Antenna system for autonomous vehicle

Abstract

The present invention relates to an antenna system for an autonomous vehicle. The antenna system for an autonomous vehicle may include a shark fin antenna module provided at the rear of the vehicle and comprising two 5G wireless communication antennas and one V2X antenna, a crash pad antenna module provided at the front of the vehicle and comprising two 5G wireless communication antennas and one V2X antenna, and a communication control unit connected to the 5G wireless communication antennas and the V2X antenna to process signals. The shark fin antenna module may additionally include a high-precision GNSS antenna.

Description

Technology Field

[0001] The following embodiments relate to an antenna system mounted on an autonomous vehicle, and to a MIMO antenna system suitable for V2X communication, which is vehicle wireless communication, high-precision GNSS capable of verifying vehicle location information, and 5G mobile communication. Background Technology

[0003] Autonomous driving technology is being added to vehicles. Autonomous driving up to Level 2 is currently being realized, but this can be described as a driver assistance system in which the vehicle acquires information about its surroundings using sensors to drive autonomously.

[0004] To realize fully autonomous driving, cooperative autonomous driving technology is required, and wireless communication is essential for this. For autonomous driving, widely used mobile communication or V2X (vehicle to everything) communication, developed for vehicle communication, can be utilized.

[0005] V2X communication is a vehicle-centric communication method that enables real-time communication by defining communication modes between vehicles (V2V), between vehicles and infrastructure (V2I), and between vehicles and pedestrians (V2P). It combines information and communication technology with automotive technology to provide drivers with mobility, convenience, and safety, while also improving fuel efficiency.

[0006] 5G wireless mobile communication technology is the latest commercially available technology for communication between all mobile devices, providing fast transmission speeds and low transmission latency that allow even high-definition videos to be downloaded in a short time, enabling communication between vehicles and infrastructure, and providing various content to vehicles.

[0007] Meanwhile, acquiring accurate vehicle location information is essential for vehicle-to-vehicle, vehicle-to-infrastructure, and vehicle-to-pedestrian communication such as V2X, as well as for autonomous driving. Vehicle location information may be precise enough to identify even which lane the vehicle is currently traveling in. To provide such precise location information, a high-precision GNSS (global navigation satellite system) may be required.

[0008] Therefore, vehicles need to be equipped with antennas that enable 5G communication and V2X communication, as well as high-precision GNSS antennas. 5G communication and V2X communication fundamentally support MIMO (multi-input multi-output) antenna systems. In other words, multiple antennas must be installed in the vehicle. However, because the locations where antennas can be installed are limited due to the vehicle's structure, how and where the multiple antennas are installed can affect the reception performance of 5G communication, V2X communication, and high-precision GNSS. The problem to be solved

[0010] The present invention relates to the above-mentioned problems and aims to provide an antenna system comprising an antenna system for V2X, a vehicle wireless communication system, a high-precision GNSS antenna capable of verifying vehicle location information, and a MIMO antenna suitable for 5G mobile communication. means of solving the problem

[0012] According to one embodiment of the present invention, an antenna system for an autonomous vehicle may include a shark fin antenna module provided on the exterior of the vehicle and comprising two 5G wireless communication antennas, one GNSS antenna for vehicle position acquisition, and one V2X antenna; a crash pad antenna module provided on the interior of the vehicle and comprising two 5G wireless communication antennas and one V2X antenna; and a communication control unit connected to the 5G wireless communication antennas and the V2X antennas to process signals.

[0013] In addition, the shark fin antenna module may have a shark fin-shaped exterior and may sequentially provide, from the rear, a first 5G wireless communication antenna for 5G wireless communication, a high-precision GNSS antenna for acquiring vehicle position, a first V2X antenna for V2X communication, and a third 5G wireless communication antenna for 5G wireless communication on a substrate that is narrow in width at the front and wide at the rear, having a shark fin shape.

[0014] In addition, the substrate may be a printed circuit board or a unit made of a conductive material, and the first 5G wireless communication antenna may be formed on the substrate in a pattern having a length that enables the reception of signals in low, medium, and high frequency bands.

[0015] In addition, the third 5G wireless communication antenna can be formed by a method of printing an antenna pattern with conductive ink on a three-dimensional structure.

[0016] In addition, the crash pad antenna module may have a rectangular shape and may have a second 5G wireless communication antenna and a fourth 5G wireless communication antenna at both ends of a rectangular printed circuit board, and may have a second V2X communication antenna between the second 5G wireless communication antenna and the fourth 5G wireless communication antenna.

[0017] In addition, the antenna pattern of each of the second 5G wireless communication antenna and the fourth 5G wireless communication antenna can be formed by a method of printing an antenna pattern with conductive ink on the outer surface of a three-dimensional shaped structure.

[0018] Additionally, each of the second 5G wireless communication antenna and the fourth 5G wireless communication antenna includes a first pattern and a second pattern separated from each other, and three terminals for wireless signal input / output, a first terminal, a second terminal, and a third terminal, wherein the first terminal is connected to the first pattern, and the second terminal and the third terminal may be connected at a different location from the second pattern. Here, the second pattern may be formed in a mesh shape.

[0019] Additionally, the printed circuit board may have a second 5G wireless communication signal terminal, a fourth 5G wireless communication signal terminal, and a second V2X communication signal terminal in the center, and may further include a first second 5G wireless communication pattern extending from the second 5G wireless communication signal terminal to the second 5G wireless communication antenna, a first fourth 5G wireless communication pattern extending from the fourth 5G wireless communication signal terminal to the fourth 5G wireless communication antenna, and a V2X communication antenna pattern extending from the second V2X communication signal terminal to the second V2X communication antenna.

[0020] Additionally, the first and second 5G wireless communication patterns may protrude from an intermediate point and be connected to the first terminal of the second 5G wireless communication antenna, and the end of the first and second 5G wireless communication patterns may be connected to the second terminal of the second 5G wireless communication antenna, and the first and fourth 5G wireless communication patterns may protrude from an intermediate point and be connected to the first terminal of the fourth 5G wireless communication antenna, and the end of the first and fourth 5G wireless communication patterns may be connected to the second terminal of the fourth 5G wireless communication antenna.

[0021] Additionally, the printed circuit board further includes a second 5G wireless communication pattern extended from the third terminal of the second 5G wireless communication antenna and a second 4th 5G wireless communication pattern extended from the third terminal of the fourth 5G wireless communication antenna, and the length of the second 5G wireless communication pattern may be longer than the length of the second 4th 5G wireless communication pattern.

[0022] In addition, the above V2X communication antenna may have a substrate formed of Teflon material, a monopole-shaped main pattern having a length of 1 / 4 (λ / 4) of the wavelength of the resonant frequency band on the substrate, a parasitic patch formed on the main pattern, a V2X communication signal terminal connected to the main pattern, and two ground terminals.

[0023] Additionally, the shark fin antenna module may be provided on the exterior rear of the vehicle, and the crash pad antenna module may be provided on the crash pad inside the vehicle. Effects of the invention

[0025] According to the present invention, reception performance can be maximized by arranging multiple antennas so that spatial diversity can be secured by using two or more receiving antennas at sufficiently far apart even within the limited space of a vehicle. Brief explanation of the drawing

[0027] FIG. 1 is a diagram illustrating an antenna system for an autonomous vehicle proposed in the present invention. FIG. 2 is a diagram illustrating the structure of a shark fin antenna module according to the present invention. FIG. 3 is a drawing illustrating the shape of a first 5G wireless communication antenna according to the present invention. FIG. 4 is a drawing illustrating the shape of a third 5G wireless communication antenna according to the present invention. FIG. 5 is a diagram illustrating the structure of a crash pad antenna module according to the present invention. FIG. 6 is a drawing showing a substrate of a crash pad antenna module according to the present invention. FIG. 7 is a drawing illustrating the shapes of a second 5G wireless communication antenna and a fourth 5G wireless communication antenna according to the present invention. FIG. 8 is a drawing illustrating the shape of a second V2X communication antenna according to the present invention. Specific details for implementing the invention

[0028] Specific structural or functional descriptions of embodiments according to the concept of the present invention disclosed herein are provided merely for the purpose of explaining embodiments according to the concept of the present invention, and embodiments according to the concept of the present invention may be implemented in various forms and are not limited to the embodiments described herein.

[0029] Since embodiments according to the concept of the present invention may be subject to various modifications and may take various forms, embodiments are illustrated in the drawings and described in detail in this specification. However, this is not intended to limit the embodiments according to the concept of the present invention to specific disclosed forms, and includes all modifications, equivalents, or substitutions that fall within the spirit and scope of the present invention.

[0030] Terms such as "first" or "second" may be used to describe various components, but said components should not be limited by said terms. Such terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of rights according to the concept of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component.

[0031] When it is stated that one component is "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may also be other components in between. Conversely, when it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between. Other expressions describing the relationship between components, such as "between" and "exactly between," or "adjacent to" and "directly adjacent to," should be interpreted in the same way.

[0032] The terms used in this specification are used merely to describe specific embodiments and are not intended to limit the invention. The singular expression includes the plural expression unless the context clearly indicates otherwise.

[0033] In this specification, terms such as “comprising” or “having” are intended to specify the existence of the described features, numbers, steps, actions, components, parts, or combinations thereof, and should not be understood as precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0034] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which this invention pertains.

[0035] Terms such as those defined in commonly used dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this specification.

[0036] In the following description, identical identifiers denote identical configurations, and unnecessary redundant explanations and descriptions of known technologies will be omitted.

[0037] Hereinafter, the present invention will be described in detail by explaining preferred embodiments of the present invention with reference to the attached drawings.

[0038] FIG. 1 is a diagram illustrating an antenna system for an autonomous vehicle proposed in the present invention.

[0039] Referring to FIG. 1, an antenna system (1000) for an autonomous vehicle may include a communication control unit (100), a shark fin antenna module (200), and a crash pad antenna module (300).

[0040] According to one embodiment, the antenna system (1000) for an autonomous vehicle may be equipped with four MIMO antennas for 5G wireless communication and two antennas for V2X communication. The two antennas for V2X communication may be for obtaining spatial diversity gain. Additionally, the antenna system (1000) for an autonomous vehicle may be equipped with a high-precision GNSS antenna that receives signals in at least two bands among L1, L2, and L5 bands to further minimize the vehicle position error range.

[0041] According to one embodiment, the shark fin antenna module (200) may be equipped with two 5G wireless communication antennas, one V2X communication antenna, and additionally a high-precision GNSS antenna. The crash pad antenna module (300) may be equipped with two 5G wireless communication antennas and one V2X communication antenna.

[0042] To maximize spatial diversity, a shark fin antenna module (200) may be provided at the rear of the vehicle and a crash pad antenna module (300) may be provided at the front of the vehicle.

[0043] FIG. 2 is a diagram illustrating the structure of a shark fin antenna module according to the present invention.

[0044] Referring to FIG. 2, the shark fin antenna module (200) may be provided with a first 5G wireless communication antenna (210), a high-precision GNSS antenna (240), a first V2X antenna (230), and a third 5G wireless communication antenna (220) from the rear on a substrate (260) that is narrow at the front and wide at the rear, and may be provided with a shark fin-shaped enclosure (250) to cover them. Here, the substrate (260) may be a printed circuit board or a unit made of a conductive material such as SUS, SPTE, or an iron plate.

[0045] FIG. 3 is a drawing illustrating the shape of a first 5G wireless communication antenna according to the present invention.

[0046] FIG. 4 is a drawing illustrating the shape of a third 5G wireless communication antenna according to the present invention.

[0047] Referring to FIG. 3, the first 5G wireless communication antenna (210) may have a shape that allows the length of the antenna (211) to be extended so that reception of the low band is also possible. The first 5G wireless communication antenna (210) may be formed with a pattern (213) as shown in FIG. 3 on a substrate made of FR-4 material or a unit (211) made of a conductive material. As shown in FIG. 3, the substrate (211) must have a certain width to secure a sufficient antenna resonance length so that resonance for the low frequency band is also possible. Accordingly, the first 5G wireless communication antenna (210) may be placed at the rear of a wide shark fin antenna module (200). The first 5G wireless communication antenna (210) has contacts (215, 217) that can be connected to two PCBs (260), one contact (215) is connected to the first 5G wireless communication antenna pattern (213) to supply or receive a signal, and the other contact (217) can be connected to ground.

[0048] The third 5G wireless communication antenna (220) is designed to transmit and receive signals in a high frequency band and can be positioned in front of the shark fin antenna module (200). Due to the shark fin-shaped enclosure, the space available for the antenna is limited. Consequently, it is difficult to implement the antenna pattern and satisfy the performance requirements of the antenna unit using a standard FR-4 substrate. Therefore, to obtain maximum efficiency in the minimum space, a pattern formation method (e.g., fluid method) using conductive ink capable of designing a 3D structure pattern can be applied to implement the antenna pattern (223) on a three-dimensional structure (221) as shown in FIG. 4. As an example, the structure (221) shown in FIG. 4 may be of a different shape. The pattern formation method using conductive ink described here is applicable to components made of various materials such as plastic, ceramic, metal, and glass. It is a process that allows for the fabrication of antennas by using equipment to pattern conductive ink into dots on the component. The biggest advantage of this method is that it eliminates the need for plating, thereby saving time in antenna manufacturing.

[0049] Referring again to FIG. 2, the high-precision GNSS antenna (240) can be positioned in the center of the shark fin antenna module (200) as an antenna capable of receiving L1 / L2 & L5 bands to minimize the vehicle position error range.

[0050] The first V2X antenna (230) may be provided between the high-precision GNSS antenna (240) and the third 5G wireless communication antenna (220).

[0051] FIG. 5 is a drawing illustrating the structure of a crash pad antenna module according to the present invention, and FIG. 6 is a drawing illustrating a substrate of a crash pad antenna module according to the present invention.

[0052] Referring to FIGS. 5 and 6, the crash pad antenna module (300) may have a second 5G wireless communication antenna (310), a fourth 5G wireless communication antenna (320), and a second V2X communication antenna (330) on a rectangular substrate (340).

[0053] Referring to FIGS. 5 and 6, the substrate (340) may include a second 5G wireless communication signal terminal (350), a fourth wireless communication signal terminal (360), and a second V2X communication signal terminal (370).

[0054] Additionally, the substrate (340) may include a second 5G wireless communication antenna pattern (355a, 355b) extended from a second 5G wireless communication signal terminal (350), a fourth 5G wireless communication antenna pattern (365a, 365b) extended from a fourth 5G wireless communication signal terminal (360), a second V2X communication signal pattern (375) extended from a second V2X communication signal terminal (370) and connected to an input terminal of a second V2X communication antenna (330), and a ground pattern (380) surrounding the second 5G wireless communication signal terminal (350), the fourth wireless communication signal terminal (360), the second V2X communication signal terminal (370), and the second V2X communication antenna (330).

[0055] According to one embodiment, the second 5G wireless communication antenna pattern (355a, 355b) is divided into a plurality of sections and may be provided with contacts (310a, 310b, 310c) connected to three second 5G wireless communication antennas (310). The second 5G wireless communication antenna (310) is provided at the left end of the substrate (340) and may be connected to the second 5G wireless communication antenna pattern (355a, 355b) through three contacts (310a, 310b, 310c) provided on the second 5G wireless communication antenna pattern (355a, 355b) formed on the substrate (340). Accordingly, the second 5G wireless communication antenna pattern (355a, 355b) and the second 5G wireless communication antenna (310) can be combined to form a single second 5G wireless communication antenna.

[0056] According to one embodiment, the fourth 5G wireless communication antenna pattern (365a 365b) is divided into a plurality of sections and may be provided with contact points (320a, 320b, 320c) connected to three fourth 5G wireless communication antennas (320). The fourth 5G wireless communication antenna (320) is provided at the right end of the substrate (340) and may be connected to the fourth 5G wireless communication antenna pattern (365a 365b) through the three contact points (320a, 320b, 320c) provided in the fourth 5G wireless communication antenna pattern (365a 365b) formed on the substrate (340). Accordingly, the fourth 5G wireless communication antenna pattern (365a 365b) and the fourth 5G wireless communication antenna (330) may be combined to form a single fourth 5G wireless communication antenna.

[0057] And the second 5G wireless communication antenna is positioned on the left side of the substrate (340), and the fourth 5G wireless communication antenna is positioned on the right side of the substrate (340) so that spatial diversity can be obtained.

[0058] The second V2X communication antenna (330) may be provided in the center of the substrate (340) between the second 5G wireless communication antenna (310) and the fourth 5G wireless communication antenna (320).

[0059] The crash pad antenna module (300) can be provided within a rectangular casing (390).

[0060] FIG. 7 is a drawing illustrating the shapes of a second 5G wireless communication antenna (310) and a fourth 5G wireless communication antenna (320) according to the present invention.

[0061] Referring to FIG. 7, the second 5G wireless communication antenna (310) and the fourth 5G wireless communication antenna (320) can improve the performance of the antennas by forming patterns on three-dimensional structures (315, 325) to expand the second 5G wireless communication antenna patterns (355a 355b) and the fourth 5G wireless communication antenna patterns (365a 365b) provided on the substrate (340). A plurality of patterns may be provided on the three-dimensional structures (315, 325), and the shapes of the patterns (311, 313, 321, 323) may vary. Additionally, according to one embodiment, the patterns (311, 313, 321, 323) provided on the three-dimensional structures (315, 325) of the second 5G wireless communication antenna (310) and the fourth 5G wireless communication antenna (320) may include three terminals (311a, 313a, 313b, 321a, 323a, 323b) for connecting to the second 5G wireless communication antenna patterns (355a, 355b) and the fourth 5G wireless communication antenna patterns (365a, 365b) provided on the substrate (340).

[0062] According to one embodiment, three terminals (311a, 313a, 313b) of the second 5G wireless communication antenna (310) can be connected to three contacts (310a, 310b, 310c) provided in the second 5G wireless communication antenna pattern (355a, 355b) of the substrate (340), and three terminals (321a, 323a, 323b) of the fourth 5G wireless communication antenna (320) can be connected to three contacts (320a, 320b, 320c) provided in the fourth 5G wireless communication antenna pattern (365a, 365b) of the substrate (340).

[0063] According to one embodiment, antenna patterns (311, 313, 321, 323) of the second 5G wireless communication antenna (310) and the fourth 5G wireless communication antenna (320) can be formed on the outer surface of each three-dimensional shaped structure (315, 325) using a pattern forming method using conductive ink.

[0064] FIG. 8 is a drawing illustrating the shape of a V2X communication antenna (330) according to the present invention.

[0065] Figure 8 (a) shows the top surface shape of the V2X communication antenna (330), and (b) shows the bottom surface shape.

[0066] Referring to FIG. 8, the V2X communication antenna (330) has a substrate made of Teflon material with a relative permittivity (Er) of 3.0 and a thickness of 0.8T, and a main pattern (331, 332) is designed in the shape of a λ / 4 monopole antenna, and a parasitic patch (333, 334) is added on the main pattern (331, 332) to increase antenna efficiency.

[0067] The V2X communication antenna (330) can be attached to the substrate (340) by soldering or the like using three contacts (331a, 335). The contact (331a) is the part corresponding to the outermost end of the main pattern (331), and is connected to the second V2X communication signal terminal (370) using a pattern on the substrate (340), and can receive a V2X communication signal for emission. The contact (332a) corresponding to the outermost end of the main pattern (332) can also be connected to the second V2X communication signal terminal (370) using a pattern on the substrate (340).

[0068] Contacts (335) are provided at both ends of the V2X communication antenna (330) and are directly in contact with and soldered to the ground on the substrate (340) to support the V2X communication antenna (330) so that it can be installed upright. According to one embodiment, the contacts (335) may be provided on the substrate in different directions to prevent it from tipping over and to maintain balance. For example, one of the contacts (335) may be soldered to the ground in the top direction, and the other of the contacts (335) may be soldered to the ground in the bottom direction.

[0069] Parasitic patches (333, 334) can be formed on both sides of the substrate with the same shape and size. Additionally, the parasitic patches (333, 334) on both sides can be formed to be conductive to each other using through holes (not shown), etc. The parasitic patches (333, 334) can be provided to control the shape of the radio waves radiated through the main pattern (331, 332) in order to maximize efficiency.

[0070] The length of the V2X antenna is approximately 12.7 mm, which is 1 / 4 of the wavelength (λ) of the resonant frequency, but using Teflon material allows for a low-loss antenna design, which can improve the antenna's gain.

[0071] Referring to FIGS. 2 to 8, four antennas for 5G wireless communication may be provided, two of which are mounted on a shark fin antenna module (200) at the rear of the vehicle, and two of which are mounted on a crash pad antenna module (300) at the front of the vehicle. Additionally, two 5G wireless communication antennas (210, 220) within the shark fin antenna module (200) are positioned as far apart as possible, and two 5G wireless communication antennas (310, 320) within the crash pad antenna module (300) are also positioned as far apart as possible to maximize spatial diversity efficiency.

[0072] Additionally, the first 5G wireless communication antenna (210) and the second 5G wireless communication antenna (310) can be used for both transmission and reception of signals, whereas the third 5G wireless communication antenna (220) and the fourth 5G wireless communication antenna (320) can be used only for reception of signals.

[0073] And the first 5G wireless communication antenna (210) and the second 5G wireless communication antenna (310) can be designed to resonate with signals in the 617~960MHz, 1710~2690MHz, and 3300~5000MHz bands, and the third 5G wireless communication antenna (220) and the fourth 5G wireless communication antenna (320) can be designed to resonate with signals in the 1710~2690MHz and 3300~5000MHz bands.

[0074] The antenna for V2X communication (230, 330) can be designed to resonate with signals in the 5850 to 5925 MHz band.

[0075] As a result of measuring the 2D radiation pattern and gain of the antenna in an electromagnetic anechoic chamber, the average gain of the first 5G wireless communication antenna (210) was confirmed to be -0.6dBi in the low frequency band, 1.7dBi in the mid frequency band, and -0.9dBi in the high frequency band, and the average gain of the third 5G wireless communication antenna (220) was confirmed to be -0.3dBi in the mid frequency band and -0.5dBi in the high frequency band. The average gain of the second 5G wireless communication antenna (310) was confirmed to be -1.6dBi in the low frequency band, -0.6dBi in the mid frequency band, and -1.5dBi in the high frequency band, and the average gain of the fourth 5G wireless communication antenna (220) was confirmed to be 0dBi in the mid frequency band and -1.29dBi in the high frequency band.

[0077] The above description is merely an illustrative explanation of the technical concept of the present invention, and those skilled in the art to which the present invention pertains will be able to make various modifications and variations within the scope of the essential characteristics of the present invention.

[0078] Accordingly, the embodiments disclosed in this invention are intended to illustrate, not limit, the technical concept of the invention, and the scope of the technical concept of the invention is not limited by these embodiments. The scope of protection of this invention shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of this invention.

Claims

Claim 1 An antenna system for an autonomous vehicle comprises: a shark fin antenna module provided on the exterior of the vehicle and including two 5G wireless communication antennas, one GNSS antenna for vehicle position acquisition, and one V2X antenna; and a crash pad antenna module provided on the interior of the vehicle and including two 5G wireless communication antennas and one V2X antenna. and includes a communication control unit connected to the 5G wireless communication antennas and the V2X antennas to process signals, wherein the shark fin antenna module and the crash pad antenna module are positioned spaced apart from each other to improve diversity performance and frequency interference reduction performance of 5G signals and V2X signals, and the crash pad antenna module has a rectangular exterior shape and is provided with a second 5G wireless communication antenna and a fourth 5G wireless communication antenna at both ends of a rectangular printed circuit board, and a second V2X communication antenna is provided between the second 5G wireless communication antenna and the fourth 5G wireless communication antenna, and the printed circuit board is provided with a second 5G wireless communication signal terminal, a fourth 5G wireless communication signal terminal, and a second V2X communication signal terminal in the center, and a first and second 5G wireless communication pattern extending from the second 5G wireless communication signal terminal to the second 5G wireless communication antenna; An antenna system for an autonomous vehicle, further comprising: a first fourth 5G wireless communication pattern extending from a fourth 5G wireless communication signal terminal to the fourth 5G wireless communication antenna; and a V2X communication antenna pattern extending from the second V2X communication signal terminal to the second V2X communication antenna. Claim 2 An antenna system for an autonomous vehicle according to claim 1, wherein the shark fin antenna module has a shark fin-shaped exterior and sequentially comprises, from the rear, a first 5G wireless communication antenna for 5G wireless communication, a high-precision GNSS antenna for acquiring vehicle position, a first V2X antenna for V2X communication, and a third 5G wireless communication antenna for 5G wireless communication on a substrate that is narrow in width at the front and wide at the rear. Claim 3 In paragraph 2, the substrate may be a printed circuit board or a unit made of a conductive material, and the first 5G wireless communication antenna is formed on the substrate in a pattern having a length that enables the reception of signals in low, medium, and high frequency bands, an antenna system for an autonomous vehicle. Claim 4 In paragraph 2, the third 5G wireless communication antenna is an antenna system for an autonomous vehicle formed by a method of printing an antenna pattern with conductive ink on a three-dimensional shaped structure. Claim 5 delete Claim 6 An antenna system for an autonomous vehicle according to claim 1, wherein each of the second 5G wireless communication antenna and the fourth 5G wireless communication antenna has an antenna pattern formed by a method of printing an antenna pattern with conductive ink on the outer surface of a three-dimensional shaped structure. Claim 7 An antenna system for an autonomous vehicle according to claim 6, wherein each of the second 5G wireless communication antenna and the fourth 5G wireless communication antenna comprises: a first pattern and a second pattern separated from each other; and three terminals, a first terminal, a second terminal and a third terminal, for wireless signal input and output, wherein the first terminal is connected to the first pattern, and the second terminal and the third terminal are connected at a different location from the second pattern. Claim 8 An antenna system for an autonomous vehicle according to claim 7, wherein the second pattern is formed in a mesh shape. Claim 9 delete Claim 10 An antenna system for an autonomous vehicle according to claim 7, wherein the first and second 5G wireless communication patterns protrude from an intermediate point and are connected to the first terminal of the second 5G wireless communication antenna, and the end of the first and second 5G wireless communication patterns is connected to the second terminal of the second 5G wireless communication antenna, and the first and fourth 5G wireless communication patterns protrude from an intermediate point and are connected to the first terminal of the fourth 5G wireless communication antenna, and the end of the first and fourth 5G wireless communication patterns is connected to the second terminal of the fourth 5G wireless communication antenna. Claim 11 An antenna system for an autonomous vehicle according to claim 10, wherein the printed circuit board further comprises: a second 5G wireless communication pattern extending from the third terminal of the second 5G wireless communication antenna; and a second 4th 5G wireless communication pattern extending from the third terminal of the fourth 5G wireless communication antenna, wherein the length of the second 5G wireless communication pattern is longer than the length of the second 4th 5G wireless communication pattern. Claim 12 An antenna system for an autonomous vehicle according to claim 1, wherein the V2X communication antenna comprises: a substrate formed of Teflon material; a monopole-shaped main pattern having a length (λ / 4) of 1 / 4 of the wavelength of a resonating frequency band on the substrate; a parasitic patch formed on the main pattern; a V2X communication signal terminal connected to the main pattern; and two ground terminals. Claim 13 An antenna system for an autonomous vehicle according to claim 1, wherein the shark fin antenna module is provided on the external rear of the vehicle and the crash pad antenna module is provided on the crash pad inside the vehicle.

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