the shadow area entry time from another communication module that does not belong to the first group, it can perform synchronization by using the (most) recent shadow area entry time among the shadow area entry time of the other communication module that does not belong to the received first group and the shadow area entry time of the first group.

[0031] In addition, the communication unit can periodically broadcast the stored shadow area entry time.

[0032] In addition, when the (most) recent shadow area entry time is changed, the processing unit can save the (most) recent shadow area entry time as its own shadow area entry time.

[0033] In addition, before receiving the shadow area entry time from the other communication module, calculate the minimum and maximum values of the time uncertainty between GNSS communication and the internal timer, and perform temporary synchronization with the other communication module based on the reference signal within the range of the minimum to maximum values of the time uncertainty, and through the temporary synchronization, the shadow area entry time can be received from the other communication module.

[0034] To solve the above technical problems, the communication module according to the third embodiment of the present invention includes a communication unit that transmits and receives a running negotiation message to / from a base station or another communication module when entering a running negotiation required area; and a processing unit that determines a running scenario within the running negotiation required area by using the running negotiation message received from the base station when the base station is located in the running negotiation required area, searches for the base station by broadcast communication, and receives the running negotiation message by unicast communication.

[0035] In addition, when searching for the base station, the communication unit can transmit a search message including running negotiation required area entry information and receive a response message including unicast link setting information from the base station.

[0036] Also, the unicast link setting information can include at least one of the position of the subchannel, the number of subchannels, the transmission (Tx) power, and the valid time for radio resources.

[0037] Also, the processing unit can connect a unicast link by using the subchannel with the lowest received signal strength among the subchannels included in the response message.

[0038] Also, the processing unit can release the unicast link connection after receiving the running negotiation message.

[0039] Also, the communication unit receives, through unicast communication, from the base station the running negotiation message including the running information of another communication module if another communication module is located within the running negotiation required area, or the running assistance message by another communication module within the running negotiation required area, and the running assistance message can include at least one of the entry order, the running route, the running speed, and the predicted position of other vehicles at the running time point.

[0040] Also, the base station receives a running information message including the running route and the running speed from other communication modules within the running negotiation required area by broadcast communication, performs paging with other communication modules within the running negotiation required area by groupcast communication, and can transmit the running assistance message to other communication modules within the running negotiation required area by unicast communication.

[0041] Also, when a vehicle without a communication module installed is located within the running negotiation required area, the base station senses the running information of the vehicle without the communication module installed and can generate the running negotiation message or the running assistance message by using the sensed running information.

[0042] Further, the communication module is a communication module mounted on a vehicle, and the necessary area for driving negotiation may be a merging area where a plurality of roads merge.

[0043] Also, the base station may include at least one of a roadside unit (RSU) and a mobile communication base station (eNB).

[0044] Further, when approaching the other communication module, the communication unit transmits an overtaking message to the other communication module by broadcast communication, transmits and receives a driving negotiation message with the other communication module by unicast communication, and after transmitting a first driving negotiation message to the other communication module, transmits a second driving negotiation message. However, when receiving a NACK signal for the first driving negotiation message, the first driving negotiation message can be retransmitted.

[0045] Also, the communication unit transmits a passing request message to the other communication module and receives a passing approval message or a passing rejection message from the other communication module. The passing approval message may include front camera information of the other communication module.

[0046] In order to solve the above technical problem, a communication module according to another embodiment of the third embodiment of the present invention includes a communication unit that transmits and receives a driving negotiation message to and from a base station when entering a necessary area for driving negotiation, and a processing unit that determines a driving scenario within the necessary area for driving negotiation by using a driving negotiation message received from the base station. The communication unit receives information on the necessary area for driving negotiation from the base station by using broadcast communication, and receives a driving negotiation message or a driving assistance message through group cast communication for a communication module located within the necessary area for driving negotiation.

[0047] Also, the necessary area for driving negotiation is a rotary intersection, and the driving assistance message may include at least one of a time point of entering the rotary intersection and a driving priority order.

[0048] Further, the necessary area for driving negotiation is an intersection, and the group cast performed depends on the type of driving lane within the necessary area for driving negotiation. The communication unit can receive the driving negotiation message through group cast communication corresponding to the group cast to which the communication module belongs.

[0049] To solve the above technical problem, the autonomous driving and intelligent transportation system according to the third embodiment of the present invention is located in a necessary area for driving negotiation, receives a search message or a driving information message from a communication module within the necessary area for driving negotiation, and according to the necessity of driving negotiation between communication modules within the necessary area for driving negotiation, a base station that transmits a driving negotiation message to a communication module that requires driving negotiation, and a communication module that determines a driving scenario within the necessary area for driving negotiation by using the driving negotiation message received from the base station when entering the necessary area for driving negotiation. The search message or the driving information message is transmitted and received by broadcast communication, and the driving negotiation message is transmitted and received by unicast communication.

Advantages of the Invention

[0050] According to the embodiments of the present invention, in autonomous driving that utilizes V2X, the utilization efficiency of frequency resources can be improved compared to the case of using frequency resources in a fixed form. Considering regional characteristics, more bandwidth can be allocated to important applications, and the service quality can be improved. It is possible to utilize dynamic frequency resources by using only a small part of the bandwidth of V2X and a base station without using separate hardware or communication technologies. In addition to dynamic frequency allocation according to geographical characteristics, dynamic frequency allocation is also possible considering regional characteristics over time.

[0051] Also, according to the embodiments of the present invention, V2V communication is possible even in GNSS shadow areas, and stable communication is possible among surrounding vehicles even when the GNSS shadow duration is long. Also, when the error with the internal timer is small, communication is possible without group Time sync operation. When many errors occur, temporary time synchronization is possible by predicting the time synchronization section using the Time uncertainty variable and the Reference Signal. After that, inter-group time synchronization is possible with the received data.

[0052] Also, according to the embodiments of the present invention, in autonomous driving utilizing V2X, geographical constraints on communication during driving negotiation can be overcome through a base station. Also, smooth traffic control is possible through cooperation with the Cooperative Intelligent Transport System (C-ITS), and the base station can play the role of a mediator during driving negotiation. Furthermore, in conventional LTE-V2X-based communication, only Broadcast is possible, and it is not possible to know whether a communication packet has been received. However, during driving negotiation, it is possible to confirm the intention of the receiving vehicle by utilizing Unicast or Groupcast, and the efficiency of communication can be enhanced and interference can be minimized by utilizing Unicast and Groupcast rather than simple Broadcast.

Brief Description of the Drawings

[0053]

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Embodiments for Carrying Out the Invention

[0054] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0055] However, the technical idea of the present invention is not limited to some of the described embodiments, but can be implemented in various different forms, and within the scope of the technical idea of the present invention, one or more of the components can be selectively combined or replaced between the embodiments and used.

[0056] In addition, terms (including technical and scientific terms) used in the embodiments of the present invention can be interpreted in the meaning generally understood by those with ordinary knowledge in the technical field to which the present invention pertains, unless specifically defined and described otherwise, and terms generally used like those defined in a dictionary can be interpreted considering their meaning in the context of the related art.

[0057] Also, the terms used in the embodiments of the present invention are for the purpose of explaining the embodiments and do not limit the present invention.

[0058] In this specification, the singular form can include the plural form as well, unless otherwise specifically mentioned in the text. When it is described as "at least one (or more) of A, B, and C", it can include one or more of all combinations formed by A, B, and C.

[0059] In addition, when describing the components of the embodiments of the present invention, terms such as first, second, A, B, (a), (b), etc. can be used. These terms are for distinguishing the components from other components and are not limited to the essence, order, or sequence of the components by those terms.

[0060] And when a component is described as being "connected", "coupled", or "joined" to another component, that component can include not only the case where it is directly "connected", "coupled", or "joined" to the other component, but also the case where it is "connected", "coupled", or "joined" by another component between that component and the other component.

[0061] Also, when described as being formed or disposed "above (on top of)" or "below (beneath)" each component, "above (on top of)" or "below (beneath)" includes not only the case where two components are in direct contact with each other, but also the case where one or more other components are formed or disposed between the two components. Further, when expressed as "above (on top of)" or "below (beneath)", it can include not only the upward direction but also the downward direction with respect to one component.

[0062] A modification according to this embodiment can include a part of the configuration of one of the embodiments and a part of the configuration of another embodiment. That is, the modification includes one of the various embodiments (the first to third embodiments), but a part of the configuration is omitted and can include a part of the configuration of the corresponding other embodiment. Or vice versa. The features, structures, effects, etc. described in the embodiments are included in at least one embodiment and are not necessarily limited to one embodiment. Further, those skilled in the art in the field to which the embodiments belong can combine or modify and implement the features, structures, effects, etc. exemplified in each embodiment for other embodiments. Therefore, the content related to such combinations and modifications should be interpreted as being included in the scope of the embodiments.

[0063] FIG. 1 is a block diagram of a communication module and a base station according to a first embodiment of the present invention.

[0064] 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 in order to realize autonomous driving and an 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.

[0065] The communication module 110 may be a communication module that performs V2X communication mounted on the same moving device as the vehicle. The base station 120 is a base station capable of V2X communication and can be a roadside base station located around the road for communicating with the vehicle via an RSU (Road Side Unit) or a mobile communication base station (eNB). When the communication module 110 mounted on the vehicle communicates with the roadside base station, it is V2I communication, and when the communication module 110 mounted on the vehicle communicates with the mobile communication base station, V2N communication can be performed. Hereinafter, the base station will be described mainly with the roadside base station as the center, but it is not limited thereto.

[0066] When the communication module 110 and the base station 120 perform V2X communication, first, they transmit and receive communication channel configuration information for performing V2X communication. At this time, the communication channel configuration information may change depending on the regional characteristics of the corresponding base station 120 for each base station 120, and may vary depending on the base station 120 that covers the area where the communication module 110 is currently located due to the change of the area where the communication module 110 is located.

[0067] Wireless communication such as V2X requires frequency resources for utilization. Especially in the case of frequency allocation, since it must be used only for the specified purpose within the determined bandwidth, efficiently utilizing frequency resources is an important issue in wireless communication including V2X. Figure 2 is an example of classifying the bandwidth by communication method. Different V2X technologies between different types can utilize different frequency bands and can be utilized simultaneously for autonomous driving and intelligent transportation systems. In the case of V2X, band47 is used, and Figure 2 exemplifies the case where 70MHz is used as the bandwidth for V2X. As shown in Figure 2, LTE-V2X, DSRC (Dedicated Short Range Communication), and NR (new Radio)-V2X can be utilized simultaneously using other frequency bands.

[0068] Figure 3 is an example further classified by applications that utilize bandwidth. Each different application can enhance frequency interference and the reliability for V2X communication by utilizing only the assigned bandwidth. That is, platooning, V2P (Vehicle to Pedestrian, an application for stability between vehicles and pedestrians), tolling, traffic information, and autonomous driving applications are each assigned bandwidth, enabling the realization of autonomous driving and intelligent transportation systems.

[0069] The communication module 110 and the base station 120 according to the first embodiment of the present invention utilize a variable bandwidth in which the bandwidth is dynamically assigned according to regional characteristics, rather than a fixed bandwidth for each application. Depending on regional characteristics, there may be different applications that are important or have a large amount of data that needs to be processed, and the bandwidth configuration can be dynamically assigned differently.

[0070] For example, as shown in Figure 4, the bandwidth can be dynamically assigned differently according to applications. (A) is the bandwidth allocation configuration on a general road, and (B) is the bandwidth allocation configuration on a highway. In an environment such as a highway, since there is less need to consider pedestrians, in that area, the bandwidth for V2P to surrounding vehicles can be excluded, and more bandwidth can be allocated to traffic information and autonomous driving, where the data size may relatively be larger.

[0071] According to Shannon's Theorem, C = Blog2(1 + S / N), where B is the bandwidth. It can be seen that the size of the bandwidth plays a decisive role in the channel capacity. Therefore, it is possible to expect an improvement in the communication quality of important intelligent transportation information and autonomous driving on highways.

[0072] When trying to control parameters such as the bandwidth configuration of a V2X terminal, the size of the data required for this purpose is not large. In the case of NB-IOT (Narrow Band Internet of Things), 180kHz bandwidth is used to transmit and receive very small data, which enables only low power and the use of a very small bandwidth although the data-rate is low. Therefore, in the first embodiment of the present invention, it is allocated as a master control channel for controlling a partial bandwidth of the entire V2X bandwidth, and the bandwidth configuration of V2X for autonomous driving and intelligent transportation system operation can be controlled through the master control channel.

[0073] FIG. 5 illustrates allocating a master control channel with the entire bandwidth. The bandwidth of the Master control channel can be variably set such as 180kHz to 1.4MHz according to the information to be transmitted. The master control can include the start and end positions of the bandwidth that C-V2X and DSRC should use, the start and end positions of the bandwidth of each application that should be used, and the information of the required applications in the current area. Also, for V2X device control, technical standards such as OMA DM (Open Mobile Alliance Device Management) can be applied considering security and standard elements.

[0074] The base station 120 can allocate bandwidth according to the regional characteristics within the coverage area covered by the base station 120, set communication channel configuration information according to how the bandwidth is allocated, and transmit this to the communication module 110 located within the coverage area, so that V2X communication is performed between the base station 120 and the communication module 110.

[0075] The processing unit 122 of the base station 120 sets communication channel configuration information for performing V2X communication by using the regional information within the coverage area, and the communication unit 121 transmits the set communication channel configuration information to the coverage area.

[0076] The processing unit 122 can set the communication channel configuration information so as to allocate a bandwidth for the autonomous driving function based on at least one of the pedestrian information, traffic information, and vehicle density within the coverage area.

[0077] As described above, in an environment such as a highway, since the need to consider pedestrians is low, the V2P bandwidth can be reduced or eliminated, and more bandwidth can be allocated for traffic information or autonomous driving.

[0078] Also, in the case of the city center where the roads are complex or the signal system is complex, a larger bandwidth can be allocated for traffic information compared to the suburban peripheral areas where the roads are simple and the signal system is simple. Also, even if the complexity and amount of traffic information are similar, the vehicle density may be different. When the vehicle density is high, a larger bandwidth can be allocated for autonomous driving. In addition to pedestrian information, traffic information, and vehicle density, the required applications may vary depending on various regional characteristics, and the communication channel configuration information including the bandwidth can be set differently according to the importance and data volume.

[0079] The processing unit 122 can change the communication channel configuration information according to the situation change within the coverage area. The communication channel configuration information is set to reflect regional characteristics, but it is not fixed once set. When the road conditions or traffic system change, or the vehicle density changes due to commuting hours, leaving work hours, weekends, etc., the bandwidth required for each application may change. Therefore, the communication channel configuration information can be changed according to the situation change within the coverage area.

[0080] As shown in Fig. 6, after bandwidths are allocated for platooning, V2P, Tolling, traffic information, and autonomous driving as in (A), when the traffic volume increases due to situation changes such as commuting hours, except for V2P, the bandwidths of traffic information and autonomous driving can be allocated more, and the communication channel configuration information can be changed. For example, when many vehicles capable of autonomous driving enter the coverage being managed by the base station, the bandwidth for autonomous driving can be increased to 35 MHz, and the bandwidth for intelligent traffic information can be changed from 20 MHz to 15 MHz. When the traffic volume is high, it can be determined by referring to the vehicle registration information, and also, the Received Signal Strength Indicator (RSSI) can be monitored for each sub - bandwidth to determine the congestion level and determine the bandwidth setting.

[0081] Since the communication module 110 for V2X communication and the base station 120 cannot communicate if the communication channel configuration information is not the same, 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 through broadcasting.

[0082] The communication unit 121 can transmit the communication channel configuration information to the Master Configuration Block (MCB) through the Master control channel. The MCB can include the activated communication methods (LTE - V2X, NR - V2X, or DSRC) and applications in the coverage band managed by the current base station, the start and end frequencies of the bandwidth of each application, and the applicable area information and expiration time of the corresponding information, etc.

[0083] The communication unit 121 can transmit the communication channel configuration information in the first period. Even if the size of the data for transmitting the communication channel configuration information is small, since a part of the bandwidth is required, the communication channel configuration information can be transmitted every first period which is a preset period. As shown in FIG. 7, the MCB can be transmitted within the coverage every 100 ms.

[0084] When the processing unit 122 changes the communication channel configuration information due to a situation change or the like, the communication unit 121 can transmit the changed communication channel configuration information in a second period faster than the first period for a predetermined time. When the communication channel configuration information is changed, if the changed communication channel configuration information is transmitted in the first period, communication with the communication module 110 that was performing V2X communication and autonomous driving using the previous communication channel configuration information during one period may not be performed. Since an accident may occur during that time, when the communication channel configuration information is changed, the changed communication channel configuration information can be transmitted in a second period faster than the first period for a certain time. The time for transmitting the communication channel configuration information in the second period may be the period of the first period.

[0085] As shown in FIG. 8, when a situation change occurs at time point E1 and the communication channel configuration information is changed from MCB A to MCB B, the transmission period of the communication channel configuration information can be made faster from the first period to the second period. After the changed communication channel configuration information is sufficiently transmitted within the coverage, the communication channel configuration information can be transmitted again in the first period.

[0086] The communication module 110 can be a module for V2X communication installed in a moving device such as a vehicle. As the moving device moves, its position changes, 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 vary according to regional information for each base station 120. To perform V2X communication with the corresponding base station 120, the communication unit 111 receives the communication channel configuration information for V2X communication from the corresponding base station 120. The received communication channel configuration information can be stored in the memory.

[0087] The communication channel configuration information can be received when entering the coverage area of the base station 120, and when located within the corresponding coverage area, the communication channel configuration information can be received every first period during which the base station 120 transmits the communication channel configuration information.

[0088] The communication channel configuration information can be set according to regional information within the coverage area of the base station 120. Here, the communication channel configuration information can change the bandwidth for the autonomous driving function depending on at least one of pedestrian information, traffic information, and vehicle density within the coverage area of the base station 120.

[0089] Also, the communication channel configuration information may be changed due to a situation change within the coverage area of the base station 120. When the communication channel configuration information is changed, the transmission period of the communication channel configuration information can be transmitted at a second period faster than the first period within a predetermined time. When the communication unit 111 receives the changed communication channel configuration information, it can confirm the change of the communication channel configuration information by comparing it with the previously received and stored communication channel configuration information. When the communication channel configuration information is changed, V2X communication can be performed according to the changed communication channel information.

[0090] The processing unit 112 can allocate the bandwidth for each function for V2X communication according to the communication channel configuration information received by the communication unit 111 and generate communication data. In order to transmit data to the base station 120 covering the area where the current communication module 110 is located, the bandwidth for each function for V2X communication can be allocated according to the communication channel configuration information received by the communication unit 111, and communication data can be generated. Also, in order to process the data received from the base station 120, the data included in each bandwidth can be processed according to the communication channel configuration information.

[0091] The communication channel configuration information can vary according to the area where the communication module is located. When the communication module 110 enters the coverage of a new base station 120, or even within the coverage of one base station 120, the communication channel configuration information may change when the corresponding base station 120 changes the communication channel configuration information.

[0092] Therefore, the processing unit 112 can compare the communication channel configuration information received by the communication unit 111 with the previously received and stored communication channel configuration information, and use the (most) up-to-date communication channel configuration information to perform V2X communication. If the communication channel configuration information received by the communication unit 111 is different from the previously stored communication channel configuration information, there may be a communication error or a temporary disconnection from the coverage. Therefore, when the same communication channel configuration information is received more than the preset number of times, V2X communication can be performed using the corresponding communication channel configuration information. For example, when the same communication channel configuration information is received continuously twice, V2X communication can be performed using the corresponding communication channel configuration information.

[0093] As shown in FIG. 9, when the communication module 110 moves to 110a - 110b - 110c - 110d and enters the coverage area 123 - 1 of the base station 120 - 1, it receives communication channel configuration information (MCB A) from the base station 120 - 1, and within the coverage area 123 - 1 of the base station 120 - 1, it can use the corresponding communication channel configuration information (MCB A) to perform V2X communication with the base station 120 - 1 or other communication modules located in the coverage area 123 - 1 of the base station 120 - 1. Then, due to movement, when it leaves the coverage area 123 - 1 of the base station 120 - 1 and enters the coverage area 123 - 2 of the base station 120 - 2, it receives communication channel configuration information (MCB B) from the base station 120 - 2 and changes the communication channel configuration information. Then, within the coverage area 123 - 2 of the base station 120 - 2, it can use the corresponding communication channel configuration information (MCB B) to perform V2X communication with the base station 120 - 2 or other communication modules located in the coverage area 123 - 2 of the base station 120 - 2.

[0094] When entering the shadow area that has left the coverage of the base station, until receiving the communication channel configuration information of the new base station, it can operate while maintaining the communication channel configuration information of the last received base station.

[0095] As shown in FIG. 10, after leaving the coverage area 123 - 1 of the base station 120 - 1 and before entering the coverage area 123 - 2 of the base station 120 - 2 (110e), it can operate while maintaining the communication channel configuration information (MCB A) received from the base station 120 - 1. Then, when entering the coverage area 123 - 2 of the base station 120 - 2, it receives communication channel configuration information (MCB B) from the base station 120 - 2, changes the communication channel configuration information, and within the coverage area 123 - 2 of the base station 120 - 2, it can use the corresponding communication channel configuration information (MCB B) to perform V2X communication with the base station 120 - 2 or other communication modules located in the coverage area 123 - 2 of the base station 120 - 2.

[0096] Also, when entering a shadow area away from the coverage of the base station, it can operate by changing to the reference communication channel configuration information until receiving the communication channel configuration information of the new base station. At this time, when entering a shadow area away from the coverage of the base station, if the new communication channel configuration information is not received within a preset time, after the elapse of that time, the communication channel configuration information can be changed to the reference communication channel configuration information (default preconfiguration) and operate. The corresponding time can be set using the expiration time included in the communication channel configuration information.

[0097] Thereby, communication between other communication modules entering the shadow area can be enabled. For example, in a situation where vehicles operating with different communication channel configuration information enter from opposite lanes and enter the shadow area, communication may become impossible or difficult according to the different communication channel configuration information. That is, there are vehicles A and B coming from opposite lanes. If the last communication channel configuration information of vehicle A is A and that of vehicle B is B, communication between them may become impossible. At this time, after entering the shadow area, when a certain time has elapsed, by changing to the reference communication channel configuration information, communication between them can be enabled using the reference communication channel configuration information.

[0098] The communication unit 121 of the base station 120 receives module information from one or more communication modules 110 located within the coverage area, and the processing unit 122 can set the communication channel configuration information using the received module information. The base station 120 can set the communication channel configuration information not only based on regional characteristics and situation changes, but also by using module information from one or more communication modules 110 located within the coverage area. When the number of communication modules 110 within the coverage area increases, it is possible to determine whether to increase the bandwidth for the autonomous driving application by using the module information of the communication module 110, such as whether it is an autonomous driving vehicle, and set the communication channel configuration information. Or, when a communication module 110 with a high priority and requiring special processing occurs, such as an emergency vehicle entering the coverage area, the communication channel configuration information can be changed for the processing of the corresponding communication module 110.

[0099] For example, when an ambulance enters, since it is necessary to change the traffic system or control the driving of other vehicles, the bandwidth for traffic information or autonomous driving can be temporarily and significantly expanded and allocated.

[0100] As shown in FIG. 11, in the case of the Master control channel, it can be utilized not only for the downlink purpose of broadcasting the MCB of the base station 120, but also for the purpose of transmitting basic vehicle information. When the communication module 110 of the vehicle enters the coverage area of the base station 120, it 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 can include vehicle information (size, current speed, presence of an emergency vehicle, etc.) and the presence or absence of autonomous driving support, the presence or absence of platoon driving progress, the presence or absence of intelligent transportation system support, etc. The communication channel configuration information can be set using the corresponding information.

[0101] As described above, by dynamically allocating the V2X bandwidth, it is possible to improve the utilization efficiency of frequency resources compared to the case of using frequency resources in a fixed form for autonomous driving, and it is possible to improve the service quality. Also, it is possible to utilize dynamic frequency resources by using only a very small part of the V2X bandwidth and a base station without using separate hardware or communication technologies. Furthermore, it is possible to dynamically allocate frequencies not only according to geographical characteristics but also considering regional characteristics over time. For example, instead of allocating a fixed frequency bandwidth considering regional characteristics such as a downtown dense area, a highway, or a suburban area, it is possible to dynamically allocate the frequency bandwidth based on regional characteristics. Thereby, by setting the frequency bandwidth according to the driving environment, it is possible to improve the reliability of communication and prevent delays.

[0102] FIG. 12 is a block diagram of an autonomous driving and intelligent transportation system according to a first embodiment of the present invention. Since the detailed description of each component in FIG. 12 corresponds to the detailed description of the communication module and the base station in FIGS. 1 to 11, the following duplicate descriptions will be omitted.

[0103] An autonomous driving and intelligent transportation system 200 according to a first embodiment of the present invention includes a base station 120 that sets communication channel configuration information for performing V2X communication using regional information within a coverage area and transmits the set communication channel configuration information to the coverage area, and a communication module 110 that, when located within the coverage of the base station 120, receives the communication channel configuration information and allocates a bandwidth for each function for performing V2X communication according to the received communication channel configuration information to perform V2X communication.

[0104] Here, the base station 120 can set the communication channel configuration information so as to allocate a bandwidth for the autonomous driving function according to at least one of pedestrian information, traffic information, and vehicle density within the coverage area.

[0105] FIG. 13 is a flowchart of a method for dynamically allocating a V2X frequency bandwidth according to a first embodiment of the present invention, and FIG. 14 is a flowchart of a method for dynamically allocating a V2X frequency bandwidth according to a first embodiment of the present invention. Since the detailed description of each step in FIGS. 13 and 14 corresponds to the detailed description of the communication module and the base station in FIGS. 1 to 11, the following duplicate descriptions will be omitted.

[0106] In order to perform V2X communication, the communication module first receives communication channel configuration information for V2X communication from the base station in step S11, and allocates a bandwidth for each function for V2X communication in step S12 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 other communication modules within the coverage area of the corresponding base station.

[0107] The base station sets communication channel configuration information for V2X communication using regional information within the coverage area in step S21, and transmits the set communication channel configuration information to the coverage area in step S22.

[0108] As a result, the frequency bandwidth can be dynamically allocated based on regional characteristics without allocating a fixed frequency bandwidth considering regional characteristics. Thereby, by setting the frequency bandwidth according to the driving environment, improvement of communication reliability and prevention of delay can be achieved.

[0109] FIG. 15 is a block diagram of a communication module according to a second embodiment of the present invention.

[0110] 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, it can perform V2X communication not only with other communication modules 1121 and 1122 but also with a Road Side Unit (RSU), thereby realizing 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 can include a storage unit and a timer.

[0111] The communication module 1110 can be a communication module that performs V2X communication and is mounted on a moving device such as a vehicle.

[0112] The communication module 1110 requires time synchronization to perform V2X communication with other communication modules. In V2X communication, time synchronization is performed using the time received from satellites by means of GNSS (Global Satellite Navigation Systems). However, in GNSS shadow areas where GNSS communication is difficult, such as tunnels, it is difficult to perform synchronization using GNSS.

[0113] The communication range between communication modules mounted on vehicles is approximately 1 km in an ideal case where there are no other vehicles around, and is limited to around 500 m in an environment with many vehicles and obstacles. As shown in FIG. 16, in a GNSS shadow area 1 (e.g., inside a tunnel, etc.) generally exceeding 500 m, it is difficult to synchronize time.

[0114] When the length of the tunnel is short, around 1 km, synchronization is possible by receiving GNSS time information from roadside base stations (RSUs) 20 and 21. However, as shown in FIG. 17, in the case of a long tunnel or in the case of traffic congestion around the tunnel entrance and other obstacles, the communication range becomes short, and time information may not be transmitted correctly. Therefore, synchronization between vehicles 10 and 11 in the tunnel may not be achieved, resulting in a communication failure state.

[0115] As shown in FIG. 18, when many roadside base stations are installed in a tunnel regardless of the shadow area, vehicle-to-vehicle communication is possible by receiving time information from roadside base stations 20 and 21. However, depending on the length of the tunnel, the cost of installing roadside base stations is high, and there may be a cost problem for infrastructure construction.

[0116] As shown in FIG. 19, when the length of the tunnel is very long, all the problems in FIGS. 16 to 18 may apply. There are 7 tunnels over 5 km in the country. In the case of China and the United States with vast territories, there are far more tunnels longer than those in the country. Therefore, the vehicle synchronization problem becomes highly important in V2X communication.

[0117] For the time synchronization between 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, when entering the GNSS shadow area, the latest time when GNSS communication was performed based on the internal timer as the entry time into the shadow area. For the time synchronization between communication modules, synchronization is performed through communication between communication modules without GNSS communication, and at that time, the latest time when each communication module 1110 performed GNSS communication is used. Therefore, when it is determined that the communication module 1110 has entered the GNSS shadow area, the processing unit 1112 stores, based on the internal timer, the time when the (most) latest GNSS communication was performed as the entry time into the shadow area. Here, the entry time into the shadow area means the reliable (most) latest time synchronized through GNSS communication. The communication module 1110 includes an internal timer, and the timer operates during GNSS communication to calculate time. The internal time can be counted using an oscillator, X-TAL, resonator, etc. The timer can be operated while performing GNSS communication to calculate the time during the time synchronization period.

[0118] If the processing unit 1112 fails to receive GNSS signals for a period longer than the period of GNSS communication, it can determine that the vehicle has entered a GNSS shadow area. Alternatively, when the vehicle enters a tunnel on the map or route, it can be determined that the vehicle has entered a GNSS shadow area. When the processing unit 1112 determines that the vehicle has entered a GNSS shadow area, it can calculate the time point when the (most) recent GNSS synchronization was performed as the entry time point into the shadow area, and set and save it as the UTC time stamp at that time point. In order to align the reference times between communication modules, the entry time point into the shadow area can be saved based on UTC (Coordinated Universal Time).

[0119] The communication unit 1111 broadcasts the entry time point into the shadow area 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 entry time point into the shadow area so that other communication modules 1121 and 1122 performing V2X communication can use the corresponding signal for synchronization. Communication modules that have been synchronized can perform V2X communication in other ways such as unicast. The communication unit 1111 can broadcast the saved entry time point into the shadow area periodically. The saved entry time point into the shadow area can be broadcast periodically so that communication with other communication modules 1121 and 1122 can be performed.

[0120] When the processing unit 1112 receives the shadow area entry time from another communication module 1121 or 1122, it performs synchronization using the (most) recent shadow area entry time among the received shadow area entry time of the other communication module and the stored shadow area entry time. In order to communicate with other communication modules 1121 and 1122 located in the GNSS shadow area, it is necessary to synchronize by matching the shadow area entry times stored with each other. At this time, in order to match the shadow area entry times stored with each other to one shadow area entry time, the (most) recent shadow area entry time among the shadow area entry times is used. Since the (most) recent shadow area entry time is the (most) reliable latest time, synchronization is performed based on that time point. Before receiving the shadow area entry time from other communication modules 1121 and 1122, the shadow area entry time stored by itself is set as the synchronization reference, but when receiving the shadow area entry time from other communication modules 1121 and 1122, the shadow area entry time stored by itself is compared with the received shadow area entry time. If the shadow area entry time stored by itself is newer than the shadow area entry times of communication modules 1121 and 1122 with different shadow area entry times stored by itself, it synchronizes with other communication modules 1121 and 1122 based on the shadow area entry time stored by itself. If the shadow area entry times of other communication modules 1121 and 1122 are newer than the shadow area entry time stored by itself, it synchronizes with other communication modules 1121 and 1122 based on the (most) recent shadow area entry time among the shadow area entry times of other communication modules 1121 and 1122. When the shadow area entry times of other communication modules 1121 and 1122 are newer than the shadow area entry time stored by itself and the (most) recent shadow area entry time is changed, the processing unit 1112 stores the (most) recent shadow area entry time as its own shadow area entry time, and then can use the synchronization reference time point during communication between communication modules.

[0121] The processing unit 1112 can form a first group with the communication module that has performed the synchronization. Based on the (most) recent shadow area entry time point, it synchronizes with other communication modules 1121 and 1122, forms a group with the corresponding communication modules 1121 and 1122, and can communicate with other communication modules within the group.

[0122] When the communication unit 1111 receives the shadow area entry time point from another communication module that does not belong to the first group during communication between the communication modules that have formed a group, the processing unit 1112 can perform synchronization using the (most) recent shadow area entry time point among the shadow area entry time point of the other communication module that does not belong to the received first group and the shadow area entry time point of the first group. When forming a group, each communication module stores the (most) recent shadow area entry time point within the group. When 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 (most) recent shadow area entry time point among the shadow area entry time point of the other communication module that does not belong to the received first group and 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 did not belong to the group is the most recent shadow area entry time point, the processing unit 1112 can use the corresponding shadow area entry time point to re - execute synchronization not only with the corresponding communication module but also with all communication modules included in the group, and update the shadow area entry time point within the group.

[0123] When groups meet and perform synchronization, it is possible to perform synchronization by comparing the time points when the representative communication modules enter the shadow area. The communication module with the (most) recent shadow area entry time point can be set as the synchronization reference communication module, and the corresponding reference communication module can be set as the representative communication module of the corresponding group. When synchronization between groups is required, it is possible to perform synchronization by comparing the time points when the representative communication modules enter the shadow area. Since all communication modules within a group save the same shadow area entry time point, regardless of the representative communication module, synchronization can be performed between communication modules in other groups that have transmitted and received signals earlier, and a new group can be formed by sharing the (most) recent shadow area entry time point.

[0124] As shown in FIG. 20, communication module 1110 enters the GNSS shadow area (Fading), transmits and receives the shadow area entry time points with other communication modules 1121 and 1122, and performs synchronization using the shadow area entry time point of communication module 1110 that saves the (most) recent shadow area entry time point. The vehicle that travels last can have the (most) recent shadow area entry time point, but it is natural that the position changes due to factors such as the speed of the vehicle and the joining and leaving of groups. That is, synchronization is performed based on the currently saved shadow area entry time point. The synchronized communication modules 1110, 1121, and 1122 form a group. Other communication modules 1110-1, 1121-1, and 1122-1 that enter the GNSS shadow area in the opposite direction and are synchronized also form a group. When the first group 1110, 1121, 1122 and the second group 1110-1, 1121-1, 1122-1 meet in the GNSS shadow area, inter-group synchronization can be executed. At this time, inter-group synchronization can be executed in the order of the later internal timer synchronization start time. That is, since there is a high possibility of meeting first in the order of the most delayed shadow area entry time point, synchronization can be executed in the order of transmitting and receiving signals while being close to each other.

[0125] As shown in FIG. 20, when a running vehicle enters a GNSS shadow area, V2X communication can be performed based on an internal timer. Here, the internal timer also operates in the GNSS area. When it is determined to be a GNSS shadow area and communication is synchronized based on the internal timer, the UTC time stamp value is saved. When synchronizing with other vehicles, the vehicle with the latest UTC time stamp value can be used as the reference vehicle for time synchronization. This is because the corresponding vehicle has the (most) up-to-date GNSS time information. Even during inter-group time synchronization, the UTC time stamps are compared between representative vehicles, and inter-group synchronization is performed based on the vehicle with the (most) up-to-date GNSS time information.

[0126] Before receiving the shadow area entry time from the other communication module, the processing unit 1112 calculates the minimum and maximum values of the time uncertainty degree between GNSS communication and the internal timer, and performs temporary synchronization with the other communication module based on a reference signal within the range of the minimum to maximum values of the time uncertainty degree, and can receive the shadow area entry time from the other communication module through the temporary synchronization.

[0127] In order to receive the shadow area entry time from the other communication module, temporary synchronization can be performed. Through the temporary synchronization, the shadow area entry time can be transmitted and received, and synchronization can be achieved by sharing the latest shadow area entry time.

[0128] Therefore, first, as shown in FIG. 21, while the CV2X terminal vehicle is synchronizing time with GNSS, it can also operate the internal timer simultaneously to calculate the Time uncertainty value. At this time, the minimum and maximum values of the Time uncertainty are recorded. Here, the minimum value (min) of the Time uncertainty can be mim(Uusm), and the maximum value (max) can be max(Uusm). In the future, when the inter-group time synchronization deviates significantly and communication is impossible during inter-group synchronization, synchronization is adjusted based on the Reference Signal (RS) within the measured range of the Time uncertainty value. The synchronization method can utilize the synchronization method using the reference signal, and can quickly and temporarily synchronize and receive data using the Time uncertainty variable. After temporarily synchronizing and receiving time and timestamp data, if the time information of the received data is the latest (compared by Time stamp), time synchronization can be adjusted with the corresponding data. After synchronization, the timestamp data can update its own timestamp value to the value possessed by the synchronization terminal.

[0129] Synchronization between communication modules in the GNSS shadow area can be performed as shown in FIGS. 22 and 23. First, when entering the GNSS shadow area, as shown in FIG. 22, record and save the time point of entering the shadow area and broadcast it. Then, if there is no received data, your communication module can be selected as the synchronization reference communication module (vehicle). If there is received data, compare the time point of entering the shadow area included in the corresponding data with the saved time point of entering the shadow area. If there is no communication module (vehicle) with the latest time point of entering the shadow area, select your communication module as the synchronization reference communication module (vehicle). If there is a communication module (vehicle) with the latest time point of entering the shadow area, set your communication module as the synchronization target communication module (vehicle) and perform synchronization using the latest time point of entering the shadow area.

[0130] Inter-group synchronization can be performed as shown in FIG. 23. After inter-group synchronization, data reception can be monitored to periodically broadcast the time of entering the shaded area. Then, if there is no received data, communication within the group can be maintained with one's own group as the reference group. If there is received data, compare the time of entering the shaded area of the other group included in the corresponding data with the saved time of entering the shaded area of the current group. If the time of entering the shaded area of the current group is the latest, maintain communication with the group to which one belongs as the reference group. If the time of entering the shaded area of the other group is the latest, perform time synchronization with the other group using the time of entering the shaded area of the other group.

[0131] As described above, by performing synchronization using the time of entering the shaded area, V2V communication is possible even in the GNSS shaded area, and stable communication is possible between surrounding vehicles even if the GNSS shadow duration is long. Also, when the error of the internal timer is small, communication is possible without the inter-group time synchronization operation. When many errors occur, temporary time synchronization is possible by predicting the time synchronization section using the Time uncertainty variable and the reference signal (Reference Signal). After that, inter-group time synchronization is possible with the received data.

[0132] FIG. 24 is a flowchart of the communication method of the communication module according to the second embodiment of the present invention, and FIGS. 25 to 29 are flowcharts of the communication method of the communication module according to the second embodiment of the present invention. Since the detailed description of each step in FIGS. 24 to 29 corresponds to the detailed description of the communication module in FIGS. 15 to 23, the overlapping description will be omitted below.

[0133] In order for the communication module in the GNSS shaded area to perform V2X communication, when entering the GNSS shaded area, save the latest time when GNSS communication was performed based on the internal timer in step S111 as the time of entering the shaded area, and broadcast the time of entering the shaded area. Here, the saved time of entering the shaded area can be periodically broadcast.

[0134] After that, when receiving the shadow area entry time from another communication module, in step S112, synchronization is performed using the (most) recent shadow area entry time among the received shadow area entry time of the other communication module and the stored shadow area entry time. Synchronization is performed between communication modules using the reliable (most) recent shadow area entry time.

[0135] Here, in step S121, the communication module having the (most) recent shadow area entry time can be set as the synchronization reference communication module.

[0136] Also, in step S131, a first group is formed with the communication module that has performed the synchronization, and communication can be performed with other communication modules within the first group.

[0137] When receiving the shadow area entry time from another communication module not belonging to the first group during synchronization and communication in the group, in step S141, synchronization can be performed using the (most) recent shadow area entry time among the received shadow area entry time of the other communication module not belonging to the first group and the shadow area entry time of the first group.

[0138] Also, when the (most) recent shadow area entry time is changed, in step S151, the (most) recent shadow area entry time can be saved as one's own shadow area entry time.

[0139] Before receiving the shadow area entry time from the other communication module in step S112, temporary synchronization and data reception can be performed through steps S161 and S162. In step S161, the minimum and maximum values of the time uncertainty degree between GNSS communication and the internal timer are calculated, and within the range of the minimum to maximum values of the time uncertainty degree, temporary synchronization is performed with other communication modules using a reference signal. In step S162, the shadow area entry time can be received from the other communication module through the temporary synchronization.

[0140] Figure 30 is a block diagram of a communication module and a base station according to the third embodiment of the present invention.

[0141] The communication module 2110 and the base station 2120 according to the third embodiment of the present invention transmit and receive data through V2X communication in order to realize autonomous driving and an 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 unit 2122.

[0142] The communication module 2110 may be a communication module that performs V2X communication mounted on the same moving device as the vehicle. The base station 2120 may be a base station that performs V2X communication for the communication module 2110 of the vehicle and autonomous driving. Here, the base station 2120 may include at least one of a roadside base station (RSU, Road Side Unit) and a mobile communication base station (eNB). When communicating with the roadside base station, it can be V2I communication, and when communicating with the mobile communication base station, it can be V2N communication.

[0143] The communication module 2110 is mounted on the vehicle, and when the vehicle enters the area where driving negotiation is required, it must perform driving negotiation with other communication modules for autonomous driving. At this time, for the area where driving negotiation is required, that is, for participating in driving negotiation on the road, the base station 2120 can be a roadside base station located around the vehicle.

[0144] When the communication module 2110 enters the area where driving negotiation is required, it performs driving negotiation using a driving negotiation message. For this purpose, when the communication module 2110 enters the area where driving negotiation is required, the communication unit 2111 transmits and receives a driving negotiation message to and from the base station 2120 or another communication module 2131.

[0145] To achieve autonomous driving at level 4 or above, it is necessary not only to perform autonomous driving relying only on the vehicle's own camera, LiDAR, or radar, but also to conduct driving negotiations between vehicles. At this time, by utilizing V2X communication that enables communication with surrounding vehicles and infrastructure, driving negotiations in autonomous driving become possible.

[0146] In particular, driving negotiations between vehicles are essential in areas where driving negotiations are necessary and there is a possibility of vehicle contact. Here, the areas where driving negotiations are necessary can be areas where vehicles traveling on different roads meet, such as merging areas where roads merge or intersections where roads cross. In such areas, since the lanes overlap, there is a risk of accidents, and driving cooperation is required regarding how to drive between vehicles to prevent accidents so that accidents do not occur. That is, in order to achieve autonomous driving at level 4 or above, at intersections and merging roads, autonomous driving vehicles need to exchange information such as driving priorities and yielding intentions through communication with other vehicles.

[0147] For example, as shown in FIG. 31, when vehicle B enters a merging road where vehicle B merges into the road on which vehicle A is traveling, vehicle B can travel on route B-1 at the merging point, or it can also travel on route B-2. The decision-making regarding the travel route may change depending on the speed and travel route of vehicle A. If the travel routes of vehicle A and vehicle B overlap, this may cause an accident. To prevent an accident, before vehicle B merges, a travel negotiation can be conducted between vehicle A and vehicle B through V2V communication. At this time, vehicle A can decide whether to change its travel route to A-1 or continue to travel on A-2 as it is. When vehicle A changes its travel route to A-1, vehicle B can decide whether to immediately merge into B-1. When vehicle A continues to travel on A-2 as it is, vehicle B can travel on route B-2 (not B-1) and conduct a travel negotiation to change its travel route after vehicle A has passed. For the travel negotiation between vehicle A and vehicle B, a communication method centered on broadcast in LTE-V2X may be used, but it is not easy to achieve with only broadcast communication. Also, considering that the communication frequency band of V2X is mainly 5.9 GHz, there may be environmental conditions where direct communication between vehicles is difficult. In the case of the communication frequency band used for V2X, since the 5.9 GHz band is used and a higher frequency band is used, the directivity of the frequency is stronger than that of cellular communication such as LTE, which is disadvantageous for communication in a non-line-of-sight (NLOS) environment. Also, since the transmission power of each vehicle is limited, in an environment such as an elevated road, direct V2V communication between vehicles may not be smoothly conducted in some cases.

[0148] For example, in an elevated road environment where the heights between vehicle A and vehicle B are different, or in an environment where obstacles such as sound insulation walls exist between vehicle A and vehicle B and communication is difficult, V2V communication between vehicles may have communication quality problems due to obstacles and height issues.

[0149] For driving cooperation in such driving cooperation required areas, the communication unit 2111 can conduct driving negotiations through the base station 2120. When using a base station, particularly a roadside base station (RSU), which has a relatively high elevation and can adjust the antenna angle and ensure line-of-sight (LOS), instead of vehicle-to-vehicle (V2V) communication for vehicle-to-infrastructure (V2I) communication, reliable communication can be maintained. That is, when utilizing a roadside base station for driving negotiations, an environment advantageous for communication in areas where communication is difficult, such as non-line-of-sight (NLOS) areas, can be ensured. Traffic volume can be alleviated and traffic flow can be controlled in cooperation with a cooperative intelligent transport system (C-ITS), etc., and the roadside base station can mediate regarding the priority in driving negotiations.

[0150] When the base station 2120 is located in the driving negotiation required area, the processing unit 2112 determines the driving scenario within the driving negotiation required area 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, another communication module 2131, or other infrastructure, it determines the driving scenario for autonomous driving using data on the external environment sensed through a camera, lidar, or radar, etc., mounted on the vehicle. However, when receiving data for autonomous driving, a driving negotiation message for driving negotiations, or a driving assistance message from the outside, it can determine the driving scenario by considering all of these together. Here, the driving scenario can be a scenario for safe driving that determines how to proceed with driving in the future, including driving speed, driving direction, driving lane, priority, and whether to yield.

[0151] The running negotiation message received from the base station 2120 can include whether there is another communication module 2131 located within the running negotiation required area, and if there is another communication module 2131 located within the running negotiation required area, it can include the running information of the corresponding other communication module. The running negotiation message can include various information within the running negotiation required area, and in particular, it can include the running information of other communication modules 2131 where an accident can occur. It can include various running information related to running within the running negotiation required area, not only for other communication modules 2131 but also for vehicles without a V2X communication module installed, pedestrians, etc.

[0152] The communication unit 2111 can receive not only the running negotiation message but also the running assistance message from the base station 2120. Here, the running assistance message can include the running information determined by the base station 2120. For example, the running assistance message can include at least one of the entry order, running route, running speed, and predicted position of other vehicles at the running time. The base station 2120 not only plays the role of transmitting the running information but also can act as an intermediary to determine which communication module has priority and which running route can prevent an accident for each communication module during running so as to prevent an accident from occurring between communication modules, and then send this to the corresponding communication module.

[0153] When the base station 2120 is located within the running negotiation required area, the communication unit 2111 can perform V2I communication with the base station 2120 for running negotiation through the base station 2120. When the base station 2120 is not located within the running negotiation required area, it can directly perform running negotiation through V2V communication with other communication modules 2131.

[0154] Here, running negotiation can be performed not only by using broadcast communication but also by using unicast communication or group cast communication in addition to broadcast communication.

[0155] The communication unit 2111 can search for the base station 2120 through broadcast communication and receive the said running negotiation message through unicast communication. Both broadcast communication and unicast communication can be utilized in the running negotiation process.

[0156] When searching for the base station 2120, the communication unit 2111 can send a search message including the entering information of the necessary area for running negotiation and receive a response message including the unicast link setting information from the base station 2120. When entering the necessary area for running negotiation, it is possible to search (discover) for the base station 2120 where the running negotiation within the necessary area for running negotiation is to be conducted through broadcast communication. At this time, the search message for the search can include the information indicating that running negotiation is necessary. Information indicating that running negotiation is necessary, such as the current vehicle's merging, can be included in a part of the search message.

[0157] The base station 2120 receives a discovery message from the communication module 2110 through the communication unit 2121. When running negotiation is necessary according to the information contained in the discovery message, the base station 2120 sends a response message to the discovery message. At this time, the response message can include information necessary for unicast link establishment, that is, information about radio resources. Here, the unicast link establishment information can include at least one of the position of the subchannel, the number of subchannels, the transmission (Tx) power, and the validity time of the radio resources. A subchannel is a channel divided by time and frequency, and can include the position and number of subchannels available for running negotiation, the transmission power, and the validity time of the radio resources. When receiving the response message from the base station 2120, the processing unit 2112 can connect the unicast link by using the subchannel with the lowest received signal strength among the subchannels included in the response message. Among the bandwidths specified in the running negotiation, a subchannel with a low RSSI (Received Signal Strength) can be selected through the sensing-based method to connect the unicast link, and running negotiation can be performed through unicast communication with the base station 2120. As shown in FIGS. 32 and 33, broadcast communication 2141 can be used during the discovery of the base station 2120, and unicast communication 2142 can be used when sending and receiving running negotiation messages.

[0158] When the base station 2120 receives a discovery message containing information that requires running negotiation from the communication module 2110, the base station 2120 can send a response message, generate a running negotiation message or a running assistance message, and send it to the communication module 2110. When generating the running negotiation message or the running assistance message, the base station 2120 can use the running information of other communication modules within the area where running negotiation is necessary.

[0159] The base station 2120 can receive a driving information message including a driving route and a driving speed from other communication modules 2131 within the driving negotiation required area through broadcast communication, perform paging with other communication modules within the driving negotiation required area through groupcast communication, and transmit the driving assistance message to other communication modules within the driving negotiation required area through unicast communication. The base station 2120 can report a driving information message from other communication modules 2131 within the driving negotiation required area. As shown in FIGS. 34 and 35, when other communication modules 2131 and 2132 enter the driving negotiation required area, they transmit their own driving information messages to the base station 2120 via broadcast communication 2141. When driving negotiation is required, the base station 2120 performs paging on other communication modules 2131 and 2132 that need to conduct driving negotiation through groupcast communication 2143. Here, groupcast communication is a V2X communication method that communicates only with communication modules 2110 set in a group, and data can be efficiently transmitted to all communication modules 2110 connected by groupcast. Paging is to send a call signal to grasp the position of the corresponding communication module for communication. By performing paging through groupcast communication 2143 instead of broadcast communication 2141, paging can be efficiently performed only on communication modules that require driving negotiation. Through paging, information necessary for sending and receiving a driving negotiation message for driving negotiation and information on radio resources for unicast link setting can be transmitted. Here, the information on radio resources can include the position of a subchannel, the number of subchannels, transmission power, and the effective time for radio resources. After the unicast link is set, a driving negotiation message can be sent and received with other communication module 2131 through unicast communication 2142.

[0160] The base station 2120 can generate a driving assistance message by using the driving information of other communication modules 2131 within the driving negotiation required area, and the communication unit 2111 can receive, through unicast communication, the driving assistance message from the base station by other communication modules within the driving negotiation required area. Here, the driving assistance message can be a merge assist message by the role of the mediator of the base station 2120 in a driving scenario for each communication module determined by the base station 2120 by using the driving information of the communication modules within the driving negotiation required area received by the base station 2120. Here, the driving assistance message can include a recommended travel route, a travel speed, an expected position of surrounding vehicles at the time of travel, and the like. The processing unit 2112 can determine a driving scenario in the driving negotiation required area by using the information obtained from the sensors mounted on its own vehicle, a high-precision map, and the driving negotiation message and the driving assistance message received from the base station 2120 through C-V2X. At this time, a weight value can be placed on the driving assistance message received from the base station 2120, and the driving scenario can be determined based on this. The base station 2120 can also transmit and receive driving negotiation messages to and from other communication modules 2131, enabling autonomous driving through driving negotiation between communication modules.

[0161] The communication module 2110 is a communication module mounted on a vehicle, and the negotiation-required driving area can be a confluence area where multiple roads merge. The base station 2120 receives reports on the predicted driving routes of other communication modules 2131 and 2132 entering the main road, and when a confluence request occurs from the communication module 2110 merging into the driving road, it can conduct driving negotiation through the processes shown in FIGS. 36 and 37. The communication module 2110 that intends to merge, as shown in FIG. 36, first checks whether the base station 2120 exists in the confluence area, which is the negotiation-required driving area, through broadcast communication. If there is no base station 2120, it can conduct driving negotiation through direct V2V communication. If there is a base station 2120, a unicast link can be set up, and driving negotiation messages can be sent and received with the base station 2120 through unicast communication. After receiving the driving negotiation message, the unicast link connection can be released. When the message exchange is completed, the unicast link connection can be released for reusing the frequency of the corresponding subchannel. Subsequently, the communication module 2110 determines a driving scenario by using high-precision positioning through latitude / longitude, distance measurement, azimuth, and driving speed calculation included in the data contained in the driving negotiation message or driving assistance message received from the base station 2120 and the sensor measurement data, etc., and can conduct cooperative driving based on this.

[0162] When the base station 2120 receives a joining request through a discovery message from the communication module 2110, it determines whether driving control is required for other communication modules 2131 and 2132 running on the driving road. If there is no risk of accident with other communication modules 2131 and 2132 and driving control is not required, it does not perform operations on other communication modules 2131 and 2132. When driving control is required for other communication modules 2131 and 2132, it calls the communication module of the target vehicle through paging, sets a unicast link, and transmits and receives a driving negotiation message through unicast communication so that other communication modules 2131 and 2132 can drive according to the driving negotiation. After receiving the driving negotiation message, the unicast link connection can also be released.

[0163] When a vehicle without a communication module installed is located within the driving negotiation required area, the base station 2120 senses the driving information of the vehicle without the communication module installed, and can generate the driving negotiation message or the driving assistance message using the sensed driving information. As shown in FIG. 38, when a vehicle 2133 without a V2X communication module installed is located, the base station 2120 can predict the moving speed of the running vehicle 2133 by utilizing sensors such as a camera, a lidar, and a radar, determine a driving scenario, and transmit it as a driving assistance message to the communication module 2110 that is about to merge into the merging lane. Here, even a vehicle with a V2X communication module installed but without a driving negotiation function can perform driving negotiation through the base station 2120 as shown in FIG. 38.

[0164] As shown in FIG. 39, when a vehicle 2131 with a V2X communication module installed and a vehicle 2133 without a V2X communication module installed are located on the driving lane, the base station 2120 can predict the driving route of the vehicle 2133, exchange a driving negotiation message with the vehicle 2131, and then transmit a driving assistance message to the communication module 2110.

[0165] As described above, for the communication module 2110 that merges at the confluence path, the base station 2120 can mediate the driving negotiation with other communication modules traveling on the driving road so that the driving negotiation can be performed. Thereby, when performing driving negotiation in autonomous driving utilizing V2X, the geographical constraints of communication can be overcome through the base station, smooth traffic control is possible through cooperation with the Cooperative Intelligent Transport System (C-ITS), and the base station can serve as a mediator during driving negotiation. Furthermore, in the communication of the conventional LTE-V2X infrastructure, only broadcast is possible and it is not possible to know whether a communication packet has been received, but during driving negotiation, the intention of the receiving vehicle can be confirmed by utilizing unicast or groupcast, and the efficiency of communication can be enhanced and interference can be minimized by utilizing unicast and groupcast rather than simple broadcast.

[0166] The driving negotiation required area can include the case where overtaking is performed. At this time, when the communication unit 2111 approaches the other communication module, it can transmit an overtaking message to the other communication module by broadcast communication and transmit and receive driving negotiation messages with the other communication module by unicast communication.

[0167] As shown in FIGS. 40 and 41, when a vehicle equipped with the communication module 2110 approaches a vehicle equipped with a different communication module 2131, an overtaking message including information indicating that it has approached from behind can be transmitted by broadcast communication 2141. At this time, information for setting a unicast link can be transmitted, and among the bandwidths specified in the driving negotiation, a subchannel with a low RSSI received through the sensing-based method can be selected to set a unicast link.

[0168] In the case of LTE-V2X, blind retransmission that retransmits regardless of the successful reception of the message of the other vehicle can be used. However, as shown in FIG. 40, in a scenario such as overtaking in an environment with two lanes for round trips, since the intention of the other vehicle 2131 is very important, a unicast communication method to which HARQ (Hybrid Automatic Repeat Request) can be applied can be used instead of using the broadcast communication method in LTE-V2X.

[0169] The communication unit 2111 transmits an overtaking request message to the other communication module and receives an overtaking approval message or an overtaking rejection message from the other communication module. The overtaking approval message can include the front camera information of the other communication module.

[0170] The overtaking request message can include information such as the traveling speed during acceleration for overtaking the traveling speed of the vehicle equipped with the communication module 2110, and the presence or absence of a vehicle deceleration request for vehicle A. After receiving the overtaking request message, the vehicle equipped with the other communication module 2131 can return an overtaking approval (accept) or rejection (reject) message. At this time, the capability of the vehicle sensor can be transmitted to convey whether information such as front camera information can be transmitted. Thereby, the communication module 2110 can share the sensor data of the preceding vehicle in a two-lane round-trip environment where it is difficult to secure the forward visibility, and the sensor data for the forward visibility secured by the preceding vehicle can be stably supplied by unicast communication.

[0171] After the communication unit 2111 transmits the first running negotiation message to another communication module 2131, it transmits the second running negotiation message. However, if it receives a NACK signal for the first running negotiation message, it can retransmit the first running negotiation message. FIG. 42 shows an example of transmitting and receiving messages through the HARQ method when performing running negotiation in unicast communication. In order to improve the transmission efficiency with the HARQ method, instead of using a single channel, at least two channels can be used to improve the transmission efficiency. For example, when a large amount of transmission data such as sensor data is required, it is advantageous in terms of transmission efficiency to utilize a plurality of channels rather than a single channel. That is, the communication module 2110 transmits message 1 through channel A and transmits message 2 through channel B without waiting for ACK / NACK from another communication module 2131. However, if it receives a NACK for message 1, it can retransmit message 1 via an available channel in the next transmission sequence.

[0172] When performing running negotiation, the communication module 2110 according to the third embodiment of the present invention can utilize not only broadcast and unicast but also multicast. The communication module 2110 according to the third embodiment of the present invention includes a communication unit 2111 that transmits and receives a running negotiation message to and from the base station 2120 when entering the running negotiation required area, and a processing unit 2112 that determines the running scenario within the running negotiation required area using the running negotiation message received from the base station 2120. It can receive information about the running negotiation required area from the base station using broadcast communication and receive a running negotiation message or a running assistance message through multicast communication to the communication modules located within the running negotiation required area. When messages for running negotiation need to be transmitted and received to and from communication modules that meet specific conditions, the transmission and reception of messages can be efficiently performed using multicast communication.

[0173] Here, the necessary area for driving negotiation can be an intersection or a rotary intersection. In the case of a rotary intersection, communication modules 2110 rotating within the rotary intersection can be grouped by groupcast, and driving assistance messages for driving negotiation can be transmitted via groupcast communication. At this time, the driving assistance message can include at least one of the time of entry into the rotary intersection and the driving priority order.

[0174] As shown in FIG. 43, in a rotary intersection, the groupcast method can be used to determine the entry time into the intersection and the driving priority order. The base station 2120 in the rotary intersection can basically form a groupcast with the vehicle trying to enter the rotary intersection. As shown in FIG. 44, the communication module 2110 can receive rotary intersection information from a roadside base station before entering the rotary intersection via broadcast communication 2141. The received rotary intersection information can include information for unicast link setting. The communication module 2110 receives information for groupcast of the rotary intersection from the base station 2120 via unicast communication 2142, and then can receive information such as the entry time into the rotary intersection and the driving priority order via groupcast communication 2143 to conduct driving negotiation.

[0175] When the negotiation required area is an intersection, group casting is set according to the types of driving lanes within the negotiation required area. The communication unit 2111 can receive a driving negotiation message through group cast communication corresponding to the group cast to which the communication module 2110 belongs. Different from setting group casting based on whether it is within the rotation section of a rotary intersection, in a general intersection, group casting can be set for vehicles with a high correlation in driving. At this time, as shown in FIG. 43, group casting can be set according to the types of driving lanes. For example, group casting can be divided for the left-turn lane 2144 and the right-turn lane 2145 to conduct driving negotiations. Since the signal information and pedestrian information are different for each group cast, autonomous driving can be performed by judging the signal information and the presence or absence of pedestrians respectively. The base station 2120 always transmits the group cast information currently used at the intersection through broadcast communication 2141, and the communication module receives the driving negotiation message through the group cast communication 2143 corresponding to its own driving lane. Each communication module uses a method of receiving only the group cast message corresponding to itself and discarding the remaining group cast messages. Thereby, the time used for message decoding can be shortened, and if directivity is added to the Tx transmission direction of the base station, the frequency interference between group cast communications can also be minimized.

[0176] FIG. 47 is a block diagram of an autonomous driving and intelligent transportation system according to the third embodiment of the present invention. Since the detailed description of each configuration in FIG. 47 corresponds to the detailed description of the communication module and the base station in FIGS. 30 to 46, the following redundant descriptions are omitted.

[0177] The autonomous driving and intelligent transportation system 2200 according to the third embodiment of the present invention is located in a driving negotiation required area, receives a search message or a driving information message from a communication module within the driving negotiation required area, and according to the need for driving negotiation between communication modules within the driving negotiation required area, a base station 2120 that transmits a driving negotiation message to a communication module that requires driving negotiation and when entering the driving negotiation required area, a communication module 2110 that determines a driving scenario within the driving negotiation required area by using the driving negotiation message received from the base station. Here, the base station 2120 and the communication module 2110 can transmit and receive the search message or the driving information message by broadcast communication, and transmit and receive the driving negotiation message by unicast communication.

[0178] FIG. 48 is a flowchart of a V2X driving negotiation method according to the third embodiment of the present invention, and FIG. 49 is a flowchart of a V2X driving negotiation method according to the third embodiment of the present invention. Since the detailed description of each step in FIGS. 48 and 49 corresponds to the detailed description of the communication module and the base station in FIGS. 30 to 47, the following duplicate descriptions are omitted.

[0179] In order to perform V2X driving negotiation, the communication module first searches for the base station by broadcast communication in step S211, and receives a driving negotiation message by unicast communication in step S212. Then, in step S213, the driving negotiation message is used to determine a driving scenario within the driving negotiation required area. That is, driving negotiation is performed through the base station, but the efficiency of communication can be improved by using broadcast communication and unicast communication.

[0180] In addition, in order to perform V2X driving negotiation, the communication module receives information on the driving negotiation required area from the base station through broadcast communication in step S221, and receives a driving negotiation message or a driving assistance message through group cast communication for the communication modules located within the driving negotiation required area in step S222. Then, in step S213, the driving negotiation message is used to determine the driving scenario within the driving negotiation required area. That is, driving negotiation is performed through the base station, but the communication efficiency can be improved by using broadcast communication, unicast communication, and group cast communication.

[0181] Thereby, when performing driving negotiation in autonomous driving utilizing V2X, the geographical constraints of communication can be overcome through the base station, smooth traffic control is possible through cooperation with the Cooperative Intelligent Transport System (C-ITS), and the base station can play the role of a mediator during driving negotiation. Furthermore, in the conventional LTE-V2X based communication, only broadcast is possible and it is not known whether a communication packet can be received. However, during driving negotiation, the intention of the receiving vehicle can be confirmed by utilizing unicast or group cast, and the communication efficiency can be improved and interference can be minimized by utilizing unicast and group cast rather than simple broadcast.

[0182] On the other hand, an embodiment of the present invention can be realized by computer-readable code on a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices in which data readable by a computer system is stored.

[0183] Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disks, optical data storage devices, etc. Also, the computer-readable recording media can be distributed in a computer system connected to a network, and computer-readable code can be stored and executed in a distributed manner. And functional programs, codes, and code segments for implementing the present invention can be easily inferred by programmers in the technical field to which the present invention pertains.

[0184] Those skilled in the art in the technical field related to this embodiment will be able to understand that it can be implemented in a modified form without departing from the essential characteristics of the described base material. Therefore, the disclosed method should be considered from an illustrative perspective rather than a limiting one. The scope of the present invention is shown not in the foregoing description but in the claims, and all differences within the equivalent scope should be construed as being included in the present invention.

Claims

1. A communication unit that receives communication channel configuration information for performing V2X communication from a base station, A processing unit that generates communication data by allocating bandwidth for each function for performing V2X communication according to the received communication channel configuration information, and includes a communication module, The communication channel configuration information is variable according to the area where the communication module is located.

2. The communication channel configuration information is Set according to the regional information within the coverage area of the base station and variable according to the situation change within the coverage area of the base station. The communication module according to claim 1.

3. The communication channel configuration information is The communication module according to claim 1, wherein the bandwidth for the autonomous driving function changes according to at least one of pedestrian information, traffic information, and vehicle density within the coverage area of the base station.

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

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

6. A processing unit that sets communication channel configuration information for performing V2X communication by using regional information within the coverage area, A base station including a communication unit that transmits the set communication channel configuration information to the coverage area.

7. The processing unit is The base station according to claim 6, which changes the communication channel configuration information according to a situation change within the coverage area.

8. The processing unit is The vehicle terminal according to claim 6, wherein the communication channel configuration information is set so as 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 communication unit receives module information from one or more communication modules located within the coverage area, The processing unit is The base station according to claim 6, which sets the communication channel configuration information by using the received module information.

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

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