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Please summarize the input | Running system and method for automatically driving vehicle to movably limit passing obstacleThe invention relates to the technical field of automatic driving, specifically relates to an operation system for automatically driving vehicle aiming at movable obstacle limiting passage, comprising an obtaining unit and an analysis processing unit, wherein the obtaining unit obtains the front environment information, analyzing and processing the front environment information to determine whether there is a movable restricted traffic obstacle, obtaining the state information thereof, analyzing and processing the state information to determine whether the movable restricted traffic obstacle acts within a preset time to allow the automatic driving vehicle to pass through, The additional environmental information associated with the movable restricted access obstacle is obtained, and the additional environmental information is analyzed and processed to determine whether there is a controller for controlling the obstacle. The invention further claims a corresponding operation method and a computer program product and an automatic driving vehicle. Through the embodiment of the invention, the autonomous processing ability of the automatic driving vehicle to the brake rod at the entrance and exit of the parking lot is enhanced, and the driving efficiency of the automatic driving vehicle in the complex environment is improved.|1. An operation system (1000) for automatic driving vehicle (ADV) aiming at movable restricted traffic obstacle (L), wherein the operation system (1000) at least comprises an obtaining unit (100) and an analysis processing unit (200), the obtaining unit (100) is configured to obtain the front environment information of the automatic driving vehicle (ADV); The analysis processing unit (200) is configured to analyze and process the front environment information to determine whether there is a movable restricted traffic obstacle (L); the obtaining unit (100) is further configured to obtain the state information of the movable restricted traffic obstacle (L); The analysis processing unit (200) is further configured to analyze and process the state information to determine whether the movable restricted traffic obstacle (L) acts within a preset time to allow the automatic driving vehicle (ADV) to pass through; the obtaining unit (100) is further configured to obtain additional environment information related to the movable traffic-limiting obstacle (L); The analysis processing unit (200) is further configured to analyze and process the additional environment information to determine whether there is a controller (P) attached to the movable restricted traffic obstacle (L).
| 2. The operating system (1000) according to claim 1, wherein the operating system (1000) further comprises: a voice communication unit (300), the voice communication unit (300) is configured to: when it is determined that there is a controller (P) associated with the movable obstacle (L), such as a security person in a parking lot, the controller (P) is in voice communication with the controller (P); and/or a communication unit (400) configured to: When it is determined that there is no controller (P) associated with the movable restricted traffic obstacle (L), such as a security person of a parking lot, it communicates with a management system associated with the movable restricted traffic obstacle (L), such as a parking lot management system.
| 3. The running system (1000) according to claim 2, wherein the voice communication unit (300) comprises a vehicular loudspeaker and a microphone for two-way voice communication. and/or the communication unit (400) is further configured to be based on the additional environment information related to the movable restricted traffic obstacle (L) obtained by the obtaining unit (100), such as a graphic code (Q), In particular, a bar code or a two-dimensional code of a security room communicates with a management system, such as a parking lot management system, associated with the movable restricted traffic obstacle (L).
| 4. The operating system (1000) according to any one of claims 1 to 4, wherein the movable traffic-limiting obstacle (L) is a brake lever. In particular, the analysis processing unit (200) is further configured to analyze and process the state information to determine whether the brake bar is lifted within a predetermined period of time, e.g., ten seconds, to allow passage of the automatic driving vehicle (ADV); and/or the obtaining unit (100) comprises a forward camera (101) and/or a lateral camera (102) and/or a V2X communication module (103); and/or the analysis processing unit (200) comprises an artificial intelligence model, in particular an object classifier and/or a convolutional neural network.
| 5. An operation method (2000) for automatically driving a vehicle (ADV) for a movable traffic-limiting obstacle (L), wherein the operation method (2000) at least comprises the following steps: S100: obtaining the front environment information of the automatic driving vehicle (ADV); S200: analyzing and processing the front environment information to determine whether there is a movable restricted traffic obstacle (L); S300: obtaining the state information of the movable restricted traffic obstacle (L); S400: analyzing and processing the state information to determine whether the movable restricted traffic obstacle (L) acts within a preset time to allow the automatic driving vehicle (ADV) to pass; S500: obtaining additional environment information related to the movable restricted traffic obstacle (L); S600: analyzing and processing the additional environment information to determine whether there is a controller (P) attached to the movable restricted traffic obstacle (L), wherein the operation method (2000) is carried out by the operation system (1000) according to any one of claims 1 to 4.
| 6. The operation method (2000) according to claim 5, wherein the operation method (2000) further comprises the following steps: S700: when it is determined that there is a controller (P) associated with the movable traffic-limiting obstacle (L), the controller (P) performs voice communication with the controller (P); and/or S800: When it is determined that there is no controller (P) associated with the movable traffic-limiting obstacle (L), the controller communicates with a management system associated with the movable traffic-limiting obstacle (L).
| 7. The operation method (2000) according to claim 6, wherein the step S700 comprises the following sub-steps: S701: issuing a voice request to cause the controller (P) to control the movement of the movable restricted traffic obstacle (L) to allow passage of the automatic driving vehicle (ADV); S702: A voice feedback from the controller (P) is received.
| 8. The operation method (2000) according to claim 6 or 7, wherein the step S800 comprises the following sub-steps: S801: obtaining a graphic code (Q) of the control person (P), such as the position where the security person of the parking lot should be located, such as a bar code or a two-dimensional code of the security room; S802: A management system, such as a parking lot management system, associated with the movable restricted access obstacle (L) is communicated based on the acquired graphic code.
| 9. A computer program product comprising computer program instructions, wherein the computer program instructions, when executed by a processor, implement the operating method (2000) according to any one of claims 1.
| 10. An automatic driving vehicle (ADV), comprising the running system (1000) according to any one of claims 1 and/or the computer program product according to claim 9. | The system has an operating system (1000) at least provided with an obtaining unit (100) and an analysis processing unit (200). The obtaining unit is configured to obtain the front environment information of the automatic driving vehicle (ADV). The analysis processing unit is configured to analyze and process the state information to determine whether the movable restricted traffic obstacle (L) acts within a preset time to allow the automatic driving vehicle (ADV) to pass through. The obtaining unit is configured to obtain additional environment information related to the movable traffic-limiting obstacle (L). The analysis processing unit is configured to analyze and process the additional environment information to determine whether there is a controller (P) attached to the movable restricted traffic obstacle INDEPENDENT CLAIMS are included for the following:an operation method for automatically driving a vehicle ADV for a movable traffic-limiting obstacle;a computer program product comprising computer program instructions for operating automatic driving vehicle; andan automatic driving vehicle. Operating system for automatically driving vehicle aiming at movable restricted traffic obstacle. The autonomous processing ability of the automatic driving vehicle to the brake rod at the entrance and exit of the parking lot is enhanced, and the driving efficiency of the vehicle in the complex environment is improved. The drawing shows a schematic structural frame diagram of an operating system for automatically driving a vehicle against a movable restricted access obstacle.100Above-described acquisition unit 200Analysis processing unit 1000Operating system |
Please summarize the input | SYSTEMS AND METHODS FOR PREDICTING THE TRAJECTORY OF A MOVING OBJECTSystems and methods for predicting a trajectory of a moving object are disclosed herein. One embodiment downloads, to a robot, a probabilistic hybrid discrete-continuous automaton (PHA) model learned as a deep neural network; uses the deep neural network to infer a sequence of high-level discrete modes and a set of associated low-level samples, wherein the high-level discrete modes correspond to candidate maneuvers for the moving object and the low-level samples are candidate trajectories; uses the sequence of high-level discrete modes and the set of associated low-level samples, via a learned proposal distribution in the deep neural network, to adaptively sample the sequence of high-level discrete modes to produce a reduced set of low-level samples; applies a sample selection technique to the reduced set of low-level samples to select a predicted trajectory for the moving object; and controls operation of the robot based, at least in part, on the predicted trajectory.What is claimed is:
| 1. A system for predicting a trajectory of a moving object, the system comprising:
one or more processors; and
a memory communicably coupled to the one or more processors and storing:
a communication module including instructions that when executed by the one or more processors cause the one or more processors to download, to a robot, a probabilistic hybrid discrete-continuous automaton (PHA) model learned as a deep neural network, wherein the learned PHA model models a moving object in an environment of the robot;
a trajectory prediction module including instructions that when executed by the one or more processors cause the one or more processors to:
use the deep neural network to infer a sequence of high-level discrete modes and a set of associated low-level samples, wherein the high-level discrete modes correspond to candidate maneuvers for the moving object and the low-level samples are candidate trajectories for the moving object;
use the sequence of high-level discrete modes and the set of associated low-level samples, via a learned proposal distribution in the deep neural network, to adaptively sample the sequence of high-level discrete modes to produce a reduced set of low-level samples; and
apply a sample selection technique to the reduced set of low-level samples to select a predicted trajectory for the moving object; and
a control module including instructions that when executed by the one or more processors cause the one or more processors to control operation of the robot based, at least in part, on the predicted trajectory.
| 2. The system of claim 1, wherein:
the deep neural network includes an encoder Long Short-Term Memory (LSTM) network that encodes context information concerning the environment of the robot and a decoder LSTM network that generates a sequence of hybrid states in accordance with the learned PHA model; and
the decoder LSTM network includes a transition function, a dynamics function, and the learned proposal distribution.
| 3. The system of claim 2, wherein the context information includes one or more of environment-sensor data, map data, observation data pertaining to the moving object, trajectory data associated with at least one of the robot and the moving object, traffic Signal Phase and Timing (SPaT) data, and information received via vehicle-to-vehicle (V2V) communication.
| 4. The system of claim 1, wherein the sample selection technique includes a farthest point sampling algorithm.
| 5. The system of claim 1, wherein the robot is a vehicle and the moving object is a road agent external to the vehicle.
| 6. The system of claim 5, wherein the vehicle is an autonomous vehicle.
| 7. The system of claim 1, wherein the robot is a vehicle and the moving object is the vehicle.
| 8. The system of claim 7, wherein the vehicle is an autonomous vehicle and a planner of the autonomous vehicle uses the predicted trajectory in planning a path for the autonomous vehicle.
| 9. The system of claim 1, wherein the robot is one of an indoor robot, a service robot, and a delivery robot.
| 10. A non-transitory computer-readable medium for predicting a trajectory of a moving object and storing instructions that when executed by one or more processors cause the one or more processors to:
download, to a robot, a probabilistic hybrid discrete-continuous automaton (PHA) model learned as a deep neural network, wherein the learned PHA model models a moving object in an environment of the robot;
use the deep neural network to infer a sequence of high-level discrete modes and a set of associated low-level samples, wherein the high-level discrete modes correspond to candidate maneuvers for the moving object and the low-level samples are candidate trajectories for the moving object;
use the sequence of high-level discrete modes and the set of associated low-level samples, via a learned proposal distribution in the deep neural network, to adaptively sample the sequence of high-level discrete modes to produce a reduced set of low-level samples;
apply a sample selection technique to the reduced set of low-level samples to select a predicted trajectory for the moving object; and
control operation of the robot based, at least in part, on the predicted trajectory.
| 11. The non-transitory computer-readable medium of claim 10, wherein:
the deep neural network includes an encoder Long Short-Term Memory (LSTM) network that encodes context information concerning the environment of the robot and a decoder LSTM network that generates a sequence of hybrid states in accordance with the learned PHA model; and
the decoder LSTM network includes a transition function, a dynamics function, and the learned proposal distribution.
| 12. The non-transitory computer-readable medium of claim 10, wherein the sample selection technique includes a farthest point sampling algorithm.
| 13. A method of predicting a trajectory of a moving object, the method comprising:
downloading, to a robot, a probabilistic hybrid discrete-continuous automaton (PHA) model learned as a deep neural network, wherein the learned PHA model models a moving object in an environment of the robot;
using the deep neural network to infer a sequence of high-level discrete modes and a set of associated low-level samples, wherein the high-level discrete modes correspond to candidate maneuvers for the moving object and the low-level samples are candidate trajectories for the moving object;
using the sequence of high-level discrete modes and the set of associated low-level samples, via a learned proposal distribution in the deep neural network, to adaptively sample the sequence of high-level discrete modes to produce a reduced set of low-level samples;
applying a sample selection technique to the reduced set of low-level samples to select a predicted trajectory for the moving object; and
controlling operation of the robot based, at least in part, on the predicted trajectory.
| 14. The method of claim 13, wherein:
the deep neural network includes an encoder Long Short-Term Memory (LSTM) network that encodes context information concerning the environment of the robot and a decoder LSTM network that generates a sequence of hybrid states in accordance with the learned PHA model; and
the decoder LSTM network includes a transition function, a dynamics function, and the learned proposal distribution.
| 15. The method of claim 13, wherein the sample selection technique includes a farthest point sampling algorithm.
| 16. The method of claim 13, wherein the robot is a vehicle and the moving object is a road agent external to the vehicle.
| 17. The method of claim 16, wherein the vehicle is an autonomous vehicle.
| 18. The method of claim 13, wherein the robot is a vehicle and the moving object is the vehicle.
| 19. The method of claim 18, wherein the vehicle is an autonomous vehicle and a planner of the autonomous vehicle uses the predicted trajectory in planning a path for the autonomous vehicle.
| 20. The method of claim 13, wherein the robot is one of an indoor robot, a service robot, and a delivery robot. | The system has a memory communicably coupled to a set of processors. A communication module downloads a probabilistic hybrid discrete-continuous automaton (PHA) model learned as a deep neural network (400) to a robot, where the learned PHA model models a moving object (380) in an environment of the robot. A trajectory prediction module applies a sample selection technique to a reduced set of low-level samples to select a predicted trajectory for the moving object. A control module controls an operation of a robot e.g. indoor robot, based on the predicted trajectory. INDEPENDENT CLAIMS are included for: (1) a non-transitory computer-readable medium storing a set of instructions for predicting a trajectory of a moving object; (2) a method for predicting a trajectory of a moving object. System for predicting trajectory of a moving object i.e. road agent, external to a vehicle i.e. autonomous vehicle (claimed). The trajectory prediction module uses a sequence of high-level discrete modes and a set of associated low-level samples, through a learned proposal distribution in the deep neural network, to adaptively sample the sequence to produce a reduced set of low level samples. The drawing shows a schematic view of a system for predicting trajectory of a moving object external to a vehicle.380Moving object 400Deep neural network 410Map data 420DynamicsNet 430MapNet |
Please summarize the input | Environment control loopThe invention claims an environment control loop. Systems and techniques for an environmental control loop are described herein. An apparatus for an environmental control loop may include: a memory comprising instructions; and a processing circuit system that, in operation, may be configured by instructions for receiving environmental sensor data from a first set of heterogeneous components installed in the environment using the controller. The environmental sensor data may indicate a level of service value sensed by the first component. The controller may also measure a violation of the service level target based on comparing the environmental sensor data to a threshold. The controller may also communicate adjustments to operating parameters of the second component in the heterogeneous component set. The adjustment is operable to attenuate violation of the service level target when implemented by the second component.|1. An apparatus for an environmental control loop, the apparatus comprising: a memory including instructions; and a processing circuit system configured, when in operation, by the instructions, to: using a controller to receive environmental sensor data from a first component of a set of heterogeneous components installed in the environment, the environmental sensor data indicating a level of service value sensed by the first component; measuring a violation of a service level target based on comparing the environmental sensor data with a threshold; and transmitting an adjustment to an operating parameter of a second component in the heterogeneous set of components, the adjustment being operable to attenuate violation of the service level target when implemented by the second component.
| 2. The apparatus according to claim 1, wherein the first component comprises a snapshot manager that records data points generated by the first component.
| 3. The apparatus according to claim 2, wherein the instructions configure the processing circuitry to: receiving data points recorded by the snapshot manager of the first component; generating an entry based on the data point received from the first component; and adding the entry to a distributed account.
| 4. The apparatus according to claim 3, wherein the distributed account book is stored on a blockchain database.
| 5. The apparatus according to claim 4, wherein the snapshot manager is configured to record data points generated by the second component.
| 6. The apparatus according to any one of claims 1-5, wherein the heterogeneous component set is within a geographic enclosure, and wherein the heterogeneous component set is wirelessly connected to the controller as it enters the geographic enclosure.
| 7. The apparatus according to claim 6, wherein the wireless connection of the third component of the heterogeneous component set to the network upon entry into the geographic enclosure comprises instructions that configure the processing circuitry for: transmitting a distributed account book to the third component; and adding the third component to the network upon receiving a consensus from other components in the set of heterogeneous components connected to the network.
| 8. The apparatus according to claim 7, wherein the third component is an autonomous vehicle that communicates with the controller using a vehicle for ambient V2X communication.
| 9. The apparatus according to claim 8, wherein the autonomous vehicle proof evidence is represented using a Bloom filter, wherein a bit field of the Bloom filter corresponds to a component that is typically found on the autonomous vehicle.
| 10. The apparatus according to claim 9, wherein the Bloom filter is compressed into a hash tree, wherein a root digest is returned together with a tick random number.
| 11. The apparatus according to claim 10, wherein the heterogeneous component set comprises a measurement gateway that synchronizes the local time of the heterogeneous component with the global time on the global measurement gateway.
| 12. The apparatus according to claim 11, wherein the global time is a time handle indicating all communications between the set of heterogeneous components on the network and the controller.
| 13. At least one machine-readable medium, the machine-readable medium comprising instructions that, when executed by a processing circuit system, cause the processing circuit system to perform operations comprising: receiving, by the controller, environment sensor data from a first component of a set of heterogeneous components installed in the environment, the environment sensor data indicating a level of service value sensed by the first component; measuring a violation of a service level target based on comparing the environmental sensor data with a threshold; and transmitting an adjustment to an operating parameter of a second component in the heterogeneous set of components, the adjustment being operable to attenuate violation of the service level target when implemented by the second component.
| 14. The at least one machine-readable medium according to claim 13, wherein the first component comprises a snapshot manager that records data points generated by the first component.
| 15. The at least one machine readable medium according to claim 14, wherein the operation comprises: receiving data points recorded by the snapshot manager of the first component; generating an entry based on the data point received from the first component; and adding the entry to a distributed account.
| 16. The at least one machine-readable medium according to claim 15, wherein the distributed account is stored on a blockchain database.
| 17. The at least one machine-readable medium according to claim 16, wherein the snapshot manager further records data points generated by the second component.
| 18. The at least one machine readable medium according to any one of claims 13-17, wherein the set of heterogeneous components is within a geographic enclosure, and wherein the set of heterogeneous components is wirelessly connected to the controller when entering the geographic enclosure.
| 19. The at least one machine readable medium according to claim 18, wherein wirelessly connecting the third component of the heterogeneous component set to the network upon entry into the geographic enclosure comprises operations comprising: transmitting a distributed account book to the third component; and adding the third component to the network upon receiving a consensus from other components in the set of heterogeneous components connected to the network.
| 20. The at least one machine readable medium according to claim 19, wherein the third component is an autonomous vehicle that communicates with the controller using a vehicle for ambient V2X communication.
| 21. The at least one machine-readable medium according to claim 20, wherein the autonomous vehicle proof evidence is represented using a Bloom filter, wherein a bit field of the Bloom filter corresponds to a component that is typically found on the autonomous vehicle.
| 22. The at least one machine-readable medium according to claim 21, wherein the Bloom filter is compressed into a hash tree, wherein a root digest is returned together with a tick random number.
| 23. The at least one machine-readable medium according to claim 22, wherein the heterogeneous component set comprises a measurement gateway, the measurement gateway of the heterogeneous component set synchronizing a local time of the heterogeneous component set with a global time on a global measurement gateway.
| 24. The at least one machine readable medium according to claim 23, wherein the global time is a time handle indicating all communications between the set of heterogeneous components on the network and the controller. | The device has a memory for storing a set of instructions. A processing circuitry receives environmental sensor data from a first component among a group of heterogeneous components installed in an environment with a controller, where the environmental sensor data is indicative of a service level value sensed by the first component. The processing circuitry measures violation of a service level objective by comparing the environmental sensor data to a threshold, and adjusts operating parameter of a second component among the group of heterogeneous components to attenuate violation of the service level objective when implemented by the second component. An INDEPENDENT CLAIM is included for a non-transient machine-readable medium storing a set of instructions for an environmental control loop of vehicles. Device for an environmental control loop of vehicles e.g. autonomous vehicle and non-autonomous vehicle. The device maintains error budget within allowed limits to avoid defaulting, where error budget varies based on situation. |
Please summarize the input | AI-POWERED MOVING TARGET DEFENSE FOR SECURE CONNECTED AND AUTONOMOUS VEHICLES AGAINST ADVANCED PERSISTENT THREATSEmbodiments of the present disclosure relates to a system (102) and method (300) for enhanced threat detection and security of CAVs in real-time by applying AIpowered Moving Target Defence (MTD) techniques. The system (102) includes a processor (202) and a memory (204) coupled to the processor (202). The memory (204) includes processor-executable instructions, which on execution, causes the processor (202) to collect data from one or more sources and analyse the collected data to identify potential attack threats and predict an impact of the identified threats. Further, the processor (202) is configured to select an optimal MTD strategy based on the identified threats and the predicted impact and adjust one or more CAV parameters based on the selected MTD strategy. The MTD strategy is selected by applying optimization techniques and the selected MTD strategy is implemented by applying human-in-the-loop techniques.|1. A system (102) for securing a connected and autonomous vehicle (CAV), the system (102) comprising: a processor (202); and a memory (204) coupled to the processor (202), wherein the memory (204) comprises processor-executable instructions, which on execution, causes the processor (202) to: collect data from one or more sources; analyse the collected data to identify potential attack threats and predict an impact of the identified threats; select an optimal MTD strategy based on the identified threats and the predicted impact; adjust one or more CAV parameters based on the selected MTD strategy. wherein the MTD strategy is selected by applying optimization techniques and the selected MTD strategy is implemented by applying human-in-the-loop techniques.
| 2. The system (102) as claimed in claim 1, wherein the data is collected from the one or more sources comprising on-board sensors, network traffic monitoring feeds, and external threat intelligence feeds.
| 3. The system (102) as claimed in claim 1, wherein the data is analysed by applying an AI-based Fed-DL model trained on a wide array of attack data and operational data from CAVs by incorporating anomaly detection and continual learning techniques.
| 4. The system (102) as claimed in claim 1, wherein the one or more CAV parameters comprise IP address, communication protocol, and routing path.
| 5. The system (102) as claimed in claim 1, wherein the MTD strategy is selected in integration with V2X communication infrastructure to facilitate coordinated defence strategies with other CAVs.
| 6. A method (300) for securing a connected and autonomous vehicle (CAV), the method (300) comprising steps of: collecting (302), by a processor (202), data from one or more sources; analysing (304), by the processor (202), the collected data to identify potential attack threats and predict an impact of the identified threats; selecting (306), by the processor (202), an optimal MTD strategy based on the identified threats and the predicted impact; and adjusting (308), by the processor (202), one or more CAV parameters based on the selected MTD strategy. wherein the MTD strategy is selected by applying optimization techniques and the selected MTD strategy is implemented by applying human-in-the-loop techniques. | The system (102) has a processor for collecting data from sources, and analyzing the collected data to identify potential attack threats and predict impact of the identified threats. The processor selects an optimal Moving Target Defence (MTD) strategy based on the identified threats and the predicted impact, adjusts connected and autonomous vehicle (CAV) parameters based on the selected MTD strategy, where the MTD strategy is selected by applying optimization techniques and the selected MTD strategy is implemented by applying human-in-the-loop techniques. An INDEPENDENT CLAIM is included for a method for securing a CAV. System for enhanced threat detection and security of CAVs in real-time by applying Artificial intelligence (AI) powered MTD techniques. The system enhances threat detection and security of the CAVs in real-time by applying AI-powered MTD techniques to dynamically change attack surfaces, configurations, and defenses, thus reducing vulnerabilities and successful cyberattacks. The system adopts leverages machine learning models for identifying patterns indicative of malicious activities and triggering proactive responses to reduce risks. The drawing shows a schematic block diagram of a system for enhanced threat detection and security of CAVs in real-time by applying AI powered MTD techniques.102System for enhanced threat detection and security of CAVs 104Network 106-1Computing device 108-1User 110Centralized server |
Please summarize the input | VEHICLE AND MTEHOD OF CONTROLLING THE SAMEThe present invention relates to a vehicle and a control method thereof, according to an aspect of the present invention, by grouping a plurality of vehicles by destination and assigning the optimal lane for each destination to the vehicle of each group, each vehicle to obtain the optimal lane The purpose is to make it possible to reach the destination through. To this end, a vehicle control method according to the present invention comprises: collecting destination information of each vehicle for a plurality of vehicles; Grouping the plurality of vehicles according to destinations based on the destination information; And assigning lanes designated for each destination to the vehicles of each group.
|1. Collecting destination information of each vehicle for a plurality of vehicles;
Grouping the plurality of vehicles according to destinations based on the destination information;
And assigning lanes designated for each destination to the vehicles of each group.
| 2. The method of claim 1, further comprising collecting traffic information around each vehicle along with destination information of each vehicle;
A vehicle control method for allocating the lane in consideration of both the destination information and the traffic information.
| 3. The method of claim 2, wherein the lane assignment comprises: the closer the destination of the vehicle is, the closer the lane is to the central lane;
A vehicle control method that allocates a lane farther from the central lane as the destination of the vehicle is closer.
| 4. The vehicle control method according to claim 1, wherein the vehicle is autonomously driven to travel along the assigned lane.
| 5. The vehicle control method according to claim 1, wherein the assigned lane is guided to a driver of the vehicle.
| 6. The vehicle control method of claim 1, wherein the plurality of vehicles communicate with a V2X communication method to collect the destination information and the traffic information.
| 7. A communication unit provided to receive destination information of each vehicle for a plurality of vehicles;
A vehicle including a controller for grouping the plurality of vehicles by destinations based on the destination information and assigning lanes designated for each destination to the vehicles of each group.
| 8. The method of claim 7, wherein the control unit collects traffic information around each vehicle along with destination information of each vehicle through the communication unit;
A vehicle that allocates the lane by considering both the destination information and the traffic information.
| 9. The method of claim 8, wherein the control unit allocates a lane closer to the central lane as the destination of the vehicle is farther away for the lane assignment;
A vehicle that allocates a lane farther from the central lane as the destination of the vehicle is closer.
| 10. The vehicle according to claim 7, wherein the controller performs autonomous driving of the vehicle to travel along the assigned lane.
| 11. The vehicle according to claim 7, wherein the control unit guides the assigned lane to a driver of the vehicle.
| 10. The method of claim 7, wherein the communication unit is a V2X communication unit;
A vehicle in which the plurality of vehicles communicate with the V2X communication unit to receive the destination information and the traffic information. | The method involves grouping the multiple vehicles according to destinations based on the destination information. The lanes designated for each destination to the vehicles of each group are assigned. A vehicle control method is used for allocating the lane in consideration of both the destination information and the traffic information. The vehicle control method that allocates a lane farther from the central lane as the destination of the vehicle is closer, is also included in the method. INDEPENDENT CLAIMS are included for the following:a communication unit;a vehicle anda method. Method for use in collecting destination information of each vehicle for multiple vehicles (claimed). The method can perform more optimized lane assignment by considering not only the destination information of each vehicle but also the surrounding traffic conditions. The drawing shows a flow diagram of the control method of the vehicle. (Drawing includes non-English language text). |
Please summarize the input | Positioning system and positioning method of lane-free regionThe invention claims a positioning system of lane-free region, comprising: a laser radar system for obtaining point cloud data without lane line area environment and constructing the distribution of point cloud in space; a millimetre wave radar system for obtaining a target information in a lane-free area; under the condition of clear point cloud, based on the distribution of the point cloud and combining the millimeter wave radar system to obtain the target information to construct and locate the map, under the condition of cloud fuzzy, according to the millimeter wave radar system to obtain the target information constructing and locating the data fusion unit; and a communication unit for establishing communication connection with the automatic driving vehicle, receiving the vehicle information the automatic driving vehicle and sending the information to the automatic driving vehicle; and an identification unit for identifying the automatic driving vehicle according to the vehicle information wherein the communication unit is based on the identification of the identification unit; the data needed by the automatic driving vehicle is sent to the automatic driving vehicle. The invention further claims a positioning method of lane-free region.|1. A positioning system of lane-free region, wherein it comprises: a laser radar system, the laser radar system is used for obtaining the point cloud data of the non-lane line area environment, and constructing the distribution of point cloud in the space; millimeter wave radar system, the millimeter wave radar system for obtaining the target information the lane-free area, data fusion unit, under the condition that the point cloud constructed by the laser radar system is clear, the data fusion unit is based on the distribution of the point cloud and combines the target information obtained by the millimeter wave radar system for map construction and location, under the condition of cloud fuzzy constructed by the laser radar system, the data fusion unit constructs and locates the map according to the target information obtained by the millimetre wave radar system; a communication unit, when the distance between the automatic driving vehicle and the lane-free area is a certain distance, the communication unit establishes a communication connection with the automatic driving vehicle, for receiving the vehicle from the automatic driving vehicle information and sending to the automatic driving vehicle information and an identification unit, the identification unit identifies the automatic driving vehicle according to the vehicle information from the automatic driving vehicle, wherein the communication unit based on the identification of the identification unit, the data needed by the automatic driving vehicle is sent to the automatic driving vehicle.
| 2. The positioning system of the area without lane line according to claim 1, wherein the vehicle information the automatic driving vehicle is the first type vehicle or the second type information, wherein the first type vehicle represents the vehicle capable of using laser radar for automatic driving in the non-lane line area, the second type vehicle represents that the vehicle cannot be automatically driven by laser radar in the lane-free area, the positioning system further comprises a judging unit, the judging unit judges whether the automatic driving vehicle is a first type vehicle or a second type vehicle based on the vehicle information when the automatic driving vehicle is the second type vehicle, the data fusion unit further generates a virtual lane line according to the information by the laser radar system or the millimeter wave radar system, under the condition that the automatic driving vehicle is the second type vehicle, the communication unit sends the virtual lane line generated by the data fusion unit and the positioning information of the automatic driving vehicle to the automatic driving vehicle.
| 3. The positioning system of the area without lane line according to claim 1, wherein the vehicle information the automatic driving vehicle is the first type vehicle or the second type information, wherein the first type vehicle represents the vehicle capable of using laser radar for automatic driving in the non-lane line area, the second type vehicle represents that the vehicle cannot be automatically driven by laser radar in the lane-free area, the positioning system further comprises a judging unit, the judging unit judges whether the automatic driving vehicle is a first type vehicle or a second type vehicle based on the vehicle information under the condition that the automatic driving vehicle is the second type vehicle, the data fusion unit further according to the laser radar system or the millimeter wave radar system to obtain the information of the driving track, under the condition that the automatic driving vehicle is the second type vehicle, the communication unit sends the driving track obtained by planning the data fusion unit and the positioning information of the automatic driving vehicle to the automatic driving vehicle.
| 4. The positioning system of the area without lane according to claim 1, wherein the vehicle information the automatic driving vehicle is the first type vehicle or the second type information, wherein the first type vehicle represents the vehicle capable of using laser radar for automatic driving in the non-lane line area, the second type vehicle represents that the vehicle cannot be automatically driven by laser radar in the lane-free area, the positioning system further comprises a judging unit, the judging unit judges whether the automatic driving vehicle is a first type vehicle or a second type vehicle based on the vehicle information when the automatic driving vehicle is the second type vehicle, the data fusion unit further generates a high precision map according to the information by the laser radar system or the millimeter wave radar system, under the condition that the automatic driving vehicle is the second type vehicle, the communication unit sends the data fusion unit to the high precision map and the automatic driving vehicle of the locating information
| 5. The positioning system of lane-free area according to claim 1, wherein the vehicle information the automatic driving vehicle is the first type vehicle or the second type information, wherein the first type vehicle represents the vehicle capable of using laser radar for automatic driving in the non-lane line area, the second type vehicle represents that the vehicle cannot be automatically driven by laser radar in the lane-free area, the positioning system further comprises a judging unit, the judging unit judges whether the automatic driving vehicle is a first type vehicle or a second type vehicle based on the vehicle information when the automatic driving vehicle is the first type of vehicle, the communication unit transmits the obstacle track obtained by the data fusion unit, the road pit and the positioning information of the automatic driving vehicle to the automatic driving vehicle.
| 6. The positioning system of lane-free region according to any one of claims 1 to 1 to 5, wherein it further comprises: differential GPS, said data fusion unit uses the differential GPS to convert the positioning information from the relative coordinate system to the absolute coordinate system.
| 7. The positioning system of lane-free area according to any one of claims 1 to 1 to 5, wherein the automatic driving vehicle is a first type of vehicle, the communication unit performs data transmission by means of a first communication mode suitable for a small amount of data, under the condition that the automatic driving vehicle is the second type vehicle, the communication unit performs data transmission by means of a second communication mode suitable for a large amount of data.
| 8. The positioning system of the area without lane line according to claim 7, wherein the first communication mode is the Bluetooth communication mode.
| 9. The locating system of the area without lane line according to claim 7, wherein the second communication mode is V2X communication mode.
| 10. The location system of lane-free region according to any one of claims 1 to 1 to 5, wherein the millimetre wave radar system comprises a short-distance millimetre wave radar and a long-distance millimetre wave radar.
| 11. A locating method of lane-free area, wherein it comprises the following steps: obtaining point cloud data of the non-lane line area environment through the laser radar system, and constructing the distribution of point cloud in space; obtaining the target information the trolley track area by the millimetre wave radar system; under the condition of clear point cloud constructed by the laser radar system, constructing and locating map based on the distribution of the point cloud and the target information obtained by the millimeter wave radar system, under the condition of cloud blurring constructed by the laser radar system, constructing and locating the map according to the target information obtained by the millimetre wave radar system; when the distance between the automatic driving vehicle and the lane-free area is a certain distance, establishing communication connection with the automatic driving vehicle, for receiving the vehicle from the automatic driving vehicle information and sending to the automatic driving vehicle information identifying the automatic driving vehicle based on the vehicle information and according to the identification result, the information driving vehicle needed to be sent to the automatic driving vehicle. | The system has a laser radar system for obtaining point cloud data of a non-lane line area environment and constructing a distribution of point cloud in a space. A millimeter wave radar system obtains target information of a lane-free area. A data fusion unit constructs and locates a map according to the target information obtained by the millimeter-wave radar system. A communication unit establishes a communication connection with an automatic driving vehicle when distance between the automatic drive vehicle and the lane free area is a certain distance. The communication unit receives vehicle information from the automatic vehicle information and sends the vehicle information to an identification unit. An INDEPENDENT CLAIM is included for a method for positioning lane-free region. System for positioning lane-free region. The system provides virtual lane line, high precision map, planned driving track and information to help the automatic driving vehicle to automatically drive in the non-lane line area, when the vehicle is running in the lane-free line area. The drawing shows a structural block diagram of a system System for positioning lane-free region. (Drawing includes non-English language text).10Automatic driving vehicle 100Positioning system 110Millimeter wave radar system 120Millimeter wave radar system 121Long-distance millimeter wave radar 122Short-distance millimeter wave radar 130Corresponding data fusion unit 140Communication unit 150Identification unit |
Please summarize the input | Method for autonomous driving out of a parking positionThe invention claims a method for autonomous driving out of a parking position of a vehicle. the method comprises the following steps: a) detecting an unlock signal for unlocking a central locking system of a first vehicle (110) parked in a first position by a second vehicle (120) parked in a second position; b) determining whether the two vehicles (110, 120) are parallel and directly adjacent to each other; c) if so, autonomously at least partially driving the second vehicle (120) out of the second position; d) determining whether the first vehicle (110) has at least partially away from the first position; and e) if so, automatically returning the second vehicle (120) back to the second position.|1. A method for vehicle to automatically exit the parking position, the method comprises the following steps: a) detecting an unlock signal for unlocking a central locking system of a first vehicle parked in a first position by a second vehicle parked in a second position; b) in response to the unlocking signal, determining whether the first vehicle and the second vehicle are parallel to each other and directly adjacent to each other; c) if so, automatically at least partially driving the second vehicle out of the second position, thereby allowing the driver of the first vehicle to enter the first vehicle and at least partially driving the first vehicle out of the first position; d) determining whether the first vehicle has at least partially away from the first position; and e) if it is, autonomously returning the second vehicle to the second position.
| 2. The method according to claim 1, wherein step b) comprises: b1) in response to the unlocking signal, activating the sensor in the second vehicle; b2) detecting a signal transmitted by the first vehicle in response to an additional unlocking signal by the sensor; and b3) determining whether the first vehicle and the second vehicle are parallel and directly adjacent to each other and parking based on the detected signal.
| 3. The method according to claim 2, wherein the sensor in the second vehicle is a camera, and the signal from the first vehicle is an indicator light signal.
| 4. The method according to claim 2, wherein the sensor in the second vehicle is an electromagnetic signal detector, and the signal from the first vehicle is a TPMS signal.
| 5. The method according to claim 2, wherein the sensor in the second vehicle is a ultrasonic detector, and the signal from the first vehicle is a signal for a parking distance ultrasonic
| 6. The method according to claim 1, wherein the step b3) comprises: b3a) determining the position and orientation of the first vehicle through the second vehicle; b3b) determining the position and orientation of the second vehicle through the second vehicle; and b3c) based on the determined position and orientation of the first vehicle and the determined position and orientation of the second vehicle, determining whether the first vehicle and the second vehicle are parallel to each other and directly adjacent to each other.
| 7. The method according to claim 6, wherein the position and orientation of the first vehicle is determined based on information received by the second vehicle preferably from the first vehicle using V2X communication.
| 8. The method according to claim 6, wherein the position and orientation of the first vehicle is determined based on information collected by a sensor of the second vehicle when parked to the second position.
| 9. A vehicle for autonomous driving out of the parking position, the vehicle comprising: a) a detector, the detector is arranged for detecting for unlocking the unlocking signal of the central locking system of the first vehicle parking in the first position; b) determining unit, the determining unit is arranged for responding to the unlocking signal, determining whether the first vehicle and the second vehicle are parallel and directly adjacent to each other; c) autonomous driving unit, the autonomous driving unit is used for when determining that the first vehicle and the second vehicle are parallel and directly adjacent to each other, autonomously at least partially driving the second vehicle out of the second position, wherein the determining unit is further arranged for determining whether the first vehicle has at least partially away from the first position; and wherein the autonomous driving unit is further arranged for autonomously returning the second vehicle to the second position when it is determined that the first vehicle has at least partially away from the first position.
| 10. The vehicle according to claim 9, further comprising: a sensor arranged to be activated in response to the unlocking signal, and for detecting a signal transmitted by the first vehicle in response to an additional unlocking signal, wherein the determining unit is arranged for based on the detected signal, determining whether the first vehicle and the second vehicle are parallel and directly adjacent to each other.
| 11. The vehicle according to claim 10, wherein the sensor is a camera, and the signal from the first vehicle is an indicator light signal; Alternatively, the sensor is an electromagnetic signal detector, and the signal from the first vehicle is a TPMS signal; Alternatively, the sensor is a ultrasonic detector, and the signal from the first vehicle is ultrasonic parking distance signal.
| 12. The vehicle according to claim 9, wherein the determining unit is arranged for i) determining the position and orientation of the first vehicle through the second vehicle, ii) determining the position and orientation of the second vehicle through the second vehicle; and iii) based on the determined position and orientation of the first vehicle and the determined position and orientation of the second vehicle, determining whether the first vehicle and the second vehicle are parallel to each other and directly adjacent to each other.
| 13. The vehicle according to claim 12, wherein the determining unit is arranged for preferably receiving information from the first vehicle using V2X communication, for determining the position and orientation of the first vehicle.
| 14. The vehicle according to claim 12, wherein the determining unit comprises a sensor for collecting information about the position and orientation of the first vehicle when parking, and wherein the determining unit is arranged to determine the position and orientation of the first vehicle based on the collected information. | The method involves detecting an unlocking signal (160) for unlocking a central locking system of first vehicle (110) parked at first position from a second vehicle (120) parked at a second position. The second vehicle is driven autonomously partially out of second position while determining that first and second vehicles are parked in parallel and next to each other in response to unlock signal. A driver of first vehicle is allowed to get into the first vehicle and partially drive the first vehicle out of first position. The second vehicle is autonomously driven back into the second position while determining that first vehicle is partially left into first position. An INDEPENDENT CLAIM is included for a vehicle for autonomous exit from parked position. Method for autonomous driving of vehicle out of parked position. The vehicle is provided with ability to drive itself to parked position without allowing driver to leave or drive into the car. The drawing shows a schematic view of the arrangement for autonomous driving of vehicle out of parked position. 110,120,130Vehicles140Vehicle door160Unlocking signal340Sensor |
Please summarize the input | PARKING SYSTEM AND METHOD FOR AUTONOMOUS VEHICLEDisclosed are a parking lot operating system and a method for an autonomous vehicle. A parking lot operating system for an autonomous vehicle according to an embodiment of the present invention provides a parking lot information of a destination by linking with a vehicle to which the autonomous driving system is applied through wireless communication, and a central server and the central server that reserve a parking lot selected from the vehicle. By recognizing the access of the reserved vehicle through the vehicle, it transmits the parking lot precision map and the parking driving route to the reserved parking surface to support autonomous parking, and the positioning information of the vehicle through a positioning device, which is an infrastructure facility in the parking lot. It includes a parking lot operation server that provides the corresponding position correction value.|1. A central server that provides information on a parking lot of a destination through wireless communication with a vehicle to which the autonomous driving system is applied and reserves a parking lot selected from the vehicle; And recognizing the access of the reserved vehicle through the central server, transmitting a parking precision map to support autonomous parking and a parking driving route to the reserved parking surface, and transmitting the vehicle through a positioning device, which is an infrastructure facility in the parking lot. A parking lot operation server that provides a position correction value according to the positioning information of the vehicle;
Parking lot operation system for an autonomous vehicle comprising a.
| 2. The method of claim 1, wherein the central server collects real-time parking lot information from a parking lot operation server of a parking lot for each area, updates the idle parking surface state in a database (DB), and at least one parking lot information around a destination input from the vehicle. Parking lot operation system for an autonomous vehicle that provides the vehicle.
| 3. The system of claim 2, wherein the parking lot information includes at least one of parking location information, parking lot map information, parking entrance/exit path, idle parking surface information, charging facility information, and parking fee information. .
| 4. The method of claim 1, wherein the parking lot operation server matches and stores vehicle communication identification information (vehicle ID), vehicle number, reserved parking surface (PA_ID), driver terminal information, and time included in the parking reservation request message, and Parking lot operation system for autonomous vehicles that responds to reservation completion messages.
| 5. According to any one of claims 1 to 4, The parking lot operation server, The central server, the communication unit for communicating with the vehicle and infrastructure facilities in the parking lot;
An access information providing unit that provides a parking lot precision map in which geographic information about the parking lot entrance is stored when entering and leaving the vehicle;
A route/positioning providing unit that provides the vehicle with a parking driving route to the destination parking surface (PA_ID) reserved based on the parking lot precision map and a position correction value according to the precise positioning information of the vehicle;
A parking surface information providing unit for identifying information on an idle parking space in which parking is possible based on the state information collected from the parking recognition sensor; And a controller configured to monitor movement information of the vehicle based on information collected from an infrastructure sensor and a device installed in the parking lot, and provide driving information on an unexpected situation in the parking lot.
Parking lot operation system for an autonomous vehicle comprising a.
| 6. The method of claim 5, wherein the communication unit comprises: an external communication module connected to the central server through a wired or wireless communication network;
A vehicle communication module for connecting wireless communication with the vehicle by using the vehicle ID obtained in the reservation request message; And an infrastructure communication module arranged inside a parking lot for autonomous parking to connect communication with an infrastructure facility that provides various information.
Parking lot operating system for an autonomous vehicle comprising a.
| 7. The method of claim 6, wherein the infrastructure communication module can connect the vehicle and V2I (Vehicle to Infrastructure) communication through the infrastructure facility, through which vehicle position measurement and no-delay characteristics in a parking lot Parking lot operation system for autonomous vehicles that implements.
| 8. The method of claim 5, wherein the access information providing unit comprises: the number of entrances and exits of the parking lot, locations for each entrance and exit, entry direction, exit direction, and width of the driving passage and the inter-floor driving passage through the entrance and exit side precision maps A parking lot operating system for autonomous vehicles that provides information to support autonomous driving of the vehicle.
| 9. According to claim 5, wherein the access information providing unit: a vehicle entering and exiting recognition module for recognizing access to a parking lot in a predetermined area by receiving position information of the reserved vehicle;
An entry/exit information providing module that provides an IN-MAP for the vehicle entering the parking lot and an OUT-MAP for the vehicle exiting the parking lot; And a vehicle number recognition module for recognizing vehicle numbers entered and exited through LPRs installed at the entrance and exit of the parking lot.
Parking lot operating system for an autonomous vehicle comprising a.
| 10. The system of claim 9, wherein the entry/exit vehicle recognition module recognizes the vehicle ID connected through short-range wireless communication to recognize the reserved vehicle access to the parking lot.
| 10. The method of claim 9, wherein the vehicle entering and exiting the vehicle recognition module, the vehicle parked on the parking surface is restarted, vehicle communication is connected, and the vehicle exiting the parking surface is detected through a parking recognition sensor to advance to the parking lot exit. Parking lot management system for self-driving vehicles that recognize that.
| 12. The method of claim 5, wherein the route/positioning providing unit comprises: a parking driving path guiding a driving path to a parking surface (PA_ID) reserved when entering the vehicle based on the location information of the vehicle, and the parking surface (PA_ID) when exiting the vehicle. A route providing module that provides an outgoing driving route for guiding the driving passage from the exit to the parking lot;
A positioning information providing module that provides positioning information to the vehicle based on three-dimensional coordinates in which a plurality of positioning devices (Access Points, APs) are installed distributed in a parking lot; And a parking surface positioning module that provides precise location information of a parking surface area including the width and length of the parking surface through positioning devices (AP) respectively installed at vertices of the marking lines defining the parking surface.
Parking lot operating system for an autonomous vehicle comprising a.
| 13. The method of claim 12, wherein the positioning device (AP) stores the installation coordinates (x, y, z) of the parking lot itself, connects V2I communication with the vehicle to recognize the vehicle ID, and stores the recognized vehicle ID. A parking lot operating system for autonomous vehicles that provides positioning information based on the installation coordinates.
| 14. The system of claim 12, wherein the positioning device (AP) is installed on a ceiling or a floor, a pillar wall, and a parking surface floor of a driving passage of the vehicle in the parking lot.
| 15. The method of claim 12, wherein the positioning device (AP) includes at least one communication means of wireless LAN (WIFI), ZIGBEE, Bluetooth (BT), and ultra-wideband communication (UWB) to communicate wirelessly through an antenna. A communication module that performs;
3D coordinates (x, y, z) installed in the parking lot are set as location information, and when the location is changed from the location information including the GSP and 6-axis sensor, the setting value is applied to the location information to which the changed value is applied. A positioning sensor module to correct;
An object recognition sensor that detects nearby vehicles and transmits a detection signal;
A power supply module for supplying power suitable for an installation location including at least one of a solar cell, a battery, and an external power terminal;
A control module configured to determine the vehicle ID received through wireless communication when the vehicle is detected and to transmit positioning information based on installation location information set in a memory; And a housing module in which each module of the positioning device (AP) is built-in, and is configured with a dustproof, waterproof and attachment mechanism.
Parking lot operating system for an autonomous vehicle comprising a.
| 16. The method of claim 15, wherein the positioning device (AP) sets the base coordinates specified in the parking lot at the time of installation as location information of the first positioning device, and interlocks with the first positioning device based on the basic base coordinates. Parking lot management system for autonomous vehicles that sets the changed coordinates of the remaining relative positioning devices as installation location information.
| 17. The method of claim 12, wherein the positioning information providing module collects positioning information according to vehicle ID from a plurality of positioning devices (AP), and precise positioning information of the vehicle by triangulation according to the collected plurality of positioning information ( A parking lot operating system for an autonomous vehicle that directly calculates x, y, z) and transmits it to the vehicle.
| 18. The method of claim 5, wherein the parking surface information providing unit comprises: a state collecting module for collecting state information according to whether the vehicle is parked from a parking recognition sensor installed for each parking surface;
A status display module for displaying status information and reservation information according to parking status for each parking surface through a status indicator arranged correspondingly for each parking surface; And parking prohibition on the reserved parking surface, parking allowance of the reserved vehicle, and parking status information of the parking surface are identified, and the parking of other vehicles through the parking recognition sensor is not recognized when the reserved vehicle enters the parking lot. A state control module for visually and aurally expressing illegal parking warning and vehicle movement through the state display module when illegal parking is detected;
Parking lot operating system for an autonomous vehicle comprising a.
| 19. The method of claim 5, wherein the control unit further adds at least one of an autonomous parking service fee, a parking surface reservation time fee, a reservation cancellation fee, and a valet autonomous parking service fee to the basic parking fee at which the vehicle enters and exits the parking lot. Parking lot operation system for autonomous vehicles that calculates the final parking fee.
| 20. The method of claim 5, wherein the parking lot operation server provides a driving route of the vehicle to an entry waiting area and an exit waiting area provided in separate areas of the parking lot, and valet autonomous parking for driver alighting and boarding at each waiting area. Parking management system for autonomous vehicles further comprising a valet parking providing unit that supports the service.
| 21. The vehicle entry waiting area control of claim 20, wherein the valet parking providing unit transmits a driving route to the entry waiting area according to a request for a valet parking service of the vehicle, and recognizes vehicle entry and vehicle number to the entry waiting area. module; And an exit waiting area control module that transmits a driving route to the exit waiting area according to a request for a valet exit service of the vehicle to the vehicle, and recognizes vehicle entry and vehicle number of the exit waiting area.
Parking lot operating system for an autonomous vehicle comprising a.
| 22. In the parking lot operation method for autonomous vehicles of a parking lot operating server that provides autonomous parking service, a) When a parking reservation request message of a vehicle to which the autonomous driving system is applied is received from the outside, the reserved idle parking surface (PA_ID) is transferred to the vehicle. Converting to a reservation state by matching the information and responding to reservation completion;
b) recognizing the access of the vehicle to the parking lot, transmitting a request message for selecting a parking method to the vehicle, and receiving a message for selecting any one of fully autonomous parking and valet autonomous parking;
c) when the completely autonomous parking selection message is received, transmitting a detailed map (P-MAP) of the parking lot itself and a parking driving route to a reserved parking surface;
d) providing positioning information to a destination parking surface (PA_ID) reserved for the vehicle using a positioning device (AP) in which three-dimensional coordinates (x, y, z) of a distributed location in a parking lot are set; And e) when the vehicle arrives at the reserved parking surface and completes parking, converting and displaying reservation information of the reserved parking surface indicator to being parked.
Parking lot operation method for an autonomous vehicle comprising a.
| 23. The method of claim 22, wherein prior to step a), real-time parking surface conditions in the parking lot are identified, and the idle parking surface (PA_ID) information is linked with a vehicle to which an autonomous driving system is applied through wireless communication to provide parking lot information of the destination, and Transmitting the selected parking lot from the vehicle to a central server for reservation; And receiving the parking reservation request message including at least one of vehicle communication identification information (vehicle ID), vehicle number, driver terminal information, departure location information, and destination information from the central server.
Parking lot operation method for an autonomous vehicle further comprising a.
| 24. The method of claim 22, wherein the step c) guides the vehicle entry to the parking lot entrance based on the parking lot entrance precision map (IN-MAP), and recognizes the vehicle number through the entrance license plate recognition (LPR). A method of operating a parking lot for an autonomous vehicle, comprising the step of determining vehicle entry.
| 25. The method of any one of claims 22 to 24, wherein after step e), when the vehicle is turned on and out of the vehicle is recognized, the vehicle is directed to the parking lot exit based on an OUT-MAP. Transmitting the driving route of the vehicle;
Providing precise positioning information up to the parking lot exit to the vehicle using the positioning device (AP); And when the vehicle number of the vehicle is recognized through the exit LPR, calculating a parking fee according to the autonomous parking service, and converting the reserved parking surface PA_ID to an idle parking surface.
Parking lot operation method for an autonomous vehicle further comprising a.
| 26. The method of claim 22, wherein, when the valet autonomous parking selection message is received in step b), f) transmitting a detailed map (P-MAP) of the parking lot itself to the vehicle and a driving route in the waiting area based on this. step; g) When the driver gets off after recognizing the vehicle number entered into the waiting area, the parking route is provided, and the vehicle to the destination parking surface (PA_ID) reserved for the vehicle is provided by using the positioning device (AP). Providing positioning information; And h) when the vehicle arrives at the reserved parking surface and completes parking, transmitting parking completion information to a driver terminal.
Parking lot operation method for an autonomous vehicle comprising a.
| 27. [27] The method of claim 26, further comprising: after step h), when the vehicle is turned on according to a call from the driver terminal, connecting wireless communication and recognizing a vehicle exit through a parking recognition sensor;
Transmitting a driving route of an exit waiting area to the vehicle based on a parking lot precision map (P-MAP), and providing positioning information to an exit of the parking lot using the positioning device (AP); And recognizing the vehicle number entering the exit waiting area to check whether or not parking is settled, and when the settlement is completed, converting the reserved parking surface (PA_ID) to an idle parking surface.
Parking lot operation method for an autonomous vehicle comprising a. | The system has a central server (100) that provides information on a parking lot of a destination through wireless communication with a vehicle (10) to which the autonomous driving system is provided and reserves a parking lot selected from the vehicle. A central server is configured for recognizing the access of the reserved vehicle through the central server, and transmitting a parking precision map to support autonomous parking and a parking driving route to the reserved parking surface. A central server is configured for transmitting the vehicle through a positioning device at an infrastructure facility in the parking lot. A parking lot operation server (200) provides a position correction value according to the positioning information of the vehicle. An INDEPENDENT CLAIM is included for a parking lot operation method for autonomous vehicle. System for operating autonomous vehicle in parking lots such as residential parking lot, resident-only parking lot, publicly operated parking lot, roadside parking lot, parking lot of buildings, and parking tower. By monitoring the movement information of the vehicle in the parking lot and providing driving information on various unexpected situations predicted according to the characteristics of the parking lot, the driver parking and leaving time through the valet parking is reduced, and the space problem or waiting time in the waiting area is reduced. The drawing shows a schematic diagram illustrating a step-by-step flow of a parking lot operating system. (Drawing includes non-English language text) 10Vehicle100Central server200Parking lot operation serverS1Step for receiving the movement information of the reserved vehicle or recognizing the entrance to the parking lot through license plate recognition at the entrance of the parking lotS2Step for receiving the autonomous parking method selected from the vehicle |
Please summarize the input | Autonomous driving assistance device using block chainDisclosed is a vehicle driving assist device using a blockchain. The vehicle driving assistance device electrically exchanges signals with the autonomous driving assistance application installed in the mobile terminal, and provides basic autonomous driving functions to vehicles that do not include the autonomous driving function by using the vehicle driving information received from the mobile terminal. There are features you can do. Furthermore, by using the V2X communication method, distributed autonomous driving applications and the calculated value of the autonomous driving central server are distributed and calculated, thereby increasing the stability of the overall autonomous driving function and applying a blockchain-based security scheme. , Has the advantage of increasing reliability.
|1. A vehicle driving assist device for providing an autonomous driving function including a display and a mobile terminal in charge of V2X communication, wherein the vehicle driving assist device is an autonomous driving assist application installed in the mobile terminal through a connector unit installed at the bottom. And an electrical signal, the autonomous driving assistance application includes: an autonomous driving calculating unit that calculates a self-determination result determining the driving situation of the vehicle using vehicle driving information received from the mobile terminal;
An autonomous driving judgment comparison unit comparing the self-judgment result calculated by the autonomous driving calculation unit with the determination result of the autonomous driving central server that controls autonomous driving;
An autonomous driving control unit that controls a vehicle when the self-judgment result of the autonomous driving unit and the two determination results of the autonomous driving central server are different;
It includes a V2X communication unit capable of receiving vehicle driving information of the surrounding vehicle, wherein the V2X communication unit, the calculation of the self-determination result of the autonomous driving calculation unit can be distributed and calculated with the vehicle driving auxiliary applications of the surrounding vehicle When distributed and calculated, the vehicle driving information used for the calculation is blockchained, a one-way function is used for the blockchaining of the vehicle driving information, and the vehicle driving information includes the vehicle's VIN and mobile MID. Vehicle driving aid, characterized in that.
| 2. The vehicle driving assistance device according to claim 1, wherein the driving situation of the vehicle is HDA or ACC.
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| 7. According to claim 1, The vehicle driving assistance device is provided on both side portions, respectively, outputs a radio wave irradiated toward an area where the object is located, receives the reflected radio wave reflected by the radio wave object, and gestures the object And a motion sensor unit that detects and a motion sensor controller that transmits an action signal according to the gesture of the object to the mobile terminal.
| 8. The vehicle driving aid according to claim 7, wherein the radio waves are ultrasonic waves or infrared rays.
| 9. The vehicle driving assistance apparatus of claim 7, wherein the motion sensor control unit further comprises a plurality of radio wave output units and radio wave receivers disposed around the mobile terminal.
| 10. The vehicle driving assistance device of claim 7, further comprising a home button formed at a lower portion and controlling a vehicle driving assistance application installed in the mobile terminal. | The device has a display and a mobile terminal (500) in charge of vehicle to everything (V2X) communication. The device exchanges electrical signals with an autonomous driving assistance application installed in the mobile terminal through a connector part installed at the bottom. An autonomous driving calculation unit calculates a self-determination result determining the driving situation of the vehicle using the vehicle driving information received from the mobile terminal. An autonomous driving judgment comparison unit compares the self-determination result calculated by the autonomous driving calculation unit with the determination result of the autonomous driving central server that controls autonomous driving. An autonomous driving control unit corresponds to a case where the self-judgment result of the autonomous driving operation unit and the two determination results of the autonomous driving central server are different. Vehicle driving assist device for providing autonomous driving function using a blockchain. The autonomous driving function is used without changing the old vehicle when using the vehicle driving assist device. A portion of the autonomous driving function is distributed and calculated in autonomous driving assistance applications installed in a mobile terminal of multiple vehicles, so that the autonomous driving function is distributed and implemented in the event of a temporary error of the central server, improving the stability of the entire autonomous driving system. The reliability of the autonomous driving function is increased by using vehicle driving information obtained from surrounding vehicles through an autonomous driving assistance application distributed in various vehicles. A distributed computing process to increase the security and reliability of information exchanged is realized using a blockchain. The critical disaster is prevented from occurring due to the absence of a server. The blockchain process effectively prevents counterfeiting and tampering by storing the ledgers in a distributed manner. The cause of the accident is reliably determined or the source of the accident is accurately identified when the vehicle driving information and event request/response messages stored in the blockchain system are provided as a vehicle accident on a corresponding road in the future. A warning is sent directly to the driver in the vehicle when a serious collision situation occurs on the highway, without simply waiting for the danger message of the autonomous driving central server. Thus, the accident is prevented from escalating due to chain collision. Vehicles through the autonomous driving control unit of the autonomous driving auxiliary application recognize the abnormal condition of the central server and provide an appropriate warning to the driver, increasing the probability of avoiding an accident due to fire. The security and reliability of information exchanged are increased by using a blockchain in a distributed computing process. The drawing shows a schematic view of the vehicle driving assistance device. 100Motion sensor unit200Motion sensor control300Connector400Home button500Mobile terminal |
Please summarize the input | Self-driving assistance device that composes real-time map for autonomous drivingThe present invention relates to an autonomous driving assistance device constituting a real-time map for autonomous driving. The self-driving assistance device electrically exchanges signals with the self-driving assistance application installed in the mobile terminal, and provides basic self-driving functions even to vehicles without self-driving functions by using vehicle driving information received from the mobile terminal. There are features you can do. Furthermore, by using the V2X communication method, a real-time map for autonomous driving, such as the movement of surrounding vehicles, can be configured, and the calculation values of the surrounding autonomous driving auxiliary applications and the autonomous driving central server are distributed and calculated, thereby overall autonomous driving. It has the advantage of increasing the stability of functions and increasing reliability by applying a blockchain-based security scheme.|1. In the self-driving assistance device for providing an autonomous driving function including a mobile terminal that configures a real-time map for autonomous driving and is in charge of display and V2X communication, the autonomous driving assistance device is provided through a connector installed at the bottom, It sends and receives electrical signals with an autonomous driving assist application installed in a mobile terminal, and the self-driving assist application calculates the self-determination result of determining the driving situation of the vehicle using the vehicle driving information received from the mobile terminal. calculation unit;
an autonomous driving judgment comparison unit that compares the self-judgment result calculated by the autonomous driving operation unit with the judgment result of the autonomous driving central server having jurisdiction over autonomous driving;
V2X communication unit capable of receiving vehicle driving information of surrounding vehicles;
an autonomous driving map generating unit for generating a real-time map for autonomous driving using vehicle driving information of the surrounding vehicles received from the V2X communication unit;
and an autonomous driving control unit that responds to a case where the real-time map for autonomous driving generated by the autonomous driving map generator, the self-determination result of the autonomous driving operation unit, and the two determination results of the autonomous driving central server are different, and the autonomous driving map The generation unit uses timestamp information of V2X packets in the real-time map to update information on nearby vehicles, and updating the information on nearby vehicles utilizes distance information with the surrounding vehicles and the time information. So, if the information of the surrounding vehicle in the real-time map is lower than the reference association threshold based on the current time and the current location, the information of the surrounding vehicle is deleted from the real-time map, and the autonomous driving map generator generates the V2X Forming or updating a layer corresponding to real-time information among map data layers used for autonomous driving by using the vehicle driving information of the surrounding vehicle received through the communication unit, The real-time map includes a layer corresponding to the real-time information including data of a vehicle in front of a vehicle or a moving object, and a layer corresponding to data that does not change over time including structure information of a building or a bridge in a three-dimensional manner. The autonomous driving assistance device is implemented, wherein the autonomous driving assistance device reflects image information acquired from a plurality of cameras that image the front of the vehicle while driving on the real-time map and shares it with surrounding vehicles through a cloud.
| 2. The autonomous driving assist device according to claim 1, wherein the driving condition of the vehicle is HDA or ACC.
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| 5. The autonomous driving assist device according to claim 1, wherein the self-determination result of the self-driving calculation unit can be calculated through the V2X communication unit in a distributed manner with vehicle driving assistance applications of surrounding vehicles.
| 6. The autonomous driving assist device according to claim 5, wherein, when the calculation of the self-determination result for determining the driving situation of the vehicle is performed in a distributed manner, the vehicle driving information used in the calculation is block-chained.
| 7. [Claim 7] The autonomous driving assist device according to claim 6, wherein a one-way function is used to block-chain the vehicle driving information. | The autonomous driving assistance device (1000) has an autonomous driving map generator (1500) for generating a real-time map for autonomous driving by using vehicle driving information of a surrounding vehicle received from a vehicle to vehicle communication unit (1400). An autonomous driving operation unit (1100) calculates a self-judgment result for determining a driving condition of a vehicle i.e. HDA or ACC, by using the received information from a mobile terminal arithmetic unit. The vehicle to vehicle (V2X) communication unit receives the information of the vehicle from the autonomous driving central server. Autonomous driving assisting device for a smart car. The stability of the entire autonomous driving system is increased. The reliability of the autonomous driving function is improved by using vehicle driving information that is distributed among various vehicles and obtained from surrounding vehicles through autonomous driving assistance application. The security and reliability of information exchanged is improved. The drawing shows a block diagram of an autonomous driving assistance device. (Drawing includes non-English language text). 1000Autonomous driving assistance device1100Autonomous driving operation unit1300Autonomous driving control unit1400Vehicle to vehicle communication unit1500Autonomous driving map generator |
Please summarize the input | Driving assistance deviceThe present invention relates to a vehicle driving assistance device, in a vehicle driving assistance device for providing an autonomous driving function including a display and a mobile terminal in charge of V2X communication, provided on both side portions respectively toward the area where the object is located A motion sensor unit that outputs the irradiated radio wave and detects the gesture of the object by receiving the reflected radio wave reflected by the object, and a motion sensor controller that transmits an action signal according to the gesture of the object to the mobile terminal And, it may be provided on the lower portion may include a connector for electrically connecting the motion sensor control unit and the mobile terminal.
|1. In the vehicle driving assistance device for providing an autonomous driving function including a display and a mobile terminal in charge of V2X communication, provided in both side portions, respectively, outputs the radio waves irradiated toward the area where the object is located, and the radio waves are A motion sensor unit that detects the gesture of the object by receiving the reflected wave reflected by the object, a motion sensor control unit that transmits an action signal according to the gesture of the object to the mobile terminal, and is provided under the motion sensor control unit It includes a connector for electrically connecting the mobile terminal, the vehicle driving assistance device further comprises a home button for controlling an app installed on the mobile terminal is formed in the lower portion, the mobile terminal through the motion sensor control unit Advertising received through the V2X communication with a specific gesture or As can adjust, V2X and the communication information of the mobile terminal includes a VIN and the mobile (Mobile Identification) MID of the vehicle, When receiving an advertisement with the specific gesture, the usage fee of the corresponding mobile obtained through the mobile MID is reduced, and the user's mobile terminal number is encrypted and transmitted in the appropriate header position of the application layer during the V2X communication, and the corresponding Vehicle driving assistance device, characterized in that the user of the corresponding application authorized to use the mobile terminal number can use the mobile terminal information.
| 2. The vehicle driving aid according to claim 1, wherein the radio waves are ultrasonic waves or infrared rays.
| 3. The vehicle driving assistance device of claim 1, wherein the motion sensor control unit further comprises a plurality of radio wave output units and radio wave receivers disposed around the mobile terminal.
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| 8. The vehicle driving assistance device according to claim 1, wherein the connector recognizes the attachment and detachment of the mobile terminal, and receives and operates the motion sensor unit only when the mobile terminal is mounted. | The vehicle driving assistance apparatus comprises a motion sensor unit (100) configured to receive the reflected radio wave reflected from an object to detect a gesture of the object. A motion sensor controller (200) is provided for transmitting an action signal according to the gesture of the object to the mobile terminal (500). A connector unit is provided for electrically connecting the mobile terminal. The vehicle driving assistance apparatus outputs radio waves toward an area, where an object is located. The radio wave is ultrasonic waves or infrared rays. Vehicle driving assistance apparatus for providing an autonomous driving function of vehicle, such as car. Vehicle driving assistance apparatus is convenient to operate by transmitting a signal without touching the device while driving by detecting a gesture. Vehicle driving assistance apparatus is economical. The drawing shows a schematic view of vehicle driving assistance apparatus. 100Motion sensor unit200Motion sensor controller400Home button500Mobile terminal |
Please summarize the input | Autonomous driving assistance device that shares driver evaluation index for autonomous drivingThe present invention relates to an autonomous driving assistance device constituting a real-time map for autonomous driving. The autonomous driving assistance device electrically exchanges signals with the autonomous driving assistance application installed in the mobile terminal, and provides basic autonomous driving functions to vehicles that do not include the autonomous driving function by using vehicle driving information received from the mobile terminal. There are features you can do. Furthermore, by computing the driver's evaluation index using OBD2 and sharing the computed driver evaluation index with surrounding vehicles using the V2X communication method, the information is utilized during autonomous driving of surrounding vehicles to promote safe driving, By distributed calculation of autonomous driving auxiliary applications and the calculation value of the autonomous driving central server, it is possible to increase the stability of the overall autonomous driving function, and it has the advantage of increasing reliability by applying a blockchain-type security scheme. .|1. An autonomous driving assistance device for providing an autonomous driving function including a display and a mobile terminal in charge of V2X communication, wherein the autonomous driving assistance device is installed in the mobile terminal through a connector part installed below the autonomous driving assistance application and an electric signal, and the autonomous driving assistance application includes: an autonomous driving operation unit that calculates a self-judgment result of determining the driving condition of the vehicle by using the vehicle driving information received from the mobile terminal;
an autonomous driving judgment comparison unit that compares the self-judgment result calculated by the autonomous driving operation unit with the judgment result of the autonomous driving central server having jurisdiction over autonomous driving;
V2X communication unit capable of receiving vehicle driving information of surrounding vehicles;
a vehicle information receiver capable of receiving vehicle driving information from the vehicle;
a driver evaluation index generating unit for generating a driver evaluation index for autonomous driving from the driving information of the vehicle received from the vehicle information receiving unit;
an autonomous driving operation unit that evaluates the driving risk of the vehicle using the driver evaluation index received from the V2X communication unit;
and an autonomous driving control unit configured to execute a command related to safe driving of the vehicle when the driving risk of the surrounding vehicle is high from the autonomous driving operation unit.
| 2. The autonomous driving assisting device of claim 1, wherein the vehicle information receiver comprises an OBD2 scanner capable of receiving vehicle driving information from a vehicle.
| 3. The autonomous driving assisting device according to claim 1, wherein the driver evaluation index includes a safe driving index indexed for safe driving of a vehicle driver.
| 4. The autonomous driving assisting device according to claim 2, wherein the driver evaluation index includes a safe driving index indexed for safe driving of a vehicle driver.
| 5. The method according to claim 3, wherein the autonomous driving operation unit updates the information of the surrounding vehicle by using time (timestamp) information in the V2X packet when receiving and recording the driver evaluation index of the surrounding vehicle. autonomous driving aids.
| 5. The method of claim 4, wherein the updating of the information of the surrounding vehicles uses the distance information and the time information with the surrounding vehicles so that the information of the surrounding vehicles on the real-time map is based on the current time and current location, When it is lower than the reference association threshold, the autonomous driving control unit does not consider the driver evaluation index of the surrounding vehicle.
| 7. The autonomous driving assisting device of claim 5 , wherein the autonomous driving controller comprises a warning message to a driver or a limp home command.
| 8. The autonomous driving assisting device according to claim 6, wherein, through the V2X communication unit, the calculation of the self-determination result of the autonomous driving calculating unit can be distributed and calculated with vehicle driving assisting applications of surrounding vehicles. | The device has an autonomous driving operation unit (1100) for calculating a self-judgment result of determining a driving condition of a vehicle by using vehicle driving information received from a mobile terminal. An autonomous driving judgment comparison unit (1200) compares the self judgment result calculated by the operation unit with a judgment result of an autonomous driving central server. A vehicle information receiver receives the vehicle information from the vehicle. A driver evaluation index generating unit (1500) generates a driver index for autonomous driving from the information. An autonomous driving control unit executes the command related to the safe driving of the vehicle when the driving risk of the surrounding vehicle is high from the autonomous driving operation unit. The autonomous driving assistance device is useful for smart car. The stability of the entire autonomous driving system is increased. The reliability of the autonomous driving function is improved by using vehicle driving information that is distributed among various vehicles and obtained from surrounding vehicles through autonomous driving assistance application. The security and reliability of information exchanged is improved. The drawing shows a schematic diagram of autonomous driving assistance device (Drawing includes non-English language text).1100Autonomous driving operation unit1200Autonomous driving judgment comparison unit1300Autonomous driving operation unit1400V2x communication unit1500Driver evaluation index generating unit |
Please summarize the input | Vehicular control systemA vehicular control system includes a camera and a control having a processor that processes image data captured by the camera. The control determines a projected path of travel of the equipped vehicle. The control processes information wirelessly communicated to the equipped vehicle to determine an estimated time to arrival of another vehicle at a location on a road being travelled by the other vehicle that is in the projected path of travel of the equipped vehicle. The projected path of travel of the equipped vehicle crosses a traffic lane being travelled by the other vehicle or joins a traffic lane being travelled by the other vehicle. Responsive at least in part to determination that the estimated time to arrival of the other vehicle is less than a threshold time, the control determines that it is not safe for the equipped vehicle to proceed along the projected path of travel.The invention claimed is:
| 1. A vehicular control system, said vehicular control system comprising:
a camera disposed at and behind a windshield of a vehicle equipped with said vehicular control system, said camera having a field of view through the windshield at least forward of the equipped vehicle;
a control comprising a processor operable to process image data captured by said camera to detect objects present in the field of view of said camera;
wherein said control determines a projected path of travel of the equipped vehicle;
wherein said control is operable to process information wirelessly communicated to the equipped vehicle via a communication system;
wherein said control processes information received via said communication system relating to another vehicle to determine an estimated time to arrival of the other vehicle at a location on a road being travelled by the other vehicle that is in the projected path of travel of the equipped vehicle;
wherein the projected path of travel of the equipped vehicle (i) crosses a traffic lane being travelled by the other vehicle or (ii) joins a traffic lane being travelled by the other vehicle;
wherein, responsive at least in part to a determination that the estimated time to arrival of the other vehicle is less than a threshold time, said control determines that it is not safe for the equipped vehicle to proceed along the projected path of travel; and
wherein, responsive at least in part to (i) a determination that the estimated time to arrival of the other vehicle is greater than a threshold time and (ii) processing by said processor of captured image data detecting an object present in the projected path of travel of the equipped vehicle, said control determines that it is not safe to proceed along the projected path of travel.
| 2. The vehicular control system of claim 1, wherein said communication system comprises at least one selected from the group consisting of (i) a vehicle-to-vehicle communication system and (ii) a vehicle-to-infrastructure communication system.
| 3. The vehicular control system of claim 1, wherein, responsive to said control determining based at least in part on processing by said processor of image data captured by said camera that the equipped vehicle may collide with the other vehicle, said control controls a brake system of the equipped vehicle to limit movement of the equipped vehicle along the projected path of travel of the equipped vehicle.
| 4. The vehicular control system of claim 3, wherein the projected path of travel comprises a turn onto a road with moving traffic.
| 5. The vehicular control system of claim 4, wherein information received via said communication system from the other vehicle comprises information indicative of location of the other vehicle.
| 6. The vehicular control system of claim 5, wherein said information indicative of location of the other vehicle is based at least in part on GPS data.
| 7. The vehicular control system of claim 4, wherein said control determines the estimated time to arrival of the other vehicle at least in part responsive to distance of the other vehicle from a current location of the equipped vehicle.
| 8. The vehicular control system of claim 4, wherein said control determines the projected path of travel of the equipped vehicle at least in part by processing of captured image data by said processor.
| 9. The vehicular control system of claim 8, wherein said camera comprises a two dimensional array of a plurality of photosensor elements arranged in at least 640 columns and 480 rows.
| 10. The vehicular control system of claim 9, wherein said plurality of photosensor elements comprises at least 1 million photosensor elements.
| 11. The vehicular control system of claim 4, wherein, responsive at least in part to a determination that the estimated time to arrival of the other vehicle is greater than a threshold time, said control determines that there is sufficient space for the equipped vehicle to enter the traffic lane being travelled by the other vehicle.
| 12. The vehicular control system of claim 11, wherein, responsive at least in part to a determination that the estimated time to arrival of the other vehicle is less than a threshold time, said control determines that there is insufficient space for the equipped vehicle to enter the traffic lane being travelled by the other vehicle.
| 13. The vehicular control system of claim 1, wherein, responsive at least in part to (i) a determination that the estimated time to arrival is greater than a threshold time and (ii) processing by said processor of captured image data determining that an object is not present in the projected path of travel of the equipped vehicle, said control at least partially controls the equipped vehicle to proceed along the projected path of travel.
| 14. The vehicular control system of claim 13, wherein the projected path of travel comprises a turn onto a road with moving traffic, and wherein said control determines the estimated time to arrival of the other vehicle at least in part responsive to distance of the other vehicle from a current location of the equipped vehicle.
| 15. The vehicular control system of claim 1, wherein the projected path of travel of the equipped vehicle crosses the traffic lane being travelled by the other vehicle, and wherein a road being travelled by the equipped vehicle intersects and crosses the road being travelled by the other vehicle.
| 16. The vehicular control system of claim 1, wherein the projected path of travel of the equipped vehicle joins the traffic lane being travelled by the other vehicle, and wherein the projected path of travel of the equipped vehicle comprises a right-hand turn by the equipped vehicle into the traffic lane being travelled by the other vehicle.
| 17. The vehicular control system of claim 1, wherein, responsive at least in part to processing by said processor of captured image data, said control controls a brake system of the equipped vehicle to automatically brake the equipped vehicle in a situation where a high probability that a collision may occur exists.
| 18. The vehicular control system of claim 17, wherein the equipped vehicle comprises an autonomous vehicle.
| 19. The vehicular control system of claim 17, wherein the equipped vehicle comprises a partial autonomous vehicle.
| 20. The vehicular control system of claim 17, wherein a road being travelled by the equipped vehicle intersects the road being travelled by the other vehicle, and wherein the other vehicle travels right-to-left relative to the equipped vehicle along the traffic lane being travelled by the other vehicle, and wherein the projected path of travel of the equipped vehicle crosses at least one other traffic lane having traffic travelling left-to-right relative to the equipped vehicle to join the traffic lane being travelled by the other vehicle.
| 21. A vehicular control system, said vehicular control system comprising:
a camera disposed at and behind a windshield of a vehicle equipped with said vehicular control system, said camera having a field of view through the windshield at least forward of the equipped vehicle;
a control comprising a processor operable to process image data captured by said camera to detect objects present in the field of view of said camera;
wherein said control determines a projected path of travel of the equipped vehicle;
wherein said control is operable to process information wirelessly communicated to the equipped vehicle via a communication system;
wherein said control processes information received via said communication system relating to another vehicle to determine an estimated time to arrival of the other vehicle at a location on a road being travelled by the other vehicle that is in the projected path of travel of the equipped vehicle;
wherein, responsive at least in part to a determination that the estimated time to arrival of the other vehicle is greater than a threshold time, said control determines that there is sufficient space for the equipped vehicle to enter a traffic lane being travelled by the other vehicle;
wherein, responsive at least in part to a determination that the estimated time to arrival of the other vehicle is less than a threshold time, said control determines that there is insufficient space for the equipped vehicle to enter the traffic lane being travelled by the other vehicle; and
wherein, responsive at least in part to processing by said processor of captured image data, said control controls a brake system of the equipped vehicle to automatically brake the equipped vehicle in a situation where a high probability that a collision may occur exists.
| 22. The vehicular control system of claim 21, wherein the projected path of travel of the equipped vehicle crosses the traffic lane being travelled by the other vehicle.
| 23. The vehicular control system of claim 21, wherein a road being travelled by the equipped vehicle intersects the road being travelled by the other vehicle, and wherein the other vehicle travels right-to-left relative to the equipped vehicle along the traffic lane being travelled by the other vehicle, and wherein the projected path of travel of the equipped vehicle crosses at least one other traffic lane having traffic travelling left-to-right relative to the equipped vehicle to join the traffic lane being travelled by the other vehicle.
| 24. The vehicular control system of claim 23, wherein said camera comprises a two dimensional array of a plurality of photosensor elements arranged in at least 640 columns and 480 rows, and wherein said plurality of photosensor elements comprises at least 1 million photosensor elements.
| 25. The vehicular control system of claim 24, wherein said control determines the projected path of travel of the equipped vehicle at least in part by processing of captured image data by said processor.
| 26. The vehicular control system of claim 21, wherein the projected path of travel of the equipped vehicle crosses the traffic lane being travelled by the other vehicle, and wherein a road being travelled by the equipped vehicle intersects and crosses the road being travelled by the other vehicle.
| 27. The vehicular control system of claim 26, wherein information received via said communication system from the other vehicle comprises information indicative of location of the other vehicle, and wherein said control determines the estimated time to arrival of the other vehicle at least in part responsive to distance of the other vehicle from a current location of the equipped vehicle.
| 28. The vehicular control system of claim 27, wherein said information indicative of location of the other vehicle is based at least in part on GPS data.
| 29. The vehicular control system of claim 21, wherein, responsive at least in part to (i) a determination that the estimated time to arrival is greater than a threshold time and (ii) processing by said processor of captured image data determining that an object is not present in the projected path of travel of the equipped vehicle, said control controls the equipped vehicle to proceed along the projected path of travel.
| 30. The vehicular control system of claim 29, wherein the projected path of travel comprises a turn onto a road with moving traffic, and wherein said control determines the estimated time to arrival of the other vehicle at least in part responsive to distance of the other vehicle from a current location of the equipped vehicle.
| 31. The vehicular control system of claim 21, wherein said communication system comprises a vehicle-to-vehicle communication system.
| 32. The vehicular control system of claim 21, wherein said communication system comprises a vehicle-to-infrastructure communication system.
| 33. A vehicular control system, said vehicular control system comprising:
a camera disposed at and behind a windshield of a vehicle equipped with said vehicular control system, said camera having a field of view through the windshield at least forward of the equipped vehicle;
said camera comprising a two dimensional array of a plurality of photosensor elements arranged in at least 640 columns and 480 rows;
wherein said plurality of photosensor elements comprises at least 1 million photosensor elements;
a control comprising a processor operable to process image data captured by said camera to detect objects present in the field of view of said camera;
wherein said control determines a projected path of travel of the equipped vehicle at least in part by processing of captured image data by said processor;
wherein said control is operable to process information wirelessly communicated to the equipped vehicle via a communication system;
wherein said control processes information received via said communication system relating to another vehicle to determine an estimated time to arrival of the other vehicle at a location on a road being travelled by the other vehicle that is in the projected path of travel of the equipped vehicle;
wherein, responsive at least in part to a determination that the estimated time to arrival of the other vehicle is less than a threshold time, said control determines that it is not safe for the equipped vehicle to proceed along the projected path of travel; and
wherein, responsive at least in part to (i) a determination that the estimated time to arrival of the other vehicle is greater than a threshold time and (ii) processing by said processor of captured image data determining that an object is not present in the projected path of travel of the equipped vehicle, said control controls the equipped vehicle to autonomously proceed along the projected path of travel.
| 34. The vehicular control system of claim 33, wherein the projected path of travel of the equipped vehicle crosses a traffic lane being travelled by the other vehicle.
| 35. The vehicular control system of claim 33, wherein a road being travelled by the equipped vehicle intersects the road being travelled by the other vehicle, and wherein the other vehicle travels right-to-left relative to the equipped vehicle along a traffic lane being travelled by the other vehicle, and wherein the projected path of travel of the equipped vehicle crosses at least one other traffic lane having traffic travelling left-to-right relative to the equipped vehicle to join the traffic lane being travelled by the other vehicle.
| 36. The vehicular control system of claim 35, wherein, responsive to said control determining based at least in part on processing by said processor of image data captured by said camera that the equipped vehicle may collide with the other vehicle, said control controls a brake system of the equipped vehicle to limit movement of the equipped vehicle along the projected path of travel of the equipped vehicle.
| 37. The vehicular control system of claim 33, wherein the projected path of travel of the equipped vehicle crosses a traffic lane being travelled by the other vehicle, and wherein a road being travelled by the equipped vehicle intersects and crosses the road being travelled by the other vehicle.
| 38. The vehicular control system of claim 33, wherein information received via said communication system from the other vehicle comprises information indicative of location of the other vehicle, and wherein said control determines the estimated time to arrival of the other vehicle at least in part responsive to distance of the other vehicle from a current location of the equipped vehicle.
| 39. The vehicular control system of claim 38, wherein said information indicative of location of the other vehicle is based at least in part on GPS data.
| 40. The vehicular control system of claim 33, wherein the projected path of travel comprises a turn onto a road with moving traffic, and wherein said control determines the estimated time to arrival of the other vehicle at least in part responsive to distance of the other vehicle from a current location of the equipped vehicle.
| 41. The vehicular control system of claim 40, wherein said communication system comprises a vehicle-to-vehicle communication system.
| 42. The vehicular control system of claim 40, wherein said communication system comprises a vehicle-to-infrastructure communication system.
| 43. The vehicular control system of claim 33, wherein the projected path of travel of the equipped vehicle joins a traffic lane being travelled by the other vehicle, and wherein the projected path of travel of the equipped vehicle comprises a right-hand turn by the equipped vehicle into the traffic lane being travelled by the other vehicle. | The system has a camera which is arranged at and behind a windshield of a vehicle equipped with vehicular control system. The camera is provided with a field of view through the windshield forward of an equipped vehicle. A control determines a projected path of travel of the equipped vehicle, where the control is operable to process information wirelessly communicated to the equipped vehicle. The projected path of travel of the equipped vehicle crosses a traffic lane which is being traveled by the other vehicle. The control determines that it is not safe for the equipped vehicle to proceed along the projected path of travel, responsive in portion to a determination that the estimated time to arrival of the other vehicle is less than a threshold time. The control determines that it is not safe to proceed along the projected path of travel, responsive to a determination that the estimated time to arrival of the other vehicle is greater than a threshold time. System for controlling vehicle by utilizing vehicle-to-vehicle communication. The system can generate an alert to the driver of the vehicle and/or can generate an overlay at the displayed image to highlight or enhance display of the detected object or vehicle, to enhance the driver's awareness of the detected object or vehicle or hazardous condition during a driving maneuver of the equipped vehicle. The yield collision warning algorithm can help the driver to make more safe and accurate decision, and can prevent accidents. The drawing shows a schematic view of an intersection showing a driving scenario where a vehicle equipped with the driver assistance system is maneuvered through a left turn at the intersection. |
Please summarize the input | VEHICULAR DRIVING ASSIST SYSTEM WITH TRAFFIC JAM PROBABILITY DETERMINATIONA vehicular driving assist system includes at least one sensor disposed at a vehicle and having a field of sensing exterior of the vehicle. An ECU includes circuitry and associated software, with the circuitry including a data processor for processing sensor data captured by the sensor to detect presence of objects in the field of sensing of the sensor. The ECU, responsive to processing by the data processor at the ECU of sensor data captured by the sensor, determines traffic attributes for a plurality of traffic lanes of a road the vehicle is travelling along. The ECU, responsive to determining the traffic attributes determines a predicted traffic value based on the traffic attributes and an output from a trained prediction model. The ECU, responsive to determining the predicted value, determines a traffic jam probability for at least one traffic lane based on the predicted value and the respective traffic attributes.|1. A vehicular driving assist system, the vehicular driving assist system comprising:
at least one sensor disposed at a vehicle equipped with the vehicular driving assist system, the at least one sensor having a field of sensing exterior and at least forward of the equipped vehicle, the at least one sensor capturing sensor data;
an electronic control unit (ECU) comprising electronic circuitry and associated software;
wherein the electronic circuitry of the ECU comprises a data processor for processing sensor data captured by the at least one sensor to detect presence of objects in the field of sensing of the at least one sensor;
wherein the ECU, responsive to processing by the data processor at the control of sensor data captured by the at least one sensor, determines traffic attributes for at least one traffic lane of a plurality of traffic lanes forward of the equipped vehicle on a road along which the equipped vehicle is travelling;
wherein the ECU, responsive to determining the traffic attributes, determines a predicted traffic value based on (i) the traffic attributes and (ii) an output from a trained traffic prediction model; and
wherein the ECU, responsive to determining the predicted traffic value, determines a traffic jam probability for the at least one traffic lane of the road ahead of the equipped vehicle based on the predicted traffic value and the respective traffic attributes.
| 2. The vehicular driving assist system of claim 1, wherein the trained traffic prediction model comprises a trained linear regression prediction model.
| 3. The vehicular driving assist system of claim 1, wherein the traffic attributes comprise at least one selected from the group consisting of (i) traffic density, (ii) traffic flow rate, (iii) traffic collective velocity and (iv) traffic normalized longitudinal distance.
| 4. The vehicular driving assist system of claim 1, wherein the trained traffic prediction model is trained on annotated data, and wherein the annotated data is categorized into traffic scenarios.
| 5. The vehicular driving assist system of claim 4, wherein the traffic scenarios comprise at least two selected from the group consisting of (i) no traffic, (ii) slow moving traffic, (iii) stop and go traffic and (iv) stopped traffic.
| 6. The vehicular driving assist system of claim 4, wherein the annotated data comprises subjective observations from at least one traffic observer.
| 7. The vehicular driving assist system of claim 1, wherein the ECU performs data transformation on the output from the trained traffic prediction model, and wherein the data transformation comprises a multi-variable quadratic linear equation.
| 8. The vehicular driving assist system of claim 7, wherein the multi-variable quadratic linear equation comprises a three variable quadratic linear equation.
| 9. The vehicular driving assist system of claim 1, wherein the trained traffic prediction model is trained with weight least square fitting using an orthogonal-triangular decomposition algorithm.
| 10. The vehicular driving assist system of claim 1, wherein the ECU, responsive to determining the predicted traffic value, determines the traffic jam probability for each traffic lane of the road ahead of the equipped vehicle based on the predicted traffic value and the respective traffic attributes.
| 11. The vehicular driving assist system of claim 10, wherein the ECU, responsive to determining the traffic jam probability for each traffic lane ahead of the equipped vehicle, determines an overall traffic jam probability for the road ahead of the equipped vehicle.
| 12. The vehicular driving assist system of claim 11, wherein the ECU determines the overall traffic jam probability from an average traffic jam probability of each traffic lane of the road.
| 13. The vehicular driving assist system of claim 10, wherein the ECU determines the traffic jam probability for each traffic lane based at least in part on (i) a vehicle-to-vehicle communication from another vehicle forward of the equipped vehicle or (ii) a vehicle-to-infrastructure communication from infrastructure forward of the equipped vehicle.
| 14. The vehicular driving assist system of claim 10, comprising determining which traffic lane has the lowest traffic jam probability and generating an output based on the determined lowest traffic jam probability.
| 15. The vehicular driving assist system of claim 14, wherein generating the output comprises maneuvering, via an autonomous vehicle control of the equipped vehicle, the equipped vehicle into the traffic lane with the determined lowest traffic jam probability.
| 16. The vehicular driving assist system of claim 1, wherein the at least one sensor comprises at least one forward viewing camera.
| 17. The vehicular driving assist system of claim 1, wherein the at least one sensor comprises at least one forward sensing radar sensor.
| 18. The vehicular driving assist system of claim 1, wherein the at least one sensor comprises at least one forward sensing lidar sensor.
| 19. The vehicular driving assist system of claim 1, wherein the ECU determines the traffic jam probability for each traffic lane based on the predicted traffic value, the respective traffic attributes, and a traffic normalized longitudinal distance.
| 20. A vehicular driving assist system, the vehicular driving assist system comprising:
at least one sensor disposed at a vehicle equipped with the vehicular driving assist system, wherein the at least one sensor comprises at least one camera, and wherein the at least one sensor has a field of sensing exterior and at least forward of the equipped vehicle, the at least one sensor capturing sensor data;
an electronic control unit (ECU) comprising electronic circuitry and associated software;
wherein the electronic circuitry of the ECU comprises a data processor for processing sensor data captured by the at least one sensor to detect presence of objects in the field of sensing of the at least one sensor;
wherein the ECU, responsive to processing by the data processor at the control of sensor data captured by the at least one sensor, determines traffic attributes for each traffic lane of a plurality of traffic lanes forward of the equipped vehicle on a road along which the equipped vehicle is travelling;
wherein the traffic attributes comprise at least two selected from the group consisting of (i) traffic density, (ii) traffic flow rate, (iii) traffic collective velocity and (iv) traffic normalized longitudinal distance;
wherein the ECU, responsive to determining the traffic attributes, determines a predicted traffic value based on (i) the traffic attributes and (ii) an output from a trained traffic prediction model; and
wherein the ECU, responsive to determining the predicted traffic value, determines a traffic jam probability for each traffic lane of the road ahead of the equipped vehicle based on the predicted traffic value and the respective traffic attributes.
| 21. The vehicular driving assist system of claim 20, wherein the at least one sensor further comprises at least one radar sensor.
| 22. The vehicular driving assist system of claim 20, wherein the ECU, responsive to determining the traffic jam probability for each traffic lane ahead of the equipped vehicle, determines an overall traffic jam probability for the road ahead of the equipped vehicle.
| 23. The vehicular driving assist system of claim 20, wherein the ECU determines the traffic jam probability for each traffic lane based at least in part on (i) a vehicle-to-vehicle communication from another vehicle forward of the equipped vehicle or (ii) a vehicle-to-infrastructure communication from infrastructure forward of the equipped vehicle.
| 24. The vehicular driving assist system of claim 20, comprising determining which traffic lane has the lowest traffic jam probability and generating an output based on the determined lowest traffic jam probability.
| 25. The vehicular driving assist system of claim 24, wherein generating the output comprises maneuvering, via an autonomous vehicle control of the equipped vehicle, the equipped vehicle into the traffic lane with the determined lowest traffic jam probability.
| 26. A vehicular driving assist system, the vehicular driving assist system comprising:
at least one sensor disposed at a vehicle equipped with the vehicular driving assist system, wherein the at least one sensor comprises at least one selected from the group consisting of (i) at least one lidar sensor and (ii) at least one radar sensor, and wherein the at least one sensor has a field of sensing exterior and at least forward of the equipped vehicle, the at least one sensor capturing sensor data;
an electronic control unit (ECU) comprising electronic circuitry and associated software;
wherein the electronic circuitry of the ECU comprises a data processor for processing sensor data captured by the at least one sensor to detect presence of objects in the field of sensing of the at least one sensor;
wherein the ECU, responsive to processing by the data processor at the control of sensor data captured by the at least one sensor, determines traffic attributes for each traffic lane of a plurality of traffic lanes forward of the equipped vehicle on a road along which the equipped vehicle is travelling;
wherein the traffic attributes comprise at least two selected from the group consisting of (i) traffic density, (ii) traffic flow rate, (iii) traffic collective velocity and (iv) traffic normalized longitudinal distance;
wherein the ECU, responsive to determining the traffic attributes, determines a predicted traffic value based on (i) the traffic attributes and (ii) an output from a trained traffic prediction model; and
wherein the ECU, responsive to determining the predicted traffic value, determines a traffic jam probability for each traffic lane of the road ahead of the equipped vehicle based on the predicted traffic value and the respective traffic attributes.
| 27. The vehicular driving assist system of claim 26, wherein the at least one sensor comprises at least one radar sensor.
| 28. The vehicular driving assist system of claim 26, wherein the at least one sensor comprises at least one lidar sensor.
| 29. The vehicular driving assist system of claim 26, wherein the at least one sensor further comprises at least one camera.
| 30. The vehicular driving assist system of claim 26, wherein the ECU, responsive to determining the traffic jam probability for each traffic lane ahead of the equipped vehicle, determines an overall traffic jam probability for the road ahead of the equipped vehicle.
| 31. The vehicular driving assist system of claim 26, wherein the ECU determines the traffic jam probability for each traffic lane based at least in part on (i) a vehicle-to-vehicle communication from another vehicle forward of the equipped vehicle or (ii) a vehicle-to-infrastructure communication from infrastructure forward of the equipped vehicle.
| 32. The vehicular driving assist system of claim 26, comprising determining which traffic lane has the lowest traffic jam probability and generating an output based on the determined lowest traffic jam probability.
| 33. The vehicular driving assist system of claim 32, wherein generating the output comprises maneuvering, via an autonomous vehicle control of the equipped vehicle, the equipped vehicle into the traffic lane with the determined lowest traffic jam probability. | The system has an electronic circuitry of the ECU (18) which comprises a data processor for processing sensor data captured by a sensor to detect presence of objects in the field of sensing of sensor. The ECU determines traffic attributes for traffic lane of traffic lanes forward of the equipped vehicle on a road along which the equipped vehicle is travelling responsive to processing by the data processor at the control of sensor data captured by the sensor. The ECU determines a traffic jam probability for the traffic lane of the road ahead of the equipped vehicle based on the predicted traffic value and the respective traffic attributes responsive to determining the predicted traffic value. Vehicular driving assist system. The system is robust in a variety of traffic scenarios such as variable speed between host and target vehicles, variable distance between host and target vehicles, variable number of target vehicles, and number of lanes. The display of the detected object or vehicle is enhanced. The driver's awareness of the detected object or vehicle or hazardous condition can be enhanced during a driving maneuver of the equipped vehicle. The drawing shows a plan view of a vehicle with a vision system that incorporates cameras.10Vehicle 12Vision system 14Forward viewing camera 16Display device 18ECU |
Please summarize the input | Vehicle monitoring systemA vehicle monitoring system includes a central processor operable to receive data from multiple vehicles, with each of the multiple vehicles being equipped with a plurality of vision sensors, a plurality of non-vision sensors, and an ECU. The central processor is operable to wirelessly receive, from each of the multiple vehicles, vehicle data and environment data. Responsive to vehicle data and environment data received from the multiple vehicles, the central processor determines if one or more of the vehicles is at or approaching a hazardous condition. Responsive to the determination that one or more of the vehicles is a threatened vehicle at a potentially hazardous condition, the central monitoring system at least one of (i) actuates an alert of the threatened vehicle to alert a driver of that vehicle of the determined hazardous condition and (ii) controls a vehicle system of the threatened vehicle to mitigate the determined hazardous condition.The invention claimed is:
| 1. A vehicle monitoring system, said vehicle monitoring system comprising:
a central processor operable to receive data wirelessly communicated to said central processor from multiple vehicles, wherein said central processor is not part of any vehicle of the multiple vehicles;
wherein each of the multiple vehicles is equipped with a plurality of vision sensors and a plurality of non-vision sensors;
wherein said plurality of vision sensors comprises (i) at least one forward viewing camera, (ii) at least one sideward viewing camera and (iii) at least one rearward viewing camera;
wherein said plurality of non-vision sensors comprises at least one of (a) a radar sensor and (b) a LIDAR sensor;
wherein each of the multiple vehicles is equipped with an electronics control unit (ECU);
wherein image data captured by said plurality of vision sensors of each of the multiple vehicles is provided to the ECU of the respective one of the multiple vehicles;
wherein sensor data sensed by said plurality of non-vision sensors of each of the multiple vehicles is provided to the ECU of the respective one of the multiple vehicles;
wherein image data and sensor data provided to the ECU of each of the multiple vehicles is processed at that ECU to detect and classify objects external to the respective one of the multiple vehicles;
wherein the respective ECU wirelessly communicates (i) vehicle data indicative of operation of the respective one of the multiple vehicles and (ii) environment data indicative of the environment in which the respective one of the multiple vehicles is traveling;
wherein said central processor is operable to wirelessly receive, from each of the multiple vehicles, the respective vehicle data indicative of operation of the respective one of the multiple vehicles and the respective environment data indicative of the environment in which the respective one of the multiple vehicles is operating;
wherein, responsive to vehicle data and environment data wirelessly received at said central processor from the multiple vehicles, said central processor determines if one or more of the multiple vehicles is at or approaching a hazardous condition; and
wherein, responsive to the determination that one or more of the multiple vehicles is a threatened vehicle at a potentially hazardous condition, said central monitoring system at least one of (i) actuates an alert of the threatened vehicle to alert a driver of the threatened vehicle of the determined hazardous condition and (ii) controls a vehicle system of the threatened vehicle to mitigate the determined hazardous condition.
| 2. The vehicle monitoring system of claim 1, wherein at least some of the multiple vehicles are equipped with a GPS-enabled e-Horizon.
| 3. The vehicle monitoring system of claim 2, wherein each of the multiple vehicles is a semi-autonomous vehicle.
| 4. The vehicle monitoring system of claim 2, wherein the GPS-enabled e-Horizon of the respective vehicle provides to the respective vehicle environment data related to at least one of (i) a speed limit, (ii) an exit ramp location, (iii) an entry ramp location, (iv) road curvature information and (v) lanes.
| 5. The vehicle monitoring system of claim 1, wherein, responsive to the determination that one or more of the multiple vehicles is a threatened vehicle at a potentially hazardous condition, said central monitoring system actuates an alert of the threatened vehicle to alert a driver of the threatened vehicle of the determined hazardous condition.
| 6. The vehicle monitoring system of claim 1, wherein, responsive to the determination that one or more of the multiple vehicles is a threatened vehicle at a potentially hazardous condition, said central monitoring system controls a vehicle system of the threatened vehicle to mitigate the determined hazardous condition.
| 7. The vehicle monitoring system of claim 6, wherein said vehicle system comprises at least one of (i) a brake system, (ii) a steering system, (iii) a torque control and (iv) a collision avoidance system.
| 8. The vehicle monitoring system of claim 1, wherein the environment data comprises at least one of (i) map information, (ii) traffic information and (iii) weather condition information.
| 9. The vehicle monitoring system of claim 1, wherein the vehicle data comprises at least one of (i) vehicle longitudinal velocity, (ii) vehicle lateral velocity, (iii) vehicle longitudinal acceleration, (iv) vehicle lateral acceleration and (v) actuation of a turn signal indicator of the respective vehicle.
| 10. The vehicle monitoring system of claim 1, wherein each of the multiple vehicles includes a vehicle-to-infrastructure communication system that is operable to communicate data to said central processor.
| 11. The vehicle monitoring system of claim 1, wherein at least one of the multiple vehicles comprises a semi-autonomous vehicle.
| 12. The vehicle monitoring system of claim 11, wherein, responsive to a determination that the semi-autonomous vehicle is a threatened vehicle at a potentially hazardous condition, said central monitoring system controls at least one vehicle system of the semi-autonomous threatened vehicle to mitigate the determined hazardous condition.
| 13. A vehicle monitoring system, said vehicle monitoring system comprising:
a central processor operable to receive data wirelessly communicated to said central processor from multiple vehicles, wherein said central processor is not part of any vehicle of the multiple vehicles;
wherein each of the multiple vehicles is equipped with a plurality of vision sensors and a plurality of non-vision sensors;
wherein said plurality of vision sensors of each of the multiple vehicles comprises (i) at least one forward viewing camera viewing exterior the respective one of the multiple vehicles through a windshield of that vehicle, (ii) at least one sideward viewing camera mounted at a left side portion of the respective one of the multiple vehicles and at least one sideward viewing camera mounted at a right side portion of the respective one of the multiple vehicles and (iii) at least one rearward viewing camera mounted at a rear portion of the respective one of the multiple vehicles;
wherein said plurality of non-vision sensors of each of the multiple vehicles comprises at least (a) a radar sensor mounted at a left side portion of the respective one of the multiple vehicles, (b) a radar sensor mounted at a right side portion of the respective one of the multiple vehicles and (c) a radar sensor mounted at a front portion of the respective one of the multiple vehicles;
wherein each of the multiple vehicles is equipped with an electronics control unit (ECU);
wherein image data captured by said plurality of vision sensors of each of the multiple vehicles is provided to the ECU of the respective one of the multiple vehicles;
wherein sensor data sensed by said plurality of non-vision sensors of each of the multiple vehicles is provided to the ECU of the respective one of the multiple vehicles;
wherein image data and sensor data provided to the ECU of each of the multiple vehicles is processed at that ECU to detect and classify objects external to the respective one of the multiple vehicles;
wherein the respective ECU wirelessly communicates (i) vehicle data indicative of operation of the respective one of the multiple vehicles and (ii) environment data indicative of the environment in which the respective one of the multiple vehicles is traveling;
wherein said central processor is operable to wirelessly receive, from each of the multiple vehicles, the respective vehicle data indicative of operation of the respective one of the multiple vehicles and the respective environment data indicative of the environment in which the respective one of the multiple vehicles is operating;
wherein, responsive to vehicle data and environment data wirelessly received at said central processor from the multiple vehicles, said central processor determines if one or more of the multiple vehicles is at or approaching a hazardous condition;
wherein the environment data comprises at least one of (i) map information, (ii) traffic information and (iii) weather condition information; and
wherein the vehicle data comprises at least one of (i) vehicle longitudinal velocity, (ii) vehicle lateral velocity, (iii) vehicle longitudinal acceleration, (iv) vehicle lateral acceleration and (v) actuation of a turn signal indicator of the respective vehicle.
| 14. The vehicle monitoring system of claim 13, wherein, responsive to the determination that one or more of the multiple vehicles is a threatened vehicle at a potentially hazardous condition, said central monitoring system actuates an alert of the threatened vehicle to alert a driver of the threatened vehicle of the determined hazardous condition.
| 15. The vehicle monitoring system of claim 13, wherein, responsive to the determination that one or more of the multiple vehicles is a threatened vehicle at a potentially hazardous condition, said central monitoring system controls a vehicle system of the threatened vehicle to mitigate the determined hazardous condition.
| 16. The vehicle monitoring system of claim 15, wherein said vehicle system comprises at least one of (i) a brake system, (ii) a steering system, (iii) a torque control and (iv) a collision avoidance system.
| 17. The vehicle monitoring system of claim 13, wherein each of the multiple vehicles includes a vehicle-to-infrastructure communication system that is operable to communicate data to said central processor and wherein at least one of the multiple vehicles comprises a semi-autonomous vehicle.
| 18. The vehicle monitoring system of claim 13, wherein at least some of the multiple vehicles are equipped with a GPS-enabled e-Horizon, and wherein the GPS-enabled e-Horizon of the respective vehicle provides to the respective vehicle environment data related to at least one of (i) a speed limit, (ii) an exit ramp location, (iii) an entry ramp location, (iv) road curvature information and (v) lanes.
| 19. A vehicle monitoring system, said vehicle monitoring system comprising:
a central processor operable to receive data wirelessly communicated to said central processor from multiple vehicles, wherein said central processor is not part of any vehicle of the multiple vehicles;
wherein each of the multiple vehicles is equipped with a plurality of vision sensors and a plurality of non-vision sensors;
wherein said plurality of vision sensors of each of the multiple vehicles comprises (i) at least one forward viewing camera viewing exterior the respective one of the multiple vehicles through a windshield of that vehicle, (ii) at least one sideward viewing camera mounted at a left side portion of the respective one of the multiple vehicles and at least one sideward viewing camera mounted at a right side portion of the respective one of the multiple vehicles and (iii) at least one rearward viewing camera mounted at a rear portion of the respective one of the multiple vehicles;
wherein said plurality of non-vision sensors of each of the multiple vehicles comprises at least (a) a radar sensor mounted at a left side portion of the respective one of the multiple vehicles, (b) a radar sensor mounted at a right side portion of the respective one of the multiple vehicles and (c) a radar sensor mounted at a front portion of the respective one of the multiple vehicles;
wherein at least some of the multiple vehicles are equipped with a GPS-enabled e-Horizon;
wherein each of the multiple vehicles is equipped with an electronics control unit (ECU);
wherein image data captured by said plurality of vision sensors of each of the multiple vehicles is provided to the ECU of the respective one of the multiple vehicles;
wherein sensor data sensed by said plurality of non-vision sensors of each of the multiple vehicles is provided to the ECU of the respective one of the multiple vehicles;
wherein image data and sensor data provided to the ECU of each of the multiple vehicles is processed at that ECU to detect and classify objects external to the respective one of the multiple vehicles;
wherein the respective ECU wirelessly communicates (i) vehicle data indicative of operation of the respective one of the multiple vehicles and (ii) environment data indicative of the environment in which the respective one of the multiple vehicles is traveling;
wherein said central processor is operable to wirelessly receive, from each of the multiple vehicles, the respective vehicle data indicative of operation of the respective one of the multiple vehicles and the respective environment data indicative of the environment in which the respective one of the multiple vehicles is operating;
wherein, responsive to vehicle data and environment data wirelessly received at said central processor from the multiple vehicles, said central processor determines if one or more of the multiple vehicles is at or approaching a hazardous condition;
wherein the environment data comprises at least one of (i) map information, (ii) traffic information and (iii) weather condition information; and
wherein the vehicle data comprises at least one of (i) vehicle longitudinal velocity, (ii) vehicle lateral velocity, (iii) vehicle longitudinal acceleration, (iv) vehicle lateral acceleration and (v) actuation of a turn signal indicator of the respective vehicle.
| 20. The vehicle monitoring system of claim 19, wherein said plurality of non-vision sensors comprises a LIDAR sensor.
| 21. The vehicle monitoring system of claim 20, wherein, responsive to the determination that one or more of the multiple vehicles is a threatened vehicle at a potentially hazardous condition, said central monitoring system actuates an alert of the threatened vehicle to alert a driver of the threatened vehicle of the determined hazardous condition.
| 22. The vehicle monitoring system of claim 20, wherein, responsive to the determination that one or more of the multiple vehicles is a threatened vehicle at a potentially hazardous condition, said central monitoring system controls a vehicle system of the threatened vehicle to mitigate the determined hazardous condition.
| 23. The vehicle monitoring system of claim 22, wherein said vehicle system comprises at least one of (i) a brake system, (ii) a steering system, (iii) a torque control and (iv) a collision avoidance system.
| 24. The vehicle monitoring system of claim 20, wherein each of the multiple vehicles includes a vehicle-to-infrastructure communication system that is operable to communicate data to said central processor and wherein at least one of the multiple vehicles comprises a semi-autonomous vehicle.
| 25. The vehicle monitoring system of claim 20, wherein the GPS-enabled e-Horizon of the respective vehicle provides to the respective vehicle environment data related to at least one of (i) a speed limit, (ii) an exit ramp location, (iii) an entry ramp location, (iv) road curvature information and (v) lanes. | The vehicle monitoring system comprises a central processor that is operable to receive data from multiple vehicles. Multiple vehicles are equipped with multiple vision sensors and multiple non-vision sensors. Multiple vision sensors are provided with a forward viewing camera, a sideward viewing camera and a rearward viewing camera. A vehicle is equipped with an electronics control unit. Multiple vehicles are equipped with a Global positioning system. The vehicle is a semi-autonomous vehicle. Vehicle monitoring system. The vehicle monitoring system comprises a central processor that is operable to receive data from multiple vehicles, and thus improves the availability of the vehicle monitoring system. The drawing shows a schematic view of a vehicle. |
Please summarize the input | VEHICLE-TO-INFRASTRUCTURE COMMUNICATIONIn one embodiment, a method includes receiving a portion of a data offload from a radar antenna of a first vehicle. The data offload includes data packets that each include a sequence number and a total number of data packets in the data offload. The method includes generating a data packet log, storing in the data packet log the sequence number of each received data packet, determining that one or more sequence numbers are missing from the data packet log, and sending to the radar antenna, a communication signal that includes an acknowledgement and the sequence numbers that are missing from the data packet log. The method also includes determining that one or more data packets of the data offload include a location of an object in an environment surrounding the first vehicle, and sending the location of the object to a second radar antenna of a second vehicle.CLAIMS
| 1. A method comprising:
receiving, by a computing device, a portion of a data offload from a first radar antenna of a vehicle, wherein the data offload comprises a plurality of data packets that each comprise a sequence number and a total number of data packets in the data offload;
generating, by the computing device, a data packet log;
storing, by the computing device, in the data packet log, the sequence number of each received data packet;
determining, by the computing device, that one or more sequence numbers are missing from the data packet log;
providing, by the computing device, instructions to a second radar antenna for sending a communication signal to the first radar antenna that comprises:
an acknowledgement; and
the one or more sequence numbers that are missing from the data packet log; and receiving, by the computing device, a second portion of the data offload from the first radar antenna, wherein the second portion of the data offload comprises one or more data packets that correspond to the one or more sequence numbers, respectively, that are missing from the data packet log.
| 2. The method of Claim 1, wherein the method further comprises:
determining that one or more data packets of the data offload comprise a classification of an object in the environment, and
sending the classification of the object to a third radar antenna.
| 3. The method of Claim 1, further comprising determining, from the portion of the data offload, a location of the vehicle.
| 4. The method of Claim 1, wherein the data packet log is of a size equal to the total number of data packets in the data offload.
| 5. The method of Claim 1, further comprising sending the received data packets to a management system, wherein the received data packets are sent in an order corresponding to their respective sequence numbers.
| 6. The method of Claim 1, wherein the vehicle is an autonomous vehicle.
| 7. The method of Claim 1, further comprising:
determining, based on one or more data packets of the data offload, a location of an object in an environment surrounding the vehicle; and
sending the location of the object to a third radar antenna.
| 8. A system comprising:
one or more processors; and
one or more computer-readable non-transitory storage media coupled to one or more of the processors and comprising instructions operable when executed by one or more of the processors to cause the system to:
receive, by a computing device, a portion of a data offload from a first radar antenna of a vehicle, wherein the data offload comprises a plurality of data packets that each comprise a sequence number and a total number of data packets in the data offload; generate, by the computing device, a data packet log;
store, by the computing device, in the data packet log, the sequence number of each received data packet;
determine, by the computing device, that one or more sequence numbers are missing from the data packet log;
provide, by the computing device, instructions to a second radar antenna for sending a communication signal to the first radar antenna that comprises:
an acknowledgement; and
the one or more sequence numbers that are missing from the data packet log; and
receive, by the computing device, a second portion of the data offload from the first radar antenna, wherein the second portion of the data offload comprises one or more data packets that correspond to the one or more sequence numbers, respectively, that are missing from the data packet log.
| 9. The system of Claim 8, wherein the instructions are further operable when executed by one or more of the processors to cause the system to:
determine that one or more data packets of the data offload comprise a classification of an object in the environment, and
send the classification of the object to a third radar antenna.
| 10. The system of Claim 8, wherein the instructions are further operable when executed by one or more of the processors to cause the system to determine, from the portion of the data offload, a location of the vehicle.
| 11. The system of Claim 8, wherein the data packet log is of a size equal to the total number of data packets in the data offload.
| 12. The system of Claim 8, wherein the instructions are further operable when executed by one or more of the processors to cause the system to send the received data packets to a management system, wherein the received data packets are sent in an order corresponding to their respective sequence numbers.
| 13. The system of Claim 8, wherein the vehicle is an autonomous vehicle.
| 14. The system of Claim 8, wherein the instructions are further operable when executed by one or more of the processors to cause the system to:
determine, based on one or more data packets of the data offload, a location of an object in an environment surrounding the vehicle; and
send the location of the object to a third radar antenna.
| 15. One or more computer-readable non-transitory storage media embodying software that is operable when executed to:
receive, by a computing device, a portion of a data offload from a first radar antenna of a vehicle, wherein the data offload comprises a plurality of data packets that each comprise a sequence number and a total number of data packets in the data offload;
generate, by the computing device, a data packet log;
store, by the computing device, in the data packet log, the sequence number of each received data packet;
determine, by the computing device, that one or more sequence numbers are missing from the data packet log;
provide, by the computing device, instructions to a second radar antenna for sending a communication signal to the first radar antenna that comprises:
an acknowledgement; and
the one or more sequence numbers that are missing from the data packet log; and receive, by the computing device, a second portion of the data offload from the first radar antenna, wherein the second portion of the data offload comprises one or more data packets that correspond to the one or more sequence numbers, respectively, that are missing from the data packet log.
| 16. The media of Claim 15, wherein the software is further operable when executed to: determine that one or more data packets of the data offload comprise a classification of an object in the environment, and
send the classification of the object to a third radar antenna.
| 17. The media of Claim 15, wherein the software is further operable when executed to determine, from the portion of the data offload, a location of the vehicle.
| 18. The media of Claim 15, wherein the data packet log is of a size equal to the total number of data packets in the data offload.
| 19. The media of Claim 15, wherein the software is further operable when executed to send the received data packets to a management system, wherein the received data packets are sent in an order corresponding to their respective sequence numbers.
| 20. The media of Claim 15, wherein the vehicle is an autonomous vehicle.
| 21. The media of Claim 17, wherein the software is further operable when executed to: determine, based on one or more data packets of the data offload, a location of an object in an environment surrounding the vehicle; and
send the location of the object to a third radar antenna. | The method involves receiving (810) a portion of a data offload from a first radar antenna of a vehicle by a computing device. The data offload has multiple data packets that each comprises a sequence number and a total number of data packets in the data offload. A data packet log is generated by the computing device. The sequence number of each received data packet is stored (840) in the data packet log. The instructions are provided to a second radar antenna for sending a communication signal to the first radar antenna. A second portion of the data offload is received from the first radar antenna. The second portion of the data offload has data packets correspond to the sequence numbers that are missing from the data packet log. INDEPENDENT CLAIMS are included for the following:a system for communication between radar antenna of vehicle and base station antenna installed in infrastructure; anda computer-readable non-transitory storage media storing program for communication between radar antenna of vehicle and base station antenna installed in infrastructure. Method for communication between radar antenna of vehicle and base station antenna installed in infrastructure. The accuracy of the localization is improved. The drawing shows flowchart illustrating a method for communication between radar antenna of vehicle and base station antenna installed in infrastructure. 810Step for receiving data820Step for determining whether data is numbered830Step for sending acknowledgement signal to radar antenna840Step for storing sequence number850Step for determining whether data is complete |
Please summarize the input | Concerted autonomous vehicle collision avoidanceA method for providing coordinated steering and braking of a plurality vehicles traveling in a platoon in response to detecting an obstruction in front of the platoon. The method includes detecting the obstruction by at least one of the vehicles in a front row of the platoon and coordinating and verifying between the vehicles in the front row that the obstruction is in front of the platoon. The method also includes broadcasting a message from one of the vehicles in the front row to the other vehicles in the platoon behind the front row that a coordinated braking and steering operation will occur to prevent a collision with the obstruction. The method then causes the vehicles in each row to steer to a breach position and causes the vehicles to brake so that all of the vehicles stop at the sides of the lanes.What is claimed is:
| 1. A method for steering and braking a plurality vehicles traveling in a platoon in response to detecting an obstruction in front of the platoon, where the vehicles are equipped with V2V communications, said method comprising:
causing the vehicles to travel in a platoon configuration where the vehicles are arranged so that at least two vehicles travel in parallel travel lanes as a row, where there is a plurality of rows of vehicles and where vehicles traveling in a particular travel lane travel right behind each other, wherein the size of the platoon is small enough so that any message transmitted by one vehicle in the platoon will be directly received by all of the vehicles in the platoon;
detecting the obstruction by at least one of the vehicles in a front row of the platoon;
coordinating and verifying between the vehicles in the front row that the obstruction is in front of the platoon, wherein detecting the obstruction and coordinating and verifying between the vehicles in the front row includes detecting the obstruction by a leftmost vehicle in the front row, generating an obstruction data packet that includes obstruction data that is transmitted to a receiving vehicle to its right in the front row, appending a signature of the receiving vehicle onto the data packet, and transmitting the data packet to the vehicle to its right towards the end of the row that appends its signature to the data packet, and wherein the obstruction data includes a temperature of the obstruction;
broadcasting a message from one of the vehicles in the front row to the other vehicles in the platoon behind the front row that a coordinated braking and steering operation will occur to prevent a collision with the obstruction;
causing the vehicles in each row to steer in one direction to one side of the travel lane the vehicle is in such that the vehicles in alternating rows steer in opposite directions to an opposite side of the travel lane the vehicle is in so that the vehicles in the alternating rows proceed to opposite sides of the travel lane from each other and not directly behind each other; and
causing the vehicles to brake so that all of the vehicles stop at the sides of the lanes.
| 2. The method according to claim 1 wherein the obstruction data includes a current timestamp, distance to the obstruction and an angle of the obstruction.
| 3. The method according to claim 1 wherein the obstruction data includes whether the obstruction is carrying hazardous materials.
| 4. The method according to claim 1 wherein causing the vehicles to brake includes first braking the vehicles in a last row of the platoon, then braking the vehicles in a next to last row of the platoon and braking the vehicles in the front row.
| 5. The method according to claim 1 wherein causing the vehicles to brake includes braking all of the vehicles simultaneously.
| 6. The method according to claim 1 wherein causing the vehicles to brake includes causing the vehicles to brake at the same time they are being steered.
| 7. The method according to claim 1 wherein the number of travel lanes is three travel lanes.
| 8. The method according to claim 1 further comprising positioning the vehicles in a particular row based on a size of the vehicle.
| 9. A method for steering and braking a plurality vehicles traveling in a platoon in response to detecting an obstruction in front of the platoon, where the vehicles are equipped with V2V communications and where the vehicles are travelling along a three-lane roadway, said method comprising:
causing the vehicles to travel in a platoon configuration where the vehicles are arranged so that three vehicles travel in the lanes in a plurality of rows, where vehicles traveling in a particular travel lane travel right behind each other, wherein the size of the platoon is small enough so that any message transmitted by one vehicle in the platoon will be directly received by all of the vehicles in the platoon;
detecting the obstruction by a vehicle in a front row travelling in a leftmost lane, generating an obstruction data packet that includes obstruction data that is transmitted to a vehicle travelling in a center lane in the front row, appending a signature of the vehicle travelling in the center lane onto the data packet, and transmitting the data packet to a vehicle travelling in a rightmost lane in the front row that appends its signature to the data packet, wherein the obstruction data includes a temperature of the obstruction;
broadcasting a message including the obstruction data packet from the vehicle travelling in the rightmost lane in the front row to the other vehicles in the platoon behind the front row that a coordinated braking and steering operation will occur to prevent a collision with the obstruction;
causing the vehicles in each row to steer in one direction to one side of the travel lane the vehicle is in such that the vehicles in alternating rows steer in opposite directions to an opposite side of the travel lane the vehicle is in so that the vehicles in the alternating rows proceed to opposite sides of the travel lane from each other and not directly behind each other in a breach position; and
causing the vehicles to brake at the same time they are being steered so that all of the vehicles stop at the sides of the lanes.
| 10. The method according to claim 9 wherein the obstruction data includes a current timestamp, distance to the obstruction and an angle of the obstruction.
| 11. The method according to claim 9 wherein the obstruction data includes whether the obstruction is carrying hazardous materials.
| 12. The method according to claim 9 wherein causing the vehicles to brake includes first braking the vehicles in a last row of the platoon, then braking the vehicles in a next to last row of the platoon and braking the vehicles in the front row.
| 13. The method according to claim 9 wherein causing the vehicles to brake includes braking all of the vehicles simultaneously.
| 14. A system for steering and braking a plurality vehicles traveling in a platoon in response to detecting an obstruction in front of the platoon, where the vehicles are equipped with V2V communications, said system comprising:
means for causing the vehicles to travel in a platoon configuration where the vehicles are arranged so that at least two vehicles travel in parallel travel lanes as a row, where there is a plurality of rows of vehicles and where vehicles traveling in a particular travel lane travel right behind each other, wherein the size of the platoon is small enough so that any message transmitted by one vehicle in the platoon will be directly received by all of the vehicles in the platoon;
means for detecting the obstruction by at least one of the vehicles in a front row of the platoon;
means for coordinating and verifying between the vehicles in the front row that the obstruction is in front of the platoon, wherein the means for detecting the obstruction and the means for coordinating and verifying between the vehicles in the front row detect the obstruction by a leftmost vehicle in the front row, generate an obstruction data packet that includes obstruction data that is transmitted to a receiving vehicle to its right in the front row, append a signature of the receiving vehicle onto the data packet, and transmit the data packet to the vehicle to its right towards the end of the row that appends its signature to the data packet, wherein the obstruction data includes a temperature of the obstruction;
means for broadcasting a message from one of the vehicles in the front row to the other vehicles in the platoon behind the front row that a coordinated braking and steering operation will occur to prevent a collision with the obstruction;
means for causing the vehicles in each row to steer in one direction to one side of the travel lane the vehicle is in such that the vehicles in alternating rows steer in opposite directions to an opposite side of the travel lane the vehicle is in so that the vehicles in the alternating rows proceed to opposite sides of the travel lane from each other and not directly behind each other; and
means for causing the vehicles to brake so that all of the vehicles stop at the sides of the lanes.
| 15. The system according to claim 14 wherein the means for causing the vehicles to brake first brakes the vehicles in a last row of the platoon, then brakes the vehicles in a next to last row of the platoon and braking the vehicles in the front row. | The steering and braking method involves causing the vehicles to travel in a normal platoon configuration, and detecting (54) the obstruction by the vehicles in a front row of the platoon. A message from the vehicle in the front row is broadcasted to the other vehicles in the platoon behind the front row that a coordinated braking and steering operation occurs to prevent a collision with the obstruction, and caused the vehicles in each row to steer in one direction to one side of the travel lane. The vehicles are caused to brake so that all of the vehicles stop at the sides of the lanes. The vehicles are positioned in a particular row based on the size. An INDEPENDENT CLAIM is included for:(a) a system for steering and braking multiple vehicles traveling in a platoon in response to detecting an obstruction in front of the platoon. Method for steering and braking multiple vehicles traveling in a platoon in response to detecting an obstruction in front of the platoon. The successive braking ensures the vehicles decelerate in a manner that maintains their back-to-front spacing, and decreases the overall possibility of rear-end and front-end collisions. The drawing shows a flowchart of a steering and braking method.54Detecting obstruction 56Sending message initiating steering and braking sequence 58Receiving message initiating steering and braking sequence 60Steering vehicles to breach position 62Braking the vehicles |
Please summarize the input | Mirror pod environmental sensor arrangement for autonomous vehicle enabling lane change decisionsAn approach to arrange sensors needed for automated driving, especially where semitrailer trucks are operating in an autonomous convoy with one automated or semi-automated truck following another. The sensors are fitted to a location adjacent to or within the exterior rearview mirrors, on each of the left- and right-hand side of the tractor. The sensors provide overlapping fields of view looking forward of the vehicle and to both the left and right hand sides at the same time.The invention claimed is:
| 1. An apparatus comprising:
a pair of assemblies, each comprising a plurality of perception sensors, the assemblies mounted to an exterior of a truck, wherein each assembly is further configured such that:
a. a first assembly is located on a left side of the exterior of the truck and a second assembly is located on a right side of the exterior of the truck;
b. the first and second assemblies are disposed in a location that is outboard of a respective left side or right side of the exterior of the truck;
c. at least some of the perception sensors in each assembly further comprise a forward facing sensor and a rearward facing sensor, and wherein the forward facing sensor and rearward facing sensor have at least one region of overlapping field of view along a least one side of the truck;
d. the perception sensors are further disposed such that (i) lane markings adjacent to the truck, and (ii) lane markings adjacent nearby a companion truck are each within a field of view of at least one perception sensor; and
e. the perception sensors are also further disposed such that any adjacent nearby vehicles, objects and/or navigational landmarks that are forward, behind or to the side of the truck are within a field of view of at least one perception sensor; and
a control computer, configured for
receiving information from a companion truck regarding a desired lane change; and
sending information to the companion truck to veto the desired lane change.
| 2. The apparatus of claim 1 wherein the control computer is further configured for communicating information to the companion truck regarding objects detected to either side of either the truck or the companion truck.
| 3. The apparatus of claim 1 wherein the perception sensors are one or more of LiDAR, camera, radar, or sonar sensors.
| 4. The apparatus of claim 1 wherein each assembly is further disposed within or adjacent to a respective left side or right side mirror housing.
| 5. The apparatus of claim 1 wherein the control computer is additionally for processing outputs of one or more perception sensors to detect whether the companion truck is staying in or departing from its respective lane.
| 6. The apparatus of claim 1 wherein two or more perception sensors in each assembly are mounted such that one sensor is at least partially vertically aligned with another sensor.
| 7. The apparatus of claim 4 wherein one or more of the perception sensors are arranged to minimize occlusion by respective exterior body components of the truck.
| 8. The apparatus of claim 1 wherein controlling lane center offset of the truck is further coordinated with information received from the companion truck.
| 9. The apparatus of claim 1 wherein two or more of the perception sensors on the truck are arranged to detect objects located in blind spots from a perspective of the companion truck.
| 10. The apparatus of claim 1 wherein the perception sensors are further arranged within mirror assemblies in a configuration that is specific to a particular model of the truck.
| 11. The apparatus of claim 10 wherein cables connecting the perception sensors to the control computer are fed through a mounting arm for the mirror assemblies.
| 12. The apparatus of claim 1 wherein the perception sensors include a plurality of lidar sensors that are further arranged such that a union of their fields of view either, as compared to each individual sensor, either (i) reduces occlusion of areas of interest or (ii) increases usable lidar data points around both the truck and the companion truck.
| 13. The apparatus of claim 1 wherein data provided by one or more perception sensors detects landmarks adjacent a path of travel that are further utilized by the control computer to determine the lane center offset of the truck.
| 14. The apparatus of claim 1 wherein data provided by one or more perception sensors is used by the control computer to estimate and/or control a distance or a change in distance to a companion truck.
| 15. The apparatus of claim 14 wherein at least some of the perception sensors are cameras that are further arranged to estimate distance to the companion truck.
| 16. The apparatus of claim 4 wherein data from the perception sensors is used by the control computer to detect objects that are located in blind spots of the companion truck.
| 17. The apparatus of claim 4 wherein the perception sensor outputs on the truck are further used by the control computer to detect a landmark adjacent the companion truck.
| 18. The apparatus of claim 1 wherein an ideal location of lane markings adjacent the truck accommodates an offset from an ideal location of the lane markings adjacent the companion truck.
| 19. The apparatus of claim 1 wherein an ideal location of any one of the lane markings includes a time varying offset.
| 20. The apparatus of claim 1 wherein the companion truck is located forward of the truck, and wherein the control computer is further for:
processing outputs of the sensors to detect lane markings adjacent the truck and to thereby determine a lane center offset of the truck;
processing outputs of the sensors to detect lane markings adjacent the companion truck and to thereby determine a lane center offset of the companion truck; and
using the determined lane center offset of the truck and the determined lane center offset of the companion truck for further controlling the lane center offset of the truck so as to mimic the lane center offset of the companion truck.
| 21. The apparatus of claim 1 wherein
at least some of the perception sensors are located on the left side positioned and oriented relative to at least some of the perception sensors located on the right side, so that at least some of the perception sensors on the left side have a substantially different field of view (FOV) than at least some of the perception sensors on the right side.
| 22. The apparatus of claim 1 additionally comprising:
a vehicle to vehicle (V2V) radio configured for sending and receiving communications between the truck and the companion truck. | The apparatus has perception sensors are located on the left side positioned and oriented relative to some of the perception sensors located on the right side, so that some of the perception sensors on the left side have a different field of view (FOV) than some of the perception sensors on the right side and other of the perception sensors in each assembly comprise a forward facing sensor and a rearward facing sensor that have one region of overlapping field of view along a least one side of the truck. The perceptions sensors are further placed such that lane markings (400) are adjacent to the truck and adjacent nearby vehicles that are forward or behind the truck are within a field of view of the perception sensor. The perception sensors are also further placed such that any adjacent nearby vehicles, objects and/or navigational landmarks that are forward, behind and to the side of the truck within a field of view of the perception sensor. Apparatus for assembling pair of perception sensors used in autonomous vehicles such as autonomous truck (claimed), passenger cars, Sports Utility Vehicles (SUVs), motorcycles or military personnel carrier. The sensor outputs that also provide a downward-looking view of lane markings are enabled to improve the estimates of where the wheels are relative to the travel lane. The reaction time in feedforward control is reduced and accuracy in predictive control is improved. The drawing shows a schematic view of pair of sensors detects lane markings on either side of the truck including any object in a blind spot. 400Lane markings410Sports utility vehicles430Motorcycle |
Please summarize the input | An autonomous operation device; a system; a method; and a remote control vehicleDevice, system, and method of autonomous driving and tele-operated vehicles. A vehicular Artificial Intelligence (AI) unit, is configured: to receive inputs from a plurality of vehicular sensors of a vehicle; to locally process within the vehicle at least a first portion of the inputs; to wirelessly transmit via a vehicular wireless transmitter at least a second portion of the inputs to a remote tele-driving processor located externally to the vehicle; to wirelessly receive via a vehicular wireless receiver from the remote tele-driving processor, a remotely-computed processing result that is received from a remote Artificial Intelligence (AI) unit; and to implement a vehicular operating command based on the remotely-computed processing result, via an autonomous driving unit of the vehicle or via a tele-driving unit of the vehicle.|1. In a system provided with a vehicle processor associated with a vehicle artificial intelligence unit, an input is received from a plurality of vehicle sensors of the vehicle, and at least a first part of the input is processed locally in the vehicle. By a vehicle wireless transmitter, at least a second part of the input is transmitted to a remote remote operation processor located outside the vehicle by wireless; and the wireless transmitter is provided with the remote remote operation processor. A vehicle wireless receiver wirelessly receives a remote computation processing result received from a remote node from the remote remote operation processor. On the basis of the remote calculation processing result, (i) an autonomous operation unit of the vehicle, (ii) a remote operation unit of the vehicle, (iii) a vehicle operation processor, (iv) at least one of the vehicle command conversion units, and (iv) a vehicle control command is executed. The self-driving unit of the vehicle is based on a remote control command received from a remote machine-based tele operator; or a human teleoperator; or a remote artificial intelligence processing unit. The system is constituted so as to dynamically correct one or more operation parameters of the vehicle based on the estimated success level of the remote remote control of the vehicle based on the predetermined threshold value level of the successful remote control of the vehicle.
| 2. In the system described in claim 1, the vehicle processor associated with the vehicle artificial intelligence unit transfers the vehicle control command to the autonomous operation unit of the vehicle; and then the autonomous operation unit is based on the vehicle control command. The system which steers the said vehicle autonomously.
| 3. In the system described in either of the claims 1-2 and in one of the following items, The vehicle processor associated with the vehicle artificial intelligence unit transfers the vehicle control command to a remote operation unit of the vehicle; and then the remote operation unit autonomously controls the vehicle based on the vehicle control command.
| 4. This system is described in any one of claims 1 to 3, and further. A vehicle autonomous driving unit is provided, and the vehicle autonomous operation unit is (I) input locally generated by the vehicle artificial intelligence unit in the vehicle, and (II) both of the vehicle control commands received from the remote remote operation processor. The system is comprised so that the vehicle can be controlled autonomously.
| 5. The system includes any one of claim 1 to 4, which includes a dynamic encoder which dynamically encodes the second portion of the input to a reduced size expression prior to transmission to the remote remote operation processor.
| 6. This system is described in any one of claims 1 to 5. The system is provided with a data sharing determination unit for dynamically determining which part of the input is transmitted to the remote remote operation processor, and which other part of the input is processed locally within the vehicle artificial intelligence unit.
| 7. The system includes a data sharing determination unit for transmitting any part of the input to the remote remote operation processor, and for determining dynamically or dynamically processing any other part of the input in the vehicle artificial intelligence unit in the system. The data sharing decision unit operates by putting at least the confidence level of the vehicle artificial intelligence unit in the local calculation processing result calculated locally in the vehicle by the vehicle artificial intelligence unit.
| 8. A system described in either of the claims 1 to 7 is provided with a communication channel allocator, and a first set of packets having data from a first vehicle sensor is allocated for wireless transmission by one or more vehicle wireless transmitters of the first set. To provide a system for assigning a second set of packets having data from a second vehicle sensor for wireless transmission by one or more vehicle wireless transmitters of a second set.
| 9. In the system described in Claim 8, the communication channel allocator is included in a first set of transmitters included in one or more vehicle transmitters, and the inside of one or more of the vehicle transmitters is included in the second set of transmitters or dynamically determined.
| 10. In the system described in Claim 8, the communication channel allocator may include one or more of the vehicle transmitters in the first set of transmitters; and one or more of the vehicle transmitters should be included in the second set of transmitters or dynamically determined. A first set of transmitters and a second set of transmitters include at least one specific transmitter that is common to both of the sets.
| 11. This system is described in any one of claims 1 to 10 and is equipped with a communication channel allocator. For processing in a first remote processor, a first wireless communication channel is assigned to wireless transmission of data collected by a first vehicle sensor to the first remote processor. For processing in a second remote processor, a system assigns a second wireless communication channel to wireless transmission of data from the second vehicle sensor to the second remote processor.
| 12. In the system described in any one of claims 1 to 11, a vehicle compound teleoperator operation unit is provided; a first remote operation command is received by wireless from a first remote operation processor; a second remote operation command is received by wireless from a second remote operation processor; and a second remote operation command is received by wireless. Mismatch between first and second remote operation commands is detected; inconsistency; unbalanced combination; duplicate; adverse effect; and at least one of inconsistent results; A system which discards any remote operation command and determines which remote operation command is to be executed in the vehicle by using a vehicle artificial intelligence unit based on a predetermined rule or by using a vehicle artificial intelligence unit.
| 13. In the system described in one of claims 1 to 12, the remote remote operation processor is the mobile remote operation processor located in the sub-vehicle. The vehicle artificial intelligence unit wirelessly transmits the second part of the input to the mobile remote operation processor located in the sub-vehicle; and the vehicle artificial intelligence unit wirelessly receives the remote calculation processing result from the sub-vehicle. The vehicle artificial intelligence unit generates the vehicle control command based on the remote calculation processing result received by wireless from the sub-vehicle.
| 14. In the system described in either of the claims 1 to 13, the remote remote operation processor is located outside the vehicle; it is a remote operation processor located in a non-mobile traffic infrastructure element; and a remote operation processor is provided. The vehicle artificial intelligence unit wirelessly transmits the second part of the input to the remote operation processor positioned in the non-mobile body traffic infrastructure element. The vehicle artificial intelligence unit wirelessly receives the result of external calculation processing from the non-mobile traffic infrastructure element. The vehicle artificial intelligence unit generates the vehicle control command based on the remote computation processing result received wirelessly from the non-mobile traffic infrastructure element.
| 15. This system is described in any one of claims 1 to 14, and further. A communication-based map is generated, which generates a communication-based map showing at least (i) a first road segment having an effective wireless communication throughput lower than a predetermined threshold value, and (ii) a second road segment having an effective wireless communication throughput higher than the predetermined threshold value. A system provided with a map generator.
| 16. This system is described in any one of claims 1 to 15, and further. The system is provided with an induction path generator which generates or corrects a guidance route for the vehicle by taking into consideration the availability level of the wireless communication service estimated at least in a different route section.
| 17. This system is described in any one of claims 1 to 16, and further; A guidance route is generated or corrected for the vehicle by taking into account at least (i) the availability level of wireless communication estimated in different path sections and (ii) one or more constraints on the safety requirements for the crew of the vehicle. A system provided with an induction path production device.
| 18. This system is described in any one of claims 1 to 17, and further. To provide a system including a guide path generator for enhancing the safety of traveling of a vehicle which is a self-driving vehicle by generating or correcting an induction path for the vehicle so as to include a road section having wireless communication availability higher than a predetermined threshold value.
| 19. In the system described in any one of claims 1 to 18, by including a road section estimated to be successful in the remote control of the vehicle on the basis of a predetermined threshold value level of the successful remote control of the vehicle, by generating or correcting a guide route for the vehicle. A system is provided with an induction path generator which enhances safety of traveling of the vehicle which supports remote control.
| 20. In the system described in any one of claims 1 to 19, the self-driving unit of the vehicle is based on the availability of wireless communication in one or more specific route sections, and dynamically corrects one or more driving parameters of the vehicle.
| 21. In the system described in any one of claims 1 to 20, the self-driving unit of the vehicle dynamically lowers the driving speed of the vehicle or dynamically extends the distance from the neighboring vehicle on the basis of the reduction of the wireless communication availability in the specific route section.
| 22. In the system described in any of the claims 1 to 21, The self-driving unit of the vehicle is a system which dynamically lowers the driving speed of the vehicle or dynamically extends the distance from the neighboring vehicle based on a decrease in the estimated success level of the remote remote control of the vehicle in a specific route section.
| 23. In the system described in any of the claims 1 to 22, The self-driving unit of the vehicle is based on a decrease in throughput of wireless video upload from the vehicle to a remote receiver including a remote remote control terminal or a remote artificial intelligence processing unit, and in a specific path segment. To provide a system capable of dynamically reducing the driving speed of a vehicle or dynamically expanding a distance from a neighboring vehicle.
| 24. In the system described in one of claims 1 to 23, an external artificial intelligence module located outside the vehicle takes over the driving of the vehicle instead of the vehicle artificial intelligence unit or in place of the driver of a person in the vehicle.
| 25. In the system described in either of the claims 1 to 24, an external artificial intelligence module located outside the vehicle takes over the driving of the vehicle instead of the vehicle artificial intelligence unit or in place of the driver of a person in the vehicle. The external artificial intelligence module is a system that selectively queries the remote human teleoperator of a remote control of the vehicle.
| 26. In the system described in either of the claims 1 to 25, an external artificial intelligence module located outside the vehicle takes over the driving of the vehicle in place of the vehicle artificial intelligence unit or in place of the driver of a person in the vehicle. The external artificial intelligence module is (i) the quality of the wireless communication received from the vehicle, and (ii) the quality of the detection data detected by the vehicle sensor of the vehicle and uploaded to the external artificial intelligence module. The system which adjusts the reliability level in remote remote control operation.
| 27. In the system described in either of the claims 1 to 26, data detected by one vehicle sensor of the vehicle is transmitted to an external artificial intelligence unit located outside the vehicle through a junction communication uplink. (i) A first set of packets to be uploaded through a first wireless communication link by a first wireless transmitter associated with the vehicle is assigned; and (ii) by assigning a second set of packets to be uploaded through a second wireless communication link by a second wireless transmitter associated with the vehicle, the packet corresponding to the data detected by the one vehicle sensor of the vehicle is provided. The system that is uploaded from the vehicle.
| 28. In the system described in any of the claims 1 to 27, The junction communication uplink is detected by the vehicle, and based on data uploaded to one or more remote artificial intelligence modules, in order to increase the reliability level of one or more artificial intelligence modules generating remote control commands for the vehicle. The system is utilized by the vehicle.
| 29. In the system described in either of the claims 1 to 28, the joining communication uplink is a cellular communication link; a Wi-Fi communication link; a V2X communication link; a satellite-based communication link; and a direct short-distance communication (DSRC) communication link. The system is dynamically constructed by a link junction unit associated with the vehicle by selecting two or more of any combination of the combinations.
| 30. In the system described in any one of claims 1 to 29, the vehicle transmitter is configured to upload data detected by one or more vehicle sensors of the vehicle to an external artificial intelligence module outside the vehicle. The vehicle artificial intelligence unit receives a group of two or more conditional remote control commands to the vehicle from the external artificial intelligence module, and executes the first remote control command when the first condition is satisfied at a specific reliability level. A system that executes a second remote control command when a second condition is met at a specific level of confidence.
| 31. In the system described in one of claims 1 to 30, a wireless transmitter associated with the vehicle is configured to upload data detected by one or more vehicle sensors of the vehicle to an external artificial intelligence module located outside the vehicle. The vehicle artificial intelligence unit receives permission to perform the in-vehicle processing of the detection data from the external artificial intelligence module, and avoids waiting for a remote control command to be received.
| 32. In the system described in one of the claims 1 to 31, a transmitter associated with the vehicle is configured to upload data detected by one or more vehicle sensors of the vehicle to an external artificial intelligence module located outside the vehicle; and to use a plurality of wireless transmitters. On the basis of an effective wireless communication resource currently available for the vehicle, in order to enable effective upload of the data to the external artificial intelligence module, the data is at least partially processed in the vehicle.
| 33. In the system described in either of the claims 1 to 32, a transmitter associated with the vehicle is configured to upload data detected by one or more vehicle sensors of the vehicle to an external artificial intelligence module located outside the vehicle. For the upload, if the quality index of the effective wireless communications resource currently available to the vehicle is higher than a predetermined threshold value; the external artificial intelligence module; The first confidence level is determined for the remote control command generated by the external artificial intelligence module; and the first certainty level is determined to be the first certainty factor. When the quality index of an effective wireless communication resource currently available to the vehicle for the upload is lower than the predetermined threshold value, the external artificial intelligence module is provided to a remote control command generated by an external artificial intelligence module. The system determines a second lowered certainty level.
| 34. In the system described in any one of claims 1 to 33, a transmitter associated with the vehicle is configured to upload data detected by one or more vehicle sensors of the vehicle to an external artificial intelligence module located outside the vehicle. The transmitter is provided with two or more transmission units. The upload is performed through a junction wireless communication link provided with two or more wireless communication links simultaneously received by two or more wireless transmission units for simultaneously processing and uploading different packets in parallel.
| 35. In one of the claims 1 to 34, two or more transmitters associated with the vehicle upload data detected by one or more vehicle sensors of the vehicle to an external artificial intelligence module located outside the vehicle. A first transmitter transmits the data detected by a first vehicle sensor of the vehicle to the external artificial intelligence module by wireless. A second transmitter transmits the data detected by a second vehicle sensor of the vehicle to the external artificial intelligence module simultaneously wirelessly.
| 36. In one of the claims 1 to 35, two or more transmitters associated with the vehicle upload data detected by one vehicle sensor of the vehicle to an external artificial intelligence module located outside the vehicle. A first transmitter is configured to wirelessly transmit a first group of packets of data detected by the one vehicle sensor of the vehicle to the external artificial intelligence module. A second transmitter is provided to the external artificial intelligence module; a second group of packets of data detected by the one vehicle sensor of the vehicle is transmitted simultaneously; and a system is also provided.
| 37. In the system described in one of claims 1 to 36, a transmitter associated with the vehicle is configured to upload data detected by one or more sensors of the vehicle to an external artificial intelligence module located outside the vehicle. The upload is performed through a junction wireless communication link provided with two or more sets of wireless communication links, each of which is received by two or more wireless transmitters associated with the vehicle.
| 38. In the system described in Claim 37, the joining wireless communication link is: a cellular communication link; a Wi-Fi communication link; a V2X communication link; a satellite base communication link; a direct short distance communication (DSRC) communication link; The system is dynamically constructed by a link junction unit associated with the vehicle by selecting two or more communication links in an arbitrary combination, and two or more communication links processes and uploads different packets in parallel at the same time.
| 39. In the system described in any one of claims 1 to 38, the vehicle artificial intelligence unit of the vehicle is a part of a multiple peer network of an artificial intelligence unit which is distributed between a plurality of vehicles and at least one artificial intelligence unit outside all vehicles. The multiple peer network of the artificial intelligence unit provides a system to supply an artificial intelligence remote control command to at least one vehicle of a multiple peer network of the artificial intelligence unit.
| 40. In the system described in any one of claims 1 to 39, the vehicle artificial intelligence unit of the vehicle executes artificial intelligence processing of data detected by a sensor of another vehicle; and (II) reaches an artificial intelligence base remote control command suitable for the other vehicle. (III) The system is operated so that the remote control command is transmitted to the other vehicle.
| 41. In a system described in one of claims 1 to 40, a command sent from a remote remote control terminal to the vehicle processor of the vehicle is transmitted through a plurality of wireless communication transceivers associated with the vehicle processor.
| 42. In the system described in Claim 41, the vehicle processor operates to identify two or more repeated remote control commands that arrive through the same transmitter-receiver or a different transceiver (i); and (ii) execute the internal first command of the repeated remote control commands; (iii) A system that destroys one or more other commands in a repeat remote control command.
| 43. In any of the claims 1 to 42, in the system described in paragraph 1 of the claim, Two or more wireless transceivers associated with the vehicle and having different instantaneous performance characteristics are used simultaneously to upload data from the vehicle to a remote remote control terminal; or to download data to the vehicle from the remote remote control terminal; The system.
| 44. In any of the claims 1 to 43, in the system described in paragraph 1 of the claim, The two or more wireless transceivers associated with the vehicle have at least one different instantaneous performance characteristics: throughput; Goodputs; effective upload band width; effective download band width; latency; delay; error rate; error packet rate; and missing packet rate; The system.
| 45. In any one of claims 1 to 44, a link junction unit associated with the vehicle is used to join and assign a packet together for upload over a plurality of wireless communication transceivers available for the vehicle. The system operates to enhance the safety or precision or confidence level of the remote generation remote control command directed toward the vehicle.
| 46. In any one of claims 1 to 45, at least a part of a packet representing data detected by one or more vehicle sensors is from the vehicle to a remote remote control terminal or a remote artificial intelligence module. A system that is uploaded through a transmitter/receiver on an occupant's smartphone or tablet that is not a driver of the vehicle.
| 47. In any one of claims 1 to 46, a system is provided with the vehicle. | The system (200) has a vehicular processor associated with a vehicular artificial intelligence (AI) unit (270) to receive inputs from multiple vehicular sensors of a vehicle (211). A first portion of inputs is locally processed within the vehicle. A second portion of inputs is wirelessly transmitted through a vehicular wireless transmitter to a remote tele-driving processor. A vehicular operating command is implemented based on the remotely-computed processing result through an autonomous driving unit of vehicle, a tele-driving unit of vehicle, a vehicular driving processor or a vehicular commands translator unit. The bonded communication uplink is dynamically constructed by selecting combination of a cellular communication link, a Wireless Fidelity (WIFI) communication link, a Vehicle-to-everything (V2X) communication link, a satellite-based communication link or a Dedicated Short-Range Communication (DSRC) communication link. INDEPENDENT CLAIMS are included for the following:an apparatus for autonomous driving and tele-operation of vehicles; anda device for autonomous driving and tele-operation of vehicles. System for autonomous driving and tele-operation of vehicles such as autonomous vehicle or self-driving vehicle used on land, air and sea. By using bonded communication of multiple links provide the reliability, video quality, bandwidth, low latency or stable low jitter behavior, which allows the economics of scale in having more remote AI handled cases and a less humans in the loop, thus providing an improved and more efficient human handling. The dynamic encoder and modifier helps to perform data compression or data dilution or data size reduction operation in the system. The drawing shows a schematic view of a system for autonomous driving and tele-operation of vehicles. 200System for autonomous driving and tele-operation of vehicles211Vehicle255Tele-operator terminal260Infrastructure elements270Artificial intelligence unit |
Please summarize the input | A SYSTEM FOR CONTROLLING A PLURALITY OF AUTONOMOUS VEHICLES ON A MINE SITEThe present application provides a system for controlling a plurality of autonomous vehicles on a mine site, the system comprising:
- a centralized platform configured to store an inventory list of vehicles travelling on the mine site and configured to determine and communicate missions to the vehicles;
- a plurality of autonomous vehicles, the autonomous vehicles comprising:
-an interface configured to communicate with the centralized platform for receiving a predetermined mission,
- a trajectory control system configured to autonomously control the autonomous vehicle according to the predetermined mission,
- a detection system configured to detect other vehicles by evaluating sensor information received from at least one sensor of the vehicle,
- a collision prediction system configured to predict collisions with the other vehicles detected by the detection system;
- a V2V communication interface for directly communicating with a V2V communication interface of at least one of the other vehicles on the mine site for exchanging information between the vehicles.|1. A system for controlling a plurality of autonomous vehicles (AV1, AV2) on a mine site, the system comprising:
* - a centralized platform (10) configured to store an inventory list (13) of vehicles (AV1, AV2, MV1, MV2) travelling on the mine site and configured to determine and communicate missions to the vehicles;
* - a plurality of autonomous vehicles (AV1, AV2), the autonomous vehicles (AV1, AV2) comprising:
* - an interface (31, 41) configured to communicate with the centralized platform (10) for receiving a predetermined mission,
* - a trajectory control system (21) configured to autonomously control the vehicle according to the predetermined mission,
* - a detection system (24) configured to detect other vehicles (AV1, AV2, MV1, MV2) by evaluating sensor information received from at least one sensor (34) of the autonomous vehicle (AV1, AV2),
* - a collision prediction system (25) configured to predict collisions with the other vehicles (AV1, AV2, MV1, MV2) detected by the detection system (24);
* - a V2V communication interface (32, 42) for directly communicating with a V2V communication interface (32, 42, 52, 62) of at least one of the other vehicles (AV1, AV2, MV1, MV2) travelling on the mine site, wherein the V2V communication interface (32, 42) is preferably configured for exchanging at least one out of vehicle type and mission information,characterized in that
the autonomous vehicle (AV1, AV2) comprises a classification system (27) for classifying vehicles (AV1, AV2, MV1, MV2) according to their type, wherein
* - the information exchanged between the vehicles (AV1, AV2, MV1, MV2) comprises classification information, and wherein the classification system (27) of the autonomous vehicle (AV1, AV2) is configured to determine a type of another vehicle (AV1, AV2, MV1, MV2) in its vicinity based on the classification information received from said vehicle (AV1, AV2, MV1, MV2), and/or
* - the classification system (27) of the autonomous vehicle (AV1, AV2) is configured to determine a type of another vehicle (AV1, AV2, MV1, MV2) in its vicinity based on sensor information received from at least one sensor (34) of the autonomous vehicle, and/or
* - the autonomous vehicle comprises a management system (36) for managing behavior with respect to other vehicles (AV1, AV2, MV1, MV2) in its vicinity, wherein the management system (36) is configured to use a first set of rules for a first type of other vehicle (AV1, AV2, MV1, MV2) and a second set of rules for a second type of other vehicle (AV1, AV2, MV1, MV2), the first and the second type being determined by the classification system (27).
| 2. The system of claim 1, wherein the type defines whether a vehicle (AV1, AV2, MV1, MV2) is an autonomous vehicle (AV1, AV2) or a manned vehicle (MV1, MV2).
| 3. The system of any one of claims 1 and 2, wherein the classification system (27) is configured to classify manned vehicles (MV1, MV2) according to their manned vehicle type, wherein the first type of vehicle (MV1, MV2) is a first type of manned vehicle and the second type of vehicle is a second type of manned vehicle.
| 4. The system of any one of the preceding claims, wherein the management system (36) is configured to manage at least one out of overtaking and intersection handling of other vehicles (AV1, AV2, MV1, MV2).
| 5. The system according to claim 1, wherein
the information exchanged between the vehicles (AV1, AV2, MV1, MV2) comprises localization information and future mission information, wherein the future mission information comprises path information on a trajectory to be followed by the vehicle (AV1, AV2, MV1, MV2), wherein the path information is used by a collision avoidance system (26) of the autonomous vehicle (AV1, AV2).
| 6. The system of claim 5, wherein the predetermined missions comprise predetermined trajectories to be followed by the autonomous vehicles (AV1, AV2), and wherein the autonomous vehicles (AV1, AV2) further comprise a collision avoidance system (26), the collision avoidance system (26) being configured to autonomously re-plan the predetermined trajectory onboard the vehicle (AV1, AV2) if the collision prediction system (25) predicts a collision, in order to provide a re-planned trajectory avoiding the collision, wherein the path information exchanged by the vehicles (AV1, AV2) preferably comprises path information of the re-planned trajectory.
| 7. The system of one of claims 5 and 6, wherein the detection system of the autonomous vehicle (AV1, AV2) fuses the sensor information used for detecting other vehicles (AV1, AV2, MV1, MV2) with the information received from another vehicle (AV1, AV2, MV1, MV2) in order to augment sensor perception on the another vehicle.
| 8. The system of one of the preceding claims, further comprising:
* - a plurality of manned vehicles (MV1, MV2), the manned vehicles comprising:
* - a V2V communication interface (52, 62) for directly communicating with a V2V communication interface (32, 42, 52, 62) of at least one of the other vehicles (AV1, AV2, MV1, MV2) on the mine site for exchanging information between the vehicles.
| 9. The system of one of the preceding claims, wherein the centralized platform (10) is configured to communicate the inventory list (13) of vehicles (AV1, AV2, MV1, MV2) travelling on the mine site to the autonomous vehicles (AV1, AV2) for onboard storage, and wherein the autonomous vehicles (AV1, AV2) are configured to update the inventory list (13) stored onboard based on at least one out of sensor information and information received via a V2V interface (32, 42) from the another vehicle (AV1, AV2, MV1, MV2),
and/or
wherein the centralized platform (10) is configured to store and communicate a mine site map (12) comprising a road network to the autonomous vehicles (AV1, AV2) for onboard storage, and wherein the collision prediction system (25) of the autonomous vehicles is configured to determine a road from the road network used by another vehicle (AV1, AV2, MV1, MV2) in its vicinity based on at least one out of sensor information and information received via the V2V interface (32, 42, 52, 62) from the another vehicle (AV1, AV2, MV1, MV2).
| 10. The system according to one of the preceding claims, wherein the centralized platform (10) is further configured to store a mine site map (12) comprising a road network,
wherein the centralized platform (10) is configured to communicate the mine site map (12) to the autonomous vehicles (AV1, AV2) for onboard storage, and wherein the collision prediction system (24) of the autonomous vehicles (AV1, AV2) is configured to determine a road from the road network used by another vehicle (AV1, AV2, MV1, MV2) in its vicinity based on at least one out of sensor information and information received via a V2V interface (32, 42) from the another vehicle (AV1, AV2, MV1, MV2) in order to improve prediction results.
| 11. The system of claim 10, wherein the centralized platform (10) is configured communicate the inventory list (13) to the autonomous vehicles (AV1, AV2) for onboard storage, and wherein the autonomous vehicles (AV1, AV2) are configured to update the inventory list (13) stored onboard based on at least one out of sensor information and information received via a V2V interface (32, 42) from the another vehicle (AV1, AV2, MV1, MV2).
| 12. An autonomous vehicle (AV1, AV2) configured to travel on a mine site, in particular an autonomous vehicle (AV1, AV2) as defined in one of the preceding claims or for use in a system according to one of the preceding claims, the mine site comprising a centralized platform (10) configured to store an inventory list (13) of vehicles (AV1, AV2, MV1, MV2) travelling on the mine site and to determine and communicate missions to the autonomous vehicle (AV1, AV2),
the autonomous vehicle (AV1, AV2) comprising:
* - an interface (31, 41) configured to communicate with the centralized platform (10) for receiving a predetermined mission,
* - a trajectory control system (21) configured to autonomously control the vehicle according to the predetermined mission,
* - a detection system (24) configured to detect other vehicles (AV1, AV2, MV1, MV2) by evaluating sensor information received from at least one sensor (34) of the autonomous vehicle (AV1, AV2),
* - a collision prediction system (25) configured to predict collisions with the other vehicles (AV1, AV2, MV1, MV2) detected by the detection system (24);
* - a V2V communication interface (32, 42) for directly communicating with a V2V communication interface (32, 42, 52, 62) of at least one of the other vehicles (AV1, AV2, MV1, MV2) travelling on the mine site, wherein the V2V communication interface (32, 42) is preferably configured for exchanging at least one out of vehicle type and mission information,characterized in that
the autonomous vehicle (AV1, AV2) comprises a classification system (27) for classifying vehicles (AV1, AV2, MV1, MV2) according to their type, wherein
* - the information exchanged between the vehicles (AV1, AV2, MV1, MV2) comprises classification information, and wherein the classification system (27) of the autonomous vehicle (AV1, AV2) is configured to determine a type of another vehicle (AV1, AV2, MV1, MV2) in its vicinity based on the classification information received from said vehicle (AV1, AV2, MV1, MV2), and/or
* - the classification system (27) of the autonomous vehicle (AV1, AV2) is configured to determine a type of another vehicle (AV1, AV2, MV1, MV2) in its vicinity based on sensor information received from at least one sensor (34) of the autonomous vehicle, and/or
* - the autonomous vehicle comprises a management system (36) for managing behavior with respect to other vehicles (AV1, AV2, MV1, MV2) in its vicinity, wherein the management system (36) is configured to use a first set of rules for a first type of other vehicle (AV1, AV2, MV1, MV2) and a second set of rules for a second type of other vehicle (AV1, AV2, MV1, MV2), the first and the second type being determined by the classification system (27). | The system has a centralized platform which is configured to store an inventory list of vehicles (40) travelling on the mine site and is configured to determine and communicate missions to the vehicles. Mutliple autonomous vehicles (30) comprising an interface is configured to communicate with the centralized platform for receiving a predetermined mission. A trajectory control system (21) is configured to autonomously control the autonomous vehicle according to the predetermined mission. A detection system is configured to detect other vehicles by evaluating sensor information is received from sensor of the vehicle. A collision prediction system is configured to predict collisions with the other vehicles are detected by the detection system. A vehicle-to-vehicle (V2V) communication interface directly communicates with a V2V communication interface of the other vehicles on the mine site for exchanging information between the vehicles. System for controlling mutliple autonomous vehicles (claimed) e.g. autonomous dumper truck on mine site. The collision avoidance system is configured to autonomously re-plan a predetermined trajectory onboard the vehicle if the collision prediction system predicts a collision, in order to provide a re-planned trajectory avoiding the collision. The collision avoidance system can use predefined braking and yield rules to avoid a collision. The V2V is used to augment the sensor perception to improve collision prediction by the collision prediction system of a first vehicle and to prevent false interactions with a second vehicle by the collision avoidance system when the vehicle sensors of the first vehicle detect the second vehicle that appears to be heading toward the first vehicle. The complete road network stored onboard the vehicle can allow the vehicle control system to know that traffic detected is in a valid lane and not a threat even without V2V using own perception capability. The drawing shows a schematic view of an intersection handling using V2V. 21Trajectory control system30Autonomous vehicle40Vehicle72Second road73First road |
Please summarize the input | System for controlling a plurality of autonomous vehicles on a mine siteThe present application comprises a system for controlling a plurality of autonomous vehicles on a mine site, the system comprising: a centralized platform configured to store an inventory list of vehicles travelling on the mine site and comprising a first communication interface configured to communicate missions to the vehicles; a plurality of autonomous vehicles, the autonomous vehicles comprising: a first communication interface configured to wirelessly communicate with the centralized platform for receiving a predetermined mission, a trajectory control system configured to autonomously control the autonomous vehicle according to the predetermined mission; and at least one portable device, the portable device comprising a second communication interface configured to wirelessly communicate with a second communication interface of the plurality of vehicles from the mine site.The invention claimed is:
| 1. A system for controlling a plurality of autonomous vehicles on a mine site, the system comprising:
a centralized platform comprising a processor and memory storing an inventory list of the plurality of autonomous vehicles travelling on the mine site and comprising a first communication interface configured to communicate missions to the plurality of autonomous vehicles, the first communication interface of the centralized platform comprising a first communication controller, amplifier, and/or antenna;
the plurality of autonomous vehicles, each autonomous vehicle comprising:
a corresponding first communication interface configured to wirelessly communicate with the centralized platform for receiving a predetermined mission, each corresponding first communication interface comprising a corresponding first communication controller, amplifier, and/or antenna;
a corresponding second communication interface comprising a corresponding second communication controller, amplifier, antenna, and/or V2V transmitter; and
a vehicle controller comprising a processor and memory configured to autonomously control that autonomous vehicle according to the predetermined mission; and
a portable device, the portable device comprising a second communication interface comprising a second communication controller, amplifier, antenna, and/or V2V transmitter configured to wirelessly communicate directly with each corresponding second communication interface of each autonomous vehicle of the plurality of autonomous vehicles,
wherein each autonomous vehicle of the plurality of autonomous vehicles comprises a first location system for determining a first position of that autonomous vehicle and wherein each autonomous vehicle is configured to directly communicate the first position of that autonomous vehicle to the portable device via the respective corresponding second communication interface, each first location system comprising a first receiver, gyroscope, and/or acceleration sensor,
wherein the portable device further comprises a second location system and a user interface, the second location system comprising a second receiver, gyroscope, and/or acceleration sensor and being configured to determine a second position of the portable device and the user interface comprising a display and being configured for displaying information identifying at least a subset of autonomous vehicles out of the plurality of autonomous vehicles based on the first position communicated via the second communication interface, the subset of autonomous vehicles being determined based on a distance with respect to the second position of the portable device,
wherein the portable device further comprises a local emergency stop that, when activated, causes the portable device to send a first command inhibiting motion of all vehicles out of the plurality of autonomous vehicles present within a predetermined distance from the portable device, and wherein the local emergency stop is activated by a first user input to a first push button on the portable device, and
wherein the portable device further comprises a global emergency stop that, when activated, causes the portable device to send a second command for inhibiting motion of all vehicles out of the plurality of autonomous vehicles, wherein the global emergency stop is activated by a second user input to the first push button or a second push button on the portable device, and wherein activation of the global emergency stop is only possible after activation of the local emergency stop.
| 2. The system of claim 1, wherein the predetermined distance comprises a configurable radius, and wherein the subset of autonomous vehicles is determined by selecting all autonomous vehicles out of the plurality of autonomous vehicles present within the predetermined distance of the portable device.
| 3. The system of claim 1, wherein the user interface comprises the display and/or one or more keys configured for receiving an input from a user inputting an inhibit command for at least one of inhibiting and stopping motion of at least one of the plurality of autonomous vehicles, and wherein the inhibit command is communicated to the at least one of the plurality of autonomous vehicles via the second communication interface.
| 4. The system of claim 3, wherein the user interface is configured for specifically receiving a selection from the user selecting the at least one of the autonomous vehicles that is inhibited out of the subset of autonomous vehicles identified by the user interface based on a distance of the autonomous vehicles with respect to the second position of the portable device.
| 5. The system of claim 1, wherein at least one of the second position of the portable device, the first position of each autonomous vehicle on the mine site, and a state of at least one out of the plurality of autonomous vehicles are communicated to the centralized platform via the first communication interface.
| 6. The system of claim 1, wherein the corresponding second communication interface is configured to exchange data on at least one of a position and a heading directly between at least two of the plurality of autonomous vehicles, and wherein the corresponding first communication interface and the corresponding second communication interface of each autonomous vehicle use different hardware for communication.
| 7. A system for controlling a plurality of autonomous vehicles on a mine site, the system comprising:
a centralized platform comprising a processor and memory storing an inventory list of the plurality of autonomous vehicles travelling on the mine site and configured to communicate missions to the plurality of autonomous vehicles;
the plurality of autonomous vehicles, each autonomous vehicle comprising:
a first transmitter configured to wirelessly communicate with the centralized platform for receiving a predetermined mission,
a vehicle controller comprising a processor and memory configured to autonomously control the autonomous vehicle according to the predetermined mission; and
a portable device comprising:
a second transmitter configured to wirelessly communicate with at least one of the centralized platform and the plurality of autonomous vehicles,
a user interface comprising a display and configured for identifying at least a subset of autonomous vehicles of the plurality of autonomous vehicles on the display for selection, wherein the subset of autonomous vehicles is determined based on a distance with respect to the portable device, the user interface being further configured for specifically receiving a selection from a user selecting an autonomous vehicle out of the subset of autonomous vehicles identified on the display for selection and for receiving an input from the user of an inhibit command for at least one of inhibiting and stopping motion of the selected autonomous vehicle, and
a pairing function for pairing and unpairing the portable device to the system, wherein the centralized platform monitors connection to all portable devices paired to the system and initiates a global emergency stop if a connection to any portable device is lost for a predetermined time, the global emergency stop configured to inhibit motion of all vehicles out of the plurality of autonomous vehicles.
| 8. The system of claim 7, wherein the user interface is configured for displaying the subset of autonomous vehicles in an order depending on a distance of each autonomous vehicle of the subset of autonomous vehicles to the portable device and/or graphically showing a positon of each autonomous vehicle of the subset of autonomous vehicles with respect to the portable device.
| 9. The system of claim 7, wherein the user interface is configured for receiving an input from the user of a release command for releasing the inhibit command, wherein each vehicle controller is configured for turning that autonomous vehicle into an inhibit state by deactivating propulsion of that autonomous vehicle after receiving the inhibit command from the portable device, and wherein, in a case that the vehicle controller is switched off in an active inhibit state and switched on again, that autonomous vehicle will retain the active inhibit state until the inhibit command is released by the portable device.
| 10. The system of claim 7, wherein the user interface is configured for receiving an input from the user of a release command for releasing the inhibit command, wherein the system comprises a plurality of portable devices, and wherein, when a vehicle out of the plurality of autonomous vehicles is inhibited by inhibit commands received from at least two of the plurality of portable devices, the vehicle is only released after all inhibit commands have been released.
| 11. The system of claim 7, wherein the portable device comprises:
an inertial measurement unit for determining at least one of inactivity of personnel carrying the portable device and the portable device having been dropped by personnel carrying the portable device.
| 12. The system of claim 7, wherein the inhibit command is sent directly from the portable device to the at least one of the autonomous vehicles, and wherein each first transmitter is part of a first communication interface and each autonomous vehicle further comprises a second communication interface for communicating with the second transmitter of the portable device to receive the inhibit command.
| 13. The system of claim 7, wherein the portable device further comprises a push button that, when activated by a first user input, causes the portable device to send a first command for activating a local emergency response inhibiting motion of all vehicles out of the plurality of autonomous vehicles present within a predetermined distance from the portable device.
| 14. The system of claim 13, wherein a second user input to the push button of the portable device causes the portable device to send a second command for activating the global emergency stop, and wherein activation of the global emergency stop on the portable device is only possible after activation of the local emergency stop on the portable device.
| 15. The system of claim 7, further comprising a personnel location tag configured to constantly inhibit motion of all vehicles out of the plurality of autonomous vehicles present within a predetermined distance from the personnel location tag and/or configured to make a location of the personnel location tag visible to the centralized platform.
| 16. A method for a portable device configured to communicate with a plurality of autonomous vehicles on a mine site, the method comprising:
displaying, on a user interface including a display of the portable device, an indication of one or more autonomous vehicles of the plurality of autonomous vehicles that are within a predefined distance from the portable device;
responsive to a user input selecting an autonomous vehicle of the one or more autonomous vehicles indicated on the user interface, sending an inhibit command from the portable device to only the selected autonomous vehicle, the inhibit command configured to inhibit and/or stop motion of the selected autonomous vehicle;
pairing and unpairing the portable device to a centralized platform;
monitoring connection to the portable device when paired to the centralized platform; and
initiating an emergency action if the connection to the portable device is lost for a predetermined time.
| 17. The method of claim 16, wherein the selected autonomous vehicle includes a trajectory control system configured to autonomously control the selected autonomous vehicle according to a mission received from the centralized platform, and wherein the inhibit command is configured to inhibit and/or stop motion of the selected autonomous vehicle dictated by the mission.
| 18. The method of claim 17, wherein the inhibit command is sent directly from the portable device to the selected autonomous vehicle via a communication interface between the portable device at the selected autonomous vehicle.
| 19. A portable device for controlling a plurality of autonomous vehicles on a mine site, the portable device comprising:
a push button;
a local emergency stop function that, when activated, causes the portable device to send a first command inhibiting motion of all vehicles out of the plurality of autonomous vehicles present within a predetermined distance from the portable device, and wherein the local emergency stop function is activated by a first user input to the push button on the portable device, and
a global emergency stop function that, when activated, causes the portable device to send a second command for inhibiting motion of all vehicles out of the plurality of autonomous vehicles, and wherein the global emergency stop function is activated by a second user input to the push button,
wherein the push-button has a first and a second stage, and wherein the local emergency stop function is activated by pushing the push-button to the first stage and the global emergency stop function is activated by pushing the push-button through the first stage to the second stage.
| 20. The portable device of claim 19, further comprising:
a communication interface comprising a communication controller, amplifier, antenna, and/or V2V transmitter configured to wirelessly communicate directly with a communication interface of an autonomous vehicle of the plurality of autonomous vehicles,
wherein the portable device is configured to receive position information on a first position of the autonomous vehicle from the autonomous vehicle via the communication interface,
wherein the portable device further comprises a location system and a user interface, the location system comprising a receiver, gyroscope, and/or acceleration sensor and being configured to determine a second position of the at least one portable device, and the user interface comprising a display and being configured for displaying information identifying at least a subset of autonomous vehicles out of the plurality of autonomous vehicles based on the first position received via the communication interface, the subset of autonomous vehicles being determined based on a distance with respect to the second position of the portable device, and
wherein the user interface is further configured for specifically receiving a selection from a user selecting an autonomous vehicle out of the subset of autonomous vehicles identified on the display for selection and for receiving an input from the user of an inhibit command for at least one of inhibiting and stopping motion of the selected autonomous vehicle. | The system has a centralized platform that is configured to store an inventory list of multiple autonomous vehicles (30) travelling on the mine site and comprises a first communication interface configured to communicate missions to multiple autonomous vehicles. Each autonomous vehicle comprises a corresponding first communication interface configured to wirelessly communicate with the centralized platform for receiving a predetermined mission. A trajectory control system autonomously controls autonomous vehicle according to the predetermined mission. A portable device comprises a second communication interface configured to wirelessly communicate with each corresponding second communication interface of each autonomous vehicle of multiple autonomous vehicles. An INDEPENDENT CLAIM is included for a method for a portable device configured to communicate with multiple autonomous vehicles on a mine site. System for controlling multiple autonomous vehicles such as dumper truck, light Vehicle, wheel loader, and motor grader on mine site. The operation safety of a system for controlling multiple autonomous vehicles on a mine site is improved. The portable device is provided for wirelessly stopping autonomous machines that includes the ability to stop all vehicles and/or a selected vehicle. The wireless remote device with a user interface that allows a user to selectively inhibit machines, which may support the use case of safely accessing and egress to/from a particular autonomous machine. The user interface of the handheld device is configured such that the user pushes through the local emergency stop before they reach the second detent position which is a global stop. The operator location tag is configured to constantly inhibit motion of all vehicles out of the autonomous vehicles present within a predetermined distance from the personnel identification tag and make its location visible to the central platform. The drawing shows a schematic drawing of the communication between a portable device, the central platform and an autonomous vehicle. 30Autonomous vehicle40Portable device100Direct communication |
Please summarize the input | Autonomous vehicles as a social network platformThis invention describes a method, the information processing system and the autonomous vehicles that enable in-person socializing of passengers in multiple traveling autonomous vehicles. Under the collaborative control of one or more information processing system and on-bard controllers, multiple traveling autonomous vehicles carrying passengers who have matching interests or requests, overlapping travel routes and times are connected together mechanically while traveling at normal operating speed to establish a connected space to allow in-person interactions and socializing. A cluster of connected autonomous vehicles moves as one integrated vehicle.We claim:
| 1. A method of enabling and managing in-person socializing of passengers in multiple traveling autonomous vehicles comprising
accepting and/or storing information of passengers on current interests, friendships, and/or requests for in-person socializing while traveling in an autonomous vehicle, and ongoing or planned traveling route and traveling time of passengers in two or more autonomous vehicles;
performing match processing to find one or more matches of two or more passengers who are in two or more autonomous vehicles for in-person socializing while traveling in an autonomous vehicle, and overlapping traveling route and traveling time of ongoing or planned trips;
managing the wireless communication with two or more traveling autonomous vehicles and/or devices carried by passengers in the vehicles to collect information from and transmit information to such vehicles and/or passengers;
computing a plan for two or more autonomous vehicles carrying passengers who are matched by match processing wherein the plan includes one or more of traveling route and time information of each vehicle, and information for two traveling autonomous vehicles to complete a connection;
using one or more planning and controller modules of an information processing system to initiate a coordination of connection of said two or more autonomous vehicles and to communicate information to said two or more autonomous vehicles for them to execute the plan;
receiving updates from two or more traveling autonomous vehicles and/or devices carried by passengers in the vehicles and adapt the plan based on the received updates; and
using one or more planning and controller modules of an information processing system to control speed and lane position of said two or more autonomous vehicles during the trip and to connect said two or more autonomous vehicles while said two or more autonomous vehicles are still moving or in-motion.
| 2. The method in claim 1 wherein the plan further includes where, when and how two connected moving or in-motion autonomous vehicles make a separation.
| 3. The method in claim 1 wherein the plan further includes using a small capacity autonomous vehicle to carry passengers, connecting one or more small capacity autonomous vehicles to a large capacity autonomous vehicle and managing the transferring of passengers in the one or more small capacity autonomous vehicles to the large capacity autonomous vehicle.
| 4. The method in claim 3 wherein the plan further includes separation of the one or more small capacity autonomous vehicles from the large capacity autonomous vehicle after the passengers on the one or more small capacity autonomous vehicles have transferred to the large capacity autonomous vehicle.
| 5. The method in claim 1 further comprising presenting a search interface for passengers in two or more autonomous vehicles to search for passengers in other vehicles who share a route or portion of route for potential in-person socializing either prior to, upon or after the start of the trip; presenting an interface for the passengers to select among the search results; and sending the requests for in-person connection to the selected passengers in other one or more vehicles.
| 6. The method in claim 1 further comprising transmitting and presenting a request for in-person socializing to one or more passengers in a second autonomous vehicle when one or more passengers in a first autonomous vehicle select one or more passengers in the second autonomous vehicle to request for in-person socializing; and initiating the coordination of the connection of the moving or in-motion autonomous vehicles after receiving confirmation of acceptance of the in-person socializing request and when the two vehicles share an overlapping route over a time period, wherein the selection by one or more passengers in the first autonomous vehicle and presentation of the request to the one or more passengers in the second autonomous vehicle occur either prior to, upon or after the start of the trips.
| 7. The method in claim 1 further comprising transmitting and presenting a request for in-person socializing to one or more passengers in both a first autonomous vehicle and a second autonomous vehicle when one or more passengers in each autonomous vehicle select one or more passengers in the other autonomous vehicle for in-person socializing; and initiating the coordination of the connection of the moving or in-motion autonomous vehicles after receiving confirmation of acceptance of the in-person socializing request from one or more passengers in both autonomous vehicles and when the two vehicles share an overlapping route over a time period, wherein the selection by one or more passengers in each autonomous vehicle and presentation of the request to the one or more passengers in each autonomous vehicle occur either prior to, upon or after the start of the trips.
| 8. The method in claim 1 further comprising presenting one or more recommendations for in-person socializing to passengers in two or more autonomous vehicles; receiving their decision of whether to accept one or more of the recommendations; and recording as a match for in-person connection when passengers in two or more autonomous vehicles accept a recommendation of connection of the two or more autonomous vehicles, wherein the presentation of the recommendation, receiving of the decisions and recording of the matches occur either prior to, upon or after the start of the trips.
| 9. The method in claim 1 further comprising cancelling an ongoing connection procedure of connecting two or more autonomous vehicles upon receiving a command of cancelation from a passenger in one of the moving or in-motion autonomous vehicles to be connected.
| 10. The method in claim 1 further comprising starting a separation procedure for a first autonomous vehicle in a cluster of two or more connected autonomous vehicles to disconnect from the other vehicle(s) in the cluster upon receiving a command of separation from one or more passengers in the first autonomous vehicle.
| 11. An information processing system for managing and connecting autonomous vehicles to enable in-person socializing of passengers in multiple traveling autonomous vehicles comprising
One or more data modules that accept and/or store information of passengers on current interests, friendships, and/or requests for in-person socializing while traveling in an autonomous vehicle, and ongoing or planned traveling route and traveling time of passengers in two or more autonomous vehicles;
One or more match processing modules that find one or more matches of two or more passengers who are in two or more autonomous vehicles for in-person socializing while traveling in an autonomous vehicle, and overlapping traveling route and traveling time of ongoing or planned trips;
One or more planning and controller modules that compute a plan for two or more autonomous vehicles carrying passengers who are matched by the one or more match processing modules wherein the plan includes one or more of traveling route and time information of each vehicle, and information for two traveling autonomous vehicles to complete a connection, manage the wireless communication with two or more traveling autonomous vehicles and/or devices carried by passengers to collect information from and transmit information to such vehicles and/or passengers, initiate a coordination of connection of said two or more autonomous vehicles, communicate information to two or more autonomous vehicles for them to execute the plan, receive updates from, the two or more traveling autonomous vehicles and/or devices carried by passengers in the vehicles and adapt the plan based on the received updates, and control speed and lane position of said autonomous vehicles during the trip and connect said autonomous vehicles while said autonomous vehicles are still moving or in-motion.
| 12. The information processing system in claim 11 wherein the plan further includes where, when and how two connected moving or in-motion autonomous vehicles make a separation.
| 13. The information processing system in claim 11 wherein the plan further includes using a small capacity autonomous vehicle to carry passengers, connecting one or more small capacity autonomous vehicles to a large capacity autonomous vehicle and managing the transferring of passengers in the one or more small capacity autonomous vehicles to the large capacity autonomous vehicle.
| 14. The information processing system in claim 13 wherein the plan further includes separation of the one or more small capacity autonomous vehicles from the large capacity autonomous vehicle after the passengers on the one or more small capacity autonomous vehicles have transferred to the large capacity autonomous vehicle.
| 15. The information processing system in claim 11 wherein the one or more match processing modules further present a search interface for passengers in two or more autonomous vehicles to search for passengers in other vehicles who share a route or portion of route for potential in-person socializing either prior to, upon or after the start of the trip; present an interface for the passengers to select among the search results; and send the requests for in-person connection to the selected passengers in other one or more vehicles.
| 16. The information processing system in claim 11 wherein the one or more match processing modules further cause a request for in-person socializing to be transmitted and presented to one or more passengers in a second autonomous vehicle when one or more passengers in a first autonomous vehicle select one or more passengers in the second autonomous vehicle to request for in-person socializing, and the one or more planning and controller modules initiate the coordination of the connection of the moving or in-motion autonomous vehicles after receiving confirmation of acceptance of the in-person socializing request and when the two vehicles share an overlapping route over a time period, wherein the selection by one or more passengers in the first autonomous vehicle and presentation of the request to the one or more passengers in the second autonomous vehicle occur either prior to, upon or after the start of the trips.
| 17. The information processing system in claim 11 wherein the one or more match processing modules further cause a request for in-person socializing to be transmitted and presented to one or more passengers in both a first autonomous vehicle and a second autonomous vehicle when one or more passengers in each autonomous vehicle select one or more passengers in the other autonomous vehicle to request for in-person socializing, and the one or more planning and controller modules initiate the coordination of the connection of the moving or in-motion autonomous vehicles after receiving confirmation of acceptance of the in-person socializing request from one or more passengers in both autonomous vehicles and when the two vehicles share an overlapping route over a time period, wherein the selection by one or more passengers in each autonomous vehicle and presentation of the request to the one or more passengers in each autonomous vehicle occur either prior to, upon or after the start of the trips.
| 18. The information processing system in claim 11 wherein the one or more match processing modules further present one or more recommendations for in-person socializing to passengers in two or more autonomous vehicles, receive their decision of whether to accept one or more of the recommendations, and record as a match for in-person connection when passengers in two or more autonomous vehicles accept a recommendation of connection of the two or more autonomous vehicles, wherein the presentation of the recommendation, receiving of the decisions and recording of the matches occur either prior to, upon or after the start of the trips.
| 19. The information processing system in claim 11 wherein the one or more planning and controller modules coordinates two or more moving or in-motion autonomous vehicles to cancel an ongoing connection procedure of connecting two or more autonomous vehicles upon receiving a command of cancelation from a passenger in one of the moving or in-motion autonomous vehicles to be connected.
| 20. The information processing system in claim 11 wherein the one or more planning and controller modules starts a separation procedure for a first autonomous vehicle in a cluster of two or more connected autonomous vehicles to disconnect from the other vehicle(s) in the cluster upon receiving a command of separation from one or more passengers in the first autonomous vehicle.
| 21. An autonomous vehicle capable of connecting to one or more autonomous vehicles for in-person socializing of passengers in multiple traveling autonomous vehicles comprising
a passenger compartment holding one or more passengers;
an energy storage module and/or a power module that can receive or generate power from the environment;
a drive mechanism that converts the energy source in the energy storage module or the power from the power module to produce mechanical motion to propel the autonomous vehicle;
a mechanical joining mechanism capable of connecting with another autonomous vehicle while both are moving or in-motion;
a controller module that exerts overall control of the autonomous vehicle, executes a trip plan, initiates a coordination of connection with other autonomous vehicle(s), controls the process of connecting to one or more other autonomous vehicles, controls speed and lane position of the autonomous vehicles during the trip, and controls the mechanical joining mechanism to connect with the mechanical joining mechanism of another autonomous vehicle while the autonomous vehicles are still moving or in-motion; and,
a wireless communication module to communicate through one or more mobile communication networks with one or more information processing systems from which to receive information needed for connecting to another autonomous vehicle for in-person socializing while moving or in-motion.
| 22. The autonomous vehicle of claim 21 further comprising a sensor module that provides the sensory information for fully autonomous driving or assisted driving, measures the spatial and temporal information, of an autonomous vehicle to be joined while the vehicles are moving or in-motion, and provides sensory feedback to the controller module.
| 23. The autonomous vehicle of claim 21 further comprising a vehicle-to-vehicle communication module that identifies and communicates with the autonomous vehicle to be joined to collaborate on the connection of the mechanical joining mechanisms while the vehicles are moving or in-motion.
| 24. The autonomous vehicle of claim 21 wherein the controller module of each autonomous vehicle in a cluster of two or more connected autonomous vehicles communicates with the vehicles in the cluster and controls its drive mechanism to collaborate with the drive mechanism(s) of the other autonomous vehicles in the cluster so that the drive mechanisms of vehicles in the cluster collectively move the cluster as one integrated autonomous vehicle.
| 25. The autonomous vehicle of claim 21 wherein its passenger compartment becomes connected to the passenger compartment of an autonomous vehicle to which it is connected to allow in-person interaction between passengers in the connected autonomous vehicles.
| 26. The autonomous vehicle of claim 21 wherein its passenger compartment connects to the passenger compartment of an autonomous vehicle to which it is connected to allow a passenger in one autonomous vehicle to move to another connected autonomous vehicle.
| 27. The autonomous vehicle of claim 21 further comprising an in-vehicle communication module that communicates with a personal mobile or wearable device carried by a passenger to accept route information, request for in-person socializing, personal information, or command to the autonomous vehicle transmitted by the personal mobile or wearable device.
| 28. The autonomous vehicle of claim 21 wherein the controller module aborts an ongoing connection procedure upon receiving a command of cancelation from one or more passengers in the autonomous vehicle.
| 29. The autonomous vehicle of claim 21 wherein the controller module starts a separation procedure for the autonomous vehicle in a cluster of two or more connected autonomous vehicles to disconnect from the other vehicle(s) in the cluster upon receiving a command of separation from one or more passengers in the autonomous vehicle.
| 30. The autonomous vehicle of claim 21 wherein the controller module starts a separation procedure for the autonomous vehicle in a cluster of two or more connected autonomous vehicles to disconnect from the other vehicle(s) in the cluster upon receiving a command of separation from the one or more information processing systems through the wireless communication module.
| 31. The autonomous vehicle of claim 21 wherein the passenger compartment is of small capacity holding one or two passengers.
| 32. The autonomous vehicle of claim 21 wherein the passenger compartment is of large capacity holding four or more passengers. | The method involves performing match processing to find matches of passengers in autonomous vehicles (30, 40) for in-person socializing while traveling in the autonomous vehicle, and overlapping traveling route and traveling time of ongoing or planned trips. The wireless communication with the traveling autonomous vehicles and devices carried by passengers in the vehicles are managed to collect information from and transmit information. A plan for autonomous vehicles carrying matched passengers by match processing where the plan includes traveling route and time information of each vehicle, and information for two traveling autonomous vehicles is computed to complete a connection. Information to autonomous vehicles is communicated to execute the plan. Updates are received from traveling autonomous vehicles and devices carried by passengers in the vehicles and adapt the plan based on the received updates. INDEPENDENT CLAIMS are also included for the following:an information processing system for managing and connecting autonomous vehiclesan autonomous vehicle. Method for enabling and managing in-person socializing of passengers in multiple traveling autonomous vehicles. The method enables improving space efficiency and convenience to transport individual or small number of passengers, while large capacity autonomous vehicles provide energy and space efficiency and enable close contact in-person socializing when a large group of passengers share travel overlapping route. The drawing shows a schematic view of a mechanical joining mechanism for two autonomous vehicles to connect on a side. 30, 40Autonomous vehicle31Side panel32Middle horizontal line33Vertical lines35Opened-up side panels |
Please summarize the input | AUTONOMOUS VEHICLES FOR EFFICIENT TRANSPORTATION AND DELIVERY OF PACKAGESThis invention describes a method, the information processing system and the autonomous vehicles for transferring of a package from one traveling autonomous vehicle to another traveling autonomous vehicle. An information processing system computes an optimized plan for two or more traveling autonomous vehicles to carry out a transfer of a package from the first traveling autonomous vehicle to a second traveling autonomous vehicle, communicates the plan to the traveling autonomous vehicles, and the traveling autonomous vehicles executes the plan and completes the transfer while traveling at normal speed. This invention will lead to significantly more efficient transportation and delivery of packages, reducing the need to transportation hubs, transportation time and/or energy consumption.We claim:
| 1. An information processing system for intelligent transportation comprising
One or more data modules that accept and/or store information of packages that are currently being transported and the traveling autonomous vehicles they are on, and packages that are scheduled to be transported and their origin and destination;
One or more planning and controller modules that comprise several submodules including a sub-module that computes a plan for two or more autonomous vehicles carrying packages whereas the plan includes one or more of traveling route of each vehicle; time information of the trip of each vehicle; speed and lane position of the autonomous vehicles during the trip to enable the connection or contact of two or more traveling autonomous vehicles for the transfer of package(s); where and when two traveling autonomous vehicles complete a transfer, and whereas where, when and how packages to one or more destinations are to be transferred to another traveling autonomous vehicle; and sub-module that manages the wireless communication with two or more traveling autonomous vehicles and/or tracking devices to collect information from and transmit information to such vehicles and/or packages, to communicate information to two or more autonomous vehicles for them to execute the plan, and to receive updates from the two or more traveling autonomous vehicles and/or tracking devices in the autonomous vehicles, whereas the one or more planning and controller modules adapts the plan based on the received updates;
Whereas the one or more planning and controller modules manage the execution of the transfer of packages between two or more autonomous vehicles and initiates the connection or contact of the vehicles.
| 2. The information processing system of claim 1 further comprising one or more match processing modules that match packages that have overlapping traveling route(s), and/or require transportation in overlapping time.
| 3. The information processing system of claim 1 whereas the one or more planning and controller modules produce a plan in which a traveling small capacity autonomous vehicle is connected to a traveling larger capacity autonomous vehicle for packages in the traveling small capacity autonomous vehicle to be transferred to the larger capacity autonomous vehicle, or for packages in the traveling large capacity autonomous vehicle to be transferred to the small capacity autonomous vehicle.
| 4. A method of delivery of a package comprising
Transporting in a first traveling autonomous vehicle a package to be delivered to a destination or recipient;
Computing a plan for two or more traveling autonomous vehicles to carry out a transfer of a package from the first traveling autonomous vehicle to a second traveling autonomous vehicle;
Receiving updates from a plural of autonomous vehicles and/or devices embedded in packages carried by the plural of autonomous vehicles and adapting the plan based on the received updates;
Communicating the plan to the two traveling autonomous vehicles for them to execute the plan;
Controlling, according to the plan, the first traveling autonomous vehicle to travel a first route that will bring it to be immediately adjacent to the second traveling autonomous vehicle which is traveling on a second route that will reach or get close to the destination or recipient, or in which the recipient is traveling;
Controlling the first traveling autonomous vehicle and the second traveling autonomous vehicle to be immediately adjacent to each other, and,
Using a connecting, contacting or transferring mechanism to transfer the package from the first traveling autonomous vehicle to the second traveling autonomous vehicle or to deliver the package to the recipient in the second traveling autonomous vehicle.
| 5. The method of claim 4 further comprising obtaining the signature from recipient traveling in the second traveling autonomous vehicle.
| 6. The method of claim 4 further comprising one or more traveling autonomous vehicles carrying packages for delivery to a plural of destinations in addition to the first and second traveling autonomous vehicles; and updating the routes of one or more traveling autonomous vehicles the based on the destinations of the packages carried by the vehicles to improve the delivery of the packages to their intended destinations, including reducing the cost or the delivery time of one or more of the packages.
| 7. The method of claim 4 further comprising using a mechanical mechanism to physically connect the first and second traveling autonomous vehicles into one virtual vehicle to complete the transfer or delivery of one or more packages, whereas the two connected vehicles travel as one combined vehicle under common or coordinated control.
| 8. The method of claim 4 whereas using a connecting, contacting or transferring mechanism to transfer or deliver the package comprising either one or both of the first and the second traveling autonomous vehicles extend out a connecting, contacting or transferring mechanism, and the first and second traveling autonomous vehicles coordinate their control to complete the transfer of one or more of packages.
| 9. The method of claim 8 whereas the connecting, contacting or transferring mechanism uses a robotic arm.
| 10. The method of claim 8 whereas the connecting, contacting or transferring mechanism uses magnetic force.
| 11. The method of claim 4 further comprising the two traveling autonomous vehicles first establishing communication, aligning their travel, coming into proximity of each other, establishing physical contact or connection, maintaining communication and coordinating travel at the same or approximately the same speed and direction after the contact or connection is established, then completing the delivery, transfer or exchange of packages, retracting the connection or contact, separate, and finally travelling independently on each's own route.
| 12. The method of claim 4 whereas one of the traveling autonomous vehicles is an aerial vehicle.
| 13. The method of claim 12 further comprising using the aerial traveling autonomous vehicle picking up a package from a land traveling autonomous vehicle at one side; flying over a unfavorable segment of land route; and transferring the package to another land traveling autonomous vehicle at the other side, which continues the transportation of the package.
| 14. An autonomous vehicle comprising
A package compartment that can hold one or more packages;
A package transfer mechanism that retrieves a package to be transferred from the package compartment, connects or contacts with one or more other autonomous vehicles for transfer of packages, transfers the package to and/or receive a package from another traveling autonomous vehicle;
A controller module that keeps a record of the locations of the packages inside the package compartment, controls engagement and disengagement of the package transfer mechanism, and the transfer of packages;
A wireless communication module to communicate with one or more information processing systems that plan and manage the transfer of packages between traveling autonomous vehicles;
A sensor module that provides the sensory information to the controller module;
A vehicle-to-vehicle communication module that communicates with the traveling autonomous vehicle with which a package transfer is to be completed;
An energy storage module and/or a power module; and,
A drive mechanism that converts energy to produce mechanical motion to propel the autonomous vehicle.
| 15. The autonomous vehicle of claim 14 further comprising an in-vehicle communication module that communicates with tracking devices embedded with package(s) to track or monitor the package(s) on-board in the package compartment.
| 16. The autonomous vehicle of claim 14 whereas the package transfer mechanism uses a robotic arm.
| 17. The autonomous vehicle of claim 14 whereas the package transfer mechanism uses a magnetic force. | The system has planning and controller modules including a sub-module that manages wireless communication with traveling autonomous vehicles (30, 40) i.e. aerial vehicles, and/or tracking devices to collect information from and transmit information to vehicles and/or packages (36, 38), to communicate information to autonomous vehicles to execute plan and to receive updates from the traveling autonomous vehicles and/or tracking devices in the autonomous vehicles. The planning and controller modules adapt the plan based on the received updates, manage execution of transfer of packages between the autonomous vehicles and initiate connection or contact of the vehicles. INDEPENDENT CLAIMS are also included for the following:a method for delivering a packagean autonomous vehicle. Information processing system for facilitating intelligent transportation of large number of packages to an autonomous vehicle e.g. large capacity autonomous vehicle such as aerial vehicle (all claimed). The system dynamically updates routes of traveling autonomous vehicles to optimize overall efficiency and/or guarantee delivery time of the packages. The autonomous vehicles can physically connect or contact for transferring packages from one of the traveling autonomous vehicles to the other vehicle to save travel time and to avoid disruption to traffic while the vehicles travel at normal speed range. The drawing shows a rear view illustrating transfer of a package from a first traveling autonomous vehicle to a second traveling autonomous vehicle using robotic arms. 30, 40Traveling autonomous vehicles31Robotic arm32Grabber35Package compartment36, 38Packages |
Please summarize the input | AUTONOMOUS DRIVING CONTROL METHOD BASED ON TELE-OPERATED DRIVING INFORMATION AND APPARATUS AND SYSTEM THEREFORThe present invention relates to an autonomous driving control method based on remote driving information and an apparatus and system therefor. According to one aspect, an autonomous driving control method based on remote control information in a vehicle linked to a remote control center and a shared server through a network includes: In the autonomous driving mode, determining whether autonomous driving is possible for the road section ahead, switching to remote driving mode based on the determination that autonomous driving is not possible, and video captured by a remote driving camera Transmitting to the remote control center, receiving a remote driving control signal corresponding to the image, and controlling the operation of the vehicle based on the remote driving control signal, wherein the image and the remote driving control are controlled. It is characterized by remote driving information generated based on signals being shared with other vehicles.|1. A remote control information-based autonomous driving control method for a vehicle linked to a remote control center and a shared server through a network, comprising: determining whether autonomous driving on the road section ahead is possible in an autonomous driving mode;
switching to a remote driving mode based on the determination result that the autonomous driving is not possible;
transmitting an image captured by a remote driving camera to the remote control center;
Receiving a remote driving control signal corresponding to the image; and controlling the operation of the vehicle based on the remote driving control signal, wherein the video and remote driving information generated based on the remote driving control signal are shared with other vehicles.
| 2. The method of claim 1, further comprising determining whether remote driving information pre-stored corresponding to the road section ahead exists in the internal storage, wherein the remote driving information pre-stored corresponding to the road section ahead exists in the internal storage. Characterized in that switching to the remote driving mode based on what is not present in the method.
| 3. The method of claim 1, further comprising: generating precise positioning information and route creation information corresponding to the road section ahead based on high-precision map information and sensing information collected from a provided sensor;
Comparing the precise positioning information and the route creation information with the remote driving information based on the presence of remote driving information previously stored corresponding to the road section ahead; and determining whether the autonomous driving mode can be maintained using the remote driving information according to the comparison result.
| 4. The method of claim 3, wherein the remote driving mode is switched based on the fact that it is not possible to maintain the autonomous driving mode using the remote driving information.
| 5. The method of claim 1, further comprising transmitting a predetermined warning alarm message notifying that autonomous driving on the road section ahead is impossible based on the switch to the remote driving mode to a following vehicle through vehicle-to-vehicle communication, method.
| 6. The method of claim 5, wherein upon transmission of the warning alarm message, the shared remote driving information is acquired by the following vehicle, and the autonomous driving mode of the following vehicle is maintained based on the acquired remote driving information. Characterized in that, a method.
| 7. The method of claim 6, wherein the remote driving information includes at least one of waypoint array information, route information, and track information corresponding to the road section ahead.
| 8. The method of claim 1, wherein the remote driving information is generated by the remote control center and then registered and shared on the shared server.
| 9. A remote control information-based autonomous driving control method in a remote control center linked to a vehicle and a shared server through a network, comprising: receiving an image of a road section ahead captured by a remote driving camera of the vehicle;
outputting the received image on a screen; and transmitting a remote driving control signal generated corresponding to the output screen to the vehicle.
generating remote driving information based on the received image and the remote driving control signal; and registering the generated remote driving information on the shared server.
| 10. The method of claim 9, wherein the remote driving information registered in the shared server is shared with other vehicles in real time or periodically.
| 11. The method of claim 10, wherein the other vehicle includes a vehicle following the vehicle along the road section ahead in an autonomous driving mode.
| 12. The method of claim 9, wherein the shared server includes at least one of a cloud server, a local edge server, and a private server.
| 13. The method of claim 9, wherein the remote driving information includes at least one of waypoint information, route information, and track information corresponding to the road section ahead.
| 14. The method of claim 9, wherein the vehicle transmits a compressed image captured by the remote driving camera to the remote control center based on the inability of autonomous driving on the road section ahead while driving in autonomous driving mode, and the remote A method in which the control center decompresses the compressed video and outputs it on the screen.
| 15. A vehicle linked to a remote control center and a shared server through a network, comprising: an autonomous driving determination unit that determines whether autonomous driving on the road section ahead is possible while driving in autonomous driving mode;
As a result of the determination, a remote driving connection unit switches to a remote driving mode based on the fact that autonomous driving is not possible, establishes communication with the remote control sensor, and transmits an image captured by a remote driving camera to the remote control center;
a control command generator that generates a control command to control the operation of the vehicle based on a remote driving control signal received from the remote control center in correspondence with the image; and a remote driving information storage that stores remote driving information generated based on the image and the remote driving control signal, wherein the remote control information is shared with other vehicles.
| 16. The method of claim 15, wherein the autonomous driving determination unit determines whether remote driving information pre-stored corresponding to the road section ahead exists in the remote driving information storage, and the remote driving information pre-stored corresponding to the road section ahead is present in the remote driving information storage. and determining the transition to the remote driving mode based on what is not present in the internal storage.
| 17. The method of claim 15, further comprising: a high-precision positioning unit that generates precise positioning information corresponding to the road section ahead based on high-precision map information and sensing information collected from a provided sensor; and a route generator that generates a route corresponding to the road section ahead based on the high-precision map information and the sensing information, wherein the autonomous driving determination unit has remote driving information previously stored corresponding to the road section ahead. Comparing the precise positioning information and the generated route information with the remote driving information, respectively, and determining whether it is possible to maintain the autonomous driving mode using the remote driving information according to the comparison result. A vehicle.
| 18. The vehicle according to claim 17, wherein the vehicle is switched to the remote driving mode based on the fact that it is not possible to maintain the autonomous driving mode using the remote driving information.
| 19. The V2X (Vehicle to Everything) system of claim 15, which transmits a predetermined warning alarm message notifying that autonomous driving on the road section ahead is impossible based on the switch to the remote driving mode to a following vehicle through vehicle-to-vehicle communication. A vehicle further comprising a communications unit.
| 20. The method of claim 18, wherein upon transmission of the warning alarm message, the shared remote driving information is acquired by the following vehicle, and the autonomous driving mode of the following vehicle is maintained based on the obtained remote driving information. Characterized in that, a vehicle.
| 21. The vehicle according to claim 15, wherein the remote driving information includes at least one of waypoint array information, route information, and track information corresponding to the road section ahead.
| 22. The vehicle according to claim 15, wherein the remote driving information is generated by the remote control center and then registered in the shared server and shared with the other vehicle.
| 23. A remote control center linked to a vehicle and a shared server through a network, comprising: a communication device that receives compressed images of a road section ahead captured by a remote driving camera of the vehicle;
a decoder that decodes the received video and outputs it on a monitoring screen; and a remote driving device that generates a remote driving control signal corresponding to the image displayed on the screen according to the remote driver's operation. and a main controller that transmits the remote driving control signal to the vehicle through the communication device, wherein remote driving information is generated based on the received image and the remote driving control signal and registered in the shared server. done by remote control center.
| 24. The method of claim 23, wherein the remote driving information registered in the shared server is shared with other vehicles following the vehicle along the road section ahead in autonomous driving mode, so that the autonomous driving mode of the other vehicles is maintained. remote control center.
| 25. While driving in autonomous driving mode, a vehicle switches to remote driving mode based on the inability to drive autonomously in the road section ahead and captures images through a provided remote driving camera;
a remote control center that generates a remote driving control signal corresponding to the captured image and transmits it to the vehicle, and generates remote driving information corresponding to the road section ahead based on the image and the remote driving control signal; and a shared server in which the remote driving information is registered and maintained by the remote control center, and the remote driving information is shared with other vehicles following the vehicle along the road section ahead in an autonomous driving mode, so that the other vehicles A remote driving system, characterized in that the autonomous driving mode is maintained. | The system has a remote control vehicle system provided with a vehicle interface, a remote control vehicle controller, and a first communication device. A remote control center system is provided with a traveling device interface, a traveling device, a remote control center controller, and a second communication device. The vehicle interface is provided with multiple first descriptions related to communication rules between electronic control units (ECU) mounted on a vehicle, where the first descriptions include a control command description, a vehicle specification description, a sensor data description, and a vehicle state description. The traveling device interface comprises multiple second descriptions related to communication rules between the remote control center controller and the traveling devices. INDEPENDENT CLAIMS are also included for:a method for operating a system for supporting remote driving or tele-operated driving (ToD) of a self-driving vehicle by a remote control vehicle device; anda non-volatile computer readable recording medium comprising a set of instructions for supporting remote driving or ToD of a self-driving vehicle by remote control vehicle device. System for supporting remote driving or ToD of a self-driving vehicle by a remote control vehicle device. Can also be used for mobile communication systems. The system can preemptively decide whether to drive remotely before network situation deteriorates by sharing remote driving capability of a road with the remote driving center, so as to realize safe remote driving of the vehicle. The system minimizes and enables safer and smoother autonomous driving of the vehicle. The vehicle can maintain autonomous driving by using the remote driving information without switching to the remote driving mode by storing the remote driving information of the preceding vehicle in a shared space. The drawing shows a block diagram of a system for supporting remote driving or ToD of a self-driving vehicle (Drawing includes non-English language text). |
Please summarize the input | REMOTE CONTORL METHOD, DEVICE AND SYSTEM SUPPROTING MULTIPLE VEHICLE AND MULTIPLE REMOTE CONTROL DEVICESOne embodiment, in a teleoperated driving (ToD) system. A ToV (Teleoperated Vehicle) system including a vehicle I/F, a ToV controller, and a first network device, and a Toleoperated Centor (ToC) system including a traveling device I/F, a traveling device, a ToC controller, and a second network device,, The first network device and the second network device support communication between the ToV system and the ToC system, and the vehicle I/F communicates between ECUs (Electronic Control Units) installed in a plurality of vehicle types and the ToD. It is a ToD system that includes multiple descriptions related to rules.|1. In a teleoperated driving (ToD) system. A ToV (Teleoperated Vehicle) system including a vehicle I/F, a ToV controller, and a first network device, and a Toleoperated Centor (ToC) system including a traveling device I/F, a traveling device, a ToC controller, and a second network device,, The first network device and the second network device support communication between the ToV system and the ToC system, and the vehicle I/F communicates between ECUs (Electronic Control Units) installed in a plurality of vehicle types and the ToD. A ToD system that includes a plurality of descriptions related to rules.
| 2. The ToD system according to claim 1, wherein the plurality of descriptions include a control command description, a vehicle specification description, a sensor data description, and a vehicle state description.
| 3. The ToD system according to claim 2, wherein the control command Description includes a command set for vehicle control related to the plurality of vehicle types.
| 4. The ToD system according to claim 1, wherein the traveling device I/F includes a plurality of descriptions related to communication rules between the ToC controller and various types of traveling devices.
| 5. The ToD system according to claim 4, wherein the plurality of descriptions include a traveling device control command description, a traveling device specification description, a traveling device data description, and a traveling device state description.
| 6. The ToD system according to claim 1, wherein the ToV controller processes a ToD On request from a vehicle.
| 7. The method of claim 6, wherein the ToV controller initializes all units of the ToV system when receiving the ToD On request from the vehicle I/F, checks whether the ToC system is ready for remote driving, and prepares the vehicle to receive a control signal. A ToD system that performs verification that
| 8. The ToD system according to claim 1, wherein the ToV system is mounted on an autonomous vehicle.
| 9. The ToD system according to claim 1, wherein the ToV system further includes an external sensor, a video transmitter, and a voice communication device.
| 10. The ToD system according to claim 9, wherein the external sensor senses the outside of the vehicle corresponding to the driver's line of sight.
| 11. The ToD system according to claim 9, wherein the video transmitter compresses the external sensor information.
| 12. The method of claim 1, wherein the ToC controller initializes all units of the ToC system when receiving the ToD On request from the ToV controller, checks whether an operator to operate the remote driving system is ready, and notifies the ToV of preparation for receiving a remote driving signal. Doing, ToD system.
| 13. The ToD system according to claim 1, wherein the ToC system further includes a video receiver, a monitor and speaker device, and a voice communication device.
| 14. The ToD system according to claim 1, wherein the voice communication device is related to a voice call between a passenger inside the vehicle and a ToC operator.
| 15. The ToD system according to claim 1, wherein the second network device is a separate communication device composed of V2X equipment, Telematics equipment, or a dedicated QoS/satellite communication network.
| 5. The ToD system according to claim 4, wherein the various types of travel devices include the helicopter control device type, the driver's seat type of the vehicle, the fighter control type, and the ship control type.
| 17. The method of claim 16, wherein the driving device includes a mechanical device and a cockpit, and the mechanical device includes a device related to a driver's seat of a vehicle, and the device related to a driver's seat of a vehicle includes a steering wheel, a brake, an accelerator pedal, a transmission and a wiper, and a direction A ToD system including an indicator light control unit.
| 18. A method of operating a teleoperated vehicle (ToV) system related to teleoperated driving (ToD). Receiving a signal from a ToC (Toleoperated Centor) system including a traveling device I/F, a traveling device, a ToV controller, and a second network device through a first network device;
Delivering a command corresponding to a signal from the ToC system to an Electronic Control Unit (ECU) through a vehicle I/F;
wherein the vehicle I/F includes a plurality of descriptions related to communication rules between an electronic control unit (ECU) mounted on a plurality of vehicle types and the ToD.
| 19. A non-volatile computer readable storage medium storing at least one computer program comprising instructions that, when executed by at least one processor, cause the at least one processor to perform operations for a relay UE, the operations comprising: ToC The ToV (Teleoperated Vehicle) system receives signals related to remote driving from the Toleoperated Centor (Toleoperated Centor) system;
The vehicle I/F of the ToV system transmits the remote driving related signal to an electronic control unit (ECU);
wherein the ToV system includes a vehicle I/F, a ToV controller, and a first network device, and the ToC system includes a traveling device I/F, a traveling device, a ToC controller, and a second network device; A first network device and a second network device support communication between the ToV system and the ToC system, and the vehicle I/F transmits a plurality of descriptions related to communication rules between ECUs installed in a plurality of vehicle types and the ToD. Including, a storage medium.
| 20. In a teleoperated vehicle (ToV) device related to teleoperated driving (ToD). Receiving signals related to remote driving from ToC (Toleoperated Centor) system;
The vehicle I/F transmits the remote driving related signal to an ECU (Electronic Control Unit);
wherein the ToV device includes a vehicle I/F, a ToV controller, and a first network device, and the ToC device includes a traveling device I/F, a traveling device, a ToC controller, and a second network device; A first network device and a second network device support communication between the ToV system and the ToC system, and the vehicle I/F transmits a plurality of descriptions related to communication rules between ECUs installed in a plurality of vehicle types and the ToD. Including device. | The system has two network devices for supporting communication between a teleoperated vehicle (ToV) system and a trolley operated center (ToC) system. A vehicle I-F communicates between electronic control units (ECU) installed in multiple types of vehicles and a teleoperated driving (ToD). The ToD system is mounted on an autonomous vehicle. An external sensor senses an outer side of the vehicle corresponding to a driver's line of sight. A video transmitter compresses external sensor information, and a voice communication device is related to a voice call between a passenger inside the vehicle and an ToC operator. INDEPENDENT CLAIMS are also included for:a non-volatile computer readable storage medium for storing a set of instructions for for operating a ToV; anda method for operating a teleoperated vehicle (ToV) system Teleoperated vehicle (ToV) system. The system provides description-based I-F between the vehicle and the ToD controller, so that sequence control between the ToC and ToV can be performed in an effective manner. The drawing shows a block diagram of a ToV system (Drawing includes non-English language text). |
Please summarize the input | APPARATUS FOR WIRELESS COMMUNICATION BETWEEN PLATOONING VEHICLES, AND OPERATING METHOD THEREOFDisclosed is a method of operating an apparatus for wireless communication between vehicles platooning in an autonomous driving system. A method of operating an apparatus for wireless communication between vehicles traveling in a platooning system in an autonomous driving system includes a plurality of reception beams having different directions when a preceding vehicle of a vehicle including the apparatus rotates among vehicles traveling in a platoon. sweeping some reception beams among (Rx beams), wherein the partial reception beams are selected in consideration of the rotation direction of the preceding vehicle; forming a beam pair link (BPL) by selecting one of a plurality of transmission beams of the preceding vehicle and a combination of the partial reception beams; sweeping some transmission beams among a plurality of transmission beams (Tx beams) having different directions, wherein the partial transmission beams are selected in consideration of the rotation direction; and forming a beam pair link by selecting one of a combination of the partial transmission beams and a plurality of reception beam combinations of a vehicle following the vehicle including the device.|1. In the operating method of a device for wireless communication between vehicles that are platooning in an autonomous driving system, when a preceding vehicle of a vehicle including the device rotates among vehicles traveling in a platoon, a plurality of receptions having different directions sweeping some reception beams among Rx beams, wherein the partial reception beams are selected based on an area formed by a rotational direction of the preceding vehicle and an existing traveling direction of the vehicles traveling in the queue;
forming a beam pair link (BPL) by selecting one of a plurality of transmission beams of the preceding vehicle and a combination of the partial reception beams; and forming a new beam pair link when the beam pair link fixing timer expires when the preceding vehicle does not rotate.
| 2. The method of claim 1 , wherein the partial reception beams are selected by further considering a location of the preceding vehicle.
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| 5. The wireless communication between vehicles according to claim 1, wherein the selecting of one of the plurality of transmission beams and the partial reception beam combinations of the preceding vehicle comprises selecting based on the signal reception strength of the receiving vehicle. How the device works for you.
| 6. In the operating method of a device for wireless communication between vehicles that are platooning in an autonomous driving system, when a preceding vehicle of a vehicle including the device rotates among vehicles traveling in a platoon, a plurality of transmissions having different directions sweeping some transmission beams among Tx beams, wherein the partial transmission beams are selected based on an area formed by the rotational direction and an existing driving direction of the vehicles traveling in the queue;
forming a beam pair link by selecting one of a plurality of combinations of the transmission beams and a plurality of reception beams of a vehicle following the vehicle including the device; and forming a new beam pair link when the beam pair link fixing timer expires when the preceding vehicle does not rotate.
| 7. The method of claim 6 , wherein the partial transmission beams are selected by further considering a position of the following vehicle.
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| 10. The method of claim 6, wherein the selecting of one of a plurality of combinations of the partial transmission beams and a plurality of reception beams of a vehicle following the vehicle including the device comprises selecting based on signal reception strength in the reception vehicle. , a method of operating a device for vehicle-to-vehicle wireless communication.
| 11. An apparatus for wireless communication between vehicles platooning in an autonomous driving system, comprising: a transceiver including a plurality of antenna components; and a processor coupled to the transceiver, wherein the processor is configured to, when a vehicle preceding a vehicle including the apparatus rotates among vehicles traveling in a line, some of a plurality of reception beams (Rx beams) having different directions sweeping a reception beam, wherein the partial reception beam is selected based on an area formed by a rotational direction of the preceding vehicle and an existing traveling direction of the vehicles traveling in the group, a plurality of transmission beams of the preceding vehicle and the portion A vehicle that forms a beam pair link (BPL) by selecting any one of the reception beam combinations, and forms a new beam pair link when the preceding vehicle does not rotate and the beam pair link fixed timer expires A device for inter-wireless communication.
| 12. The apparatus of claim 11 , wherein the partial reception beams are selected by further considering a location of the preceding vehicle.
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| 15. The inter-vehicle method of claim 11 , wherein the selecting, by the processor, from among the plurality of transmission beams and the partial reception beam combinations of the preceding vehicle, is a step of selecting based on the signal reception strength of the receiving vehicle. Device for wireless communication.
| 16. An apparatus for wireless communication between vehicles platooning in an autonomous driving system, comprising: a transceiver including a plurality of antenna components; and a processor coupled to the transceiver, wherein the processor is configured to, when a vehicle preceding a vehicle including the apparatus rotates among vehicles traveling in a line, some of a plurality of Tx beams having different directions sweeping a transmission beam, wherein the partial transmission beam is selected based on an area formed by the rotational direction and an existing driving direction of the vehicles traveling in the queue, the partial transmission beam and a vehicle following a vehicle including the device Selecting any one of a plurality of reception beam combinations of A device for wireless communication between vehicles.
| 17. The apparatus of claim 16 , wherein the partial transmission beams are selected by further considering a position of the following vehicle.
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| 20. The method of claim 16, wherein the selecting of one of a plurality of combinations of the partial transmission beams and a plurality of reception beams of a vehicle following the vehicle including the device comprises selecting based on signal reception strength in the reception vehicle. , a device for wireless communication between vehicles.
| 21. In the operating method of a device for wireless communication between vehicles that are platooning in an autonomous driving system, when a preceding vehicle of a vehicle including the device rotates among vehicles traveling in a platoon, a plurality of receptions having different directions sweeping some reception beams among Rx beams, wherein the partial reception beams are selected based on an area formed by a rotational direction of the preceding vehicle and an existing traveling direction of the vehicles traveling in the queue;
forming a beam pair link (BPL) by selecting one of a plurality of transmission beams of the preceding vehicle and a combination of the partial reception beams; Sweeping some transmission beams among a plurality of Tx beams having different directions, wherein the partial transmission beams are selected based on an area formed by the rotation direction and the existing driving directions of the vehicles traveling in the queue. step;
forming a beam pair link by selecting one of a plurality of combinations of the transmission beams and a plurality of reception beams of a vehicle following the vehicle including the device; and forming a new beam pair link when the beam pair link fixing timer expires when the preceding vehicle does not rotate.
| 22. An apparatus for wireless communication between vehicles platooning in an autonomous driving system, comprising: a transceiver including a plurality of antenna components; and a processor coupled to the transceiver, wherein the processor is configured to, when a vehicle preceding a vehicle including the apparatus rotates among vehicles traveling in a line, some of a plurality of reception beams (Rx beams) having different directions sweeping a reception beam, wherein the partial reception beam is selected based on an area formed by a rotational direction of the preceding vehicle and an existing driving direction of the vehicles traveling in the group, a plurality of transmission beams of the preceding vehicle and the portion A beam pair link by selecting any one of the reception beam combinations; BPL) and some transmit beams among a plurality of transmit beams (Tx beams) having different directions, wherein the some transmit beams are selected based on an area formed by the rotational direction and the existing travel directions of the vehicles traveling in the queue - sweeping (sweeping), selecting any one among a plurality of combinations of the receiving beams of the following vehicle of the vehicle including the partial transmission beam and the device to form a beam pair link, and the preceding vehicle An apparatus for wireless communication between vehicles, which, if not rotated, forms a new beam pair link when the beam pair link lock timer expires.
| 23. A computer program stored in a computer-readable recording medium in combination with hardware to execute the method of any one of claims 1 to 2, 5 to 7, 10 and 21. | The method involves sweeping (650,680) some reception beams among multiple reception beams having different directions, where the partial reception beams are selected based on an area formed by a rotational direction of the preceding vehicle and an existing traveling direction of the vehicles traveling in a line. A beam pair link (BPL) is formed (660,690) by selecting multiple transmission beams of the preceding vehicle and a combination of the partial reception beams. A new beam pair link is formed (610) when the beam pair link lock timer expires if the preceding vehicle does not turn. The partial reception beams are selected by considering a location of the preceding vehicle. INDEPENDENT CLAIMS are included for the following:a device for wireless communication between vehicles in autonomous driving system; anda computer readable recording medium recording program for operating device for wireless communication between vehicles in autonomous driving system. Method for operating device for wireless communication between vehicles in autonomous driving system. The method enables shortening beam pair link (BPL) formation time in mmWave sidelink between vehicles during 5G V2X line driving, so that service and data transmission and reception can be performed in a seamless manner and use of a battery of the vehicle can be reduced. The drawing shows a flowchart illustrating a method for operating device for wireless communication between vehicles in autonomous driving system. (Drawing includes non-English language text) 610Step for forming new beam pair link when beam pair link lock timer expires645Step for selecting some receive beams considering existing driving direction650,680Step for sweeping reception beams among multiple reception beams having different directions660,690Step for forming BPL by selecting multiple transmission beams of preceding vehicle and combination of partial reception beams675Step for selecting reception beam in consideration of existing driving direction |
Please summarize the input | Sensor fusion-based object position estimation method and device thereforThe present invention relates to an object recognition technology for autonomous driving, and a method for estimating an object location based on sensor fusion comprises the steps of acquiring external environment information from an external device through a wireless network, analyzing a sensor state of a sensor system, and the external environment. Generating a noise model based on environment information and sensor state analysis results, estimating an object location by applying the noise model to observation data obtained from the sensor system, and outputting an object location estimation result. can do. Accordingly, the present invention has the advantage of providing a more accurate and reliable object location estimation method by adaptively applying a noise model according to changes in the external environment and sensor state.|1. A method for estimating an object location based on sensor fusion, the method comprising: acquiring external environment information from an external device through a wireless network;
Analyzing the sensor state of the sensor system;
generating a noise model based on the external environment information and the sensor state analysis result;
estimating an object position by applying the noise model to observation data obtained from the sensor system; and outputting an object location estimation result.
| 2. The method of claim 1, wherein the external environment information includes at least one of weather information, illuminance information, sunlight intensity information, rainfall information, snowfall information, and fog information.
| 3. The method of claim 1, wherein the external device includes at least one of a Local Dynamic Map (LDM), an environment sensor, a Road Side Unit (RSU), and a vehicle terminal, which is an environment information storage for each region.
| 4. The method of claim 1, wherein the wireless network includes at least one of a mobile communication network and a vehicle-to-vehicle communication network, wherein the mobile communication network includes at least one of a Longterm Evolution (LTE) communication network, a 5G New Radio (NR) communication network, and a Wi-Fi communication network, The vehicle-to-vehicle communication network is an IEEE 802.11p-based WAVE (Wireless Access for Vehicle Environment) communication network, an LTE-based V2X (Vehicle to Everything) communication network, a mmWave communication network, a 5G NR-V2X communication network, and a DSRC (Dedicated Short Range Communication) communication network A method comprising at least one.
| 5. The method of claim 1, wherein the sensor state analysis result includes at least one of a failure state, measurement accuracy, measurement error, variance and standard deviation for measurement data.
| 6. The method of claim 1, wherein the sensor system includes a camera and a lidar.
| 7. The method of claim 1, wherein the noise model includes a measurement noise model and an observation noise model, the measurement noise model includes a measurement model noise level, and the observation noise model includes an observation model noise level, the measurement model The method of claim 1, wherein the noise level and the observation model noise level are variable values.
| 2. The method of claim 1, wherein the generating of the noise model comprises: analyzing a sensor state for each sensor included in the sensor system and generating a sensor state analysis result;
generating a learning dataset by performing pre-processing on the external environment information;
And determining the noise model by performing machine learning based on the sensor state analysis result and the learning dataset.
| 9. The method of claim 1, wherein the object position estimation result includes at least one of a final estimated position corresponding to a recognized object and a final estimated position noise.
| 10. The method of claim 9, further comprising: recognizing an object based on observation data received from the sensor system, and determining an initial location of the recognized object;
generating correction information based on the noise model; and determining a final estimated position and a final estimated position noise corresponding to the recognized object based on the determined initial position and the correction information.
| 11. An apparatus for estimating an object location based on sensor fusion, comprising: a wireless communication unit that obtains external environment information from an external device through a wireless network;
Sensor state analysis unit for analyzing the sensor state of the sensor system; and a noise model generator including a noise model determining unit generating a noise model based on the external environment information and the analysis result of the sensor state, wherein the object location is estimated by applying the noise model to observation data obtained from the sensor system. Characterized in that, the device outputs the result.
| 12. The apparatus of claim 11, wherein the external environment information includes at least one of weather information, illuminance information, sunlight intensity information, rainfall information, snowfall information, and fog information.
| 13. The apparatus of claim 11, wherein the external device includes at least one of a Local Dynamic Map (LDM), an environment sensor, a Road Side Unit (RSU), and a vehicle terminal, which is a regional environment information storage.
| 14. The method of claim 11, wherein the wireless network includes at least one of a mobile communication network and a vehicle-to-vehicle communication network, wherein the mobile communication network includes at least one of a Longterm Evolution (LTE) communication network, a 5G New Radio (NR) communication network, and a Wi-Fi communication network, The vehicle-to-vehicle communication network is an IEEE 802.11p-based WAVE (Wireless Access for Vehicle Environment) communication network, an LTE-based V2X (Vehicle to Everything) communication network, a mmWave communication network, a 5G NR-V2X communication network, and a DSRC (Dedicated Short Range Communication) communication network A device comprising at least one.
| 12. The apparatus of claim 11, wherein the sensor state analysis result includes at least one of a failure state, measurement accuracy, measurement error, variance and standard deviation for measurement data.
| 12. The apparatus of claim 11, wherein the sensor system comprises a camera and lidar.
| 12. The method of claim 11, wherein the noise model includes a measurement noise model and an observation noise model, and the apparatus determines a theoretical object measurement location corresponding to a location of an initially recognized object based on the measurement noise model. wealth; and an observation modeling unit determining a correction value corresponding to the theoretical object measurement position based on the observation noise model.
| 18. The method of claim 17, wherein the measurement noise model includes a measurement model noise level, and the observation noise model includes an observation model noise level, wherein the measurement model noise level and the observation model noise level are variable values., Device.
| 12. The method of claim 11, wherein the noise model generator further comprises a data pre-processing unit for generating a learning dataset by performing pre-processing on the external environment information, and the sensor state analysis unit determines sensor states for each sensor included in the sensor system. An apparatus comprising first to N analysis units for analysis, wherein the noise model determination unit determines the noise model by performing machine learning based on a result of analyzing the sensor state and the learning dataset.
| 12. The apparatus of claim 11, wherein the object position estimation result includes at least one of a final estimated position corresponding to a recognized object and a final estimated position noise.
| 21. The system of claim 20, further comprising: an initial object positioning unit recognizing an object based on observation data received from the sensor system and determining an initial position of the recognized object; and a correction information generation unit configured to generate correction information based on the noise model, wherein the device includes a final estimated position corresponding to the recognized object and a final estimated position noise based on the determined initial position and the correction information. A device, characterized in that is determined.
| 22. The device of claim 11, wherein the device is provided in any one of an autonomous vehicle and an infrastructure system for supporting autonomous driving.
| 23. A non-volatile computer readable storage medium storing at least one computer program comprising instructions that, when executed by at least one processor, cause the at least one processor to perform sensorfusion-based object location estimation operations, the operation obtaining external environment information from an external device through a wireless network;
Analyzing the sensor state of the sensor system;
generating a noise model based on the external environment information and the sensor state analysis result;
estimating an object position by applying the noise model to observation data obtained from the sensor system; and outputting an object location estimation result. | The method involves acquiring an external environment information from an external device through a wireless network, and analyzing a sensor state of a sensor system, generating a noise model based on the external environment and the sensor state analysis results, estimating an object position by applying the noise model to observation data obtained from the sensor system, and outputting an object location estimation result, and selecting the external device from a local dynamic map (LDM), an environment sensor, a road side unit (RSU) and a vehicle terminal. INDEPENDENT CLAIMS are also included for :a device for estimating object location based on sensor fusion in autonomous vehicle or infrastructure; anda computer-readable storage medium comprising a set of instructions for estimating object location based on sensor fusion in autonomous vehicle or infrastructure. The method is useful for estimating object location based on sensor fusion in autonomous vehicle or infrastructure. The method enables providing accurate object location estimation by collecting the external environment information through interworking with a local dynamic map (LDN). The method enables applying the noise model adaptively generated based on the sensor state analysis and the external environmental information when estimating the object location, so that various effects can be identified directly or indirectly through a document. The drawing shows a flowchart illustrating the method for estimating object location based on sensor fusion in autonomous vehicle or infrastructure (Drawing includes non-English language text). |
Please summarize the input | METHOD AND DEVICE FOR CONTROL THE LEVEL OF AUTONOMOUS DRIVING OF AUTONOMOUS VEHICLEThe present invention relates to a method and device for controlling the autonomous driving level of an autonomous vehicle. In the method for controlling the autonomous driving level performed by a control device for an autonomous vehicle, at least one wirelessly connected based on V2X (Vehicle to Everything) communication Receiving a plurality of V2X packets from one external device; Based on the plurality of V2X packets, analyzing communication quality regarding the link of the V2X communication; generating guidance information for determining an autonomous driving level of the autonomous vehicle based on a result of analyzing the communication quality; and controlling the autonomous driving level of the autonomous vehicle based on the guidance information.|1. An autonomous driving level control method performed by a control device of an autonomous vehicle, comprising: receiving a plurality of V2X packets from at least one external device wirelessly connected based on V2X (Vehicle to Everything) communication;
Based on the plurality of V2X packets, analyzing communication quality regarding the link of the V2X communication;
generating guidance information for determining an autonomous driving level of the autonomous vehicle based on a result of analyzing the communication quality; and controlling the autonomous driving level of the autonomous vehicle based on the guidance information.
| 2. The method of claim 1, wherein the at least one external device includes another vehicle driving around the autonomous vehicle, an infrastructure unit (Road Side Unit, RSU) installed on a road on which the autonomous vehicle is traveling, and a control server. And, the step of receiving the plurality of V2X packets includes receiving a V2V (Vehicle to Vehicle) packet from the other vehicle;
Receiving a V2I (Vehicle to Infrastructure) packet from the infrastructure unit; and receiving a V2N (Vehicle to Network) packet from the control server.
| 3. The method of claim 1, wherein analyzing the communication quality comprises: analyzing a packet reception success rate for each of the plurality of V2X packets;
Analyzing transmission delay for each of the plurality of V2X packets; And analyzing the transmission speed for each of the V2X packets; An autonomous driving level control method including at least one of:
| 4. The method of claim 3, wherein analyzing the packet reception success rate includes calculating a ratio of the number of packets successfully decoded by the autonomous vehicle to the total number of packets successfully transmitted from the external device; and determining which of a plurality of reference levels for packet reception success rate the result of calculating the ratio corresponds to.
| 5. The method of claim 3, wherein analyzing the transmission delay includes calculating a time at which each of the plurality of V2X packets completely arrives from the external device to the autonomous vehicle; and determining which of a plurality of reference levels for transmission delay the result of calculating the time corresponds to, respectively.
| 6. The method of claim 3, wherein analyzing the transmission rate comprises: calculating a transmission rate for each of the plurality of V2X packets; and determining which of a plurality of reference levels for transmission speed the result of calculating the transmission speed corresponds to, respectively.
| 7. The method of claim 1, wherein the step of generating the guidance information is one of steps 0 to 5 based on at least one of the results of analyzing the packet reception success rate, transmission delay, and transmission speed for each of the plurality of V2X packets. An autonomous driving level control method comprising: generating guidance information corresponding to a specific step.
| 8. The method of claim 1, wherein controlling the autonomous driving level comprises: maintaining the current autonomous driving level if the current autonomous driving level of the autonomous vehicle is the same as the autonomous driving level determined according to the guidance information; If the current autonomous driving level of the autonomous vehicle is lower than the autonomous driving level determined according to the guidance information, increasing the current autonomous driving level to the same level as the autonomous driving level determined according to the guidance information; And if the current autonomous driving level of the autonomous vehicle is higher than the autonomous driving level determined according to the guidance information, reducing the current autonomous driving level to the same level as the autonomous driving level determined according to the guidance information. Autonomous driving comprising a. Level control method.
| 9. The method of claim 1, wherein the step of controlling the autonomous driving level includes determining the autonomous driving level to level 0 when the communication quality of the plurality of V2X packets corresponds to a state in which communication is not possible with all of the plurality of external devices. steps;
When the communication quality of the plurality of V2X packets is in a state where communication is not possible with some of the plurality of external devices, determining the autonomous driving level as level 1 to level 2;
If the communication quality of the plurality of V2X packets is in a state in which communication with some of the plurality of external devices is not possible and the current driving state can be maintained, determining the autonomous driving level in three levels; And when the communication quality of the plurality of V2X packets is in a state that allows communication with all of the plurality of external devices, determining the autonomous driving level to level 4 to level 5. Autonomous driving level control method comprising a.
| 10. An autonomous driving level control device for an autonomous vehicle, comprising: a communication device that receives a plurality of V2X packets from at least one external device wirelessly connected based on V2X (Vehicle to Everything) communication; And based on the plurality of V2X packets, analyze the communication quality for the link of the V2X communication, and generate guidance information for determining the autonomous driving level of the autonomous vehicle based on the results of analyzing the communication quality,, a processor that controls the autonomous driving level of the autonomous vehicle based on the guidance information.
| 11. The method of claim 10, wherein the at least one external device includes another vehicle driving around the autonomous vehicle, an infrastructure unit (Road Side Unit, RSU) installed on a road on which the autonomous vehicle is driving, and a control server., the communication device receives a V2V (Vehicle to Vehicle) packet from the other vehicle, receives a V2I (Vehicle to Infrastructure) packet from the infrastructure unit, and receives a V2N (Vehicle to Network) packet from the control server. Driving level control device.
| 12. The method of claim 10, wherein the processor analyzes the packet reception success rate for each of the plurality of V2X packets, the transmission delay for each of the plurality of V2X packets, and the transmission speed for each of the V2X packets. controller.
| 13. The method of claim 12, wherein the processor calculates a ratio of the number of packets successfully decoded by the autonomous vehicle to the total number of packets successfully transmitted from the external device, and the result of calculating the ratio is related to the packet reception success rate. An autonomous driving level control device that determines which level it corresponds to among a plurality of reference levels.
| 14. The method of claim 12, wherein the processor calculates a time for each of the plurality of V2X packets to fully arrive from the external device to the autonomous vehicle, and the result of calculating the time is a plurality of reference levels for transmission delay. An autonomous driving level control device that determines which level each falls under.
| 15. The method of claim 12, wherein the processor calculates a transmission rate for each of the plurality of V2X packets, and determines which level of the plurality of reference levels for the transmission rate the result of calculating the transmission rate corresponds to. Autonomous driving level control device.
| 16. The method of claim 10, wherein the processor provides guidance corresponding to a specific stage among stages 0 to 5 based on at least one of the results of analyzing the packet reception success rate, transmission delay, and transmission speed for each of the plurality of V2X packets. Autonomous driving level control device that generates information.
| 17. The method of claim 10, wherein the processor maintains the current autonomous driving level if the current autonomous driving level of the autonomous vehicle is the same as the autonomous driving level determined according to the guidance information, and the current autonomous driving level of the autonomous vehicle If it is lower than the autonomous driving level determined according to the guidance information, the current autonomous driving level is increased to the same level as the autonomous driving level determined according to the guidance information, and the current autonomous driving level of the autonomous vehicle is increased according to the guidance information. An autonomous driving level control device that reduces the current autonomous driving level to the same level as the autonomous driving level determined according to the guidance information if it is higher than the determined autonomous driving level.
| 18. An autonomous driving level control method performed by a user terminal of an autonomous vehicle, comprising: connecting to a control device of the autonomous vehicle;
Receiving a plurality of packets from at least one external device wirelessly connected based on V2X (Vehicle to Everything) communication;
Based on the plurality of V2X packets, analyzing communication quality for the link of the V2X communication;
generating guidance information for determining an autonomous driving level of the autonomous vehicle based on a result of analyzing the communication quality; and transmitting the guidance information to a control device of the autonomous vehicle. | The method involves receiving multiple vehicle to everything (V2X) packets from an external device wirelessly connected based on V2X communication (S210); analyzing communication quality regarding a link of the V2X communication based on the V2X packets; generating guidance information for determining an autonomous driving level of an autonomous vehicle based on a result of analyzing the communication quality; controlling the autonomous driving level of the autonomous vehicle based on the guidance information; receiving a vehicle to vehicle (V2V) packet from other vehicle; receiving a vehicle to infrastructure (V2I) packet from an infrastructure unit; and receiving a vehicle to network (V2N) packet from a control server. INDEPENDENT CLAIM is also included for:a device for controlling an autonomous driving level by a control device of an autonomous vehicle; anda method for controlling an autonomous driving level by a user terminal of an autonomous vehicle. Method for controlling an autonomous driving level by a control device of an autonomous vehicle i.e. car, by analyzing communication quality of vehicle to everything (V2X) packets. The method enables changing the autonomous driving level of the autonomous vehicle in real time based on the communication quality of the V2X packet. The drawing shows a flowchart diagram illustrating a method for controlling an autonomous driving level by a control device of an autonomous vehicle (Drawing includes non-English language text).S210Step for receiving multiple vehicle to everything packets from the external device wirelessly connected based on V2X communication |
Please summarize the input | V2X communication moduleA communication module according to an embodiment of the present invention includes a communication unit that transmits and receives a driving negotiation message with a base station or another communication module when entering a driving negotiation required area, and a communication unit that transmits and receives a driving negotiation message from the base station when the base station is located in the driving negotiation necessary area. It includes a processing unit that determines a driving scenario within the driving negotiation required area using a driving negotiation message, searches for the base station through broadcast communication, and receives the driving negotiation message through unicast communication.|1. A communication unit that transmits and receives a driving negotiation message with a base station or another communication module when entering an area requiring driving negotiation; And when the base station is located in the driving negotiation required area, a processing unit that determines a driving scenario within the driving negotiation required area using a driving negotiation message received from the base station, searches for the base station through broadcast communication, and, A communication module that receives the driving negotiation message through unicast communication.
| 2. The communication module of claim 1, wherein, when searching for the base station, the communication unit transmits a search message containing information about entering a driving negotiation required area, and receives a response message containing unicast link setting information from the base station.
| 3. The communication module of claim 2, wherein the unicast link configuration information includes at least one of a subchannel location, number of subchannels, transmission (Tx) power, and effective time for radio resources.
| 4. The communication module of claim 2, wherein the processing unit connects a unicast link using a subchannel with the lowest received signal strength among subchannels included in the response message.
| 5. The communication module of claim 1, wherein the processing unit releases the unicast link connection after receiving the driving negotiation message.
| 6. The method of claim 1, wherein the communication unit determines whether another communication module is located within the driving negotiation required area, and when another communication module is located within the driving negotiation required area, the driving negotiation unit includes driving information of the other communication module. A message or a driving assistance message according to another communication module within the driving negotiation required area is received from the base station through unicast communication, and the driving assistance message includes the entry order, driving path, driving speed, and other vehicles at the time of driving. A communication module containing at least one of the expected locations.
| 7. The method of claim 6, wherein the base station receives a driving information message including a driving path and driving speed from another communication module in the driving negotiation required area through broadcast communication, and receives a driving information message including a driving path and driving speed from another communication module in the driving negotiation necessary area through groupcast communication. A communication module that performs paging with a communication module and transmits the driving assistance message to other communication modules in the driving negotiation required area through unicast communication.
| 8. The method of claim 6, wherein, when a vehicle not equipped with a communication module is located within the driving negotiation required area, the base station detects driving information of the vehicle not equipped with the communication module, and uses the detected driving information. A communication module that generates the driving negotiation message or the driving assistance message.
| 9. The communication module according to claim 1, wherein the communication module is mounted on a vehicle, and the driving negotiation area is a confluence area where a plurality of roads meet.
| 10. The communication module of claim 1, wherein the base station includes at least one of a base station (RSU) and a mobile communication base station (eNB).
| 11. The method of claim 1, wherein when approaching the other communication module, the communication unit transmits an overtake message to the other communication module through broadcast communication and transmits and receives a driving negotiation message with the other communication module through unicast communication, and A communication module that transmits a second driving negotiation message after transmitting a first driving negotiation message to another communication module, and retransmits the first driving negotiation message when receiving a NACK signal for the first driving negotiation message.
| 12. The method of claim 11, wherein the communication unit transmits an overtaking request message to the other communication module and receives an overtaking consent message or an overtaking rejection message from the other communication module, wherein the overtaking consent message is transmitted to the front camera of the other communication module. Communication module containing information.
| 13. A communication unit that transmits and receives a driving negotiation message with the base station when entering an area requiring driving negotiation; and a processing unit that determines a driving scenario within the driving negotiation required area using a driving negotiation message received from the base station, and receives information about the driving negotiation required area from the base station using broadcast communication, A communication module that receives driving negotiation messages or driving assistance messages through group cast communication to communication modules located within the driving negotiation required area.
| 14. The communication module of claim 13, wherein the driving negotiation required area is a roundabout, and the driving assistance message includes at least one of an entry point into the roundabout and a driving priority.
| 15. The method of claim 13, wherein the driving negotiation required area is an intersection, the group cast performed varies depending on the type of driving lane within the driving negotiation required area, and the communication unit performs a group cast corresponding to the group cast to which the communication module belongs. A communication module that receives the driving negotiation message through communication.
| 16. It is located in the driving negotiation required area, receives a navigation message or driving information message from a communication module within the driving negotiation necessary area, and when driving negotiation is necessary between communication modules within the driving negotiation necessary area, the driving negotiation message is sent to the communication module requiring driving negotiation. a transmitting base station; And when entering the driving negotiation required area, it includes a communication module that determines a driving scenario within the driving negotiation required area using a driving negotiation message received from the base station, and transmits and receives the navigation message or the driving information message through broadcast communication. and an autonomous driving and intelligent transportation system that transmits and receives the driving negotiation message through unicast communication. | The module (110) has a communication unit (111) receives communication channel configuration information for performing vehicle-to-everything (V2X) communication from a base station (120). A processing unit (112) generates communication data by allocating a bandwidth for function for performing V2X communication according to the received communication channel configuration information. The communication channel configuration information is variable depending on an area in which the communication module is located. The communication channel configuration information is set according to regional information within a coverage area of the base station and varies according to situation changes within the coverage area of the base station. An INDEPENDENT CLAIM is also included for a base station. V2X Communication module for a base station (claimed) of a autonomous driving and intelligent transportation systems utilized in toll payment, traffic information and autonomous driving applications. The use efficiency of frequency resources can be increased compared to a case of using frequency resources in a fixed form in autonomous driving utilizing V2X. The service quality can be improved by allocating bandwidth to important applications and utilizes dynamic frequency resources by utilizing only a small portion of the bandwidth and base stations of the V2X without using separate hardware or communication technology. The dynamic allocation of frequencies is possible by taking into account regional characteristics over time as well as dynamic allocation of frequencies according to geographical characteristics. The V2V communication is possible even in GNSS shadow areas, and stable communication between surrounding vehicles is possible even when the GNSS shadow duration is long. The temporary time synchronization is possible by predicting time synchronization section through time uncertainty variable and reference signal. The group time synchronization is possible using the received data. Time synchronization is possible. The geographic limitations in communication during driving negotiations in autonomous driving utilizing V2X can be overcome through the base station so that smooth traffic control is possible through intelligent transportation system (C-ITS) connection. The base station can act as a mediator during driving negotiations. The unicast or groupcast was used to determine the intention of the receiving vehicle so as to increase communication efficiency and minimize interference. The drawing shows a block diagram of a V2X Communication module (Drawing includes non-English language text).110Communication module111Communication unit112Processing unit120Base station |
Please summarize the input | V2X communication moduleA communication module according to an embodiment of the present invention includes a communication unit that receives signal information of the entry direction from a base station located at the intersection when entering an intersection, a first time remaining from the signal information to a red signal change, and a first time until passing the intersection. It includes a processing unit that calculates the distance and determines whether it is possible to cross the intersection using the current driving information.|1. When entering an intersection, a communication unit that receives signal information of the entering direction from a base station located at the intersection; and a processing unit that calculates the first time remaining until the red signal changes from the signal information and the first distance until passing the intersection, and determines whether or not crossing the intersection is possible using the current driving information.
| 2. The method of claim 1, wherein the base station is located at an entry point to each intersection and transmits signal information about the corresponding access road to a communication module, wherein the signal information includes a current signal of a traffic light, signal remaining time, location information of the base station, and a communication module including the intersection passing section length.
| 3. The communication module of claim 2, wherein the base station is a roadside base station mounted on a traffic light for a corresponding access road.
| 4. The communication module of claim 2, wherein the processing unit calculates the distance to the base station using the location information of the base station, and calculates the first distance from the distance to the base station and the intersection passing section length.
| 5. The method of claim 4, wherein the processing unit determines whether crossing the intersection is possible using the first distance, the first time, the traveling speed, the acceleration, and the first value, and the first value is the acceleration when crossing the intersection. Communication module that is a statistical constant for the amount of change.
| 6. The communication module of claim 5, wherein the first value is a constant derived through deep learning from driving information of vehicles passing through the intersection.
| 7. The method of claim 5, wherein the first value is derived using at least one of the average acceleration change of vehicles passing through the intersection, intersection length, vehicle performance, traffic congestion by time zone, and user driving information by time zone, and two A communication module that applies weights to each of the above variables.
| 8. The method of claim 1, wherein the communication unit receives from the base station whether it is possible to enter the intersection, and the processing unit determines whether it is possible to cross the intersection if it is possible to enter the intersection, and whether it is possible to enter the intersection is determined by the communication module that passed through the intersection. A communication module derived from the base station using driving information.
| 9. The communication module of claim 1, wherein the processing unit provides warning information when it is determined that crossing the intersection is impossible.
| 10. A communication unit that receives driving information from a communication module entering an intersection or a communication module entering an intersection; And a processing unit that determines whether the communication module entering the intersection can enter the intersection using driving information of the communication module entering the intersection, and the communication unit determines whether the determined intersection can enter the intersection. A base station that transmits to a communication module.
| 11. The base station of claim 10, wherein, when the communication module entering the intersection can enter the intersection, the communication unit transmits signal information of the entry direction of the communication module entering the intersection.
| 12. The method of claim 10, wherein when one or more congested vehicles among the communication modules entering the intersection exist, the processing unit determines the speed, acceleration, and acceleration time of the lead vehicle of the congested vehicle, the reaction time when the preceding vehicle departs, and the signal remaining time., a base station that determines whether a communication module entering the intersection can enter the intersection using the remaining distance until the rear vehicle passes the intersection, and the overall length of the rear vehicle.
| 13. A base station located at an intersection and transmitting signal information or whether it is possible to enter the intersection to a communication module entering the intersection; And when entering the intersection, a communication module that determines whether crossing the intersection is possible using signal information received from the base station, stops entering the intersection or determines whether crossing the intersection is possible depending on whether entering the intersection is possible received from the base station. Includes, the base station determines whether it is possible to enter the intersection using the driving information received from the communication module entering the intersection, and the communication module determines the first time remaining until the red signal changes and the first distance to passing the intersection. An autonomous driving and intelligent transportation system that calculates and uses current driving information to determine whether or not it is possible to cross an intersection. | The communication module (110) has a communication unit (111) receiving signal information of an entering direction from a base station (120) i.e. roadside base station, located at an intersection. A processing unit (112) calculates a time remaining until a red signal changes from the signal information and a distance until passing the intersection. The processing unit determines whether the intersection is crossed using the current driving information. The base station transmits signal information about a corresponding access road to the module. The signal information includes a current signal of a traffic light, signal remaining time, location information of the base station and an intersection passing section length. The processing unit determines the speed, acceleration, and acceleration time of the lead vehicle (131). Communication module for an autonomous driving and smart transportation system (claimed). The risk of accidents with vehicles coming from the opposite or sideways direction is reduced. The overall congestion in road traffic is prevented. The drawing shows a schematic diagram of a communication module (Drawing includes non-English language text).110Communication module111Communication unit112Processing unit120Base station131Lead vehicle132Rear vehicle |
Please summarize the input | V2X communication moduleThe communication module according to an embodiment of the present invention transmits first driving information to the base station when entering the left turn lane, and a communication unit that transmits second driving information to the base station after completing the left turn, and generates the first driving information when entering the left turn lane. and a processing unit that generates the second driving information after completion of the left turn, and the left turn signal at the intersection turns on when the base station receives the first driving information.|1. A communication unit that transmits first driving information to the base station when entering the left turn lane and transmits second driving information to the base station after completing the left turn; and a processing unit that generates the first driving information when entering the left turn lane and generates the second driving information after completing the left turn, and the left turn signal at the intersection is a communication module that turns on when the base station receives the first driving information..
| 2. The method of claim 1, wherein the first driving information includes a first lane identification number corresponding to the left turn lane when entering the left turn lane, and the second driving information includes a second lane identification number corresponding to the exit lane when the left turn is completed. A communication module that contains a number, and the lane identification number is set differently for each entry and exit lane of the intersection.
| 3. The communication module of claim 2, wherein the communication unit transmits the first lane identification number or the second lane identification number through broadcast communication.
| 4. The communication module of claim 2, wherein the left turn signal is turned on according to the first lane identification number, and the left turn signal is turned off according to the second lane identification number.
| 5. The method of claim 1, wherein the first driving information includes a left turn request, the second driving information includes left turn completion information, and the communication unit transmits the first driving information or the second driving information through unicast communication. Transmitting communication module.
| 6. The method of claim 5, wherein the processing unit establishes a communication link with the base station when entering an intersection in an application layer, and transmits the first driving information or the second driving information in a physical layer (PHY Layer). module
| 7. The method of claim 6, wherein, after transmitting the first driving information or the second driving information to the base station, when receiving a NACK signal from the base station, the processing unit transmits the first driving information or the second driving information to the base station in the physical layer. 2 Communication module that retransmits driving information.
| 8. A communication unit that transmits first driving information to a base station when entering a right turn lane and receives right turn signal information from the base station; and a processing unit that generates the first driving information when entering the right turn lane and determines whether to proceed with a right turn according to the right turn signal information, and the right turn signal information determines whether a pedestrian is detected on the right turn path according to the first driving information. Communication module that varies depending on.
| 9. The communication module of claim 8, wherein the first driving information includes a third lane identification number corresponding to the right turn lane when entering the right turn lane, and the lane identification number is set differently for each entry and exit lane of the intersection.
| 10. The communication module of claim 9, wherein the communication unit transmits the third lane identification number through broadcast communication.
| 11. The method of claim 8, wherein the right turn signal information includes a red signal when a pedestrian is detected on the right turn path according to the first driving information, and includes a green signal when a pedestrian is not detected on the right turn path, and turns right. A communication module that changes the green signal to a red signal when jaywalking is detected along the right turn route.
| 12. The communication module of claim 8, wherein the first driving information includes a right turn request, and the communication unit transmits the first driving information through unicast communication.
| 13. The method of claim 12, wherein the processing unit is a communication module that establishes a communication link with the base station when entering an intersection in an application layer and transmits and receives the first driving information or the right turn signal information in a physical layer (PHY Layer)..
| 14. The method of claim 13, wherein the processing unit receives an emergency braking request when jaywalking is detected on the right turn path during a right turn, but if an error occurs in receiving the emergency braking request, the physical layer transmits a NACK signal A communication module that retransmits the emergency braking request.
| 15. A base station located at an intersection and providing a left turn signal or a right turn signal to a communication module attempting to make a left or right turn for which a periodic signal is not provided; and a communication module that transmits driving information including left turn or right turn progress information to the base station when entering the intersection, and performs a left or right turn by receiving the left turn signal or the right turn signal from the base station, the communication module When a communication link is not established, driving information including a lane identification number is transmitted to the base station through broadcast communication, and when a communication link is established, driving information including a left turn request or right turn request is transmitted through unicast communication. Autonomous driving and intelligent transportation system that transmits to the base station. | The module (110) has a communication unit (111,121) that transmits first driving information to a base station (120) when entering the left turn lane and transmits second driving information to the base station after completing the left turn. A processing unit (112,122) generates the first driving information when entering the left turn lane and generates the second driving information after completing the left turn. The left turn signal at the intersection turns on when the base station receives the first driving information. The first driving information includes a first lane identification number corresponding to the left turn lane when entering the left turn lane. An INDEPENDENT CLAIM is included for an autonomous driving and intelligent transportation system. Communication module e.g. on-board unit (OBU) for turning left or right without periodic signals of autonomous driving and intelligent transportation system (claimed) mounted on vehicle. The module efficiently controls the left turn signal through communication between the in-vehicle communication module (OBU) and the roadside base station (RSU). The module determines presence or absence of pedestrians when a vehicle turns right, so that risk of an accident can be reduced through communication with the OBU. The module utilizes unicast communication and HARQ to maximize signal control efficiency and pedestrian accident reduction rate. The drawing shows a block diagram illustrating a communication module and base station. (Drawing includes non-English language text) 110Communication module111,121Communication unit112,122Processing unit120Base station |
Please summarize the input | Sidelink resource handling for CU-DU split based V2X communicationA method and apparatus for sidelink resource handling for central unit (CU)-distributed unit (DU) split based vehicle-to-everything (V 2X) communication is provided. A gNB central unit (gNB-CU) in a wireless communication system receives, from a wireless device, information related to a radio access technology (RAT) for which a sidelink resource is requested. The gNB-CU transmits, to a gNB distributed unit (gNB-DU), the information related to the RAT for sidelink resource allocation.What is claimed is:
| 1. A method performed by a gNB central unit (gNB-CU) operating in a wireless communication system, the method comprising:
receiving, from a wireless device, a sidelink resource request for a specific radio access technology (RAT);
transmitting, to a gNB distributed unit (gNB-DU), the sidelink resource request for the specific RAT;
receiving, from the gNB-DU, a sidelink resource for the specific RAT, after transmitting the sidelink resource request for the specific RAT to the gNB-DU; and
transmitting, to the wireless device, the sidelink resource for the specific RAT,
wherein the gNB-CU is a logical node constituting a gNB that hosts a radio resource control (RRC) layer and a packet data convergence protocol (PDCP) layer, and
wherein the gNB-DU is a logical node constituting a gNB that hosts a radio link control (RLC) layer, a media access control (MAC) layer and a physical layer.
| 2. The method of claim 1, wherein the specific RAT only includes a 4G long-term evolution (LTE).
| 3. The method of claim 1, wherein the specific RAT only includes a 5G new radio access technology (NR).
| 4. The method of claim 1, wherein the specific RAT includes both a 4G LTE and a 5G NR.
| 5. The method of claim 1, further comprising checking the specific RAT based on the sidelink resource request for the specific RAT.
| 6. The method of claim 1, wherein high level resource information to be used for a vehicle-to-everything (V2X) sidelink communication is transmitted to the gNB-DU together with the sidelink resource request for the specific RAT.
| 7. The method of claim 1, wherein a capability of the wireless device for the specific RAT is transmitted to the gNB-DU together with the sidelink resource request for the specific RAT.
| 8. The method of claim 1, wherein the sidelink resource for the specific RAT is transmitted to the wireless device via a dedicated signaling by using at least one of a dynamic resource allocation or a configured grant.
| 9. The method of claim 1, wherein the wireless device is in communication with at least one of a mobile terminal, a network, or autonomous vehicles other than the wireless device.
| 10. A gNB central unit (gNB-CU) operating in a wireless communication system, the method comprising:
at least one processor; and
at least one computer memory operably connectable to the at least one processor and storing instructions that, based on being executed by the at least one processor, perform operations comprising:
receiving, from a wireless device, a sidelink resource request for a specific radio access technology (RAT);
transmitting, to a gNB distributed unit (gNB-DU), the sidelink resource request for the specific RAT;
receiving, from the gNB-DU, a sidelink resource for the specific RAT, after transmitting the sidelink resource request for the specific RAT to the gNB-DU; and
transmitting, to the wireless device, the sidelink resource for the specific RAT,
wherein the gNB-CU is a logical node constituting a gNB that hosts a radio resource control (RRC) layer and a packet data convergence protocol (PDCP) layer, and
wherein the gNB-DU is a logical node constituting a gNB that hosts a radio link control (RLC) layer, a media access control (MAC) layer and a physical layer.
| 11. A user equipment (UE) operating in a wireless communication system, the method comprising:
transmitting, to a gNB central unit (gNB-CU), a sidelink resource request for a specific radio access technology (RAT); and
receiving, from the gNB-CU, a sidelink resource for the specific RAT,
wherein the sidelink resource for the specific RAT is received by the gNB-CU from the gNB-DU after the gNB-CU transmits the sidelink resource request for the specific RAT to the gNB-DU,
wherein the gNB-CU is a logical node constituting a gNB that hosts a radio resource control (RRC) layer and a packet data convergence protocol (PDCP) layer, and
wherein the gNB-DU is a logical node constituting a gNB that hosts a radio link control (RLC) layer, a media access control (MAC) layer and a physical layer. | The method involves receiving (S1100) the information related to a radio access technology (RAT) for which a sidelink resource is requested from a wireless device. The RAT for which the sidelink resource is requested includes a fourth-generation (4G)long-term evolution (LTE) and a fifth-generation (5G) new radio access technology (NR). A high level resource information to be used for a vehicle-to-everything (V2X) sidelink communication is transmitted to a gNB distributed unit (gNB-DU) together with the information related to the RAT. The information related to the RAT is transmitted (S1110) to the gNB-DU. The information related to the sidelink resource is received (S1120) from the gNB-DU and the sidelink resource is transmitted (S1130) to the wireless device. Method for allocating resources for vehicle-to-everything (V2X) sidelink communication using gNB-CU in wireless communication system (claimed). The safety system allows a driver to guide the alternative course of action that drive more safely, thus reducing the risk of accidents. The technical requirements of self-driving vehicles require ultra-low latency and high-speed reliability to increase traffic safety to a level not achievable by humans. The access to health service that is not continuously available in distant rural areas is improved, thus reducing barriers to distance. The smart grid is allowed to improve the distribution of fuel such as electricity. The drawing shows a flowchart illustrating the method for allocating resources for V2X sidelink communication. S1100Step for receiving information related to a RAT for which a sidelink resource is requested from a wireless deviceS1110Step for transmitting the information related to the RAT to a gNB-DUS1120Step for receiving information related to the sidelink resource from the gNB-DUS1130Step for transmitting the sidelink resource to the wireless device |
Please summarize the input | METHOD FOR ACK/NACK TRANSMISSION AND RECEPTION IN WIRELESS COMMUNICATION SYSTEM AND APPARATUS THEREFORThe present invention relates to a method and apparatus for transmitting and receiving an acknowledgement/negative-acknowledgement (ACK/NACK) by a terminal for vehicle-to-everything (V2X) communication in a wireless communication system. Particularly, the method comprises the steps of: receiving a configuration for a resource pool for V2X communication; for a particular wireless resource in a resource pool, when a reception time point of a first ACK/NACK and a transmission time of a second ACK/NACK have been simultaneously configured, determining a use of the particular wireless resource; and transmitting and receiving one ACK/NACK selected from the first ACK/NACK and the second ACK/NACK, on the basis of the use of the particular wireless resource. The UE is capable of communicating with at least one of another UE, a UE related to an autonomous driving vehicle, a base station or a network.|1-10. (canceled)
| 11. A method of transmitting or receiving a Physical Sidelink Feedback Channel (PSFCH) by a user equipment (UE) in a Vehicle-to-Everything (V2X) communication system, the method comprising:
transmitting a plurality of first Physical Sidelink Shared Channels (PSSCHs);
receiving a plurality of second PSSCHs;
determining (i) first PSFCH resources for receiving a set of first PSFCHs in response to the plurality of first PSSCHs and (ii) second PSFCH resources for transmitting a set of second PSFCHs in response to the plurality of second PSSCHs;
based on the first PSFCH resources being overlapped in time with the second PSFCH resources:
determining a smallest priority value among a plurality of first priority values corresponding to the set of first PSFCHs and a plurality of second priority values corresponding to the set of second PSFCHs;
receiving the set of first PSFCHs based on the set of first PSFCHs corresponding to the smallest priority field value; and
transmitting the set of second PSFCHs based on the set of second PSFCHs corresponding to the smallest priority field value.
| 12. The method of claim 11, wherein the plurality of first priority values indicated by a first set of Sidelink Control Information (SCI) associated with the set of first PSFCHs, and
wherein the plurality of second priority values indicated by a second set of SCI associated with the set of second PSFCHs.
| 13. The method of claim 11, wherein the plurality of first priority values are priority values of the plurality of first PSSCHs, and
wherein the plurality of second priority values are priority values of the plurality of second PSSCHs.
| 14. The method of claim 11, wherein a PSFCH corresponding to the smallest priority value among the plurality of first priority values and the plurality of second priority values has a highest priority.
| 15. The method of claim 11, wherein priorities of the plurality of first PSSCHs are priorities of the set of first PSFCHs, and
wherein priorities of the plurality of second PSSCHs are priorities of the set of second PSFCHs.
| 16. A user equipment (UE) of transmitting or receiving a Physical Sidelink Feedback Channel (PSFCH) in a Vehicle-to-Everything (V2X) communication system, the UE comprising:
at least one transceiver;
at least one processor; and
at least one computer memory operably connectable to the at least one processor and storing instructions that, when executed, cause the at least one processor to perform operations comprising:
transmitting, through the at least one transceiver, a plurality of first Physical Sidelink Shared Channels (PSSCHs);
receiving, through the at least one transceiver, a plurality of second PSSCHs;
determining (i) first PSFCH resources for receiving a set of first PSFCHs in response to the plurality of first PSSCHs and (ii) second PSFCH resources for transmitting a set of second PSFCHs in response to the plurality of second PSSCHs;
based on the first PSFCH resources being overlapped in time with the second PSFCH resources:
determining a smallest priority value among a plurality of first priority values corresponding to the set of first PSFCHs and a plurality of second priority values corresponding to the set of second PSFCHs;
receiving, through the at least one transceiver, the set of first PSFCHs based on the set of first PSFCHs corresponding to the smallest priority field value; and
transmitting, through the at least one transceiver, the set of second PSFCHs based on the set of second PSFCHs corresponding to the smallest priority field value.
| 17. The UE of claim 16, wherein the plurality of first priority values indicated by a first set of Sidelink Control Information (SCI) associated with the set of first PSFCHs, and
wherein the plurality of second priority values indicated by a second set of SCI associated with the set of second PSFCHs.
| 18. The UE of claim 16, wherein the plurality of first priority values are priority values of the plurality of first PSSCHs, and
wherein the plurality of second priority values are priority values of the plurality of second PSSCHs.
| 19. The UE of claim 16, wherein a PSFCH corresponding to the smallest priority value among the plurality of first priority values and the plurality of second priority values has a highest priority.
| 20. The UE of claim 16, wherein priorities of the plurality of first PSSCHs are priorities of the set of first PSFCHs, and
wherein priorities of the plurality of second PSSCHs are priorities of the set of second PSFCHs.
| 21. An apparatus of transmitting or receiving a Physical Sidelink Feedback Channel (PSFCH) in a Vehicle-to-Everything (V2X) communication system, the apparatus comprising:
at least one processor; and
at least one computer memory operably connectable to the at least one processor and storing instructions that, when executed, cause the at least one processor to perform operations comprising:
transmitting a plurality of first Physical Sidelink Shared Channels (PSSCHs);
receiving a plurality of second PSSCHs;
determining (i) first PSFCH resources for receiving a set of first PSFCHs in response to the plurality of first PSSCHs and (ii) second PSFCH resources for transmitting a set of second PSFCHs in response to the plurality of second PSSCHs;
based on the first PSFCH resources being overlapped in time with the second PSFCH resources:
determining a smallest priority value among a plurality of first priority values corresponding to the set of first PSFCHs and a plurality of second priority values corresponding to the set of second PSFCHs;
receiving the set of first PSFCHs based on the set of first PSFCHs corresponding to the smallest priority field value; and
transmitting the set of second PSFCHs based on the set of second PSFCHs corresponding to the smallest priority field value.
| 22. The apparatus of claim 21, wherein the plurality of first priority values indicated by a first set of Sidelink Control Information (SCI) associated with the set of first PSFCHs, and
wherein the plurality of second priority values indicated by a second set of SCI associated with the set of second PSFCHs.
| 23. The apparatus of claim 21, wherein the plurality of first priority values are priority values of the plurality of first PSSCHs, and
wherein the plurality of second priority values are priority values of the plurality of second PSSCHs.
| 24. The apparatus of claim 21, wherein a PSFCH corresponding to the smallest priority value among the plurality of first priority values and the plurality of second priority values has a highest priority.
| 25. The apparatus of claim 21, wherein priorities of the plurality of first PSSCHs are priorities of the set of first PSFCHs, and
wherein priorities of the plurality of second PSSCHs are priorities of the set of second PSFCHs.
| 26. A non-transitory computer readable storage medium storing at least one computer program comprising instructions that, when executed by at least one processor, cause the at least one processor to perform according to the method of claim 1. | The method involves receiving setting about a resource pool for vehicle-to-everything (V2X) communication. Use of a specific radio resource is determined when receiving time point of first acknowledgment/negative-acknowledgment (ACK/NACK) and transmission point of a second ACK/NACK are continuously set in the specific radio resource of a resource pool. The ACK/NACK selected between the first and second ACKs/NACKs is sent and received based on use of the specific radio resource. Message priority of second data related to the second ACK/NACK is compared with message priority of first data related to the first ACK/NACK. Method for transceiving ACK/NACK for performing V2X communication in a radio communication system by a terminal (claimed). Uses include but are not limited to a radio communication system such as Code division multiple access (CDMA) system e.g. Universal terrestrial radio access (UTRA) system and CDMA-2000 system, OFDMA system e.g. Wi-Fi system, Wi-MAX system, IEEE 802-20 system and Evolved-UTRA (E-UTRA) system, FDMA system, Time division multiple access (TDMA) system i.e. Global system for mobile communications (GSM)/general packet radio service (GPRS)/enhanced data rates for GSM evolution (EDGE) system, Single carrier (SC)-FDMA) system, Third generation partnership project-long term evolution- advanced (3GPP-LTE-A) system, LTE-A system, 3GPP system and 3GPP LTE system. The method enables efficiently transceiving ACK/NACK signal in the radio communication system. The drawing shows a schematic illustration of a signal transmission method. '(Drawing includes non-English language text)' S301Step for performing initial cell search operationS302Step for obtaining system informationS303Step for transmitting preamble through physical random access channelS304Step for receiving response message about preambleS305Step for performing contention resolution procedure |
Please summarize the input | Method and device for performing power control in NR V2XA method by which a first device ( 100) performs sidelink transmission is provided. The method can comprise the steps of: determining a priority of a first carrier including a plurality of BWPs; allocating transmission power for the first carrier on the basis of the priority; and performing sidelink transmission through the plurality of BWPs on the basis of the transmission power.What is claimed is:
| 1. A method for performing wireless communication by a first device, the method comprising:
obtaining, by the first device, configuration related to a plurality of bandwidth parts (BWPs),
wherein the plurality of BWPs include a plurality of sidelink BWPs,
measuring, by the first device, a channel busy ratio (CBR) for each of the plurality of sidelink BWPs;
selecting, by the first device, at least one sidelink BWP among the plurality of sidelink BWPs, based on the CBR for the each of the plurality of sidelink BWPs;
determining, by the first device, a highest priority among at least one priority of the at least one sidelink BWP, as a priority of a first carrier comprising the at least one sidelink BWP,
wherein based on the at least one sidelink BWP being activated, sidelink transmission on the at least one sidelink BWP is performed;
allocating, by the first device, transmit power for the first carrier based on the priority of the first carrier; and
performing, by the first device, the sidelink transmission through the at least one sidelink BWP based on the transmit power.
| 2. The method of claim 1, wherein the highest priority of sidelink transmission requiring highest transmit power among at least one priority of the sidelink transmission through the at least one sidelink BWP is determined as the priority of the first carrier.
| 3. The method of claim 1, wherein the highest priority of sidelink transmission through a preset sidelink BWP among at least one priority of the sidelink transmission through the at least one sidelink BWP is determined as the priority of the first carrier.
| 4. The method of claim 1, wherein the highest priority among at least one priority of sidelink transmission through at least one sidelink BWP used for the first device to obtain time or frequency synchronization is determined as the priority of the first carrier.
| 5. The method of claim 1, wherein based on a number of the at least one sidelink BWP being two or more, the sidelink transmission through the at least one sidelink BWP overlap in a time domain.
| 6. The method of claim 1, wherein the transmit power allocated for the first carrier is less than transmit power required for the sidelink transmission through the at least one sidelink BWP.
| 7. The method of claim 6, wherein the transmit power allocated for the first carrier is preferentially allocated for sidelink transmission having a high priority among the sidelink transmission through the at least one sidelink BWP.
| 8. The method of claim 6, wherein the transmit power allocated for the first carrier is equally allocated for the sidelink transmission through the at least one sidelink BWP.
| 9. The method of claim 6, wherein the transmit power allocated for the first carrier is preferentially allocated for preset sidelink transmission.
| 10. The method of claim 6, further comprising:
wherein the transmit power allocated for the first carrier is preferentially allocated for sidelink transmission through a BWP having a high CBR among the sidelink transmission through the at least one sidelink BWP.
| 11. The method of claim 1, wherein the first device comprises at least one of a transmission UE, a reception UE, a wireless device, a wireless communication device, a vehicle, a vehicle having an autonomous driving function, a connected car, an unmanned aerial vehicle (UAV), an artificial intelligence (AI) module, a robot, an augmented reality (AR) device, a virtual reality (VR) device, a mixed reality (MR) device, a laptop computer, a digital broadcasting terminal a tablet PC, a smartphone, a wearable device, a hologram device, a public safety device, an MTC device, an IoT device, a medical device, a fintech device, a security device, or an environmental device.
| 12. A first device for performing wireless communication, the first device comprising:
at least one memory;
at least one transceiver; and
at least one processor to couple the at least one memory and the at least one transceiver, wherein the processor is configured to:
obtain, configuration related to a plurality of bandwidth parts (BWPs),
wherein the plurality of BWPs includes a plurality of sidelink BWPs,
measure, a channel busy ratio (CBR) for each of the plurality of sidelink BWPs;
select, at least one sidelink BWP among the plurality of sidelink BWPs, based on the CBR for the each of the plurality of sidelink BWPs;
determine a highest priority among at least one priority of the at least one sidelink BWP, as a priority of a first carrier comprising the at least one sidelink BWP, wherein based on the at least one sidelink BWP being activated, sidelink transmission on the at least one sidelink BWP is performed;
allocate transmit power for the first carrier based on the priority of the first carrier; and
control the at least one transceiver to perform the sidelink transmission through the at least one sidelink BWP based on the transmit power. | The method involves determining a priority of a carrier, where the carrier includes multiple BWPs (S2110). Transmission power is allocated (S2120) to the carrier based on the priority. Sidelink transmission process is performed (S2130) on the BWPs based on the transmission power. A highest priority among priorities of the sidelink transmissions is determined as the priority of the carrier through the BWPs, where highest transmission power among the sidelink transmissions are required by the priority of the sidelink transmission through the BWPs. Channel busy ratios (CBRs) are measured for the BWPs. Method for performing NR sidelink transmission by a first device e.g. transmitting terminal, receiving terminal, wireless device, wireless communication device, vehicle, connected car, drone, artificial intelligence (AI) module, robot, augmented reality (AR) device, virtual reality (VR) device and mixed reality (MR) device in a wireless communication system. Uses include but are not limited to a Code division multiple access (CDMA) system e.g. Universal terrestrial radio access (UTRA) and CDMA2000 , a frequency division multiple access (FDMA) system, a Time division multiple access (TDMA) system i.e. Global system for mobile communications (GSM) /General packet radio service (GPRS) system/Enhanced data rates for GSM evolution (EDGE) system, an orthogonal FDMA (OFDMA) system e.g. Wireless fidelity (Wi-Fi) system, Worldwide interoperability for microwave access (WiMAX) system, IEEE 802-20 system and Evolved-UTRA (E-UTRA) system, Single-carrier CDMA (SC-CDMA) system and Third generation partnership project (3GPP) long-term evolution (LTE) system. The method enables allocating transmission power for a transceiver, controlling the transceiver to perform the sidelink transmissions over the BWPs based on the transmission power, and efficiently performing the sidelink transmission on the BWPs by a terminal. The drawing shows a flowchart illustrating a method of performing sidelink transmission by a device. '(Drawing includes non-English language text)' S2110Step for determining priority of carrierS2120Step for allocating transmission power to carrier based on priorityS2130Step for performing sidelink transmission process on BWPs |
Please summarize the input | METHOD AND DEVICE FOR OCCUPYING RESOURCES IN NR V2XProvided are a method for transmitting sidelink information by means of a first device (100) and a device for supporting same in a wireless communication system. The method may comprise the steps of: determining a plurality of candidate resources on the basis of a threshold; selecting, from the plurality of candidate resources and in a specific time interval, a resource for transmitting sidelink information; and transmitting the sidelink information on the resource.|1. A method for transmitting sidelink information by a first apparatus (100) in a wireless communication system, the method comprising: determining a plurality of candidate resources based on a threshold;
Selecting a resource for transmitting sidelink information from a plurality of candidate resources in a specific time interval; And transmitting sidelink information on the resource.
| 2. The method of claim 1, wherein the resource for transmitting the sidelink information is a resource located at a time when the value of the random counter selected by the first device is zero.
| 3. The method of claim 2, further comprising decreasing the value of the random counter in the specific time interval.
| 4. The method of claim 3, wherein the value of the random counter is not decreased in a time interval other than the specific time interval.
| 5. The method of claim 1, wherein the specific time interval is a time interval in which the number of candidate resources occupied by the first apparatus (100) is greater than or greater than a specific number.
| 6. The method of claim 5, wherein the specific number is determined based on a priority of the sidelink information.
| 7. The method of claim 6, wherein if the priority of the sidelink information is high, the specific number is determined to be a small value.
| 8. The method of claim 1, wherein the specific time interval is a time interval in which the ratio of the number of candidate resources occupied by the first apparatus (100) to the total number of resources is equal to or greater than a specific ratio.
| 9. The method of claim 8, wherein the specific ratio is determined based on a priority of the sidelink information.
| 10. The method of claim 1, wherein the plurality of candidate resources are resources whose channel state measured by the first device (100) is above or above the threshold.
| 11. The method of claim 1, further comprising: determining a first threshold based on a channel measurement result, wherein the threshold is a larger value of the first threshold and the second threshold.
| 12. The method of claim 11, wherein the second threshold is received from a base station.
| 13. The method of claim 11, wherein the second threshold is predefined for the first device (100).
| 14. The method of claim 1, wherein the first device 100 communicates with at least one of a mobile terminal, a network, or autonomous vehicles other than the first device 100. How to.
| 15. A first apparatus (100) for transmitting sidelink information in a wireless communication system, comprising: at least one memory (104); One or more transceivers 106; And one or more processors 102 connecting the one or more memories 104 and the one or more transceivers 106, wherein the one or more processors 102 determine a plurality of candidate resources based on a threshold; Selecting a resource for transmitting sidelink information from a plurality of candidate resources in a specific time interval, and controlling the one or more transceivers 106 to transmit sidelink information on the resource; 1 device. | The method involves determining (S2210) multiple candidate resources based on a threshold value. A resource is selected (S2220) for transmitting (S2230) sidelink (SL) information from the candidate resources in a specific time interval when a value of a random counter selected by a first apparatus is zero. Specific time interval in which number of candidate resources occupied by the first apparatus is greater than a specific number. The specific number is determined based on a priority of the SL information. The specific number is determined to be a small value when the priority of the SL information is high. Method for transmitting SL information in a wireless communication system by using a first apparatus (claimed). Uses include but are not limited to a Code division multiple access (CDMA) system, a Frequency division multiple access (FDMA) system, a Time division multiple access (TDMA) system, an Orthogonal FDMA (OFDMA) system, a Single carrier FDMA (SC-FDMA) system and a Multi-carrier FDMA (MC-FDMA) system. The method enables selecting the resource for transmitting the SL information from the candidate resources in the specific time interval when the value of the random counter selected by the first apparatus is zero so as to occupy the resource by the terminal during SL communication in an efficient manner. The drawing shows a flowchart illustrating a method for transmitting SL information in a wireless communication system. '(Drawing includes non-English language text)' S2210Step for determining multiple candidate resourcesS2220Step for selecting resourceS2230Step for transmitting SL information from candidate resources |
Please summarize the input | METHOD AND DEVICE FOR DETERMINING TBS IN NR V2XProvided are a method for performing sidelink transmission by a first device (100) in a wireless communication system, and a device for supporting same. The method comprises the steps of: determining a transport block size (TBS) on the basis of whether at least one of an automatic gain control (AGC) symbol and a guard period (GP) symbol is used for sidelink transmission; and performing the sidelink transmission with respect to a second device (200) on the basis of the determined TBS, wherein the AGC symbol may be a symbol which a first device (100) uses for AGC, and the GP symbol may be a symbol which the first device (100) uses for TX/RX switching.|1. A method for performing sidelink transmission, by a first device (100), in a wireless communication device, the method comprising:
* determining a Transport Block Size (TBS) based on whether or not at least one of an Automatic Gain Control (AGC) symbol or a Guard Period (GP) symbol is to be used for the sidelink transmission; and
* performing the sidelink transmission for a second device (200), based on the determined TBS,
* wherein the AGC symbol is a symbol that is used, by the first device (100), for AGC, and wherein the GP symbol is a symbol that is used, by the first device (100), for TX/RX switching.
| 2. The method of claim 1, wherein the GP symbol is a last symbol within a slot including multiple symbols.
| 3. The method of claim 2, further comprising:
determining whether or not to use part of the GP symbol for the sidelink transmission based on a numerology of the slot.
| 4. The method of claim 3, wherein, if subcarrier spacing related to the numerology of the slot is less than or equal to a specific value, part of the GP symbol is determined to be used for the sidelink transmission.
| 5. The method of claim 2, further comprising:
determining whether or not to use part of the GP symbol for the sidelink transmission based on latency requirements of a service being transmitted from the slot.
| 6. The method of claim 2, further comprising:
determining whether or not to use part of the GP symbol for the sidelink transmission based on a type of a service being transmitted from the slot.
| 7. The method of claim 2, further comprising:
determining whether or not to use part of the GP symbol for the sidelink transmission based on a frequency range related to the slot.
| 8. The method of claim 1, wherein the AGC symbol is a first symbol within a slot including multiple symbols.
| 9. The method of claim 8, further comprising:
determining whether or not to use part of the AGC symbol for the sidelink transmission based on a numerology of the slot.
| 10. The method of claim 8, further comprising:
determining whether or not to use part of the AGC symbol for the sidelink transmission based on latency requirements of a service being transmitted from the slot.
| 11. The method of claim 8, further comprising:
determining whether or not to use part of the AGC symbol for the sidelink transmission based on a type of a service being transmitted from the slot.
| 12. The method of claim 1, further comprising:
transmitting, to the second device (200), information indicating that the TBS is determined based on whether or not at least one of the AGC symbol or the GP symbol is to be used for sidelink transmission.
| 13. The method of claim 1, wherein the first device (100) communicates with at least one of mobile UEs, networks or autonomous vehicles other than the first device (100).
| 14. A method for receiving sidelink data, by a second device (200), in a wireless communication system, the method comprising:
* receiving sidelink data from a first device (100), based on a Transport Block Size (TBS) that is determined by the first device (100),
* wherein the TBS is determined, by the first device (100), based on whether or not to use at least one of an Automatic Gain Control (AGC) symbol or a Guard Period (GP) symbol for the sidelink transmission, and
* wherein the AGC symbol is a symbol that is used, by the first device (100), for AGC, and wherein the GP symbol is a symbol that is used, by the first device (100), for TX/RX switching.
| 15. A first device (100) performing sidelink transmission in a wireless communication system, comprising:
* one or more memories;
* one or more transceivers; and
* one or more processors being operatively connected to the one or more memories and the one or more transceivers,
* wherein the one or more processors is configured to:
* determine a Transport Block Size (TBS) based on whether or not at least one of an Automatic Gain Control (AGC) symbol or a Guard Period (GP) symbol is to be used for the sidelink transmission, and
* perform the sidelink transmission for a second device (200), based on the determined TBS,
* wherein the AGC symbol is a symbol that is used, by the first device (100), for AGC, and wherein the GP symbol is a symbol that is used, by the first device (100), for TX/RX switching. | The method involves determining whether automatic gain control (AGC) symbol or a guard period (GP) symbol is used for performing sidelink transmission. A transport block size (TBS) is determined. Sidelink transmission is performed (S2020) with respect to a second device based on the determined TBS, where the AGC symbol is a symbol used by the first device for AGC, and the GP symbol is a symbol used by the first device for TX/RX switching and the GP symbol is a last symbol in a slot including symbols. Determination is made whether a portion of the GP symbol is used for performing the sidelink transmission based on numerology of the slot. An INDEPENDENT CLAIM is also included for a method for receiving sidelink data by a second device in a wireless communication system. Method for performing sidelink transmission by a first device (claimed) in a wireless communication system. Uses include but are not limited to a wireless communication system such as Code division multiple access (CDMA) system such as Universal terrestrial radio access (UTRA) , Evolved-UTRA (E-UTRA) and CDMA2000 , Frequency division multiple access (FDMA) system such as Single carrier-FDMA (SC-FDMA) system, Multi-carrier FDMA (MC-FDMA) system, Time division multiple access (TDMA) system such as Global system for mobile communication (GSM) , General packet radio service (GPRS) system, Enhanced data rates for GSM evolution (EDGE) system, Orthogonal FDMA (OFDMA) system such as Wi-Fi system, WiMAX system, IEEE802-20 system, Universal mobile telecommunication system (UMTS) and Evolved UMTS (E-UMTS) , Third generation partnership project long term evolution (3GPP LTE) system and 3GPP LTE-advanced (3GPP LTE-A) system. The method enables efficiently determining the TBS by a terminal. The drawing shows a flowchart illustrating a method for performing sidelink transmission by a first device in a wireless communication system. '(Drawing includes non-English language text)' S2010Step for utilizing TBS based on AGC symbol or GP symbol used for performing sidelink transmissionS2020Step for performing sidelink transmission with respect to second device based on determined TBS |
Please summarize the input | METHOD FOR EFFICIENTLY TRANSMITTING SIDELINK CSI REPORT FOR BEAM MANAGEMENT IN MMWAVE V2X COMMUNICATION SYSTEMProvided are a method for efficiently transmitting a sidelink (SL) Channel State Information (CSI) report for beam management and a device therefor in an mmWave Vehicle-To-Everything (V2X) communication system. In the wireless communication system, a reception User Equipment (UE) receives, from a transmission UE, first SL control information including a first CSI-RS Resource Index (CRI) indicating a CSI request for a first beam, and second SL control information including a second CRI indicating a CSI request for a second beam. The reception UE transmits an SL CSI report to the transmission UE. The SL CSI report includes a measurement result, the first CRI, and the second CRI.|1. A method performed by a receiving User Equipment (UE) in a wireless communication system, the method comprising:
establishing a unicast link with a transmitting UE;
receiving a Sidelink (SL) Radio Resource Control (RRC) reconfiguration message from the transmitting UE, wherein the SL RRC reconfiguration message comprises a configuration for a Channel State Information Reference Signal (CSI-RS);
transmitting an SL RRC reconfiguration complete message to the transmitting UE in response to the SL RRC reconfiguration message;
receiving a first SL control information from the transmitting UE, wherein the first SL control information comprises a first CSI-RS Resource Index (CRI) indicating a CSI request for a first beam;
receiving a second SL control information from the transmitting UE, wherein the second SL control information comprises a second CRI indicating a CSI request for a second beam;
receiving the CSI-RS from the transmitting UE via the first beam and the second beam;
measuring the CSI-RS received via the first beam and the second beam; and
transmitting an SL CSI reporting to the transmitting UE, wherein the SL CSI reporting comprises a result of the measurement, the first CRI and the second CRI.
| 2. The method of claim 1, wherein the first CRI included in the first SL control information and/or the second CRI included in the second SL control information has a size greater than one bit.
| 3. The method of claim 2, wherein, after the first SL control information is received, the CSI-RS is received via the first beam after X slot, and
wherein, after the first SL control information is received, the SL CSI reporting is transmitted after Y slot.
| 4. The method of claim 2, wherein the CSI-RS received via the first beam and the CSI-RS received via the second beam are received at regular periods.
| 5. The method of claim 1, wherein the SL CSI reporting is transmitted within an SL CSI latency boundary configured in the SL RRC reconfiguration message from after the first SL control information is received.
| 6. The method of claim 1, wherein the first CRI included in the first SL control information and/or the second CRI included in the second SL control information has a size of 1 bit, and
wherein the CSI-RS received via the first beam and the CSI-RS received via the second beam are received via different dynamically allocated time resources.
| 7. The method of claim 1, wherein the first beam and a beam of the transmitting UE are aligned with each other in a Physical Sidelink Feedback Channel (PSFCH) cycle of a receiving pool, within an SL CSI latency boundary configured in the SL RRC reconfiguration message from after the first SL control information is received.
| 8. The method of claim 1, wherein the first beam and a beam of the transmitting UE are aligned with each other in a slot corresponding to a multiple of a beam alignment cycle check parameter received by an upper layer, within an SL CSI latency boundary configured in the SL RRC reconfiguration message from after the first SL control information is received.
| 9. The method of claim 1, wherein the SL RRC reconfiguration message comprises a configuration to enable the SL CSI reporting to include a CRI and a Reference Signal Received Power (RSRP).
| 10. The method of claim 9, wherein the first CRI and/or the second CRI included in the SL CSI reporting has a size of at least 7 bits.
| 11. The method of claim 9, wherein the result of the measurement included in the SL CSI reporting comprises an RSRP of the CSI-RS received via the first beam and an RSRP of the CSI-RS received via the second beam,
wherein the RSRP of the CSI-RS received via the first beam has a size of 7 bits, and
wherein the RSRP of the CSI-RS received via the second beam has a size of 4 bits.
| 12. The method of claim 9, wherein the first CRI and/or the second CRI included in the SL CSI reporting is expressed as an offset value of 4 bits relative to a representative CRI.
| 13. The method of claim 1, wherein the receiving UE is in communication with at least one of a mobile device, a network, and/or autonomous vehicles other than the receiving UE.
| 14. A receiving User Equipment (UE) operating in a wireless communication system, the receiving UE comprising:
at least one transceiver,
at least one processor, and
at least one memory operably connectable to the at least one processor and storing instructions that, based on being executed by the at least one processor, perform operations comprising:
establishing a unicast link with a transmitting UE;
receiving, via the at least one transceiver, a Sidelink (SL) Radio Resource Control (RRC) reconfiguration message from the transmitting UE, wherein the SL RRC reconfiguration message comprises a configuration for a Channel State Information Reference Signal (CSI-RS);
transmitting, via the at least one transceiver, an SL RRC reconfiguration complete message to the transmitting UE in response to the SL RRC reconfiguration message;
receiving, via the at least one transceiver, a first SL control information from the transmitting UE, wherein the first SL control information comprises a first CSI-RS Resource Index (CRI) indicating a CSI request for a first beam;
receiving, via the at least one transceiver, a second SL control information from the transmitting UE, wherein the second SL control information comprises a second CRI indicating a CSI request for a second beam;
receiving, via the at least one transceiver, the CSI-RS from the transmitting UE via the first beam and the second beam;
measuring the CSI-RS received via the first beam and the second beam; and
transmitting, via the at least one transceiver, an SL CSI reporting to the transmitting UE, wherein the SL CSI reporting comprises a result of the measurement, the first CRI and the second CRI.
| 15.-17. (canceled)
| 18. A transmitting User Equipment (UE) operating in a wireless communication system, the transmitting UE comprising:
at least one transceiver,
at least one processor, and
at least one memory operably connectable to the at least one processor and storing instructions that, based on being executed by the at least one processor, perform operations comprising:
establishing a unicast link with a receiving UE;
transmitting, via the at least one transceiver, a Sidelink (SL) Radio Resource Control (RRC) reconfiguration message to the receiving UE, wherein the SL RRC reconfiguration message comprises a configuration for a Channel State Information Reference Signal (CSI-RS);
receiving, via the at least one transceiver, an SL RRC reconfiguration complete message from the receiving UE in response to the SL RRC reconfiguration message;
transmitting, via the at least one transceiver, a first SL control information to the receiving UE, wherein the first SL control information comprises a first CSI-RS Resource Index (CRI) indicating a CSI request for a first beam;
transmitting, via the at least one transceiver, a second SL control information to the receiving UE, wherein the second SL control information comprises a second CRI indicating a CSI request for a second beam;
transmitting, via the at least one transceiver, the CSI-RS to the receiving UE via the first beam and the second beam; and
receiving, via the at least one transceiver, an SL CSI reporting from the receiving UE, wherein the SL CSI reporting comprises a result of measurement on the CSI-RS, the first CRI and the second CRI.
| 19-20. (canceled) | The method involves receiving (S1030) first sidelink (SL) control information from a transmitting user equipment (UE), where the first SL control information includes a first channel state information (CSI)-reference signal (RS) resource index (CRI) indicating a CSI request for a first beam. Second SL control information is received (S1040) from the transmitting UE, where the second SL control information includes a second CRI indicating a CSI request for a second beam. The CSI-RS is received (S1050) from the transmitting UE through the first beam and the second beam. The CSI-RS received through the first beam and the second beam is measured (S1060). An SL CSI report is transmitted (S1070) to the transmitting UE, where the SL CSI report includes the first CRI and the second CRI as a result of the measurement. INDEPENDENT CLAIMS are also included for:a receiving UE;a computer readable medium comprising a set of instructions for receiving a SL CSI report for beam management for a receiving UE;a method for transmitting a SL CSI report for beam management in a wireless communication system;a transmitting UE; anda processing device Method for receiving a SL CSI report for beam management for a receiving UE (claimed) in a wireless communication system i.e. Vehicle-To-Everything (V2X) communication system. The method enables performing SL CSI reporting required in a beam improvement process after initial beam alignment of bidirectional transmission beamforming of the UE participating in communication for a V2X service is completed. The drawing shows a method performed by a receiving UE to which the implementation.(Drawing includes non-English language text).S1030Step for receiving first SL control information from transmitting UES1040Step for receiving second SL control information from transmitting UES1050Step for receiving CSI-RS from transmitting UE through first beam and second beamS1060Step for measuring CSI-RS received through first beam and second beamS1070Step for transmitting SL CSI report to transmitting UE |
Please summarize the input | METHOD FOR RAPIDLY RECOVERING COMMUNICATION CONNECTION IN SIDELINK COMMUNICATION AND DEVICE FOR SAMEProvided are a method for rapidly recovering a communication connection in sidelink communication and/or Vehicle-to-Everything (V2X) communication in a millimeter wave (mmWave)/terahertz (THz) band, and a device for same. A relay User Equipment (UE) transmits a relay link proposal message to a first UE on the basis of the matching of a first source UE ID indicating a first UE with a second target UE ID, and the matching of a second source UE ID indicating a second UE with a first target UE ID.|1. A method performed by a relay User Equipment (UE) adapted to operate in a wireless communication system, the method comprising:
receiving a first recovery request and a second recovery request for a beam failure from a first UE and a second UE, respectively, wherein the first UE and the second UE were performing sidelink communication before the beam failure occurred, wherein the first recovery request includes a first source UE Identifier (ID) and a first target UE ID, and wherein the second recovery request includes a second source UE ID and a second target UE ID;
determining whether the first source UE ID and the second target UE ID match, and whether the second source UE ID and the first target UE ID match;
transmitting a relay link suggestion message to the first UE, based on matching of the first source UE ID with the second target UE ID and matching of the second source UE ID with the first target UE ID;
receiving a relay request from the first UE;
transmitting a relay scheduling to the second UE; and
relaying a communication between the first UE and the second UE.
| 2. The method of claim 1, wherein the relay link suggestion message is transmitted using a beam failure recovery request response message that is a response to the first recovery request and/or a resource for the beam failure recovery request response message.
| 3. The method of claim 2, wherein a particular field of the beam failure recovery request response message is set to a particular value, indicating that the relay link suggestion message is transmitted using the beam failure recovery request response message and/or the resource for the beam failure recovery request response message.
| 4. The method of claim 1, wherein the first source UE ID and the second target UE ID indicates the first UE, and
wherein the second source UE ID and the first target UE ID indicates the second UE.
| 5. The method of claim 1, wherein the relay link suggestion message is transmitted based on a link quality between the relay UE and the first UE and/or a link quality between the relay UE and the second UE satisfying certain conditions.
| 6. The method of claim 1, wherein the relay link suggestion message includes at least one of an ID of the first UE and/or an ID of the second UE.
| 7. The method of claim 1, wherein the relay link suggestion message includes at least one of a link quality between the relay UE and the first UE and/or a link quality between the relay UE and the second UE.
| 8. The method of claim 1, wherein the relay link suggestion message includes information about time resources and/or frequency resources available for a relay link.
| 9. The method of claim 1, wherein the relay UE is in communication with at least one of a mobile device, a network, and/or autonomous vehicles other than the relay UE.
| 10. A relay User Equipment (UE) adapted to operate in a wireless communication system, the relay UE comprising:
at least one transceiver;
at least one processor; and
at least one memory operably connectable to the at least one processor and storing instructions that, based on being executed by the at least one processor, perform operations comprising:
receiving, using the at least one transceiver, a first recovery request and a second recovery request for a beam failure from a first UE and a second UE, respectively, wherein the first UE and the second UE were performing sidelink communication before the beam failure occurred, wherein the first recovery request includes a first source UE Identifier (ID) and a first target UE ID, and wherein the second recovery request includes a second source UE ID and a second target UE ID;
determining whether the first source UE ID and the second target UE ID match, and whether the second source UE ID and the first target UE ID match;
transmitting, using the at least one transceiver, a relay link suggestion message to the first UE, based on matching of the first source UE ID with the second target UE ID and matching of the second source UE ID with the first target UE ID;
receiving, using the at least one transceiver, a relay request from the first UE;
transmitting, using the at least one transceiver, a relay scheduling to the second UE; and
relaying, using the at least one transceiver, a communication between the first UE and the second UE.
| 11. A method performed by a first User Equipment (UE) adapted to operate in a wireless communication system, the method comprising:
performing a sidelink communication with a second UE;
detecting a beam failure for the sidelink communication;
transmitting a recovery request for the beam failure to one or more relay candidate UEs, wherein the recovery request includes a source UE ID indicating the first UE and a target UE indicating the second UE;
receiving a relay link suggestion message from the one or more relay candidate UEs;
selecting a relay UE having a best link quality by evaluating a link quality between the first UE and the one or more relay candidate UEs based on the relay link suggestion message;
transmitting a relay request to the relay UE; and
performing communication with the second UE via relaying of the relay UE.
| 12. The method of claim 11, wherein the relay link suggestion message is received using a beam failure recovery request response message that is a response to the recovery request and/or a resource for the beam failure recovery request response message.
| 13. The method of claim 12, wherein a particular field of the beam failure recovery request response message is set to a particular value, indicating that the relay link suggestion message is received using the beam failure recovery request response message and/or the resource for the beam failure recovery request response message.
| 14. The method of claim 11, wherein the relay link suggestion message is received based on a link quality between the one or more relay candidate UEs and the first UE and/or a link quality between the one or more relay candidate UEs and the second UE satisfying certain conditions.
| 15. The method of claim 11, wherein the relay link suggestion message includes i) at least one of an ID of the first UE and/or an ID of the second UE, ii) at least one of a link quality between the one or more relay candidate UEs and the first UE and/or a link quality between the one or more relay candidate UEs and the second UE, and/or iii) information about time resources and/or frequency resources available for a relay link.
| 16. (canceled)
| 17. (canceled)
| 18. (canceled) | The method involves receiving (S1100) first recovery request and a second recovery request for beam failure from a first UE and a second UE. The sidelink communication is performed before the beam failure occurred. The first recovery request includes a first source UE identifier (ID). Determination is made (S1110) whether the first source UE ID matches the second target UE ID and whether the second source UE ID matches the first target UE ID. The relay link proposal message is transmitted (S1120) to the first UE based on the matching of the first source UE ID and the second target UE ID. The second source UE ID and the first target UE ID is matched. The relay request is received (S1130) from the first UE. The relay scheduling is transmitting (S1140) to the second UE. The communication is relayed (S1150) between the first UE and the second UE. INDEPENDENT CLAIMS are included for the following:a relay user equipment operating in wireless communication system;a processing device operating in wireless communication system; anda computer readable medium storing program for operating processing device in wireless communication system. Method performed by relay user equipment (UE) (claimed) in wireless communication system. The relay search procedure may be performed without performing a separate procedure. The drawing shows the flowchart illustrating the method performed by relay user equipment in wireless communication system. (Drawing includes non-English language text) S1100Step for receiving first recovery request and a second recovery request for beam failure from a first UE and a second UES1110Step for determining whether the first source UE ID matches the second target UE ID and whether the second source UE ID matches the first target UE IDS1120Step for transmitting relay link proposal message to the first UE based on the matching of the first source UE ID and the second target UE IDS1130Step for receiving relay request from the first UES1140Step for transmitting relay scheduling to the second UES1150Step for relaying communication between the first UE and the second UE |
Please summarize the input | METHOD FOR MMWAVE V2X COMMUNICATION IN MULTIPLE UE COMMUNICATION ENVIRONMENT, AND DEVICE THEREFORProvided are a method for mmWAVE vehicle-to-everything (V2X) communication in a multiple user equipment (UE) communication environment, and a device therefor. During a data period, on the basis of having data to be transmitted to a receiving user equipment (UE), a transmitting UE i) transmits, to the receiving UE, a first physical sidelink control channel (PSCCH) for triggering transmission of a beam management reference signal (BRS), ii) transmits the BRS to the receiving UE, iii) transmits, to the receiving UE, a second PSCCH for scheduling the data, and iv) transmits the data to the receiving UE. The transmitting UE receives a measurement result of the BRS from the receiving UE, and adjusts a transmission beam on the basis of the measurement result of the BRS.|1. A method performed by a transmitting User Equipment (UE) adapted to operate in a wireless communication system, the method comprising:
discovering a receiving UE during a discovery duration;
based on having data to transmit to the receiving UE, during a data duration:
i) transmitting a first Physical Sidelink Control Channel (PSCCH) that triggers transmission of a Beam management Reference Signal (BRS) to the receiving UE;
ii) transmitting the BRS to the receiving UE;
iii) transmitting a second PSCCH that schedules the data to the receiving UE; and
iv) transmitting the data to the receiving UE;
receiving a measurement result of the BRS from the receiving UE; and
adjusting a transmission beam based on the measurement result of the BRS.
| 2. The method of claim 1, wherein the BRS is transmitted aperiodically.
| 3. The method of claim 1, wherein the method further comprises, during the discovery duration:
transmitting a discovery signal to the receiving UE; and
receiving a response message to the discovery signal from the receiving UE.
| 4. The method of claim 3, wherein, based on the receiving UE detecting a plurality of transmission beams by receiving the discovery signal, i) the response message includes an index and a measurement result of a beam having a best measurement result among the plurality of transmission beams, and ii) the response message is received using a resource corresponding to the beam having the best measurement result.
| 5. The method of claim 3, wherein, based on the receiving UE detecting a plurality of transmission beams by receiving the discovery signal, i) the response message includes an index and a measurement result for each of the plurality of transmission beams, and ii) the response message is received using a resource associated with each of the plurality of transmission beams.
| 6. The method of claim 1, wherein the response message is received via a preconfigured frequency resource, and
wherein the preconfigured frequency resource does not conflict with a frequency resource used by another UE for the response message during a discovery process.
| 7. The method of claim 1, wherein the response message comprises at least one of a response type, a UE Identifier (ID), and/or a status of the receiving UE.
| 8. The method of claim 1, wherein the method further comprises receiving information informing presence or absence of an intention to transmit data from the receiving UE.
| 9. The method of claim 8, wherein the information informing presence or absence of the intention to transmit data is received in conjunction with a Hybrid Automatic Repeat Request (HARQ)-Acknowledgment (ACK) for the data and/or is received subsequent to reception of the HARQ-ACK.
| 10. The method of claim 9, wherein, based on the information informing presence or absence of the intention to transmit data being received in conjunction with the HARQ-ACK, the information informing presence or absence of the intention to transmit data is received via a frequency resource associated with a frequency resource for the HARQ-ACK and/or via a dedicated frequency resource.
| 11. The method of claim 8, wherein the information informing presence or absence of the intention to transmit data is received by being included in a response message to a discovery signal in the discovery duration.
| 12. The method of claim 8, wherein the information informing presence or absence of the intention to transmit data is received periodically.
| 13. The method of claim 1, wherein the transmitting UE is in communication with at least one of a mobile device, a network, and/or autonomous vehicles other than the transmitting UE.
| 14. A transmitting User Equipment (UE) adapted to operate in a wireless communication system, the transmitting UE comprising:
at least one transceiver;
at least one processor; and
at least one memory operably connectable to the at least one processor and storing instructions that, based on being executed by the at least one processor, perform operations comprising:
discovering a receiving UE during a discovery duration;
based on having data to transmit to the receiving UE, during a data duration using the at least one transceiver:
i) transmitting a first Physical Sidelink Control Channel (PSCCH) that triggers transmission of a Beam management Reference Signal (BRS) to the receiving UE;
ii) transmitting the BRS to the receiving UE;
iii) transmitting a second PSCCH that schedules the data to the receiving UE; and
iv) transmitting the data to the receiving UE;
receiving a measurement result of the BRS from the receiving UE using the at least one transceiver; and
adjusting a transmission beam of the at least one transceiver based on the measurement result of the BRS.
| 15.-17. (canceled)
| 18. A receiving User Equipment (UE) adapted to operate in a wireless communication system, the receiving UE comprising:
at least one transceiver;
at least one processor; and
at least one memory operably connectable to the at least one processor and storing instructions that, based on being executed by the at least one processor, perform operations comprising:
discovering a transmitting UE during a discovery duration;
based on having data to receive from the transmitting UE, during a data duration using the at least one transceiver:
i) receiving a first Physical Sidelink Control Channel (PSCCH) that triggers transmission of a Beam management Reference Signal (BRS) from the transmitting UE;
ii) receiving the BRS from the transmitting UE;
iii) receiving a second PSCCH that schedules the data from the transmitting UE; and
iv) receiving the data from the transmitting UE; and
transmitting a measurement result of the BRS to the transmitting UE using the at least one transceiver.
| 19-20. (canceled) | The method involves discovering a receiving user equipment during a search period (S1100). A first physical sidelink control channel (PSCCH) triggering transmission of a beam management reference signal (BRS) is transmitted to the equipment based on transmitting data to the equipment during the data interval, and second PSCCH for scheduling the data is transmitted to the equipment (S1110) . A measurement result of the BRS is received (S1120) from the equipment. A transmission beam is adjusted (S1130) based on the measurement result of the BRS. INDEPENDENT CLAIMS are also included for:a transmitting user equipment for operating in a wireless communication systema processing device for operating in a wireless communication systema computer readable medium comprising a set of instructions for providing millimeter vehicle-to-everything communication in a user equipment of a communication environmenta receiving user equipment for operating in a wireless communication system. Method for providing millimeter vehicle-to-everything communication in a receiving user equipment (claimed) of a Next generation communication system i.e.Third generation partnership project (3GPP) long-term evolution (LTE) system. Uses include but are not limited to a mobile phone, a smart phone, a notebook computer, a digital broadcast terminal, a personal digital assistant, a portable multimedia player, a navigation system, a slate personal computer, a tablet personal computer, an ultrabook and a vehicle with autonomous driving function. The method enables using aperiodic and/or semi-permanent reference signal setting as a reference signal resource allocation for beam management such that reference signal transmission and measurement result report can be minimized, so that resource waste can be reduced by dynamically allocating resources when data is generated, thus efficiently utilizing resources when a set of user equipments are connected, reducing overhead of millimeter vehicle-to-everything communication, and increasing communication efficiency. The drawing shows a flow diagram illustrating a method for (Drawing includes non-English language text).S1100Step for searching receiving user equipment during search periodS1110Step for transmitting first PSCCH for triggering transmission of BRS, transmitting BRS to receiving user equipment and transmitting second PSCCH for scheduling data during data period on basis of having data to be transmitted to receiving user equipmentS1120Step for receiving measurement result of BRS from receiving user equipmentS1130Step for adjusting transmission beam on basis of measurement result of BRS |
Please summarize the input | METHOD FOR SYNCHRONIZATION BETWEEN UES ACCORDING TO CHANGE IN REFERENCE SYNCHRONIZATION SOURCE IN V2X COMMUNICATION SYSTEM, AND DEVICE THEREFORProvided are a method for synchronization between user equipments (UEs) according to a change in a reference synchronization source in a vehicle-to-everything (V2X) communication system, and a device therefor. A first transmission UE transmits information on a change in a reference synchronization source to at least one reception UE, and after a predetermined time, changes the reference synchronization source from the first transmission UE to a second transmission UE.|1. A method performed by a first transmitting User Equipment (UE) adapted to operate in a wireless communication system, the method comprising:
establishing a Sidelink (SL) link with at least one receiving UE;
transmitting a first Sidelink Synchronization Signal Block (SL-SSB) to the at least one receiving UE;
performing synchronization with the at least one receiving UE based on the first SL-SSB;
providing SL services to the at least one receiving UE using the first transmitting UE as a reference synchronization source;
receiving a second SL-SSB from a second transmitting UE having a higher priority of the reference synchronization source than the first transmitting UE;
transmitting information about a change of the reference synchronization source to the at least one receiving UE; and
changing the reference synchronization source from the first transmitting UE to the second transmitting UE after a period of time.
| 2. The method of claim 1, wherein the information about the change of the reference synchronization source comprises a timing offset before and after the change of the reference synchronization source.
| 3. The method of claim 2, wherein the timing offset comprises at least one of a System Frame Number (SFN) offset, a slot offset, a symbol offset, and/or a sample offset.
| 4. The method of claim 2, wherein the timing offset is expressed in sample units.
| 5. The method of claim 2, wherein the timing offset is a timing offset of SFN 0 or slot index 0.
| 6. The method of claim 1, wherein the information about the change of the reference synchronization source comprises information about a reference synchronization source activation time informing when the change of the reference synchronization source takes effect,
wherein the reference synchronization source activation time corresponds to the period of time.
| 7. The method of claim 1, wherein the information about the change of the reference synchronization source comprises information about the second transmitting UE.
| 8. The method of claim 1, wherein the information about the change of the reference synchronization source comprises an Identifier (ID) of the second SL-SSB.
| 9. The method of claim 1, wherein the first transmitting UE is in communication with at least one of a mobile device, a network, and/or autonomous vehicles other than the first transmitting UE.
| 10. A first transmitting User Equipment (UE) adapted to operate in a wireless communication system, the first transmitting UE comprising:
at least one transceiver;
at least one processor; and
at least one memory operably connectable to the at least one processor and storing instructions that, based on being executed by the at least one processor, perform operations comprising:
establishing a Sidelink (SL) link with at least one receiving UE;
transmitting a first Sidelink Synchronization Signal Block (SL-SSB) to the at least one receiving UE via the at least one transceiver;
performing synchronization with the at least one receiving UE based on the first SL-SSB;
providing SL services to the at least one receiving UE using the first transmitting UE as a reference synchronization source via the at least one transceiver;
receiving a second SL-SSB from a second transmitting UE having a higher priority of the reference synchronization source than the first transmitting UE via the at least one transceiver;
transmitting information about a change of the reference synchronization source to the at least one receiving UE via the at least one transceiver; and
changing the reference synchronization source from the first transmitting UE to the second transmitting UE after a period of time.
| 11. A method performed by a receiving User Equipment (UE) adapted to operate in a wireless communication system, the method comprising:
establishing a sidelink link with a first transmitting UE;
receiving a first Sidelink Synchronization Signal Block (SL-SSB) from the first transmitting UE;
performing synchronization with the first transmitting UE based on the first SL-SSB;
receiving sidelink services from the first transmitting UE using the first transmitting UE as a reference synchronization source;
receiving information from the first transmitting UE about a change of the reference synchronization source; and
changing the reference synchronization source from the first transmitting UE to a second transmitting UE after a period of time.
| 12. The method of claim 11, wherein the information about the change of the reference synchronization source comprises a timing offset before and after the change of the reference synchronization source,
wherein a Fast Fourier Transform (FFT) boundary is configured based on a timing with the first transmitting UE as the reference synchronization source and the timing offset.
| 13. The method of claim 12, wherein broadcast services are provided from the first transmitting UE within the FFT boundary.
| 14. The method of claim 11, wherein the information about the change of the reference synchronization source comprises information about a reference synchronization source activation time informing when the change of the reference synchronization source takes effect,
wherein the reference synchronization source activation time corresponds to the period of time.
| 15. The method of claim 11, wherein the information about the change of reference synchronization source comprises information about the second transmitting UE.
| 16. (canceled)
| 17. (canceled)
| 18. (canceled)
| 19. (canceled)
| 20. (canceled) | The method involves establishing (S1600) a sidelink (SL) link with a receiving UE. A first sidelink synchronization signal block (SL-SSB) is transmitted (S1610) to the receiving UE. A synchronization is performed (S1620) with the receiving UE based on the first SL-SSB. An SL service is provided (S1630) to the receiving UE using the first transmitting UE as a reference synchronization source. A second SL-SSB is received (S1640) from a second transmitting UE having a higher priority of the reference synchronization source than the first transmitting UE. The information on the change of the reference synchronization source is transmitted (S1650) to the receiving UE. The reference synchronization source is changed (S1660) from the first transmitting UE to the second transmitting UE after a predetermined time. INDEPENDENT CLAIMS are included for the following:a transmitting user equipment (UE) operating in a wireless communication system;a method for synchronization between performed by a receiving UE in a wireless communication system;a receiving UE in a wireless communication system;a processing device operating in a wireless communication system; anda computer-readable medium storing a program for synchronization between user equipment. Method for synchronization between user equipment (UE)s in a wireless communication system e.g. vehicle-to-everything (V2X) communication system, performed by a transmitting UE. The communication disconnection problem that occurs due to a change of a reference synchronization source can be minimized. The broadcast service can be continuously provided without interruption even after the reference synchronization source is changed. The drawing shows a flow diagram illustrating the method for synchronization between the UEs performed by a transmitting UE. (Drawing includes non-English language text) 1600Step for establishing a SL link with a receiving UES1610Step for transmitting a first SL-SSB to the receiving UES1620Step for performing synchronization with the receiving UE based on the first SL-SSBS1630Step for providing an SL service to the receiving UE using the first transmitting UE as a reference synchronization sourceS1640Step for receiving a second SL-SSB from a second transmitting UE having a higher priority of the reference synchronization source than the first transmitting UES1650Step for transmitting information on the change of the reference synchronization source to the receiving UES1660Step for changing reference synchronization source from first transmitting UE to second transmitting UE after predetermined time |
Please summarize the input | SIDELINK COMMUNICATIONOne disclosure of the present specification provides a method by which a UE performs sidelink communication. The method may comprise the steps of: performing sidelink communication on the basis of a first RAT; switching a RAT for the sidelink communication from the first RAT to a second RAT; performing the sidelink communication on the basis of the second RAT; and communicating with a base station on the basis of NR.|1-17. (canceled)
| 18. A method for a user equipment (UE) to perform sidelink communication, the method comprising:
switching from an Evolved Universal Terrestrial Radio Access (E-UTRA) Vehicle-to-everything (V2X) sidelink to a New Radio (NR) V2X sidelink,
wherein interruption on a serving cell due to the switching from the E-UTRA V2X sidelink to the NR V2X sidelink is allowed up to a number of NR slots based on Subcarrier Spacing (SCS) for the communication with the serving cell,
wherein the interruption is for uplink and downlink of the serving cell,
wherein the number of the NR slots is 2 NR slots, based on the SCS for the serving cell being 15 kHz,
wherein the number of the NR slots is 2 NR slots, based on the SCS for the serving cell being 30 kHz, and
wherein the number of the NR slots is 2 NR slots, based on the SCS for the serving cell being 60 kHz.
| 19. The method of claim 18, wherein the number of the NR slots is 2 NR slots, based on the SCS for the serving cell being 120 kHz.
| 20. The method of claim 18, wherein the UE performs the switching based on a Time Division Multiplexing manner (TDM-ed manner).
| 21. The method of claim 18, wherein the switching is limited so that a probability of missing Acknowledgement (ACK)/Non-Acknowledgement (NACK) in communication with the serving cell becomes equal to or less than 0.5%.
| 22. A user equipment (UE) that performs sidelink communication, the UE comprising:
at least one processor; and
at least one memory for storing instructions and operably electrically connectable with the at least one processor,
wherein the operation performed based on the instructions being executed by the at least one processor comprises:
switching from an Evolved Universal Terrestrial Radio Access (E-UTRA) Vehicle-to-everything (V2X) sidelink to a New Radio (NR) V2X sidelink,
wherein interruption on a serving cell due to the switching from the E-UTRA V2X sidelink to the NR V2X sidelink is allowed up to a number of NR slots based on Subcarrier Spacing (SCS) for the serving cell,
wherein the interruption is for uplink and downlink of the serving cell,
wherein the number of the NR slots is 2 NR slots, based on the SCS for the serving cell being 15 kHz,
wherein the number of the NR slots is 2 NR slots, based on the SCS for the serving cell being 30 kHz, and
wherein the number of the NR slots is 2 NR slots, based on the SCS for the serving cell being 60 kHz.
| 23. The UE of claim 22, wherein the number of the NR slots is 2 NR slots, based on that the SCS for the serving cell is 120 kHz.
| 24. The UE of claim 22, wherein the UE performs the switching based on a Time Division Multiplexing manner (TDM-ed manner).
| 25. The UE of claim 22, wherein the switching is limited so that a probability of missing Acknowledgement (ACK)/Non-Acknowledgement (NACK) for the serving cell becomes equal to or less than 0.5%.
| 26. The UE of claim 22, wherein the UE is an autonomous driving device communicating with at least one of a mobile terminal, a network and an autonomous driving vehicle other than the UE.
| 27. A user equipment (UE) that performs sidelink communication, the UE comprising:
at least one processor; and
at least one memory for storing instructions and operably electrically connectable with the at least one processor,
wherein the operation performed based on the instructions being executed by the at least one processor comprises:
switching from a New Radio (NR) Vehicle-to-everything (V2X) sidelink to an Evolved Universal Terrestrial Radio Access (E-UTRA) V2X sidelink,
wherein interruption on a serving cell due to the switching from the NR V2X sidelink to the E-UTRA V2X sidelink is allowed up to a number of NR slots based on the SCS for the serving cell,
wherein the interruption is for uplink and downlink of the serving cell,
wherein the number of the NR slots is 2 NR slots, based on the SCS for the serving cell being 15 kHz,
wherein the number of the NR slots is 2 NR slots, based on the SCS for the serving cell being 30 kHz, and
wherein the number of the NR slots is 2 NR slots, based on the SCS for the serving cell being 60 kHz.
| 28. The UE of claim 27, wherein the number of the NR slots is 2 NR slots, based on that the SCS for the serving cell is 120 kHz.
| 29. The UE of claim 27, wherein the UE performs the switching based on a Time Division Multiplexing manner (TDM-ed manner).
| 30. The UE of claim 27, wherein the switching is limited so that a probability of missing Acknowledgement (ACK)/Non-Acknowledgement (NACK) for the serving cell becomes equal to or less than 0.5%. | The method involves performing (S1001) sidelink communication based on a first radio access technology (RAT). The first RAT is Evolved Universal terrestrial Radio Access (E- UTRA) and New Radio (NR). A RAT for the sidelink communication is switched (S1002) from the first RAT to a second RAT. The sidelink communication is performed (S1003) based on the second RAT. The communication is performed (S1004) with a base station based on NR. The interruption for communication with the base station is applied to a preset number of NR slots while switching from the first RAT to the second RAT is performed, according to Subcarrier Spacing (SCS) for communication with the base station. INDEPENDENT CLAIMS are included for the following:a UE;an apparatus in mobile communication; anda non-transitory computer-readable storage medium. Method for performing sidelink communication by a user equipment (UE) (claimed). The Third Generation Partnership Project Long Term Evolution has lower cost per bit, improved service availability, flexible use of frequency bands, simple structure, open interface, and appropriate power consumption of the terminal. The drawing shows a flowchart of a method for performing sidelink communication. (Drawing includes non-English language text). S1001Performing sidelink communication based on a first RATS1002Switching RAT for the sidelink communication from the first RAT to a second RATS1003Performing sidelink communication based on the second RATS1004Performing communication with a base station based on NR |
Please summarize the input | METHOD FOR PERFORMING REINFORCEMENT LEARNING BY V2X COMMUNICATION DEVICE IN AUTONOMOUS DRIVING SYSTEMA method for performing reinforcement learning by a V2X communication device in an autonomous driving system, specifically, a method for performing reinforcement learning in consideration of an application rate of a reward according to age in terms of the freshness of a reward for an action, is proposed. An agent transmits an action message and controls a reflection rate of a reward through AoI management for a reward message, so that rewards transmitted from a plurality of devices are suitably reflected in an environment of a reinforcement learning-based autonomous driving system, and an optimal policy can be found accordingly.|1. A method of performing reinforcement learning performed by a first Vehicle-to-everything (V2X) communication device in an autonomous driving system, the method comprising:
receiving a sidelink synchronization signal from a base station;
performing a synchronization based on the sidelink synchronization signal;
transmitting action information to a second V2X communication device, wherein the action information informs an action performed by the first V2X communication device;
receiving reward information from the second V2X communication device, wherein the reward information informs a reward for the action; and
measuring a time value from a time of transmitting the action information to a time of receiving the reward information; and
performing reinforcement learning based on the reward,
wherein, based on the time value being above a first threshold and below a second threshold, the first V2X communication device transmits a status check request information relating to the second V2X communication device to the base station, and
wherein, based on the time value being above the second threshold, the first V2X communication device transmits forwarding request information requesting forwarding of the reward information to the base station.
| 2. The method of claim 1, wherein the reinforcement learning is applied with the reward corresponding to a ratio determined by the first V2X communication device,
wherein the ratio is determined based on the time value, and
wherein the ratio is a value of at least 0 and no more than 1.
| 3. The method of claim 2, wherein, based on the time value being less than a third threshold, the ratio is 1.
| 4. The method of claim 2, wherein, based on the time value being greater than a third threshold, the ratio is a value of a difference between the second threshold and the third threshold divided by a maximum value of the time value.
| 5. The method of claim 4, wherein the first threshold to the third threshold are in order of the second threshold value, the first threshold value, and the third threshold value.
| 6. The method of claim 5, wherein the first V2X communication device receives the first threshold, the second threshold, and the third threshold from the base station.
| 7. The method of claim 1, wherein the first V2X communication device receives status check information from the base station in response to the status check request information.
| 8. The method of claim 7, wherein, based on the status check information informing that retransmission of the action information is available for the second V2X communication device, the first V2X communication device retransmits the action information to the second V2X communication device.
| 9. The method of claim 8, wherein the first V2X communication device retransmits the action information including an indicator, and
wherein the indicator is an indicator requesting the second V2X communication device to transmit the reward information in priority.
| 10. The method of claim 7, wherein, based on the status check information informing that retransmission of the action information is not available for the second V2X communication device, the first V2X communication device stops the reinforcement learning for the second V2X communication device.
| 11. The method of claim 1, wherein, based on transmitting the forwarding request information to the base station, the first V2X communication device receives the reward information transmitted from the second V2X communication device via the base station.
| 12. The method of claim 1, wherein the ratio is determined based on a value obtained by applying a function that takes the time value as an input.
| 13. The method of claim 12, wherein the function is transmitted by the base station to the first V2X communication device.
| 14. The method of claim 1, wherein the action is a vector for a direction of movement and a speed of movement of the first V2X communication device.
| 15. A first V2X communication device comprising:
one or more memories storing instructions;
one or more transceivers; and
one or more processors connecting the one or more memories and the one or more transceivers, wherein the one or more processors, by executing the instructions, perform,
receiving a sidelink synchronization signal from a base station;
performing a synchronization based on the sidelink synchronization signal;
transmitting action information to a second V2X communication device, wherein the action information informs an action performed by the first V2X communication device;
receiving reward information from the second V2X communication device, wherein the reward information informs a reward for the action; and
measuring a time value from a time of transmitting the action information to a time of receiving the reward information; and
performing reinforcement learning based on the reward,
wherein, based on the time value being above a first threshold and below a second threshold, the first V2X communication device transmits a status check request information relating to the second V2X communication device to the base station, and
wherein, based on the time value being above the second threshold, the first V2X communication device transmits forwarding request information requesting forwarding of the reward information to the base station.
| 16. (canceled)
| 17. An apparatus adapted to control a first V2X communication device in an autonomous driving system, wherein the apparatus comprising:
one or more processors; and
one or more memories operably connected by the one or more processors and storing instructions, wherein the one or more processors, by executing the instructions, perform,
performing a synchronization based on the sidelink synchronization signal;
transmitting action information to a second V2X communication device, wherein the action information informs an action performed by the first V2X communication device;
receiving reward information from the second V2X communication device, wherein the reward information informs a reward for the action; and
measuring a time value from a time of transmitting the action information to a time of receiving the reward information; and
performing reinforcement learning based on the reward,
wherein, based on the time value being above a first threshold and below a second threshold, the first V2X communication device transmits a status check request information relating to the second V2X communication device to the base station, and
wherein, based on the time value being above the second threshold, the first V2X communication device transmits forwarding request information requesting forwarding of the reward information to the base station. | The method involves receiving a sidelink synchronization signal from a base station The sidelink synchronization is performed based on a signal, and action information is transmitted (S4510) to second V2X communication device, where the action information informs the action performed by first V2X communication device. The reward information is received (S4520) from second V2X communication device, where the reward information informs the reward for the behavior. A time value is measured (S4530) from the time of transmission of the behavior information to the time when the reward information is received, and reinforcement learning is performed (S450) based on the reward but based on the time value being greater than or equal to the first threshold and less than the second threshold. The forwarding request information for requesting forwarding of the compensation information is transmitted to the base station, based on the time value being equal to or greater than the second threshold. An INDEPENDENT CLAIM is included for an apparatus for transmitting forwarding request information for requesting forwarding of the compensation information to the base station. Method for performing reinforcement learning by vehicle-to-everything (V2X) communication device in autonomous driving system conforming to 3GPP standard. The agent transmits an action message and controls the reward reflection rate through AoI management for the reward message, so that the reward transmitted from multiple devices is reflected in the reinforcement learning-based autonomous driving system environment, and the optimal policy accordingly can be found. The drawing shows a flow diagram illustrating the method for performing reinforcement learning of vehicle-to-everything communication device in an autonomous driving system. (Drawing includes non-English language text) S4510Step for transmitting action information to the second V2X communication deviceS4520Step for receiving reward information from the second V2X communication deviceS4530Step for measuring a time value from the time of transmission of the behavior information to the time of receiving the reward informationS4540Step for performing reinforcement learning based on the reward |
Please summarize the input | METHOD AND DEVICE FOR RESOURCE ALLOCATION IN WIRELESS COMMUNICATION SYSTEMA first UE of the present disclosure identifies a first resource for first data and a second resource for second data, transmits, to a second UE, the first data on the basis of control information for allocating the first resource and the first resource, the control information not including reservation information about the second resource notifying of the location of the second resource on the basis of the time interval between the first resource and the second resource being larger than the time interval permitted for the resource reservation, identifies a third resource for the second data in the activation section of a DRX cycle of the second UE, and transmits, to the second UE, the second data on the basis of control information for allocating the third resource and the third resource.|1. A method performed by a first user equipment (UE) in a wireless communication system, the method comprising:
identifying a first resource for first data and a second resource for second data;
transmitting, to a second UE, control information for allocating the first resource and the first data based on the first resource, wherein the control information does not include reservation information for the second resource indicating a location of the second resource based on a time interval between the first resource and the second resource being greater than a time interval allowed for resource reservation;
identifying a third resource for the second data in an active time of a discontinuous reception (DRX) cycle of the second UE based on the control information not including the reservation information for the second resource; and
transmitting, to the second UE, control information for allocating the third resource and the second data based on the third resource.
| 2. The method of claim 1, wherein the identifying of the first resource and the second resource comprises autonomously selecting the first resource and the second resource from a resource pool configured for the first UE.
| 3. The method of claim 1, wherein the identifying of the first resource and the second resource comprises receiving a sidelink grant for the first resource and a sidelink grant for the second resource from a network.
| 4. The method of claim 1, wherein the time interval allowed for resource reservation is 32 slots.
| 5. The method of claim 1, further comprising:
receiving information for the DRX cycle of the second UE from the second UE or a network,
wherein the information for the DRX cycle of the second UE comprises at least one of a time of the active time of the DRX cycle of the second UE, a length of the active time of the DRX cycle of the second UE, a time of the DRX cycle of the second UE, or a length of the DRX cycle of the second UE.
| 6. The method of claim 1, wherein the identifying of the third resource comprises:
transmitting a resource request for the third resource to a network based on a time interval between the first resource and the second resource being greater than a time interval allowed for resource reservation; and
in response to the resource request, receiving a sidelink grant for the third resource.
| 7. The method of claim 1, wherein the identifying of the third resource comprises autonomously selecting the third resource in an active time of the DRX cycle of the second UE based on a time interval between the first resource and the second resource being greater than a time interval allowed for resource reservation, and
wherein the third resource is selected from a resource pool configured for the first UE.
| 8. The method of claim 1, wherein the second data corresponds to retransmission of the first data.
| 9. The method of claim 1, wherein the location of the second resource belongs to an inactive time of the DRX cycle of the second UE.
| 10. The method of claim 1, wherein the time interval allowed for resource reservation is greater than or equal to a time interval in which an active time of the DRX cycle of the second UE lasts from when transmission related to the second UE occurs.
| 11. The method of claim 1, wherein the control information for allocating the first resource includes information indicating that the second data to be transmitted exists.
| 12. The method of claim 1, wherein the reservation information for the second resource is used to increase the active time of the DRX cycle of the second UE so that the active time of the DRX cycle of the second UE includes the location of the second resource.
| 13. The method of claim 1, wherein the first UE and the second UE are autonomous vehicles that perform vehicle-to-everything (V2X) communication with each other.
| 14. A first user equipment (UE) in a wireless communication system, the first UE comprising:
a transceiver;
a memory; and
at least one processor operatively coupled to the transceiver and the memory,
wherein the at least one processor is configured to:
identify a first resource for first data and a second resource for second data;
control the transceiver to transmit, to a second UE, control information for allocating the first resource and the first data based on the first resource, wherein the control information does not include reservation information for the second resource indicating a location of the second resource based on a time interval between the first resource and the second resource being greater than a time interval allowed for resource reservation;
identify a third resource for the second data in an active time of a discontinuous reception (DRX) cycle of the second UE based on the control information not including the reservation information for the second resource; and
control the transceiver to transmit, to the second UE, control information for allocating the third resource and the second data based on the third resource.
| 15-17. (canceled)
| 18. A base station (BS) in a wireless communication system, the BS comprising:
a transceiver;
a memory; and
at least one processor operatively coupled to the transceiver and the memory,
wherein the at least one processor is configured to control the transceiver to:
allocate a first resource and a second resource used for a transmission by a first user equipment (UE) to a second UE;
control the transceiver to transmit control information for scheduling the first resource and control information for scheduling the second resource to the first UE;
control the transceiver to receive, from the first UE, a resource request for requesting a resource used for the first UE to transmit to the second UE based on a time interval between the first resource and the second resource being greater than a time interval allowed for resource reservation;
allocate a third resource used for a transmission by the first UE to the second UE in an active time of a discontinuous reception (DRX) cycle of the second UE based on the resource request; and
control the transceiver to transmit control information for scheduling the third resource to the first UE. | The method involves : identifying a first resource for first data and a second resource for second data and transmitting the first data based on the first resource and the control information for allocating the first resource. The second resource is configured for identifying a third resource for the second data in active period of a discontinuous reception (DRX) cycle of a user equipment, where the identifying of the first resource and the second resource comprises autonomously selecting the first resource and the second resource from a resource pool configured for the user equipment. INDEPENDENT CLAIMS are also included for:an user equipment;a non-transitory computer readable medium storing a set of instructions for performing resource allocation in a wireless communication system;a processor for performing resource allocation in a wireless communication system;a method for performing resource allocation in a wireless communication system by a base station; anda base station. Method for performing resource allocation in a wireless communication system by a user equipment (claimed). The method involves allowing the user equipment to receive data from a next transmission resource if time interval between transmission resources is larger than time interval allowed for resource reservation. The drawing shows a flow diagram illustrating the method for performing resource allocation in the wireless communication system by the user equipment (Drawing includes non-English language text). |
Please summarize the input | METHOD AND DEVICE FOR ADJUSTING DISCONTINUOUS RECEPTION PATTERN IN WIRELESS COMMUNICATION SYSTEMThe present disclosure relates to adjusting a discontinuous reception (DRX) pattern in a wireless communication system. According to various embodiments of the present disclosure, a method performed by a first user equipment (UE) in a wireless communication system comprises the steps of: receiving, from a second UE, information indicating a channel busy ration (CBR) for an active section in a discontinuous reception (DRX) cycle of the second UE; adjusting the DRX cycle of the second UE on the basis of the CBR; and transmitting, to the second LTE, information on the adjusted DRX cycle of the second LTE.|1. A method performed by a first user equipment (UE) in a wireless communication system, the method comprising:
* receiving, from a second LTE, information indicating a channel busy ration (CBR) for an active time in a discontinuous reception (DRX) cycle of the second LTE;
* adjusting the DRX cycle of the second UE based on the CBR; and
* transmitting, to the second LTE, information for the adjusted DRX cycle of the second UE.
| 2. The method of claim 1, wherein the adjusting of the DRX cycle of the second LTE comprises comparing a CBR threshold and the CBR to adjust the DRX cycle of the second UE,
wherein the CBR threshold is a value configured from a network or a predetermined value.
| 3. The method of claim 2, wherein the adjusting of the DRX cycle of the second LTE comprises:
based on the CBR being greater than the CBR threshold, adjusting the active time in the DRX cycle of the second LTE so that the active time in the DRX cycle of the second LTE does not overlap with an active time in a DRX cycle of the first UE as much as possible.
| 4. The method of claim 2, wherein the adjusting of the DRX cycle of the second LTE comprises increasing the active time in the DRX cycle of the second UE based on the CBR being greater than the CBR threshold.
| 5. The method of claim 2, wherein the adjusting of the DRX cycle of the second LTE comprises:
based on the CBR being smaller than the CBR threshold, adjusting the active time in the DRX cycle of the second LTE so that the active time in the DRX cycle of the second LTE overlaps an active time in a DRX cycle of the first UE as much as possible.
| 6. The method of claim 2, wherein the adjusting of the DRX cycle of the second LTE comprises decreasing the active time in the DRX cycle of the second UE based on the CBR being smaller than the CBR threshold.
| 7. The method of claim 1, wherein the adjusting of the DRX cycle of the second LTE comprises:
adjusting at least one of a start point of the active time in the DRX cycle of the second UE, a length of the active time in the DRX cycle of the second UE, a start point of the DRX cycle of the second LTE, or a length of the DRX cycle of the second LTE.
| 8. The method of claim 1, wherein the information for the adjusted DRX cycle of the second UE comprises at least one of an adjusted starting point of the active time in the DRX cycle of the second LTE, a length of the active time in the DRX cycle of the second LTE, a starting point of the DRX cycle of the second UE, or a length of the DRX cycle of the second UE.
| 9. The method of claim 1, wherein the adjusting of the DRX cycle of the second LTE comprises adjusting the DRX cycle of the second LTE based on at least one of a number of negative acknowledgments (NACKs) or channel state information (CSI) for the active time in the DRX cycle of the second LTE.
| 10. The method according to claim 9, wherein the adjusting of the DRX cycle of the second LTE comprises increasing the active time in the DRX cycle of the second LTE based on the number of NACKs for the active time in the DRX cycle of the second UE being greater than a threshold value.
| 11. The method according to claim 9, wherein the adjusting of the DRX cycle of the second LTE comprises increasing the active time in the DRX cycle of the second LTE based on a channel quality value for the active time in the DRX cycle of the second UE being less than a threshold value.
| 12. The method of claim 1, further comprising:
* measuring a CBR for an active time in a DRX cycle of the first UE;
* transmitting information for the measured CBR to a network; and
* receiving, from the network, information for the DRX cycle of the first UE adjusted by the network based on the measured CBR.
| 13. The method of claim 1, wherein the first LTE and the second LTE are autonomous vehicles that perform vehicle-to-everything (V2X) communication with each other.
| 14. A first user equipment (UE) in a wireless communication system, the first UE comprising:
* a transceiver;
* a memory; and
* at least one processor operatively coupled to the transceiver and the memory,
* wherein the at least one processor is configured to:
* control the transceiver to receive, from a second LTE, information indicating a channel busy ration (CBR) for an active time in a discontinuous reception (DRX) cycle of the second UE;
* adjust the DRX cycle of the second UE based on the CBR; and
* control the transceiver to transmit, to the second UE, information for the adjusted DRX cycle of the second LTE.
| 15. A non-transitory computer readable medium having stored thereon a plurality of instructions that, when executed by a processor of a first user equipment (LTE), perform operations comprising:
* receiving, from a second LTE, information indicating a channel busy ration (CBR) for an active time in a discontinuous reception (DRX) cycle of the second LTE;
* adjusting the DRX cycle of the second UE based on the CBR; and
* transmitting, to the second LTE, information for the adjusted DRX cycle of the second UE.
| 16. A processor for a first user equipment (UE) in a wireless communication system, wherein a memory of the processor stores a software code implementing instructions that, when executed by the processor, perform operations comprising:
* receiving, from a second LTE, information indicating a channel busy ration (CBR) for an active time in a discontinuous reception (DRX) cycle of the second LTE;
* adjusting the DRX cycle of the second UE based on the CBR; and
* transmitting, to the second LTE, information for the adjusted DRX cycle of the second UE.
| 17. A method performed by a first user equipment (LTE) in a wireless communication system, the method comprising:
* transmitting, to a second UE, information indicating a CBR for an active time in a DRX cycle of the first UE;
* receiving, from the second UE, information for the DRX cycle of the first UE adjusted by the second UE based on the CBR; and
* performing a communication with the second UE based on the adjusted DRX cycle of the first UE.
| 18. A first user equipment (UE) in a wireless communication system, the first UE comprising:
* a transceiver;
* a memory; and
* at least one processor operatively coupled to the transceiver and the memory,
* wherein the at least one processor is configured to control the transceiver to:
* transmit, to a second UE, information indicating a CBR for an active time in a DRX cycle of the first UE;
* receive, from the second UE, information for the DRX cycle of the first UE adjusted by the second UE based on the CBR; and
* perform a communication with the second UE based on the adjusted DRX cycle of the first UE. | The method involves receiving (S1101) information informing of channel busy ration (CBR) for an active period in a discontinuous reception (DRX) cycle of a second UE. The DRX cycle of the second UE is adjusted (S1102), based on the CBR. The information on the adjusted DRX cycle of the second UE, is transmitted (S1103) to the second UE. INDEPENDENT CLAIMS are included for the following:a non-transitory computer readable medium storing program for adjusting discontinuous reception pattern in wireless communication system;a first user equipment; anda processor for adjusting discontinuous reception pattern in wireless communication system. Method for adjusting discontinuous reception pattern in wireless communication system, performed by first user equipment (UE) (claimed). Since the DRX ON period of the TX UE and the RX UE is aligned or adjusted based on CBR, power consumption of the TX/RX UE is reduced. Improved mobile broadband communication, massive machine type communication (MTC), and ultra-reliable and low latency communication (URLLC) are achieved. The power consumption is reduced. The drawing shows a flowchart illustrating the method for adjusting discontinuous reception pattern in wireless communication system. (Drawing includes non-English language text) S1101Step for receiving information informing of channel busy ration for an active period in a discontinuous reception cycle of a second UES1103Step for adjusting DRX cycle of the second UES1105Step for transmitting information on adjusted DRX cycle to user equipment |
Please summarize the input | METHOD AND DEVICE FOR PROCESSING STATE TRANSITION IN WIRELESS COMMUNICATION SYSTEMThe present disclosure relates to processing a state transition in a wireless communication system. According to an embodiment disclosed herein, a method performed by a first user equipment (UE) in a wireless communication system comprises the steps of: monitoring phasing for a second UE in a first state; acquiring state information indicating that the state of the second UE has changed from the first state to a second state; and stopping the monitoring of the phasing for the second UE in the second state on the basis of the acquisition of the state information, wherein the first state includes at least one of an idle state or a nonactive state, and the second state includes a connected state.|1. A method performed by a relay user equipment (UE) in a UE-to-network relay in a wireless communication system, the method comprising:
establishing a sidelink connection with a remote UE for the UE-to-network relay;
monitoring a paging for the remote UE in an idle state or an inactive state;
receiving, through the sidelink connection, a message comprising information that is set based on a state of the remote UE being changed from the idle state or the inactivate state to a connected state; and
stopping monitoring a paging for the remote UE in the connected state based on receiving the information.
| 2. The method of claim 1, wherein the relay UE is in the connected state while the remotes UE is in the connected state.
| 3. The method of claim 1, wherein the relay UE is not in the idle state while the remote UE is in the inactive state.
| 4. The method of claim 1, wherein the relay UE is in the inactive state while the remotes UE is in the idle state.
| 5. The method of claim 1, wherein a destination of the message is set to a base station.
| 6. The method of claim 5, wherein the message comprises a message for requesting transition to the connected state.
| 7. The method of claim 1, wherein the message comprises indication information indicating that the second UE has transmitted a message for requesting a transition to the connected state to a base station.
| 8. The method of claim 1, further comprising:
receiving a PC5-radio resource control (RRC) message comprising an RRC message and indication information indicating that the RRC message is a message for requesting a transition to the connected state from the second UE; and
identifying that the RRC message is a message for requesting a transition to the connected state, by decoding the indication information without decoding the RRC message in the PC5-RRC message.
| 9. The method of claim 8, wherein the indication information is included in a header of the PC5-RRC message.
| 10. The method of claim 8, wherein the message for requesting transition to the connected state comprises at least one of a radio resource control (RRC) setup request message or an RRC resume request message.
| 11. (canceled)
| 12. The method of claim 1, further comprising transitioning from the inactive state to the connected state in response to receiving the message.
| 13. The method of claim 1, wherein the relay UE and the remotes UE are autonomous vehicles that perform vehicle-to-everything (V2X) communication with each other.
| 14. A first user equipment (UE) in a wireless communication system, the first UE comprising:
a transceiver;
a memory; and
at least one processor operatively coupled to the transceiver and the memory,
wherein the memory stores instructions that, based on being executed by the at least one processor, perform operations comprising:
establishing a sidelink connection with a remote UE for the UE-to-network relay;
monitoring a paging for the remote UE in an idle state or an inactive state;
receiving, through the sidelink connection, a message comprising information that is set based on a state of the remote UE being changed from the idle state or the inactivate state to a connected state; and
stopping monitoring a paging for the remote UE in the connected state based on receiving the information.
| 15-17. (canceled)
| 18. A base station (BS) in a user equipment (UE)-to-network relay in a wireless communication system, the BS comprising:
a transceiver;
a memory; and
at least one processor operatively coupled to the transceiver and the memory,
wherein the memory stores instructions that, based on being executed by the at least one processor, perform operations comprising:
establishing a connection with a relay UE for the UE-to-network relay; and
transmitting a paging for a remote UE for the UE-to-network relay,
wherein a sidelink connection is established between the relay UE and the remote UE,
wherein the relay UE is configured to:
monitor a paging for the remote UE in an idle state or an inactive state;
receive, through the sidelink connection, a message comprising information that is set based on a state of the remote UE being changed from the idle state or the inactivate state to a connected state; and
stop monitoring a paging for the remote UE in the connected state based on receiving the information. | The method involves monitoring (S1101) phasing for a second UE in a first state. The state information indicating that the state of the second UE is changed from the first state to a second state is acquired (S1103). The monitoring of the phasing for the second UE in the second state is stopped (S1105) on the basis of the acquisition of the state information, where the first state includes one of an idle state or a non-active state, and the second state includes a connected state. INDEPENDENT CLAIMS are included for the following:a user equipment (UE) in a wireless communication system;a non-transitory computer readable medium storing a program for processing state transition by UE in wireless communication system;a processor for processing state transition by UE in wireless communication system;a method for processing state transition by a base station in a wireless communication system; anda base station in a wireless communication system. Method for processing a state transition by user equipment (UE) (claimed) in a wireless communication system e.g. New Radio (NR) system for vehicle-to-everything (V2X) communication. Since the relay UE acquires the information about the state transition of the remote UE, the unnecessary operations that occurs due to erroneous assumption of the RRC state of the remote UE can be prevented. The drawing shows a flow diagram illustrating the method for processing the state transition by the UE. (Drawing includes non-English language text) S1101Step for monitoring phasing for a second UE in a first stateS1103Step for acquiring state information indicating that the state of the second UE is changed from the first state to a second stateS1105Step for stopping the monitoring of the phasing for the second UE in the second state on the basis of the acquisition of the state information |
Please summarize the input | METHOD AND APPARATUS FOR ACCESS CONTROL IN WIRELESS COMMUNICATION SYSTEMThe present disclosure relates to access control in a wireless communication system. According to an embodiment of the present disclosure, a method performed by a first user equipment (UE) in a wireless communication system comprises: receiving a discovery message broadcast by a second UE, the discovery message comprising access control information for a cell in which the second UE is in a connected state; performing access barring check for the cell based on the access control information; selecting a third UE for obtaining a network connection based on an access attempt to the cell being barred as a result of the access barring check; and performing an access attempt to acquire the network connection through the third UE.|1. A method performed by a first user equipment (UE) in a wireless communication system, the method comprising:
receiving a discovery message broadcast by a second UE, the discovery message comprising access control information for a cell in which the second UE is in a connected state;
performing access barring check for the cell based on the access control information;
selecting a third UE for obtaining a network connection based on an access attempt to the cell being barred as a result of the access barring check; and
performing an access attempt to acquire the network connection through the third UE.
| 2. The method of claim 1, wherein the first UE is in an idle or inactive state.
| 3. The method of claim 1, wherein the cell is different from a cell to which the third UE belongs.
| 4. The method of claim 1, wherein the third UE belongs to the cell.
| 5. The method of claim 4, wherein an access attempt to the cell performed through the second UE is barred, and
wherein the access attempt to the cell performed through the third UE is allowed.
| 6. The method of claim 1, further comprising: based on the access control information, determining whether to establish a connection with the second UE; and
determining not to establish a connection with the second UE based on an access attempt to a cell in which the second UE is in a connected state is barred as a result of the access barring check,
wherein the selecting of the third UE comprises selecting the third UE after determining not to establish a connection with the second UE.
| 7. The method of claim 1, further comprising establishing a connection with the third UE after selecting the third UE,
wherein the first UE is not establishing a connection with any UE before establishing a connection with the third UE.
| 8. The method of claim 1, wherein the third UE is access-barred to a specific cell,
wherein the performing of the access attempt through the third UE comprises:
establishing a connection with the third UE which is access-barred to the specific cell; and
performing an access attempt to the specific cell through the third UE which is access-barred to the specific cell based on the connection established with the third UE.
| 9. The method of claim 1, further comprising: receiving a discovery message from the third UE; and
obtaining a signal strength of a sidelink between the first UE and the third UE by measuring a reference signal related to the discovery message,
wherein the selecting of the third UE comprises selecting the third UE based on the signal strength of the sidelink and the signal strength of an access link between the third UE and a network.
| 10. The method of claim 9, wherein the discovery message comprises information indicating the signal strength of the access link, and
wherein the selecting of the third UE comprises selecting the third UE based on the signal strength of the sidelink exceeding a first threshold and the signal strength of the access link exceeding a second threshold.
| 11. The method of claim 9, wherein the discovery message comprises information indicating an offset value proportional to the signal strength of the access link, and
wherein the selecting of the third UE comprises selecting the third UE based on a value obtained by adding the offset value to the signal strength for the sidelink.
| 12. The method of claim 9, wherein the discovery message is received from the third UE with power proportional to a signal strength for the access link,
wherein the obtaining of the signal strength for the sidelink comprises obtaining the power by measuring a reference signal related to the discovery message, and
wherein the selecting of the third UE comprises selecting the third UE based on the power.
| 13. The method of claim 1, wherein the first UE and the second UE are autonomous vehicles that perform vehicle-to-everything (V2X) communication with each other.
| 14. A first user equipment (UE) in a wireless communication system, the first UE comprising:
a transceiver;
a memory; and
at least one processor operatively coupled to the transceiver and the memory,
wherein the at least one processor is configured to:
control the transceiver to receive a discovery message broadcast by a second UE, the discovery message comprising access control information for a cell in which the second UE is in a connected state;
perform access barring check for the cell based on the access control information;
select a third UE for obtaining a network connection based on an access attempt to the cell being barred as a result of the access barring check; and
perform an access attempt to acquire the network connection through the third UE.
| 15-17. (canceled)
| 18. A base station (BS) in a wireless communication system, the BS comprising:
a transceiver;
a memory; and
at least one processor operatively coupled to the transceiver and the memory,
wherein the at least one processor is configured to:
establish a connection with a first user equipment (UE), wherein the first UE is in a connected state with a cell related to the base station after the connection is established;
control the transceiver to transmit, to the first UE, access control information for the cell related to the base station; and
control the transceiver to transmit, to the first UE, an instruction for allowing the first UE to broadcast a discovery message comprising the access control information,
wherein the access control information is used to determine whether a second UE that has not established a connection with any UE establishes a connection with the first UE. | The method involves receiving (S1101) a discovery message broadcast by a second UE, including access control information for a cell. An access blocking check for the cell is carried out (S1103) based on the access control information. A third UE is selected (S1105) to obtain a network connection based on the access attempt to the cell which is blocked according to the result of the access blocking check and an access attempt is performed (S1107)to obtain the network connection through the third UE. The first UE is in an idle state or an inactive state. INDEPENDENT CLAIMS are included for the following:a first UE in a wireless communication system;a non-transitory computer readable medium (CRM) storing a program for performing an access control by first UE in the wireless communication system;a processor for a first UE in a wireless communication system;a method performed by a base station (BS) in the wireless communication system; andthe BS in a wireless communication system. Method for access control by first user equipment (UE) (claimed) in wireless communication system. The remote UE determines in advance whether access through the relay UE is blocked before selecting the relay UE, and establishes a connection with an accessible relay UE, thus preventing unnecessary operation. The link stability and reliability are guaranteed when the remote UE selects the relay UE after selecting the relay UE by considering the signal strength for the access link. The drawing shows a flowchart illustrating a process for access control by first UE in wireless communication system. (Drawing includes non-English language text) S1101Step for receiving a discovery message broadcast by a second UE including access control information for a cellS1103Step for performing an access blocking check for the cell based on the access control informationS1105Step for selecting a third UE to obtain a network connection based on the access attempt to the cell which is blocked according to the result of the access blocking checkS1107Step for performing an access attempt to obtain the network connection through the third UE |
Please summarize the input | METHOD AND DEVICE FOR MEASURING LINK QUALITY IN WIRELESS COMMUNICATION SYSTEMThe present disclosure relates to a link quality measurement in a wireless communication system. According to an embodiment of the present disclosure, a method performed by a first user equipment (UE) in a wireless communication system comprises: receiving, from a second UE, a discovery message broadcast by the second UE; receiving, from the second UE, a unicast message through a unicast link and information for a power value related to the unicast link; determining a first signal strength based on a measurement of a reference signal related to the discovery message and a second signal strength based on a measurement of a reference signal related to the unicast message and the power value related to the unicast link; determining a link quality for the second UE based on the first signal strength and the second signal strength; and transmitting, to the second UE, information for the link quality for the second UE.|1. A method performed by a first user equipment (UE) in a wireless communication system, the method comprising:
* receiving, from a second UE, a discovery message broadcast by the second UE;
* receiving, from the second UE, a unicast message through a unicast link and information for a power value related to the unicast link;
* determining a first signal strength based on a measurement of a reference signal related to the discovery message and a second signal strength based on a measurement of a reference signal related to the unicast message and the power value related to the unicast link;
* determining a link quality for the second UE based on the first signal strength and the second signal strength; and
* transmitting, to the second UE, information for the link quality for the second UE.
| 2. The method of claim 1, wherein the first signal strength is a signal strength of the discovery message, and
wherein the signal strength of the discovery message is greater than a signal strength of the unicast link.
| 3. The method of claim 1, wherein the determining of the second signal strength comprises:
* determining a signal strength of the unicast link based on the measurement of the reference signal related to the unicast message; and
* determining the second signal strength as a value obtained by adding the power value related to the unicast link to the signal strength of the unicast link.
| 4. The method of claim 1, wherein the link quality for the second UE is an average value of the first signal strength and the second signal strength.
| 5. The method of claim 1, wherein the unicast message comprises information for the power value related to the unicast link.
| 6. The method of claim 1, wherein the unicast link is established between the first UE and the second UE, and
wherein the unicast link comprises at least one of a PC5-signalling (PC5-S) connection or a PC5- radio resource control (PC5-RRC) connection.
| 7. The method of claim 1, further comprising:
* transmitting, to the second UE, a request message for requesting information for the power value related to the unicast link,
* wherein the information for the power value related to the unicast link is received from the second UE through a response message to the request message.
| 8. The method of claim 1, wherein the signal strength of the discovery message comprises a sidelink discovery - reference signal received power (SD-RSRP), and
wherein the signal strength of the unicast link comprises a sidelink-reference signal received power (SL-RSRP).
| 9. The method of claim 1, wherein the measurement of the reference signal related to the discovery message is performed after the discovery message is successfully decoded.
| 10. The method of claim 1, wherein the measurement of the reference signal related to the unicast message is performed after the unicast message is successfully decoded.
| 11. The method of claim 10, further comprising:
* decoding a source identifier (ID) and a destination ID of the unicast message; and
* after identifying that the source ID is related to the second UE and the destination ID is related to the first UE, performing the measurement of the reference signal related to the unicast message.
| 12. The method of claim 1, further comprising: after determining the first signal strength and the second signal strength, evaluating a reselection to the second UE based on the first signal strength instead of the second signal strength.
| 13. The method of claim 1, wherein the first UE and the second UE are autonomous vehicles that perform vehicle-to-everything (V2X) communication with each other.
| 14. A first user equipment (UE) in a wireless communication system, the first UE comprising:
* a transceiver;
* a memory; and
* at least one processor operatively coupled to the transceiver and the memory,
* wherein the at least one processor is configured to:
* control the transceiver to receive, from a second UE, a discovery message broadcast by the second UE;
* control the transceiver to receive, from the second UE, a unicast message through a unicast link and information for a power value related to the unicast link;
* determine a first signal strength based on a measurement of a reference signal related to the discovery message and a second signal strength based on a measurement of a reference signal related to the unicast message and the power value related to the unicast link;
* determine a link quality for the second UE based on the first signal strength and the second signal strength; and
* control the transceiver to transmit, to the second UE, information for the link quality for the second UE.
| 15. A non-transitory computer readable medium having stored thereon a plurality of instructions that, when executed by a processor of a first user equipment (UE), perform operations comprising:
* receiving, from a second UE, a discovery message broadcast by the second UE;
* receiving, from the second UE, a unicast message through a unicast link and information for a power value related to the unicast link;
* determining a first signal strength based on a measurement of a reference signal related to the discovery message and a second signal strength based on a measurement of a reference signal related to the unicast message and the power value related to the unicast link;
* determining a link quality for the second UE based on the first signal strength and the second signal strength; and
* transmitting, to the second UE, information for the link quality for the second UE.
| 16. A processor for a first user equipment (UE) in a wireless communication system, wherein a memory of the processor stores a software code implementing instructions that, when executed by the processor, perform operations comprising:
* receiving, from a second UE, a discovery message broadcast by the second UE;
* receiving, from the second UE, a unicast message through a unicast link and information for a power value related to the unicast link;
* determining a first signal strength based on a measurement of a reference signal related to the discovery message and a second signal strength based on a measurement of a reference signal related to the unicast message and the power value related to the unicast link;
* determining a link quality for the second UE based on the first signal strength and the second signal strength; and
* transmitting, to the second UE, information for the link quality for the second UE.
| 17. A method performed by a second user equipment (UE) in a wireless communication system, the method comprising:
* broadcasting a discovery message;
* transmitting, to a first UE, a unicast message through a unicast link and information for a power value related to the unicast link; and
* receiving, from the first UE, information for a link quality for the second UE,
* wherein the link quality for the second UE is determined based on a first signal strength and a second signal strength,
* wherein the first signal strength is determined based on a measurement of a reference signal related to the discovery message, and
* wherein the second signal strength is determined based on a measurement of a reference signal related to the unicast message and the power value related to the unicast link.
| 18. A second user equipment (UE) in a wireless communication system, the second UE comprising:
* a transceiver;
* a memory; and
* at least one processor operatively coupled to the transceiver and the memory, wherein the at least one processor is configured to control the transceiver to:
* broadcast a discovery message;
* transmit, to a first UE, a unicast message through a unicast link and information for a power value related to the unicast link; and
* receive, from the first UE, information for a link quality for the second UE,
* wherein the link quality for the second UE is determined based on a first signal strength and a second signal strength,
* wherein the first signal strength is determined based on a measurement of a reference signal related to the discovery message, and
* wherein the second signal strength is determined based on a measurement of a reference signal related to the unicast message and the power value related to the unicast link. | The method involves receiving (S1001) a discovery message broadcast by a second UE, from the second UE. A unicast message through a cast link and information on a power value related to the unicast link is received (S1003). A first signal strength is determined based on a measurement of a reference signal related to the discovery message and a second signal strength is determined (S1005) based on a measurement of a reference signal related to the unicast message and a power value related to the unicast link class. A link quality to the second UE is determined (S1007) based on the first signal strength and the second signal strength. The information on link quality for the second UE is transmitted (S1009) to the second UE. INDEPENDENT CLAIMS are included for the following:a first UE in a wireless communication system;a non-transitory computer readable medium (CRM) storing a program for measuring a link quality;a processor for a first UE in a wireless communication system;a method performed by a second UE for measuring link quality in a wireless communication system; anda second UE in a wireless communication system. Method performed by first user equipment (UE) (claimed) for measuring link quality in wireless communication system e.g. new radio (NR) system. The remote UE uses not only the signal strength of the discovery message but also the signal strength of the unicast link to measure the link quality for the relay UE, thus link quality measurement is more accurately and precisely performed. The drawing shows a flowchart illustrating a process performed by first UE for measuring link quality in wireless communication system. (Drawing includes non-English language text) S1001Step for receiving a discovery message broadcast by a second UE from the second UES1003Step for receiving a unicast message through a cast link and information on a power value related to the unicast linkS1005Step for determining a first signal strength based on a measurement of a reference signal related to the discovery message and determining a second signal strength based on a measurement of a reference signal related to the unicast message and a power value related to the unicast link classS1007Step for determining a link quality to the second UE based on the first signal strength and the second signal strengthS1009Step for transmitting the information on link quality for the second UE to the second UE |
Please summarize the input | METHOD AND DEVICE FOR RESOURCE ALLOCATION IN WIRELESS COMMUNICATION SYSTEMThe present disclosure relates to resource allocation in a wireless communication system. According to one embodiment of the present disclosure, a method performed by means of a first user equipment (UE) in a wireless communication system comprises the steps of: receiving, from a second UE, information about a packet delay budget (PDB) set by means of a network; generating data to be transmitted to the network; selecting a resource for the transmission of the data through a first link on the basis of the PDB, the first link being a link between the first UE and the second UE; and transmitting, to the second UE, the data through the first link on the basis of the selected resource, wherein the PDB is determined on the basis of a measurement for the first link and a measurement for a second link between the second UE and the network.|1. A method performed by a first user equipment (UE) in a wireless communication system, the method comprising:
* receiving, from a second UE, information for a packet delay budget (PDB) configured by a network;
* generating data to be transmitted to the network;
* selecting a resource for transmitting the data through a first link based on the PDB, the first link being a link between the first UE and the second UE; and
* transmitting the data to the second UE through the first link based on the selected resource,
* wherein the PDB is determined based on a measurement on the first link and a measurement on a second link between the second UE and the network.
| 2. The method of claim 1, wherein the PDB comprises an upper bound of an allowed latency for the first link.
| 3. The method of claim 1, wherein the measurement of the first link comprises a channel busy ratio (CBR) for the first link, and
wherein the measurement of the second link comprises a CBR for the second link.
| 4. The method of claim 1, wherein the information for the PDB comprises at least one of a quality of service (QoS) identifier indicating a combination of QoS characteristics including the PDB or a logical channel identifier (LCID) associated with the QoS identifier.
| 5. The method of claim 4, wherein the selecting of the resource comprises autonomously selecting a resource satisfying the QoS characteristics within the PDB from a resource pool.
| 6. A method performed by a first user equipment (UE) in a wireless communication system, the method comprising:
* receiving, from a network, information for a packet delay budget (PDB) configured by the network;
* receiving, from the network, data to be transmitted to a second UE;
* based on the PDB, selecting a resource for transmission of the data through a first link, the first link being a link between the first UE and the second UE; and
* transmitting the data to the second UE through the first link based on the selected resource;
* wherein the PDB is determined based on a measurement on the first link and a measurement on a second link between the first UE and the network.
| 7. The method of claim 6, wherein the PDB comprises an upper bound of an allowed latency for the first link.
| 8. The method of claim 6, wherein the measurement on the first link comprises a channel busy ratio (CBR) for the first link, and
wherein the measurement of the second link comprises a CBR for the second link.
| 9. The method of claim 6, wherein the information for the PDB comprises at last one of a QoS identifier indicating a combination of quality of service (QoS) characteristics including the PDB, a logical channel identifier (LCID) associated with the QoS identifier, or an LCID of a logical channel associated with the second link to which data received from the second UE is mapped.
| 10. The method of claim 9, wherein the selecting of the resource comprises autonomously selecting a resource satisfying the QoS characteristics within the PDB from a resource pool.
| 11. A method performed by a base station (BS) in a wireless communication system, the method comprising:
* obtaining information for a measurement of a first link and information for a measurement of a second link, wherein the first link is a link between a first user equipment (UE) and a second UE, and the second link is a link between the first UE and the BS;
* determining a packet delay budget (PDB) for the first UE and a PDB for the second UE based on the measurement of the first link and the measurement of the second link; and
* transmitting information for the PDB for the first UE to the first UE and transmitting information for the PDB for the second UE to the second UE.
| 12. The method of claim 11, wherein the PDB for the first UE and the PDB for the second UE comprise an upper bound of an allowed latency for the first link.
| 13. The method of claim 11, wherein the PDB for the first UE and the PDB for the second UE are used to select a resource for transmission of data through the first link between the first UE and the second UE.
| 14. The method according to claim 11, wherein the information for the PDB for the first UE comprises at least one of a quality of service (QoS) identifier indicating a combination of QoS characteristics including the PDB for the first UE, a logical channel identifier (LCID) associated with the QoS identifier or an LCID of a logical channel associated with the second link to which data received from the second UE is mapped, and
wherein the information for the PDB for the second UE comprises at least one of a QoS identifier indicating a combination of QoS characteristics including the PDB for the second UE or an LCID associated with the QoS identifier.
| 15. The method of claim 11, wherein the first UE and the second UE are autonomous vehicles that perform vehicle-to-everything (V2X) communication with each other.
| 16. A first user equipment (UE) in a wireless communication system, the first UE comprising:
* a transceiver;
* a memory; and
* at least one processor operatively coupled to the transceiver and the memory,
* wherein the at least one processor is configured to:
* control the transceiver to receive, from a second UE, information for a packet delay budget (PDB) configured by a network;
* generate data to be transmitted to the network;
* select a resource for transmitting the data through a first link based on the PDB, the first link being a link between the first UE and the second UE; and
* control the transceiver to transmit the data to the second UE through the first link based on the selected resource,
* wherein the PDB is determined based on a measurement on the first link and a measurement on a second link between the second UE and the network.
| 17. A first user equipment (UE) in a wireless communication system, the first UE comprising:
* a transceiver;
* a memory; and
* at least one processor operatively coupled to the transceiver and the memory,
* wherein the at least one processor is configured to:
* control the transceiver to receive, from a network, information for a packet delay budget (PDB) configured by the network;
* control the transceiver to receive, from the network, data to be transmitted to a second UE;
* based on the PDB, select a resource for transmission of the data through a first link, the first link being a link between the first UE and the second UE; and
* control the transceiver to transmit the data to the second UE through the first link based on the selected resource;
* wherein the PDB is determined based on a measurement on the first link and a measurement on a second link between the first UE and the network.
| 18. A base station (BS) in a wireless communication system, the BS comprising:
* a transceiver;
* a memory; and
* at least one processor operatively coupled to the transceiver and the memory,
* wherein the at least one processor is configured to:
* obtain information for a measurement of a first link and information for a measurement of a second link, wherein the first link is a link between a first user equipment (UE) and a second UE, and the second link is a link between the first UE and the BS;
* determine a packet delay budget (PDB) for the first UE and a PDB for the second UE based on the measurement of the first link and the measurement of the second link; and
* control the transceiver to transmit information for the PDB for the first UE to the first UE and transmitting information for the PDB for the second UE to the second UE.
| 19. A processor for a first user equipment (UE) in a wireless communication system, wherein a memory of the processor stores a software code implementing instructions that, when executed by the processor, perform operations comprising:
* receiving, from a second UE, information for a packet delay budget (PDB) configured by a network;
* generating data to be transmitted to the network;
* selecting a resource for transmitting the data through a first link based on the PDB, the first link being a link between the first UE and the second UE; and
* transmitting the data to the second UE through the first link based on the selected resource,
* wherein the PDB is determined based on a measurement on the first link and a measurement on a second link between the second UE and the network.
| 20. A non-transitory computer readable medium having stored thereon a plurality of instructions that, when executed by a processor of a first user equipment (UE), perform operations comprising:
* receiving, from a second UE, information for a packet delay budget (PDB) configured by a network;
* generating data to be transmitted to the network;
* selecting a resource for transmitting the data through a first link based on the PDB, the first link being a link between the first UE and the second UE; and
* transmitting the data to the second UE through the first link based on the selected resource,
* wherein the PDB is determined based on a measurement on the first link and a measurement on a second link between the second UE and the network. | The method involves (i) receiving from a second UE, information about a packet delay budget (PDB) set by a network; (ii) transmitting a process of a generating data to the network, transmitting the process of selecting a resource for transmission of the data through a first link based on the PDB, and transmitting the first link between the first UE and the second UE based on a selected resource; (iii) performing the PDB measurement on the first link; (iv) obtaining the PDB includes an upper bound of an allowable latency for the first link; and (v) selecting a resource comprises autonomously selecting a resource satisfying a QoS characteristic within the PDB from a resource pool. INDEPENDENT CLAIMS are also included for :device for performing first user equipment in wireless communication system;a processor for performing first user equipment in wireless communication system; anda computer-readable storage medium comprising a set of instructions for performing first user equipment in wireless communication system. The method is useful for performing first user equipment in wireless communication system. The method satisfies the latency requirement in relay operation is better. The drawing shows a flowchart illustrating the method for performing first user equipment in wireless communication system (Drawing includes non-English language text). |
Please summarize the input | Method for transmitting and receiving signal by terminal in wireless communication systemAn embodiment relates to a method for a first terminal operating in a wireless communication system, the method comprising the steps of: transmitting application information from an application layer to a vehicle-to-everything (V2X) layer; generating, in the V2X layer, sidelink (SL) discontinuous reception (DRX) information on the basis of the application information; transmitting the SL DRX information from the V2X layer to an AS layer; and communicating with a second terminal by applying the SL DRX information in the AS layer, wherein the application information includes at least one application requirement.What is claimed is:
| 1. A method for a first user equipment (UE) operating in a wireless communication system, the method comprising:
determining a service type identified based on an intelligent transport systems-application object identifier (ITS-AID) or a provider service identifier (PSID);
configuring sidelink (SL) discontinuous reception (DRX) for groupcast based on the service type and a layer-2 identifier; and
monitoring first sidelink control information (SCI) based on the SL DRX,
wherein the SL DRX is configured with parameters including SL drx-onDurationTimer, SL drx-InactivityTimer, SL drx-RetransmissionTimer and SL drx-HARQ-RTT-Timer.
| 2. The method according to claim 1, wherein the parameters further includes at least one of SL drx-SlotOffset, SL drx-LongCycleStartOffset, SL drx-ShortCycle, SL drx-ShortCycleTimer.
| 3. The method according to claim 1, wherein the SL DRX is transmitted to other UEs which are not connected to the first UE.
| 4. The method according to claim 1, wherein the SL DRX is transmitted to a second UE through a physical sidelink broadcast channel (PSBCH).
| 5. The method according to claim 1, wherein the SL DRX is transmitted to a second UE through second sidelink control information (SCI).
| 6. The method according to claim 5, wherein first SCI includes an indicator indicating whether the SL DRX is included in the second SCI.
| 7. The method according to claim 5, wherein based on a part of the SL DRX being included in the second SCI, remaining SL DRX is transmitted to the second UE through a physical sidelink shared channel (PSSCH).
| 8. The method according to claim 7, wherein the second SCI includes an indicator indicating whether the remaining SL DRX is included in the PSSCH.
| 9. The method according to claim 1, wherein the SL DRX is transmitted to a second UE through a PSSCH.
| 10. A first user equipment (UE) configured to operate in a wireless communication system, the first UE comprising:
at least one processor; and
at least one computer memory operably coupled to the at least one processor and storing instructions which when executed, cause the at least one processor to perform operations,
wherein the operations include:
determining a service type identified based on an intelligent transport systems-application object identifier (ITS-AID) or a provider service identifier (PSID);
configuring sidelink (SL) discontinuous reception (DRX) for groupcast based on the service type and a layer-2 identifier; and
monitoring first sidelink control information (SCI) based on the SL DRX,
wherein the SL DRX is configured with parameters including SL drx-onDurationTimer, SL drx-InactivityTimer, SL drx-RetransmissionTimer and SL drx-HARQ-RTT-Timer.
| 11. A processor for performing operations for a first user equipment (UE) configured to operate in a wireless communication system,
wherein the operations include:
determining service type identified based on an intelligent transport systems-application object identifier (ITS-AID) or a provider service identifier (PSID);
configuring sidelink (SL) discontinuous reception (DRX) for groupcast based on the service type and a layer-2 identifier; and
monitoring first sidelink control information (SCI) based on the SL DRX,
wherein the SL DRX is configured with parameters including SL drx-onDurationTimer, SL drx-InactivityTimer, SL drx-RetransmissionTimer and SL drx-HARQ-RTT-Timer.
| 12. The first UE according to claim 10, wherein the first UE communicates with at least one of another UE, a UE related to an autonomous driving vehicle, a base station, or a network. | The method involves transferring application information from an application layer to a Vehicle-to-everything (V2X) layer (S1001). A sidelink discontinuous reception (SL DRX) information is generated based on the application information in the V2X layer (S1002). The SL DRX information from the V2X layer is transferred to the AS layer (S1003) and communicates with a second terminal by applying the SL DRX information in the AS layer (S1004). The application information consists of service type information. The SL DRX information is broadcast to other terminals not connected to the first terminal. The SL DRX information is transmitted to the second terminal through a physical sidelink broadcast channel (PSBCH). An INDEPENDENT CLAIM is included for a computer-readable storage medium for performing a method for operating the first terminal in a wireless communication system. Method for operating first terminal in a wireless communication system (claimed). The terminal generates the SL DRX configuration without signaling with the base station in consideration of application requirements in the V2X layer by applying the SL DRX information in the AS layer. The drawing shows a flow chart of the method. (Drawing includes non-English language text). S1001Transferring application information from an application layer to a V2X layerS1002Generating SL DRX information based on the application information in the V2X layer Generating sidelink discontinuous receptionS1003Transferring SL DRX information from the V2X layer to the AS layerS1004Communicating with a second terminal by applying the SL DRX information in the AS layer |
Please summarize the input | Method and apparatus for transmitting and receiving messages from a V2X terminal in a wireless communication systemThe invention relates to a method and an apparatus for transmitting and receiving messages from a V2X terminal in a wireless communication system. An embodiment of the present invention relates to a method for sending a message by a terminal in a wireless communication system, comprising the following steps: generating a message; and transmitting control information for the message and the message from the resource segmented on the time axis when the size of the message is greater than a predetermined value, and transmitting control information for the message and the message from the resource segmented on the frequency axis when the size of the message is less than the predetermined value.|1. A method for a user equipment (UE) in a wireless communication system, comprising: the UE sends a physical side link control channel (PDCCH); the physical side link shared channel PSSCH related to the PSCCH is sent by the UE, wherein the sequence for the PSSCH is based on the value related to the cyclic redundancy check CRC, and wherein the sequence is a reference signal sequence for the PSSCH, or the sequence is a scrambling sequence for the PSSCH.
| 2. The method according to claim 1, wherein the CRC is a CRC on the PSCCH.
| 3. The method according to claim 1, wherein the UE is capable of communicating with at least one of another UE, a UE, a BS, or a network associated with an autonomous driving vehicle.
| 4. A user equipment (UE) in a wireless communication system, comprising: at least one processor; at least one computer memory operatively connected to the at least one processor and storing instructions that, when executed, cause the at least one processor to perform operations comprising: the UE sends a physical side link control channel (PDCCH); the physical side link shared channel PSSCH related to the PSCCH is sent by the UE, wherein the sequence for the PSSCH is based on the value related to the cyclic redundancy check CRC, and wherein the sequence is a reference signal sequence for the PSSCH, or the sequence is a scrambling sequence for the PSSCH.
| 5. A processor for transmitting a physical side link shared channel (PSSCH) in a wireless communication system, the processor performing an operation for a user equipment (UE), wherein the operation comprises: the UE sends a physical side link control channel (PDCCH); the physical side link shared channel PSSCH related to the PSCCH is sent by the UE, wherein the sequence for the PSSCH is based on the value related to the cyclic redundancy check CRC, and wherein the sequence is a reference signal sequence for the PSSCH, or the sequence is a scrambling sequence for the PSSCH.
| 6. A non-temporary computer readable storage medium storing at least one computer program, the computer program comprising instructions which, when executed by at least one processor, cause the at least one processor to perform operations for a user equipment UE, wherein the operations comprise: the UE sends a physical side link control channel (PDCCH); the physical side link shared channel PSSCH related to the PSCCH is sent by the UE, wherein the sequence for the PSSCH is based on the value related to the cyclic redundancy check CRC, and wherein the sequence is a reference signal sequence for the PSSCH, or the sequence is a scrambling sequence for the PSSCH. | The method involves determining size of message. Judgment is made to check whether the message is greater than pre-set value. Control information is transmitted based on resource which is classified in time axis. Judgment is made to check whether the size of the message is smaller than the pre-set value. The control information is transmitted based on the resource when the message classified on frequency axis. The control information is transmitted on the resource classified on the frequency axis. The control information is limited in a slot. An INDEPENDENT CLAIM is also included for a terminal device. Method for transmitting and receiving message of V2X terminal by using a terminal in a radio communication system. Code division multiple access(CDMA) system, Frequency division multiple access (FDMA) system, Time division multiple access system, orthogonal FDMA system, single carrier (SC)- FDMA system, Global system for mobile communication (GSM) system, Enhanced data rates for GSM evolution (EDGE), Third generation partnership project (3GPP) system and Long term evolution (LTE) system. The method enables improving sidelink (D2D) communication performance. The drawing shows a schematic illustration of a method for transmitting and receiving message of V2X terminal. '(Drawing includes non-English language text)' |
Please summarize the input | VEHICLE CONTROL DEVICE MOUNTED ON VEHICLE AND METHOD FOR CONTROLLING THE VEHICLEThe present invention relates to a vehicle control apparatus provided in a vehicle and a vehicle control method. A vehicle control apparatus according to an embodiment of the present invention includes a communication unit configured to obtain location information of the vehicle and to communicate with at least one of an external server and another vehicle, a sensing unit configured to sense vehicle-related information, and the and a processor for controlling the communication unit to receive map information from an external server and location information of the other vehicle from the other vehicle, wherein the processor receives the obtained location information of the vehicle and the received location information of the other vehicle. It is characterized in that the vehicle is fused to the received map information, and the vehicle is controlled based on at least one of the fused map information and the vehicle-related information sensed through the sensing unit.|1. A vehicle control device provided in a vehicle, comprising: a communication unit configured to obtain location information of the vehicle and to communicate with at least one of an external server and another vehicle;
a sensing unit configured to sense vehicle-related information; and a processor for controlling the communication unit to receive the map information from the external server and the location information of the other vehicle from the other vehicle, wherein the processor includes the obtained location information of the vehicle and the received location of the other vehicle. Information is fused with the received map information, and the vehicle is controlled based on at least one of the fused map information and vehicle-related information sensed through the sensing unit, wherein the processor includes the fused map information. Based on the information, it is determined whether the distance between the present vehicle and the other vehicle is less than or equal to a preset distance and whether the present vehicle and the other vehicle exist in different lanes, and the distance between the present vehicle and the other vehicle is If the distance is less than the preset distance and the present vehicle and the other vehicle are driving in the same lane, a warning message related to the driving of the vehicle is output, and even if the distance between the present vehicle and the other vehicle is less than the preset distance, When the present vehicle and the other vehicle are driving in different lanes, a warning message related to the driving of the vehicle is not output.
| 2. The vehicle control apparatus according to claim 1, wherein the processor fuses the location information of the vehicle and the location information of the other vehicle with the map information on a lane-by-lane basis.
| 3. The method according to claim 1, wherein the processor applies information related to a vehicle sensed within a predetermined range through the sensing unit to the map information and then additionally fuses the location information of the other vehicle to control the vehicle. vehicle control unit.
| 4. The apparatus of claim 1 , wherein controlling the vehicle comprises at least one of autonomously driving the vehicle and outputting a warning message related to driving of the vehicle.
| 5. According to claim 1, wherein the communication unit, V2X module for receiving LDM (Local Dynamic Map) data from the other vehicle; and an eHorizon module for receiving an Advanced Driver Assistance System (ADAS) MAP from the external server, wherein the location information of the other vehicle is included in the LDM data, and the map information is included in the ADAS MAP vehicle control unit.
| 6. The method of claim 5, wherein the processor converts the coordinate system of the ADAS MAP received through the eHorizon module into the coordinate system of the LDM data received through the V2X module, or converts the coordinate system of the LDM data into the coordinate system of the ADAS MAP Vehicle control device, characterized in that.
| 7. The ADAS of claim 6, wherein the processor extracts a relative position between the vehicle and another vehicle that has transmitted the LDM data, based on the LDM data received through the V2X module, and received through the eHorizon module The vehicle control apparatus according to claim 1, wherein the extracted relative positions of the other vehicles are arranged in lane units on the MAP.
| 8. The vehicle control apparatus according to claim 7, wherein the processor controls the autonomous driving of the vehicle based on an ADAS MAP in which the relative positions of the other vehicles are arranged in lane units.
| 9. The vehicle control apparatus of claim 7 , wherein the processor determines whether to output a warning message related to driving of the vehicle based on an ADAS MAP in which the relative positions of the other vehicles are arranged in lane units. .
| 10. delete
| 11. A vehicle comprising the vehicle control device according to any one of claims 1 to 9.
| 12. A method of controlling a vehicle equipped with a vehicle control device, the method comprising: obtaining location information of the vehicle through a communication unit, receiving map information from an external server, and location information of the other vehicle from another vehicle;
sensing information related to the vehicle; and fusing the acquired location information of the vehicle and the received location information of another vehicle with the received map information, and controlling the vehicle based on at least one of the fused map information and the sensed vehicle-related information. determining, based on the fused map information, whether a distance between the present vehicle and the other vehicle is less than or equal to a preset distance and whether the present vehicle and the other vehicle exist in different lanes;
outputting a driving-related warning message when the distance between the present vehicle and the other vehicle is equal to or less than the preset distance and the present vehicle and the other vehicle are driving in the same lane; and not outputting a warning message related to driving of the vehicle when the present vehicle and the other vehicle are driving in different lanes even if the distance between the present vehicle and the other vehicle is equal to or less than the preset distance control method. | The device comprises a communication unit that obtains location information of a vehicle and communicate with an external server and multiple another vehicles. A sensing unit is configured to sense vehicle-associated information. A computer-readable medium is coupled to a processor (870). The instructions are executed by the processor for instructing the communication unit to obtain map information from the external server and respective location information of latter vehicles. Former vehicle is controlled based the merged map information or vehicle-associated information. An INDEPENDENT CLAIM is included for a method for controlling a vehicle. Device for controlling a vehicle (Claimed), such as hybrid vehicle. The fuel efficiency is enhanced. The vehicle control is accurately and stably performed. The drawing shows a flowchart of a method for controlling a vehicle. 870ProcessorS1100Performing message generationS1102Calculating relative locations between vehiclesS1108Performing alignment between detailed map and vehicle relative locationsS1110Performing message refinement |
Please summarize the input | Method and apparatus for performing QoS prediction based on network assistance in NR V2XProvided are a method for receiving a result of quality of service (QoS) prediction by a first apparatus. The method may include: receiving a first message for requesting the QoS prediction between the first apparatus and a second apparatus, from the second apparatus; transmitting a second message for requesting the QoS prediction between the first apparatus and the second apparatus, to a network; and receiving the result of the QoS prediction between the first apparatus and the second apparatus, from the network.The invention claimed is:
| 1. A method for receiving a result of a quality of service (QoS) prediction by a first user equipment (UE), the method comprising:
transmitting at least one sidelink synchronization signal (SLSS);
transmitting at least one physical sidelink broadcast channel (PSBCH);
receiving, from a second UE, a direct communication request message for sidelink unicast service;
establishing a direct connection for the sidelink unicast service between the first UE and a second UE;
receiving, from the second UE, a first request message for requesting the QoS prediction for the sidelink unicast service between the first UE and a second UE;
transmitting, to the second UE, a first UE information message;
receiving, from the second UE, a second UE information message;
transmitting, to a network, a second request message for requesting the QoS prediction for the sidelink unicast service between the first UE and the second UE; and
receiving, from the network, the result of the QoS prediction for the sidelink unicast service between the first UE and the second UE,
wherein the at least one SLSS includes a primary sidelink synchronization signal (PSSS) and a secondary sidelink synchronization signal (SSSS).
| 2. The method of claim 1, wherein the QoS prediction is performed by the network.
| 3. The method of claim 2, wherein the QoS prediction is performed based on at least one of capability information of the first UE, capability information of the second UE, a sidelink measurement result of the first UE, a sidelink measurement result of the second UE, resource restriction information of the first UE, resource restriction information of the second UE, on-going service information of the first UE, or on-going service information of the second UE.
| 4. The method of claim 1, wherein the first request message includes at least one of information related to a service related to the QoS prediction or information related to connectivity status of the second UE.
| 5. The method of claim 4, wherein the information related to the service includes information related to required QoS related to the service.
| 6. The method of claim 1, wherein the first request message includes information related to a time during which the QoS prediction is valid.
| 7. The method of claim 1, wherein the first request message includes information related to an area in which the QoS prediction is valid.
| 8. The method of claim 1, further comprising:
receiving a network-assisted QoS prediction configuration, from the network.
| 9. The method of claim 8, wherein the network-assisted QoS prediction configuration includes at least one of a reporting object or reporting triggering condition.
| 10. The method of claim 9, wherein the reporting object includes at least one of capability information, a sidelink measurement result, resource restriction information, or on-going service information.
| 11. The method of claim 9, wherein the first request message is received from the second UE based on whether the reporting triggering condition is satisfied.
| 12. The method of claim 1, further comprising:
transmitting the result of the QoS prediction between the first UE and the second UE, to the second UE.
| 13. The method of claim 1, wherein the first UE communicates with at least one of a mobile terminal, the network or autonomous vehicles other than the first UE.
| 14. A first user equipment (UE) receiving a result of a QoS prediction, the first UE comprising:
at least one transceiver; and
at least one processor coupled to the at least one transceiver and configured to:
transmit at least one sidelink synchronization signal (SLSS);
transmit at least one physical sidelink broadcast channel (PSBCH);
receive, from a second UE, a direct communication request message for sidelink unicast service;
establish a direct connection for the sidelink unicast service between the first UE and a second UE;
receive, from the second UE, a first request message for requesting the QoS prediction for the sidelink unicast service between the first UE and the second UE;
transmit, to the second UE, a first UE information message;
receive, from the second UE, a second UE information message;
transmit, to a network, a second request message for requesting the QoS prediction for the sidelink unicast service between the first UE and the second UE; and
receive, from the network, the result of the QoS prediction for the sidelink unicast service between the first UE and the second UE,
wherein the at least one SLSS includes a primary sidelink synchronization signal (PSSS) and a secondary sidelink synchronization signal (SSSS).
| 15. A processing device configured to control a first user equipment (UE) to operate in a wireless communication system, the processing device comprising:
at least one processor; and
at least one computer memory operably connected to the at least one processor and storing instructions that, based on being executed by the at least one processor, perform operations comprising:
transmitting at least one sidelink synchronization signal (SLSS);
transmitting at least one physical sidelink broadcast channel (PSBCH);
receiving, from a second UE, a direct communication request message for sidelink unicast service;
establishing a direct connection for the sidelink unicast service between the first UE and a second UE;
receiving, from the second UE, a first request message for requesting the QoS prediction for the sidelink unicast service between the first UE and a second UE;
transmitting, to the second UE, a first UE information message;
receiving, from the second UE, a second UE information message;
transmitting, to a network, a second request message for requesting the QoS prediction for the sidelink unicast service between the first UE and the second UE; and
receiving, from the network, the result of the QoS prediction for the sidelink unicast service between the first UE and the second UE,
wherein the at least one SLSS includes a primary sidelink synchronization signal (PSSS) and a secondary sidelink synchronization signal (SSSS). | The method involves receiving (1710) a first message for requesting the QoS prediction between the first apparatus and a second apparatus from the second apparatus. The second message for requesting the QoS prediction is transmitted (1720) between the first apparatus and the second apparatus to a network. The result of the QoS prediction between the first apparatus and the second apparatus is received (1730) from the network. The QoS prediction is performed by the network. The QoS prediction is performed. INDEPENDENT CLAIMS are included for the following:a method for performing QoS prediction by network node; anda first apparatus receiving result of QoS prediction. Method for receiving result of QoS prediction by wireless communication. The user equipment greatly reduce a transmission failure probability of the safety service. The user equipment perform more accurate QoS prediction through the help of the network. The drawing shows a flow chart illustrating the method for receiving result of quality of service (QoS) prediction by wireless communication. 1710Step for receiving first message for requesting QoS prediction1720Step for transmitting second message for QoS prediction1730Step for receiving result of QoS prediction |
Please summarize the input | Method and apparatus for performing QoS prediction based on UE autonomous prediction in NR V2XProvided are a method for performing quality of service (QoS) prediction by a first apparatus ( 100). The method may include: receiving a first message for requesting the QoS prediction between the first apparatus (100) and a second apparatus (200), from the second apparatus (200); and performing the QoS prediction between the first apparatus (100) and the second apparatus (200).What is claimed is:
| 1. A method for performing quality of service (QoS) prediction by a first apparatus, the method comprising:
transmitting, by the first apparatus, a direct communication request message for establishing a unicast link to a second apparatus,
wherein the direct communication request message includes an identifier of the first apparatus and information related to at least one service requested by the first apparatus and security information for an establishment of security between the first apparatus and the second apparatus;
receiving, by the first apparatus, a direct communication accept message from the second apparatus,
wherein the direct communication accept message includes an identifier of the second apparatus;
establishing, by the first apparatus, the unicast link between the first apparatus and the second apparatus;
receiving, by the first apparatus, QoS prediction information for determining whether to activate UE autonomous QoS prediction or network-assisted QoS prediction, from a network;
determining, by the first apparatus, to activate the UE autonomous QoS prediction, among the UE autonomous QoS prediction or the network-assisted QoS prediction, based on the QoS prediction information;
receiving, by the first apparatus, information for requesting the QoS prediction between the first apparatus and the second apparatus, from the second apparatus; and
performing, by the first apparatus, the UE autonomous QoS prediction between the first apparatus and the second apparatus, based on the determination to activate the UE autonomous QoS prediction.
| 2. The method of claim 1, wherein the information for requesting the QoS prediction includes information on a service, and the QoS prediction is performed for the service.
| 3. The method of claim 2, wherein the QoS prediction is performed, based on a prediction model among a plurality of prediction models.
| 4. The method of claim 3, wherein the prediction model is a prediction model related to the service.
| 5. The method of claim 3, wherein the prediction model is a default prediction model.
| 6. The method of claim 3, wherein the plurality of prediction models are included in a UE autonomous QoS prediction configuration.
| 7. The method of claim 6, wherein the UE autonomous QoS prediction configuration is received from the network.
| 8. The method of claim 6, wherein the UE autonomous QoS prediction configuration is pre-configured in the first apparatus.
| 9. The method of claim 1, wherein the QoS prediction is performed based on at least one of capability information of the first apparatus, a sidelink measurement result of the first apparatus, resource restriction information of the first apparatus, or on-going service information of the first apparatus.
| 10. The method of claim 1, further comprising:
receiving a reporting object or reporting triggering condition, from the network, wherein the reporting object includes at least one of capability information, a sidelink measurement result, resource restriction information, or on-going service information.
| 11. The method of claim 10, wherein the first apparatus receives the reporting triggering condition, and wherein the information for requesting the QoS prediction is received from the second apparatus based on whether the reporting triggering condition is satisfied.
| 12. The method of claim 1, further comprising:
transmitting a result of the QoS prediction between the first apparatus and the second apparatus, to the second apparatus.
| 13. The method of claim 1, wherein the first apparatus communicates with at least one of a mobile terminal, the network or autonomous vehicles other than the first apparatus.
| 14. The method of claim 1, wherein the QoS prediction information includes at least one of Uu connectivity dependency information, geographic area information, time information, or frequency information.
| 15. The method of claim 1, further comprising:
transmitting, by the first apparatus, a message for requesting the QoS prediction to the network, based on a determination not to activate the UE autonomous QoS prediction.
| 16. A first apparatus configured to perform quality of service (QoS) prediction, the first apparatus comprising:
at least one transceiver; at least one processor; and
at least one computer memory operably connectable to the at least one processor and storing instructions that, when executed, cause the at least one processor to perform operations comprising:
transmitting, via the at least one transceiver, a direct communication request message for establishing a unicast link to a second apparatus,.
wherein the direct communication request message includes an identifier of the first apparatus and information related to at least one service requested by the first apparatus and security information for an establishment of security between the first apparatus and the second apparatus;
receiving, via the at least one transceiver, a direct communication accept message from the second apparatus,
wherein the direct communication accept message includes an identifier of the second apparatus;
establishing, via the at least one transceiver, the unicast link between the first apparatus and the second apparatus;
receiving, via the at least one transceiver, QoS prediction information for determining whether to activate UE autonomous QoS prediction or network-assisted QoS prediction, from a network;
determining, via the at least one transceiver, among to activate the UE autonomous QoS prediction, the UE autonomous QoS prediction or the network-assisted QoS prediction, based on the QoS prediction information;
receiving, via the at least one transceiver, information for requesting the QoS prediction between the first apparatus and the second apparatus, from the second apparatus; and
performing, via the at least one transceiver, the UE autonomous QoS prediction between the first apparatus and the second apparatus, based on the determination to activate the UE autonomous QoS prediction.
| 17. A device configured to control a first apparatus, the device comprising:
one or more processors; and
one or more memories operably connectable to the one or more processors and storing instructions, wherein the one or more processors execute the instructions to:
transmit, by the first apparatus, a direct communication request message for establishing a unicast link to a second apparatus,
wherein the direct communication request message includes an identifier of the first apparatus and information related to at least one service requested by the first apparatus and security information for an establishment of security between the first apparatus and the second apparatus,
receive, by the first apparatus, a direct communication accept message from the second apparatus,
wherein the direct communication accept message includes an identifier of the second apparatus,
establish, by the first apparatus, the unicast link between the first apparatus and the second apparatus,
receive, by the first apparatus, QoS prediction information for determining whether to activate UE autonomous QoS prediction or network-assisted QoS prediction, from a network,
determine, by the first apparatus, to activate the UE autonomous QoS prediction, among the UE autonomous QoS prediction or the network-assisted QoS prediction, based on the QoS prediction information,
receive, by the first apparatus, information for requesting the QoS prediction between the first apparatus and the second apparatus, from the second apparatus, and
perform, by the first apparatus, the UE autonomous QoS prediction between the first apparatus and the second apparatus, based on the determination to activate the UE autonomous QoS prediction. | The method involves receiving (S1710) a message for requesting the QoS prediction between the first apparatus and a second apparatus. The QoS prediction is performed (S1720) between the first apparatus and the second apparatus. The message is included with information on a service and the QoS prediction is performed for the service. The QoS prediction is performed based on a prediction model among prediction models. The prediction model is a default prediction model. INDEPENDENT CLAIMS are included for the following:a method for receiving result of QoS prediction by second apparatus; anda first apparatus. Method for performing quality of service (QoS) prediction by first apparatus (claimed) in wireless communication system such as Fourth generation wireless communication system, Fifth generation wireless communication system and long term evolution communication system. Uses include but are not limited to wireless device such as robot, vehicle, hand-held device such as smart phone, smart pad and wearable device and home appliance such as TV, refrigerator and washing machine. The QoS prediction accuracy is increased by the network. The user equipment reduces a transmission failure probability of the safety service. The drawing shows a flowchart illustrating the method of performing QoS prediction. S1710Step for receiving a first message for requesting the QoS predictionS1720Step for performing the QoS prediction |
Please summarize the input | Method and apparatus for reporting cast type by UE in NR V2XProvided are a method for transmitting information on cast type by a first apparatus ( 9010), and the first apparatus (9010) supporting the same. The method may include: initiating a sidelink service with a second apparatus (9020) based on a specific cast type; and transmitting information on the specific cast type related to the sidelink service.What is claimed is:
| 1. A method for performing sidelink communication by a first apparatus, the method comprising:
receiving, from a second apparatus, sidelink capability information related to the second apparatus;
transmitting, to a base station (BS), a radio resource control (RRC) message including (i) the sidelink capability information received from the second apparatus, (ii) cast type information related to the sidelink communication with the second apparatus, and (iii) synchronization reference information related to the sidelink communication with the second apparatus; and
performing the sidelink communication based on the RRC message,
wherein the cast type information includes information related to unicast, groupcast or broadcast.
| 2. The method of claim 1, wherein the synchronization reference information includes information related to a global navigation satellite system (GNSS), a base station (BS) or a user equipment (UE).
| 3. The method of claim 1, wherein the RRC message includes quality of service (QoS) information including sidelink communication range information related to the sidelink communication.
| 4. The method of claim 3, wherein the QoS information includes priority information related to the sidelink communication and delay budget information related to the sidelink communication.
| 5. The method of claim 3, wherein the QoS information includes at least one QoS indicator value representing guaranteed bit rate (GBR) or non-GBR.
| 6. The method of claim 1, wherein the sidelink communication is related to a destination identifier (ID).
| 7. The method of claim 1, wherein the sidelink communication with the second apparatus is performed based on the unicast, the groupcast or the broadcast indicated by the cast type information.
| 8. The method of claim 1, wherein the RRC message is a sidelink UE information message.
| 9. The method of claim 1, wherein the RRC message includes information related to resources for the sidelink communication.
| 10. The method of claim 9, wherein the resources for the sidelink communication is allocated by the BS based on the RRC message.
| 11. The method of claim 1, wherein the RRC message includes channel status information includes channel busy ratio (CBR) that is measured by the second apparatus.
| 12. The method of claim 1, further comprising:
receiving, from the BS, information on allowed interface including at least one of PC5 interface or Uu interface.
| 13. The method of claim 1, wherein the first apparatus or the second apparatus includes at least one of a terminal, a user equipment (UE), a wireless device, a wireless communication device, a vehicle, a vehicle equipped with an autonomous driving function, a connected car, a unmanned aerial vehicle (UAV), an artificial intelligence (AI) module, a robot, an augmented reality (AR) device, a virtual reality (VR) device, a mixed reality (MR) device, a hologram device, a public safety device, a machine type communication (MTC) device, an internet of things (IoT) device, a medical device, a pin-tech device (or financial device), a security device, or a climate/environmental device.
| 14. A first apparatus performing sidelink communication, the first apparatus comprising:
one or more memories storing instructions;
one or more transceivers; and
one or more processors operably connected to the one or more memories and the one or more transceivers, wherein the one or more processors execute the instructions to:
receive, from a second apparatus, sidelink capability information related to the second apparatus;
transmit, to a base station (BS), a radio resource control (RRC) message including (i) the sidelink capability information received from the second apparatus, (ii) cast type information related to the sidelink communication with the second apparatus, and (iii) synchronization reference information related to the sidelink communication with the second apparatus; and
perform the sidelink communication based on the RRC message,
wherein the cast type information includes information related to unicast, groupcast or broadcast.
| 15. An apparatus configured to control a first user equipment (UE) to perform sidelink communication, the apparatus comprising:
one or more processors; and
one or more memories operably connected to the one or more processors and storing instructions, wherein the one or more processors execute the instructions to:
receive, from a second UE, sidelink capability information related to the second UE;
transmit, to a base station (BS), a radio resource control (RRC) message including (i) the sidelink capability information received from the second UE, (ii) cast type information related to the sidelink communication with the second UE, and (iii) synchronization reference information related to the sidelink communication with the second UE; and
perform the sidelink communication based on the RRC message,
wherein the cast type information includes information related to unicast, groupcast or broadcast. | The method involves initiating (S2510) a sidelink service related to a destination identifier (ID) with a second apparatus based on a specific cast type, for determining to transmit the sidelink service to the second apparatus through the specific cast type. An information on the specific cast type related to the sidelink service is transmitted (S2520) to a base station and the second apparatus. The specific cast type is transmitted to the base station to inform whether hybrid automatic repeat request (HARQ) feedback is needed. An INDEPENDENT CLAIM is included for a first apparatus transmitting information on cast type. Method for transmitting information on cast type by apparatus in wireless communication system performing sidelink communication or V2X communication, for industrial control, vehicular communication, factory automation, remote surgery, smart grids and public safety applications. Uses include but are not limited to user equipment (UE), wireless device, wireless communication device, unmanned aerial vehicle (UAV), artificial intelligence (AI) module, robot, augmented reality (AR) device, virtual reality (VR) device, mixed reality (MR) device, hologram device, public safety device, machine type communication (MTC) device, internet of things (IoT) device, medical device, pin-tech device, security device, or climate/environmental device (all claimed). A sidelink communication can be performed efficiently between apparatuses. The drawing shows the flowchart illustrating a method for transmitting information on cast type by a first apparatus. S2510Step for initiating a sidelink service with a second apparatus based on a specific cast typeS2520Step for transmitting information on the specific cast type related to sidelink service |
Please summarize the input | VEHICULAR ELECTRONIC DEVICE AND METHOD OF OPERATING THE SAMEDisclosed is a vehicular electronic device including a processor which, in the situation in which an autonomous vehicle generates a horn signal during autonomous driving, determines a horn-signal-transmitting entity and a horn-signal-receiving entity, selects at least one of a horn signal in an audible frequency band or a horn signal in an inaudible frequency band, and outputs the selected horn signal to the horn-signal-receiving entity.|1. A vehicular electronic device included in an autonomous vehicle having a horn-signal-generating function, the vehicular electronic device comprising:
a processor configured to:
determine whether a horn-signal-transmitting entity is a human or a machine,
determine whether a horn-signal-receiving entity is a human or a machine,
select at least one of a horn signal in an audible frequency band or a horn signal in an inaudible frequency band based on determinations as to the horn-signal-transmitting entity and the horn-signal-receiving entity, and
output the selected horn signal to the horn-signal-receiving entity.
| 2. The vehicular electronic device of claim 1, wherein the processor is configured to transmit at least one piece of driving-related information among information about a driving situation, information about a driving state, information about a vehicle driving direction, and information to request from another vehicle to the horn-signal-receiving entity with outputting the selected horn signal.
| 3. The vehicular electronic device of claim 2, wherein the processor is configured to output, upon determining that the horn-signal-transmitting entity is a driver of a host vehicle and upon determining that the horn-signal-receiving entity is a driver of another vehicle, the horn signal in the audible frequency band, and transmit the at least one piece of driving-related information.
| 4. The vehicular electronic device of claim 2, wherein the processor is configured to output, upon determining that the horn-signal-transmitting entity is a driver of a host vehicle and upon determining that the horn-signal-receiving entity is a pedestrian, the horn signal in the audible frequency band, and transmit the at least one piece of driving-related information.
| 5. The vehicular electronic device of claim 2, wherein the autonomous vehicle further comprises:
a communicator transmitting the at least one piece of driving-related information using V2V communication; and
an interface receiving a signal transmitted from an inaudible frequency band transceiver mounted in the autonomous vehicle.
| 6. The vehicular electronic device of claim 5, wherein the processor is configured to output, upon determining that the horn-signal-transmitting entity is an autonomous vehicle and upon determining that the horn-signal-receiving entity is a driver of another vehicle, the horn signal in the audible frequency band or the horn signal in the inaudible frequency band, and transmit the at least one piece of driving-related information.
| 7. The vehicular electronic device of claim 5, wherein the processor is configured to output, upon determining that the horn-signal-transmitting entity is an autonomous vehicle and upon determining that the horn-signal-receiving entity is a pedestrian, the horn signal in the audible frequency band or the horn signal in the inaudible frequency band, and transmit the at least one piece of driving-related information.
| 8. The vehicular electronic device of claim 5, wherein the processor is configured to output, upon determining that the horn-signal-transmitting entity is a driver of a host vehicle and upon determining that the horn-signal-receiving entity is an autonomous vehicle, the horn signal in the audible frequency band or the horn signal in the inaudible frequency band, and transmit the at least one piece of driving-related information.
| 9. The vehicular electronic device of claim 5, wherein the processor is configured to output, upon determining that the horn-signal-transmitting entity is an autonomous vehicle and upon determining that the horn-signal-receiving entity is an autonomous vehicle, the horn signal in the inaudible frequency band, and transmit the at least one piece of driving-related information.
| 10. The vehicular electronic device of claim 9, wherein, when the processor is configured to:
output, on receiving a signal for lane change, the horn signal in the inaudible frequency band to a vehicle in an adjacent lane as the horn-signal-receiving entity,
transmit information about an ID of the horn-signal-transmitting entity through the V2V communication,
transmit information about lane change and information about a request for yielding as the driving-related information,
receive an approval signal from the horn-signal-receiving entity, and
transmit a termination signal after changing lanes.
| 11. The vehicular electronic device of claim 9, wherein the processor is configured to:
output, on detecting an emergency situation ahead, the horn signal in the inaudible frequency band to a following vehicle as the horn-signal-receiving entity,
transmit information about an ID of the horn-signal-transmitting entity through the V2V communication,
transmit at least one of information about the emergency situation, information about a request for emergency stopping or slow driving, or information about a state of the horn-signal-transmitting entity as the driving-related information, and
transmit a termination signal when the horn-signal-receiving entity stops or drives slowly.
| 12. The vehicular electronic device of claim 9, wherein, when the processor is configured to:
output, on sensing an abnormal state of a preceding vehicle, the horn signal in the inaudible frequency band to the preceding vehicle as the horn-signal-receiving entity,
transmit information about an ID of the horn-signal-transmitting entity through the V2V communication,
request information about a state of the preceding vehicle or information about a state of a driver as the driving-related information, and
transmit a termination signal when receiving information about a state of the preceding vehicle or information about a state of a driver.
| 13. The vehicular electronic device of claim 9, wherein, when the processor is configured to:
output, on receiving a command for joining a platoon performing platooning, the horn signal in the inaudible frequency band to a leader vehicle of the platoon as the horn-signal-receiving entity,
transmit information about an ID of the horn-signal-transmitting entity through the V2V communication,
transmit information about a request for joining the platoon as the driving-related information,
receive an approval signal from the horn-signal-receiving entity, and
communicate with the platoon after joining the platoon.
| 14. The vehicular electronic device of claim 5, wherein the interface is configured to receive driving speed data from a sensor and receive GPS data from a location-data-generating device, and
wherein the processor is configured to determine a location of the autonomous vehicle using the driving speed data and the GPS data.
| 15. The vehicular electronic device of claim 14, wherein the processor is configured to output the horn signal in the audible frequency band or the horn signal in the inaudible frequency band based on a determination as to the location of the autonomous vehicle using the driving speed data and the GPS data.
| 16. The vehicular electronic device of claim 15, wherein the processor is configured to output, when the determined location is a location at which another vehicle is expected to be present near the autonomous vehicle, output the horn signal in the audible frequency band on a general road and the horn signal in the inaudible frequency band on a highway or an expressway.
| 17. The vehicular electronic device of claim 15, wherein the processor is configured to output, when the determined location is a location at which a pedestrian is expected to be present near the autonomous vehicle, the horn signal in the audible frequency band or the horn signal in the inaudible frequency band.
| 18. The vehicular electronic device of claim 17, wherein the processor is configured to:
detect, when the determined location is a location to enter a specific section of pedestrian priority, a risk factor in the specific section, and output the horn signal in the inaudible frequency band to a following vehicle as the horn-signal-receiving entity,
output the horn signal in the audible frequency band to a driver of the following vehicle as the horn-signal-receiving entity, and
transmit the at least one piece of driving-related information to the horn-signal-receiving entity.
| 19. A method of operating a vehicular electronic device included in an autonomous vehicle having a horn-signal-generating function during autonomous driving, the method comprising:
determining a horn-signal-transmitting entity and a horn-signal-receiving entity;
selecting at least one of a horn signal in an audible frequency band or a horn signal in an inaudible frequency band based on a result of determining the horn-signal-transmitting entity and the horn-signal-receiving entity; and
outputting the selected horn signal to the horn-signal-receiving entity.
| 20. The method of claim 19, further comprising:
transmitting at least one piece of driving-related information among information about a driving situation, information about a driving state, information about a vehicle driving direction, and information to request from another vehicle to the horn-signal-receiving entity with outputting the selected horn signal. | The device has a processor that is configured for determining whether the horn sender is a person or a machine and for determining whether the horn receiver is a person or machine. The processor is configured for selecting a horn in an audible frequency region or a horn in an inaudible frequency region based on the determination of the horn transmitting subject and the horn receiving subject. The processor is configured for outputting a horn in a selected frequency domain to the horn receiving subject. An INDEPENDENT CLAIM is included for method for operating vehicle electronic device. Electronic device for autonomous vehicle e.g. car. The horn is utilized in an autonomous vehicle by generating a horn even in a situation where a driver of a driver is confused with a driver. The necessary information is transmitted together with the generation of an audible frequency band or a non-audible frequency band according to the subject. The horn of the non-audible frequency band is used as an event when the communication is initially entered, and in conjunction with V2V communication. The drawing shows a block diagram of the electronic device for autonomous vehicle. (Drawing includes non-English language text) 110Communication unit140Memory170Processor180Interface unit190Power supply unit |
Please summarize the input | METHOD, PERFORMED BY TERMINAL, FOR PROTECTING V2X COMMUNICATION IN WIRELESS COMMUNICATION SYSTEMAccording an aspect of the present specification, a first terminal receives a plurality of messages from a plurality of terminals, respectively, determines information on the number of terminals around the first terminal on the basis of the plurality of messages, collects sensor data of the first terminal, determines whether an attack situation is detected, on the basis of the information on the number of terminals and the sensor data, and displays the information on the number of terminals and information about whether the attack situation is detected.|1. A method for a first terminal to protect V2X communication in a wireless communication system, the method comprising: receiving, by a first terminal, a message from each of a plurality of terminals;
determining information on the number of terminals around the first terminal based on the plurality of messages;
collecting sensor data of the first terminal;
determining whether there is an attack situation based on the number of terminals information and the sensor data; and displaying information on the number of terminals and information on whether an attack situation exists through a display provided in the first terminal.
| 2. The method of claim 1 , wherein the information on whether the attack situation is an attack situation is information indicating reliability as a grade.
| 3. The method according to claim 1 or 2, wherein the information on whether the attack situation is an attack situation includes a warning message indicating that an abnormal vehicle distribution is detected.
| 4. The method according to any one of claims 1 to 3, further comprising the step of stopping autonomous driving of the first terminal when it is determined that there is an attack situation.
| 5 . The method of claim 4 , further comprising, before stopping the autonomous driving, displaying a warning message indicating that the autonomous driving is terminated due to a low reliability of the V2X message through the display of the first terminal.
| 6. The method according to any one of claims 1 to 5, wherein the sensor data includes an image captured by a camera of the first terminal.
| 7. The method according to any one of claims 1 to 6, wherein the sensor data includes data collected by a proximity sensor of the first terminal.
| 8. The method according to any one of claims 1 to 7, wherein the sensor data includes sensor data collected by the remaining terminals around the first terminal and received by the first terminal.
| 9. According to any one of claims 1 to 8, The step of determining whether the attack situation, At least one section of the path moved by the first terminal between the sensor data and the number of peripheral terminals Learning the relationship, And Based on the learning result, characterized in that it comprises the steps of determining whether the attack situation in the section in which the first terminal is currently moving, the method comprising the steps of. | The method involves receiving (2401) the messages by a specific terminal from multiple terminals, respectively. The information on the number of terminals around the specific terminal is determined (2403) based on the messages. The sensor data of the specific terminal is collected (2405). A determination (2407) is made whether an attack situation exists based on the number of terminals information and the sensor data. The information on the number of terminals and information on whether the attack situation exists are displayed (2409) through a display provided in the specific terminal. Method for terminal to protect vehicle to everything (V2X) communication in wireless communication system in third generation partnership project long-term evolution (3GPP LTE)/LTE-advanced/New Radio (LTE-A/NR). Uses include but are not limited to combustion engine vehicle, external combustion engine vehicle, gas turbine vehicle or electric vehicle. The V2X user equipment (UE) of SYBIL ATTACK intent is detected. The false information is invalidated by determining the FAKE message of the V2X UE. The drawing shows a flowchart illustrating the evolved packet system (EPS) including evolved packet core. 2401Step for receiving messages by specific terminal2403Step for determining information on number of terminals around specific terminal2405Step for collecting sensor data of specific terminal2407Step for determining is made whether attack situation exists2409Step for displaying information on number of terminals and information on whether attack situation exists |
Please summarize the input | Network-based positioning method using relay in NR-V2X system and device thereforThe present invention relates to a method for performing positioning in a New Radio-Vehicle to Everything (NR-V2X) system and an apparatus therefor, and relates to a network-based positioning in a New Radio-Vehicle to Everything (NR-V2X) communication system according to an aspect. The method for performing is determining whether positioning using a relay is necessary based on whether the positioning performance of the terminal is deteriorated, and if positioning using the relay is required, at least one anchor node to be used for positioning of the terminal Determining a relay terminal, requesting terminal auxiliary measurement information for positioning of the terminal from the relay terminal, receiving the terminal auxiliary measurement information from the relay terminal, and the terminal based on the terminal auxiliary measurement information and measuring the absolute position of, wherein the terminal requiring positioning using the relay is classified as a remote terminal, The terminal auxiliary measurement information may include relay terminal auxiliary measurement information for positioning of the relay terminal and remote terminal auxiliary measurement information for positioning of the remote terminal.|1. A method for performing network-based positioning in a New Radio-Vehicle to Everything (NR-V2X) communication system, comprising: determining whether positioning using a relay is necessary based on whether positioning performance of a terminal is deteriorated;
determining at least one relay terminal to be used as an anchor node for positioning of the terminal when positioning using the relay is required;
requesting terminal-assisted measurement information for positioning of the terminal from the relay terminal;
Receiving the terminal auxiliary measurement information from the relay terminal; and measuring an absolute position of the terminal based on the terminal auxiliary measurement information, wherein the terminal requiring positioning using the relay is classified as a remote terminal, and the terminal auxiliary measurement information performs positioning of the relay terminal. A method for performing network-based positioning, comprising relay terminal auxiliary measurement information for and remote terminal auxiliary measurement information for performing positioning of the remote terminal.
| 2. The method of claim 1, further comprising: requesting capability information from the relay terminal; and receiving the capability information from the relay terminal, wherein the capability information includes capability information of the relay terminal and capability information of the remote terminal. method.
| 3. The method of claim 2, further comprising: determining a positioning method based on the capability information; and transmitting auxiliary data including the determined positioning method to the relay terminal.
| 4. The method of claim 3, wherein the positioning method includes a DL-TDoA-R positioning method, a multi-cell RTT-R positioning method, and a UL-TDoA-R positioning method.
| 5. The method of claim 3, wherein the positioning method is determined further based on the determined number of relay terminals.
| 6. The method of claim 3, wherein the DL-TDoA-R positioning method comprises: a first method of measuring an absolute position of the remote terminal through UL-TDoA positioning between the relay terminal and the remote terminal;
a second method of measuring the absolute position of the remote terminal through RTT between the relay terminal and the remote terminal; and a third method of measuring the absolute position of the remote terminal using relative position information between the relay terminal and the remote terminal, wherein in the DL-TDoA-R positioning method, the absolute position of the relay terminal is determined through a Uu link. A method of performing network-based positioning, measured through DL-TDoA based on Uu-Positioning Reference Signal (Uu-PRS) received through
| 7. The method of claim 3, wherein the remote terminal auxiliary measurement information is collected by the relay terminal based on positioning signaling information and sidelink (SL)-PRS received from the remote terminal through a sidelink.
| 8. The method of claim 7, wherein the positioning signaling information includes 1st Sidelink Control Information (SCI) and/or 2nd SCI and/or Physical Sidelink Shared Channel (PSSCH) of a Physical Sidelink Control Channel (PSCCH) in an NR-V2X service slot structure.; And transmitted through any one of the 1st SCI and / or 2nd SCI of the PSCCH in a slot structure exclusively allocated for NR-V2X sidelink positioning.
| 9. The method of claim 7, wherein the positioning signaling information is a time of arrival (ToA) or time of flight (ToF) measured based on a remote terminal ID, a remote terminal speed, a remote terminal heading, and an SL-PRS received from the relay terminal.) or the relative position, the time at which the ToA or the ToF or the relative position was measured, the quality level of the ToA or the ToF or the relative position, and RSRP (Received Signal Received Power for the SL-PRS received from the relay terminal)) A method for performing network-based positioning, including at least one of.
| 10. The method of claim 1, wherein a candidate relay terminal having a PQI (Positioning Quality Indicator) for an absolute position measured at a network side, among at least one candidate relay terminal determined based on location information of a base station corresponding to the remote terminal, is equal to or greater than a predetermined threshold value. A method for performing network-based positioning, wherein the anchor node is determined as the anchor node for positioning of a remote terminal.
| 11. A server for performing network-based positioning, comprising: a transceiver for transmitting and receiving a signal to and from a base station;
A processor connected to the transceiver unit, wherein the processor determines whether positioning using a relay is necessary based on whether positioning performance of the terminal is deteriorated, and if positioning using the relay is necessary, an anchor node for positioning of the terminal (determine at least one relay terminal to be used as an anchor node), request terminal auxiliary measurement information for positioning of the terminal to the relay terminal, receive the terminal auxiliary measurement information from the relay terminal, and enter the terminal auxiliary measurement information into the terminal auxiliary measurement information Based on this, the terminal requiring positioning using the relay is classified as a remote terminal, and the terminal auxiliary measurement information includes relay terminal auxiliary measurement information for positioning of the relay terminal and the remote terminal. Server including remote terminal auxiliary measurement information for performing positioning of.
| 12. The method of claim 11, wherein the processor requests capability information from the relay terminal and receives the capability information from the relay terminal, wherein the capability information includes capability information of the relay terminal and the remote terminal. A server including capability information of the terminal.
| 13. The server of claim 12, wherein the processor determines a positioning method based on the capability information and transmits auxiliary data including the determined positioning method to the relay terminal.
| 14. The server according to claim 13, wherein the positioning method includes a DL-TDoA-R positioning method, a Multi-cell RTT-R positioning method, and a UL-TDoA-R positioning method.
| 15. The server according to claim 13, wherein the positioning method is determined further based on the determined number of relay terminals.
| 14. The method of claim 13, wherein the DL-TDoA-R positioning method comprises: a first method of measuring an absolute position of the remote terminal through UL-TDoA positioning between the relay terminal and the remote terminal;
a second method of measuring the absolute position of the remote terminal through RTT between the relay terminal and the remote terminal; and a third method of measuring the absolute position of the remote terminal using relative position information between the relay terminal and the remote terminal, wherein in the DL-TDoA-R positioning method, the absolute position of the relay terminal is determined through a Uu link. Server, measured through DL-TDoA based on Uu-Positioning Reference Signal (Uu-PRS) received through
| 17. The server according to claim 13, wherein the remote terminal auxiliary measurement information is collected by the relay terminal based on sidelink (SL)-PRS and positioning signaling information received from the remote terminal through a sidelink.
| 18. The method of claim 17, wherein the positioning signaling information includes 1st Sidelink Control Information (SCI) and/or 2nd SCI and/or Physical Sidelink Shared Channel (PSSCH) of a Physical Sidelink Control Channel (PSCCH) in an NR-V2X service slot structure.; And transmitted through any one of the 1st SCI and / or 2nd SCI of the PSCCH in a slot structure exclusively allocated for NR-V2X sidelink location.
| 19. The method of claim 17, wherein the positioning signaling information comprises a time of arrival (ToA) or time of flight (ToF) measured based on a remote terminal ID, a remote terminal speed, a remote terminal heading, and an SL-PRS received from the relay terminal.) or the relative position, the time at which the ToA or the ToF or the relative position was measured, the quality level of the ToA or the ToF or the relative position, and RSRP (Received Signal Received Power for the SL-PRS received from the relay terminal)), a server comprising at least one of
| 12. The method of claim 11, wherein the processor has a Positioning Quality Indicator (PQI) of at least one candidate relay terminal determined based on location information of a base station corresponding to the remote terminal and an absolute position measured by a network-side is equal to or greater than a predetermined threshold value. determining a terminal as the anchor node for positioning of the remote terminal.
| 21. A processor for performing operations for a server in a New Radio-Vehicle to Everything (NR-V2X) communication system, the operations comprising: determining whether positioning using a relay is necessary based on whether positioning performance of a terminal is deteriorated;
determining at least one relay terminal to be used as an anchor node for positioning of the terminal when positioning using the relay is required;
requesting terminal-assisted measurement information for positioning of the terminal from the relay terminal;
receiving the terminal auxiliary measurement information from the relay terminal; and measuring an absolute position of the terminal based on the terminal auxiliary measurement information, wherein the terminal requiring positioning using the relay is classified as a remote terminal, and the terminal auxiliary measurement information performs positioning of the relay terminal. A processor comprising relay terminal auxiliary measurement information for and remote terminal auxiliary measurement information for positioning of the remote terminal.
| 22. A non-volatile computer readable storage medium storing at least one computer program containing instructions that, when executed by at least one processor, cause the at least one processor to perform operations for a server, the operations comprising: determining whether positioning using a relay is necessary based on whether positioning performance is deteriorated;
determining at least one relay terminal to be used as an anchor node for positioning of the terminal when positioning using the relay is required;
requesting terminal-assisted measurement information for positioning of the terminal from the relay terminal;
receiving the terminal auxiliary measurement information from the relay terminal; and measuring an absolute position of the terminal based on the terminal auxiliary measurement information, wherein the terminal requiring positioning using the relay is classified as a remote terminal, and the terminal auxiliary measurement information performs positioning of the relay terminal. A storage medium comprising relay terminal auxiliary measurement information for and remote terminal auxiliary measurement information for positioning of the remote terminal.
| 23. A method of performing network-based positioning by a first terminal in a New Radio-Vehicle to Everything (NR-V2X) communication system, comprising: receiving a signal requesting terminal-assisted measurement information from a network;
generating the terminal auxiliary measurement information based on the received signal; and transmitting the generated terminal-assisted measurement information to the network, wherein if positioning using a relay is required based on whether positioning performance of a second terminal, which is a remote terminal, is deteriorated, an anchor node for positioning of the remote terminal Based on the determination that the relay terminal to be used as the (Anchor Node) is the first terminal, a signal requesting the terminal auxiliary measurement information is received from the network, and based on the terminal auxiliary measurement information received from the relay terminal, the terminal auxiliary measurement information The absolute position of the remote terminal is measured by the network, and the terminal auxiliary measurement information includes relay terminal auxiliary measurement information for performing positioning of the relay terminal and remote terminal auxiliary measurement information for performing positioning of the remote terminal. How to perform network-based positioning.
| 24. A first terminal performing network-based positioning, comprising: a transceiver for transmitting and receiving a signal to and from a base station;
And a processor connected to the transceiver, wherein the processor generates and transmits the terminal auxiliary measurement information to the network based on a signal requesting the terminal auxiliary measurement information received from the network, and transmits the terminal auxiliary measurement information to the network, and a second terminal that is a remote terminal. When positioning using a relay is required based on whether the positioning performance of the remote terminal is deteriorated, the terminal-assisted measurement information is provided based on the determination that the relay terminal to be used as an anchor node for positioning of the remote terminal is the first terminal. A requesting signal is received from the network, the absolute position of the remote terminal is measured by the network based on the terminal auxiliary measurement information received from the relay terminal, and the terminal auxiliary measurement information performs positioning of the relay terminal A first terminal comprising relay terminal auxiliary measurement information for and remote terminal auxiliary measurement information for positioning of the remote terminal.
| 25. The first terminal of claim 24, wherein the first terminal communicates with at least one of another terminal, a terminal related to an autonomous vehicle, a base station, or a network.
| 26. A processor for performing operations for a first terminal in a new radio-vehicle to everything (NR-V2X) communication system, the operations comprising: receiving a signal requesting terminal-assisted measurement information from a network;
generating the terminal auxiliary measurement information based on the received signal; and transmitting the generated terminal-assisted measurement information to the network, wherein if positioning using a relay is required based on whether positioning performance of a second terminal, which is a remote terminal, is deteriorated, an anchor node for positioning of the remote terminal Based on the determination that the relay terminal to be used as the (Anchor Node) is the first terminal, a signal requesting the terminal auxiliary measurement information is received from the network, and based on the terminal auxiliary measurement information received from the relay terminal, the terminal auxiliary measurement information The absolute position of the remote terminal is measured by the network, and the terminal auxiliary measurement information includes relay terminal auxiliary measurement information for performing positioning of the relay terminal and remote terminal auxiliary measurement information for performing positioning of the remote terminal. processor.
| 27. A non-volatile computer readable storage medium storing at least one computer program comprising instructions that, when executed by at least one processor, cause the at least one processor to perform operations for a first terminal, the operations comprising: Receiving a signal requesting UE-assisted measurement information from a network;
generating the terminal auxiliary measurement information based on the received signal; and transmitting the generated terminal-assisted measurement information to the network, wherein if positioning using a relay is required based on whether positioning performance of a second terminal, which is a remote terminal, is deteriorated, an anchor node for positioning of the remote terminal Based on the determination that the relay terminal to be used as the (Anchor Node) is the first terminal, a signal requesting the terminal auxiliary measurement information is received from the network, and based on the terminal auxiliary measurement information received from the relay terminal, the terminal auxiliary measurement information The absolute position of the remote terminal is measured by the network, and the terminal auxiliary measurement information includes relay terminal auxiliary measurement information for positioning of the relay terminal and remote terminal auxiliary measurement information for positioning of the remote terminal. storage medium. | The method involves determining whether positioning using a relay is necessary based on whether positioning performance of a terminal is deteriorated. The relay terminal to be used as an anchor node is determined for positioning of the terminal when positioning using the relay is required. The terminal-assisted measurement information for positioning of the terminal to the relay terminal is requested. The terminal auxiliary measurement information is received from the relay terminal. The absolute position of the terminal is measured based on the terminal-assisted measurement information. INDEPENDENT CLAIMS are included for the following:a server for performing network-based positioning;a processor for performing operations for a server in a new radio-vehicle to everything communication system;a non-volatile computer-readable storage medium storing a computer program with instructions that, when executed by processor, it performs an operation for performing network-based positioning for a server;a first terminal for performing network-based positioning;a processor for performing operations for a first terminal in a new radio-vehicle to everything communication system; anda non-volatile computer-readable storage medium storing a computer program with instructions that, when executed by a processor, it performs an operation for network-based positioning for a first terminal. Method for performing network-based positioning in a new radio-vehicle to everything communication system. The network-based positioning method using a relay has an advantage in that the network performs positioning on a remote terminal whose positioning performance is deteriorated through collaboration with the relay terminal, thus improving positioning performance. The drawing shows a schematic representation of a method of measuring an absolute position of a remote user equipment based on a distance measurement result between a remote user equipment and a relay user equipment. |
Please summarize the input | METHOD FOR PERFORMING REINFORCEMENT LEARNING BY V2X COMMUNICATION DEVICE IN AUTONOMOUS DRIVING SYSTEMA method for performing reinforcement learning by a V2X communication device in an autonomous driving system, specifically, a method for performing reinforcement learning in consideration of a reward application ratio over time, is proposed. Action information is transmitted to a second V2X communication device, reward information is received from the second V2X communication device, and reinforcement learning is performed on the basis of a reward, wherein a reward corresponding to a ratio determined by a first V2X communication device is applied to the reinforcement learning, the ratio is determined on the basis of a time interval from a time point of transmission of the action information to a time point of reception of the reward information, and the ratio is between 0 and 1, both inclusive.|1. A method of performing reinforcement learning performed by a first Vehicle-to-everything (V2X) communication device in an autonomous driving system, the method comprising:
receiving a sidelink synchronization signal;
performing a synchronization based on the sidelink synchronization signal;
transmitting action information to a second V2X communication device, wherein the action information informs an action performed by the first V2X communication device;
receiving reward information from the second V2X communication device, wherein the reward information informs a reward for the action; and
performing reinforcement learning based on the reward,
wherein the reinforcement learning is applied with the reward corresponding to a ratio determined by the first V2X communication device,
wherein the ratio is determined based on a time from a time of transmission of the action information to a time of reception of the reward information,
wherein the ratio is at least 0 and no more than 1.
| 2. The method of claim 1, wherein, based on the time from the time of transmission of the action information to the time of reception of the reward information being less than a first threshold, the ratio is 1.
| 3. The method of claim 1, wherein, based on the time from the time of transmission of the action information to the time of reception of the reward information being greater than a first threshold and less than a second threshold, the ratio is a value of a difference between the second threshold and the first threshold divided by the time from the time of transmission of the action information to the time of reception of the reward information.
| 4. The method of claim 3, wherein the first threshold and the second threshold are transmitted by a network to the first V2X communication device.
| 5. The method of claim 1, wherein, based on the time from the time of transmission of the action information to the time of reception of the reward information being greater than a second threshold, the first V2X communication device transmits a prioritized transmission request information to the second V2X communication device.
| 6. The method of claim 5, wherein the first V2X communication device performs a specific action based on the reinforcement learning,
wherein the first V2X communication device transmits action information about the specific action to the second V2X communication device, and
wherein the action information for the specific action includes the prioritized transmission request information.
| 7. The method of claim 6, wherein the prioritized transmission request information includes an indicator requesting prioritized transmission of reward information generated based on the action information for the specific action.
| 8. The method of claim 1, wherein the first V2X communication device receives capability request information from a base station, and
wherein the first V2X communication device transmits capability information to the base station in response to the capability request information.
| 9. The method of claim 8, wherein the capability information includes information about at least one of a capability of the first V2X communication device to perform reinforcement learning, a type of actions of the first V2X communication device, and a computational capability of the first V2X communication device.
| 10. The method of claim 1, wherein the action information is groupcast or broadcast.
| 11. The method of claim 1, wherein the ratio is determined based on a maximum value of the time from the time of transmission of the action information to the time of reception of the reward information.
| 12. The method of claim 1, wherein the ratio is determined based on a value of a function applied to the time from the time of transmission of the action information to the time of reception of the reward information.
| 13. The method of claim 12, wherein the function is transmitted by a network to the first V2X communication device.
| 14. The method of claim 1, wherein the action is a vector for a direction of movement and a speed of movement of the first V2X communication device.
| 15. The first V2X communication device comprising:
one or more memories storing instructions;
one or more transceivers; and
one or more processors connecting the one or more memories and the one or more transceivers, wherein the one or more processors, by executing the instructions, perform,
receiving a sidelink synchronization signal;
performing a synchronization based on the sidelink synchronization signal;
transmitting action information to a second V2X communication device, wherein the action information informs an action performed by the first V2X communication device;
receiving reward information from the second V2X communication device, wherein the reward information informs a reward for the action; and
performing reinforcement learning based on the reward,
wherein the reinforcement learning is applied with the reward corresponding to a ratio determined by the first V2X communication device,
wherein the ratio is determined based on a time from a time of transmission of the action information to a time of reception of the reward information,
wherein the ratio is at least 0 and no more than 1.
| 16. (canceled)
| 17. An apparatus configured to control a first V2X communication device in an autonomous driving system, wherein the apparatus comprising:
one or more processors; and
one or more memories operably connected by the one or more processors and storing instructions, wherein the one or more processors, by executing the instructions, perform,
receiving a sidelink synchronization signal;
performing a synchronization based on the sidelink synchronization signal;
transmitting action information to a second V2X communication device, wherein the action information informs an action performed by the first V2X communication device;
receiving reward information from the second V2X communication device, wherein the reward information informs a reward for the action; and
performing reinforcement learning based on the reward,
wherein the reinforcement learning is applied with the reward corresponding to a ratio determined by the first V2X communication device,
wherein the ratio is determined based on a time from a time of transmission of the action information to a time of reception of the reward information,
wherein the ratio is at least 0 and no more than 1. | The method involves transmitting (S410) action information to a second V2X communication device. The reward information is received (S420) from the second V2X communication device, and reinforcement learning is performed (S430) on the basis of a reward. The reward corresponding to a ratio determined by a first V2X communication device is applied to the reinforcement learning. The ratio is determined on the basis of a time interval from a time point of transmission of the action information to a time point of reception of the reward information, and the ratio is between 0 and 1, both inclusive. Method for performing reinforcement learning by V2X communication device in autonomous driving system. The multi-tier network composed of heterogeneous networks improves overall QoS and reduces costs. The drawing shows a flowchart illustrating the method for performing reinforcement learning by V2X communication device. (Drawing includes non-English language text) S410Step for transmitting action information to a second V2X communication deviceS420Step for receiving reward information from the second V2X communication deviceS430Step for performing reinforcement learning on the basis of a reward |
Please summarize the input | Driving system for vehicleThe present invention determines a parking spot of the vehicle based on a sensor for detecting the getting off of the occupant, the interface unit and the information obtained through the interface unit, and when the getting off of the occupant is detected, the vehicle is parked at the parking spot, It relates to a running system of an autonomous vehicle, including a processor for providing a control signal to the vehicle drive device via the interface unit.
|1. A sensor for detecting getting off of the occupant;
An interface unit;
A processor for determining a parking spot of the vehicle based on the information obtained through the interface unit, and providing a control signal to the vehicle driving apparatus through the interface unit so that the vehicle is parked at the parking spot when the driver's getting off is detected; The processor may include determining a travel time for reciprocating from a location of a vehicle to a parking point, determining a return time required for the passenger to re-ride after getting off, and based on the travel time and the return time, autonomous It is determined whether to perform parking, and based on a result of determining whether to perform autonomous parking, the vehicle driving apparatus is controlled, and the processor, through the interface unit, at least one of a sensing unit, an object detecting apparatus, and a communication apparatus of the vehicle. Based on the information obtained from one, the occupant is more than a predetermined distance from the vehicle If it is determined that the departure or if the occupant is more than a predetermined time from the vehicle, the vehicle driving device is controlled to move the vehicle, The processor is configured to drive the vehicle to move the vehicle when it is determined that there is an emergency vehicle or exceeds a predetermined time which can be stopped even before it is determined that the occupant is separated from the vehicle by a predetermined distance or a predetermined time. The driving system of the autonomous vehicle, which controls the device.
| 2. delete
| 3. delete
| 4. The autonomous vehicle of claim 1, wherein the processor acquires user input information related to a place from an input unit of the vehicle or the communication device through the interface unit, and determines a return time based on the user input information. Running system.
| 5. The apparatus of claim 4, wherein the processor is further configured to acquire information regarding a return time of a passenger, which is received by the communication device through a vehicle to infrastructure (V2I) communication with an infrastructure of a passenger's visit through the interface unit, A drive system for an autonomous vehicle, further determining the return time based on the information regarding the return time of the occupant.
| 6. The apparatus of claim 1, wherein the processor acquires navigation information including location information of a facility within a predetermined distance from the vehicle, and determines an expected visit destination that the occupant is expected to visit based on the navigation information, A traveling system for an autonomous vehicle, for determining a return time based on a distance to an expected visit destination.
| 7. The apparatus of claim 6, wherein the processor obtains at least one of information on a schedule of a passenger and information on a visit history from a memory of a vehicle or a mobile terminal of a passenger through the interface unit. And based on at least one of the information and the information on the visit destination history, determining an expected visit destination.
| 8. The driving system of claim 6, wherein the processor determines a representative of the plurality of passengers and determines a return time based on the representative, when it is determined that the plurality of passengers get off.
| 9. The driving system of claim 1, wherein the processor controls the vehicle driving apparatus so that the vehicle travels roaming until the return time is determined when the driver's getting off is detected.
| 10. The driving system of claim 1, wherein the processor controls the vehicle driving apparatus to perform autonomous parking when it is determined that a return time is equal to or greater than a preset value.
| 11. The driving system of claim 10, wherein the processor controls the vehicle driving apparatus to stop or roam the vehicle when it is determined that a return time is less than a preset value.
| 12. The vehicle according to claim 11, wherein the processor acquires road information around the vehicle from at least one of the object detection device, the communication device, and the navigation system through the interface unit, and the vehicle stops based on the road information. And determining that the vehicle is located in the possible zone, and if the vehicle is determined to be located in the stoptable zone, controlling the vehicle driving device to stop the vehicle.
| 13. The driving system of claim 10, wherein the processor performs autonomous parking when it is determined that the return time is longer than the travel time.
| 14. The method of claim 13, wherein the processor is further configured to determine a parking point from among the plurality of available parking points based on a distance from the vehicle when it is determined that there are a plurality of parking available points capable of parking the vehicle. Driving system of autonomous vehicle.
| 15. The method of claim 14, wherein the processor, through the interface unit, from the at least one of the navigation system, the communication device and the memory of the vehicle, obtains information about the parking fee of each of the plurality of parking available points, a plurality of parking A driving system for an autonomous vehicle, further determining a parking point based on the information about the parking fee of each of the possible points.
| 16. The vehicle navigation system of claim 13, wherein the processor generates a driving route for reciprocating from the position of the vehicle to the parking spot based on the obtained map data through the interface unit, and through the interface unit, the navigation system and the vehicle. A travel system of an autonomous vehicle, which obtains, from at least one of the communication devices, surrounding environment information near the travel route and determines a travel time based on the travel route and the surrounding environment information.
| 17. The autonomous system of claim 1, wherein the processor provides a control signal to the vehicle driving apparatus through the interface unit to perform autonomous release based on the return time and the travel time of the occupant while the vehicle is parked. Driving system of traveling vehicle.
| 18. The method of claim 17, wherein the processor acquires the surrounding environment information at a predetermined time interval from the communication device of the vehicle through the interface unit while the vehicle is parked, and based on the driving route and the changed surrounding environment information. The driving system of the autonomous vehicle, which judges the travel time and performs autonomous release.
| 19. The method of claim 17, wherein the processor generates a driving route for moving from the parking point to the changed boarding position until the changed boarding time when it is determined that the boarding position and the boarding time of the occupant are changed while the vehicle is parked. And a self-driving vehicle.
| 20. The method of claim 19, wherein the processor, while the vehicle is parked, through the interface unit, the vehicle's communication device obtains the location information of the passenger received from the passenger's mobile terminal, based on the passenger's location information, The boarding position and the boarding time are determined, and if it is determined that the boarding position or boarding time is changed, the communication unit controls the communication device to transmit information including the changed boarding position or boarding time to the passenger's mobile terminal. Providing a signal, and through the interface unit, the communication device obtains user input information received from the passenger's mobile terminal, and further determines the boarding position and the boarding time based on the user input information. system. | The device has a sensor for detecting an occupant of a vehicle (100) getting out of the vehicle at a drop-off location. A processor determines a target parking spot for the vehicle based on information acquired through the interface unit. The processor transmits a control signal to a vehicle drive apparatus to park the vehicle at the target parking spot through an interface unit in response to detecting the occupant getting out of the vehicle and determines a travel time period for moving from the drop-off location to the target parking spot and from the target parking spot back to the drop off location. Device for controlling a vehicle i.e. automobile. The device comprises an operation system to actively control the vehicle based on a location of the occupant to perform autonomous driving operation, autonomous parking operation, and autonomous parking-out operation in accordance with a return period of the occupant even without a place of visit being input by a user. The drawing shows a perspective view of a vehicle. 100Vehicle310aStereo camera510Steering input device |
Please summarize the input | METHOD FOR CONTROLLING VEHICLE IN AUTONOMOUS DRIVING SYSTEM AND APPARATUS THEREOFA method and apparatus for controlling a vehicle in an autonomous driving system are disclosed. A method for controlling a vehicle in an autonomous driving system according to an embodiment of the present invention is a method for acquiring data in an autonomous driving system, wherein block chain data for an entry scheduled section according to a driving route set in the own vehicle is Requesting a server; Receiving, from the server, an encryption key for authenticating a delivery vehicle that has received the block chain data from a candidate vehicle holding the block chain data; Performing authentication for the delivery vehicle using the encryption key; And acquiring the block chain data from the delivery vehicle, wherein the block chain data includes driving information verified by vehicles belonging to the scheduled entry section constituting the block chain network. have. The autonomous vehicle of the present invention is related to artificial intelligence (Artificail Intelligenfce) module, drone (Unmanned Aerial Vehicle, UAV), robot, Augmented Reality (AR) device, virtual reality (VR) device, 5G service. It can be linked to a device, etc.|1. A method for acquiring data in an autonomous driving system, the method comprising: requesting, from a server, block chain data for an entry scheduled section according to a driving route set in a vehicle;
Receiving, from the server, an encryption key for authenticating a delivery vehicle that has received the block chain data from a candidate vehicle holding the block chain data;
Performing authentication for the delivery vehicle using the encryption key; And acquiring the block chain data from the delivery vehicle, wherein the block chain data includes driving information verified by vehicles belonging to the scheduled entry section constituting the block chain network, A method for acquiring data in an autonomous driving system.
| 2. The method of claim 1, further comprising: obtaining driving information of vehicles belonging to the scheduled entry section by decoding the block chain data; And updating at least one of a sensor activation setting, a sensing sensitivity, or a speed of the own vehicle based on the obtained driving information.
| 3. The method of claim 1, wherein obtaining the blockchain data from the delivery vehicle comprises transmitting a token representing a digital compensation means used in the blockchain network to the delivery vehicle. How to obtain.
| 4. The autonomous driving system of claim 1, wherein the candidate vehicle is a vehicle that has valid blockchain data based on a scheduled entry time of the planned entry section among vehicles belonging to the scheduled entry section and is searched by the server. Method for acquiring data from.
| 5. The vehicle of claim 1, wherein the candidate vehicle is a vehicle having the longest block chain length among vehicles that have valid blockchain data based on the scheduled entry time of the scheduled entry section, belonging to the scheduled entry section. A method for obtaining data in an autonomous driving system, explored by.
| 6. The method of claim 1, wherein the delivery vehicle is searched by the server as a vehicle scheduled to travel in the direction of the own vehicle, among surrounding vehicles of the candidate vehicle.
| 7. The autonomous driving system according to claim 1, wherein the delivery vehicle is searched by the server as an idle vehicle belonging to the scheduled entry section when there is no vehicle scheduled to be driven in the direction of the own vehicle among surrounding vehicles of the candidate vehicle. Method for acquiring data from.
| 8. The method of claim 1, wherein the performing of the authentication of the delivery vehicle comprises: receiving information on a contact area with the delivery vehicle from the server; And searching for the delivery vehicle using V2X communication of the own vehicle in the contact area.
| 9. The method of claim 1, wherein the obtaining of the block chain data from the delivery vehicle comprises: checking whether delivery of the block chain data is delayed based on the valid time of the block chain data; And transmitting, to the delivery vehicle, a token indicating a digital compensation means used in the blockchain network, deducted according to data availability, when delivery of the blockchain data is delayed as a result of the confirmation. Method for obtaining data from the system.
| 10. A processor for controlling functions of the own vehicle;
A memory coupled to the processor and storing data for controlling the vehicle; And a transceiver coupled to the processor and transmitting or receiving data for controlling the vehicle.
Including, the processor, the block chain data for the entry scheduled section according to the driving path set in the own vehicle to the server, and to the delivery vehicle that received the block chain data from the candidate vehicle holding the block chain data An encryption key for authentication is received from the server, authentication is performed on the delivery vehicle using the encryption key, and the block chain data is obtained from the delivery vehicle, wherein the block chain data is a block chain. An apparatus for acquiring data in an autonomous driving system, comprising driving information verified by vehicles belonging to the planned entry section constituting a network.
| 11. The method of claim 10, wherein the processor acquires driving information of vehicles belonging to the scheduled entry section by decoding the block chain data, and sets and senses sensor activation of the own vehicle based on the obtained driving information. An apparatus for obtaining data in an autonomous driving system for updating at least one of sensitivity or speed.
| 11. The apparatus of claim 10, wherein the processor transmits a token representing a digital reward means used in the blockchain network to the delivery vehicle.
| 13. The autonomous driving system of claim 10, wherein the candidate vehicle is a vehicle that has valid blockchain data based on a scheduled entry time of the planned entry section among vehicles belonging to the scheduled entry section and is searched by the server. Device for acquiring data from.
| 14. The method of claim 10, wherein the candidate vehicle is a vehicle having the longest block chain length among vehicles that have valid blockchain data based on the scheduled entry time of the scheduled entry section, belonging to the scheduled entry section, and Device for acquiring data in an autonomous driving system, explored by.
| 15. The apparatus of claim 10, wherein the delivery vehicle is searched by the server as a vehicle scheduled to be driven in the direction of the own vehicle, among surrounding vehicles of the candidate vehicle.
| 16. The autonomous driving system according to claim 10, wherein the delivery vehicle is searched by the server as an idle vehicle belonging to the scheduled entry section when there is no vehicle scheduled to be driven in the direction of the own vehicle among surrounding vehicles of the candidate vehicle. Device for acquiring data from.
| 17. The autonomous vehicle according to claim 10, wherein the processor receives information on a contact area with the delivery vehicle from the server, and searches for the delivery vehicle using V2X communication of the own vehicle in the contact area. Device for acquiring data from a driving system.
| 18. The method of claim 10, wherein the processor checks whether delivery of the blockchain data is delayed based on the valid time of the blockchain data, and, as a result of the confirmation, delivery of the blockchain data is delayed. A device for acquiring data in an autonomous driving system for transmitting a token representing a digital compensation means used in the blockchain network, deducted according to the availability of data in case, to the delivery vehicle. | The method involves requesting block chain data for an entry scheduled section according to a driving route set in a vehicle from a server (1550). An encryption key for authenticating a delivery vehicle (1560) that has received the block chain data is received from a candidate vehicle holding the block chain data from the server. The authentication for the delivery vehicle is performed using the encryption key. The block chain data is acquired from the delivery vehicle, where the block chain data includes driving information verified by vehicles belonging to the scheduled entry section constituting the block chain network. An INDEPENDENT CLAIM is included for an apparatus for acquiring data in autonomous driving system. Method for acquiring data in autonomous driving system. The apparatus for acquiring data secures real-time driving data through provision of driving data using a delivery vehicle, thus ensuring real-time driving stability and real-time driving stability. The infrastructure installation cost is reduced through purchase/reward of vehicle-to-vehicle driving block chain data without a server. The drawing shows a flowchart of a method for determining a delivery vehicle to transmit block chain-based driving data in an autonomous driving system. (Drawing includes non-English language text) 1550Server1560Delivery vehicleS1501Step for searching vehicle of holding vehicle around in which server holds block chain dataS1503Step for transmitting delivery request from server transmits grant or reject acceptance and rejection of corresponding requestS1505Step for transmitting contact point geographical information in delivery vehicle |
Please summarize the input | Method for controlling vehicle in autonomous driving system and apparatus thereofDisclosed is a method and apparatus for controlling a vehicle in an autonomous driving system that controls platooning. A method of controlling a first vehicle that transports passengers in an autonomous driving system that controls platooning according to an embodiment of the present disclosure includes: receiving boarding/alighting information of the passengers from a server; determining a first platoon formation of platooning vehicles that travel in the same lane in a platoon on the basis of the boarding/alighting information; transmitting information about the first platoon formation to other vehicles included in the platoon; checking an object moving adjacent to the lane; and transmitting an object block instruction message, which changes the platoon formation into a second platoon formation such that a block distance between at least one vehicle included in the platoon and a sidewalk becomes smaller than a width of the object, to other vehicles included in the platoon.What is claimed is:
| 1. A method of controlling a first vehicle that transports passengers in an autonomous driving system that controls platooning, the method comprising:
receiving boarding/alighting information of the passengers from a server;
determining a first platoon formation of platooning vehicles that travel in the same lane in a platoon on the basis of the boarding/alighting information;
transmitting information about the first platoon formation to other vehicles included in the platoon;
detecting an object moving adjacent to the lane; and
transmitting an object block instruction message, which changes the platoon formation into a second platoon formation such that a block distance between at least one vehicle included in the platoon and a sidewalk becomes smaller than a width of the object, to other vehicles included in the platoon.
| 2. The method of claim 1, wherein the boarding/alighting information includes a stopping position, the number of passengers who board or alight at the stopping position, or an expected time required for boarding or alighting at the stopping position.
| 3. The method of claim 2, wherein the determining of a first platoon formation includes:
checking an expected stop time of each of the vehicles included in a platoon at the stopping position;
determining order with respect to positions of the vehicles included in the platoon on the basis of the expected stop time of each of the vehicles included in the platoon; and
determining the first platoon formation on the basis of the order.
| 4. The method of claim 1, wherein the object corresponds to an object that has a predetermined size and can move, and
wherein the checking of an object includes:
receiving first object movement information about movement of the object in a first area that is a surrounding area of a second vehicle from the second vehicle traveling behind the first vehicle;
receiving second object movement information about movement of the object in a second area that is a surrounding area of a third vehicle from the third vehicle traveling behind the second vehicle; and
checking continuous movement of the object in the first area and the second area on the basis of the first object movement information and the second object movement information.
| 5. A method of controlling a second vehicle that prevent intrusion of an object from a first vehicle that transports passengers in an autonomous driving system that controls platooning, the method comprising:
receiving information about a first platoon formation of platoon vehicle traveling in a platoon in the same lane from a first vehicle;
traveling in accordance with the first platoon formation;
receiving movement information of an object moving adjacent to the lane from a third vehicle traveling behind the second vehicle in the platoon;
receiving an object block instruction message, which changes the platoon formation into a second platoon formation such that a block distance between at least one vehicle included in the platoon and a sidewalk becomes smaller than a width of the object, from the first vehicle; and
traveling in accordance with the second platoon formation.
| 6. The method of claim 5, wherein the object corresponds to an object that has a predetermined size and can move.
| 7. The method of claim 5, wherein the movement information of the object is shared among the vehicles included in the platoon through V2X (vehicle-to-everything) communication.
| 8. The method of claim 5, wherein the movement information of the object includes a position, a movement speed, acceleration of the object in each of sub-areas divided from an area around the third vehicle.
| 9. The method of claim 5, wherein the traveling in accordance with the second platoon formation includes approaching toward the sidewalk to maintain a block distance smaller than the width of the object with respect to the sidewalk in correspondence to the object block instruction message.
| 10. The method of claim 5, wherein the traveling in accordance with the second platoon formation includes:
determining an extra gap from a forward vehicle positioned ahead of the second vehicle that is required for the second vehicle to approach within a block distance with respect to the sidewalk;
traveling while maintaining a distance over the extra gap with respect to the forward vehicle;
determining whether a collision with the object is expected, when the vehicle approaches within a block distance from the sidewalk;
approaching within the spare gap toward the forward vehicle with the distance from the sidewalk maintained when a collision with the object is expected; and
approaching within the block distance with respect to the sidewalk when a collision with the object is not expected.
| 11. The method of claim 10, wherein the determining of whether there is a possibility of a collision with the object include:
determining a turning entry time required for the second vehicle to approach within the block distance with respect to the sidewalk;
determining an expected position of the second vehicle after the turning entry time and an expected position of the object after the turning entry time; and
determining whether there is a possibility of a collision on the basis of the expected position of the second vehicle and the expected position of the object.
| 12. A method of controlling a third vehicle that provides object sensing information to a first vehicle that transports passengers and a second vehicle that assists boarding/alighting of the passengers of the first vehicle in an autonomous driving system that controls platooning, the method comprising:
receiving information about a first platoon formation of platoon vehicle traveling in a platoon in the same lane from the first vehicle;
traveling in accordance with the first platoon formation;
detecting an object moving adjacent to the lane;
transmitting movement information of the object to other vehicles included in the platoon;
receiving an object block instruction message, which changes the platoon formation into a second platoon formation such that a block distance between at least one vehicle included in the platoon and a sidewalk becomes smaller than a width of the object, from the first vehicle; and
traveling in accordance with the second platoon formation.
| 13. The method of claim 12, wherein the object corresponds to an object that has a predetermined size and can move,
the movement information of the object includes motion sensing information of the vehicle and image data of the object acquired by a camera of the vehicle, and
the motion sensing information includes a position, a speed, and acceleration of the object.
| 14. The method of claim 12, wherein the movement information of the object is shared among the platoon vehicles through V2X (vehicle-to-everything) communication.
| 15. The method of claim 12, wherein the movement information of the object includes a position, a movement speed, acceleration of the object in each of sub-areas divided from an area around the third vehicle.
| 16. The method of claim 12, wherein the detecting of an object includes:
checking a sidewalk boundary of the a sidewalk adjacent to the lane;
checking a vehicle side boundary that is a side boundary of the vehicle; and
checking the object moving between the sidewalk boundary and the vehicle side boundary.
| 17. The method of claim 12, wherein the detecting of an object includes:
acquiring an image including a forward vehicle positioned ahead of the third vehicle and a sidewalk adjacent to the lane;
checking a sidewalk boundary that is a boundary of the sidewalk adjacent to the lane in the image;
checking a vehicle boundary that is a boundary of the forward vehicle in the image; and
detecting movement of the object between the vehicle boundary of the forward vehicle and the sidewalk boundary.
| 18. The method of claim 12, wherein the detecting of an object includes:
acquiring an image including at least one forward vehicle positioned ahead of the third vehicle of the platoon vehicles and a sidewalk adjacent to the lane;
checking a sidewalk boundary that is a boundary of the sidewalk adjacent to the lane in the image;
checking movement of the object between the sidewalk boundary and wheel boundaries that are boundaries of wheels of the at least one forward vehicle.
| 19. The method of claim 18, wherein the checking of movement of the object includes:
checking a start line horizontally extending from a bottom of a rear side of a first forward vehicle positioned right ahead of the third vehicle;
checking a start point where the start line and the sidewalk boundary meet;
checking at least one wheel boundary point where a line connecting wheel boundaries of at least one vehicle and the start line meet; and
detecting the object existing between a wheel point, which is close to the start point of the at least one wheel boundary point, and the start point.
| 20. The method of claim 12, wherein the detecting of an object includes:
receiving a message including a position of the object from a rearward vehicle positioned behind the third vehicle in the platoon;
activating at least one sensor for sensing a surrounding area of the third vehicle in correspondence to reception of the message; and
detecting the object moving in the surrounding area through the at least one sensor. | The method involves receiving ride information of the passenger from a server. It is determined that if a first cluster size of crowded vehicles that are clustered and run in the same lane based on the getting on and off information. The information about the first cluster large is transmitted to other vehicles included in the cluster. An object moving near the lane is detected. An object blocking command message is provided for changing the size of the cluster to a second size of the cluster. The getting on and off information includes a stop position, a number of persons getting on or off at the stop position, and a time required to get on or off at the stop position. INDEPENDENT CLAIMS are included for the following:a method for controlling a second vehicle; anda method for controlling a third vehicle. Method for controlling a first vehicle for transporting passengers in an autonomous system for controlling crowding. The entry of an object in response to the detection of an object that may collide with a passenger is prevented. The occurrence of a collision accident caused by a motorcycle or a bicycle approaching from the rear is prevented. The drawing shows a flowchart of a first vehicle for transporting passengers in an autonomous driving system. (Drawing includes non-English language text). |
Please summarize the input | METHOD FOR CONTROLLING PLATOONING AND AUTONOMOUS VEHICLE BASED ON BLOCKCAHINA block chain-based platooning vehicle control method and platooning vehicles constituting a block chain are disclosed. In the block chain-based platooning vehicle control method according to an embodiment of the present invention, a routing table is generated based on driving data of at least one vehicle performing platooning, and the platoon driving After a block chain is formed between vehicles performing the block chain, it is possible to check whether the block chain data is tampered with by comparing the hash value of the blocks formed in the preceding and following vehicles of the specific vehicle. The autonomous vehicle of the present invention is related to an artificial intelligence module, a drone (Unmanned Aerial Vehicle, UAV), a robot, an augmented reality (AR) device, a virtual reality (VR) device, and a 5G service. It can be linked to a device or the like.|1. What is claimed is: 1. A method for controlling a vehicle that performs platooning in an autonomous driving system, the method comprising: acquiring driving data of a plurality of vehicles performing platooning;
Determining a staying time in the cluster of the vehicle based on the driving data;
Generating a routing table including a routing sequence for transmitting block chain data between the plurality of vehicles according to the stay time;
Transmitting the generated routing table to a slave vehicle;
Forming a block chain between the plurality of vehicles according to the routing order; And comparing the hash values of blocks formed in a vehicle in a sequence before and after a specific vehicle according to the routing order to determine whether or not the block chain data is altered.
Blockchain-based platooning vehicle control method comprising a.
| 2. The method of claim 1, wherein the driving data comprises: a location at which the plurality of vehicles deviate from the cluster, an amount of fuel remaining in the vehicle, a year of the vehicle, a size of the vehicle, a type of the vehicle, or within the cluster. Blockchain-based cluster driving vehicle control method comprising at least one of the positions of the vehicle in.
| 3. The method of claim 1, wherein the block comprises at least one of the driving data, sensing data of the vehicle, autonomous driving control data of the vehicle, or external object data obtained through the vehicle camera. Blockchain-based platooning vehicle control method.
| 4. The method of claim 1, wherein the forming of the block chain comprises: transmitting and receiving the driving data between the plurality of vehicles;
Encrypting the driving data of a leading vehicle with a V2X key;
Calculating the hash value based on the encrypted driving data, and forming the block consisting of the encrypted driving data and the hash value; And transmitting the block to the vehicle corresponding to the next order according to the routing order.
Block chain-based platooning vehicle control method, characterized in that it further comprises.
| 5. The method of claim 1, further comprising: identifying an event that causes or is likely to cause a danger to driving based on external information of the vehicle obtained through a camera of the vehicle;
When the event is identified, controlling the rate of creation of the blockchain according to the degree of the risk;
Block chain-based platooning vehicle control method, characterized in that it further comprises.
| 6. The method of claim 5, further comprising: when the event is identified, transmitting the blockchain data related to the event to a server;
Block chain-based platooning vehicle control method, characterized in that it further comprises.
| 7. The method of claim 5, wherein the event is a risk situation that may cause a collision of the vehicle on a road, a situation in which the vehicle performing platooning does not respond to the control signal of the leading vehicle, or the block chain data has been altered. Blockchain-based platooning vehicle control method comprising at least one of the determined situations.
| 8. The method of claim 1, further comprising: determining whether the block chain data is altered at regular intervals, and transmitting the determined block chain data to a server;
Block chain-based platooning vehicle control method, characterized in that it further comprises.
| 9. The method of claim 8, wherein, when the block chain data of the vehicle running in the platoon continuously transmits the modulated data, the vehicle that transmits the modulated data is determined as a vehicle with a possibility of hacking, and the routing Blockchain-based platooning vehicle control method, characterized in that the order is changed to a lower priority.
| 10. The method of claim 8, further comprising: if it is determined that the block chain data has been altered, requesting the pre-modified block chain data to the server;
Updating the block chain data determined to be altered based on the pre-modulation block chain data;
Block chain-based platooning vehicle control method, characterized in that it further comprises.
| 11. The method of claim 1, further comprising: when a new vehicle joins the cluster, receiving a joining request message from the new vehicle;
Determining a location of the new vehicle in the cluster, and transmitting a joining permission message to the new vehicle to the new vehicle; And regenerating the routing table according to the residence time of the new vehicle in the cluster.
Block chain-based platooning vehicle control method, characterized in that it further comprises.
| 12. The method of claim 1, further comprising: sensing a resource for sidelink mode 4 transmission in a first window;
Selecting a resource for the mode 4 transmission in a second window based on the sensing result;
Transmitting an SCI format 1 for scheduling a block chain data transmission of a leading vehicle to the slave vehicle on a PSCCH based on the selected resource; And transmitting the blockchain data of the leading vehicle to the slave vehicle on the PSSCH.
Block chain-based platooning vehicle control method, characterized in that it further comprises.
| 13. A leading vehicle performing platooning, comprising: a communication module;
Memory; And a processor;
Including, wherein the communication module transmits the routing table and driving data to the slave vehicle, receives the driving data from the slave vehicle, the processor is based on the driving data of at least one vehicle performing the cluster driving To determine the residence time in the cluster of the vehicles, generate the routing table including a routing order for transmitting block chain data between the plurality of vehicles according to the residence time, and generate the routing table based on the routing order Leading of cluster driving constituting a block chain, characterized in that a block chain is formed between vehicles, and the hash value of blocks formed in a vehicle in a sequence before and after a specific vehicle is compared according to the routing order to determine whether or not the block chain data is altered. vehicle.
| 14. The method of claim 13, wherein the driving data comprises: a location at which the plurality of vehicles deviate from the cluster, an amount of fuel remaining in the vehicle, a year of the vehicle, a size of the vehicle, a type of the vehicle, or within the cluster. The leading vehicle of platoon driving constituting a block chain, comprising at least one of the positions of the vehicle in.
| 15. The method of claim 13, wherein the processor identifies an event that causes or is likely to cause a danger to the driving of the vehicle based on external information of the vehicle acquired through the camera of the vehicle, and when the event is identified , The leading vehicle of platoon driving constituting a block chain, characterized in that controlling the generation speed of the block chain according to the degree of the risk.
| 16. The vehicle of claim 15, wherein when the event is identified through the processor, the communication module transmits the block chain data related to the event to a server.
| 17. The platooning system of claim 13, wherein the processor determines whether the block chain data is altered at regular intervals, and the communication module transmits the determined block chain data to a server. Leading vehicle.
| 18. The method of claim 13, wherein, when the block chain data of a vehicle performing platooning continuously transmits the modulated data, the processor determines the vehicle that transmits the modulated data as a vehicle capable of hacking. And changing the routing order to a lower priority.
| 19. The method of claim 13, wherein, when it is determined that the block chain data has been tampered with through the processor, the communication module requests the block chain data from the server before being tampered, and the memory comprises the tampering received from the server. A leading vehicle for platoon driving in a block chain, characterized in that the block chain data determined to have been altered is updated and stored as block chain data before being converted. | The control method involves determining a staying time in a cluster of the vehicle (10) based on the driving data. The routing table is generated including a routing sequence for transmitting the blockchain data between the vehicles according to the dwell time. The generated routing table is transmitted to a slave vehicle. The block chain is formed between the vehicles in the routing order. The hash values of the blocks are formed in the front and rear order vehicles of the specific vehicle according to the routing order. An INDEPENDENT CLAIM is included for a leading vehicle for performing group driving. Control method for vehicle performing clustering in an autonomous driving system. The control method involves determining a staying time in a cluster of the vehicle based on the driving data, where routing table is generated including a routing sequence for transmitting the blockchain data between the vehicles according to the dwell time, and thus enables to share and transfer data using a blockchain, detects the modulated data and detects the hacked vehicle in response to the external hacking and safely moves the vehicle. The drawing shows a schematic view of a vehicle. (Drawing includes non-English language text). 10Vehicle260Autonomous driving device |
Please summarize the input | Method for terminal operating V2X in wireless communication system and terminal using the methodProvided is a method for a terminal operating vehicle to everything (V2X) in a wireless communication system. The method comprises: receiving, from a network, a setting indicating a specific carrier transmitting or receiving a first service; selecting a carrier from among carriers within a specific range in a frequency area based on the specific carrier indicated by the setting; and transmitting a V2X signal from the selected carrier, wherein the first service has a higher priority than a second service relating to the V2X signal.What is claimed is:
| 1. A method for transmitting a vehicle to everything (V2X) signal in a wireless communication system, the method performed by a user equipment (UE) and comprising:
receiving, from a network, configuration information informing the UE of a specific carrier on which a first service is transmitted or received;
selecting a carrier from among a plurality of carriers based on a separation distance from the specific carrier; and
transmitting the V2X signal related to a second service on the-selected carrier,
wherein the first service has a higher priority than the second service, and
wherein a channel busy ratio (CBR) value for each of the plurality of carriers is lower than a threshold value.
| 2. The method of claim 1, wherein the selected carrier is the carrier separated by a greatest distance from the specific carrier among the plurality of carriers having a CBR value less than or equal to the threshold value.
| 3. The method of claim 1, wherein the threshold value is configured based on a type of the V2X signal, a priority of the V2X signal, and maximum transmit power allowed to V2X signal transmission.
| 4. The method of claim 3, wherein the threshold value is configured to be lower based on a level of separation from the specific carrier being smaller, a priority of the V2X signal being lower, and maximum transmit power allowed for the V2X signal transmission being greater.
| 5. The method of claim 1, wherein a resource used to transmit the V2X signal is a resource not overlapping, in a time domain, with a resource reserved for the first service on the specific carrier.
| 6. The method of claim 1, wherein a resource used to transmit the V2X signal is a resource not overlapping, in a time domain, with a resource for transmitting specific signal transmission for the first service on the specific carrier.
| 7. The method of claim 6, wherein the specific signal is a physical sidelink broadcast channel (PSBCH) or a sidelink synchronization signal (SLSS).
| 8. The method of claim 1,
wherein the UE determines whether the first service is detected in the specific carrier,
wherein the UE measures a first service-specific channel busy ratio (CBR); and
wherein the UE performs the V2X operation in the specific carrier in a time duration in which the first service-specific CBR value is lower than a pre-configured threshold and the first service is not detected, and the UE performs the V2X operation in the selected carrier in at least one of a time duration in which the first service is detected and a time duration in which the first service-specific CBR value is higher than the pre-configured threshold.
| 9. The method of claim 1, wherein the selected carrier has a greatest distance with the specific carrier among the plurality of carriers.
| 10. The method of claim 1, wherein the threshold value is determined based on a distance between the specific carrier and each of the plurality of carriers.
| 11. A user equipment (UE) comprising:
a transceiver for transmitting and receiving a radio signal; and
a processor operatively coupled with the transceiver, wherein the processor is configured to:
receive, from a network, configuration information informing the processor of a specific carrier on which a first service is transmitted or received;
select a carrier from among a plurality of carriers based on a separation distance from the specific carrier; and
transmit the V2X signal related to a second service on the selected carrier,
wherein the first service has a higher priority than the second service, and
wherein a channel busy ratio (CBR) value for each of the carriers is lower than a threshold value.
| 12. The UE of claim 11, wherein the UE communicates with at least one of a mobile terminal, a network or autonomous vehicles other than the UE. | The method involves receiving, setting and indicating (S1010) specific carrier wave for transmitting or receiving a first service from a network. Carrier wave is selected (S1020) within specific range in a frequency domain among the carrier waves based on the specific carrier wave indicated with establishment. Vehicle-to-everything (V2X) signal is transmitted (S1030) on the selected carrier wave when priority of the first service is higher than a second service relating to the V2X signal. A space from the specific carrier wave to the carrier wave is formed larger than the carrier wave. An INDEPENDENT CLAIM is also included for a terminal for performing V2X operation in a radio communication system. Method for performing V2X operation in a radio communication system i.e. 3GPP LTE system, using a terminal (claimed). Uses include but are not limited to a user equipment (UE), a mobile station (MS), a user terminal (UT), a subscriber station (SS), a mobile terminal (MT) and a wireless device. The method enables performing or protecting services with relatively high priority including dedicated short range communications (DSRC) based on tolling service or IEEE 802.11P -based DSRC service at relatively high priority among V2X services, so that signal transmission about the services having low priority in comparison with the services to be protected at the adjacent carrier waves in an effective manner. The drawing shows a flowchart illustrating a method for performing V2X operation in a radio communication system using a terminal. '(Drawing includes non-English language text)' S1010Step for receiving, setting and indicating specific carrier wave for transmitting or receiving first service from networkS1020Step for selecting carrier wave within specific range in frequency domain among carrier waves based on specific carrier wave indicated with establishmentS1030Step for transmitting V2X signal on selected carrier wave when priority of first service is higher than second service relating to V2X signal |
Please summarize the input | VEHICLE SERVICE PROVIDING METHOD IN AUTONOMOUS DRIVING SYSTEM AND DEVICE THEREFORDisclosed is a vehicle service providing method in an autonomous driving system (Automated Vehicle & Highway Systems). The service providing method, according to one embodiment of the present invention, comprises: acquiring user state information using a sensor; acquiring road surface state information of a driving route; acquiring traffic information of the driving route; predicting a risk rating of the driving route; and determining a service to be provided to the user on the basis of the user state information, the road surface state information, the traffic information and the risk rating. Accordingly, the present invention may provide an optimal service to the user by using an AI technique. One or more of an autonomous vehicle, a user terminal and a server of the present invention may be linked with an artificial intelligence module, a drone (unmanned aerial vehicle (UAV)) robot, an augmented reality (AR) device, a virtual reality (VR) device, a 5G service-related device, etc.|1. In the method of providing a vehicle service in an autonomous vehicle (Automated Vehicle & Highway Systems), by using a sensor, obtaining the user's status information, and determining the current behavior information of the user based on the user's status information step;
Obtaining status information of the driving route;
Extracting a feature value from the state information of the driving route;
Inputting the feature value to a learned deep neural network (DNN) classifier and determining a risk level of the driving route from an output of the deep neural network; And determining a service provided to the user based on the current behavior information of the user, the state information of the driving route, or the risk level.
Including, wherein the service is a service for changing a driving route, a service for recommending food, a service for recommending a restaurant, or a service for providing or recommending contents.
| 2. According to claim 1, The state information of the driving route is traffic (traffic) information of the driving route, location information of a road surface located on the driving route, uniformity information of the road surface, slip information of the road surface, A service providing method including inclination information or information on the inclination of the road surface.
| 3. The method of claim 2, further comprising: obtaining current location information of the vehicle;
Obtaining uniformity information of the road surface corresponding to the current location information of the vehicle, based on the location information of the road surface; And
Generating a warning message indicating that the road surface is non-uniform, based on the road surface uniformity information, when the road surface uniformity exceeds an allowable range, wherein the allowable range is based on the service. , How to provide a set service.
| 4. The method of claim 3, further comprising: when the acquisition of the road surface uniformity information fails, obtaining image information of the road surface using the sensor;
Extracting a feature value related to whether the road surface is uniform from the image information;
Determining uniformity information of the road surface by using the feature value as an input value through the DNN classifier;
Service providing method further comprising a.
| 5. The method of claim 2, further comprising: acquiring an appropriate moving distance range corresponding to the number of wheel rotations of the vehicle;
Acquiring an actual moving distance corresponding to the number of wheel rotations in the driving route; And generating a message indicating that the road surface is slippery when the actual moving distance exceeds the appropriate moving distance range based on the same number of wheel rotations, wherein the appropriate moving distance range is dry. A service provision method based on the asphalt road surface in condition.
| 6. The method of claim 2, further comprising: obtaining current location information of the vehicle;
Acquiring inclination information of the road surface corresponding to the current location information of the vehicle based on the location information of the road surface; And generating a warning message indicating that the road surface is inclined, based on the inclination information of the road surface, when the degree of inclination of the road surface exceeds the allowable range, and further comprising, inclination information of the road surface. Is based on the amount of change in the rotation angle value of the wheel during a unit time, and the allowable range is set based on the service.
| 7. The method of claim 3, 5 or 6, wherein the determining of the service comprises selecting a service for changing the driving route when the driving route is in an unstable state or a traffic congestion state, and the unstable state is A service providing method based on a warning message indicating that the road surface is uneven, a warning message indicating that the road surface is inclined, or the risk level, and the traffic congestion occurrence state is based on the traffic information.
| 8. The method of claim 2, wherein the service for changing the driving route is based on the traffic information, when it is determined that the predetermined time to arrive at the destination through the driving route is delayed, suggesting to the user to change the driving route. How to provide services.
| 9. The method of claim 2, wherein the determining of the service selects a service for recommending the food based on status information of the driving route, and the service for recommending food is classified as status information of the driving route. A service providing method for generating a food list including foods that match the state information of the driving route by using food information included therein.
| 10. The method of claim 2, wherein the determining of the service comprises selecting a service for recommending food, when the current behavior information of the user indicates a behavior while eating food, and the service for recommending food is A service providing method for generating a warning message indicating unevenness, a warning message indicating that the road surface is inclined, or a notification message indicating to the user to stop eating the food based on the risk level.
| 11. The method of claim 2, wherein the determining of the service selects a service for recommending food based on the traffic information, and the service for recommending food includes food information including foods classified by food intake time, and A method of providing a service based on a predetermined time to arrive at a destination through the driving route.
| 12. The method of claim 2, wherein the determining of the service comprises providing a service for recommending the restaurant based on status information of the driving route, location information of restaurants located on the driving route, and food information sold at the restaurant. How to provide the service you choose.
| 13. The method of claim 3 or 6, wherein the determining of the service comprises selecting a service for providing or recommending the content, based on the current behavior information of the user and the state information of the driving route, and The service for providing or recommending the content is based on a warning message indicating that the road surface is uneven or a warning message indicating that the road surface is inclined when the user's behavior information indicates the behavior of viewing the content. A service providing method for stopping playback of the driving route and providing state information of the driving route or sensing data of the driving route.
| 14. The method of claim 2, wherein the service for providing or recommending the content displays selected content or generates a recommended content list based on state information of the driving route, and the state information is a road constituting the driving route A service providing method including road information indicating whether or not is a straight road.
| 15. The method of claim 2, wherein the obtaining of the traffic information of the driving route is received through a V2X message or received from a server using V2X communication through a PC5 interface from other autonomous vehicles.
| 16. The V2X communication according to claim 2, wherein the status information of the driving route includes information on dangerous facilities located on the driving route, and the information on dangerous facilities uses the sensor or from other autonomous vehicles through a PC5 interface. Using, a service providing method received through a V2X message or received from a server.
| 17. A vehicle providing a service in an autonomous vehicle (Automated Vehicle & Highway Systems), comprising: a sensing unit comprising a plurality of sensors;
Communication department;
Memory;
Comprising an AI (artificial intelligence) processor, wherein the AI ??processor obtains user status information using the sensing unit, determines current behavior information of the user based on the user's status information, and determines the status of the driving route Acquire information, extract a feature value from the state information of the driving route, input the feature value to a learned deep neural network (DNN) classifier, determine the risk level of the driving route from the output of the deep neural network, Based on the current behavior information of the user, the status information of the driving route, or the risk level, the service provided to the user is determined, and the service includes a service for changing a driving route, a service for food recommendation, and a restaurant recommendation. A vehicle that includes a service for providing or recommending content or a service for it. | The method involves acquiring (S1710) status information of the user using a sensor, and determining current behavior information of the user based on the status information of the user. The state information of a driving route is obtained (S1720). The feature values are extracted from the state information of the driving route. The feature value is input into a learned deep neural network (DNN) classifier and a risk level of the driving route is determined from an output of the deep neural network. The service provided to the user is determined based on the current behavior information of the user, the state information of the driving route, or the risk level. The service is the service for changing a driving route, a service for recommending a food, a service for recommending a restaurant, or a service for providing or recommending contents. An INDEPENDENT CLAIM is included for a vehicle. Service providing method for vehicle (claimed) such as internal combustion engine vehicle, external combustion engine vehicle, gas turbine vehicle, or electric vehicle in autonomous driving system. The road information for autonomous driving is effectively obtained using artificial intelligence (AI) technology in the autonomous driving system. The optimal service is provided to the user through the road information obtained by using the AI technology in the autonomous driving system. The drawing shows a flow chart illustrating the service providing method. (Drawing includes non-English language text) S1710Step for acquiring the status information of the user using a sensorS1720Step for obtaining the state information of a driving routeS1730Step for acquiring the traffic information of the driving routeS1740Step for predicting the risk level of the driving routeS1750Step for determining determine the optimal service provided to the user through deep learning |
Please summarize the input | METHOD AND APPARATUS FOR PERFORMING SIDELINK COMMUNICATION BY UE IN NR V2XProvided are a method for performing sidelink communication by a first apparatus (9010), and the first apparatus (9010) supporting the same. The method may include: receiving, from a second apparatus (9020), a message related to initiation of a service requested by the second apparatus (9020); and determining whether to provide the service based on the message. | The method involves receiving (S2210) a message related to initiation of a service requested from a second apparatus by the second apparatus. It is determined (S2220) that, whether to provide the service based on the message. The message includes information on the service request by the second apparatus and requested quality of service (QoS) information for the service requested by the second apparatus. The service is transmitted to the second apparatus based on the information on the service and the requested QoS information. The message includes location information of the second apparatus. Method for performing sidelink communication by a first apparatus. The safety system allows the driver to guide the alternative course of action so that he can drive more safely, and reduces the risk of accidents. The barriers to distance are reduced and improves access to health services that are not continuously available in distant rural areas. The drawing shows a flowchart of sidelink communication performing method. S2210Receiving a message related to initiation of a service requested by the second apparatusS2220Determining whether to provide the service based on the message |
Please summarize the input | METHOD FOR TRANSMITTING AND RECEIVING, BY TERMINAL, SIGNAL IN WIRELESS COMMUNICATION SYSTEMIn one embodiment, a method of performing an operation for a first terminal in a wireless communication system comprises the steps of: establishing a plurality of PC5 connections with a second terminals; detecting a radio link failure (RLF) for a portion of the plurality of PC5 connections; transmitting, to a base station, identification information for connections other than the portion of the plurality of PC 5 connections; and receiving, from the base station, parameter recognition information for the remaining connections.What is claimed is:
| 1. A method for performing an operation for a first UE in a wireless communication system, the method comprising:
establishing a plurality of PC5 connections with a second UE;
detecting radio link failure (RLF) in some of the plurality of PC5 connections;
transmitting identifier information on remaining connections other than the some of the plurality of PC5 connections to a base station; and
receiving parameter reset information on the remaining connections from the base station.
| 2. The method of claim 1, wherein the transmitting of the identifier information on the remaining connections to the base station further comprises transmitting sidelink channel state information on the remaining connections to the base station.
| 3. The method of claim 2,
The sidelink channel state information includes at least one of reference signal received power (RSRP), reference signal received quality (RSRQ), received signal strength indication (RSSI), and a channel busy ratio (CBR).
| 4. The method of claim 1, wherein the parameter reset information on the remaining connections includes at least one of parameter reset information related to RLF, power control parameter reset information, and modulation and coding scheme (MCS) index value reset information.
| 5. The method of claim 1, further comprising transmitting identifier information and sidelink channel state information on the some of the plurality of PC5 connections to the base station.
| 6. The method of claim 1, wherein the identifier information on the remaining connections is transmitted using a dedicated radio resource control (RRC) message.
| 7. The method of claim 1, wherein the first UE transmits identifier information on the some of the plurality of PC5 connections to a vehicle-to-everything (V2X) layer.
| 8. The method of claim 7, wherein the first UE receives, from the V2X layer, a connection release indication for the some of the plurality of PC5 connections.
| 9. The method of claim 1, wherein the first UE performs sidelink communication with the second UE using the parameter reset information.
| 10. A first UE in a wireless communication system, comprising:
at least one processor; and
at least one computer memory operably coupled to the at least one processor and storing instructions that, when executed, cause the at least one processor to perform operations comprising:
establishing a plurality of PC5 connections with a second UE;
detecting radio link failure (RLF) in some of the plurality of PC5 connections;
transmitting identifier information on remaining connections other than the some of the plurality of PC5 connections to a base station; and
receiving parameter reset information on the remaining connections from the base station.
| 11. The first UE of claim 10, wherein the first UE communicates with at least one of another UE, a UE related to an autonomous vehicle, a base station, and a network.
| 12. A processor for performing operations for a UE in a wireless communication system,
wherein the operations comprise:
establishing a plurality of PC5 connections with a second UE;
detecting radio link failure (RLF) in some of the plurality of PC5 connections;
transmitting identifier information on remaining connections other than the some of the plurality of PC5 connections to a base station; and
receiving parameter reset information on the remaining connection from the base station.
| 13. A computer-readable storage medium storing at least one computer program including instructions that, when executed by at least one processor, cause the at least one processor to perform operations for a UE,
wherein the operations comprise:
establishing a plurality of PC5 connections with a second UE;
detecting radio link failure (RLF) in some of the plurality of PC5 connections;
transmitting identifier information on remaining connections other than the some of the plurality of PC5 connections to a base station; and
receiving parameter reset information on the remaining connections from the base station. | The method involves establishing a second terminal and multiple side links (PC5) connections. A radio link failure (RLF) is detected for the multiple PC5 connections. The identifier information is transmitted for connections other than multiple PC5 connections to a base station. A parameter reconfiguration information is received for the remaining connection from the base station. The identifier information for the remaining connection to the base station consists of transmitting sidelink channel state information for the remaining connection to the base station. The identifier information for the remaining connection is transmitted using a dedicated Radio Resource Control (RRC) message. An INDEPENDENT CLAIM is included for a computer-readable storage medium for performing method for transmitting and receiving signals of first terminal in wireless communication systems, such as mobile communication system. Method for transmitting and receiving signals of first terminal in wireless communication systems (all claimed), such as mobile communication system. Lower the risk of an accident by guiding the driver through alternate courses of action to make driving safer and prevent additional RLF from occurring by resetting parameters for the remaining connections. The drawing shows a flow chart of the method. S901Establishing multiple PC5 connections between the transmitting terminal and the receiving terminalS902Detecting the occurrence of RLF for connection by transmitting terminalS903Reporting the RLF for connection to the base stationS904Transmitting information on the remaining connectionS905Adjusting the Radio Link Monitoring parameters and physical layer transmission parameters for the connection |
Please summarize the input | METHOD FOR PROVIDING V2X-RELATED SERVICE BY DEVICE IN WIRELESS COMMUNICATION SYSTEM SUPPORTING SIDELINK, AND DEVICE THEREFORAccording to various embodiments, disclosed are a method for providing a V2X-related service by a device comprising a plurality of distributed antennas in a wireless communication system supporting a sidelink, and a device therefor. Disclosed are a method for providing a V2X-related service by a device comprising a plurality of distributed antennas and a device therefor, the method comprising the steps of: receiving a first signal by each of the plurality of distributed antennas; and determining whether to transmit a second signal for providing the V2X-related service, wherein transmission of the second signal is determined on the basis of a reception time at which the first signal is received between the plurality of distributed antennas and a threshold time.|1. A method for providing a V2X related service by a device including a plurality of distributed antennas in a wireless communication system supporting sidelink, the method comprising:
receiving a first signal through each of the plurality of distributed antennas; and
determining whether to transmit a second signal for providing the V2X related service,
wherein whether to transmit the second signal is determined based on a reception time when the first signal is received through the plurality of distributed antennas and a threshold time.
| 2. The method of claim 1, wherein the plurality of distributed antennas comprises a first distributed antenna, a second distributed antenna, and a third distributed antenna distributed by a predetermined distance from each other in one direction.
| 3. The method of claim 2, wherein the second signal is transmitted when a difference between the reception time of a distributed antenna receiving the first signal first between the first distributed antenna and the third distributed antenna and the reception time of the second distributed antenna is less than the threshold time.
| 4. The method of claim 2, wherein the threshold time is set differently according to a distributed antenna receiving the first signal first among the first distributed antenna, the second distributed antenna, and the third distributed antenna.
| 5. The method of claim 2, wherein the predetermined distance is predetermined based on a width of a road having the device positioned thereon.
| 6. The method of claim 2, wherein a signal type of the second signal is determined based on a distributed antenna receiving the first signal first among the first distributed antenna, the second distributed antenna, and the third distributed antenna.
| 7. The method of claim 6, wherein, on a basis that the first signal is first received through the second distributed antenna, the second signal is a warning signal notifying nearby vehicles of presence and danger of a pedestrian on a road.
| 8. The method of claim 6, wherein, on a basis that the first signal is first received through the first distributed antenna or the third distributed antenna, the second signal is a control signal for controlling a signal of an adjacent traffic light.
| 9. The method of claim 6, wherein, on a basis that the first signal is first received through the first distributed antenna or the third distributed antenna, the second signal is a signal indicating correction of VRU position information included in the first signal.
| 10. The method of claim 1, wherein the plurality of distributed antennas comprises a first distributed antenna and a second distributed antenna distributed by a predetermined distance from each other.
| 11. The method of claim 10, wherein the second signal is transmitted when a difference between a reception time when the first signal is received through the first distributed antenna and a reception time when the first signal is received through the second distributed antenna is less than the threshold time.
| 12. The method of claim 1, wherein:
the first signal is a personal safety message (PSM) transmitted from a vulnerable road user (VRU); and
the device is a road side unit (RSU).
| 13. A device for providing a V2X related service in a wireless communication system supporting sidelink, the device comprising:
a plurality of distributed antennas; and
a processor connected to the plurality of distributed antennas,
wherein the processor is configured to:
control the plurality of distributed antennas to receive a first signal through each of the plurality of distributed antennas;
calculate a reception time when the first signal is received through each of the plurality of distributed antennas; and
determine whether to transmit a second signal for providing the V2X related service based on the calculated reception time and the threshold time.
| 14. A chipset for providing a V2X related service in a wireless communication system supporting sidelink, the chipset comprising:
at least one processor; and
at least one memory operatively coupled to the at least one processor and configured to cause, when executed, the at least one processor to perform an operation, the operation comprising:
receiving a first signal through each of a plurality of distributed antennas;
calculating a reception time when the first signal is received through each of the plurality of distributed antennas; and
determining whether to transmit a second signal for providing the V2X related service based on the calculated reception time and a threshold time.
| 15. The method of claim 14, wherein the processor generates a control signal related to autonomous driving based on the second signal.
| 16. (canceled) | The method involves receiving a first signal from each of the multiple distributed antennas. A second signal is determined to transmit for providing the vehicle-to-everything (V2X)-related service. The second signal is based on a reception time and a threshold time at which the first signal is received between the multiple distributed antennas. The multiple distributed antennas has a first distributed antenna (RSU1), a second distributed antenna (RSU2), and a third distributed antenna (RSU3) distributed by a predetermined distance in one direction. The predetermined distance is predetermined based on a width of a road on which the device is located. INDEPENDENT CLAIMS are included for the following:apparatus for providing a V2X related service in a wireless communication system; anda storage medium for storing computer program. Method for providing vehicle-to-everything (V2X)-related service in wireless communication system. The location of a device that transmitted the signal is estimated based on a difference in reception time of a signal between multiple distributed antennas, provide an optimal vehicle-to-everything (V2X) service corresponding to the estimated location, and provide a location with low accuracy. It is possible to minimize an error in providing the V2X service due to the signal including information. The drawing shows a schematic representation of the method. RSU1First distributed antennaRSU2Second distributed antennaRSU3Third distributed antennaT1First timeT2Second timeT3Third time |
Please summarize the input | ELECTRONIC APPARATUS FOR VEHICLES AND OPERATION METHOD THEREOFDisclosed is an electronic apparatus for vehicles, including; a processor configured to receive sensor data including an image of the outside of a vehicle, to identify a danger-factor from the sensor data through a first learning model, to learn a danger determination criterion depending on the danger-factor through a second learning model, and, when the danger-factor satisfies the danger determination criterion, to generate a warning signal for warning a user of presence of the danger-factor. One or more of the autonomous vehicle of the present disclosure, a user terminal and a server may be connected to or combined/integrated with an Artificial Intelligence module, an Unmanned Aerial Vehicle (UAV), such as a drone, a robot, an Augmented Reality (AR) apparatus, a virtual reality (VR) apparatus, an apparatus related to 5G service, etc.|1. An electronic apparatus for vehicles, comprising a processor configured to:
receive sensor data including an image of the outside of a vehicle;
identify a danger-factor from the sensor data through a first learning model;
learn a danger determination criterion depending on the danger-factor through a second learning model; and
generate a warning signal for warning a user of presence of the danger-factor when the danger-factor satisfies the danger determination criterion.
| 2. The electronic apparatus for vehicles according to claim 1, wherein the processor is configured to:
generate one or more corresponding control methods depending on the danger-factor through a third learning model; and
learn a corresponding control method due to a user input signal from the one or more corresponding control methods.
| 3. The electronic apparatus for vehicles according to claim 2, wherein the processor is configured to generate a corresponding control signal for controlling at least one vehicle drive apparatus of a steering control apparatus, a brake control apparatus or an acceleration control apparatus depending on the corresponding control method due to the user input signal.
| 4. The electronic apparatus for vehicles according to claim 3, wherein the processor is configured to calculate a safety grade of the corresponding control method due to the user input signal, based on position information, speed information and status information of the vehicle changed due to the corresponding control signal.
| 5. The electronic apparatus for vehicles according to claim 4, wherein the processor is configured to: select, in an autonomous driving mode, a corresponding control method having a highest safety grade learned through the third learning model, from the one or more corresponding control methods; and
control the at least one vehicle drive apparatus according to the corresponding control method having the highest safety grade.
| 6. The electronic apparatus for vehicles according to claim 5, wherein the first learning model, the second learning model and the third learning model comprise a Deep Neural Network (DNN) model of learning position information and time information.
| 7. The electronic apparatus for vehicles according to claim 6, wherein the processor is configured to:
when the danger-factor identified through the first learning model satisfies the danger determination criterion learned through the second learning model, display an icon stored depending on a kind of the danger-factor and the corresponding control method having the highest safety grade learned through the third learning model, on a Head Up Display (HUD) through augmented reality.
| 8. The electronic apparatus for vehicles according to claim 7, wherein the processor is configured to
transmit information about the danger-factor to one or more peripheral vehicles using Vehicle to Vehicle (V2V) communication on generating the warning signal.
| 9. The electronic apparatus for vehicles according to claim 1, wherein the processor is configured to:
identify kinds of objects, comprising kinds of vehicles, and kinds of lanes from the image of the outside of the vehicle through the first learning model; and
learn a degree of risk depending on the kinds of the objects and the kinds of the lanes through the second learning model.
| 10. The electronic apparatus for vehicles according to claim 9, wherein the processor is configured to:
digitize the degree of risk; and
generate the warning signal for displaying the kind of the object and the digitized degree of risk and a warning signal for displaying a color stored according to the degree of risk through RGB LEDs installed in the vehicle when the digitized degree of risk is a set value or more.
| 11. The electronic apparatus for vehicles according to claim 1, wherein the processor is configured to:
identify a vehicle changing lanes without operating turn signal, or a vehicle driving without keeping its lane, from a rear image of the vehicle through the first learning model;
acquire an image of a rear vehicle driver through a camera; and
learn a status of the rear vehicle driver from the image through the second learning model, and
wherein the status of the rear vehicle driver comprises an eye blinking speed or a gaze direction.
| 12. The electronic apparatus for vehicles according to claim 11, wherein the processor is configured to:
determine that the rear vehicle driver is in a drowsy driving state when the eye blinking speed of the rear vehicle driver is a set value or less;
determine that the rear vehicle driver is in a state neglecting forward attention when the gaze direction of the rear vehicle driver is not a forward direction; and
generate a warning signal for displaying the drowsy driving state or the state neglecting forward attention.
| 13. The electronic apparatus for vehicles according to claim 1, wherein the processor is configured to:
identify a damaged road surface and a kind of a lane, from a front image of the vehicle through the first learning model; and
learn a degree of shaking of the vehicle during driving on the road through the second learning model.
| 14. The electronic apparatus for vehicles according to claim 13, wherein the processor is configured to:
when the degree of shaking of the vehicle is a set value or more,
store the front image of the vehicle together with position information;
generate a first warning signal when the vehicle enters the position information within a predetermined distance; and
generate a second warning signal when the damaged road surface is identified from the front image of the vehicle.
| 15. The electronic apparatus for vehicles according to claim 1, wherein the processor is configured to:
identify at least one of a kind of a truck or a degree of symmetry of cargo loaded on the truck from a front image of the vehicle though the first learning model; and
learn height information due to the kind of the truck or a degree of shaking of the truck due to the degree of symmetry of the cargo loaded on the truck through the second learning model.
| 16. The electronic apparatus for vehicles according to claim 15, wherein the processor is configured to:
when the height information is a value, set depending on the kind of the truck, or more, or the degree of shaking of the truck is a set value or more,
calculate a danger radius based on the height information and the degree of shaking, the danger radius being a fall range of the cargo from the truck; and
generate a warning signal for displaying the truck and the danger radius.
| 17. The electronic apparatus for vehicles according to claim 1, wherein the processor is configured to:
identify a front vehicle being decelerated from a front image of the vehicle through the first learning model; and
learn whether a brake light is operated due to deceleration of the front vehicle through the second learning model.
| 18. The electronic apparatus for vehicles according to claim 17, wherein the processor is configured to:
upon determining that the brake light of the front vehicle is not operated during deceleration of the front vehicle, display the brake light of the front vehicle as being turned on during deceleration of the front vehicle through augmented reality (AR); and
generate a warning signal for indicating a defect of the brake light.
| 19. The electronic apparatus for vehicles according to claim 1, wherein the processor is configured to:
identify at least one vehicle of a vehicle changing lanes without operating a turn signal, a vehicle operating an emergency brake, a vehicle driving beyond a reference speed, or a vehicle not assuring a safe distance through the first learning model;
learn a driving pattern of the identified vehicle through the second learning model; and
generate a warning signal for displaying presence and a position of a recklessly driving vehicle when the identified vehicle is determined as the recklessly driving vehicle.
| 20. The electronic apparatus for vehicles according to claim 1, wherein the processor is configured to:
identify a movable object through the first learning model;
learn an emergence frequency of the movable object depending on time and section information through the second learning model; and
generate a warning signal for displaying the time and section information and the movable object being capable of emerging when the emergence frequency of the movable object is a set value or more. | The electronic device (100) comprises receives sensor data including an image, from the outside of vehicle (10), identifies a risk factor from the sensor data through a first learning model, and learns a risk determination criteria according to the risk factor through a second learning model and the risk factor. A processor generates a warning signal for alerting a user to the presence of the risk factor, when the risk criteria is satisfied. The processor generates one or more corresponding control methods according to the risk factor through a third learning model and learns a corresponding control method according to a user input signal among one or more corresponding control methods. The processor generates a corresponding control signal for controlling the vehicle driving device. An INDEPENDENT CLAIM is included for a method for operating electronic device for vehicle. Artificial intelligence based electronic device for vehicle. The objects are identified more accurately. The sensor data can be used as data that can detect dangerous situation that may occur in advance. The safety of driver is ensured. The driver is enabled to quickly recognize the dangerous situation and response quickly. The drawing shows a block diagram of the vehicle. (Drawing includes non-English language text) 10Vehicle100Electronic device200User interface device210Object detecting apparatus220Communication device |
Please summarize the input | METHOD OF TRANSMITTING CONTROL INFORMATION FOR SIDELINK POSITIONING, AND APPARATUS THEREFORThe present disclosure relates to a method and apparatus of transmitting control information for sidelink positioning. The method of transmitting control information for sidelink positioning in an NR-V2X communication system according to one aspect may comprise the steps of: determining at least one transmission slot for transmission of first positioning sidelink control information (PSCI) and second PSCI; determining at least one physical channel for transmission of the first PSCI and the second PSCI; mapping the first PSCI and the second PSCI to the determined at least one transmission slot and the determined at least one physical channel; and transmitting the mapped first PSCI and the second PSCI. The apparatus is capable of communicating with at least one of another apparatus, a user equipment (UE) related to an autonomous driving vehicle, a base station (BS) or a network.|1. A method of transmitting control information for sidelink positioning in an NR-V2X communication system, the method comprising:
determining at least one transmission slot for transmitting first positioning sidelink control information (PSCI) and second PSCI;
determining at least one physical channel for transmitting the first PSCI and the second PSCI;
mapping the first PSCI and the second PSCI to the at least one determined transmission slot and the at least one determined physical channel; and
transmitting the mapped first PSCI and second PSCI.
| 2. The method of claim 1, wherein the transmission slot includes an NR-V2X service slot and a positioning reference signal (PRS) slot.
| 3. The method of claim 2, wherein the physical channel includes a physical sidelink control channel (PSCCH), a physical sidelink shared channel (PSSCH), an enhanced PSCCH (ePSCCH), and an enhanced PSSCH (ePSSCH).
| 4. The method of claim 3, wherein the first PSCI and the second PSCI are mapped to the different physical channels.
| 5. The method of claim 4, wherein the first PSCI and the second PSCI are mapped to the different physical channels in the one transmission slot,
are mapped to the different physical channels of the same type of the consecutive transmission slots,
are mapped to the different physical channels of the same type of the inconsecutive transmission slots,
are mapped to the different physical channels of the different types of the consecutive transmission slots, or
are mapped to the different physical channels of the different types of the inconsecutive transmission slots.
| 6. The method of claim 1, wherein the transmission slot and the physical channel are determined based on at least one of an amount of control information for positioning, a positioning method, a number of antenna groups to be used in positioning, or a type of positioning.
| 7. The method of claim 1, wherein a resource allocation position of the second PSCI mapped to the transmission slot and the physical channel is used for the first PSCI.
| 8. The method of claim 1, wherein at least one of the mapped first PSCI or second PSCI is interleaved and transmitted.
| 9. An apparatus for transmitting control information for sidelink positioning, the apparatus comprising:
a radio frequency (RF) transceiver; and
a processor connected to the RF transceiver,
wherein the processor determines at least one transmission slot for transmitting first positioning sidelink control information (PSCI) and second PSCI, determines at least one physical channel for transmitting the first PSCI and the second PSCI, maps the first PSCI and the second PSCI to the at least one determined transmission slot and the at least one determined physical channel, and transmits the mapped first PSCI and second PSCI.
| 10. The apparatus of claim 9, wherein the transmission slot includes an NR-V2X service slot and a positioning reference signal (PRS) slot.
| 11. The apparatus of claim 10, wherein the physical channel includes a physical sidelink control channel (PSCCH), a physical sidelink shared channel (PSSCH), an enhanced PSCCH (ePSCCH), and an enhanced PSSCH (ePSSCH).
| 12. The apparatus of claim 11, wherein the first PSCI and the second PSCI are mapped to the different physical channels.
| 13. The apparatus of claim 12, wherein the processor maps the first PSCI and the second PSCI to the different physical channels in the one transmission slot,
to the different physical channels of the same type of the consecutive transmission slots,
to the different physical channels of the same type of the inconsecutive transmission slots,
to the different physical channels of the different types of the consecutive transmission slots, or
to the different physical channels of the different types of the inconsecutive transmission slots.
| 14. The apparatus of claim 9, wherein the processor determines the at least one transmission slot and the at least one physical channel for transmission of the first PSCI and the second PSCI based on at least one of an amount of control information for positioning, a positioning method, a number of antenna groups to be used in positioning, or a type of positioning.
| 15. The apparatus of claim 9, wherein a resource allocation position of the second PSCI mapped to the transmission slot and the physical channel is used for the first PSCI.
| 16. The apparatus of claim 9, wherein the processor interleaves at least one of the mapped first PSCI or second PSCI.
| 17. The apparatus of claim 9, wherein the apparatus is capable of communicating with at least one of another apparatus, a user equipment (UE) related to an autonomous driving vehicle, a base station (BS) or a network. | The method involves determining the transmission slot for transmission of a first positioning sidelink control information (PSCI) and a second positioning sidelink control information. The physical channel for transmission of the first positioning sidelink control information and the second positioning sidelink control information is determined. Mapping The first positioning sidelink control information and the second positioning sidelink control information is mapped to the determine one transmission slot and one physical channel. The mapped first positioning sidelink control information and the second positioning sidelink control information is transmitted. The transmission slot includes an NR-V2X service slot and a Positioning Reference Signal (PRS) slot. The physical channel has a physical sidelink control channel (PSCCH), a physical sidelink shared channel (PSSCH), an enhanced PSCCH (ePSCCH), and an enhanced PSSCH (ePSSCH). An INDEPENDENT CLAIM is included for an apparatus for mapping different physical channels of the transmission slots. Method for transmitting control information for sidelink positioning in a new radio-vehicle-to-everything communication system. The method improves mobile broadband communication and has ultra-reliable and low latency communication and provides positioning control information efficiently and has highly reliable location information between vehicles. The drawing shows the block diagram of a communication system. 100cReality devices100dHand-held devices100eHome appliances100fInternet of Thing device200Base station |
Please summarize the input | METHOD AND DEVICE FOR MEASURING LOCATION OF TERMINAL IN WIRELESS COMMUNICATION SYSTEMAn embodiment is a method for a terminal to perform an operation in a wireless communication system, the method including the steps of: transmitting a request positioning reference signal (PRS) to anchor nodes (ANs); receiving response PRSes for the request RPS from the ANs; and measuring the location of the terminal by using the request PRS and the response PRSes, wherein the terminal transmits scheduling information related to the request PRS and the response PRSes to the ANs.|1. A method of performing an operation by a user equipment (UE) in a wireless communication system, the method comprising:
transmitting a request positioning reference signal (PRS) to anchor nodes (ANs);
receiving response PRSs to the request PRS from the ANs; and
measuring a location of the UE using the request PRS and the response PRSs,
wherein the UE transmits scheduling information related to the request PRS and the response PRSs to the ANs.
| 2. The method of claim 1, wherein the response PRSs are configured with different patterns with respect to the ANs.
| 3. The method of claim 1, wherein one-to-many correspondence between scheduling information of the request PRS and scheduling information of the response PRSs related with the scheduling information of the request PRS is preconfigured.
| 4. The method of claim 3, wherein the scheduling information related to the request PRS and the response PRSs includes only the scheduling information of the request PRS, and the scheduling information of the response PRSs is determined by the scheduling information of the request PRS.
| 5. The method of claim 1, wherein the scheduling information related to the request PRS and the response PRSs includes scheduling information of the request PRS and scheduling information of the response PRSs.
| 6. The method of claim 1, wherein the request PRS is transmitted in a vehicle-to-everything (V2X) slot or a PRS dedicated slot, and the response PRSs are transmitted in the PRS dedicated slot.
| 7. The method of claim 1, further comprising receiving information about an arrival time of the request PRS and transmission times of the response PRSs from the ANs.
| 8. The method of claim 7, wherein the information about the arrival time of the request PRS and the transmission times of the response PRSs are received through a physical sidelink shared channel (PSSCH).
| 9. The method of claim 1, wherein the ANs form a group for measuring the location of the UE.
| 10. A user equipment (UE) in a wireless communication system, the UE comprising:
at least one processor; and
at least one computer memory operably connected to the at least one processor and configured to store instructions causing, when executed, the at least one processor to perform operations,
wherein the operations include:
transmitting a request positioning reference signal (PRS) to anchor nodes (ANs);
receiving response PRSs to the request PRS from the ANs; and
measuring a location of the UE using the request PRS and the response PRSs, and
wherein the UE transmits scheduling information related to the request PRS and the response PRSs to the ANs.
| 11. The UE of claim 10, wherein the UE communicates with at least one of another UE, a UE related to an autonomous driving vehicle, a base station, or a network.
| 12. A processor for performing operations for a user equipment (UE) in a wireless communication system,
wherein the operations include:
transmitting a request positioning reference signal (PRS) to anchor nodes (ANs);
receiving response PRSs to the request PRS from the ANs; and
measuring a location of the UE using the request PRS and the response PRSs, and
wherein the UE transmits scheduling information related to the request PRS and the response PRSs to the ANs.
| 13. (canceled) | The measuring method involves transmitting (S1901) a request positioning reference signal (PRS) to anchor nodes (ANs), and received (S1902) response PRSs for the requested PRS from the ANs. A location of the terminal is measured (S1903) using the request PRS and the response PRS, where the terminal transmitted scheduling information related to the request PRS and the response PRSs to the ANs. The scheduling information of the responding PRSs is determined by scheduling information of the requesting PRS. The request PRS is transmitted in a vehicle-to-everything (V2X) slot or a dedicated PRS slot, and the response PRS is transmitted in a dedicated PRS slot. The information is received on an arrival time of the request PRS and a transmission time of the response PRS from the ANs. INDEPENDENT CLAIMS are included for the following:a device for measuring a location of a terminal in a wireless communication system by using sidelink communication; anda computer-readable storage medium for storing a computer program. Method for measuring a location of a terminal in a wireless communication system by using sidelink communication. The smart grid interconnects sensors using digital information and communication technologies to collect information and act accordingly, and improves efficiency, reliability, economics, sustainability of production and the distribution of fuels such as electricity in an automated way. The drawing shows a flowchart of a measuring method. (Drawing includes non-English language text). S1901Transmitting a request PRS to ANsS1902Receiving response PRSs for the requested PRS from the ANsS1903Measuring a location of the terminal using the request PRS and the response PRS |
Please summarize the input | UE operation method related to side link DRX in wireless communication systemEmbodiments provide a method for operating user equipment (UE) in a wireless communication system for performing side link communication, the method comprising the steps of: monitoring, by the UE, a control signal for side link operation during an on duration of a side link DRX cycle; and monitoring, by the UE, a control signal for side link operation in a next on-duration of the side link DRX period after the on-duration of the side link DRX period, wherein The side link DRX cycle corresponds to a side link DRX configuration determined based on a PQI or PC5QoS flow identifier (PFI).|1. A method for operating a user equipment (UE) for performing side link communication in a wireless communication system, the method comprising: selecting, by the UE, a side-link discontinuous reception DRX cycle and a side-link on duration mapped to a quality of service QoS associated with multicast, the UE performing monitoring of a control signal for side-link operation in the on duration of the side-link DRX cycle; and performing, by the UE, a monitoring of a control signal for the side link operation in a next side link on duration after the side link on duration, wherein A side link DRX parameter includes the side link DRX period and the side link on duration mapped to the QoS associated with the multicast.
| 2. The operating method according to claim 1, wherein a QoS profile is mapped to a side link DRX configuration including the side link DRX parameter.
| 3. The operating method according to claim 2, wherein an index related to the QoS is mapped to the side-link DRX configuration.
| 4. The operating method according to claim 3, wherein the side link DRX parameter related to the side link DRX configuration comprises an on-duration.
| 5. The operation method according to claim 1, wherein the control signal for the side link operation includes information on a type of the UE transmitting the control signal for the side link operation.
| 6. The operation method according to claim 5, wherein the side link DRX period of the next side link on duration is a short DRX period based on the type of the UE associated with one of a vehicle UE or a road side unit.
| 7. The operation method according to claim 6, wherein the UE switches the side link DRX period from the long DRX period to the short DRX period based on the side link DRX period related to the long DRX period.
| 8. The operation method according to claim 6, wherein the information on the type of the UE related to the vehicle UE or the roadside unit is not received based on a preset time period in the short DRX period. The UE switches the side link DRX period from the short DRX period to a long DRX period.
| 9. The operation method according to claim 1, wherein the information about the type of the UE is related to any one of a pedestrian UE, a vehicle UE and a roadside unit.
| 10. The operating method according to claim 1, wherein the side link DRX configuration is one of a side link DRX configuration related to a long DRX period and a side link DRX configuration related to a short DRX period.
| 11. The operation method according to claim 1, wherein the PC5 QoS flow identifier is transmitted from the vehicle of the UE to all V2X layers to the access layer AS layer.
| 12. The operating method according to claim 1, wherein the UE communicates with at least one of another UE, a UE associated with an autonomous vehicle, a base station, or a network.
| 13. A user equipment (UE) in a wireless communication system, the UE comprising: at least one processor; and at least one computer memory operatively connected to the at least one processor and configured to store instructions for causing the at least one processor to perform operations based on execution of the instructions, wherein the operations comprise: selecting a side link discontinuous reception DRX period and a side link on duration mapped to a quality of service QoS associated with the multicast; performing monitoring of a control signal for side-link operation in the side-link on-duration of the side-link DRX cycle; and performing monitoring of the control signal for the side link operation in a next side link on duration after the side link on duration, and wherein A side link DRX parameter includes the side link DRX period and the side link on duration mapped to the QoS associated with the multicast.
| 14. A processor for performing operations for user equipment (UE) in a wireless communication system, the processor comprising one or more application specific integrated circuit (ASIC), one or more digital signal processor (DSP), one or more digital signal processor (DSPD). One or more programmable logic devices (PLD), and at least one of one or more field programmable gate arrays (FPGA), wherein the operation comprises: selecting a side link discontinuous reception DRX period and a side link on duration mapped to a quality of service QoS associated with the multicast; performing monitoring of a control signal for side-link operation in the side-link on-duration of the side-link DRX cycle; and performing monitoring of the control signal for the side link operation in a next side link on duration after the side link on duration, and wherein A side link DRX parameter includes the side link DRX period and the side link on duration mapped to the QoS associated with the multicast.
| 15. A computer-readable storage medium for storing at least one computer program comprising instructions for causing at least one processor to perform operations for a user equipment UE based on the instructions performed by the at least one processor, wherein the operations comprise: selecting a side link discontinuous reception DRX period and a side link on duration mapped to a quality of service QoS associated with the multicast; performing monitoring of a control signal for side-link operation in the side-link on-duration of the side-link DRX cycle; and performing monitoring of the control signal for the side link operation in a next side link on duration after the side link on duration, and wherein A side link DRX parameter includes the side link DRX period and the side link on duration mapped to the QoS associated with the multicast. | The method involves monitoring (S3501) a control signal for a sidelink operation in an on-duration of a sidelink Discontinuous reception (DRX) period by the user equipment. A control signal is monitored for a sidelink operation in the next sidelink on-duration after the sidelink on-duration by the user equipment. The sidelink DRX period corresponds to the sidelink DRX configuration that is determined based on Performance Quality Inspection. INDEPENDENT CLAIMS are included for the following :a user equipment for use in a wireless communication system;a processor for performing operations for the user equipment in a wireless communication system; anda computer-readable storage medium for storing the computer program. Method for operating the user equipment to perform a sidelink communication in a wireless communication system, such as code division multiple access systems, frequency division multiple access systems, and time division multiple access systems. The power-saving effects are maximized by changing the DRX setting, period, appropriately to the surrounding situation. The drawing shows a flowchart of the method. (Drawing includes non-English language text). S3501Monitoring a control signal for a sidelink operation in an on-duration of a sidelink Discontinuous reception periodS3502Monitoring a control signal for the next sidelink operation in an on-duration |
Please summarize the input | Vehicle control device and control method of the deviceThe present invention relates to a vehicle capable of autonomous driving and a method of recommending a more suitable driving mode according to the driver's state, and based on driver's stress information collected when the vehicle drives each road section, A memory having driving stress map information including stress index information calculated for each section, and detecting a stress index of a road section according to the current location of the vehicle from the driving stress map, and first driving according to the detected stress index and a processor for outputting notification information recommending a change to the mode or the second driving mode.|1. A vehicle control apparatus for controlling a vehicle, comprising: driving stress map information including stress index information calculated for each road section based on driver stress information collected when the vehicle drives each road section Memory; and a processor for detecting a stress index of a road section according to the current location of the vehicle from the driving stress map, and outputting notification information recommending a change to the first driving mode or the second driving mode according to the detected stress index A vehicle control device comprising a.
| 2. The method of claim 1 , wherein the processor recommends a change to the first driving mode or the second driving mode based on whether a stress index corresponding to the current location of the vehicle exceeds a preset first reference value. The vehicle control device according to claim 1, wherein the vehicle is controlled to output first notification information.
| 3. The method of claim 2, wherein the processor enters the first driving mode when the stress index corresponding to the current location of the vehicle exceeds a preset first reference value and exceeds a second reference value that is higher than the first reference value. When the vehicle is controlled to output second notification information for notifying automatic switching of and controlling the vehicle to output third notification information for notifying the automatic transition to the second driving mode.
| 4. The stress information of claim 1 , wherein the processor collects driver's biometric information acquired for a road section in which the vehicle is currently driving and information related to a specific driver's behavior sensed while driving the vehicle as the stress information. vehicle control system.
| 5 . The method of claim 4 , wherein the processor detects whether the vehicle enters a second road section different from the first road section in which the vehicle is currently driving, and receives stress from the stress information collected in the first road section according to the detection result. The vehicle control apparatus according to claim 1, wherein the stress index calculated in advance for the first road section is updated based on the score calculation and the calculated stress score.
| 6. The method of claim 5, wherein the processor, when the vehicle enters a handover section set in the first road section, detects that the vehicle enters the second road section, from the driving stress map and detecting a stress index corresponding to the second road section and outputting the notification information according to the detected stress index.
| 7. The apparatus of claim 6 , wherein the processor determines the length of the handover section differently based on a driving mode according to a stress index of the second road section and a driving speed of the vehicle.
| 8. The method of claim 1, wherein the processor controls the vehicle to change a function of collecting and displaying situation information around the vehicle based on a stress index of a road section according to the current location of the vehicle detected from the driving stress map. A vehicle control device, characterized in that it controls.
| 9. The method of claim 8, wherein the processor changes the quality of the black box provided in the vehicle or the resolution of the photographed image, or V2X (Vehicle To Things) or V2V (Vehicle To Vehicle) based on the detected stress index. A vehicle control device, characterized in that for controlling the vehicle to change the strength of the communication signal or the signal exchange period of the communication signal for
| 10. The method of claim 8 , wherein the processor further displays road condition information collected from around the vehicle instead of instrument information output through a Central Information Display (CID) when the detected stress index is equal to or greater than a preset level. A vehicle control device for controlling the vehicle.
| 11. The method of claim 1 , wherein the processor calculates a ratio of an autonomous driving vehicle and a manual driving vehicle with respect to other vehicles located within a preset range from the vehicle, and as a result of the calculation, a ratio of a vehicle operating in a specific driving mode is preset. vehicle control, characterized in that the vehicle is controlled to compare the specific driving mode and the driving mode of the vehicle when the level is higher than the level, and to output notification information recommending a driving mode change to the specific driving mode according to the comparison result Device.
| 12. The method of claim 1, wherein the processor outputs the notification information according to a result of comparing the driving mode corresponding to the stress index according to the current location of the vehicle detected from the driving stress map with the current driving mode of the vehicle. A vehicle control device, characterized in that the vehicle is controlled to do so.
| 13. The method of claim 1, wherein the processor controls the vehicle to output notification information recommending switching to the autonomous driving mode based on a result of sensing the driver's biometric information when the vehicle is driven in the manual driving mode. A vehicle control device, characterized in that it controls.
| 14. The method of claim 13, wherein, when the vehicle is driven in the manual driving mode, the processor is configured to forcibly switch to the autonomous driving mode and avoid driving based on a result of sensing the driver's biometric information and a collision possibility detected from around the vehicle A vehicle control device, characterized in that for controlling the vehicle to do
| 15. The method of claim 1 , wherein the processor controls the vehicle to limit at least one of the functions of the vehicle based on a result of sensing the driver's biometric information when the vehicle is driven in the manual driving mode, , The vehicle control device, characterized in that the function of the limited vehicle is an acceleration function above a preset speed or a lane change function.
| 16. In the control method of a vehicle control apparatus for controlling a vehicle, from driving stress map information including stress index information calculated for each road section based on driver's stress information collected while driving each road section, the vehicle a first step of detecting a stress index corresponding to the currently driven road section;
a second step of determining whether a driving mode suitable for a road section in which the vehicle is currently driving is an autonomous driving mode or a manual driving mode based on the detected stress index;
a third step of determining whether automatic switching to the driving mode determined in the second step is necessary based on the detected stress index; and a fourth step of outputting notification information for recommending switching to a specific driving mode or notification information for notifying automatic switching to a specific driving mode according to the determination result of the third step The control method of the control device. | The control apparatus includes a processor that is configured to detect a stress index of a road section according to the current position of the vehicle (100) corresponding to the driving stress map, such that the driving stress map information includes the stress index information calculated for each road section. The driver stress information is collected, when the vehicle drives each road section with a memory. The output notification information recommends a change to a first driving mode or a second driving mode according to the detected stress index. The processor recommends a change to the first driving mode or the second driving mode based on whether a stress index corresponding to the current position of the vehicle exceeds a preset first reference value. An INDEPENDENT CLAIM is included for a control method of a vehicle control apparatus. Control apparatus for controlling a vehicle. Ensures efficiency in changing the driving mode to an automatic driving mode based on the driver's selection of the notification information, and hence improves reliability of the control apparatus. Ensures safety of the control apparatus. The drawing shows a schematic representation of an exterior of the vehicle. 100Vehicle310aStereo camera510Steering input device |
Please summarize the input | AUTONOMOUS DRIVING DEVICE FOR DETECTING SURROUNDING ENVIRONMENT USING LIDAR SENSOR AND OPERATING METHOD THEREOFVarious embodiments of the present disclosure relate to an autonomous driving apparatus for detecting a surrounding environment using a lidar sensor and an operating method thereof. In this case, the autonomous driving apparatus includes a plurality of lidars sensing different directions, and a processor, wherein the processor includes information obtained by at least one sensor, information obtained from a transceiver, map data, or location information. Based on at least one of at least one, it is determined that a change of detection mode for the plurality of lidars is required, and based on a sensing direction corresponding to each of the plurality of lidars, a phase ( phase) is determined, and the detection mode can be switched by changing the phase of at least one other lidar among the plurality of lidars while maintaining the determined phase of the at least one lidar have. One or more of an autonomous vehicle, autonomous driving, user terminal, and server of the present disclosure are an Artificial Intelligence module, an Unmanned Aerial Vehicle (UAV), a robot, an Augmented Reality (AR) device. , a virtual reality (VR) device, a device related to a 5G service, and the like.|1. A method of operating an autonomous driving device, based on at least one of information acquired by at least one sensor, information acquired from a transceiver, map data, and location information, to a plurality of lidars included in a vehicle. determining that a change of a detection mode is necessary for the detection mode, determining at least one lidar to maintain a phase among the plurality of lidars based on a sensing direction corresponding to each of the plurality of lidars; and switching the detection mode by changing the phase of at least one other lidar among the plurality of lidars while maintaining the determined phase of the at least one lidar.
| 2. The method of claim 1, wherein the detection mode is a precision detection mode in which at least two lidars of the plurality of lidars perform scanning during the same time interval, or at least two lidars of the plurality of lidars are different from each other. A method comprising at least one of a fast detection mode for performing scanning during a time interval.
| 3. The method of claim 1, wherein each of the plurality of lidars rotates in a specified direction according to a specified period and performs scanning in a specified range, and the operation of switching the detection mode comprises: a reference direction of the at least one lidar and changing a reference direction of the at least one other lidar while maintaining the , wherein the reference direction is a direction in which a laser beam is emitted for scanning.
| 4. The method of claim 1, wherein the information obtained by the at least one sensor comprises at least one of a road type, a road type, a congestion level, a speed, the number of tracking objects, a distance to the tracking object, and sensing accuracy. Way.
| 5. The method of claim 4 , wherein the determining that the detection mode for the plurality of lidars needs to be switched is based on at least one of information obtained from the transceiver, the map data, and the location information. When a change of at least one of a shape of a road on a driving route or a type of a road on a driving route is detected based on an operation of acquiring information on at least one of a shape or a type of the road, and the acquired information, and determining that switching of the detection mode is necessary.
| 6. The method of claim 4 , wherein the determining that the detection mode for the plurality of lidars needs to be switched comprises: determining the number of moving objects based on information obtained by the at least one sensor; and determining a degree of congestion based on the determined number of objects, and determining that the detection mode needs to be switched based on a difference between the degree of congestion determined at a previous point in time and the degree of congestion determined at a current point in time.
| 7. The method of claim 6 , wherein the at least one sensor comprises at least one of a camera, radar, or lidar.
| 5 . The method of claim 4 , wherein the determining that the detection mode for the plurality of lidars needs to be switched comprises: determining a distance to at least one object based on information obtained by the at least one sensor , and when the determined distance satisfies a specified distance condition, determining that the detection mode needs to be switched.
| 9. The method of claim 4, wherein the determining that the detection mode for the plurality of lidars needs to be switched comprises: speed change information based on at least one of information obtained from the transceiver, the map data, and the location information; and acquiring duration information about the changed speed, and determining that the detection mode needs to be switched when the speed change information and the duration information satisfy a specified speed condition.
| 5 . The method of claim 4 , wherein the determining that the detection mode for the plurality of lidars needs to be switched comprises: acquiring sensing accuracy from a camera sensor; and when the sensing accuracy satisfies a specified level, the detection mode A method comprising the action of determining that a transition of
| 11. The method of claim 1 , wherein the determining of the at least one lidar comprises: determining a sensing direction of each of the plurality of lidars based on the arrangement positions of the plurality of lidars; information on the shape of a road in a driving route , an operation of determining the importance of a sensing direction corresponding to each of the plurality of lidars based on at least one of directional rotation information according to the driving path, or curve information of a road in the driving path, and importance among the plurality of lidars and determining a lidar corresponding to the highest sensing direction as at least one lidar maintaining the phase.
| 12. The method according to claim 10, wherein the sensing direction of each of the plurality of lidars is at least one of a shape of an external device surrounding each of the plurality of lidars, an open direction of the external device, or an open angle of the external device. How it is determined based on more.
| 12 . The method of claim 11 , wherein the switching of the detection mode determines a mode switching position based on at least one of shape information of a road in the driving route, a congestion level, a signal waiting area, or an area in which the vehicle speed is less than or equal to a threshold speed. and changing the phase of at least one other lidar among the plurality of lidars while maintaining the phase of the at least one lidar at the determined mode switching position.
| 14. The method of claim 13 , wherein the determining of the mode switching position comprises: selecting one of a plurality of lanes based on at least one of shape information of a road within the driving route and the congestion level; and A method comprising determining a selected lane as a mode switching position.
| 15. The method of claim 1, wherein the transceiver supports at least one of a V2X or 5G communication scheme.
| 16. The method of claim 1 , wherein the switching of the detection mode comprises controlling the speed of the vehicle equipped with the autonomous driving device while changing the phase of the at least one other lidar.
| 17. An autonomous driving device comprising: a processor; and an interface electrically connected to the processor and at least one component, wherein the processor provides information to a plurality of lidars included in the vehicle based on information obtained from the at least one component through the interface. determines that switching of the detection mode is required, and determines at least one lidar to maintain a phase among the plurality of lidars based on a sensing direction corresponding to each of the plurality of lidars, and the determined The detection mode is switched by changing the phase of at least one other lidar among the plurality of lidars while maintaining the phase of at least one lidar, and the information obtained from the at least one component includes at least one An autonomous driving device comprising at least one of information acquired by a sensor, information acquired from a transceiver, map data, or location information.
| 18. The method of claim 17, wherein the detection mode is a precision detection mode in which at least two lidars of the plurality of lidars perform scanning during the same time period, or at least two lidars of the plurality of lidars are different from each other. An autonomous driving device comprising at least one of a high-speed detection mode for performing scanning during a time interval.
| 19. The method of claim 17, wherein the information obtained by the at least one sensor comprises at least one of a road type, a road type, a congestion degree, a speed, the number of tracking objects, a distance to the tracking object, and sensing accuracy. autonomous driving device.
| 20. The method of claim 17, wherein the processor determines a sensing direction of each of the plurality of lidars based on the arrangement positions of the plurality of lidars, information on the shape of a road in a driving route, direction rotation information according to the driving route, Alternatively, the importance of the sensing direction corresponding to each of the plurality of lidars is determined based on at least one of curve information of the road in the driving route, and the lidar corresponding to the sensing direction with the highest importance among the plurality of lidars to be at least one lidar to maintain the phase. | The method involves determining whether a change of a detection mode is necessary for maintaining a phase of a lidar based on a sensing direction corresponding to each of the lidar. The detection mode i.e. precision detection mode, is switched by changing the phase of another lidar among the lidars while maintaining the determined phase of the former lidar, where the information obtained by a sensor includes a road type, a road congestion level, a speed, a number of tracking objects, a distance to a tracking object, and a sensing accuracy. The method is useful for operating autonomous driving device (claimed). The autonomous driving apparatus comprises a processor that is provided with multiple lidar sensors for sensing different directions, and thus enables reducing the detection period for performing the autonomous driving, and also reducing the number of channels in a vertical layer using a lidar sensor for reducing the cost of autonomous driving. The drawing shows a flowchart illustrating the method for operating autonomous driving device (Drawing includes non-English language text). |
Please summarize the input | ELECTRONIC DEVICE FOR PROCESSING A SERIES OF QUESTIONS BY COMMUNICATING WITH EMBEDDED ASSISTANT AND CLOUD ASSISTANT AND OPERATING METHOD THEREOFVarious embodiments of the present disclosure relate to an electronic device that communicates with an embedded assistant and a cloud assistant to process a series of user queries, and a method of operating the same. Here, the electronic device includes: a memory; and at least one processor, wherein the at least one processor outputs a first response to the received first user query through an output device, stores information related to the first response in the memory, and receiving a second user query inputted through a device, determining a second response assistant to generate a second response to the second user query from among the embedded assistant and the cloud assistant accessible through a network; determine whether a response assistant is different from the first response assistant that generated the first response; if they are different, send context information to the second response assistant, the context information comprising: the second user query and the second response assistant; 1 includes information related to the responsereceiving a second response from the second response assistant, and outputting the second response through an output device. One or more of an autonomous vehicle, autonomous driving, user terminal, and server of the present disclosure are an Artificial Intelligence module, an Unmanned Aerial Vehicle (UAV), a robot, an Augmented Reality (AR) device. , virtual reality (VR) devices, devices related to 5G services, etc.|1. An electronic device that communicates with an embedded assistant and a cloud assistant to process a series of user queries, comprising: a memory; and at least one processor, wherein the at least one processor outputs a first response to the received first user query through an output device, stores information related to the first response in the memory, and receiving a second user query inputted through a device, determining a second response assistant to generate a second response to the second user query from among the embedded assistant and the cloud assistant accessible through a network; determine whether a response assistant is different from the first response assistant that generated the first response, and if different, send context information to the second response assistant, the context information comprising: the second user query and the second response assistant; comprising information related to the first response, wherein the electronic device receives a second response from the second response assistant and outputs the second response via an output device.
| 2. The method of claim 1 , wherein the at least one processor is further configured to generate a reconfiguration query based on information related to the second user query and the first response, the context information further comprising the reconfiguration query; , wherein the second response is generated based on the reconfiguration query.
| 3. The electronic device of claim 1 , wherein each of the embedded assistant and the cloud assistant comprises a dialog having a step, and wherein the information related to the first response includes information about the step of the dialog on which the first response is based. .
| 4. The electronic device of claim 3 , wherein the second response is generated based on a dialogue of the second response assistant following the step on which the first response is based, among the dialogues of the second response assistant.
| 5. The method of claim 1, wherein the at least one processor determines whether the second response is a response requiring processing through a network, and, if not a response requiring processing through a network, sends an embedded assistant to the second response The electronic device, further configured to determine with the assistant.
| 6. The method of claim 5, wherein, in the case of a response requiring processing through a network, it is further determined whether the electronic device is networkable, and if the network is available, a cloud assistant is determined as the second response assistant, and when the network is not available, and determine an embedded assistant as the second responsive assistant.
| 7. The electronic device of claim 6 , wherein the at least one processor is configured to output, through an output device, a list of user queries that are allowed to be received when a network is unavailable.
| 8. The method of claim 7, wherein the embedded assistant dialog and the cloud assistant dialog include at least one mutually common step, and wherein the embedded assistant includes at least one of the cloud assistant dialogs of the same step in the common step. An electronic device comprising content that replaces content.
| 9. The method of claim 8, wherein the embedded assistant stores the context information in the memory and includes a dialog including contents waiting for a network connection, and wherein the at least one processor is configured to perform a second response assistant when connected to a network. to the cloud assistant, and transmit the context information to the cloud assistant.
| 10. The electronic device of claim 1 , wherein the electronic device is included in an autonomous vehicle, and the network includes any one of LTE, LTE-A, 5G, and V2X.
| 11. A method for an electronic device to communicate with an embedded assistant and a cloud assistant to process a series of user queries, the method comprising: outputting a first response to a received first user query through an output device; storing, receiving a second user query input through an input device, and a second response assistant to generate a second response to the second user query from among the embedded assistant and the cloud assistant accessible through a network determining, determining whether the second response assistant is different from the first response assistant that generated the first response, and if they are different, sending context information to the second response assistant, the context information comprising: including information related to the second user query and the first response, comprising: receiving a second response from the second response assistant; outputting the second response via an output device.
| 12. The method of claim 11 , further comprising generating a reconfiguration query based on information related to the second user query and the first response, wherein the context information further comprises the reconfiguration query, and the second response is generated based on the reconfiguration query.
| 13. The method of claim 11 , wherein each of the embedded assistant and the cloud assistant includes a dialog having a step, and wherein the information related to the first response includes information about the step of the dialog on which the first response is based.
| 14. The method of claim 13, wherein the second response is generated based on a dialog of the second response assistant's dialog later than the step on which the first response was based.
| 15. The method of claim 11 , further comprising: determining whether the second response is a response requiring processing through a network, and determining whether an embedded assistant is the second response assistant when not a response requiring processing through a network further comprising the method.
| 16. The method of claim 15 , wherein, in response to a response requiring processing through a network, further determining whether the electronic device is networkable, determining whether the electronic device is networkable, determining a cloud assistant as the second response assistant if network is available, or non-networkable if so, determining an embedded assistant as the second responding assistant.
| 17. The method of claim 16 , further comprising outputting, through an output device, a list of user queries that are allowed to be received, when a network is unavailable.
| 18. The method of claim 17, wherein the dialog of the embedded assistant and the dialog of the cloud assistant comprise at least one mutually common step, and wherein the embedded assistant includes at least one of the dialog of the cloud assistant of the same step in the common step. A method comprising content replacing content.
| 19. The method of claim 18, wherein the embedded assistant includes a dialog containing the contents of storing the context information and waiting for a network connection, and when connected to a network, changes a second response assistant to the cloud assistant, and 2 The method further comprising sending information related to a user query and the first response to the cloud assistant.
| 20. The method of claim 11 , wherein the method is performed by an autonomous vehicle, and the network includes any one of LTE, LTE-A, 5G, or V2X. | The device has a processor which outputs a response to a received user query through an output device, and stores the information related to the response in a memory. The processor receives a second user query input through an input device, determines a second response assistant to generate a second response to the second user query from among the embedded assistant and the cloud assistant accessible through a network, determines whether the second responding assistant is different from the first responding assistant who generated the first response and sends the context information to the second response assistant, where the context information comprises information related to the second user query and the first response. The processor receives a second response from the second response assistant and outputs the second response through an output device. An INDEPENDENT CLAIM is included for a method for an electronic device to communicate with an embedded assistant and a cloud assistant to process a series of user queries. Electronic device included in autonomous vehicle in network such as long-term evolution (LTE) , LTE-Advanced (LTE-A), 5G and vehicle-to-everything (V2X). Can also be used in TV, mobile communication terminal, personal digital assistant (PDA), electronic organizer, smart phone, tablet personal computer (PC) and wearable device. The electronic device can optimally process the series of user queries by determining the response assistant for each query. The inconvenience of starting the conversation from the beginning can be eliminated. The drawing shows a block diagram illustrating the dialog configuration of an embedded assistant and a client assistant. (Drawing includes non-English language text) 920Embedded assistant930Cloud assistant |
Please summarize the input | DRIVING METHOD OF AUTONOMOUS VEHICLES AND AUTONOMOUS VEHICLESDisclosed are a driving method of an autonomous vehicle and an autonomous vehicle. The driving method of the autonomous vehicle of the present specification is a driving method of an autonomous vehicle in consideration of a movement of a target vehicle, the method comprising: receiving state information of the target vehicle from the target vehicle; based on the state information, the target vehicle generating first prediction information for driving of a vehicle, and corresponding to driving of the target vehicle based on the first prediction information, wherein the state information is an accelerator pedal or a brake pedal of the target vehicle It may include a command value input to the target vehicle through . According to the present specification, there is an effect of generating prediction information that predicts the motion of the target vehicle as well as information sensed by the position and speed of the target vehicle, and corresponding to the driving of the target vehicle based on the generated prediction information.|1. A driving method of an autonomous vehicle in consideration of a movement of a target vehicle, the method comprising: receiving state information of the target vehicle from the target vehicle;
generating first prediction information for driving of the target vehicle based on the state information; and corresponding to driving of the target vehicle based on the first prediction information, wherein the state information includes a command value input to the target vehicle through an accelerator pedal or a brake pedal of the target vehicle A method of driving an autonomous vehicle.
| 2. The method of claim 1 , wherein the state information further includes ID information for identifying the target vehicle, location information of the target vehicle, and speed information of the target vehicle.
| 3. The autonomy of claim 1 , wherein the state information includes information sensed by a degree of pressing of the accelerator pedal or the brake pedal through at least one sensor installed around the accelerator pedal or the brake pedal. The driving method of the driving vehicle.
| 4. The method of claim 1 , wherein the command value includes a command for controlling an acceleration of the target vehicle.
| 5. The driving method of claim 1 , wherein the receiving of the state information comprises receiving the state information from the target vehicle through vehicle to vehicle (V2V) communication.
| 6. The method of claim 1 , wherein the first prediction information includes at least one of an expected acceleration, an expected speed, and an expected moving distance of the target vehicle after a predetermined time.
| 7. The method of claim 1 , wherein the generating of the first prediction information for the driving of the target vehicle comprises: receiving a lookup table based on characteristics of the target vehicle from the target vehicle, and receiving the first prediction information based on the lookup table A driving method of an autonomous vehicle that generates predictive information.
| 8. The method of claim 7 , wherein the lookup table is a table including an expected acceleration of the target vehicle according to the command value.
| 9. The driving method of claim 1 , wherein the corresponding to driving of the target vehicle comprises driving to maintain a predetermined distance from the target vehicle.
| 10. The method of claim 1 , further comprising receiving second prediction information generated based on the state information in the target vehicle.
| 11. The method of claim 10 , further comprising: generating a comparison value between the first prediction information and the second prediction information; and when the comparison value is greater than a preset value, corresponding to the driving of the target vehicle based on the first prediction information.
| 12. The method of claim 10 , further comprising: generating a comparison value between the first prediction information and the second prediction information; and when the comparison value is smaller than a preset value, corresponding to the driving of the target vehicle based on the second prediction information.
| 13. An autonomous vehicle that drives in consideration of the movement of a target vehicle, comprising: a communication module;
Memory; and a processor for controlling the communication module and the memory, wherein the communication module receives status information from the target vehicle, and the processor performs a first operation of the target vehicle based on the status information. generating prediction information, and corresponding to driving of the target vehicle based on the first prediction information, wherein the state information includes a command value input to the target vehicle through an accelerator pedal or a brake pedal of the target vehicle That is, autonomous vehicles.
| 14. The autonomous vehicle of claim 13 , wherein the state information includes ID information for identifying the target vehicle, location information of the target vehicle, and speed information of the target vehicle.
| 15. The method of claim 13 , wherein the state information includes information sensing a degree of pressing of the accelerator pedal or the brake pedal through at least one sensor installed around the accelerator pedal or the brake pedal of the target vehicle. That is, autonomous vehicles.
| 16. The autonomous vehicle of claim 13 , wherein the command value includes a command for controlling an acceleration of the target vehicle.
| 17. The autonomous vehicle of claim 13 , wherein the communication module receives the state information from the target vehicle through vehicle to vehicle (V2V) communication.
| 18. The autonomous vehicle of claim 13 , wherein the first prediction information includes at least one of an expected acceleration, an expected speed, and an expected moving distance of the target vehicle after a predetermined time.
| 19. The autonomous vehicle of claim 13 , wherein the processor receives a lookup table based on characteristics of the target vehicle from the target vehicle, and generates the first prediction information based on the lookup table.
| 20. The autonomous vehicle of claim 19 , wherein the lookup table is a table including an expected acceleration of the target vehicle according to the command value. | The method involves receiving state information of a target vehicle from the target vehicle. Predictive information is generated for driving the vehicle based on the state information. The state information includes a command value input to the vehicle through an accelerator pedal or a brake pedal of the vehicle. The command value includes command for controlling an acceleration of the target. A comparison value is generated between the prediction information and another prediction information and is greater than a preset value corresponding to the driving of the former prediction information. A communication module is controlled by a processor. An INDEPENDENT CLAIM is included for an autonomous vehicle that drives in consideration of the movement of a target vehicle. Method for use in driving an autonomous vehicle. The method enables generating the prediction information for predicting movement of the target vehicle based on the generated prediction information, so that inaccuracy caused by delay of the sensor can be eliminated. The drawing shows a flow chart of a method. (Drawing includes non-English language text). |
Please summarize the input | ELECTRONIC DEVICE OF VECHICLE FOR COMMUNICATING USING LIGHT EMITTING DEVICE AND OPERATING METHOD THEREOFVarious embodiments of the present disclosure relate to an electronic device of a vehicle that communicates using a light emitting device and a method of operating the same. In this case, the electronic device of the vehicle includes a memory for storing blinking pattern information, and a processor, wherein the processor identifies, through a communication transceiver, at least one other vehicle supporting blinking communication, and the identified at least one It is possible to determine a light output intensity for saturating a light receiving device of another vehicle, and control the at least one light emitting device to emit light based on the determined light output intensity and the blinking pattern information. One or more of an autonomous vehicle, autonomous driving, user terminal, and server of the present disclosure are an Artificial Intelligence module, an Unmanned Aerial Vehicle (UAV), a robot, an Augmented Reality (AR) device. , a virtual reality (VR) device, a device related to a 5G service, and the like.|1. A vehicle electronic device comprising: a memory for storing blinking pattern information; and a processor, configured to identify, via a communication transceiver, at least one other vehicle supporting flashing communication, and determine an optical output intensity for saturating a light receiving device of the identified at least one other vehicle, , an electronic device for controlling at least one light emitting device to emit light based on the determined light output intensity and the blinking pattern information.
| 2. The electronic device of claim 1 , wherein the light emitting device includes at least one of a light source and a lidar.
| 3. The method of claim 1, wherein the processor identifies a blinking pattern of the at least one other vehicle based on a pattern in which at least one light receiving device is saturated, and performs at least one operation corresponding to the identified blinking pattern. and the light receiving device includes at least one of a camera and a photodetector.
| 4. The method of claim 3 , wherein the processor increases the light output intensity when the identified blinking pattern indicates insufficient light quantity, and the at least one light emitting device is configured based on the increased light output intensity and the blinking pattern. An electronic device that controls to emit light.
| 5. The method of claim 3, wherein the processor detects a specified event, and in response to the detection of the specified event, controls the at least one light emitting device to emit light based on a first pattern requesting start of blinking communication, A second pattern indicating an intention to participate in blinking communication of the at least one other vehicle is obtained based on a pattern in which one light receiving device is saturated, and the at least one light emitting device is configured to be activated based on a second pattern corresponding to the specified event. An electronic device that controls to emit light.
| 6. The electronic device of claim 5 , wherein the designated event includes at least one of an emergency occurrence event, a parking-related event, and a driving-related event.
| 7. The electronic device of claim 1 , wherein the processor obtains illuminance information about the identified at least one other vehicle from a camera, and determines the light output intensity based on the obtained illuminance information.
| 8. The method of claim 7 , wherein the processor obtains environment information from at least one of at least one sensor and a communication transceiver, and determines the light output intensity further based on the environment information, wherein the environment information comprises: An electronic device including at least one of illuminance around a vehicle, a current time, location information of the vehicle, an amount of sunlight, and weather information.
| 8. The method of claim 7, wherein the processor obtains location information of the identified at least one other vehicle, determines a distance between the vehicle and the at least one other vehicle, and further based on the determined distance, An electronic device that determines the light output intensity.
| 10. The vehicle according to claim 1, wherein the processor exchanges location information with the at least one other vehicle based on at least one communication method of V2X, LTE, 5G, or the flashing communication, and the location information is the vehicle. location information of at least one light emitting device included in the vehicle, physical configuration information of at least one light receiving device included in the vehicle, location information of the at least one other vehicle, and the at least one other vehicle An electronic device comprising at least one of physical arrangement information of at least one light emitting device included in the , and physical arrangement information of at least one light receiving device included in the at least one other vehicle.
| 11. The method of claim 10, wherein the processor, based on the exchanged location information, at least one of a transmission/reception relationship between the vehicle and the at least one other vehicle or a data transmission/reception time point between the vehicle and the at least one other vehicle. An electronic device that determines one.
| 11 . The method of claim 10 , wherein the processor divides the plurality of other vehicles into a plurality of clusters based on the exchanged location information when a plurality of other vehicles supporting the flashing communication are identified through the communication transceiver. and, based on the divided cluster and the exchanged location information, determine at least one of a transmission/reception relationship between the plurality of vehicles and a time point of the data transmission/reception of the plurality of vehicles.
| 13. The method of claim 1, wherein the processor identifies a blinking pattern of the at least one other vehicle based on a pattern in which a light receiving device is saturated, and whether the identified blinking pattern is a pattern corresponding to an event requiring wireless communication. Determines whether a situation in which wireless communication is possible through the communication transceiver if the pattern corresponding to the event requiring the wireless communication, and if the wireless communication is possible, an external device through the communication transceiver to transmit a signal corresponding to the event, wherein the light receiving device includes at least one of a camera and a photodetector.
| 14. The method of claim 13, wherein the processor receives a response signal from the external device through the communication transceiver, generates a blinking pattern corresponding to information included in the received response signal, and based on the generated blinking pattern An electronic device for controlling the at least one light emitting device to emit light.
| 15. A method of operating an electronic device included in a vehicle, the method comprising: identifying at least one other vehicle supporting flashing communication through a communication transceiver;
determining a light output intensity for saturating a light receiving device of the identified at least one other vehicle; and controlling at least one light emitting device to emit light based on the determined light output intensity and the blinking pattern information.
| 16. The method of claim 15 , wherein the light emitting device includes at least one of a light source and a lidar.
| 17. The method of claim 15 , further comprising: identifying a blinking pattern of the at least one other vehicle based on a pattern in which at least one light receiving device is saturated; and controlling at least one operation corresponding to the identified blinking pattern to be performed, wherein the light receiving device includes at least one of a camera and a photodetector.
| 18. The method of claim 17 , wherein the controlling to perform at least one operation corresponding to the identified blinking pattern comprises: increasing the light output intensity when the identified blinking pattern indicates insufficient light quantity; and controlling the at least one light emitting device to emit light based on the increased light output intensity and the blinking pattern.
| 19. The method of claim 15, wherein the light output intensity is determined based on at least one of environmental information, illuminance information for the identified at least one other vehicle, and distance information between the vehicle and the at least one other vehicle, The environment information includes at least one of illuminance around the vehicle, current time, location information of the vehicle, amount of sunlight, or weather information, and the identified illuminance information for at least one other vehicle is obtained from a camera. electronic device.
| 20. The method of claim 15 , further comprising: exchanging location information with the at least one other vehicle based on at least one communication method of V2X, LTE, 5G, or the flashing communication; and determining at least one of a transmission/reception relationship between the vehicle and the at least one other vehicle or a data transmission/reception time point between the vehicle and the at least one other vehicle, based on the exchanged location information. and the location information includes location information of the vehicle, physical configuration information of at least one light emitting device included in the vehicle, physical configuration information of at least one light receiving device included in the vehicle, and information on the physical configuration of at least one other vehicle. A method comprising at least one of location information, physical arrangement information of at least one light emitting device included in the at least one other vehicle, or physical arrangement information of at least one light receiving device included in the at least one other vehicle. | The device has a memory which is configured to store blinking pattern information. A processor is configured to identify other vehicle (1101,1111,1112) that is configured to support flashing communication through the communication transceiver. The light output intensity is configured to determine to saturate a light receiving device of the identified vehicle. The LED is configured to emit light based on the determined light output intensity and the blinking pattern information. The LED is included with a light source and a lidar. An INDEPENDENT CLAIM is included for a method for operating the electronic device. Electronic device for vehicle e.g. autonomous driving vehicle. The device can stably perform autonomous driving by exchanging information with the vehicle through blinking communication in a situation where vehicle-to-nomadic (V2X) communication is impossible, so that emergency can be notified through another vehicle. The drawing shows a schematic view performing blink communication in electronic device of vehicle. 1101,1111,1112Vehicles |
Please summarize the input | METHOD AND APPARATUS FOR AUTONOMOUS DRIVINGThe autonomous driving control method according to an embodiment of the present invention is to control autonomous driving of a vehicle based on a result of real-time monitoring of an image acquired by a camera and sensing data acquired by a lidar, and based on the image, detecting a first motion of the object, detecting a second motion of the object in three dimensions based on the sensed data, determining a safe range based on the first and second motions, and avoiding the safe range and setting an autonomous driving route. At least one of the autonomous driving vehicle, the user terminal and the server of the present invention is an artificial intelligence module, a drone (Unmanned Aerial Vehicle, UAV), a robot, an augmented reality (AR) device, a virtual reality, VR) devices, devices related to 5G services, and the like.|1. A method for controlling autonomous driving of a vehicle based on a real-time monitoring result of an image acquired by a camera and sensing data acquired by a lidar, wherein a first motion of an object is detected in two dimensions based on the image to do;
detecting a second motion of the object in three dimensions based on the sensing data;
determining a safety range based on the first and second movements; and setting an autonomous driving route to avoid the safe range.
| 2. The method of claim 1 , wherein the detecting of the first movement comprises: determining a pose of the pedestrian based on the object being a pedestrian; and predicting a movement path of the pedestrian based on the pose of the pedestrian.
| 3. The method of claim 2, wherein determining the pose of the pedestrian comprises: extracting a feature value based on a convolution operation from the image based on a deep neural network; and determining the position of the pedestrian in the image based on the feature value.
| 4. The method of claim 3, wherein the extracting of the feature value comprises performing the convolution operation with one function call based on the same size of the convolution kernels of each branch using the same input in the network. How to control autonomous driving.
| 5. The autonomous driving control method according to claim 3, wherein the extracting of the feature value comprises calculating the convolution, batchNorm, and Relu layers into one layer.
| 6. The autonomous driving control method according to claim 3, wherein the extracting of the feature value is performed by decomposing a matrix product having a large size of a convolution filter into a matrix product having a small size.
| 7. The method of claim 1 , wherein the detecting of the second motion comprises: determining an object type based on a deep neural network based on distance information between the vehicle and the object over time; and determining the center coordinates of the object and the moving direction of the object on a plane parallel to the road based on the object being a pedestrian.
| 8. The method of claim 2 , wherein the determining of the safe range comprises: determining a first expected path based on the first movement;
determining a second predicted path based on the second movement; and determining the safety range to include the first expected path and the second expected path.
| 9. The method of claim 8 , further comprising: comparing the first and second predicted paths with an actual path that the object has actually moved; and artificially learning the pose of the pedestrian based on a difference between the distance between the first and second predicted paths being equal to or greater than a preset threshold.
| 10. The method of claim 1, wherein the setting of the autonomous driving route further comprises transmitting information on the safety range to adjacent vehicles based on V2X communication.
| 11. The method of claim 1, wherein the setting of the autonomous driving route further comprises displaying the safety range to the occupant based on an augmented reality system.
| 12. a camera for acquiring an image outside the vehicle;
a lidar for acquiring sensing data outside the vehicle; and detecting a first motion of the object in two dimensions based on the image, detecting a second motion of the object in three dimensions based on the sensing data, and determining a safe range based on the first and second motions and a processor for setting an autonomous driving route to avoid the safe range.
| 13. The method of claim 12, wherein the processor detects the first movement by determining the pose of the pedestrian based on the object being a pedestrian and predicting the movement path of the pedestrian based on the pose of the pedestrian. autonomous driving control system.
| 14. The method of claim 13, wherein the processor extracts a feature value based on a convolution operation from the image based on a deep neural network, and determines the position of the pedestrian in the image based on the feature value, thereby determining the pose of the pedestrian. An autonomous driving control device, characterized in that it is determined.
| 15. The method of claim 14, wherein the processor extracts the feature value by performing the convolution operation with one function call based on the same size of the convolution kernels of each branch using the same input in the network. autonomous driving control system.
| 16. The autonomous driving control apparatus according to claim 14, wherein the processor integrates the convolution, batchNorm, and Relu layers into one layer and calculates.
| 17. The autonomous driving control apparatus according to claim 14, wherein the processor extracts the feature value by performing an operation by decomposing a matrix product having a large size of a convolution filter into a matrix product having a small size.
| 18. The method of claim 12, wherein the processor determines an object type based on distance information between the vehicle and the object over time based on a deep neural network, and determines the object type on a plane parallel to the road based on that the object is a pedestrian. The autonomous driving control apparatus of claim 1, wherein the second movement is detected based on the calculation of the center coordinate and the moving direction of the object.
| 14. The method of claim 13, wherein the processor determines a first predicted path based on the first movement, determines a second predicted path based on the second movement, the first expected path and the second expected path An autonomous driving control device, characterized in that determining the safety range to include a.
| 20. The method of claim 19, wherein the processor compares the first and second predicted paths with actual paths that the object actually moves, and determines that the first and second predicted paths have a distance difference between the actual paths equal to or greater than a preset threshold. Based on the artificial intelligence learning of the pose of the pedestrian, the autonomous driving control device, characterized in that.
| 21. The autonomous driving control apparatus according to claim 12, wherein the processor transmits information on the safety range to adjacent vehicles based on V2X communication.
| 22. The autonomous driving control apparatus according to claim 12, wherein the processor displays the safety range to the occupant based on an augmented reality system. | The method involves detecting a first motion of an object in two dimensions based on an image to do, and detecting a second motion of the object in three dimensions based on sensing data. A safety range is determined based on the first and second movements, and an autonomous driving route is set to avoid the safe range. A pose of a pedestrian is determined, and a movement path of the pedestrian is predicted. A feature value is extracted based on convolution operation from the image based on a deep neural network. The feature value comprises calculating convolution, batchNorm, and relu layers into a single layer. INDEPENDENT CLAIMS are also included for:autonomous driving control device; andautonomous driving control system. The method is useful for controlling autonomous driving of a vehicle based on real-time monitoring result of an image acquired by a camera and sensing data. The method enables accurately predicting the movement of the object using the camera and the lidar and setting a driving route to avoid the object based on the movement and the three-dimensional (3D) of the objects. The method enables reducing convolution operation in the learning process of the deep neural network so as to rapidly predict the motion of an object. The drawing shows a flowchart illustrating an autonomous driving control method (Drawing includes non-English language text). |
Please summarize the input | Method and System for Autonomous Driving based of BacklightThe method for controlling autonomous driving of a vehicle according to an embodiment of the present invention includes the steps of obtaining driving path candidates based on a destination, obtaining backlight generation sections of driving path candidates, and selecting a path having a minimum backlight generation section among driving path candidates determining a driving route; and operating a backlight mode for adjusting at least one of an angle of a camera and a sensing weight based on the vehicle reaching a backlight generation section of the driving path. At least one of the autonomous driving vehicle, the user terminal, and the server of the present invention is an artificial intelligence module, a drone (Unmanned Aerial Vehicle, UAV), a robot, an augmented reality (AR) device, a virtual reality, VR) devices, devices related to 5G services, and the like.|1. A method for controlling autonomous driving of a vehicle including a camera for acquiring an external image of the vehicle, the method comprising: acquiring driving route candidates based on a destination;
obtaining a backlight generation section of the driving path candidates;
determining, as a driving path, a path having the smallest backlight generation section among the driving path candidates; and operating a backlight mode that adjusts at least one of an angle of the camera and a sensing weight based on the vehicle reaching a backlight generation section of the driving path.
| 2. The method of claim 1 , wherein the obtaining of the backlight generation section comprises: predicting a horizontal direction and a vertical direction of the vehicle every predetermined time; predicting the position and altitude of the sun every predetermined time; and determining a section in which the angle between the horizontal direction of the vehicle and the position of the sun is less than or equal to a first critical angle, and in which the angle between the vertical direction of the vehicle and the altitude of the sun is less than or equal to a second critical angle as a backlight generation section, characterized in that it comprises the steps of: Autonomous driving control method based on backlight.
| 3. The method according to claim 2, wherein the determining of the driving route is based on artificial intelligence learning of departure point information and destination information of the vehicle, position information of the sun, and altitude information. .
| 4. The method according to claim 1, wherein operating the backlight mode comprises adjusting an angle of the camera so that the focus of the camera is away from the altitude of the sun.
| 5. The method of claim 4, wherein the adjusting the angle of the camera gradually changes the angle of the camera in predetermined time units.
| 5. The method of claim 4, wherein the vehicle uses distance sensing data acquired by a distance sensor and the external image acquired by the camera to detect an external object, and operating the backlight mode comprises detecting the external object. In the process, the backlight-based autonomous driving control method, characterized in that lowering the weight of the external image and increasing the weight of the distance sensing data.
| 7. The method of claim 6 , wherein operating the backlight mode comprises: determining an amount of light around the vehicle;
and adjusting an exposure time of the camera in inverse proportion to the amount of light.
| 8. The method of claim 1, wherein operating the backlight mode further comprises requesting a passenger to take over the control right.
| 9. The autonomous driving control based on backlight according to claim 8, wherein operating the backlight mode further comprises requesting remote control of the vehicle based on the occupant's refusal to take over the control right. method.
| 10. The method of claim 9 , wherein operating the backlight mode further comprises performing autonomous driving by determining a lane using a distance sensor based on a rejection of the request for remote control of the vehicle. Autonomous driving control method based on backlight.
| 11. The method of claim 10, wherein operating the backlight mode comprises determining virtual lines at a vertical distance from the median as lanes using the distance sensor.
| 11. The method of claim 10, wherein the operating of the backlight mode detects a vehicle preceding the vehicle using the distance sensor and tracks the driving path of the preceding vehicle.
| 13. The method of claim 1, wherein operating the backlight mode further comprises notifying adjacent vehicles of a backlight generation region using V2X communication.
| 14. a camera for acquiring an external image of the vehicle;
a lidar that acquires sensing data including distance information from the object based on a reflected wave reflected from an external object of the vehicle; and generating a three-dimensional image by fusion of the external image and the distance information, obtaining driving route candidates based on a destination, and determining a route with a minimum backlight generation section of the driving route candidates as the driving route, and the vehicle and a processor operating a backlight mode that adjusts at least one of an angle of the camera and a sensing weight based on a backlight generation section of the driving path being reached.
| 15 . The autonomous driving based on backlight according to claim 14 , wherein the processor determines the driving route based on artificial intelligence learning of departure point information and destination information of the vehicle, and location information and altitude information of the sun. control device.
| 16. The apparatus of claim 14 , wherein the processor adjusts an angle of the camera so that, in the backlight mode, a focus of the camera is away from the altitude of the sun.
| 17. The backlight-based autonomous driving control apparatus according to claim 16, wherein the processor gradually changes the angle of the camera in predetermined time units.
| 18. The method of claim 16, wherein the processor performs fusion sensing in the backlight mode by lowering the weight of the external image and increasing the weight of the sensing data obtained by the lidar.
| 15. The method of claim 14, wherein the processor requests, in the backlight mode, to transfer control of the vehicle to an occupant or a remote controller.
| 15. The method of claim 14, wherein the processor determines virtual lines at a vertical distance from the median as lanes in the backlight mode using the lidar.
| 21. The apparatus of claim 14 , wherein the processor detects a vehicle preceding the vehicle by using the lidar in the backlight mode and tracks the driving path of the preceding vehicle. | The method involves acquiring driving route candidates based on a destination, and obtaining a backlight generation section of the driving path candidates. A backlight mode is operated to adjust an angle of a camera and a sensing weight based on the vehicle reaching the back light generation section. A driving route is determined based on artificial intelligence learning of departure point information and destination information of the vehicle, position information of sun and altitude information. An angle of the camera is adjusted to focus the camera away from the altitude of the sun. An INDEPENDENT CLAIM is also included for a backlight-based autonomous driving control apparatus. Method for controlling autonomous driving of a vehicle. The method enables determining the path having the minimum backlight generation section as the driving path when the vehicle determines the path so as to reduce decrease in reliability of autonomous driving due to the backlight and sensing error by adjusting weight of fusion sensing in response to occurrence of backlight. The drawing shows a flow chart illustrating a method for controlling autonomous driving of a vehicle(Drawing includes non-English language text). |
Please summarize the input | APPARATUS FOR CONTROLLING DRIVE OF VEHICLE IN AUTONOMOUS DRIVING SYSTEM AND METHOD THEREOFVarious embodiments of the present disclosure relate to an apparatus and method for controlling driving of a vehicle in an autonomous driving system, wherein the autonomous driving device includes a communication circuit configured to send and receive signals, and driving driving configured to control a driving device of the autonomous driving vehicle an apparatus and a processor electrically connected to the communication circuit and the drive control device, wherein the processor instructs the autonomous vehicle to drive within a specified lane range and a specified speed range obtained through the communication circuit The first driving mode is performed based on the first driving information, and while the first driving mode is performed, an accelerated driving right is obtained, and an extended lane range and an extended speed range are obtained using the accelerated driving right. It is possible to obtain second driving information instructing driving, and control to perform a second driving mode based on the second driving information. At least one of an autonomous vehicle, autonomous driving, user terminal, and server of the present disclosure, an artificial intelligence module, a drone (Unmanned Aerial Vehicle, UAV), a robot, an augmented reality (AR) device , a virtual reality (VR) device, a device related to a 5G service, and the like.|1. An autonomous driving device comprising: a communication circuit configured to send and receive signals;
a drive control device configured to control a drive device of the autonomous vehicle; and a processor electrically connected to the communication circuit and the drive control device, wherein the processor is configured to instruct the autonomous vehicle to drive within a specified lane range and a specified speed range, obtained through the communication circuit. The first driving mode is performed based on the first driving information, and while the first driving mode is performed, the accelerated driving authority is obtained, and the vehicle travels within the extended lane range and the extended speed range using the accelerated driving authority. The autonomous driving apparatus acquires second driving information indicating
| 2. The autonomous driving apparatus of claim 1 , wherein the processor controls the autonomous vehicle to store the acquired accelerated driving authority in a block chain form.
| 3. The method of claim 1, wherein the processor controls the autonomous driving vehicle to perform the second driving mode before detecting the occurrence of a release event for the second driving mode, wherein the release event is The autonomous driving apparatus comprising at least one of an expired situation, a situation in which an end point of a section to which the second driving mode is applicable, and a situation in which an emergency situation occurs on a road.
| 4. The method of claim 1 , wherein the processor controls the autonomous vehicle to acquire the accelerated driving right through a payment operation for paying a predetermined amount or to acquire the accelerated driving right as a reward for performing a specified event autonomous driving device.
| 5. The autonomous driving apparatus of claim 1 , wherein the acceleration driving permission is classified into at least one class having different permissions.
| 6. The autonomous driving apparatus of claim 1 , wherein the processor controls the autonomous vehicle to acquire the accelerated driving permission in response to an accelerated driving permission acquisition event determined based on schedule information and an arrival time to a destination.
| 7. The autonomous driving apparatus of claim 1 , wherein the processor controls the autonomous vehicle to acquire the accelerated driving permission in response to an accelerated driving permission acquisition event determined based on whether or not the vehicle in front is overtaken.
| 8. The autonomous driving apparatus of claim 7 , wherein the processor controls the autonomous driving vehicle to request a lane change to the vehicle in front by using the acquired acceleration driving authority.
| 9. The method of claim 1 , wherein the processor receives a lane change request from at least one surrounding vehicle while the autonomous vehicle is driving in the first driving mode or the second driving mode, and responds to the lane change request. In response, the acceleration driving permission for the at least one neighboring vehicle that has requested the lane change is confirmed, and based on a comparison result of the acceleration driving permission level of the at least one neighboring vehicle and the acceleration driving permission level of the autonomous driving vehicle to determine whether to accept the lane change request.
| 10. The autonomous driving device of claim 1 , wherein the communication circuit supports at least one of V2X and 5G communication methods.
| 11. A method of operating an autonomous driving apparatus, comprising: performing a first driving mode based on first driving information instructing driving within a specified lane range and a specified speed range; acquiring an accelerated driving right while performing the first driving mode; obtaining second driving information for instructing driving within an extended lane range and an extended speed range using the acceleration driving authority; and controlling the autonomous vehicle to perform a second driving mode based on the second driving information.
| 12. The method of claim 11 , wherein the acquiring of the accelerated driving permission comprises storing the acquired accelerated driving permission in a block chain form.
| 13. The method of claim 11 , further comprising performing the second driving mode until the occurrence of a release event for the second driving mode is detected, wherein the release event comprises: a situation in which a specified time has expired; A method comprising at least one of a situation in which the mode has passed an end point of a section to which the mode can be applied, or a situation in which an emergency situation occurs on the road.
| 14. The method of claim 11 , wherein the acquiring of the accelerated driving permission comprises: acquiring the accelerated driving permission through a payment operation of paying a predetermined amount or acquiring the accelerated driving permission as a reward for performing a specified event How to include.
| 15. The method of claim 11 , wherein the accelerated driving permission is divided into at least one class having different permissions.
| 16. The method of claim 11 , wherein the acquiring of the accelerated driving permission comprises acquiring the accelerated driving permission in response to an accelerated driving permission acquisition event determined based on schedule information and an arrival time to a destination.
| 17. The method of claim 11 , wherein the acquiring of the accelerated driving permission comprises acquiring the accelerated driving permission in response to an accelerated driving permission acquisition event determined based on whether the vehicle in front is overtaking.
| 18. The method of claim 17 , further comprising: requesting a lane change to the vehicle in front by using the acquired accelerated driving right.
| 19. The method of claim 11 , further comprising: receiving a lane change request from at least one neighboring vehicle while the autonomous vehicle is driving in the first driving mode or the second driving mode;
in response to the lane change request, confirming acceleration driving authority for at least one neighboring vehicle that has requested the lane change; and determining whether to accept the lane change request based on a comparison result of the acceleration driving permission grade of the at least one neighboring vehicle and the acceleration driving permission grade of the autonomous vehicle.
| 20. The method of claim 11 , wherein at least one of the first driving information and the second driving information is obtained through a communication circuit of the autonomous driving device, and the communication circuit supports at least one of V2X and 5G communication methods. Way. | The autonomous driving apparatus has a communication circuit that transmits and receives signals. A drive control device controls the drive device of an autonomous vehicle. A processor is electrically connected to the communication circuit and the drive control device. The processor instructs the autonomous vehicle to drive within a specified lane range and a specified speed range obtained through the communication unit. A first driving mode is performed based on the first driving information. A second driving information indicating an accelerated driving authority is obtained, while the first driving mode is performed. The vehicle travels within an extended lane range and an extended speed range using the accelerated driving authority. An INDEPENDENT CLAIM is included for an autonomous driving apparatus operating method. Autonomous driving apparatus for controlling drive of vehicle in autonomous driving system. The autonomous driving device comprises a communication circuit that is configured to send and receive signals, where processor is electrically connected to the communication circuit, and a driving control device performs a first driving mode based on first driving information, and thus enables to adjust the running speed of the vehicle. The drawing shows the block diagram of an autonomous driving system. (Drawing includes non-English language text). |
Please summarize the input | AUTONOMOUS DRIVING DEVICE FOR DETECTING ROAD CONDITION AND OPERATION METHOD THEREOFEmbodiments of the present disclosure relate to an autonomous driving device for detecting a road surface condition and an operating method thereof, wherein the autonomous driving device includes a first sensor and a second sensor, the first sensor, and the second sensor included in a lamp of an autonomous driving vehicle. 2 , comprising a processor electrically connected to two sensors, wherein the processor is configured to: check a free area in front of the autonomous vehicle based on first sensing data obtained through the first sensor; It is possible to obtain the second sensing data for the free area, generate map information expressing the height of the road surface based on the second sensing data, and control to predict the road surface condition based on the pattern of the map information. At least one of an autonomous vehicle, autonomous driving, user terminal, and server of the present disclosure, an artificial intelligence module, a drone (Unmanned Aerial Vehicle, UAV), a robot, an augmented reality (AR) device , a virtual reality (VR) device, a device related to a 5G service, and the like.|1. An autonomous driving apparatus comprising: a first sensor and a second sensor included in a lamp of an autonomous vehicle;
and a processor electrically connected to the first sensor and the second sensor, wherein the processor is configured to allow the autonomous driving vehicle to move in front of the vehicle based on first sensing data obtained through the first sensor. Check the free area, obtain the second sensing data for the free area based on the second sensor, generate map information expressing the height of the road surface based on the second sensing data, and based on the pattern of the map information An autonomous driving device that controls to predict the road surface condition.
| 2. The autonomous driving device of claim 1 , wherein the first sensor comprises a camera and the second sensor comprises a lidar.
| 3. The method of claim 1 , wherein the processor generates, by the autonomous vehicle, a plurality of grids including the free area, classifies the second sensing data to correspond to each of the generated grids, and 2 The autonomous driving device measures the height of the road surface corresponding to each grid based on the sensing data and controls to generate a grid map in which the height corresponding to each grid is expressed.
| 4. The method of claim 3, further comprising: at least one of a third sensor or a communication circuit for collecting driving information of the autonomous vehicle;
The processor, in response to the autonomous vehicle acquiring driving information satisfying a specified first condition, generates a grid having a first resolution, and in response to obtaining driving information satisfying a specified second condition to generate a grid having a second resolution different from the first resolution.
| 5. The autonomous driving device according to claim 4, wherein the communication circuit supports at least one of V2X and 5G communication methods.
| 6. The method of claim 1 , further comprising: at least one light source included in the lamp;
and the processor is configured to control the autonomous vehicle to adjust the light emission of the light source based on the abnormal section in response to a road surface condition including the abnormal section being predicted.
| 7. The autonomous driving apparatus of claim 6 , wherein the processor controls the autonomous vehicle to adjust at least one of an irradiation direction of the light source and an irradiation intensity of the light source based on the abnormal section.
| 8. The method of claim 6 , wherein the processor obtains, by the autonomous vehicle, third sensing data for the abnormal section using the first sensor, based on the first sensing data and the third sensing data. , an autonomous driving device that controls to analyze the abnormal section.
| 9. The autonomous driving apparatus of claim 8 , wherein the processor controls the autonomous driving vehicle to notify the analysis result of the abnormal section.
| 10. The method of claim 1 , wherein the processor maps the second sensing data to the first sensing data, and the autonomous driving vehicle maps the second sensing data corresponding to the free area among the mapped second sensing data. An autonomous driving device that controls to generate the map information by acquiring
| 11. A method of operating an autonomous driving apparatus, the method comprising: identifying a free area in front of a vehicle based on first sensing data through a first sensor included in a lamp of an autonomous vehicle;
acquiring second sensing data for the free area based on a second sensor included in the lamp; generating map information representing the height of the road surface based on the second sensing data; and predicting a road surface condition based on the pattern of the map information.
| 12. The method of claim 11, wherein the first sensor comprises a camera and the second sensor comprises a lidar.
| 13. The method of claim 11 , wherein the generating of the map information comprises: generating a plurality of grids including the free area;
classifying the second sensing data to correspond to each of the generated grids; measuring a height of a road surface corresponding to each of the grids based on the classified second sensing data; and generating a grid map in which a height corresponding to each grid is expressed.
| 14. The method of claim 13 , wherein the generating of the grid comprises: collecting driving information on the autonomous vehicle;
generating a grid having a first resolution in response to obtaining driving information that satisfies a specified first condition; and generating a grid having a second resolution different from the first resolution in response to obtaining driving information that satisfies a specified second condition.
| 15 . The method of claim 14 , wherein the driving information is collected through at least one of a third sensor different from the first sensor and the second sensor, or a communication circuit of the autonomous driving device, and the communication circuit is V2X or 5G communication. A method that supports at least one of the methods.
| 16. The method of claim 11 , comprising: in response to predicting a road surface condition including the abnormal section, controlling the light emission of the lamp based on the abnormal section.
| 17. The method of claim 16 , wherein the controlling of the light emission of the lamp comprises controlling at least one of an irradiation direction of the lamp and an irradiation intensity of the lamp based on the abnormal section.
| 18. The method of claim 16 , wherein the controlling of the light emission of the lamp comprises: acquiring third sensing data for the abnormal section using the first sensor; and analyzing the abnormal section based on the first sensed data and the third sensed data.
| 19. The method of claim 18 , comprising notifying an analysis result for the abnormal section.
| 20. The method of claim 11 , wherein the acquiring of the second sensing data comprises: mapping the second sensing data to the first sensing data; and acquiring the second sensed data corresponding to the free area from among the mapped second sensed data. | The autonomous driving device e.g. electronic device (900) has a first sensor (912) and a second sensor (914) included in the lamp (910) of an autonomous vehicle, and a processor (950) electrically connected to the first and second sensors. The processor is configured to allow the autonomous vehicle to move in front of the vehicle based on first sensing data obtained through the first sensor, check the free area, obtain the second sensing data for free area based on second sensor, generate map information expressing the height of road surface based on second sensing data, and predict the road surface condition based on pattern of the map information. An INDEPENDENT CLAIM is included for a method of operating an autonomous driving device. Autonomous driving device for controlling autonomous driving of vehicle. The prediction performance of the road surface condition is improved by checking the free area from the image obtained through the camera and generating map information expressing the height of road surface with respect to free area using the lidar. The drawing shows a schematic block diagram of an electronic device. (Drawing includes non-English text). 900Electronic device910Lamp912First sensor914Second sensor950Processor |
Please summarize the input | Autonomous vehicle operation to use HOV LaneEmbodiments of the present disclosure relate to a method of operating an autonomous driving vehicle in a platoon form in order to use the HOV lane, and when driving in a platoon, the autonomous driving device included in the vehicle functioning as a leader vehicle checks the conditions of use of the HOV lane, a processor that recruits follower vehicles to form a platoon driving that satisfies the HOV lane usage condition, and operates the platoon driving; It may be composed of At least one of an autonomous vehicle, autonomous driving, user terminal, and server of the present disclosure, an artificial intelligence module, a drone (Unmanned Aerial Vehicle, UAV), a robot, an augmented reality (AR) device , a virtual reality (VR) device, a device related to a 5G service, and the like.|1. In an autonomous driving device included in a vehicle functioning as a leader vehicle during platoon driving, check HOV lane usage conditions, recruit follower vehicles to form platoon driving that satisfies the HOV lane usage conditions, and operate the platoon driving the processor; Including, autonomous driving device.
| 2. The autonomous driving apparatus of claim 1 , wherein the checking of the conditions of use of the HOV lane is characterized in that the processor checks whether the HOV lane is included in the driving path of the leader vehicle.
| 3. The autonomous driving apparatus according to claim 2, wherein the checking of the conditions of use of the HOV lane is characterized in that the processor compares the average driving speed of the HOV lane with the average driving speed of a general lane corresponding to the HOV lane.
| 4. The autonomous driving according to claim 1, wherein, in forming the group driving, the processor reflects the group driving route and the HOV lane usage condition, configures a V2X message, and transmits the V2X message to the follower vehicle. Device.
| 5. The autonomous driving apparatus of claim 1 , wherein, in forming the platooning, the processor selects, as the follower vehicle, a vehicle that satisfies the HOV lane usage condition from among vehicles applied for platooning subscription.
| 6. The autonomous driving apparatus of claim 5 , wherein the processor prioritizes a vehicle with a large number of occupants among vehicles satisfying the HOV lane usage condition and selects the vehicle as the follower vehicle.
| 7. The autonomous driving device according to claim 5, wherein the processor prioritizes a vehicle that overlaps a lot with the leader vehicle and selects it as the follower vehicle among vehicles satisfying the HOV lane usage condition. .
| 8. The autonomous driving according to claim 1, wherein the conditions for using the HOV lane are based on at least one of a total number of vehicles forming the group driving, the number of passengers per vehicle, and an interval between each vehicle. Device.
| 9. The method of claim 1, wherein the autonomous driving device further comprises a communication device for exchanging signals with an external device based on V2X communication technology, and the processor recruits vehicles to participate in group driving through the V2X communication. which is an autonomous driving device.
| 10. A method of operating an autonomous driving device included in a vehicle functioning as a leader vehicle during group driving, the method comprising: checking, by at least one processor, conditions for using an HOV lane; forming a platooning operation satisfying the HOV lane usage condition by recruiting follower vehicles; and operating the group driving. A method of operating an autonomous driving device comprising a.
| 11. The method of claim 10 , wherein the at least one processor checks whether the HOV lane is included in the driving path of the leader vehicle to check the conditions for using the HOV lane.
| 12. The autonomous driving according to claim 11, wherein at least one processor compares the average driving speed of the HOV lane with the average driving speed of a general lane corresponding to the HOV lane to check the conditions for using the HOV lane. How the device works.
| 13. The method according to claim 10, wherein at least one processor configures a V2X message by reflecting the group driving route and the conditions for using the HOV lane, and transmits the V2X message to the follower vehicle to form the group driving. How an autonomous driving device works.
| 14. The autonomous driving device of claim 10 , wherein the at least one processor selects, as the follower vehicle, a vehicle that satisfies the HOV lane usage condition from among vehicles that have applied for platooning subscription, and forms platooning. how it works.
| 15. The method of claim 14 , wherein the at least one processor prioritizes a vehicle with a large number of occupants from among vehicles satisfying the HOV lane usage condition and selects the vehicle as the follower vehicle.
| 15. The method of claim 14, wherein at least one processor prioritizes a vehicle that overlaps a lot with the leader vehicle among vehicles satisfying the HOV lane usage condition and selects the follower vehicle as the follower vehicle. How the traveling device works.
| 17. The autonomous driving according to claim 10, wherein the conditions for using the HOV lane are based on at least one of a total number of vehicles forming the platoon driving, the number of passengers per vehicle, and an interval between each vehicle. How the device works.
| 18. The method of claim 10 , wherein the at least one processor recruits vehicles to participate in group driving through V2X communication. | The autonomous driving apparatus has a processor that checks whether an HOV lane is included in the driving path of a leader vehicle. The processor compares the average driving speed of the HOV lane with the average traveling speed of a general lane corresponding to the HOV lane. A group driving route is reflected by the processor. A vehicle-to-vehicle (V2X) message is transmitted to a follower vehicle. A communication device exchanges signals with an external device based on the V2X communication technology. The processor recruits vehicles to participate in the group driving through the communication device. An INDEPENDENT CLAIM is included for an operating method for autonomous vehicle. Autonomous driving apparatus for autonomous vehicle. The separation of the autonomous driving vehicle from the manual driving vehicle is induced by maximizing the use of a multi-seater vehicle lane through the formation of a group of vehicles. By inducing group driving, the efficiency of road operation is increased. The drawing shows the schematic diagram of the cluster driving operation of an autonomous vehicle. (Drawing includes non-English language text). |
Please summarize the input | Vehicle control method and intelligent computing device that controls the vehicleDisclosed is a vehicle control method and an intelligent device for controlling a vehicle. In the vehicle control method according to an embodiment of the present invention, the vehicle's processor can determine the driver's drowsiness through AI processing of driver's status information obtained from a sensor inside the vehicle. The processor can detect the driver's gaze reaction speed by projecting a virtual object on the HUD at the moment it determines that the driver is drowsy. The processor outputs a secondary warning when the driver's gaze reaction speed is less than a predetermined standard value, and controls the vehicle's driving according to the secondary warning. Accordingly, the occurrence of accidents due to the driver's carelessness can be reduced. One or more of the self-driving vehicle, user terminal, and server of the present invention may include an artificial intelligence (Artificial Intelligence) module, a drone (Unmanned Aerial Vehicle (UAV)), a robot, an augmented reality (AR) device, and a virtual reality (VR) device. VR) devices, devices related to 5G services, etc.|1. Obtaining state information of the driver and determining a drowsy state of the driver based on the state information of the driver;
When recognizing the driver's drowsiness, outputting a first warning;
The first warning includes: projecting a virtual object at a first location through a head-up display (HUD) at the moment of recognizing the driver's drowsiness;
Tracking the driver's gaze through a camera inside the vehicle to obtain a reaction speed of the driver's gaze to the virtual object;
providing feedback according to the gaze reaction speed; and when it is determined that the gaze reaction speed is slower than a predetermined standard, outputting a secondary warning and controlling the vehicle according to the secondary warning;
Including, tracking the driver's gaze through a camera inside the vehicle to obtain a reaction speed of the driver's gaze to the virtual object, wherein the virtual object at the first location is moved to the second location. Projecting step;
tracking the driver's gaze and calculating a time for the driver's gaze to change from the first position to the second position; and obtaining the driver's gaze reaction speed with respect to the virtual object based on the calculation result.
| 2. The vehicle control method according to claim 1, wherein the driver's status information includes at least one of the number of times the driver closes the eyelids, the opening size of the eyelids, or the moving speed of the eyelids, which are obtained by analyzing camera images.
| 3. The method of claim 1, wherein the driver's status information includes heart rate (HR) information acquired through at least one heart rate (HR) sensor, and the heart rate information is heart rate variability (HRV).) Vehicle control method comprising a signal.
| 4. The method of claim 1, wherein determining the drowsiness state of the driver comprises: extracting feature values from sensing information obtained through at least one sensor;
Inputting the feature values into an artificial neural network (ANN) classifier trained to distinguish whether the driver is awake or drowsy, and determining the driver's drowsiness from the output of the artificial neural network, A vehicle control method, characterized in that the feature values are values that can distinguish between a wakeful state and a drowsy state of the driver.
| 5. The method of claim 1, wherein the step of outputting the first warning further includes outputting a command requesting the driver's action in response to the first warning, and responding to the command within a predetermined time. As, if the driver's action is not recognized, the vehicle control method characterized in that the secondary warning is output.
| 6. The method of claim 5, wherein the step of outputting a command requesting the driver's action includes continuously displaying an alarm displayed on the HUD until a specific action is recognized according to the alarm. How to control the vehicle.
| 7. The method of claim 5, further comprising: outputting the driver's response speed when the driver's action in response to the command is recognized within the predetermined time; and determining the current state of the driver according to the driver's response speed and outputting the current state of the driver;
A vehicle control method further comprising:
| 8. The method of claim 5, wherein recognizing the driver's action includes recognizing the input of a button provided inside the vehicle, recognizing that the window of the vehicle is opened, and recognizing pressing of the acceleration or brake pedal. or recognizing that a seat belt is being pulled.
| 9. The method of claim 1, wherein the feedback includes at least one of the driver's actual reaction speed in a drowsy state, a comparison result with the driver's reaction speed in an awake state, or an alarm encouraging the driver to escape from the drowsy state. Vehicle control method.
| 10. The vehicle control system according to claim 1, wherein the feedback includes at least one of automatically adjusting seat belt contraction information, outputting vibration to the seat, and operating an automatic air conditioning system. method.
| 11. The method of claim 1, further comprising: transmitting a V2X message containing information related to the drowsiness state of the driver to another terminal in communication connection with the vehicle;
A vehicle control method further comprising:
| 12. The method of claim 1, wherein controlling the vehicle according to the secondary warning includes: switching a driving mode of the vehicle from a manual driving mode to an autonomous driving mode; and searching for a location to stop the vehicle in the autonomous driving mode and controlling the vehicle to move to the discovered location to end driving.
A vehicle control method further comprising:
| 13. The method of claim 1, further comprising: receiving DCI (Downlink Control Information) used to schedule transmission of the driver's status information obtained from at least one sensor provided inside the vehicle from a network;, Vehicle control method, characterized in that the driver's status information is transmitted to the network based on the DCI.
| 14. The method of claim 13, further comprising: performing an initial connection procedure with the network based on a synchronization signal block (SSB), wherein the driver's status information is transmitted to the network through PUSCH, and the SSB and the A vehicle control method characterized in that PUSCH's DM-RS is QCLed for QCL type D.
| 15. The method of claim 13, further comprising: controlling a communication unit to transmit the driver's status information to an AI processor included in the network;
Controlling the communication unit to receive AI processed information from the AI processor, wherein the AI processed information determines the driver's state in a wakeful state or a drowsy state. A vehicle control method characterized in that the information is determined as one.
| 16. An intelligent computing device that controls a vehicle includes a camera provided inside the vehicle;
heads-up display;
A sensing unit including at least one sensor; and processor;
A memory including instructions executable by the processor, wherein the instructions include: receiving driver's status information from the sensing unit; determining a drowsy state of the driver based on the driver's state information;
When recognizing the driver's drowsiness, outputting a first warning;
The first warning includes: projecting a virtual object at a first location through the head-up display at the moment of recognizing the driver's drowsiness;
Tracking the driver's gaze through the camera to obtain a reaction speed of the driver's gaze to the virtual object;
providing feedback according to the gaze reaction speed; and when it is determined that the gaze reaction speed is slower than a predetermined standard, outputting a secondary warning and controlling the vehicle according to the secondary warning;
Including, tracking the driver's gaze through the camera to obtain the driver's gaze reaction speed with respect to the virtual object, the virtual object at the first location through the head-up display Projecting to a location;
tracking the driver's gaze through the camera and calculating a time for the driver's gaze to change from the first position to the second position; And an intelligent computing device comprising the step of obtaining the driver's gaze reaction speed with respect to the virtual object based on the calculation result.
| 17. The method of claim 16, wherein determining the driver's drowsy state based on the driver's state information comprises: extracting feature values from the sensing value;
Inputting the feature values into an artificial neural network (ANN) classifier trained to distinguish whether the driver is awake or drowsy, and determining the driver's drowsiness from the output of the artificial neural network, wherein the feature values An intelligent computing device for controlling a vehicle, characterized in that these are values that can distinguish between a wakeful state and a drowsy state of the driver.
| 18. The method of claim 16, further comprising a communication unit, wherein the processor controls to transmit the driver's status information to an AI processor included in the network through the communication unit, and to receive AI-processed information from the AI processor. An intelligent computing device that controls the communication unit, wherein the AI-processed information is information that determines the driver's state as either a wakeful state or a drowsy state. | The vehicle control method involves obtaining state information of a driver (S700). A drowsy state of the occupant is determined based on the state information of the driver (S710). A first warning is provided as an output when recognizing the drivers drowsiness state. A gaze reaction speed of the driver is acquired with respect to a virtual object (S730). The feedback is provided according to the gaze reaction rate (S740). A Vehicle-to-everything (V2X) message including information related to the drivers drowsiness state is transmitted to another terminal, which is connected in communication with the vehicle. A communication unit is controlled to transmit the drivers state information to an artificial intelligence (AI) processor included in the network. An INDEPENDENT CLAIM is included for an intelligent computing device for controlling a vehicle. Vehicle control method. The intelligent computing device makes it is possible to prevent an accident due to the drivers carelessness by determining the drivers drowsiness state and sequentially inducing the drivers passive and active intervention. The drawing shows a flowchart of a vehicle control method. S700Obtaining state information of a driverS710Determining a drowsy state of the occupant based on the state information of the driverS720Output primary alarmS730Acquiring a gaze reaction speed of the driver with respect to a virtual objectS740Providing the feedback according to the gaze reaction rate |
Please summarize the input | METHOD FOR TERMINAL TO TRANSMIT AND RECEIVE SIGNAL IN WIRELESS COMMUNICATION SYSTEMOne embodiment is a method for performing an operation for a terminal in a wireless communication system, the method including: a step for transmitting a first message to one or more road side units (RSUs); and a step for transmitting a second message to the one or more RSUs, wherein the first message includes location information about each of the one or more RSUs, the location information being acquired by recognizing unique information about each of the one or more RSUs, and the second message includes a location list obtained by collecting the location information about each of the one or more RSUs.What is claimed is:
| 1. A method of performing an operation for a user equipment in a wireless communication system, the method comprising:
transmitting a first message to one or more Road Side Units (RSUs); and
transmitting a second message to the one or more RSUs,
wherein the first message includes location information of each of the one or more RSUs acquired in a manner of recognizing unique information of each of the one or more RSUs and
wherein the second message includes a position list of collecting location information of each of the one or more RSUs.
| 2. The method of claim 1, wherein the second message is transceived between the one or more RSUs.
| 3. The method of claim 1, wherein the one or more RSUs transmit a safety message to a vehicle based on the second message and wherein the safety message includes construction site area information of a construction site area having the one or more RSUs located therein.
| 4. The method of claim 1, further comprising:
making a request for construction site common information to a base station or a soft V2X server; and
receiving the construction site common information from the base station or the soft V2X server.
| 5. The method of claim 4, wherein each of the first message and the second message includes the construction site common information.
| 6. The method of claim 4, wherein the construction site common information includes information on a construction type or a construction period.
| 7. The method of claim 1, further comprising:
transmitting the second message to a base station or a V2X server,
wherein the base station or the V2X sever transmits a safety message to a vehicle based on the second message.
| 8. A user equipment in a wireless communication system, the user equipment comprising:
at least one processor; and
at least one computer memory operatively connected to the at least one processor and storing instructions enabling the at least one processor to perform operations when executed, the operations comprising:
transmitting a first message to one or more Road Side Units (RSUs); and
transmitting a second message to the one or more RSUs,
wherein the first message includes location information of each of the one or more RSUs acquired in a manner of recognizing unique information of each of the one or more RSUs and
wherein the second message includes a position list of collecting location information of each of the one or more RSUs.
| 9. A computer-readable storage medium configured to store at least one computer program including an instruction enabling at least one processor to perform operations for a User Equipment (UE) when executed by the at least one processor, the operations comprising:
transmitting a first message to one or more Road Side Units (RSUs); and
transmitting a second message to the one or more RSUs,
wherein the first message includes location information of each of the one or more RSUs acquired in a manner of recognizing unique information of each of the one or more RSUs and
wherein the second message includes a position list of collecting location information of each of the one or more RSUs.
| 10. The user equipment of claim 8, wherein the user equipment comprises an autonomous vehicle or is included in the autonomous vehicle. | The method involves transmitting a first message to one or more road side units (RSUs). The second message is transmitted to the RSUs. The first message includes location information of each of the one or more RSUs obtained by recognizing the unique information of each of the RSUs. The second message is a collection of location information of each of the RSUs. The second message is transmitted and received between the RSUs. The RSUs are transmitted a safety message to the vehicle using the second message, and the safety message includes information on a construction site area in which the RSUs are located. INDEPENDENT CLAIMS are included for the following:a wireless communication system comprises a processor, and a computer memory; anda computer-readable storage medium for storing a computer program; anda terminal for a construction site guidance system. Method for performing an operation for a terminal in a wireless communication system. The method accurately and quickly generate information on a construction site area that changes in real time using the terminal and the road side unit, and also reduces the cost by simplifying the structure of the road side unit. The drawing shows a flowchart of a method for performing an operation for a terminal in a wireless communication system. (Drawing includes non-English language text). |
Please summarize the input | Sidelink communicationOne disclosure of the present specification provides a UE performing sidelink communication. The UE may comprise: at least one transceiver; at least one processor; and at least one memory that stores instructions and is operably electrically connectable with the at least one processor. An operation performed on the basis of an instruction executed by the at least one processor may comprise the steps of: receiving, via a PSSCH or a PSCCH, a DMRS from another UE; and measuring an RSRP of the DMRS on the basis of RSRP measurement requirements.What is claimed is:
| 1. A User Equipment (UE) for performing sidelink communication, the UE comprising:
at least one transceiver;
at least one processor; and
at least one computer memory operably connected to the at least one processor and storing instructions that, based on being executed by the at least one processor, perform operations comprising:
performing a Physical Sidelink Control Channel - Reference Signal Received Power (PSCCH-RSRP) measurement or a Physical Sidelink Shared Channel-Reference Signal Received Power (PSSCH-RSRP) measurement based on New Radio (NR) V2X operating band n38 or n47,
wherein RSRP measurement accuracy requirements apply to the UE,
wherein the RSRP accuracy requirements include an accuracy of RSRP being ±4.5dB,
wherein, the PSCCH-RSRP or the PSSCH-RSRP, as measured, is greater than or equal to a minimum total received power density, and
wherein for New Radio (NR) Vehicle-to-Everything (V2X) operating band n38, the minimum total received power density is equal to:
?120.5 decibel milliwatt (dBm), based on a subcarrier spacing (SCS) of 15 kilohertz (kHz),
?117.5 dBm, based on a SCS of 30kHz, and
?114.5 dBm, based on a SCS of 60kHz,
wherein for NR V 2X operating band n47, the minimum total received power density is equal to:
?116.5 dBm, based on a SCS of 15 kHz,
?113.5 dBm, based on a SCS of 30 kHz, and
?110.5dBm, based on a SCS of 60 kHz.
| 2. The UE of claim 1, wherein the RSRP accuracy requirements further include a ratio of received energy per resource element of signal to a total received power density including signal and interference for a PSCCH-Demodulation Reference Signal (PSCCH-DMRS) or a PSSCH-DMRS being greater than or equal to 0 decibel (dB).
| 3. The UE of claim 1, wherein the UE is an autonomous driving device configured to communicate with at least one of a mobile terminal, a network, and another autonomous vehicle other than the UE.
| 4. A method of performing sidelink communication by a user equipment (UE), the method comprising:
performing a Physical Sidelink Control Channel-Reference Signal Received Power (PSCCH-RSRP) measurement or Physical Sidelink Shared Channel-RSRP (PSSCH-RSRP) measurement based on New Radio (NR) V2X operating band n38 or n47,
wherein RSRP measurement accuracy requirements apply to the UE,
wherein the RSRP accuracy requirements include an accuracy of RSRP being ±4.5 dB,
wherein, the PSCCH-RSRP or the PSSCH-RSRP, as measured, is greater than or equal to a minimum total received power density, and
wherein for New Radio (NR) Vehicle-to-Everything (V2X) operating band n38, the minimum total received power density is equal to:
?120.5 decibel milliwatt (dBm), based on a subcarrier spacing (SCS) of 15 kilohertz (kHz),
?117.5 dBm, based on a SCS of 30 kHz, and
?114.5 dBm, based on a SCS of 60 kHz,
wherein for NR V2X operating band n47, the minimum total received power density is equal to:
?116.5 dBm, based on a SCS of 15 kHz,
?113.5 dBm, based on a SCS of 30 kHz, and
?110.5 dBm, based on a SCS of 60 kHz.
| 5. The method of claim 4, wherein the RSRP accuracy requirements further include a ratio of received energy per resource element of signal to a total received power density including signal and interference for a PSCCH-Demodulation Reference Signal (PSCCH-DMRS) or a PSSCH-DMRS being greater than or equal to 0 decibel (dB). | The user equipment (UE) comprises transceiver, processor and memory to store instructions and operably electrically connectable with processor. The instructions are executed for receiving a Demodulation Reference signal (DMRS) from another UE through a Physical Sidelink Shared Channel (PSSCH) or a Physical Sidelink Control Channel (PSCCH). An Reference Signal Received Power (RSRP) of the DMRS is measured on the basis of RSRP measurement requirements. INDEPENDENT CLAIMS are included for the following:a method for a UE to perform sidelink communication;an apparatus in mobile communication; anda non-transitory computer readable storage medium. User equipment (UE) for performing sidelink communication. Uses include but are not limited to notebook computer, mobile phone, personal digital assistant, smartphone and multimedia device. Effects that can be obtained through specific examples of the present specification are not limited to the effects listed above. For example, various technical effects that a person having ordinary skill in the related art can understand or derive from this specification may exist. Accordingly, the specific effects of the present specification are not limited to those explicitly described herein, and may include various effects that can be understood or derived from the technical characteristics of the present specification. The drawing shows a flowchart of an operation of the terminal. (Drawing includes non-English language text). S1101Transmitting a PSCCH and/or a PSSCH to first UES1102Performing measurementS1103Transmitting an SL signal to third UE |
Please summarize the input | Method of operating UE in relation to release of PC5 unicast link in wireless communication systemA method of operating a first user equipment (UE) in a wireless communication system is disclosed. The method includes releasing a first PC5 radio resource control (RRC) connection for which sidelink (SL) radio link failure (RLF) has been declared among a plurality of PC5 RRC connections by the first UE, informing a PC5 unicast link associated with the first RRC connection by a PC5 unicast link identifier (ID) to a vehicle-to-everything (V2X) layer of the first UE by an access stratum (AS) layer of the first UE, and releasing the PC5 unicast link based on the PC5 unicast link ID by the V2X layer of the first UE. The PC5 unicast link ID indicates the PC5 unicast link for which the SL RLF has been declared and the first RRC connection has been released.What is claimed is:
| 1. A method of operating a first user equipment (UE) in a wireless communication system, the method comprising:
establishing a plurality of PC5 unicast links with a second UE by the first UE;
releasing, by the first UE, a first PC5 radio resource control (RRC) connection for which sidelink (SL) radio link failure (RLF) has been declared among a plurality of PC5 RRC connections; and
informing a PC5 unicast link, associated with the first PC5 RRC connection, by a PC5 unicast link Identifier (ID) to a vehicle-to-everything (V2X) layer of the first UE by an access stratum (AS) layer of the first UE,
wherein the first UE has the plurality of PC5 RRC connections with the second UE,
wherein the V2X layer of the first UE releases the PC5 unicast link based on the PC5 unicast link ID,
wherein the PC5 unicast link ID indicates the PC5 unicast link for which the SL RLF has been declared and the first PC5 RRC connection has been released, and
wherein, based on a second PC5 RRC connection being released due to AS configuration failure, the first UE transmits, to a base station, SidelinkUEInformation including a destination ID related to the AS configuration failure.
| 2. The method according to claim 1, further comprising transmitting a signal based on at least one of the plurality of PC5 RRC connections by the first UE.
| 3. The method according to claim 1, wherein the first UE transmits, to the base station, information related to the PC5 unicast link for which the SL RLF has been declared and the first PC5 RRC connection has been released.
| 4. The method according to claim 1, wherein the plurality of PC5 unicast links have the same source Layer 2 (L2) ID and the same destination L2 ID.
| 5. The method according to claim 4, wherein the first UE is a source UE, and the second UE is a destination UE.
| 6. A first user equipment (UE) configured to operate in a wireless communication system, the first UE comprising:
at least one processor; and
at least one computer memory operatively coupled to the at least one processor and storing instructions which when executed, cause the at least one processor to perform operations that comprise:
establishing a plurality of PC5 unicast links with a second UE by the first UE;
releasing, by the first UE, a first PC5 radio resource control (RRC) connection for which sidelink (SL) radio link failure (RLF) has been declared among a plurality of PC5 RRC connections; and
informing a PC5 unicast link, associated with the first PC5 RRC connection, by a PC5 unicast link identifier (ID) to a vehicle-to-everything (V2X) layer of the first UE by an access stratum (AS) layer of the first UE;
wherein the first UE has the plurality of PC5 RRC connections with the second UE,
wherein the V2X layer of the first UE releases the PC5 unicast link based on the PC5 unicast link ID,
wherein the PC5 unicast link ID indicates the PC5 unicast link for which the SL RLF has been declared and the first PC5 RRC connection has been released, and
wherein, based on a second PC5 RRC connection being released due to AS configuration failure, the first UE transmits, to a base station, SidelinkUEInformation including a destination ID related to the AS configuration failure.
| 7. The first UE according to claim 6, wherein the first UE communicates with at least one of another UE, a UE or the base station related to an autonomous driving vehicle, or a network.
| 8. A processing apparatus configured to control a first user equipment (UE) to operate in a wireless communication system, the processing apparatus comprising:
at least one processor; and
at least one computer memory operatively coupled to the at least one processor and storing instructions which when executed, cause the at least one processor to perform operations that comprise:
establishing a plurality of PC5 unicast links with a second UE by the first UE;
releasing, by the first UE, a first PC5 radio resource control (RRC) connection for which sidelink (SL) radio link failure (RLF) has been declared among a plurality of PC5 RRC connections; and
informing a PC5 unicast link, associated with the first PC5 RRC connection, by a PC5 unicast link identifier (ID) to a vehicle-to-everything (V2X) layer of the first UE by an access stratum (AS) layer of the first UE,
wherein the first UE has the plurality of PC5 RRC connections with the second UE,
wherein the V2X layer of the first UE releases the PC5 unicast link based on the PC5 unicast link ID,
wherein the PC5 unicast link ID indicates the PC5 unicast link for which the SL RLF has been declared and the first PC5 RRC connection has been released, and
wherein, based on a second PC5 RRC connection being released due to AS configuration failure, the first UE transmits, to a base station, SidelinkUEInformation including a destination ID related to the AS configuration failure.
| 9. A non-transitory computer-readable storage medium storing at least one computer program, the at least one computer program including instructions which when executed by at least one processor, cause the at least one processor to perform operations for a first user equipment (UE),
wherein the operations comprise:
establishing a plurality of PC5 unicast links with a second UE by the first UE;
releasing, by a first UE, a first PC5 radio resource control (RRC) connection for which sidelink (SL) radio link failure (RLF) has been declared among a plurality of PC5 RRC connections; and
informing a PC5 unicast link associated with the first PC5 RRC connection by a PC5 unicast link identifier (ID) to a vehicle-to-everything (V2X) layer of the first UE by an access stratum (AS) layer of the first UE,
wherein the first UE has the plurality of PC5 RRC connections with the second UE,
wherein the V2X layer of the first UE releases the PC5 unicast link based on the PC5 unicast link ID,
wherein the PC5 unicast link ID indicates the PC5 unicast link for which the SL RLF has been declared and the first PC5 RRC connection has been released, and
wherein, based on a second PC5 RRC connection being released due to AS configuration failure, the first UE transmits, to a base station, SidelinkUEInformation including a destination ID related to the AS configuration failure. | The method involves releasing a first RRC connection by first user equipment (UE) in which a sidelink radio link failure (RLF) is declared among multiple radio resource control (RRC) connections. A layer of the first UE is used to notify a PC5 unicast link associated with the first RRC connection to the V2X layer through a PC5 link identifier. And releasing, by the V2X layer of the first UE, The PC5 unicast link based on the PC5 link identifier is released by the V2X layer of the first UE. The PC5 link identifier is used to indicate the PC5 unicast link in which the sidelink RLF is declared and the first RRC connection is released. INDEPENDENT CLAIMS are included for the following:a wireless communication system;a processor for performing operations for a UE in a wireless communication system; anda computer-readable storage medium storing one computer program including instructions. Method for operating a first UE in a wireless communication system (Claimed). The method accurately identifies and releases the PC5 unicast connection in which RLF has occurred. The drawing shows a flow chart of the method for operating a first UE in a wireless communication system. (Drawing includes non-English language text). |
Please summarize the input | Device in wireless communication system, operation method of UE and storage mediumThe invention claims a device in a wireless communication system, an operation method of UE and a storage medium. A method for operating a first user equipment (UE) in a wireless communication system, the method comprises the following steps: establishing a plurality of unicast links by the first UE; and releasing, by the first UE, a unicast link of which the RLF has been declared in the plurality of unicast links based on a radio link failure (RLF) and a PC5 link identifier (ID). The PC5 link ID is used to identify a unicast link of which the RLF has been declared in the plurality of unicast links.|1. A method for operating a first user equipment (UE) in a wireless communication system, the method comprising the following steps: establishing a plurality of unicast links by the first UE; and releasing, by the first UE, a unicast link that has been declared the RLF among the plurality of unicast links based on a radio link failure RLF and a PC5 link identifier ID, wherein the first UE is configured to release the unicast link from the plurality of unicast links based on the radio link failure RLF and the PC5 link identifier ID; The PC5 link ID is used to identify the unicast link that has been declared the RLF among the plurality of unicast links.
| 2. The method according to claim 1, wherein the PC5 link ID is transmitted from the access layer AS layer to all V2X layers in the first UE.
| 3. The method according to claim 1, wherein the information associated with the plurality of unicast links established by the first UE is transmitted to a base station BS in the secondary link UE information.
| 4. The method according to claim 1, wherein the plurality of unicast links is a PC5 unicast link established between the first UE and a second UE.
| 5. The method according to claim 1, wherein for the plurality of unicast links, the first UE and the second UE respectively by the source layer 2 ID and the destination layer 2 ID.
| 6. The method according to claim 1, wherein the RLF is a secondary link RLF.
| 7. The method according to claim 1, wherein the first UE is in communication with another UE, at least one of a UE, a BS or a network associated with the autonomous driving vehicle.
| 8. The apparatus in a wireless communication system according to claim 8, wherein the device comprises: a wireless communication system; at least one processor; and at least one memory, the at least one memory is operatively coupled to the at least one processor and stores instructions, the instructions when executed by the at least one processor causes the at least one processor to perform operations, wherein the operation comprises establishing a plurality of unicast links by the first user equipment UE, and releasing one unicast link of the RLF in the plurality of unicast links by the first UE based on radio link failure RLF and PC5 link identifier ID, and wherein The PC5 link ID is used to identify the unicast link that has been declared the RLF among the plurality of unicast links.
| 9. The apparatus according to claim 8, wherein the PC5 link ID is transmitted from the access layer AS in the first UE to all V2X layers of the vehicle.
| 10. The apparatus according to claim 8, wherein the plurality of unicast links is a PC5 unicast link established between the first UE and a second UE.
| 11. The apparatus according to claim 8, wherein for the plurality of unicast links, the first UE and the second UE respectively by the source layer 2 ID and the destination layer 2 ID.
| 12. The apparatus according to claim 8, wherein the RLF is a secondary link RLF.
| 13. A computer-readable storage medium storing at least one computer program comprising instructions, wherein the instructions when executed by at least one processor cause the at least one processor to perform operations, wherein the operation comprises establishing a plurality of unicast links by the first user equipment UE; and releasing, by the first UE, a unicast link that has been declared the RLF among the plurality of unicast links based on a radio link failure RLF and a PC5 link identifier ID, wherein the first UE is configured to release the unicast link from the plurality of unicast links based on the radio link failure RLF and the PC5 link identifier ID; The PC5 link ID is used to identify a unicast link that has been declared of the RLF among the plurality of unicast links. | The method involves establishing several unicast links by the first UE. The unicast link for which RLF is declared among the unicast links is released by the first UE, based on the RLF and a PC5 link identifier (ID). The PC5 link ID is used to identify the unicast link for which the RLF has been declared among the unicast links. The PC5 link ID is transmitted from an access stratum (AS) layer to a vehicle-to-everything (V2X) layer in the first UE. The unicast links established by the first UE is transmitted in sidelink UE information to a base station (BS). The unicast links are PC5 unicast links established between the first UE and a second UE. INDEPENDENT CLAIMS are included for the following:1. Apparatus for operating first user equipment; and2. Computer-readable storage medium storing program for operating first user equipment. Method for operating first user equipment (UE) in wireless communication system. The method eliminates distance barriers and improves access to medical services that would often not be consistently available in distant rural communities. |
Please summarize the input | METHOD FOR OPERATING SIDELINK TERMINAL RELATED TO UNICAST LINK IN WIRELESS COMMUNICATION SYSTEMAn embodiment is a method for operating a first terminal in a wireless communication system, the method including the steps in which the first terminal: transmits a Physical Sidelink Shared Channel (PSSCH) through a first unicast link among two or more unicast links; receives a Physical Sidelink Feedback Channel (PSFCH) related to a Hybrid Automatic Repeat and request (HARQ)-ACK of the PSSCH; and releases an RLF-declared second unicast link on the basis of a PC5 link identifier and the RLF declared on the second unicast link among the two or more unicast links, wherein the PC5 link identifier is used for identifying the second unicast link on which the RLF is declared among the two or more unicast links.|1. In a wireless communication system, a method of operating a first terminal, the method comprising: transmitting, by the first terminal, a Physical Sdelink Shared Channel (PSSCH) through a first unicast link among two or more unicast links;
Receiving, by the first terminal, a Physical Sdelink Feedback Channel (PSFCH) related to Hybrid Automatic Repeat and Request (HARQ)-ACK of the PSSCH; And releasing, by the first terminal, a second unicast link in which the RLF is declared, based on an RLF and a PC5 link identifier declared in a second unicast link among the two or more unicast links.
Including, The PC5 link identifier is to be used to identify the second unicast link in which the RLF is declared among the two or more unicast links.
| 2. The method of claim 1, wherein the PC5 link identifier is transmitted from the AS layer of the first UE to the V2X layer.
| 3. The method of claim 1, wherein information related to two or more unicast links established by the first terminal is transmitted to the base station through Sidelink UE Information.
| 4. The method of claim 1, wherein the two or more unicast links are PC5 unicast links established between the first terminal and the second terminal.
| 5. The method of claim 1, wherein in the two or more unicast links, the first terminal and the second terminal are identified by a source layer 2 ID and a destination layer 2 ID.
| 6. The method of claim 1, wherein the RLF is a sidelink RLF.
| 7. The method of claim 1, wherein the first terminal communicates with at least one of another terminal, a terminal related to an autonomous vehicle, a base station, or a network.
| 8. In a wireless communication system, at least one processor; And at least one computer memory that can be operably connected to the at least one processor and stores instructions for causing the at least one processor to perform operations when executed, wherein the operations are performed by the first terminal Transmitting a Physical Sdelink Shared Channel (PSSCH) through a first unicast link among two or more unicast links;
Receiving, by the first terminal, a Physical Sdelink Feedback Channel (PSFCH) related to Hybrid Automatic Repeat and Request (HARQ)-ACK of the PSSCH; And releasing, by the first terminal, a second unicast link in which the RLF is declared, based on RLF and PC5 link identifier declared in a second unicast link among the two or more unicast links. And the PC5 link identifier is used to identify a second unicast link in which the RLF is declared among the two or more unicast links.
| 9. The apparatus of claim 8, wherein the PC5 link identifier is transmitted from the AS layer of the first UE to the V2X layer.
| 10. The apparatus of claim 8, wherein the two or more unicast links are PC5 unicast links established between the first terminal and the second terminal.
| 11. The apparatus of claim 8, wherein in the two or more unicast links, the first terminal and the second terminal are identified by a source layer 2 ID and a destination layer 2 ID.
| 12. The method of claim 8, wherein the RLF is a sidelink RLF,
| 13. A computer-readable storage medium storing at least one computer program including instructions for causing at least one processor to perform operations for a UE when executed by at least one processor, wherein the operations are, the first terminal Transmitting a Physical Sdelink Shared Channel (PSSCH) through a first unicast link among the two or more unicast links;
Receiving, by the first terminal, a Physical Sdelink Feedback Channel (PSFCH) related to Hybrid Automatic Repeat and Request (HARQ)-ACK of the PSSCH; And releasing, by the first terminal, a second unicast link in which the RLF is declared, based on RLF and PC5 link identifier declared in a second unicast link among the two or more unicast links. And the PC5 link identifier is used to identify a second unicast link in which the RLF is declared among the two or more unicast links. | The method involves transmitting (S3501) a physical side-link shared channel (PSSCH) on a first unicast link among two or more unicast links by the first UE. A physical side-link feedback channel (PSFCH) related to a hybrid automatic repeat and request-acknowledgment (HARQ-ACK) for the PSSCH is received (S3502) by the first UE. A second unicast link for which radio link failure (RLF) has been declared is released based on the RLF and a PC5 link identifier (ID). The second unicast link is among the two or more unicast links. Two or more unicast links are PC5 unicast links established between the first UE and a second UE. The PC5 link ID is used to identify the second unicast link for which the RLF has been declared among the two or more unicast links which are established between the first UE and the second UE.? INDEPENDENT CLAIMS are included for the following: 1. an user equipment (UE) configured to operate in a wireless communication system; and 2. a computer-readable storage medium storing computer program for operating UE in the wireless communication system. Method for operating user equipment (UE) in wireless communication system (claimed). The method can improve the side-link-synchronization signal block (S-SSB) reception performance of the receiving UE. The method can determine whether data received in the PHY layer includes an error that is not decodable, and a retransmission is requested to improve performance upon generation of an error. The UE can control UL power by increasing UL transmission power. The drawing shows a flowchart illustrating the method of operating the UE in the wireless communication system.S3501Step for transmitting a physical side-link shared channel on a first unicast link among two or more unicast links by the first UE S3502Step for physical side-link feedback channel related to a hybrid automatic repeat and request-acknowledgment for the PSSCH |
Please summarize the input | METHOD AND APPARATUS FOR PERFORMING SIDELINK COMMUNICATION BY UE IN NR V2XProvided are a method for performing sidelink communication by a first apparatus (9010), and the first apparatus (9010) supporting the same. The method may include: receiving, from a second apparatus (9020), restriction information related to the sidelink communication between the first apparatus (9010) and the second apparatus (9020); and performing the sidelink communication with the second apparatus (9020) based on the restriction information.|1. A method for performing sidelink communication by a first apparatus (9010), the method comprising:
receiving, from a second apparatus (9020), restriction information related to the sidelink communication between the first apparatus (9010) and the second apparatus (9020); and
performing the sidelink communication with the second apparatus (9020) based on the restriction information.
| 2. The method of claim 1, wherein performing the sidelink communication with the second apparatus (9020) comprises:
determining whether or not to establish a connection with the second apparatus (9020) based on the restriction information.
| 3. The method of claim 1, wherein performing the sidelink communication with the second apparatus (9020) comprises:
determining transmission parameters for the sidelink communication based on the restriction information.
| 4. The method of claim 1, wherein the restriction information includes information on transmission resources or reception resources of the second apparatus (9020).
| 5. The method of claim 4, wherein performing the sidelink communication with the second apparatus (9020) comprises:
selecting transmission resources for the sidelink communication based on the information on transmission resources or reception resources included in the restriction information.
| 6. The method of claim 5, wherein performing the sidelink communication with the second apparatus (9020) comprises:
performing sidelink transmission with the selected transmission resources.
| 7. The method of claim 6, wherein the transmission resources selected by the first apparatus (9010) is different from the transmission resources or the reception resources of the second apparatus (9020).
| 8. The method of claim 4, wherein the second apparatus (9020) selects transmission resources for the sidelink communication based on the information on transmission resources or reception resources of the second apparatus (9020).
| 9. The method of claim 1, wherein the restriction information includes HARQ capability of the second apparatus (9020).
| 10. The method of claim 9, wherein the HARQ capability of the second apparatus (9020) includes at least one of whether the second apparatus (9020) supports sidelink HARQ feedback, whether the second apparatus supports HARQ combining, or maximum number of the sidelink HARQ process supported by the second apparatus (9020).
| 11. The method of claim 10, wherein performing the sidelink communication with the second apparatus (9020) comprises:
determining transmission resources and/or retransmission resources for the sidelink communication based on the HARQ capability included in the restriction information.
| 12. The method of claim 11, wherein performing the sidelink communication with the second apparatus (9020) comprises:
performing sidelink transmission and/or sidelink retransmission with the determined transmission resources and/or retransmission resources.
| 13. The method of claim 1, wherein the restriction information includes at least one of required quality of service (QoS) level for a service requested by the second apparatus (9020), sidelink capability information of the second apparatus (9020), initial ID of the second apparatus (9020), UE status information of the second apparatus (9020), UE subscription information of the second apparatus (9020), or scheduling mode preferred by the second apparatus (9020).
| 14. The method of claim 1, wherein the first apparatus (9010) or the second apparatus (9020) includes at least one of a terminal, a user equipment (UE), a wireless device, a wireless communication device, a vehicle, a vehicle equipped with an autonomous driving function, a connected car, a unmanned aerial vehicle (UAV), an artificial intelligence (AI) module, a robot, an augmented reality (AR) device, a virtual reality (VR) device, a mixed reality (MR) device, a hologram device, a public safety device, a machine type communication (MTC) device, an internet of things (IoT) device, a medical device, a pin-tech device (or financial device), a security device, or a climate/environmental device.
| 15. A first apparatus (9010) performing sidelink communication, the first apparatus (9010) comprising:
at least one transceiver; at least one processor; and
at least one computer memory operably connectable to the at least one processor and storing instructions that, when executed, cause the at least one processor to perform operations comprising:
receiving, from a second apparatus (9020), restriction information related to the sidelink communication between the first apparatus (9010) and the second apparatus (9020); and
performing the sidelink communication with the second apparatus (9020) based on the restriction information. | The method involves receiving restriction information related to sidelink communication between first and second apparatuses from the second apparatus (S2510). The sidelink communication is performed (S2520) with the second apparatus based on the restriction information by determining whether or not to establish a connection with the second apparatus based on the restriction information and determining transmission parameters for the sidelink communication based on the restriction information, where the restriction information includes information on transmission resources or reception resources of the second apparatus. An INDEPENDENT CLAIM is also included for an apparatus for performing sidelink communication. Method for performing sidelink communication with a terminal. Uses include but are not limited to a cellular phone, a smart phone, a laptop computer, a digital broadcasting terminal, a personal digital assistants (PDA), a portable multimedia player (PMP), a navigation, a slate PC, a tablet PC, an ultrabook and a wearable device e.g. smartwatch, smart glass and head mounted display (HMD). The method enables allowing a smart grid to improve distribution of fuel or electricity in terms of efficiency, reliability, economy, production sustainability and automated methods. The method enables providing a safety system to allow a driver to guide alternative course of action, so that the driver can drive safely, thus reducing risk of accidents, reducing barriers to distance and improving access to health services that are not continuously available in distant rural areas. The drawing shows a flow diagram illustrating a method for performing sidelink communication by an apparatus. S2510Step for receiving restriction information related to sidelink communication between first and second apparatuses from second apparatusS2520Step for performing sidelink communication with second apparatus |
Please summarize the input | MOBILE TERMINAL FOR PERFORMING OPERATION RELATED TO RAT CHANGEDisclosed in one embodiment of the present invention is a mobile terminal comprising: a display unit for displaying one or more geographical areas; an input unit for receiving a user input for the one or more displayed geographical areas; and a control unit for controlling the input unit and the display unit, wherein one or more pieces of RAT information are mapped by V2X service to each of the one or more geographical areas.|1. A display unit displaying at least one geographical area;
An input unit to receive a user input for the one or more displayed geographic areas;
And a control unit for controlling the input unit and the display unit, wherein one or more RAT information is mapped to each of the one or more Geographical Areas for each V2X service.
| 2. The display apparatus of claim 1, wherein the controller is further configured to display, on the display unit, RAT information mapped to the one geographical area when a user input for one of the one or more geographical areas is received. Mobile terminal.
| 3. The mobile terminal of claim 2, wherein the controller is further configured to display V2X service information related to the RAT information.
| 4. The mobile terminal of claim 3, wherein the RAT information is RAT information available in the geographic area.
| 5. The mobile terminal of claim 1, wherein the V2X service information is V2X service information capable of using RAT.
| 6. The mobile terminal of claim 2, wherein the controller is configured to display a map including the one geographical area together with the RAT information on the display unit.
| 7. The mobile terminal of claim 2, wherein, when a user input for any one of the RAT information displayed on the display unit is received, the controller transmits the RAT information corresponding to the input to terminals included in the group through the communication unit. terminal.
| 8. The method of claim 7, wherein the controller switches the RAT corresponding to the transmitted RAT information only after receiving an ACK for the transmitted RAT information from all terminals included in the group and transmitting a confirm message. Mobile terminal.
| 9. The mobile terminal of claim 1, wherein the controller is further configured to display a map including the one or more geographical areas on the display unit.
| 8. The RAT information of claim 7, wherein the controller is further configured to, when a user input for a portion corresponding to one geographical area is received in a map including the at least one geographic area, is input to the input unit. Displaying on the display unit.
| 11. The mobile terminal of claim 9, wherein, when a user input for any one of the RAT information displayed on the display unit is received, the controller transmits the RAT information corresponding to the input through the communication unit.
| 12. The method of claim 10, wherein the controller switches to the RAT corresponding to the transmitted RAT information only after receiving an ACK for the transmitted RAT information from all terminals included in the group and transmitting a confirm message. Mobile terminal.
| 13. The mobile terminal of claim 1, wherein the mobile terminal comprises at least one of a geographical area information managing unit, a geographical area setting managing unit, a V2X service information managing unit, and a RAT information managing unit.
| 14. The mobile terminal of claim 13, wherein the geographical area management unit determines whether the terminal is within a specific geographical area.
| 15. The mobile terminal of claim 14, wherein the geographical area management unit obtains location information of the mobile terminal.
| 16. The mobile terminal of claim 13, wherein the geographical area setting manager displays a setting screen related to a geographical area and receives and stores an input from a user.
| 17. The mobile terminal of claim 13, wherein the Geographical Area session manager performs one of establishing, modifying, and releasing a PDU session for a Geographical Area.
| 18. The mobile terminal of claim 13, wherein the geographical area information management unit receives and stores geographical area related information received from a network, and provides the geographical area management unit, a geographical area setting management unit, and a geographical session management unit.
| 19. The mobile terminal of claim 1, wherein the mobile terminal is a device mounted on a mobile terminal or an autonomous vehicle.
| 20. The mobile terminal of claim 1, wherein the mobile terminal communicates with at least one of a network and an autonomous vehicle. | The terminal has a display unit for displaying a geographical area. An input unit receives a user input for multiple displayed geographic areas. A control unit controls the input unit and the display unit, where multiple types of radio access technology (RAT) information are mapped to multiple geographical areas for V2X service. The control unit is configured to display V2X service information related to the RAT information. The control unit is configured to display a map including the geographical area together with the RAT information on the display unit. Mobile terminal for performing action related to RAT change in a wireless communication system. Uses include but are not limited to a Code division multiple access (CDMA) system, a Frequency division multiple access (FDMA) system, a Time division multiple access (TDMA) system, an Orthogonal FDMA (OFDMA) system, a Single carrier FDMA (SC-FDMA) system and a Multi-carrier FDMA (MC-FDMA) system. The control unit controls the input unit and the display unit so as to perform RAT change while supporting a service specific to the V2X in an efficient manner. The drawing shows schematic views of a mobile terminal. '(Drawing includes non-English language text)' |
Please summarize the input | Method of operating transmitting UE in relation to RLF reporting in wireless communication systemA method of operating a transmitting user equipment (UE) in a wireless communication system includes establishing a link with a Rx UE by the Tx UE, and transmitting an RRC message based on sidelink radio link failure (RLF) to a base station (BS) by the Tx UE. The RRC message is related to reporting of the sidelink RLF to the BS, and includes a destination identifier (ID) related to the sidelink RLF.What is claimed is:
| 1. A method performed by a Tx user equipment (UE) operating in a wireless communication system, the method comprising:
receiving, by the TX UE from a base station (BS), multiple SPS (Semi-Persistent Scheduling) configurations;
establishing, by the Tx UE, a link with a Rx UE;
declaring, by the Tx UE, a sidelink radio link failure (RLF); and
transmitting, by the Tx UE to a base station (BS), a radio resource control (RRC) message based on the sidelink RLF,
wherein the RRC message is related to reporting of the sidelink RLF to the BS,
wherein the RRC message includes a destination identifier (ID) related to the sidelink RLF and SPS configuration index to be released due to the RLF among the multiple the SPS configurations, and
wherein, after declaring of sidelink RLF, a transmission of a sidelink buffer status report (BSR) is not performed.
| 2. The method according to claim 1, wherein the destination ID is related to transmission resource allocation of the BS.
| 3. The method according to claim 2, wherein the Tx UE does not transmit a transmission resource request related to the destination ID any longer after transmitting the RRC message.
| 4. The method according to claim 1, wherein the sidelink RLF is based on retransmission occurrences of a maximum retransmission number.
| 5. The method according to claim 1, wherein the sidelink RLF is based on reception of an OUT OF SYNC indication a predetermined number of or more times.
| 6. The method according to claim 1, wherein the destination ID is generated by a vehicle-to-everything (V2X) layer of the Tx UE.
| 7. The method according to claim 1, wherein the RRC message is transmitted, when a latency budget of data transmission in service is larger than a delay until transmission resources are allocated by the BS.
| 8. The method according to claim 1, wherein the Tx UE communicates with at least one of another UE, a UE related to autonomous driving vehicle, a BS, or a network.
| 9. A Tx user equipment (UE) configured to operate in a wireless communication system, the Tx UE comprising:
at least one processor; and
at least one computer memory operatively coupled to the at least one processor and storing instructions which, when executed, cause the at least one processor to perform operations,
wherein the operations include receiving multiple SPS configurations from a base station (BS), establishing a link with a Rx UE, declaring, by the Tx UE, a sidelink radio link failure (RLF), and transmitting, to a base station (BS), a radio resource control (RRC) message based on the sidelink RLF,
wherein the RRC message is related to reporting of the sidelink RLF to the BS,
wherein the RRC message includes a destination identifier (ID) related to the sidelink RLF and SPS configuration index to be released due to the RLF among the multiple the SPS configurations, and
wherein, after declaring of sidelink RLF, a transmission of a sidelink buffer status report (BSR) is not performed.
| 10. A non-transitory computer-readable storage medium storing at least one computer program including instructions which, when executed by at least one processor, cause the at least one processor to perform operations for a Tx user equipment (UE),
wherein the operations include receiving multiple SPS configurations from a base station (BS), establishing a link with a Rx UE, declaring, by the Tx UE, a sidelink radio link failure (RLF), and transmitting, to a base station (BS), a radio resource control (RRC) message based on the sidelink RLF,
wherein the RRC message is related to reporting of the sidelink RLF to the BS,
wherein the RRC message includes a destination identifier (ID) related to the sidelink RLF and SPS configuration index to be released due to the RLF among the multiple the SPS configurations, and
wherein, after declaring of sidelink RLF, a transmission of a sidelink buffer status report (BSR) is not performed.
| 11. A base station (BS) configured to operate in a wireless communication system, the BS comprising:
at least one processor; and
at least one computer memory operatively coupled to the at least one processor and storing instructions which, when executed, cause the at least one processor to perform operations,
wherein the operations include receiving multiple SPS configurations from a base station (BS), receiving a radio resource control (RRC) message based on sidelink radio link failure (RLF) from a Tx user equipment (UE),
wherein the RRC message is related to reporting of the sidelink RLF to the BS,
wherein the RRC message includes a destination identifier (ID) related to the sidelink RLF and SPS configuration index to be released due to the RLF among the multiple the SPS configurations, and
wherein, after declaring of the sidelink RLF that is declared by the TX UE, a transmission of a sidelink buffer status report (BSR) is not performed by the Tx UE. | The method involves establishing (S3401) a link with a Rx UE by the Tx UE. A RRC message is transmitted (S3402) based on sidelink RLF to a BS by the Tx UE. The RRC message is related to reporting of the sidelink RLF to the BS. The RRC message includes a destination identifier (ID) related to the sidelink RLF. INDEPENDENT CLAIMS are included for the following:a Tx user equipment in wireless communication system;a computer-readable storage medium storing program for operating Tx user equipment in wireless communication system; anda base station (BS) in wireless communication system. Method for operating transmitter user equipment in wireless communication system such as multiple access system providing various types of communication services such as voice and data for use in BS (all claimed). The method helps to eliminate distance barriers and improves access to medical services that is often not consistently available in distant rural communities. The transmitting UE needs to optimize transmission power according to the characteristics of each signal included in the side link synchronization signal block (S-SSB) in order to improve the S-SSB reception performance of the receiving UE. The physical side link control channel (PSCCH) is replaced with the sidelink control information (SCI), the first SCI, or the second SC since the transmitting UE transmits the SCI, the first SCI, or the second SCI to the receiving UE on the PSCCH. The FEC scheme has decreased system efficiency in a good channel environment although the FEC scheme offers the benefits of a short time delay and no need for separately exchanging information between a transmitter and a receiver. The drawing shows a flowchart illustrating method for operating Tx UE in wireless communication system. S3401Step for establishing a link with a Rx UE by the Tx UES3402Step for transmitting a RRC message based on sidelink RLF to a BS by the Tx UE |
Please summarize the input | Method of operating UE in relation to release of sidelink RRC connection in wireless communication systemA method of operating a first user equipment (UE) in a wireless communication system is disclosed. The method includes establishing two or more PC5 radio resource control (RRC) connections with a second UE by the first UE, and releasing an RRC connection for which sidelink radio link failure (SL RLF) has been declared among the two or more PC5 RRC connections by the first UE. There is a PC5 unicast link associated with the PC5 RRC connection, and the PC5 unicast link for which the SL RLF has been declared and the PC5 RRC connection has been released is indicated by a PC5 link identifier (ID).What is claimed is:
| 1. A method of operating a first user equipment (UE) in a wireless communication system, the method comprising:
establishing two or more PC5 radio resource control (RRC) connections with a second UE by the first UE; and
releasing a PC5 RRC connection for which sidelink radio link failure (SL RLF) has been declared among the two or more PC5 RRC connections by the first UE,
wherein there is a PC5 unicast link associated with the PC5 RRC connection, and
wherein the PC5 unicast link for which the SL RLF has been declared and the PC5 RRC connection has been released is indicated by a PC5 link identifier (ID),
wherein the PC5 link identifier is provided by an access stratum (AS) layer of the first UE to a vehicle-to-everything (V2X) layer of the first UE, and
wherein the V2X layer releases the PC5 unicast link indicated by the PC5 link identifier.
| 2. The method according to claim 1, wherein the first UE transmits, to a base station (B S), information related to the PC5 unicast link for which the SL RLF has been declared and the PC5 RRC connection has been released.
| 3. The method according to claim 2, wherein when another PC5 RRC connection is released for a reason other than SL RLF among the two or more PC5 RRC connections, the first UE provides, to a higher layer, information related to a PC5 unicast link associated with the PC5 RRC connection.
| 4. The method according to claim 1, wherein the PC5 unicast link is related to the PC5 RRC connection released by the SL RLF.
| 5. The method according to claim 1, wherein an AS layer of the first UE indicates to a V2X layer of the first UE that the PC5 RRC connection has been released based on the SL RLF.
| 6. A first user equipment (UE) configured to operate in a wireless communication system, the first UE comprising:
at least one processor; and
at least one computer memory operatively coupled to the at least one processor and storing instructions which when executed, cause the at least one process to perform operations,
wherein the operations comprise:
establishing two or more PC5 radio resource control (RRC) connections with a second UE by the first UE; and
releasing a PC5 RRC connection for which sidelink radio link failure (SL RLF) has been declared among the two or more PC5 RRC connections by the first UE,
wherein there is a PC5 unicast link associated with the PC5 RRC connection, and
wherein the PC5 unicast link for which the SL RLF has been declared and the PC5 RRC connection has been released is indicated by a PC5 link identifier (ID),
wherein the PC5 link identifier is provided by an access stratum (AS) layer of the first UE to a vehicle-to-everything (V2X) layer of the first UE, and
wherein the V2X layer releases the PC5 unicast link indicated by the PC5 link identifier.
| 7. The first UE according to claim 6, wherein the first UE communicates with at least one of another UE, a UE or base station (BS) related to an autonomous driving vehicle, or a network.
| 8. A processor for performing operations for a user equipment (UE) in a wireless communication system,
wherein the operations comprise:
establishing two or more PC5 radio resource control (RRC) connections with a second UE by a first UE; and
releasing a PC5 RRC connection for which sidelink radio link failure (SL RLF) has been declared among the two or more PC5 RRC connections by the first UE,
wherein there is a PC5 unicast link associated with the PC5 RRC connection, and
wherein the PC5 unicast link for which the SL RLF has been declared and the PC5 RRC connection has been released is indicated by a PC5 link identifier (ID),
wherein the PC5 link identifier is provided by an access stratum (AS) layer of the first UE to a vehicle-to-everything (V2X) layer of the first UE, and
wherein the V2X layer releases the PC5 unicast link indicated by the PC5 link identifier.
| 9. A non-transitory computer-readable storage medium storing at least one computer program, the at least one computer program including instructions which when executed by at least one processor, cause the at least one processor to perform operations for a UE,
wherein the operations comprise:
establishing two or more PC5 radio resource control (RRC) connections with a second UE by a first UE; and
releasing a PC5 RRC connection for which sidelink radio link failure (SL RLF) has been declared among the two or more PC5 RRC connections by the first UE,
wherein there is a PC5 unicast link associated with the PC5 RRC connection, and
wherein the PC5 unicast link for which the SL RLF has been declared and the PC5 RRC connection has been released is indicated by a PC5 link identifier (ID),
wherein the PC5 link identifier is provided by an access stratum (AS) layer of the first UE to a vehicle-to-everything (V2X) layer of the first UE, and
wherein the V2X layer releases the PC5 unicast link indicated by the PC5 link identifier. | The method involves establishing two or more PC5 RRC connections with a second UE by a first UE, and releasing an RRC connection for which SL RLF has been declared among the two or more PC5 RRC connections by the first UE. There is a PC5 unicast link associated with the PC5 RRC connection. The PC5 unicast link for which the SL RLF has been declared and the PC5 RRC connection has been released is indicated by a PC5 link identifier (ID) INDEPENDENT CLAIMS are also included for the following:a first UE in a wireless communication system;a computer-readable storage medium. Method for operating first UE (claimed) in wireless communication system. Uses include but are not limited to robot, vehicle such as unmanned aerial vehicle (UAV) e.g. drone, handheld device such as smartphone, smartpad, extended reality (XR) device such as augmented reality (AR)/virtual reality (VR)/mixed reality (MR) device implemented in form of head-mounted device (HMD), head-up display (HUD), mounted in vehicle, TV, smartphone, computer, wearable device, home appliance, digital signage, Internet of Things (IoT) device and artificial intelligence (AI) device/server in code division multiple access (CDMA), frequency division multiple access (FDMA), time division multiple access (TDMA), orthogonal frequency division multiple access (OFDMA), single carrier-frequency division multiple access (SC-FDMA). Allows smart grid to improve the efficiency, reliability, economics and sustainability of the production and distribution of fuels such as electricity in an automated fashion since smart grid interconnects the sensors, using digital information and communications technology to gather and act on information that includes information about the behaviors of suppliers and consumers. Eliminates distance barriers and improves access to medical services that would often not be consistently available in distant rural communities since communications systems enable telemedicine, which provides clinical health care at a distance. The drawing shows a schematic diagram of the signal flow for a method of releasing a PC5 RRC connection and reporting the release of PC5 RRC connection to a higher layer by a UE and thus releasing a PC5 unicast link by the higher layer. S1301Setting up step S1302Transmitting step S1303Releasing step S1304Release procedure performing step |
Please summarize the input | OPERATION METHOD OF SIDELINK TX UE FOR TRANSMITTING RRC MESSAGE RELATED TO RLF AFTER RRC RESUMPTION IN WIRELESS COMMUNICATION SYSTEMA method of operating a Tx user equipment (UE) (100) in a wireless communication system includes receiving radio access network (RAN) paging by the Tx UE, initiating a radio resource control (RRC) resume procedure by the Tx UE (100), and transmitting an RRC message based on sidelink radio link failure (RLF) to a base station (BS) (200) by the Tx UE (100). The RRC message is related to reporting of the sidelink RLF to the BS, and includes a destination identifier (ID) related to the sidelink RLF.|1. A method of operating a Tx user equipment, UE (100), in a wireless communication system, the method comprising: receiving, by the Tx UE (100), radio access network (RAN) paging; initiating, by the Tx UE (100), a radio resource control (RRC) resume procedure; and transmitting, by the Tx UE (100) to a base station, BS (200), an RRC message based on sidelink radio link failure (RLF), wherein the RRC message is related to reporting of the sidelink RLF to the BS (200), wherein the RRC message includes a destination identifier (ID) related to the sidelink RLF, and wherein, based on the sidelink RLF, a transmission related to a resource request for pending data is not performed.
| 2. The method according to claim 1, wherein the destination ID is related to transmission resource allocation of the BS (200).
| 3. The method according to claim 1, wherein the sidelink RLF is based on retransmission occurrences of a maximum retransmission number.
| 4. The method according to claim 2, wherein the Tx UE (100) does not transmit a transmission resource request related to the destination ID any longer after transmitting the RRC message.
| 5. The method according to claim 5, wherein the transmission resource request is one of a scheduling request (SR) and a sidelink buffer status report (BSR).
| 6. The method according to claim 1, wherein the sidelink RLF is based on reception of an OUT OF SYNC indication a predetermined number of or more times.
| 7. The method according to claim 1, wherein the destination ID is generated by a vehicle-to-everything (V2X) layer of the Tx UE (100).
| 8. The method according to claim 1, wherein the RRC message is transmitted, when a latency budget of data transmission in service is larger than a delay until transmission resources are allocated by the BS (200).
| 9. The method according to claim 1, wherein the Tx UE (100) communicates with at least one of another UE, a UE related to autonomous driving vehicle, a BS, or a network.
| 10. A Tx user equipment, UE (100), in a wireless communication system, the Tx UE (100) comprising: at least one processor (102); and at least one memory (104) operatively coupled to the at least one processor (102), to perform the method according to claims 1 to 9.
| 11. A base station, BS (200), in a wireless communication system, the BS (200) comprising: at least one processor (202); and at least one memory (204) operatively coupled to the at least one processor (202) to perform the method according to claims 1 to 9. | The method involves receiving radio access network (RAN) paging by the UE (S3601). A radio resource control (RRC) resume procedure is initiated by the UE (S3602). An RRC message is transmitted based on sidelink radio link failure (RLF) to a base station (BS) by the UE (S3603). The RRC message is related to reporting of the sidelink RLF to the BS. The RRC message includes a destination identifier (ID) related to the sidelink RLF. The destination ID is generated by a vehicle-to-everything (V2X) layer of the UE. The RRC message is transmitted, when a latency budget of data transmission in service is larger than a delay until transmission resources are allocated by the BS. INDEPENDENT CLAIMS are included for the following:a user equipment in a wireless communication system;a computer-readable storage medium comprising a computer program including instructions; anda base station in a wireless communication system. Method for operating a sidelink user equipment (UE) (claimed) for transmitting a radio resource control (RRC) message related to radio link failure (RLF), after RRC resumption in a wireless communication system. The communications systems enable telemedicine, which provides clinical health care at a distance, and helps to eliminate distance barriers and improve access to medical services that would often not be consistently available in distant rural communities. The drawing shows a flow chart of a method for operating a sidelink user equipment for transmitting a radio resource control message related to radio link failure, after RRC resumption in a wireless communication system. S3601Receiving radio access network paging by the UES3602Initiating a radio resource control resume procedure by the UES3603Transmitting an RRC message based on sidelink radio link failure to a base station by the UE |
Please summarize the input | Method of operating transmitting UE in relation to RLF reporting of the transmitting UE which has established link after random access procedure in wireless communication systemA method of operating a Tx user equipment (UE) in a wireless communication system includes transmitting a random access preamble corresponding to a synchronization signal block (SSB) by the Tx UE, receiving a random access response in response to the random access preamble by the Tx UE, establishing a link with a Rx UE by the Tx UE, and transmitting a radio resource control (RRC) message based on sidelink radio link failure (RLF) to a base station (BS) by the Tx UE. The RRC message is related to reporting of the sidelink RLF to the BS, and includes a destination identifier (ID) related to the sidelink RLF.What is claimed is:
| 1. A method performed by a Tx user equipment (UE) operating in a wireless communication system, the method comprising:
transmitting, by the Tx UE, a random access preamble corresponding to a synchronization signal block (SSB);
receiving, by the Tx UE, a random access response in response to the random access preamble;
establishing, by the Tx UE, a link with a Rx UE; and
transmitting, by the Tx UE to a base station (BS), a radio resource control (RRC) message based on sidelink radio link failure (RLF),
wherein the RRC message is related to reporting of the sidelink RLF to the BS,
wherein the RRC message includes a destination identifier (ID) related to the sidelink RLF, and
wherein, based on the sidelink RLF, a transmission related to a resource request for pending data is not performed.
| 2. The method according to claim 1, wherein the destination ID is related to transmission resource allocation of the BS.
| 3. The method according to claim 2, wherein the transmission resource allocation of the BS, related to the destination ID is not performed.
| 4. The method according to claim 1, wherein the sidelink RLF is based on retransmission occurrences of a maximum retransmission number.
| 5. The method according to claim 1, wherein the resource request is one of a scheduling request (SR) and a sidelink buffer status report (BSR).
| 6. The method according to claim 1, wherein the sidelink RLF is based on reception of an OUT OF SYNC indication a predetermined number of or more times.
| 7. The method according to claim 1, wherein the destination ID is generated by a vehicle-to-everything (V2X) layer of the Tx UE.
| 8. The method according to claim 1, wherein the RRC message is transmitted, when a latency budget of data transmission in service is larger than a delay until transmission resources are allocated by the BS.
| 9. The method according to claim 1, wherein the Tx UE communicates with at least one of another UE, a UE related to autonomous driving vehicle, a BS, or a network.
| 10. A Tx user equipment (UE) configured to operate in a wireless communication system, the Tx UE comprising:
at least one processor; and
at least one computer memory operatively coupled to the at least one processor and storing instructions which, when executed, cause the at least one processor to perform operations comprising:
transmitting a random access preamble corresponding to a synchronization signal block (SSB);
receiving a random access response in response to the random access preamble;
establishing a link with a Rx UE; and
transmitting, to a base station (BS), a radio resource control (RRC) message based on sidelink radio link failure (RLF),
wherein the RRC message is related to reporting of the sidelink RLF to the BS,
wherein the RRC message includes a destination identifier (ID) related to the sidelink RLF, and
wherein, based on the sidelink RLF, a transmission related to a resource request for pending data is not performed.
| 11. A non-transitory computer-readable storage medium storing at least one computer program including instructions which, when executed by at least one processor, cause the at least one processor to perform operations for a user equipment (UE), wherein the operations comprise:
transmitting a random access preamble corresponding to a synchronization signal block (SSB);
receiving a random access response in response to the random access preamble;
establishing a link with a Rx UE; and
transmitting, to a base station (BS), a radio resource control (RRC) message based on sidelink radio link failure (RLF),
wherein the RRC message is related to reporting of the sidelink RLF to the BS,
wherein the RRC message includes a destination identifier (ID) related to the sidelink RLF, and
wherein, based on the sidelink RLF, a transmission related to a resource request for pending data is not performed.
| 12. A base station (BS) configured to operate in a wireless communication system, the BS comprising:
at least one processor; and
at least one computer memory operatively coupled to the at least one processor and storing instructions which, when executed, cause the at least one processor to perform operations comprising:
receiving a random access preamble corresponding to a synchronization signal block (SSB);
transmitting a random access response in response to the random access preamble; and
receiving, from a Tx user equipment (UE) which has established a link with a Rx UE, a radio resource control (RRC) message based on sidelink radio link failure (RLF),
wherein the RRC message is related to reporting of the sidelink RLF to the BS,
wherein the RRC message includes a destination identifier (ID) related to the sidelink RLF, and
wherein, based on the sidelink RLF, a transmission related to a resource request for pending data is not performed. | The method, involves transmitting by the Tx User Equipment (UE). The random access preamble corresponds to a synchronization signal block (SSB). The Tx UE received a random access response to the random access preamble. The Tx UE established a link with a Rx UE, and transmitted by the Tx UE. The radio resource control (RRC) message is based on sidelink radio link failure (RLF) to a base station (BS). The RRC message is related to reported of the sidelink RLF to the BS. The RRC message has a destination identifier (ID) is related to the sidelink RLF. The destination ID is related to transmission resource allocation of the BS. An INDEPENDENT CLAIM is included for the following:a Tx user equipment (UE) in a wireless communication system;a computer-readable storage medium storing one computer program having instructions; anda base station (BS) in a wireless communication system. Method for operating a Tx user equipment (UE) in a wireless communication system. The method improves the efficiency, reliability, economics and sustainability of the production, and improves access to medical services. The drawing shows the schematic view of the comparing vehicle-to-everything (V2X) communication. |
Please summarize the input | METHOD AND APPARATUS FOR OPERATING UE ASSOCIATED WITH SIDELINK DRX IN WIRELESS COMMUNICATION SYSTEMOne embodiment relates to a method for operating a first transmitting user equipment (UE) in a wireless communication system, the method comprising: a step in which the first UE obtains sidelink discontinuous reception (DRX)-related information; and a step in which the first UE performs, on the basis of the sidelink DRX-related information, a sidelink DRX operation, wherein the sidelink DRX-related information includes mapping information of a sidelink DRX configuration for each zone, and the sidelink DRX operation is based on a sidelink DRX configuration corresponding to the zone ID of the first UE.What is claimed is:
| 1. A method of operating a first User Equipment (UE) (i.e., a Transmitting (TX) UE) in a wireless communication system, the method comprising:
obtaining sidelink Discontinuous Reception (DRX) related information by the first UE; and
performing a sidelink DRX operation by the first UE based on the sidelink DRX related information,
wherein the sidelink DRX related information includes mapping information of a per-zone sidelink DRX configuration and
wherein the sidelink DRX operation is based on a sidelink DRX configuration related to a zone ID of the first UE.
| 2. The method of claim 1, wherein the first UE transmits a message in a sidelink DRX on-duration of the first UE and wherein the sidelink DRX on-duration of the first UE is based on the zone ID of the first UE.
| 3. The method of claim 1, wherein the first UE transmits a message in a sidelink DRX on-duration of a second UE and wherein the sidelink DRX on-duration of the second UE is based on a zone ID of the second UE.
| 4. The method of claim 1, wherein the second UE receives the message in the sidelink DRX on-duration of the second UE and wherein the sidelink DRX on-duration of the second UE is based on the zone ID of the second UE.
| 5. The method of claim 4, wherein the zone ID of the second UE is obtained from a PC5-S message (Direct Communication Request, Direct Communication Accept) or a PC5-S V2X UE discovery message.
| 6. The method of claim 4, wherein the zone ID of the second UE is obtained via groupcast or broadcast of the second UE.
| 7. The method of claim 4, wherein the zone ID of the second UE is included in SCI transmitted by the second UE.
| 8. The method of claim 1, wherein the sidelink DRX related information is delivered via a System Information Block (SIB).
| 9. The method of claim 1, wherein the sidelink DRX operation comprises monitoring a message transmitted by a third UE in a sidelink DRX on-duration based on the sidelink DRX configuration related to the zone ID of the first UE.
| 10. The method of claim 9, wherein a sidelink DRX configuration used by the first UE in transceiving the message with the third UE is different from the sidelink DRX configuration related to the zone ID of the first UE.
| 11. The method of claim 10, wherein the sidelink DRX configuration used in transceiving the message with the third UE comprises a UE-specific or sidelink data's QoS-specific sidelink DRX configuration.
| 12. The method of claim 11, wherein the first UE-specific or sidelink data's QoS-specific sidelink DRX configuration is set up between the first UE and the third UE via a PC5 RRC message.
| 13. The method of claim 11, wherein a period of a sidelink DRX on-duration based on the first UE-specific or sidelink data's QoS-specific sidelink DRX configuration is shorter than that of the sidelink DRX on-duration based on the sidelink DRX configuration related to the zone ID of the first UE.
| 14. In a wireless communication system, a first User Equipment (UE) comprising:
at least one processor; and
at least one computer memory operably connected to the at least one processor and storing instructions to enable the at least one processor to perform operations when executed, the operations comprising:
receiving sidelink Discontinuous Reception (DRX) related information; and
performing a sidelink DRX operation based on the sidelink DRX related information,
wherein the sidelink DRX related information includes mapping information of a per-zone sidelink DRX configuration and
wherein the sidelink DRX operation is based on a sidelink DRX configuration related to a zone ID of the first UE.
| 15. The first UE of claim 13, wherein the first UE communicates with at least one of another UE, a UE related to an autonomous vehicle, a base station, or a network.
| 16. A processor enabling operations for a first User Equipment (UE) to be performed in a wireless communication system, the operations comprising:
obtaining sidelink Discontinuous Reception (DRX) related information by the first UE; and
performing a sidelink DRX operation based on the sidelink DRX related information,
wherein the sidelink DRX related information includes mapping information of a per-zone sidelink DRX configuration and
wherein the sidelink DRX operation is based on a sidelink DRX configuration related to a zone ID of the first UE.
| 17. A computer-readable non-volatile storage medium storing at least one computer program including an instruction for enabling at least one processor to perform operations for a UE when executed by the at least one processor, the operations comprising:
obtaining sidelink Discontinuous Reception (DRX) related information by the first UE; and
performing a sidelink DRX operation based on the sidelink DRX related information,
wherein the sidelink DRX related information includes mapping information of a per-zone sidelink DRX configuration and
wherein the sidelink DRX operation is based on a sidelink DRX configuration related to a zone ID of the first UE. | The method involves obtaining (S1201) sidelink discontinuous reception (DRX) related information. A sidelink DRX operation is performed (S1202) based on the sidelink DRX-related information. The sidelink DRX-related information includes mapping information of a sidelink DRX configuration for each zone. The sidelink DRX operation is based on a sidelink DRX configuration corresponding to the Zone identification (ID) of the first UE. The first UE transmits a message in a sidelink DRX on-duration of the first UE. The Zone ID of the second UE is obtained through Groupcast or broadcast of the second UE. INDEPENDENT CLAIMS are included for the following:a a first UE comprises one processor and computer memory ; anda computer-readable nonvolatile storage medium storing instructions for performing the method. Method for operating a first user equipment (UE) related to sidelink DRX in wireless communication system. A power saving operation can be efficiently performed when sidelink terminals belonging to a zone is matched. The drawing shows a flow chart of the method. (Drawing includes non-English Language text). S1201Obtaining sidelink discontinuous Reception related informationS1202Performing a sidelink DRX operation based on the sidelink DRX-related information |
Please summarize the input | Method and device for transmitting abnormal operation informationPresented in the present disclosure is a method by which a driver situation monitoring device or adjacent vehicles detect the situation of a driver and/or a vehicle in which an abnormality occurs while driving, and provide, through a V2X communication device, the information to the vehicle in which the abnormality has occurred and adjacent vehicles, networks or related organizations, and thus accidents can be prevented or a vehicle in which an abnormality occurs can be controlled.What is claimed is:
| 1. A method performed by a vehicle in a wireless communication system, the method comprising:
detecting an abnormal operation of the vehicle,
wherein the abnormal operation includes at least one of abnormal steering, abnormal acceleration, or abnormal deceleration;
displaying and alarming a warning message in the vehicle;
starting a timer upon displaying the warning message;
transmitting a Driver Status Flag informing the abnormal operation to at least one surrounding vehicle or a roadside unit (RSU) upon detecting the abnormal operation;
receiving, from the RSU, an information on (i) an escort mode driving and (ii) a specific surrounding vehicle for the escort mode; and
based on the abnormal operation being detected before the timer expires, performing the escort mode driving with the specific surrounding vehicle based on the received information,
wherein the abnormal steering represents that the vehicle is operated horizontally at a threshold distance or more based on an operation of the vehicle,
wherein the abnormal acceleration represents that the vehicle is accelerated at an acceleration threshold or more,
wherein the abnormal deceleration represents that the vehicle is decelerated at a deceleration threshold or more, and
wherein the Driver Status Flag is included in a decentralized environmental notification message (DENM).
| 2. The method of claim 1, wherein the Driver Status Flag is transmitted by a broadcast scheme or a unicast scheme.
| 3. An apparatus in a vehicle, comprising:
one or more memories storing instructions;
one or more transceivers; and
one or more processors connecting the one or more memories and the one or more transceivers,
wherein the one or more processors execute the instructions to:
detect an abnormal operation of the vehicle,
wherein the abnormal operation includes at least one of abnormal steering, abnormal acceleration, or abnormal deceleration;
display and alarm a warning message in the vehicle;
start a timer upon displaying the warning message;
transmit a Driver Status Flag informing the abnormal operation to at least one surrounding vehicle or a roadside unit (RSU) upon detecting the abnormal operation;
receive, from the RSU, an information on (i) an escort mode driving and (ii) a specific surrounding vehicle for the escort mode; and
based on the abnormal operation being detected before the timer expires, perform the escort mode driving with the specific surrounding vehicle based on the received information,
wherein the abnormal steering represents that the vehicle is operated horizontally at a threshold distance or more based on an operation of the vehicle,
wherein the abnormal acceleration represents that the vehicle is accelerated at an acceleration threshold or more,
wherein the abnormal deceleration represents that the vehicle is decelerated at a deceleration threshold or more, and
wherein the Driver Status Flag is included in a decentralized environmental notification message (DENM).
| 4. The apparatus of claim 3, wherein the vehicle communicates with at least one of a mobile terminal, a network, and an autonomous driving vehicle other than the vehicle.
| 5. An apparatus set to control a vehicle, the apparatus comprising:
one or more processors; and
one or more memories connected to be executable by the one or more processors and storing instructions,
wherein the one or more processors execute the instructions to:
detect an abnormal operation of the vehicle,
wherein the abnormal operation includes at least one of abnormal steering, abnormal acceleration, or abnormal deceleration;
display and alarm a warning message in the vehicle;
start a timer upon displaying the warning message;
transmit a Driver Status Flag informing the abnormal operation to at least one surrounding vehicle or a roadside unit (RSU) upon detecting the abnormal operation;
receive, from the RSU, an information on (i) an escort mode driving and (ii) a specific surrounding vehicle for the escort mode; and
based on the abnormal operation being detected before the timer expires, perform the escort mode driving with the specific surrounding vehicle based on the received information,
wherein the abnormal steering represents that the vehicle is operated horizontally at a threshold distance or more based on an operation of the vehicle,
wherein the abnormal acceleration represents that the vehicle is accelerated at an acceleration threshold or more,
wherein the abnormal deceleration represents that the vehicle is decelerated at a deceleration threshold or more, and
wherein the Driver Status Flag is included in a decentralized environmental notification message (DENM). | The method involves detecting abnormal operations of a target vehicle. The abnormal operation information is transmitted to the target vehicle and surrounding vehicles and networks of the target vehicle. The abnormal operation information is notified for the abnormal operation. The abnormal operation has abnormal driving of the target vehicle and an abnormal state of a passenger in the target vehicle. The transmission is a sidelink transmission or an uplink transmission. The abnormal driving is one of abnormal steering, abnormal acceleration, and abnormal deceleration. The abnormal steering is operated from left or right by a threshold distance based on the driving direction of the target vehicle. INDEPENDENT CLAIMS are included for the following:a vehicle; andan apparatus used to control a vehicle; anda computer-readable recording medium. Method for transmitting abnormal operation information of a measurement vehicle in a wireless communication system. The method detects the abnormally running vehicle and road safety quickly is directly secured and has good system efficiency and increases transmission reliability. The drawing shows a block diagram of a wireless device. 100Device102, 202Processors104,204Memories106,206Transceivers200Second device |
Please summarize the input | ROUTE PROVIDING DEVICE AND ROUTE PROVIDING METHOD THEREOFThe present invention provides a route providing device for providing a route to a vehicle, and a route providing method thereof. A communication unit of the route providing device is provided on the same printed circuit board as a processor so as to transmit and receive data directly to and from the processor, and may include a plurality of communication modules so as to use a plurality of communication channels.|1. A route providing apparatus for providing a route to a vehicle, comprising: a communication unit receiving map information composed of a plurality of layers from a server;
An interface unit that receives sensing information from one or more sensors provided in the vehicle; And specifying any one lane in which the vehicle is located on a road consisting of a plurality of lanes based on an image received from an image sensor among the sensing information, and an optimal path in which the movement of the vehicle is expected or planned based on the specified lane. Is estimated in units of lanes using the map information, and generates field-of-view information for autonomous driving in which the sensing information is fused to the optimal route, and transmits it to at least one of the server and electronic equipment provided in the vehicle, and for the autonomous driving The field of view information is fused with dynamic information guiding a movable object located on the optimal path, and includes a processor that updates the optimal path based on the dynamic information, and the communication unit is configured to directly transmit and receive data with the processor. And a plurality of communication modules provided on the same printed circuit board as the processor, and using a plurality of communication channels.
| 2. The method of claim 1, wherein one of the plurality of communication modules included in the communication unit is a mobile communication module configured to be connected to a mobile communication network, and the mobile communication module is configured to use at least one of a plurality of mobile communication networks. Path providing apparatus comprising a USIM slot.
| 3. The apparatus of claim 2, wherein the USIM slot is formed to be detachable from the route providing apparatus.
| 4. The method of claim 1, wherein the processor transmits data to at least one of electrical equipment provided in the vehicle through CAN communication, and when transmitting data to the server through the communication unit, through a circuit provided on the printed circuit board. A path providing device, characterized in that transmitting data to the communication unit.
| 5. The apparatus of claim 1, wherein one of the plurality of communication modules included in the communication unit is a short-range communication module, and the short-range communication module is connected to the processor through a circuit of the printed circuit board.
| 6. The printed circuit board of claim 1, wherein the communication module is provided on one side of the printed circuit board, and the interface unit is provided on the other side of the printed circuit board to transmit data to an electronic device provided in the vehicle. In the route providing apparatus, characterized in that the processor is provided between the one side and the other side.
| 7. The apparatus of claim 2, wherein the USIM slot is formed to mount a USIM chip, and different types of USIM chips are mounted to the plurality of USIM slots.
| 8. The apparatus of claim 1, wherein the communication unit comprises a mobile communication module and a short-range communication module.
| 9. The apparatus of claim 8, wherein the short-range communication module is formed to perform short-range communication using at least one of a Wi-Fi technology and a Bluetooth technology.
| 10. The apparatus of claim 1, further comprising multiple antennas connected to the communication unit and configured to transmit and receive radio waves to and from an external device through a plurality of communication channels.
| 11. The path of claim 10, wherein the multiple antennas include a plurality of antennas connected to each of a plurality of communication modules provided in the communication unit, and the plurality of communication channels are formed through the plurality of antennas. Delivery device.
| 12. According to claim 1, The communication unit, Mobile communication module for performing communication with the server; And a short-range communication module for performing V2X communication with an external device located within a certain distance from the vehicle, wherein when a communication speed of the mobile communication module is less than a certain speed, the mobile communication module is deactivated, and the short-range communication module is V2X. A path providing device, characterized in that receiving information from the external device through communication.
| 13. The apparatus of claim 1, wherein the processor transmits the field of view information for autonomous driving to at least one of electronic equipment provided in the vehicle through the interface unit.
| 14. The apparatus of claim 1, wherein the processor transmits, through the communication unit, the field of view information for autonomous driving to at least one of electrical equipment provided in a vehicle capable of wireless communication.
| 15. The apparatus of claim 1, wherein the processor transmits the field of view information for autonomous driving to another vehicle located within a predetermined distance from the vehicle through the communication unit.
| 16. The apparatus of claim 1, wherein the processor transmits the field of view information for autonomous driving through a plurality of different communication channels according to a type of the field of view information for autonomous driving. | The apparatus comprises a communication unit receiving map information composed of multiple layers from a server. An interface unit receives sensing information from sensors provided in the vehicle, and any one lane is specified in which the vehicle is located on a road consisting of multiple lanes based on an image received from an image sensor among the sensing information, and an optimal path in which the movement of the vehicle is expected or planned based on the specified lane. The field of view information is fused with dynamic information guiding a movable object located on the optimal path, and includes a processor that updates the optimal path based on the dynamic information, and the communication unit is provided to directly transmit and receive data with the processor. Multiple communication modules are provided on the same printed circuit board as the processor, and multiple communication channels are used. An INDEPENDENT CLAIM is included for a path providing method. Route providing apparatus for use in providing a route to a vehicle. First, the path providing apparatus includes a communication unit is optimized to generate or update visual field information for autonomous driving, provides a lane-based path based on a high-precision map by using information received through an optimized communication unit. The drawing shows a flowchart of a path providing apparatus. (Drawing includes non-English language text). 800Path providing apparatus810Communication unit812First communication unit814Second communication unit820Interface unit |
Please summarize the input | METHOD FOR TRANSMITTING BSM MESSAGE OF V2X COMMUNICATION DEVICE PROVIDED IN VEHICLE IN AUTONOMOUS DRIVING SYSTEMDisclosed is a method for transmitting a BSM message of a V2X communication device provided in a vehicle in an autonomous driving system. A method for transmitting a BSM message of a V2X communication device, according to an embodiment of the present invention, may comprise: when BSM data is not normally configured due to a sensor error, multiplexing sensor data and GPS data respectively received from a plurality of sensors inside a vehicle; and using the multiplexed sensor data to generate the BSM data. Accordingly, the stability of a V2X system may be strengthened, and an error and the like occurring between the sensors may be further efficiently corrected. An autonomous vehicle of the present invention may be linked with an artificial intelligence module, a drone (unmanned aerial vehicle (UAV)), a robot, an augmented reality (AR) device, a virtual reality (VR) device, a 5G service-related device, and the like.|1. A method for transmitting a Basic Safety Message (BSM) message of a vehicle to everything (V2X) communication device provided in a vehicle in an autonomous driving system, the method comprising: receiving sensor data from a plurality of sensors provided in the vehicle;
Multiplexing the sensor data each received from the plurality of sensors; And if the BSM message cannot be generated based on the received sensor data, generating the BSM message using at least one of the multiplexed sensor data. And transmitting the BSM message.
BSM message transmission method of the V2X communication device comprising a.
| 2. The method of claim 1, wherein the generating of the BSM message comprises: determining whether an error of at least one of the plurality of sensors is detected and thus the BSM message cannot be generated; And when it is determined that the error has been detected, determining whether at least one of the multiplexed sensor data can replace at least one data element constituting the core data of the BSM message.
If the replacement is possible, generating the BSM message based on specific sensor data among the multiplexed sensor data;
BSM message transmission method of the V2X communication device, characterized in that it further comprises.
| 3. The method of claim 2, wherein the generating the BSM message based on the specific sensor data comprises replacing the specific sensor data itself with a data element of the core data.
| 4. The method of claim 2, wherein the generating the BSM message based on the specific sensor data comprises: estimating a missing data element among the core data by using at least one sensor data among a plurality of sensor data subjected to the multiplexing process. step; And generating the BSM message based on the estimated data element.
BSM message transmission method of the V2X communication device, characterized in that it further comprises.
| 5. The method of claim 2, further comprising: if a specific data element in the core data does not exist, determining that the error has been detected due to a failure of a specific sensor among the plurality of sensors;
BSM message transmission method of the V2X communication device, characterized in that it further comprises.
| 6. The method of claim 5, further comprising: determining whether a specific data element exists among the core data, and sensor data corresponding to the specific data element is data within a normal range; And when determining that the sensor data is out of the normal range, determining that the error is detected due to a failure of the specific sensor.
BSM message transmission method of the V2X communication device, characterized in that it further comprises.
| 7. The method of claim 5, further comprising: determining that the error has been detected when a specific data element exists among the core data, and sensor data corresponding to the specific data element erroneously reflects the current state of the vehicle;
BSM message transmission method of the V2X communication device, characterized in that it further comprises.
| 8. The method of claim 7, wherein when a value of sensor data corresponding to the specific data element is within a preset error range by comparing with the multiplexed sensor data, the BSM message is generated using a value of the sensor data. Step to do;
BSM message transmission method of the V2X communication device, characterized in that it further comprises.
| 9. The method of claim 1, wherein the multiplexed data further comprises GPS data received from an external device.
| 10. The method of claim 9, wherein the generating the BSM message comprises generating the BSM message based on the GPS coordinates of the vehicle, a change trend of the GPS coordinates, and a moving path of the vehicle based on the GPS data. BSM message transmission method of the V2X communication device.
| 11. According to claim 1, Receiving from a network DCI (Downlink Control Information) used to schedule transmission of the BSM message; further comprises, The transmission of the BSM message is transmitted to the network based on the DCI BSM message transmission method of the V2X communication device, characterized in that the.
| 12. The method of claim 1, further comprising: performing an initial access procedure with a network based on a synchronization signal block (SSB), wherein the BSM message is transmitted through a PUSCH, and the DM-RS of the SSB and the PUSCH is BSM message transmission method of a V2X communication device, characterized in that QCL for QCL type D.
| 13. The method of claim 1, further comprising: receiving DCI format 5A from a network for scheduling mode 3 transmission (PSCCH and/or PSSCH transmission);
Transmitting SCI format 1 for scheduling the transmission of the BMS message to another vehicle on a PSCCH; And transmitting the BMS message to the other vehicle on the PSSCH.
BSM message transmission method of the V2X communication device, characterized in that it further comprises.
| 14. The method of claim 1, further comprising: sensing a resource for mode 4 transmission in a first window;
Selecting a resource for mode 4 transmission in a second window based on the sensing result;
Transmitting SCI format 1 for scheduling the transmission of the BSM message to another vehicle on the PSCCH based on the selected resource; And transmitting the BMS message to the other vehicle on the PSSCH.
BSM message transmission method of the V2X communication device, characterized in that it further comprises. | The method involves receiving sensor data from set of sensors provided in a vehicle. Sensor data respectively received from set of sensors is multiplexed. Basic safety message (BSM) is generated using one of the multiplexed sensor data when the BSM cannot be generated based on the received sensor data. The BSM is issued. Determination is made to check whether an error of one of the set of sensors is detected so that the BSM cannot be generated. Determination is made to check whether one of the multiplexed sensor data replaces data element constituting core data of the BSM. Method for transmitting a BSM message of a vehicle to everything (V2X) communication device of a vehicle in an autonomous driving system by utilizing a terminal. Uses include but are not limited to vehicle, mobile phone, smart phone, laptop computer, digital broadcasting terminal, personal digital assistant and portable multimedia player (PMP). The method enables enhancing stability of V2X system through sensor multiplexing in autonomous driving system and correcting error generated between the sensors. The drawing shows a schematic view of a data element of a BSM transmitted by a V2X communication device. |
Please summarize the input | AUTONOMOUS VEHICLE RESCUE SYSTEM AND METHODDisclosed are autonomous vehicle rescue system and method. In an autonomous vehicle rescue method according to an embodiment of the present invention, an abnormal state is diagnosed by monitoring the state of a vehicle, and the location data, autonomous driving route and driving plan of the vehicle can be provided. Also, the location and information of the vehicle can be transmitted to a rescue cart located closest from the vehicle on the basis of the location data, autonomous driving route and driving plan. Accordingly, if an abnormality occurs in an autonomous vehicle, the autonomous vehicle can be moved to a safe area by means of rescue carts located in a plurality of places. In the present invention, at least one among the autonomous vehicle, a user terminal and a server can be linked to an artificial intelligence module, a drone (unmanned aerial vehicle (UAV)) robot, an augmented reality (AR) device, a virtual reality (VR) device, a device related to a 5G service and the like.|1. Diagnosing an abnormal condition by monitoring a condition of the vehicle;
If the abnormal condition is diagnosed, supplying location data of the vehicle, an autonomous driving route, and a driving plan; And transmitting the location and information of the vehicle to a rescue cart located at a closest distance to the vehicle based on the location data, the autonomous driving route, and the driving plan.
| 2. The method of claim 1, wherein the transmitting of the location and information of the vehicle comprises: when an abnormal state of the vehicle is confirmed, supplying a control signal to the vehicle to stop the vehicle at a safe place; And rescue of the vehicle stopped in the safe place by the rescue cart.
| 3. The method of claim 2, wherein the rescue of the vehicle comprises: moving to a front wheel of the vehicle at which the rescue cart is stopped; And mounting the vehicle on a flat surface connected to the inclined surface using a conveyor installed on the inclined surface of the rescue cart.
| 4. The method of claim 1, wherein the transmitting of the location and information of the vehicle comprises: supplying a control signal to the vehicle according to a diagnosis of an abnormal state of the vehicle, and then an abnormality in the communication state occurs to the vehicle. If is not supplied, after estimating the current location and information of the vehicle based on the location information and speed information at the time of the last communication with the vehicle, the rescue cart located closest to the estimated location along with the vehicle information Transmitting estimated position data; And rescue of the vehicle while the vehicle is moving based on the vehicle information and estimated location data.
| 5. According to claim 4, Rescue the vehicle, After moving to the front wheel of the vehicle at a speed higher than the speed of the vehicle, aligning the left and right widths of the vehicle to fall within the left and right width range of the rescue cart ; And a speed of the rescue cart so that the vehicle is located on a flat surface connected to the inclined surface via the inclined surface of the rescue cart, and the vehicle wheel is accommodated and seated in a hole formed on the flat surface of the rescue cart. Rescue method of an autonomous vehicle comprising the step of maintaining at a lower speed.
| 6. According to claim 1, The abnormal state of the vehicle is posture data, motion data, yaw data, roll data, pitch data, collision data, direction data, angle data, speed data, acceleration data , Slope data, forward/reverse data, weight data, battery data, fuel data, tire pressure data, internal temperature data, internal humidity data, steering wheel rotation angle data, pressure applied to the accelerator pedal, and pressure applied to the brake pedal A rescue method for an autonomous vehicle, which is determined using at least one of the data.
| 7. The method of claim 6, wherein the autonomous driving route and the driving plan are generated using at least one of topology data, road data, HD map data, and dynamic data.
| 8. According to claim 6, The topology data, the road data, the HD map data, and the dynamic data are supplied using a communication device configured by hybridizing C-V2X technology, DSRC technology, or C-V2X technology and DSRC technology. Self-driving vehicle rescue method.
| 9. The method of claim 1, wherein the rescue cart is waiting at a plurality of locations, and when a distance between the vehicle in which an abnormality has occurred and the rescue cart is greater than a predetermined distance, referring to the autonomous driving route and the driving plan, the A rescue method for an autonomous vehicle in which the location and information of the vehicle are transmitted to another rescue cart located next to the vehicle.
| 10. A location data generating device that generates location data of a vehicle;
A sensing device that senses the state of the vehicle and generates state data;
An object detection device for generating object data, which is information on an object outside the vehicle;
A communication device capable of exchanging signals with the outside of the vehicle with at least one of the location data generating device, the sensing device, and the object detecting device;
An autonomous driving route and a driving plan are generated based on at least one of the location data, the state data, the object data, and external data received through the communication device, and an abnormal signal is generated when an abnormality occurs in the state data. An autonomous driving device outputting to the communication device; And a server that transmits the location and information of the vehicle to a rescue cart located at the closest distance to the vehicle based on the abnormal signal transmitted from the communication device, the location data, the autonomous driving path, and the driving plan. Rescue system for autonomous vehicles, including.
| 11. The method of claim 10, wherein the server stops the vehicle in a safe place by supplying a control signal to the autonomous driving device through the communication device when an abnormal state of the vehicle is confirmed, and the rescue cart is located in the safe place. A rescue system for an autonomous vehicle that rescues the stopped vehicle.
| 12. The method of claim 11, wherein the rescue cart comprises: an inclined surface on which a conveyor for seating the vehicle is installed, a flat surface connected to the inclined surface on which the vehicle is loaded, and formed on the flat surface to accommodate the wheels of the vehicle. And a plurality of holes for the vehicle, wherein the vehicle is mounted on the flat surface through the conveyor.
| 13. The method of claim 10, wherein, when the control signal is not supplied to the autonomous driving device due to a communication state abnormality, the server determines the current position of the vehicle based on position information and speed information when the vehicle is last communicated. After calculation, the estimated location data is transmitted to the rescue cart located closest to the estimated location based on the calculation, along with the information of the vehicle, and the rescue cart is moving based on the information of the vehicle and the estimated location data. A rescue system for an autonomous vehicle that rescues the vehicle in a state.
| 14. The method of claim 13, wherein the rescue cart comprises: an inclined surface for seating the vehicle, a flat surface connected to the inclined surface on which the vehicle is loaded, and a plurality of flat surfaces formed on the flat surface to accommodate the wheels of the vehicle. And a hole, wherein the plurality of holes are larger than the wheel of the vehicle so that the wheel of the vehicle can idle.
| 15. The method of claim 10, wherein the state data includes posture data, motion data, yaw data, roll data, pitch data, collision data, direction data, angle data, velocity data, acceleration data, Tilt data, forward/reverse data, weight data, battery data, fuel data, tire pressure data, internal temperature data, internal humidity data, steering wheel rotation angle data, pressure applied to the accelerator pedal, and pressure applied to the brake pedal Rescue system for an autonomous vehicle comprising at least one of.
| 16. The method of claim 10, wherein the object data includes at least one of information on the existence of an object, location information of the object, distance information between the vehicle and the object, and relative speed information between the vehicle and the object. Self-driving vehicle rescue system.
| 17. The rescue system of claim 16, wherein the object data includes image information.
| 18. The method of claim 10, wherein the autonomous driving device communicates at least one of topology data, road data, HD map data, and dynamic data supplied from an external device or a server to generate the autonomous driving route and the driving plan. Rescue system for autonomous vehicles, supplied through the device.
| 19. The rescue system of claim 18, wherein the communication device is configured by hybridizing C-V2X technology, DSRC technology, or C-V2X technology and DSRC technology.
| 20. The method of claim 10, wherein the rescue cart waits at a plurality of locations, and when a distance between the vehicle in which an abnormality has occurred and the rescue cart is greater than a predetermined distance, the server refers to the autonomous driving route and the driving plan. Thus, a rescue system for an autonomous vehicle that transmits the location and information of the vehicle to another rescue cart located next to the vehicle. | The method involves diagnosing an abnormal condition by monitoring a condition of the vehicle. The autonomous driving route and driving plan are supplied in the location data of autonomous vehicle (10) if the abnormal condition is diagnosed. The location and information of the vehicle is transmitted to a rescue cart located at a closest distance to the vehicle based on the location data. The control signal to the vehicle to stop the vehicle at a safe place is supplied. The front wheel of the vehicle is moved at which the rescue cart is stopped. The vehicle is mounted on a flat surface connected to the inclined surface using a conveyor installed on the inclined surface of the rescue cart. The topology data, road data, high definition map data and dynamic data are supplied using a communication device configured by hybridizing Cellular vehicle-to-everything technology or Dedicated Short Range Communication technology . An INDEPENDENT CLAIM is included for a rescue system for autonomous vehicles that includes location data generating device generating location data of a vehicle. Method for rescuing an autonomous vehicle i.e rail or road vehicle, such as car, train or motorcycle in case of an abnormality. The method allows rescuing of the autonomous vehicle even if remote control of vehicle is not in communication and server and the rescue cart are connected, and thus ensures safe rescuing of the autonomous vehicle. The drawing shows a block diagram of an autonomous vehicle. (Drawing includes non-English language text). 10Autonomous vehicle210Object detection device220Communication device260Autonomous driving device270Sensing device |
Please summarize the input | ELECTRONIC DEVICE FOR VEHICLE AND OPERATION METHOD THEREOFThe present invention relates to an electronic device for a vehicle and an operation method thereof, wherein the electronic device for a vehicle transmits and receives information to and from another vehicle via direct communication and comprises: an interface unit; and a processor for acquiring driving environment information on a driving road through the interface unit, on the basis of the driving environment information, determining a first distance which is an estimated reach distance of a vehicle to everything (V2X) communication signal, calculating a first time which is a risk response preparation time defined by the first distance compared to the speed of a vehicle, and generating a signal for controlling the speed of the vehicle to secure the risk response preparation time. Data generated by the electronic device for a vehicle may be transmitted to an external device through a 5G communication method. An electronic device of an autonomous vehicle of the present invention may be linked or integrated with an artificial intelligence module, a drone (an unmanned aerial vehicle (UAV)), a robot, an augmented reality (AR) device, a virtual reality (VR) device, a 5G service-related device, and the like.|1. Receiving, by the processor, sensor data;
Extracting driving environment information based on the sensor data;
Determining a first distance, which is an expected reach of a V2X communication signal, based on the driving environment information;
Calculating a first time, which is a risk response preparation time defined as the first distance compared to the speed of the vehicle; And generating a signal for controlling the speed of the vehicle to secure the first time.
| 2. The vehicle according to claim 1, wherein the driving environment information includes object information including type, number, and height of objects located in a driving direction acquired by an object detection device and GPS information acquired by a location data generating device. How to operate an electronic device.
| 3. The method of claim 2, wherein the first distance is determined in consideration of a congestion level of a communication channel and a line of sight (LOS) environment based on the driving environment information.
| 4. The method of claim 3, further comprising: determining a second distance, which is the farthest distance among reach distances for each V2X message, wherein the second distance is, The V2X message is received from another vehicle through an interface unit, and the V2X message A method of operating an electronic device for a vehicle, wherein a distance for each message is obtained based on the location information between the vehicle and the vehicle, and extracts and determines the farthest distance among the distances for each message.
| 5. The method of claim 4, further comprising: comparing the first distance and the second distance, and generating a signal for controlling the speed of the vehicle when determining that the second distance is smaller than the first distance. Operation method, vehicle electronic device.
| 6. The method of claim 5, wherein the processor determines that a message received at a distance greater than the first distance is a false alarm.
| 7. The method of claim 1, further comprising: comparing the first time with a minimum risk response preparation time, wherein the minimum risk response preparation time is a second time that is a minimum risk response preparation time for a driver and an autonomous driving module A method of operating an electronic device for a vehicle including a third time that is a minimum risk response preparation time for.
| 8. The method of claim 7, wherein the second time is a minimum time required for a driver to identify a risk factor in a driving situation and respond to the risk factor, and the processor comprises the second time based on the preset second time. When determining that the first time is shorter than the second time, a deceleration control signal is generated based on the second time.
| 9. The method of claim 7, wherein the third time is a minimum time required for the processor to identify a risk factor in a driving situation from the sensor data and generate a control signal corresponding to the risk factor, and the processor, If it is determined that the first time is shorter than the third time, a deceleration control signal is generated based on the third time.
| 10. The method of claim 7, wherein, when determining that the first time is longer than the minimum risk response preparation time, the processor generates an acceleration control signal based on the minimum risk response preparation time.
| 11. The method of claim 10, wherein the acceleration control signal receives an input signal of the driver for whether to generate the acceleration control signal, and is generated based on the driver's input signal.
| 12. The method of claim 11, wherein, if the first time is determined to be between the second time and the third time, the deceleration control signal is further based on a longer time among the second time and the third time. To generate, a method of operating a vehicle electronic device.
| 13. The method of claim 1, further comprising: classifying the first time according to a section; And generating a signal displaying a danger status message; further comprising, the processor, calculating the first time in real time, and indicating a degree of danger of a section to which the calculated first time belongs. A method of operating an electronic device for a vehicle, generating a signal indicating a danger status message.
| 14. The method of claim 13, wherein the signal displaying the danger status message is a signal displayed in a color stored together with a character corresponding to the danger level.
| 15. The method of claim 14, wherein when a change in a section corresponding to the first time occurs while driving, the processor generates a signal indicating the change in the section to a driver.
| 16. The vehicle control method according to any one of claims 1 to 15, wherein the vehicle speed is controlled based on the vehicle speed control signal.
| 17. A vehicle electronic device for transmitting and receiving information to and from other vehicles through direct communication, comprising: an interface unit; And acquiring driving environment information on the driving road through the interface unit, determining a first distance, which is an expected reach of a V2X communication signal, based on the driving environment information, and determining the first distance compared to the vehicle speed. A vehicle electronic device comprising: a processor that calculates a first time, which is a risk response preparation time defined as one distance, and generates a signal for controlling the speed of the vehicle to secure the risk response preparation time.
| 18. The risk of claim 17, wherein the processor classifies the first time according to a section, calculates the first time in real time, and indicates a degree of risk of a section to which the first time calculated in real time belongs. A vehicle electronic device that generates a signal indicative of a status message. | The electronic device (100) comprises an interface unit (180), and acquiring driving environment information based on a driving road through the interface unit, and determining a first distance, which is an expected reach distance of a vehicle to communication signal, based on the driving environment information, and determining the first distance relative to the speed of the vehicle. A processor (170) is configured to calculate a first time, the risk response preparation time defined as one distance, and to generate a signal for controlling the speed of the vehicle to secure the risk response preparation time. The driving environment information includes object information including the type, number, and height of objects located in the driving direction acquired by the object detecting unit, and global positioning system information obtained by the location data generating unit. An INDEPENDENT CLAIM is included for a method for operating the electronic device. Eelectronic device for vehicle. The electronic device predict the reach of the V2X communication signal through the in-vehicle sensor data, extracts the reach of the farthest V2X message, which reduces the false alarm, is effective to reduce the possibility of accident by calculating the preparation time for risk response and intuitively know the danger state by classifying the risk response preparation time by section and displaying the status message. The drawing shows a control block diagram of an electronic device (The drawing includes non-English language text) 100Electronic device140Memory170Processor180Interface unit190Power Supply Unit |
Please summarize the input | METHOD FOR UE OPERATION RELATED TO PLATOONING IN WIRELESS COMMUNICATION SYSTEMAn embodiment relates to a method for UE operation related to platooning in a wireless communication system, the method comprising: transmitting a negotiation message including first vehicle function information to one or more UEs corresponding to a platooning member by a UE corresponding to a platooning leader; receiving a negotiation response message including second vehicle function information from at least one UE among the one or more UEs; selecting a new platooning leader on the basis of the negotiation response message by the UE corresponding to the platooning leader; and transmitting, by the UE corresponding to the platooning leader, a notification message including information related to the new platooning leader, wherein the negotiation message is related to a request for changing the platooning leader.|1. A method of operating a user equipment for platooning in a wireless communication system, the method comprising:
transmitting, by a UE corresponding to a platooning leader, a negotiation message including first vehicle function information to one or more UEs corresponding to platooning members;
receiving a negotiation response message including second vehicle function information from at least one UE among the one or more UEs;
selecting, by the UE corresponding to the platooning leader, a new platooning leader based on the negotiation response message; and
transmitting, by the UE corresponding to the platooning leader, a notification message including information related to the new platooning leader,
wherein the negotiation message is related to a request for changing the platooning leader.
| 2. The method of claim 1, wherein the first vehicle function information comprises LaneKeepingFunction, LaneChangeAssistanceFunction, BrakingAssistanceFunction, CollisionAvoidanceFunction, AdaptiveCruiseControlFunction, or CooperativeAdaptiveCruiseControlFunction.
| 3. The method of claim 2, wherein the negotiation message comprises at least one of VehicleFunctions information corresponding to the first vehicle function information, a cooperative awareness message (CAM), an identifier (ID) of a platooning group, a platooning activated state, or an ID of the platooning leader.
| 4. The method of claim 1, wherein the second vehicle function information comprises at least one of a communication capability of a device receiving the negotiation response message, mobility, and information related to termination condition.
| 5. The method of claim 4, wherein the termination condition comprises at least one of:
a case in which a platooning member leaves a platooning group to which the platooning member belongs in order to change the platooning group;
a case in which the platooning leader dissolves the platooning group to which the platooning member belongs;
a case of lane change;
a case in which the platooning leader changes a lane and the platooning member does not have the following function: Platooning with Lane Change;
a case in which the platooning leader moves along a route that the platooning member does not want;
a case in which following the platooning leader is not allowed due to traffic signals;
a case in which the platooning leader does not follow traffic signals or regulation speeds; or
a case in which reception of a vehicle-to-vehicle (V2V) signal from the platooning leader is no longer allowed.
| 6. The method of claim 1, wherein the UE corresponding to the platooning leader selects a UE determined to be least likely to satisfy a termination condition as the new platooning leader.
| 7. The method of claim 1, wherein the negotiation response message comprises PlatooningGroupID PlatooningGroupID, PlatooningMessageName PlatooningMessageName, VehicleID VehicleID, or ResponseValue ResponseValue.
| 8. The method of claim 6, wherein the ResponseValue indicates whether to accept the request for changing the platooning leader.
| 9. The method of claim 1, wherein among the platooning members, a UE that does not transmit the negotiation response message is considered as rejecting the request for changing the platooning leader.
| 10. The method of claim 1, wherein the information related to the new platooning leader includes information on an identifier (ID) of the new platooning leader.
| 11. A user equipment (UE) corresponding to a platooning leader in a wireless communication system, the UE comprising:
at least one processor; and
at least one computer memory operably connectable to the at least one processor and configured to store instructions that, when executed, cause the at least one processor to perform operations comprising:
transmitting a negotiation message including first vehicle function information to one or more UEs corresponding to platooning members;
receiving a negotiation response message including second vehicle function information from at least one UE among the one or more UEs;
selecting a new platooning leader based on the negotiation response message; and
transmitting a notification message including information related to the new platooning leader,
wherein the negotiation message is related to a request for changing the platooning leader.
| 12. The UE of claim 11, wherein the UE communicates with at least one of another UE, a UE related to an autonomous driving vehicle, a base station, or a network.
| 13. A processor configured to perform operations for a user equipment (UE) corresponding to a platooning leader in a wireless communication system, the operations comprising:
transmitting a negotiation message including first vehicle function information to one or more UEs corresponding to platooning members;
receiving a negotiation response message including second vehicle function information from at least one UE among the one or more UEs;
selecting a new platooning leader based on the negotiation response message; and
transmitting a notification message including information related to the new platooning leader,
wherein the negotiation message is related to a request for changing the platooning leader.
| 14. A non-volatile computer-readable storage medium configured to store at least one computer program including instructions that, when executed by at least one processor, cause the at least one processor to perform operations for a user equipment (UE), the operations comprising:
transmitting a negotiation message including first vehicle function information to one or more UEs corresponding to platooning members;
receiving a negotiation response message including second vehicle function information from at least one UE among the one or more UEs;
selecting a new platooning leader based on the negotiation response message; and
transmitting a notification message including information related to the new platooning leader,
wherein the negotiation message is related to a request for changing a platooning leader. | The method involves receiving the negotiation response message with second vehicle function information from the user equipment (UE) among multiple UEs. The UE corresponding to the platooning leader that selects a new platooning leader based on the negotiation response message. The UE corresponding to the platooning leader that transmits a notification message that has information related to the new platooning leader. The negotiation message is related to the request of the platooning leader change. INDEPENDENT CLAIMS are included for the following:a UE corresponding to a platooning reader in a wireless communication system; anda non-volatile computer-readable storage medium for storing a computer program. Method for operating UE related to platooning in a wireless communication system (claimed). The method reduces the platooning message that is generated and exchanged to form a new platooning group when the platooning leader dissolves the platooning group. The drawing shows a schematic representation of the method for operating UE related to platooning in a wireless communication system. |
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