Communication device and vehicle control device including same

Abstract

A communication device and a vehicle control device including same according to an embodiment of the present disclosure comprise: an RF communication unit for receiving a vehicle message from a plurality of adjacent external vehicles on the basis of an RF signal; and a processor for filtering the vehicle message on the basis of road-type information, reception-sensitivity information of the RF signal, wheel-direction information, and speed information. Accordingly, it is possible to efficiently filter a vehicle message received from an adjacent vehicle.

Description

Communication device and vehicle control device equipped therewith

[0001] The present disclosure relates to a communication device and a vehicle control device having the same, and more particularly, to a communication device capable of efficiently filtering vehicle messages received from adjacent vehicles and a vehicle control device having the same.

[0002] A vehicle is a device that allows the user to move in the desired direction. A representative example is an automobile.

[0003] Meanwhile, with the increase in data used in vehicles, vehicle communication devices are being installed.

[0004] For example, a vehicle communication device receives data from an external server or an adjacent vehicle based on mobile communication technology.

[0005] In particular, in a V2X (Vehicle-to-everything) environment, various vehicle messages are received by vehicles.

[0006] Meanwhile, as the number of vehicle messages received increases, the processing that must be done within the vehicle increases.

[0007] Prior art, U.S. Patent No. US11511767, discloses processing only V2X data messages related to vehicles through filtering technology.

[0008] However, according to the prior literature, there is a disadvantage in that filtering is not performed in relation to driving conditions, especially road types, and thus efficient filtering is not performed.

[0009] The problem to be solved by the present disclosure is to provide a communication device capable of efficiently filtering vehicle messages received from adjacent vehicles and a vehicle control device having the same.

[0010] Another problem that the present disclosure seeks to solve is to provide a communication device capable of efficiently filtering vehicle messages received from adjacent vehicles based on road type information, and a vehicle control device having the same.

[0011] Another problem that the present disclosure seeks to solve is to provide a communication device capable of efficiently filtering vehicle messages received from adjacent vehicles based on road type information and processor usage rate, and a vehicle control device having the same.

[0012] Another problem that the present disclosure seeks to solve is to provide a communication device capable of efficiently filtering vehicle messages based on an application running on a signal processing device and a vehicle control device having the same.

[0013] A communication device and a vehicle control device having the same according to one embodiment of the present disclosure for solving the above technical problem include an RF communication unit that receives vehicle messages from a plurality of adjacent external vehicles based on RF signals, and a processor that performs filtering of vehicle messages based on road type information, reception sensitivity information of the RF signal, wheel direction information, and speed information.

[0014] Meanwhile, the processor can set a message passing zone based on road type information, RF signal reception sensitivity information, wheel direction information, and speed information, and filter vehicle messages based on the message passing zone.

[0015] Meanwhile, the processor can pass vehicle messages from external vehicles included in the message passing area and block vehicle messages from external vehicles not included in the message passing area.

[0016] Meanwhile, the processor can set priorities based on road type information, RF signal reception sensitivity information, wheel direction information, and speed information, and filter vehicle messages based on the priorities.

[0017] Meanwhile, the processor may set the priority of speed information to the highest and the priority of wheel direction information to the lowest when the road type is a straight road or a curved road, and may set the priority of wheel direction information to the highest and the priority of speed information to the lowest when the road type is a cross road.

[0018] Meanwhile, the processor can set a message passing area based on the set priority and filter vehicle messages based on the message passing area.

[0019] Meanwhile, the processor can control the message passing area to increase as the level of speed information increases when the road type is a straight road or a curved road.

[0020] Meanwhile, the processor can set the direction or location of the message passing area based on wheel direction information when the road type is a cross road.

[0021] Meanwhile, the processor can set priorities based more on turn signal, traffic jam section information, and speed change information.

[0022] Meanwhile, the processor can control the message passing area to become smaller as the congestion level based on the congestion section information increases or the speed change amount of the speed change amount information decreases.

[0023] Meanwhile, the processor can perform filtering of vehicle messages when the processor's usage rate is above a threshold.

[0024] Meanwhile, the processor may block a first number of vehicle messages when the processor's usage rate is at a first level, and may block a second number of vehicle messages that are greater than the first number when the processor's usage rate is at a second level that is greater than the first level.

[0025] Meanwhile, the processor can be controlled so that the message passing area becomes smaller as the processor's utilization rate increases.

[0026] Meanwhile, the RF communication unit can transmit transmission cycle information of a vehicle message to an external vehicle based on a message passing area.

[0027] Meanwhile, the RF communication unit can control the transmission cycle of vehicle messages from external vehicles to become longer as the size of the message passing area becomes smaller.

[0028] Meanwhile, a communication device and a vehicle control device including the same according to one embodiment of the present disclosure further include an interface for exchanging data with a signal processing device, and a processor can set a message passing area based on an application running in the signal processing device.

[0029] Meanwhile, the processor can vary the message passing area based on the application running on the signal processing device and the direction of movement of the vehicle.

[0030] Meanwhile, the processor, in the signal processing device, can vary the message passing area based on the moving direction of the vehicle when an automatic steering control application is executed.

[0031] Meanwhile, the processor can vary the message passing area to the rear area of ​​the vehicle when an automatic braking control application is executed in the signal processing device.

[0032] Meanwhile, a communication device and a vehicle control device having the same according to another embodiment of the present disclosure include an RF communication unit that receives vehicle messages from a plurality of adjacent external vehicles based on an RF signal, and a processor that performs filtering of the vehicle messages, and the processor performs filtering of the vehicle messages based on road type information and a usage rate of the processor.

[0033] A communication device and a vehicle control device including the same according to one embodiment of the present disclosure include an RF communication unit that receives vehicle messages from a plurality of adjacent external vehicles based on RF signals, and a processor that performs filtering of vehicle messages based on road type information, reception sensitivity information of the RF signals, wheel direction information, and speed information. Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered. In particular, vehicle messages received from adjacent vehicles can be efficiently filtered based on road type information.

[0034] Meanwhile, the processor can set a message passing zone based on road type information, RF signal reception sensitivity information, wheel direction information, and speed information, and filter vehicle messages based on the message passing zone. Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0035] Meanwhile, the processor can pass vehicle messages from external vehicles within the message passing area and block vehicle messages from external vehicles not within the message passing area. This enables efficient filtering of vehicle messages received from adjacent vehicles.

[0036] Meanwhile, the processor can set priorities based on road type information, RF signal reception sensitivity information, wheel direction information, and speed information, and filter vehicle messages based on the priorities. This enables efficient filtering of vehicle messages received from adjacent vehicles.

[0037] Meanwhile, if the road type is a straight or curved road, the processor may set the speed information to the highest priority and the wheel direction information to the lowest priority. If the road type is a crossroad, the processor may set the wheel direction information to the highest priority and the speed information to the lowest priority. Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0038] Meanwhile, the processor can set a message passing area based on the established priority and filter vehicle messages based on the message passing area. This enables efficient filtering of vehicle messages received from adjacent vehicles.

[0039] Meanwhile, the processor can control the message passing area to increase as the level of speed information increases, whether the road type is a straight or curved road. This allows for efficient filtering of vehicle messages received from adjacent vehicles.

[0040] Meanwhile, if the road type is a crossroad, the processor can set the direction or location of the message passing area based on wheel direction information. This allows for efficient filtering of vehicle messages received from adjacent vehicles.

[0041] Meanwhile, the processor can set priorities based on turn signals, traffic congestion information, and speed change information. This allows for efficient filtering of vehicle messages received from adjacent vehicles.

[0042] Meanwhile, the processor can control the message passing area to become smaller as the congestion level based on congestion section information increases or the speed change information decreases. This allows for efficient filtering of vehicle messages received from adjacent vehicles.

[0043] Meanwhile, the processor can filter vehicle messages when its usage exceeds a threshold. This allows for efficient filtering of vehicle messages received from adjacent vehicles.

[0044] Meanwhile, the processor may block a first number of vehicle messages when the processor utilization rate is at the first level, and may block a second number of vehicle messages, which is greater than the first number, when the processor utilization rate is at a second level, which is greater than the first level. Accordingly, vehicle messages received from adjacent vehicles may be efficiently filtered.

[0045] Meanwhile, the processor can control the message passing area to become smaller as processor utilization increases. This allows for efficient filtering of vehicle messages received from adjacent vehicles.

[0046] Meanwhile, the RF communication unit can transmit vehicle message transmission cycle information to external vehicles based on the message passing area. This enables efficient filtering of vehicle messages received from adjacent vehicles.

[0047] Meanwhile, the RF communication unit can control the transmission cycle of vehicle messages from external vehicles to be longer as the message passing area size decreases. This allows for efficient filtering of vehicle messages received from adjacent vehicles.

[0048] Meanwhile, a communication device and a vehicle control device including the same according to one embodiment of the present disclosure further include an interface for exchanging data with a signal processing device, and the processor can set a message passing area based on an application running on the signal processing device. Accordingly, vehicle messages can be efficiently filtered based on the application running on the signal processing device.

[0049] Meanwhile, the processor can vary the message passing area based on the application running on the signal processing unit and the vehicle's direction of travel. This allows for efficient filtering of vehicle messages based on the automatic steering control application running on the signal processing unit.

[0050] Meanwhile, the processor, when an automatic steering control application is executed in the signal processing device, can vary the message passing area based on the vehicle's moving direction. This enables efficient filtering of vehicle messages based on the automatic steering control application executed in the signal processing device.

[0051] Meanwhile, the processor can vary the message passing area to the rear area of ​​the vehicle when an automatic braking control application is executed in the signal processing unit. This enables efficient filtering of vehicle messages based on the automatic braking control application executed in the signal processing unit.

[0052] Meanwhile, a communication device and a vehicle control device including the same according to another embodiment of the present disclosure include an RF communication unit that receives vehicle messages from a plurality of adjacent external vehicles based on RF signals, and a processor that performs filtering of the vehicle messages, wherein the processor performs filtering of the vehicle messages based on road type information and a usage rate of the processor. Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered based on the road type information and the usage rate of the processor.

[0053] Figure 1 is a drawing showing an example of the exterior and interior of a vehicle.

[0054] Figure 2 is a diagram illustrating the architecture of a signal processing system for a vehicle.

[0055] Figure 3a is a drawing showing an example of the arrangement of a vehicle display device inside a vehicle.

[0056] Figure 3b is a drawing showing another example of the arrangement of a vehicle display device inside a vehicle.

[0057] Fig. 4 is an example of an internal block diagram of the vehicle of Fig. 1.

[0058] FIG. 5 is an example of a block diagram of a vehicle control device according to an embodiment of the present disclosure.

[0059] FIG. 6 is an example of a block diagram of a communication device according to an embodiment of the present disclosure.

[0060] FIG. 7A is a flowchart illustrating an operation method of a communication device according to one embodiment of the present disclosure.

[0061] FIG. 7b is a flowchart illustrating an operation method of a communication device according to another embodiment of the present disclosure.

[0062] Figures 8a to 19d are drawings for reference in the operation description of Figures 7a to 7b.

[0063] Hereinafter, the present disclosure will be described in more detail with reference to the drawings.

[0064] The suffixes "module" and "part" used in the following description are given solely for the convenience of writing this specification and do not impart any particularly significant meaning or role to the components themselves. Therefore, the terms "module" and "part" may be used interchangeably.

[0065] Figure 1 is a drawing showing an example of the exterior and interior of a vehicle.

[0066] Referring to the drawing, the vehicle (200) is operated by a plurality of wheels (103FR, 103FL, 103RL, etc.) that rotate by a power source and a steering wheel (150) for controlling the direction of travel of the vehicle (200).

[0067] Meanwhile, the vehicle (200) may further be equipped with a camera (195) for capturing images of the front of the vehicle.

[0068] Meanwhile, the vehicle (200) may be equipped with multiple displays (180a, 180b) for displaying images, information, etc. inside.

[0069] In Fig. 1, a cluster display (180a) and an AVN (Audio Video Navigation) display (180b) are exemplified as multiple displays (180a, 180b). In addition, a HUD (Head Up Display) is also possible.

[0070] Meanwhile, the AVN (Audio Video Navigation) display (180b) may also be called a center information display.

[0071] Meanwhile, the vehicle (200) described in this specification may be a concept that includes all of a vehicle equipped with an engine as a power source, a hybrid vehicle equipped with an engine and an electric motor as a power source, and an electric vehicle equipped with an electric motor as a power source.

[0072] Figure 2 is a diagram illustrating the architecture of a signal processing system for a vehicle.

[0073] Referring to the drawing, the architecture (300a) of the vehicle signal processing system can correspond to a zone-based architecture.

[0074] Accordingly, sensor devices and processors inside the vehicle may be placed in each of the plurality of zones (Z1 to Z4), and a signal processing device (170a) including a vehicle communication gateway (GWDa) may be placed in the central area of ​​the plurality of zones (Z1 to Z4).

[0075] Meanwhile, the signal processing device (170a) may further include, in addition to the vehicle communication gateway (GWDa), an autonomous driving control module (ACC), a cockpit control module (CPG), etc.

[0076] The vehicle communication gateway (GWDa) within the signal processing device (170a) may be an HPC (High Performance Computing) gateway.

[0077] That is, the signal processing device (170a) of FIG. 2 is an integrated HPC and can exchange data with an external communication module (not shown) or a processor (not shown) within a plurality of zones (Z1 to Z4).

[0078] Figure 3a is a drawing showing an example of the arrangement of a vehicle display device inside a vehicle.

[0079] Referring to the drawing, the interior of the vehicle may be equipped with a cluster display (180a), an AVN (Audio Video Navigation) display (180b), a rear seat entertainment display (180c, 180d), a room mirror display (not shown), etc.

[0080] Figure 3b is a drawing showing another example of the arrangement of a vehicle display device inside a vehicle.

[0081] A vehicle display device (100) according to an embodiment of the present disclosure may include a plurality of displays (180a to 180b), and a signal processing device (170) that performs signal processing for displaying images, information, etc. on the plurality of displays (180a to 180b) and outputs an image signal to at least one display (180a to 180b).

[0082] Among the plurality of displays (180a to 180b), the first display (180a) may be a cluster display (180a) for displaying driving status, operation information, etc., and the second display (180b) may be an AVN (Audio Video Navigation) display (180b) for displaying vehicle driving information, a navigation map, various entertainment information, or images.

[0083] The signal processing device (170) has a processor (175) therein and can execute a first virtual machine to a third virtual machine (not shown) on a hypervisor (not shown) within the processor (175).

[0084] A second virtual machine (not shown) can operate for the first display (180a), and a third virtual machine (not shown) can operate for the second display (180b).

[0085] Meanwhile, the first virtual machine (not shown) within the processor (175) can control the shared memory (508) based on the hypervisor (505) to be set for the same data transmission to the second virtual machine (not shown) and the third virtual machine (not shown). Accordingly, the same information or the same image can be displayed in synchronization on the first display (180a) and the second display (180b) within the vehicle.

[0086] Meanwhile, the first virtual machine (not shown) within the processor (175) shares at least a portion of data with the second virtual machine (not shown) and the third virtual machine (not shown) for data sharing processing. Accordingly, data can be shared and processed among multiple virtual machines for multiple displays within the vehicle.

[0087] Meanwhile, a first virtual machine (not shown) within a processor (175) may receive and process vehicle wheel speed sensor data, and transmit the processed wheel speed sensor data to at least one of a second virtual machine (not shown) or a third virtual machine (not shown). Accordingly, the vehicle wheel speed sensor data may be shared with at least one virtual machine.

[0088] Meanwhile, the vehicle display device (100) according to the embodiment of the present disclosure may further include a rear seat entertainment display (180c) for displaying driving status information, simple navigation information, various entertainment information, or images.

[0089] The signal processing device (170) can control the RSE display (180c) by executing a fourth virtual machine (not shown) in addition to the first virtual machine to the third virtual machine (not shown) on a hypervisor (not shown) within the processor (175).

[0090] Accordingly, it is possible to control various displays (180a to 180c) using one signal processing device (170).

[0091] Meanwhile, some of the multiple displays (180a~180c) may operate under Linux OS, while others may operate under Web OS.

[0092] The signal processing device (170) according to the embodiment of the present disclosure can control the same information or the same image to be displayed in synchronization on displays (180a to 180c) operating under various operating systems (OS).

[0093] Meanwhile, in FIG. 3b, a vehicle speed indicator (212a) and a vehicle interior temperature indicator (213a) are displayed on a first display (180a), a home screen (222) including a plurality of applications and a vehicle speed indicator (212b) and a vehicle interior temperature indicator (213b) are displayed on a second display (180b), and a second home screen (222b) including a plurality of applications and a vehicle interior temperature indicator (213c) are displayed on a third display (180c).

[0094] Fig. 4 is an example of an internal block diagram of the vehicle of Fig. 1.

[0095] Referring to the drawings, a vehicle (200) according to an embodiment of the present disclosure may include a lamp driving unit (751), a steering driving unit (752), a brake driving unit (753), a power source driving unit (754), a suspension driving unit (756), an air conditioning driving unit (757), a window driving unit (758), a seat driving unit (761), and a signal processing device (170).

[0096] Meanwhile, the vehicle (200) may further include an ECU (770), multiple sensor devices (SN), and multiple communication modules (EMa to EMd).

[0097] Meanwhile, a vehicle (200) according to an embodiment of the present disclosure may further include a vehicle display device (100).

[0098] A vehicle display device (100) according to an embodiment of the present disclosure may include an input unit (110), a communication device (120) for communication with an external device, a plurality of communication modules (EMa to EMd) for internal communication, a memory (140), a signal processing device (170), a plurality of displays (180a to 180c), an audio output unit (185), and a power supply unit (190).

[0099] A plurality of communication modules (EMa to EMd) can be arranged, for example, in a plurality of zones (Z1 to Z4) of FIG. 2, respectively.

[0100] Meanwhile, the signal processing device (170) may have a communication switch (736b) for data communication with each communication module (EM1 to EM4) inside.

[0101] Each communication module (EM1 to EM4) can perform data communication with multiple sensor devices (SN) or ECUs (770) or area signal processing devices (170Z).

[0102] Meanwhile, the plurality of sensor devices (SN) may include a camera (195), a lidar (196), a radar (197), or a position sensor (198).

[0103] The input unit (110) may be equipped with physical buttons, pads, etc. for button input, touch input, etc.

[0104] Meanwhile, the input unit (110) may be equipped with a microphone (not shown) for user voice input.

[0105] The communication device (120) can exchange data wirelessly with a mobile terminal (800) or a server (900).

[0106] In particular, the communication device (120) can wirelessly exchange data with the vehicle driver's mobile terminal. Various data communication methods are possible, such as Bluetooth, WiFi, WiFi Direct, and APiX.

[0107] The communication device (120) can receive weather information, road traffic information, for example, TPEG (Transport Protocol Expert Group) information, from a mobile terminal (800) or a server (900). To this end, the communication device (120) may be equipped with a mobile communication module (not shown).

[0108] Meanwhile, the communication device (120) can exchange data with an adjacent vehicle wirelessly.

[0109] For example, the communication device (120) can exchange vehicle messages with adjacent vehicles wirelessly through V2X (Vehicle-to-everything) communication.

[0110] A plurality of communication modules (EM1 to EM4) can receive sensor data, etc. from an ECU (770), a sensor device (SN), or an area signal processing device (170Z), and transmit the received sensor data to the signal processing device (170).

[0111] Here, the sensor data may include at least one of vehicle direction data, vehicle location data (GPS data), vehicle angle data, vehicle speed data, vehicle acceleration data, vehicle inclination data, vehicle forward / backward data, battery data, fuel data, tire data, vehicle lamp data, vehicle interior temperature data, and vehicle interior humidity data.

[0112] Such sensor data can be obtained from a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward / backward sensor, a wheel sensor, a vehicle speed sensor, a body tilt detection sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a vehicle interior temperature sensor, a vehicle interior humidity sensor, etc.

[0113] Meanwhile, the position module may include a GPS module or a position sensor (198) for receiving GPS information.

[0114] Meanwhile, at least one of the plurality of communication modules (EM1 to EM4) can transmit location information data sensed by a GPS module or location sensor (198) to a signal processing device (170).

[0115] Meanwhile, at least one of the plurality of communication modules (EM1 to EM4) can receive vehicle front image data, vehicle side image data, vehicle rear image data, vehicle surrounding obstacle distance information, etc. from a camera (195), lidar (196), radar (197), etc., and transmit the received information to a signal processing device (170).

[0116] The memory (140) can store various data for the overall operation of the vehicle display device (100), such as a program for processing or controlling the signal processing device (170).

[0117] For example, the memory (140) may store data regarding a hypervisor, a first virtual machine, a third virtual machine, or the like, for execution within the processor (175).

[0118] The audio output unit (185) converts an electric signal from the signal processing device (170) into an audio signal and outputs it. For this purpose, a speaker or the like may be provided.

[0119] The power supply unit (190) can supply power required for the operation of each component under the control of the signal processing device (170). In particular, the power supply unit (190) can receive power from a battery or the like inside the vehicle.

[0120] The signal processing device (170) controls the overall operation of each unit in the vehicle display device (100) or the vehicle (200).

[0121] For example, the signal processing device (170) may include a processor (175) that performs signal processing for a vehicle display (180a, 180b).

[0122] The processor (175) can execute a first virtual machine to a third virtual machine (not shown) on a hypervisor (not shown) within the processor (175).

[0123] Among the first virtual machine to the third virtual machine (not shown), the first virtual machine (not shown) may be named a server virtual machine (Server Virtual Maschine), and the second virtual machine to the third virtual machine (not shown) may be named a guest virtual machine (Guest Virtual Maschine).

[0124] For example, a first virtual machine (not shown) within a processor (175) may receive, process, or output sensor data from a plurality of sensor devices, such as vehicle sensor data, location information data, camera image data, audio data, or touch input data.

[0125] In this way, by performing most of the data processing in the first virtual machine (not shown), data sharing in a 1:N manner becomes possible.

[0126] As another example, a first virtual machine (not shown) can directly receive and process CAN data, Ethernet data, audio data, radio data, USB data, and wireless communication data for a second virtual machine or a third virtual machine (not shown).

[0127] And, the first virtual machine (not shown) can transmit processed data to the second virtual machine or the third virtual machine (not shown).

[0128] Accordingly, among the first virtual machine to the third virtual machine (not shown), only the first virtual machine (not shown) receives sensor data, communication data, or external input data from multiple sensor devices and performs signal processing, thereby reducing the signal processing burden on other virtual machines, enabling 1:N data communication, and enabling synchronization when sharing data.

[0129] Meanwhile, the first virtual machine (not shown) can control the second virtual machine (not shown) and the third virtual machine (not shown) to share the same data by writing data to the shared memory (508).

[0130] For example, a first virtual machine (not shown) can record vehicle sensor data, the location information data, the camera image data, or the touch input data in shared memory (508) and control the same data to be shared with a second virtual machine (not shown) and a third virtual machine (not shown). Accordingly, data sharing in a 1:N manner becomes possible.

[0131] Ultimately, by performing most of the data processing on the first virtual machine (not shown), data sharing in a 1:N manner becomes possible.

[0132] Meanwhile, the first virtual machine (not shown) within the processor (175) can control the shared memory (508) based on the hypervisor (505) to be set for the same data transmission to the second virtual machine (not shown) and the third virtual machine (not shown).

[0133] Meanwhile, the signal processing device (170) can process various signals such as audio signals, video signals, and data signals. To this end, the signal processing device (170) can be implemented in the form of a system on chip (SOC).

[0134] FIG. 5 is an example of a block diagram of a vehicle control device according to an embodiment of the present disclosure.

[0135] Referring to the drawing, a vehicle control device (900) according to an embodiment of the present disclosure includes a communication device (120).

[0136] Meanwhile, the vehicle control device (900) according to the embodiment of the present disclosure may further include a signal processing device (170).

[0137] A communication device (120) according to an embodiment of the present disclosure can exchange vehicle messages with an adjacent vehicle in a wireless manner through V2X (Vehicle-to-everything) communication.

[0138] At this time, the communication device (120) according to the embodiment of the present disclosure performs filtering of vehicle messages based on road type information. Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered. In particular, vehicle messages received from adjacent vehicles can be efficiently filtered based on road type information.

[0139] Meanwhile, the communication device (120) can transmit the vehicle message passed through filtering to the signal processing device (170). In this way, by filtering the vehicle message, only the necessary vehicle message is transmitted to the signal processing device (170), thereby improving the efficiency of signal processing.

[0140] Meanwhile, the vehicle control device (900) according to the embodiment of the present disclosure may further include at least one display.

[0141] Meanwhile, the vehicle control device (900) according to the embodiment of the present disclosure may further include a steering drive unit (752), a brake drive unit (753), a power source drive unit (754), an ECU (770), or a plurality of sensor devices (SN) of FIG. 4.

[0142] Meanwhile, the vehicle control device (900) according to the embodiment of the present disclosure may further include a lamp driving unit (751), a suspension driving unit (756), an air conditioning driving unit (757), a window driving unit (758), a seat driving unit (761), or a plurality of communication modules (EMa to EMd) of FIG. 4.

[0143] In the drawing, at least one display is illustrated, a cluster display (180a) and an AVN display (180b).

[0144] Meanwhile, the vehicle control device (900) may further include a plurality of area signal processing devices (170Z1 to 170Z4).

[0145] The signal processing device (170) at this time is a high-performance centralized signal processing and control device having multiple CPUs (175), GPUs (178), NPUs (179), etc., and may be called an HPC (High Performance Computing) signal processing device or a central signal processing device.

[0146] A plurality of area signal processing devices (170Z1 to 170Z4) and a signal processing device (170) are connected by wired cables (CB1 to CB4).

[0147] Meanwhile, multiple area signal processing devices (170Z1 to 170Z4) can be connected to each other with wired cables (CBa to CBd).

[0148] The wired cable (CBa~CBd) at this time may include a CAN communication cable, an Ethernet communication cable, or a PCI Express cable.

[0149] Meanwhile, a signal processing device (170) according to an embodiment of the present disclosure may be equipped with at least one processor (175, 178, 177) and a large-capacity storage device (925).

[0150] For example, a signal processing device (170) according to an embodiment of the present disclosure may include a central processor (175, 177), a graphics processor (178), and a neural processor (179).

[0151] Meanwhile, sensor data may be transmitted from at least one of the multiple area signal processing devices (170Z1 to 170Z4) to the signal processing device (170). In particular, the sensor data may be stored in a storage device (925) within the signal processing device (170).

[0152] The sensor data at this time may include at least one of camera data, lidar data, radar data, vehicle direction data, vehicle location data (GPS data), vehicle angle data, vehicle speed data, vehicle acceleration data, vehicle inclination data, vehicle forward / backward data, battery data, fuel data, tire data, vehicle lamp data, vehicle interior temperature data, and vehicle interior humidity data.

[0153] In the drawing, it is exemplified that camera data from a camera (195a) and lidar data from a lidar sensor (196) are input to a first area signal processing device (170Z1), and the camera data and lidar data are transmitted to a signal processing device (170) via a second area signal processing device (170Z2), a third area signal processing device (170Z3), etc.

[0154] Meanwhile, since the data read speed or write speed to the storage device (925) is faster than the network speed when sensor data is transmitted from at least one of the plurality of area signal processing devices (170Z1 to 170Z4) to the signal processing device (170), it is preferable that multi-path routing be performed so that a network bottleneck does not occur.

[0155] To this end, the signal processing device (170) according to the embodiment of the present disclosure can perform multi-path routing based on a Software Defined Network (SDN). Accordingly, a stable network environment can be secured when reading or writing data from the storage device (925). Furthermore, since data can be transmitted to the storage device (925) using multiple paths, the network configuration can be dynamically changed to transmit data.

[0156] Data communication between a plurality of area signal processing devices (170Z1 to 170Z4) and a signal processing device (170) in a vehicle control device (900) according to an embodiment of the present disclosure is preferably Peripheral Component Interconnect Express communication for high-bandwidth, low-latency communication.

[0157] Meanwhile, the signal processing device (170) according to the embodiment of the present disclosure can receive an internal image from an internal camera (195i) and perform signal processing on the internal image.

[0158] Meanwhile, the signal processing device (170) according to the embodiment of the present disclosure can receive a front image from a front camera (195a) and perform signal processing on the front image.

[0159] FIG. 6 is an example of a block diagram of a communication device according to an embodiment of the present disclosure.

[0160] Referring to the drawings, a communication device (100) according to an embodiment of the present disclosure includes an antenna (ATa) for receiving an RF signal, an RF communication unit (610) for receiving vehicle messages from a plurality of adjacent external vehicles based on the RF signal from the antenna (ATa), and a processor (670) for performing filtering of vehicle messages based on road type information, reception sensitivity information of the RF signal, wheel direction information, and speed information.

[0161] Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered. In particular, vehicle messages received from adjacent vehicles can be efficiently filtered based on road type information.

[0162] Meanwhile, the RF communication unit (610) can convert an RF signal based on V2X communication into a baseband signal. At this time, the V2X communication may be communication according to standards such as 3GPP, 4G, 5G, or IEEE.

[0163] Meanwhile, the RF communication unit (610) can extract a pilot signal based on a baseband signal, perform time interpolation based on the pilot signal, and perform time interpolation or frequency interpolation based on the pilot signal.

[0164] And, the RF communication unit (610) can perform channel estimation after performing time interpolation or frequency interpolation.

[0165] Meanwhile, the RF communication unit (610) can receive vehicle messages from multiple adjacent external vehicles and transmit vehicle messages to adjacent external vehicles based on V2X communication.

[0166] Meanwhile, vehicle messages may include information on the reception sensitivity of RF signals, location information, speed information, wheel direction information, and more.

[0167] Meanwhile, for the operation of the RF communication unit (610), an internal microcomputer (613) may be provided. The microcomputer (613) may control the conversion of an RF signal into a baseband signal or the conversion of a baseband signal into an RF signal.

[0168] The processor (670) receives vehicle messages from multiple external vehicles from the RF communication unit (610).

[0169] And, the processor (670) filters the vehicle message received from the RF communication unit (610).

[0170] A processor (670) according to one embodiment of the present disclosure performs filtering of vehicle messages based on road type information, reception sensitivity information of an RF signal, wheel direction information, and speed information.

[0171] For example, the processor (670) may include or execute a V2X stack (674) that temporarily stores vehicle messages received from the RF communication unit (610) and a message filter (672) that filters vehicle messages from the V2X stack (674).

[0172] Meanwhile, the message filter (672) within the processor (670) can set a message passing zone based on road type information, RF signal reception sensitivity information, wheel direction information, and speed information, and filter vehicle messages based on the message passing zone. Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0173] Meanwhile, the message filter (672) within the processor (670) can pass vehicle messages from external vehicles included in the message passing area and block vehicle messages from external vehicles not included in the message passing area.

[0174] Meanwhile, the message filter (672) within the processor (670) can set priorities based on road type information, RF signal reception sensitivity information, wheel direction information, and speed information, and filter vehicle messages based on the priorities. Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0175] For example, the message filter (672) within the processor (670) may set the priority of speed information to the highest and the priority of wheel direction information to the lowest when the road type is a straight road or a curved road, and may set the priority of wheel direction information to the highest and the priority of speed information to the lowest when the road type is a cross road.

[0176] Meanwhile, the message filter (672) within the processor (670) can set a message passing area based on the set priority and filter vehicle messages based on the message passing area.

[0177] Meanwhile, the message filter (672) within the processor (670) can control the message passing area to increase as the level of speed information increases, whether the road type is a straight road or a curved road. Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0178] Meanwhile, the message filter (672) within the processor (670) can set the direction or location of the message passing area based on wheel direction information when the road type is a crossroad. Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0179] Meanwhile, the message filter (672) within the processor (670) can perform filtering of vehicle messages when the usage rate of the processor (670) is above a reference value.

[0180] For example, the message filter (672) within the processor (670) may block a first number of vehicle messages when the utilization rate of the processor (670) is at a first level that is greater than or equal to a threshold, and may block a second number of vehicle messages that is greater than or equal to the first number when the utilization rate of the processor (670) is at a second level that is greater than or equal to the threshold and greater than the first level. Accordingly, vehicle messages received from adjacent vehicles may be efficiently filtered.

[0181] Meanwhile, the message filter (672) within the processor (670) can be controlled so that the message passing area becomes smaller as the processor (670) usage rate increases. Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0182] Meanwhile, the RF communication unit (610) can transmit transmission cycle information of a vehicle message to an external vehicle based on a message passing area set in the processor (670).

[0183] For example, the RF communication unit (610) can control the transmission cycle of vehicle messages from external vehicles to become longer as the size of the message passing area decreases. Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0184] Meanwhile, a communication device (120) according to one embodiment of the present disclosure may further include an interface (620) for exchanging data with a signal processing device (170).

[0185] Meanwhile, the processor (670) can set a message passing area based on an application (652) running on a processor (175) within the signal processing device (170).

[0186] Specifically, the processor (670) can vary the message passing area based on an application running on the processor (175) within the signal processing device (170) and the direction of movement of the vehicle.

[0187] For example, the processor (670) may vary the message passing area based on the direction of movement of the vehicle when an automatic steering control application is executed in the processor (175) within the signal processing device (170). Accordingly, vehicle messages can be efficiently filtered based on the automatic steering control application executed in the signal processing device (170).

[0188] As another example, the processor (670) may vary the message passing area to the rear area of ​​the vehicle when an automatic braking control application is executed in the processor (175) within the signal processing device (170). Accordingly, vehicle messages can be efficiently filtered based on the automatic braking control application executed in the signal processing device (170).

[0189] Meanwhile, a communication device (120) according to one embodiment of the present disclosure may further include a memory (640) that stores information related to the operation of the processor (670).

[0190] Meanwhile, a communication device (120) according to one embodiment of the present disclosure may further include a second RF communication unit (615) for mobile communication such as 3G, 4G, or 5G with an external server, etc.

[0191] That is, the second RF communication unit (615) can perform V2C (Vehicle-to-Cloud) communication or V2N (Vehicle-to-Network) communication.

[0192] Meanwhile, the second RF communication unit (615) can convert the received RF signal into a baseband signal and transmit the baseband signal to the processor (670).

[0193] Meanwhile, a processor (670) within a communication device (120) according to another embodiment of the present disclosure performs filtering of vehicle messages based on road type information and the usage rate of the processor (670). Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered based on the road type information and the usage rate of the processor (670).

[0194] FIG. 7A is a flowchart illustrating an operation method of a communication device according to one embodiment of the present disclosure.

[0195] Referring to the drawing, a communication device (120) according to one embodiment of the present disclosure receives a vehicle message (S710).

[0196] For example, a communication device (120) within a vehicle (100) can receive multiple vehicle messages from multiple adjacent external vehicles.

[0197] In particular, the RF communication unit (610) within the communication device (120) can receive an RF signal based on V2X communication and extract a vehicle message from the RF signal.

[0198] Next, the processor (675) within the communication device (120) performs filtering on multiple vehicle messages received from the RF communication unit (610) (S720).

[0199] Specifically, the processor (675) within the communication device (120) performs filtering of vehicle messages based on road type information, RF signal reception sensitivity information, wheel direction information, and speed information. Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered. In particular, vehicle messages received from adjacent vehicles can be efficiently filtered based on road type information.

[0200] Meanwhile, the processor (670) can pass acceptable vehicle messages and block unacceptable vehicle messages through the message filter (672).

[0201] For example, the processor (670) can set priorities based on road type information, RF signal reception sensitivity information, wheel direction information, and speed information, and filter vehicle messages based on the priorities. Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0202] FIG. 7b is a flowchart illustrating an operation method of a communication device according to another embodiment of the present disclosure.

[0203] Referring to the drawing, a communication device (120) according to one embodiment of the present disclosure receives a vehicle message (S710).

[0204] For example, a communication device (120) within a vehicle (100) can receive multiple vehicle messages from multiple adjacent external vehicles.

[0205] In particular, the RF communication unit (610) within the communication device (120) can receive an RF signal based on V2X communication and extract a vehicle message from the RF signal.

[0206] Next, the processor (675) within the communication device (120) sets a message passing area related to the vehicle message (S715).

[0207] For example, a message passing zone can be set based on road type information, RF signal reception sensitivity information, wheel direction information, and speed information.

[0208] Next, the processor (675) within the communication device (120) performs filtering of multiple vehicle messages based on the set message passing area (S720b).

[0209] Specifically, the processor (675) within the communication device (120) sets a message passing area based on road type information, RF signal reception sensitivity information, wheel direction information, and speed information, and performs filtering of vehicle messages based on the set message passing area.

[0210] For example, the processor (675) within the communication device (120) may allow a received vehicle message to pass if it is a vehicle message from an external vehicle within the message passing area, and may block the vehicle message if it is a vehicle message from an external vehicle not included in the message passing area. Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0211] Figures 8a to 19d are drawings for reference in the operation description of Figures 7a to 7b.

[0212] Figure 8a is a diagram referenced in the description of vehicle message filtering. In particular, it exemplifies filtering at the PHY layer and MAC layer among hardware layers based on MAC address.

[0213] Referring to the drawing, the RF communication unit (610) within the communication device (120) receives a vehicle message based on V2X communication from an adjacent vehicle and transmits the received vehicle message to the V2X stack (674) within the processor (670) (S810).

[0214] For example, the RF communication unit (610) can decode a received vehicle message based on a hardware layer.

[0215] Specifically, the RF communication unit (610) can decode the received vehicle message based on the PHY layer and MAC layer, which are examples of hardware layers.

[0216] Additionally, the RF communication unit (610) can transmit the hardware decoded vehicle message to the V2X stack (674) within the processor (670).

[0217] Meanwhile, the V2X stack (674) can decode the received vehicle message. In particular, the V2X stack (674) can decode the received vehicle message based on software.

[0218] Specifically, the V2X stack (674) can decode the received vehicle message based on the PHY layer and MAC layer, which are examples of hardware layers.

[0219] Meanwhile, the processor (670) within the communication device (120) can execute a load balancer (675), and the load balancer (675) can transmit navigation data or map data to the V2X stack (674) (S812).

[0220] At this time, the navigation data or map data may be data stored in the memory (640) within the communication device (120).

[0221] Alternatively, the navigation data or map data may be data received from the signal processing device (170) via the interface (620).

[0222] Meanwhile, the V2X stack (674) can perform map matching based on the decoded vehicle message and navigation data or map data.

[0223] Specifically, the V2X stack (674) can perform map matching on decoded vehicle messages based on navigation data or map data.

[0224] And, the V2X stack (674) can transmit map matching data for the decoded vehicle message to the load balancer (675) (S814).

[0225] Next, the load balancer (675) can determine a filtering target based on the map matching data.

[0226] And, the load balancer (675) can transmit filtering target information to the V2X stack (674) (S816).

[0227] Meanwhile, the V2X stack (674) or message filter (672) can perform filtering of vehicle messages based on filtering target information.

[0228] For example, the V2X stack (674) or message filter (672) can perform filtering of vehicle messages based on road type information, RF signal reception sensitivity information, wheel direction information, and speed information.

[0229] Meanwhile, the V2X stack (674) or message filter (672) can pass allowed vehicle messages and block unacceptable vehicle messages through the message filter (672).

[0230] Meanwhile, the V2X stack (674) or message filter (672) can set a message passing area related to vehicle messages based on map matching data.

[0231] Meanwhile, the V2X stack (674) or message filter (672) sets a message passing area based on road type information, RF signal reception sensitivity information, wheel direction information, and speed information, and performs filtering of vehicle messages based on the set message passing area.

[0232] Meanwhile, the load balancer (675) can transmit the vehicle message passed based on the filtering of the vehicle message to the application (652) running within the processor (175) within the signal processing device (170) (S817).

[0233] Meanwhile, the V2X stack (674) can transmit a MAC address corresponding to the result of blocking or passing a vehicle message and a transmission interval of the vehicle message to the RF communication unit (610) (S818).

[0234] Accordingly, the RF communication unit (610) can transmit information such as the transmission cycle of a vehicle message to an adjacent external vehicle.

[0235] Meanwhile, the RF communication unit (610) can transmit transmission cycle information of a vehicle message to an external vehicle based on the message passing area.

[0236] For example, the RF communication unit (610) can control the transmission cycle of vehicle messages from external vehicles to become longer as the size of the message passing area decreases. Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0237] Figure 8b is a diagram illustrating map matching based on map data based on a vehicle.

[0238] Referring to the drawing, a processor (670) within a communication device (120) can determine a message passing area (ARad) based on an area (ARab) based on reception sensitivity information of an RF signal, a straight area (ARaa) when the road type is a straight road (RDm), an area (ARac) based on map data, and a location (PTaa) of a vehicle (200).

[0239] For example, a processor (670) within a communication device (120) may determine a common area of ​​an area (ARab) based on reception sensitivity information of an RF signal, a straight area (ARaa) in the case where the road type is a straight road (RDm), an area (ARac) based on map data, and a location (PTaa) of a vehicle (200) as a message passing area (ARad).

[0240] In addition, the processor (670) within the communication device (120) can pass vehicle messages received only within the message passing area (ARad) and block vehicle messages outside the message passing area (ARad). Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0241] Figure 9a is an example of a case where the road type is a straight road.

[0242] Referring to the drawing, the processor (670) within the communication device (120) can set a message passing area based on road type information, RF signal reception sensitivity information, wheel direction information, and speed information.

[0243] In particular, the processor (670) within the communication device (120) can set a rectangular area (Zoa) as a message passing area, as shown in the drawing, when the road type is a straight road (RDa).

[0244] That is, the processor (670) within the communication device (120) can pass vehicle messages from external vehicles within the rectangular area (Zoa) and block vehicle messages from vehicles outside the rectangular area (Zoa).

[0245] Accordingly, it becomes possible to efficiently filter vehicle messages received from adjacent vehicles on a straight road.

[0246] Figure 9b is an example of a case where the road type is a curved road.

[0247] Referring to the drawing, the processor (670) within the communication device (120) can set the curved area (Zob) as a message passing area, as shown in the drawing, when the road type is a curved road (RDb).

[0248] That is, the processor (670) within the communication device (120) can pass vehicle messages from external vehicles within the curved zone (Zob) and block vehicle messages from vehicles outside the curved zone (Zob).

[0249] Accordingly, it becomes possible to efficiently filter vehicle messages received from adjacent vehicles on curved roads.

[0250] Figure 9c is an example of a case where the road type is an intersection road.

[0251] Referring to the drawing, the processor (670) within the communication device (120) can set the intersection area (Zoc) as a message passing area, as shown in the drawing, when the road type is an intersection road (RDc).

[0252] That is, the processor (670) within the communication device (120) can pass vehicle messages from external vehicles within the intersection zone (Zoc) and block vehicle messages from vehicles outside the intersection zone (Zoc).

[0253] Accordingly, it becomes possible to efficiently filter vehicle messages received from adjacent vehicles at an intersection.

[0254] Figure 10a is another example where the road type is a straight road.

[0255] Referring to the drawing, the processor (670) within the communication device (120) can set a rectangular area (Zoab) as a message passing area, as shown in the drawing, when the road type is a straight road.

[0256] That is, the processor (670) within the communication device (120) can pass vehicle messages from external vehicles within the rectangular area (Zoab) and block vehicle messages from vehicles outside the rectangular area (Zoab).

[0257] Accordingly, it becomes possible to efficiently filter vehicle messages received from adjacent vehicles on a straight road.

[0258] Figure 10b is another example where the road type is a curved road.

[0259] Referring to the drawing, the processor (670) within the communication device (120) can set the curved area (Zobb) as a message passing area, as shown in the drawing, when the road type is a curved road.

[0260] That is, the processor (670) within the communication device (120) can pass vehicle messages from external vehicles within the curved area (Zobb) and block vehicle messages from vehicles outside the curved area (Zobb).

[0261] Accordingly, it becomes possible to efficiently filter vehicle messages received from adjacent vehicles on curved roads.

[0262] Figure 10c is another example where the road type is an intersection road.

[0263] Referring to the drawing, the processor (670) within the communication device (120) can set the area near the intersection (Zobc) as a message passing area, as shown in the drawing, when the road type is an intersection road.

[0264] That is, the processor (670) within the communication device (120) can pass vehicle messages from external vehicles within the intersection vicinity area (Zobc) and block vehicle messages from vehicles outside the intersection vicinity area (Zobc).

[0265] Accordingly, it becomes possible to efficiently filter vehicle messages received from adjacent vehicles at an intersection.

[0266] Figures 11a to 11a are drawings for reference in explaining the operation of a processor within a communication device.

[0267] Figure 11a illustrates an example of priority setting.

[0268] Referring to the drawing, the processor (670) within the communication device (120) can set priorities based on road type information, RF signal reception sensitivity information, wheel direction information, and speed information, and filter vehicle messages based on the priorities.

[0269] At this time, the reception sensitivity information of the RF signal can correspond to the frequency range information.

[0270] For example, the processor (670) within the communication device (120) may set the priority of speed information to the highest and the priority of wheel direction information to the lowest when the road type is a straight road or a curved road, and may set the priority of wheel direction information to the highest and the priority of speed information to the lowest when the road type is a cross road. Accordingly, vehicle messages received from adjacent vehicles can be adaptively filtered depending on the road type.

[0271] Meanwhile, the processor (670) within the communication device (120) can set the priority of speed information to the highest level, '1', and set the priority of wheel direction information to the lowest level, '7', when the road type is a straight road.

[0272] Meanwhile, the processor (670) within the communication device (120) can set priorities based on road type information, RF signal reception sensitivity information, wheel direction information, speed information, and road information, and filter vehicle messages based on the priorities.

[0273] Meanwhile, the processor (670) within the communication device (120) can set the reception sensitivity information of the RF signal and the priority level of the road information to the same '3' when the road type is a straight road.

[0274] Meanwhile, the processor (670) within the communication device (120) can set the priority of speed information to the highest level, '1', and the priority of wheel direction information to the lowest level, '7', when the road type is a curved road.

[0275] Meanwhile, the processor (670) within the communication device (120) can control the priority of the reception sensitivity information of the RF signal to be higher than the priority of the road information by setting the priority of the reception sensitivity information of the RF signal to '2' and setting the priority of the road information to '3' when the road type is a curved road.

[0276] The processor (670) within the communication device (120) can set the priority of speed information to the lowest level, '7', and set the priority of wheel direction information to the highest level, '1', when the road type is a crossroad.

[0277] Meanwhile, the processor (670) within the communication device (120) can set the reception sensitivity information of the RF signal and the priority level of the road information to the same '3' when the road type is a cross road.

[0278] Figure 11b illustrates another example of priority setting.

[0279] Referring to the drawing, Fig. 11b differs from Fig. 11a in that it includes more velocity change information.

[0280] Meanwhile, the processor (670) within the communication device (120) may set the priority of speed information to the highest level, '1', when the road type is a straight road, set the priority of wheel direction information to the lowest level, '7', and set the priority levels of RF signal reception sensitivity information and road information to the same '3'.

[0281] Meanwhile, the processor (670) within the communication device (120) can set the priority of the speed change amount information to '5', which is lower than the priority of the RF signal reception sensitivity information and the road information, when the road type is a straight road.

[0282] Meanwhile, the processor (670) within the communication device (120) may set the priority of speed information to the highest level '2' when the road type is a curved road, set the priority of wheel direction information to the lowest level '6', set the priority of road information to '2' which is the same as the priority of speed information, set the priority of reception sensitivity information of the RF signal to '3', and set the priority of speed change amount information to '5'.

[0283] Meanwhile, the processor (670) within the communication device (120) may set the priority of speed information to the lowest level of '7' when the road type is a crossroad, set the priority of wheel direction information to the highest level of '1', set the priority of road information and the priority of RF signal reception sensitivity information to '3', and set the priority of speed change amount information to '5'.

[0284] Figure 11c illustrates another example of priority setting.

[0285] Referring to the drawing, Fig. 11c differs from Fig. 11b in that it includes more altitude information and stagnation information.

[0286] Meanwhile, the processor (670) within the communication device (120) can set the priority levels of reception sensitivity information, road information, wheel direction information, altitude information, speed information, congestion information, and speed change information of the RF signal to '3', '3', '7', '6', '1', '5', and '5', respectively, when the road type is a straight road.

[0287] Meanwhile, the processor (670) within the communication device (120) can set the priority levels of reception sensitivity information, road information, wheel direction information, altitude information, speed information, congestion information, and speed change information of the RF signal to '3', '2', '7', '6', '1', '5', and '5', respectively, when the road type is a curved road.

[0288] In particular, the processor (670) within the communication device (120) can set the priority level of traffic congestion information and the priority level of speed change information to be the same when the road type is a straight road or a curved road.

[0289] Meanwhile, the processor (670) within the communication device (120) can set the priority levels of reception sensitivity information, road information, wheel direction information, altitude information, speed information, congestion information, and speed change information of the RF signal to '3', '3', '1', '6', '7', '2', and '5', respectively, when the road type is a crossroad.

[0290] In particular, the processor (670) within the communication device (120) can set the priority level of congestion information to be higher than the priority level of speed change information when the road type is a crossroad.

[0291] Additionally, the processor (670) within the communication device (120) can set the priority level of congestion information to be higher than the priority level of reception sensitivity information of the RF signal and the priority level of road information when the road type is a crossroad.

[0292] Figure 11d illustrates an example of vehicle message filtering.

[0293] Referring to the drawing, the processor (670) within the communication device (120) can perform filtering according to reception sensitivity information, road information, wheel direction information, speed information, and speed change amount information of the RF signal, respectively, for each road type.

[0294] For example, the processor (670) within the communication device (120) may, when the road type is a straight road, allow only 1400 messages out of 1600 messages to pass based on the reception sensitivity information of the RF signal, allow only 1200 messages out of 1400 messages to pass based on the road information, allow only 1150 messages out of 1200 messages to pass based on the wheel direction information, allow only 700 messages out of 1150 messages to pass based on the speed information, and allow only 600 messages out of 700 messages to pass based on the speed change amount information.

[0295] As another example, the processor (670) within the communication device (120) may, when the road type is a curved road, allow only 1,400 messages out of 1,600 messages to pass based on the reception sensitivity information of the RF signal, allow only 1,100 messages out of 1,400 messages to pass based on the road information, allow only 1,000 messages out of 1,100 messages to pass based on the wheel direction information, allow only 700 messages out of 1,000 messages to pass based on the speed information, and allow only 600 messages out of 700 messages to pass based on the speed change amount information.

[0296] That is, the processor (670) within the communication device (120) can block the largest number of messages based on speed information when the road type is a straight road or a curved road. Accordingly, efficient filtering based on speed information is possible.

[0297] As another example, the processor (670) within the communication device (120) may, when the road type is a crossroad, allow only 1400 messages out of 1600 messages to pass based on the reception sensitivity information of the RF signal, allow only 1200 messages out of 1400 messages to pass based on the road information, allow only 850 messages out of 1200 messages to pass based on the wheel direction information, allow only 800 messages out of 850 messages to pass based on the speed information, and allow only 700 messages out of 800 messages to pass based on the speed change information.

[0298] That is, the processor (670) within the communication device (120) can block the largest number of messages based on wheel direction information when the road type is a crossroad. Accordingly, efficient filtering based on wheel direction information is possible.

[0299] Meanwhile, the processor (670) within the communication device (120) can control the number of messages blocked among all messages to be smaller when the road type is a cross road rather than a straight road or a curved road.

[0300] That is, the processor (670) within the communication device (120) can control the number of messages passed among all messages to be greater when the road type is a cross road than when the road type is a straight road or a curved road.

[0301] That is, in the case of a crossroads, more information is needed, so vehicle messages can be filtered adaptively.

[0302] Figure 11e illustrates filtering based on processor usage rules.

[0303] Referring to the drawing, the processor (670) within the communication device (120) can perform filtering of vehicle messages when the usage rate of the processor (670) is above a reference value.

[0304] That is, the processor (670) within the communication device (120) can filter vehicle messages based on road type information, RF signal reception sensitivity information, wheel direction information, and speed information when the usage rate of the processor (670) is above a reference value. Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0305] In the drawing, 70% is shown as an example of a reference value.

[0306] For example, the processor (670) within the communication device (120) may filter vehicle messages based on road type information, RF signal reception sensitivity information, wheel direction information, and speed information when the usage rate of the processor (670) is above a reference value, as shown in the drawing. Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0307] Meanwhile, the processor (670) can block a first number of vehicle messages when the usage rate of the processor (670) is at a first level, and can block a second number of vehicle messages that are greater than the first number when the usage rate of the processor (670) is at a second level that is greater than the first level.

[0308] For example, when the processor (670) has a usage rate of 75%, the processor (670) can block 1000 of 1600 vehicle messages and allow only 600 to pass, and when the processor (670) has a usage rate of 80%, the processor (670) can block 1200 of 1600 vehicle messages and allow only 400 to pass.

[0309] Meanwhile, the processor (670) within the communication device (120) may not perform filtering of vehicle messages if the usage rate of the processor (670) is below a reference value.

[0310] For example, the processor (670) within the communication device (120) may not perform filtering of vehicle messages if the usage rate of the processor (670) is less than 70%.

[0311] Alternatively, the processor (670) within the communication device (120) may perform filtering of vehicle messages when the usage rate of the processor (670) is within a reference range.

[0312] That is, the processor (670) within the communication device (120) can filter vehicle messages based on road type information, RF signal reception sensitivity information, wheel direction information, and speed information when the usage rate of the processor (670) is within a reference range. Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0313] The reference range at this time can be 40% to 70%.

[0314] Meanwhile, the processor (670) within the communication device (120) may not perform filtering if the usage rate of the processor (670) is outside the standard range and is less than the lower limit of 40%.

[0315] Meanwhile, the processor (670) within the communication device (120) can control the usage rate of the processor (670) to be lowered when the usage rate of the processor (670) exceeds the upper limit of 70%, which is outside the standard range.

[0316] For example, the processor (670) within the communication device (120) can control the number of filtering factors to increase further so that the number of blocked messages increases further when the usage rate of the processor (670) exceeds an upper limit beyond a reference range.

[0317] For example, the processor (670) within the communication device (120) may perform filtering of vehicle messages based on turn signals, altitude information, congestion section information, and speed change information when the usage rate of the processor (670) exceeds an upper limit beyond a reference range.

[0318] Figure 12 illustrates an example of filtering vehicle messages on a straight road.

[0319] Referring to the drawing, the processor (670) in the communication device (120) can determine a message passing area (ARad) based on an area (ARab) based on reception sensitivity information of an RF signal in an image (1210), a straight area (ARaa) based on road information in an image (1220), an area based on a turn-on signal in an image (1230), an area based on altitude information in an image (1240), an area (ARac) based on speed information in an image (1250), an area based on congestion information in an image (1260), and an area based on speed change information in an image (1270) when the road type is a straight road.

[0320] Finally, the processor (670) within the communication device (120) can synthesize the reception sensitivity information of the RF signal, road information, wheel direction information, altitude information, speed information, congestion information, and speed change information to determine the common area (ARad) of the area (ARab), area (ARaa), and area (ARac) within the image (1280) as the message passing area. At this time, it is preferable that the common area (ARad) includes the vehicle position (PTaa).

[0321] For example, when a processor (670) within a communication device (120) receives 320 vehicle messages from 32 vehicles within an area (ARab), it can block 120 messages outside the message passing area (ARad) and pass only 200 messages within the message passing area (ARad). Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0322] Figure 13 illustrates an example of filtering vehicle messages on a curved road.

[0323] Referring to the drawing, the processor (670) in the communication device (120) can determine a message passing area (ARbd) based on an area (ARbb) based on reception sensitivity information of an RF signal in an image (1310), a curve area (ARba) based on road information in an image (1320), an area based on a turn-on signal in an image (1330), an area based on altitude information in an image (1340), an area (ARbc) based on speed information in an image (1350), an area based on congestion information in an image (1360), and an area based on speed change information in an image (1370) when the road type is a curved road.

[0324] Finally, the processor (670) within the communication device (120) can synthesize the reception sensitivity information of the RF signal, road information, wheel direction information, altitude information, speed information, congestion information, and speed change information to determine the common area (ARbc) of the area (ARbb), area (ARba), and area (ARbc) within the image (1380) as the message passing area. At this time, it is preferable that the common area (ARbc) includes the vehicle position (PTba).

[0325] For example, when a processor (670) within a communication device (120) receives 530 vehicle messages from 53 vehicles within an area (ARbb), it can block 110 messages within a message passing area (ARbc) and pass only 420 messages within a message passing area (ARad). Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0326] Figure 14 illustrates an example of filtering vehicle messages at an intersection.

[0327] Referring to the drawing, the processor (670) in the communication device (120) can determine a message passing area (ARcd, ARce, ARcg) based on an area (ARcb) based on reception sensitivity information of an RF signal in an image (1410), an area (ARca, ARcf) based on road information in an image (1420), an area (ARcd, ARce, ARcf) based on a turn-on signal in an image (1430), an area (ARca, ARcf) based on altitude information in an image (1440), an area (ARcc) based on speed information in an image (1450), an area based on congestion information in an image (1460), and an area based on speed change information in an image (1470), when the road type is a crossroad.

[0328] At this time, it is desirable that the message passing area (ARcd, ARce, ARcg) includes the vehicle location (PTba).

[0329] For example, when a processor (670) within a communication device (120) receives 700 vehicle messages from 70 vehicles within an area (ARcb), it can block 110 messages within a message passing area (ARcd, ARce, ARcg) and pass only 590 messages within a message passing area (ARcd, ARce, ARcg). Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0330] Figure 15 illustrates another example of filtering vehicle messages at an intersection.

[0331] Referring to the drawing, the processor (670) in the communication device (120) can determine a message passing area (ARdd) based on an area (ARdb) based on reception sensitivity information of an RF signal in an image (1510), a straight area (ARda) based on road information in an image (1520), an area based on a turn-on signal in an image (1530), an area based on altitude information in an image (1540), an area (ARdc) based on speed information in an image (1550), an area based on congestion information in an image (1560), and an area based on speed change information in an image (1570) when the road type is a crossroad.

[0332] Finally, the processor (670) within the communication device (120) can synthesize the reception sensitivity information of the RF signal, road information, wheel direction information, altitude information, speed information, congestion information, and speed change information to determine the common area (ARde) of the area (ARdb), area (ARda), and area (ARdc) within the image (1580) as the message passing area. At this time, it is preferable that the common area (ARde) includes the vehicle position (PTdb).

[0333] For example, when a processor (670) within a communication device (120) receives 380 vehicle messages from 38 vehicles within an area (ARdb), it can block 60 messages within a message passing area (ARdd) and pass only 320 messages within the message passing area (ARdd). Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0334] Figure 16 illustrates another example of filtering vehicle messages on a straight road.

[0335] Referring to the drawing, the processor (670) in the communication device (120) can determine a message passing area (ARed) based on an area (AReb) based on reception sensitivity information of an RF signal in an image (1610), a straight area (ARea) based on road information in an image (1620), an area based on a turn-on signal in an image (1630), an area based on altitude information in an image (1640), an area (ARec) based on speed information in an image (1650), an area (ARed) based on congestion information in an image (1660), and an area based on speed change information in an image (1670) when the road type is a straight road.

[0336] Finally, the processor (670) within the communication device (120) can synthesize the reception sensitivity information of the RF signal, road information, wheel direction information, altitude information, speed information, congestion information, and speed change information to determine the common area (ARed) of the area (AReb), area (ARea), area (ARec), and area (ARed) within the image (1680) as the message passing area. At this time, it is preferable that the common area (ARed) includes the vehicle position (PTea).

[0337] For example, when a processor (670) within a communication device (120) receives 720 vehicle messages from 72 vehicles within an area (AReb), it can block 130 messages within a message passing area (ARed) and pass only 590 messages within the message passing area (ARed). Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0338] Figure 17 illustrates another example of filtering vehicle messages on a straight road.

[0339] Referring to the drawing, the processor (670) in the communication device (120) can determine a message passing area (ARfd) based on an area (ARfb) based on reception sensitivity information of an RF signal in an image (1710), a straight area (ARfa) based on road information in an image (1720), an area based on a turn-on signal in an image (1730), an area based on altitude information in an image (1740), an area (ARfc) based on speed information in an image (1750), an area (ARfd) based on congestion information in an image (1760), and an area based on speed change information in an image (1770) when the road type is a straight road.

[0340] Finally, the processor (670) within the communication device (120) can synthesize the reception sensitivity information, road information, wheel direction information, altitude information, speed information, congestion information, and speed change information of the RF signal to determine the common area (ARfd) of the area (ARfb), the area (ARfa), the area (ARfc), and the area (ARfd) within the image (1780) as the message passing area. At this time, it is preferable that the common area (ARfd) includes the vehicle position (PTfa).

[0341] For example, when a processor (670) within a communication device (120) receives 720 vehicle messages from 72 vehicles within an area (ARfb), it can block 130 messages within a message passing area (ARfd) and pass only 590 messages within the message passing area (ARfd). Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0342] Meanwhile, in summary of FIGS. 12 to 17, the processor (670) can set priorities based on road type information, RF signal reception sensitivity information, wheel direction information, and speed information.

[0343] That is, the processor (670) can set a message passing area based on road type information, RF signal reception sensitivity information, wheel direction information, and speed information.

[0344] Meanwhile, the processor (670) can set priorities based on turn signals, traffic congestion section information, and speed change information in addition to road type information, RF signal reception sensitivity information, wheel direction information, and speed information.

[0345] That is, the processor (670) can set a message passing area based on not only road type information, RF signal reception sensitivity information, wheel direction information, and speed information, but also turn signal information, traffic congestion section information, and speed change information. Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0346] Meanwhile, the processor (670) can control the message passing area to become smaller as the congestion level based on congestion section information increases or the speed change amount based on speed change information decreases. Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0347] FIG. 18 is a flowchart illustrating an operation method of a processor in a communication device according to an embodiment of the present disclosure.

[0348] Referring to the drawing, the RF communication unit (610) receives a vehicle message from an adjacent external vehicle (S1810).

[0349] And, the RF communication unit (610) transmits the vehicle message to the V2 stack (674) within the processor (670) (S1812).

[0350] Meanwhile, the data control (682) within the processor (670) receives map data or vehicle data (S1814).

[0351] For example, the data control (682) within the processor (670) can receive map data or vehicle data from the signal processing device (170) via the interface (620).

[0352] Next, the data control (682) within the processor (670) can transmit map data or vehicle data to the map matching (681) within the processor (670) (S1816).

[0353] Meanwhile, the V2 stack (674) within the processor (670) can transmit the V2X object to the map matching (681) within the processor (670) (S1820).

[0354] Next, the map matching (681) within the processor (670) can transmit the map-mapped V2X object to the data control (682) within the processor (670) (S1822).

[0355] Next, the data control (682) within the processor (670) requests the filter logic (683) within the processor (670) to check the vehicle ID and the applied filter (S1823).

[0356] Next, the filter logic (683) within the processor (670) can transmit information related to the vehicle ID to the data control (682) (S1825).

[0357] And, the data control (682) within the processor (670) can transmit the filtering criteria to the V2 stack (674) within the processor (670) (S1827).

[0358] And, the V2 stack (674) within the processor (670) can perform MAC-based hardware filtering based on the filtering base (S1829).

[0359] In addition, the RF communication unit (610) can transmit transmission cycle information of a vehicle message based on filtering criteria to an external vehicle.

[0360] Accordingly, the RF communication unit (610) can receive a vehicle message based on transmission cycle information of the vehicle message according to filtering criteria from an adjacent external vehicle (S1830).

[0361] For example, the RF communication unit (610) may receive 1,000 messages per second in step 1810 (S1810), but may only receive 300 messages per second in step 1830 (S1830). Accordingly, vehicle messages received from adjacent vehicles can be efficiently filtered.

[0362] Figure 19a is a diagram illustrating a message passing area when an auto-steering application is running.

[0363] Referring to the drawing, when a vehicle (200) is driving in the second lane (BLb) among the first lane (BLa), the second lane (BLb), and the third lane (BLc), a second vehicle (200b) and a third vehicle (200c) may be placed in front of the second lane (BLb) and the third lane (BLc), respectively.

[0364] Meanwhile, the processor (670) can set a message passing area based on the moving direction of the vehicle when an automatic steering control application is executed in the signal processing device (170).

[0365] As in (a) of Fig. 19a, when the direction of travel of the vehicle (200) is straight, the processor (670) in the communication device (120) can set the front area (AZa) of the vehicle including three lanes (BLa to BLc) as a message passing area.

[0366] That is, the processor (670) within the communication device (120) can only pass vehicle messages from vehicles belonging to the front area (AZa) of the vehicle when the direction of travel of the vehicle (200) is straight.

[0367] Meanwhile, as in (b) of FIG. 18a, when the direction of travel of the vehicle (200) is scheduled to change to the right lane, the processor (670) in the communication device (120) can set an area (AZb) including the front area and the right area of ​​two lanes (BLb, BLc) among three lanes (BLa to BLc) as a message passing area.

[0368] That is, when the direction of travel of the vehicle (200) is scheduled to change to the right lane, the processor (670) within the communication device (120) can only pass vehicle messages from vehicles belonging to an area (AZb) including the front area and the right area of ​​two lanes (BLb, BLc) among three lanes (BLa to BLc). Accordingly, it is possible to efficiently filter vehicle messages based on the automatic steering control application executed in the signal processing device (170).

[0369] Figure 19b is a diagram illustrating a message passing area when an automatic braking application is running.

[0370] Referring to the drawing, when a vehicle (200) is driving in the second lane (BLb) among the first lane (BLa), the second lane (BLb), and the third lane (BLc), a second vehicle (200b) may be placed in front of the second lane (BLb).

[0371] As in (a) of Fig. 19b, when the direction of travel of the vehicle (200) is straight, the processor (670) in the communication device (120) can set the front area (AZc) of the vehicle including three lanes (BLa to BLc) as a message passing area.

[0372] That is, the processor (670) within the communication device (120) can only pass vehicle messages from vehicles belonging to the front area (AZc) of the vehicle when the direction of travel of the vehicle (200) is straight.

[0373] Meanwhile, the processor (670) can vary the message passing area to the rear area of ​​the vehicle when an automatic braking control application is executed in the signal processing device (170).

[0374] That is, as in (b) of Fig. 19b, when an automatic braking control (AEC) application is executed in the signal processing device (170), the processor (670) can set an area (AZd) including a front area of ​​the second lane (BLb) and a rear area including a third vehicle (200d) at the rear as a message passing area.

[0375] That is, the processor (670) within the communication device (120) can only pass vehicle messages from vehicles belonging to an area (AZd) including the front area of ​​the second lane (BLb) and the rear area including the third vehicle (200d) at the rear. Accordingly, vehicle messages can be efficiently filtered based on the automatic braking control application executed in the signal processing device (170).

[0376] Figure 19c is a diagram illustrating a message passing area related to the opposite lane.

[0377] Referring to the drawing, when a vehicle (200) is driving in the first lane (BLe) adjacent to the center line (BL), the processor (670) in the communication device (120) can set the first lane (BLe) adjacent to the center line (BL) and an area (AZe) including two lanes beyond the center line (BL) as a message passing area, as shown in (a) of FIG. 19c.

[0378] That is, the processor (670) within the communication device (120) can only pass vehicle messages from vehicles belonging to the first lane (BLe) adjacent to the center line (BL) and the area (AZe) including two lanes beyond the center line (BL). Accordingly, vehicle messages can be efficiently filtered based on vehicle driving.

[0379] Meanwhile, when a vehicle (200) is driving in the first lane (BLe) adjacent to the center line (BL) where a central divider is installed, the processor (670) in the communication device (120) can set an area (AZf) including two lanes beyond the center line (BL), excluding the first lane (BLe) adjacent to the center line (BL), as a message passing area, as shown in (b) of FIG. 19c.

[0380] That is, the processor (670) within the communication device (120) can control the message passing area to be smaller than that in (a) of Fig. 19c, since the probability of center line violation is lowered due to the center separation zone.

[0381] Ultimately, the processor (670) within the communication device (120) can only pass vehicle messages from vehicles within an area (AZf) including two lanes beyond the center line (BL). Accordingly, vehicle messages can be efficiently filtered based on vehicle driving.

[0382] Figure 19d is a diagram illustrating a message passing area before and after a U-turn.

[0383] Referring to the drawing, when the vehicle (200) is stopped in a lane adjacent to the center line (BL), the processor (670) in the communication device (120) can set the front area (ARg) of the vehicle (200) as a message passing area, as shown in (a) of FIG. 19d.

[0384] Ultimately, the processor (670) within the communication device (120) can only pass vehicle messages from vehicles belonging to the front area (ARg) of the vehicle (200) when the vehicle is stopped in a lane adjacent to the center line (BL). Accordingly, vehicle messages can be efficiently filtered based on the vehicle stop.

[0385] Next, when the vehicle (200) crosses the center line (BL) and makes a U-turn or is about to make a U-turn, the processor (670) in the communication device (120) can set an area (ARf) including the front area of ​​the lane to which the vehicle (200) belongs and a plurality of lane areas beyond the center line as a message passing area, as shown in (a) of FIG. 19d.

[0386] Ultimately, the processor (670) within the communication device (120) can only pass vehicle messages from vehicles within an area (ARf) that includes the front area of ​​the lane to which the vehicle (200) belongs and multiple lane areas beyond the center line when the vehicle (200) is stopped in a lane adjacent to the center line (BL) when making or is about to make a U-turn. Accordingly, vehicle messages can be efficiently filtered based on the time of the vehicle U-turn.

[0387] Meanwhile, the processor (670) within the communication device (120) can sequentially include the area (ARfa) corresponding to the front area after the U-turn and the area (ARfb) in the message passing area when the vehicle (200) makes a U-turn. Accordingly, it becomes possible to efficiently filter vehicle messages based on the vehicle U-turn.

[0388] Although the preferred embodiments of the present disclosure have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above, and various modifications may be made by a person skilled in the art to which the present invention pertains without departing from the gist of the present disclosure as claimed in the claims, and such modifications should not be understood individually from the technical idea or prospect of the present disclosure.

Claims

1. In a communication device within a vehicle, An RF communication unit that receives vehicle messages from a plurality of adjacent external vehicles based on RF signals; A communication device comprising a processor that performs filtering of the vehicle message based on road type information, reception sensitivity information of the RF signal, wheel direction information, and speed information.

2. In paragraph 1, The above processor, A communication device that sets a message passing zone based on the road type information, the reception sensitivity information of the RF signal, the wheel direction information, and the speed information, and filters the vehicle message based on the message passing zone.

3. In paragraph 2, The above processor, Passing vehicle messages from external vehicles included in the above message passing area, A communication device that blocks vehicle messages from external vehicles that are not included in the above message passing area.

4. In paragraph 1, The above processor, A communication device that sets a priority based on the road type information, the reception sensitivity information of the RF signal, the wheel direction information, and the speed information, and filters the vehicle message based on the priority.

5. In paragraph 4, The above processor, If the above road type is a straight road or a curved road, the priority of the speed information is set to the highest, and the priority of the wheel direction information is set to the lowest. A communication device that sets the priority of the wheel direction information to the highest and the priority of the speed information to the lowest when the above road type is an intersection road.

6. In paragraph 4, The above processor, A communication device that sets a message passing area based on the above-set priority and filters the vehicle message based on the message passing area.

7. In paragraph 4, The above processor, A communication device that controls the message passing area to increase as the level of the speed information increases when the road type is a straight road or a curved road.

8. In paragraph 4, The above processor, A communication device that sets the direction or location of a message passing area based on the wheel direction information when the above road type is a crossroad.

9. In paragraph 4, The above processor, A communication device that sets the priority based on turn signal, traffic jam section information, and speed change information.

10. In paragraph 9, The above processor, A communication device that controls a message passing area to become smaller as the congestion level based on the congestion section information increases or the speed change amount of the speed change amount information decreases.

11. In paragraph 1, The above processor, A communication device that performs filtering of the vehicle message when the usage rate of the above processor is higher than a reference value.

12. In paragraph 11, The above processor, If the utilization rate of the above processor is at the first level, block the first number of vehicle messages, A communication device that blocks a second number of vehicle messages that is greater than the first number when the utilization rate of the processor is a second level greater than the first level.

13. In paragraph 2, The above processor, A communication device that controls the message passing area to become smaller as the utilization rate of the processor increases.

14. In paragraph 2, The above RF communication unit, A communication device that transmits transmission cycle information of the vehicle message to the external vehicle based on the message passing area.

15. In paragraph 14, The above RF communication unit, A communication device that controls the transmission cycle of the vehicle message of the external vehicle to become longer as the size of the message passing area becomes smaller.

16. In paragraph 2, further comprising an interface for exchanging data with a signal processing device; The above processor, A communication device that sets the message passing area based on an application running in the signal processing device.

17. In paragraph 16, The above processor, In the signal processing device, when an automatic steering control application is executed, a communication device that varies the message passing area based on the moving direction of the vehicle.

18. In paragraph 16, The above processor, In the signal processing device, when an automatic braking control application is executed, a communication device that changes the message passing area to the rear area of ​​the vehicle.

19. In the communication device in the vehicle, An RF communication unit that receives vehicle messages from a plurality of adjacent external vehicles based on RF signals; A processor that performs filtering of the vehicle message; The above processor, A communication device that performs filtering of the vehicle message based on road type information and the usage rate of the processor.

20. A vehicle control device having a communication device according to any one of clauses 1 to 19.

Images