Patent Publication Number: US-11643112-B2

Title: Path providing device and path providing method thereof

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application is a continuation of International Application No. PCT/KR2019/008701, filed on Jul. 15, 2019, the disclosure of which is incorporated by reference in its entirety. 
    
    
     TECHNICAL FIELD 
     The present disclosure relates to a path providing device disposed at a vehicle for providing a path (route) to the vehicle and a path providing method thereof. 
     BACKGROUND 
     A vehicle refers to means of transporting people or goods by using kinetic energy. Representative examples of vehicles include automobiles and motorcycles. 
     For safety and convenience of a user who uses the vehicle, various sensors and devices are provided in the vehicle, and functions of the vehicle are diversified. 
     The functions of the vehicle may be divided into a convenience function for promoting driver&#39;s convenience, and a safety function for enhancing safety of the driver and/or pedestrians. 
     First, the convenience function has a development motive associated with the driver&#39;s convenience, such as providing infotainment (information+entertainment) to the vehicle, supporting a partially autonomous driving function, or helping the driver ensuring a field of vision at night or at a blind spot. For example, the convenience functions may include various functions, such as an active cruise control (ACC), a smart parking assist system (SPAS), a night vision (NV), a head up display (HUD), an around view monitor (AVM), an adaptive headlight system (AHS), and the like. 
     The safety function is a technique of ensuring safeties of the driver and/or pedestrians, and may include various functions, such as a lane departure warning system (LDWS), a lane keeping assist system (LKAS), an autonomous emergency braking (AEB), and the like. 
     For the convenience of a user using a vehicle, various types of sensors and electronic devices are provided in the vehicle. Specifically, a study on an Advanced Driver Assistance System (ADAS) is actively undergoing. In addition, an autonomous vehicle is actively under development. 
     As the development of the advanced driver assistance system (ADAS) is actively undergoing in recent time, development of a technology for optimizing user&#39;s convenience and safety while driving a vehicle is required. 
     As part of this effort, in order to effectively transmit electronic Horizon (eHorizon) data to autonomous driving systems and infotainment systems, the European Union Original Equipment Manufacturing (EU OEM) Association has established a data specification and transmission method as a standard under the name “Advanced Driver Assistance Systems Interface Specification (ADASIS).” 
     In addition, eHorizon (software) is becoming an integral part of safety/ECO/convenience of autonomous vehicles in a connected environment. 
     SUMMARY 
     The present disclosure describes a path providing device configured to provide autonomous driving visibility information which allows autonomous driving. 
     The present disclosure also describes a path providing device capable of efficiently managing resources of a vehicle using autonomous driving visibility information and reducing co2 emissions. 
     According to one aspect of the subject matter described in this application a path providing device configured to provide a path information to a vehicle includes a communication unit configured to receive map information from a server, the map information including a plurality of layers of data, an interface unit configured to receive sensing information from one or more sensors disposed at the vehicle, the sensing information including an image received from an image sensor, and a processor. The processor may be configured to identify a lane in which the vehicle is located among a plurality of lanes of a road based on the sensing information, determine an optimal path for guiding the vehicle from the identified lane, the optimal path comprising one or more lanes included in the map information, generate autonomous driving visibility information and transmit the generated autonomous driving visibility information to at least one of the server or an electric component disposed at the vehicle based on the sensing information and the determined optimal path, and update the optimal path based on dynamic information related to a movable object located in the optimal path and the autonomous driving visibility information. The processor may be further configured to control the interface unit to shut off or start an engine of the vehicle based on the autonomous driving visibility information while the vehicle is stationary. 
     Implementations according to this aspect may include one or more of the following features. For example, the processor may be configured to receive surrounding information of the vehicle through the communication unit, determine a specific time based on the received surrounding information, and control the interface unit to restart the engine of the vehicle based on the specific time being elapsed while the engine of the vehicle is off. 
     In some examples, the processor may be configured to select, based on a plurality of surrounding information being received, at least one surrounding information based on the optimal path, and determine the specific time using the selected surrounding information. In some examples, the processor may be configured to control the interface unit to provide notification information regarding the specific time in at least one of visual, auditory, or tactile manners. 
     In some implementations, the processor may be configured to control, while the engine of the vehicle is off and based on a movement or expected movement of another vehicle that is ahead of the vehicle, the interface unit to restart the engine of the vehicle. In some examples, the processor may be configured to select, based on a plurality of vehicles being in front of the vehicle, one vehicle located on the same lane as the vehicle, among the plurality of vehicles, as the another vehicle based on the optimal path, and control the interface unit to restart the engine of the vehicle based on a movement or expected movement of the another vehicle. 
     In some examples, the processor may be configured to determine a movement or expected movement of the another vehicle based on at least one of the sensing information or information related to and received from the another vehicle. 
     In some implementations, the processor may be configured to control the interface unit to restart the engine of the vehicle based on a traffic signal in front of the vehicle changed while the engine of the vehicle is off. In some implementations, the processor may be configured to determine whether to execute an Idle Stop and Go function that shuts off or restarts the engine of the vehicle according to a predetermined condition that is based on the optimal path. 
     In some examples, the processor may be configured to determine whether to execute the Idle Stop and Go function based on the dynamic information included in the autonomous driving visibility information. In some examples, the processor may be configured to determine whether to execute the Idle Stop and Go function based on at least one of characteristics of the road or characteristics of a road on which the vehicle is expected to travel. In some examples, the processor may be configured to control, based on a road expected to be merged into the road on which the vehicle is travelling being included in the optimal path, the interface unit to not execute the Idle Stop and Go function. 
     In some implementations, the processor may be configured to control, based on a parking lot being included in the optimal path, the interface unit to not execute the Idle Stop and Go function. In some examples, the processor may be configured to control, based on the optimal path including a road unavailable for generating a path, the interface unit to not execute the Idle Stop and Go function. 
     In some implementations, the processor may be configured to change the predetermined condition based on the optimal path. In some examples, the processor may be configured to identify a first set of lanes and a second set of lanes among the plurality of lanes, based on the optimal path, the first set of lanes being available for executing the Idle Stop and Go function and the second set of lanes being unavailable for executing the Idle Stop and Go function, and change the predetermined condition based on at least one of the first set of lanes or the second set of lanes. 
     In some implementations, the processor may be configured to control, while the vehicle is at a complete stop, the interface unit to shut off the engine of the vehicle based on the optimal path satisfied an engine-off condition, and control the interface unit to restart the engine of the vehicle based on the optimal path satisfied an engine-on condition while the engine of the vehicle is off. In some implementations, the autonomous driving visibility information may include of a plurality of layers of data, and the processor may be configured to selectively transmit at least one of the plurality of layers according to an electric component receiving the autonomous driving visibility information. 
     According to another aspect of the subject matter described in this application, a path providing method, performed by a path providing device configured to provide path information to a vehicle, is provided. The method may include receiving, from a server, map information including a plurality of layers of data, receiving, from one or more sensors disposed at the vehicle, sensing information including an image received from an image sensor, identifying a lane in which the vehicle is located among a plurality of lanes of a road based on the sensing information, determining an optimal path for guiding the vehicle from the identified lane, the optimal path comprising one or more lanes included in the map information, generating autonomous driving visibility information and transmitting the generated autonomous driving visibility information to at least one of the server or an electric component disposed at the vehicle based on the sensing information and the determined optimal path, updating the optimal path based on dynamic information related to a movable object located in the optimal path and the autonomous driving visibility information, and generating a control command to shut off or restart an engine of the vehicle based on the autonomous driving visibility information while the vehicle is stationary. 
     Implementations according to this aspect may include one or more following features. For example, the method may further include selecting at least one of the plurality of layers of data included in the autonomous driving visibility information, based on at least one of a function being executed by the electric component or a function to be executed by the electric component, and transmitting the selected layer to the electric component. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    illustrates an outer appearance of a vehicle. 
         FIG.  2    illustrates a vehicle exterior from various angles. 
         FIGS.  3  and  4    illustrate a vehicle interior. 
         FIGS.  5  and  6    are diagrams referenced to describe objects. 
         FIG.  7    is a block diagram of an exemplary vehicle. 
         FIG.  8    is a diagram of an exemplary Electronic Horizon Provider (EHP). 
         FIG.  9    is a block diagram of an exemplary path providing device of  FIG.  8   . 
         FIG.  10    is a diagram of an exemplary eHorizon. 
         FIGS.  11 A and  11 B  are diagrams illustrating examples of a Local Dynamic Map (LDM) and an Advanced Driver Assistance System (ADAS) MAP. 
         FIGS.  12 A and  12 B  are diagrams illustrating examples of method of receiving high-definition map data by a path providing device of  FIG.  8   . 
         FIG.  13    is a flowchart of an exemplary method of generating autonomous driving visibility information. 
         FIG.  14    is a flowchart of an exemplary method of determining a specific time for shutting off or restarting the engine. 
         FIGS.  15 A,  15 B, and  15 C  are exemplary diagrams illustrating implementations of the method of  FIG.  14   . 
         FIG.  16    is an exemplary diagram of determining a specific time based on another vehicle. 
         FIG.  17    is a flowchart of an exemplary method of determining whether to execute an Idle Stop and Go (ISG) function by a path providing device. 
         FIGS.  18 A,  18 B, and  18 C  are exemplary diagrams illustrating implementations of the method of  FIG.  17   . 
     
    
    
     DETAILED DESCRIPTION 
     Description will now be given in detail according to exemplary implementations disclosed herein, with reference to the accompanying drawings. For the sake of brief description with reference to the drawings, the same or equivalent components may be provided with the same or similar reference numbers, and description thereof will not be repeated. In general, a suffix such as “module” and “unit” may be used to refer to elements or components. Use of such a suffix herein is merely intended to facilitate description of the specification, and the suffix itself is not intended to give any special meaning or function. In describing the present disclosure, if a detailed explanation for a related known function or construction is considered to unnecessarily divert the gist of the present disclosure, such explanation has been omitted but would be understood by those skilled in the art. The accompanying drawings are used to help easily understand the technical idea of the present disclosure and it should be understood that the idea of the present disclosure is not limited by the accompanying drawings. The idea of the present disclosure should be construed to extend to any alterations, equivalents and substitutes besides the accompanying drawings. 
     It will be understood that although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are generally only used to distinguish one element from another. 
     It will be understood that when an element is referred to as being “connected with” another element, the element can be connected with the another element or intervening elements may also be present. 
     A singular representation may include a plural representation unless it represents a definitely different meaning from the context. 
     Terms such as “include” or “has” are used herein and should be understood that they are intended to indicate an existence of several components, functions or steps, disclosed in the specification, and it is also understood that greater or fewer components, functions, or steps may likewise be utilized. 
     A vehicle according to some implementations of the present disclosure may be understood as a conception including cars, motorcycles and the like. Hereinafter, the vehicle will be described based on a car. 
     The vehicle according to some implementations of the present disclosure may be a conception including all of an internal combustion engine car having an engine as a power source, a hybrid vehicle having an engine and an electric motor as power sources, an electric vehicle having an electric motor as a power source, and the like. 
     In the following description, a left side of a vehicle or the like refers to a left side in a driving direction of the vehicle, and a right side of the vehicle or the like refers to a right side in the driving direction. 
     As illustrated in  FIGS.  1  to  7   , a vehicle  100  may include wheels turning by a driving force, and a steering input device  510  for adjusting a driving (proceeding, moving) direction of the vehicle  100 . 
     The vehicle  100  may be an autonomous vehicle. 
     In some implementations, the vehicle  100  may be switched into an autonomous mode or a manual mode based on a user input. 
     For example, the vehicle  100  may be converted from the manual mode into the autonomous mode or from the autonomous mode into the manual mode based on a user input received through a user interface apparatus  200  in  FIG.  7   . 
     The vehicle  100  may be switched into the autonomous mode or the manual mode based on driving environment information. The driving environment information may be generated based on object information provided from an object detecting apparatus  300  in  FIG.  7   . 
     For example, the vehicle  100  may be switched from the manual mode into the autonomous mode or from the autonomous module into the manual mode based on driving environment information generated in the object detecting apparatus  300 . 
     In an example, the vehicle  100  may be switched from the manual mode into the autonomous mode or from the autonomous module into the manual mode based on driving environment information received through a communication apparatus  400  in  FIG.  7   . 
     The vehicle  100  may be switched from the manual mode into the autonomous mode or from the autonomous module into the manual mode based on information, data, or signal provided from an external device. 
     When the vehicle  100  is driven in the autonomous mode, the vehicle  100  may be driven based on an operation system  700 . 
     For example, the autonomous vehicle  100  may be driven based on information, data or signal generated in a driving system  710 , a parking exit system  740 , and a parking system  750 . 
     When the vehicle  100  is driven in the manual mode, the autonomous vehicle  100  may receive a user input for driving through a driving control apparatus  500 . The vehicle  100  may be driven based on the user input received through the driving control apparatus  500 . 
     As illustrated in  FIG.  7   , the vehicle  100  may include a user interface apparatus  200 , an object detecting apparatus  300 , a communication apparatus  400 , a driving control apparatus  500 , a vehicle operating apparatus  600 , an operation system  700 , a navigation system  770 , a sensing unit  120 , an interface unit  130 , a memory  140 , a controller  170 , a power supply unit  190 , and a path providing device  800 . 
     The vehicle  100  may include more components in addition to the components to be explained in this specification or may exclude one or more of the components described in this specification. 
     The user interface apparatus  200  is an apparatus that provides communication between the vehicle  100  and a user. The user interface apparatus  200  may receive a user input and provide information generated in the vehicle  100  to the user. The vehicle  100  may implement user interfaces (UIs) or user experiences (UXs) through the user interface apparatus  200 . 
     The user interface apparatus  200  may include an input unit  210 , an internal camera  220 , a biometric sensing unit  230 , an output unit  250 , and at least one processor such as a processor  270 . 
     The user interface apparatus  200  may include more components in addition to the components that are described in this specification or may exclude one or more of those components described in this specification. 
     The input unit  210  may allow the user to input information. Data collected in the input unit  210  may be analyzed by the processor  270  and processed as a user&#39;s control command. 
     The input unit  210  may be disposed inside the vehicle. For example, the input unit  210  may be disposed on or around a steering wheel, an instrument panel, a seat, each pillar, a door, a center console, a headlining, a sun visor, a wind shield, a window or other suitable areas in the vehicle. 
     The input unit  210  may include a voice input module  211 , a gesture input module  212 , a touch input module  213 , and a mechanical input module  214 . 
     The voice input module  211  may convert a user&#39;s voice input into an electric signal. The converted electric signal may be provided to the processor  270  or the controller  170 . 
     The voice input module  211  may include at least one microphone. 
     The gesture input module  212  may convert a user&#39;s gesture input into an electric signal. The converted electric signal may be provided to the processor  270  or the controller  170 . 
     The gesture input module  212  may include at least one of an infrared sensor or an image sensor for detecting the user&#39;s gesture input. 
     According to some implementations, the gesture input module  212  may detect a user&#39;s three-dimensional (3D) gesture input. For example, the gesture input module  212  may include a light emitting diode outputting a plurality of infrared rays or a plurality of image sensors. 
     The gesture input module  212  may detect the user&#39;s 3D gesture input by a time of flight (TOF) method, a structured light method or a disparity method. 
     The touch input module  213  may convert the user&#39;s touch input into an electric signal. The converted electric signal may be provided to the processor  270  or the controller  170 . 
     The touch input module  213  may include a touch sensor for detecting the user&#39;s touch input. 
     According to an implementation, the touch input module  213  may be integrated with the display module  251  so as to implement a touch screen. The touch screen may provide an input interface and an output interface between the vehicle  100  and the user. 
     The mechanical input module  214  may include at least one of a button, a dome switch, a jog wheel and a jog switch. An electric signal generated by the mechanical input module  214  may be provided to the processor  270  or the controller  170 . 
     The mechanical input module  214  may be arranged on a steering wheel, a center fascia, a center console, a cockpit module, a door, and/or other suitable areas in the vehicle. 
     The internal camera  220  may acquire an internal image of the vehicle. The processor  270  may detect a user&#39;s state based on the internal image of the vehicle. The processor  270  may acquire information related to the user&#39;s gaze from the internal image of the vehicle. The processor  270  may detect a user gesture from the internal image of the vehicle. 
     The biometric sensing unit  230  may acquire the user&#39;s biometric information. The biometric sensing unit  230  may include a sensor for detecting the user&#39;s biometric information and acquire fingerprint information and heart rate information regarding the user using the sensor. The biometric information may be used for user authentication. 
     The output unit  250  may generate an output related to a visual, audible or tactile signal. 
     The output unit  250  may include at least one of a display module  251 , an audio output module  252 , or a haptic output module  253 . 
     The display module  251  may output graphic objects corresponding to various types of information. 
     The display module  251  may include at least one of a liquid crystal display (LCD), a thin film transistor-LCD (TFT LCD), an organic light-emitting diode (OLED), a flexible display, a three-dimensional (3D) display, and an e-ink display. 
     The display module  251  may be inter-layered or integrated with a touch input module  213  to implement a touch screen. 
     The display module  251  may be implemented as a head up display (HUD). When the display module  251  is implemented as the HUD, the display module  251  may be provided with a projecting module so as to output information through an image which is projected on a windshield or a window. 
     The display module  251  may include a transparent display. The transparent display may be attached to the windshield or the window. 
     The transparent display may have a predetermined degree of transparency and output a predetermined screen thereon. The transparent display may include at least one of a thin film electroluminescent (TFEL), a transparent OLED, a transparent LCD, a transmissive transparent display, and a transparent LED display. The transparent display may have adjustable transparency. 
     Meanwhile, the user interface apparatus  200  may include a plurality of display modules  251   a  to  251   g  as depicted in  FIGS.  3 ,  4 , and  6   . 
     The display module  251  may be disposed on or around a steering wheel, instrument panels  251   a ,  251   b , and  251   e , (as depicted in  FIGS.  3 ,  4 , and  6   ), a seat  251   d  (as depicted in  FIG.  4   ), each pillar  251   f  (as depicted in  FIG.  4   ), a door  251   g  (as depicted in  FIG.  4   ), a center console, a headlining or a sun visor, or implemented on or around a windshield  251   c  and/or a window  251   h  (as depicted in  FIG.  3   ). 
     The audio output module  252  may convert an electric signal provided from the processor  270  or the controller  170  into an audio signal for output. For example, the audio output module  252  may include at least one speaker. 
     The haptic output module  253  may generate a tactile output. For example, the haptic output module  253  may vibrate the steering wheel, a safety belt, a seat  110 FL,  110 FR,  110 RL,  110 RR (in  FIG.  4   ) such that the user can recognize such output. 
     The processor  270  may control an overall operation of each unit of the user interface apparatus  200 . 
     In some implementations, the user interface apparatus  200  may include a plurality of processors  270  or may not include any processor  270 . 
     When the processor  270  is not included in the user interface apparatus  200 , the user interface apparatus  200  may operate according to a control of a processor of another apparatus within the vehicle  100  or the controller  170 . 
     The user interface apparatus  200  may also be referred to herein as a display apparatus for vehicle. 
     In some implementations, the user interface apparatus  200  may operate according to the control of the controller  170 . 
     Referring still to  FIG.  7   , the object detecting apparatus  300  is an apparatus for detecting an object located at outside of the vehicle  100 . 
     The object may be a variety of objects associated with driving or operation of the vehicle  100 . 
     Referring to  FIGS.  5  and  6   , an object O may include traffic lanes OB 10 , another vehicle OB 11 , a pedestrian OB 12 , a two-wheeled vehicle OB 13 , traffic signals OB 14  and OB 15 , light, a road, a structure, a speed hump, a terrain, an animal, and other objects. 
     The lane OB 10  may be a driving lane, a lane next to the driving lane, or a lane on which another vehicle comes in an opposite direction to the vehicle  100 . Each lane OB 10  may include left and right lines forming the lane. 
     The another vehicle OB 11  may be a vehicle which is moving near the vehicle  100 . The another vehicle OB 11  may be a vehicle located within a predetermined distance from the vehicle  100 . For example, the another vehicle OB 11  may be a vehicle moving ahead of or behind the vehicle  100 . 
     The pedestrian OB 12  may be a person located near the vehicle  100 . The pedestrian OB 12  may be a person located within a predetermined distance from the vehicle  100 . For example, the pedestrian OB 12  may be a person located on a sidewalk or roadway. 
     The two-wheeled vehicle OB 13  may refer to a vehicle (transportation facility) that is located near the vehicle  100  and moves using two wheels. The two-wheeled vehicle OB 13  may be a vehicle that is located within a predetermined distance from the vehicle  100  and has two wheels. For example, the two-wheeled vehicle OB 13  may be a motorcycle or a bicycle that is located on a sidewalk or roadway. 
     The traffic signals may include a traffic light OB 15 , a traffic sign OB 14  and a pattern or text drawn on a road surface. 
     The light may be light emitted from a lamp provided on another vehicle. The light may be light generated from a streetlamp. The light may be solar light. 
     The road may include a road surface, a curve, an upward slope, a downward slope and the like. 
     The structure may be an object that is located near a road and fixed on the ground. For example, the structure may include a streetlamp, a roadside tree, a building, an electric pole, a traffic light, a bridge and the like. 
     The terrain may include a mountain, a hill and the like. 
     In some implementations, objects may be classified into a moving object and a fixed object. For example, the moving object may include another vehicle or a pedestrian. The fixed object may include, for example, a traffic signal, a road, or a structure. 
     Referring to  FIG.  7   , the object detecting apparatus  300  may include a camera  310 , a radar  320 , a LiDAR  330 , an ultrasonic sensor  340 , an infrared sensor  350 , and at least one processor such as a processor  370 . 
     In some implementations, the object detecting apparatus  300  may further include other components in addition to the components described herein, or may exclude one or more of the components described herein. 
     The camera  310  may be located on an appropriate portion outside the vehicle to acquire an external image of the vehicle. The camera  310  may be a mono camera, a stereo camera  310   a  (as depicted in  FIGS.  1  and  2   ), an around view monitoring (AVM) camera  310   b  (as depicted in  FIG.  2   ) or a 360-degree camera. 
     In some implementations, the camera  310  may be disposed adjacent to a front windshield within the vehicle to acquire a front image of the vehicle. Alternatively or in addition, the camera  310  may be disposed adjacent to a front bumper or a radiator grill. 
     Alternatively or in addition, the camera  310  may be disposed adjacent to a rear glass within the vehicle to acquire a rear image of the vehicle. Alternatively or in addition, the camera  310  may be disposed adjacent to a rear bumper, a trunk or a tail gate. 
     Alternatively or in addition, the camera  310  may be disposed adjacent to at least one of side windows within the vehicle to acquire a side image of the vehicle. Alternatively or in addition, the camera  310  may be disposed adjacent to a side mirror, a fender or a door. 
     The camera  310  may provide an acquired image to the processor  370 . 
     The radar  320  may include electric wave transmitting and receiving portions. The radar  320  may be implemented as a pulse radar or a continuous wave radar according to a principle of emitting electric waves. The radar  320  may be implemented in a frequency modulated continuous wave (FMCW) manner or a frequency shift Keyong (FSK) manner according to a signal waveform, among the continuous wave radar methods. 
     The radar  320  may detect an object in a time of flight (TOF) manner or a phase-shift manner through the medium of the electric wave, and detect a position of the detected object, a distance from the detected object and a relative speed with the detected object. 
     The radar  320  may be disposed on an appropriate position outside the vehicle for detecting an object which is located at a front, rear or side of the vehicle as depicted in  FIG.  2   . 
     The LiDAR  330  may include laser transmitting and receiving portions. The LiDAR  330  may be implemented in a time of flight (TOF) manner or a phase-shift manner. 
     The LiDAR  330  may be implemented as a drive type or a non-drive type. 
     For the drive type, the LiDAR  330  may be rotated by a motor and detect object near the vehicle  100 . 
     For the non-drive type, the LiDAR  330  may detect, through light steering, objects which are located within a predetermined range based on the vehicle  100 . The vehicle  100  may include a plurality of non-drive type LiDARs  330 . 
     The LiDAR  330  may detect an object in a time of flight (TOP) manner or a phase-shift manner through the medium of a laser beam, and detect a position of the detected object, a distance from the detected object and a relative speed with the detected object. 
     The LiDAR  330  may be disposed on an appropriate position outside the vehicle for detecting an object located at the front, rear or side of the vehicle as depicted in  FIG.  2   . 
     The ultrasonic sensor  340  may include ultrasonic wave transmitting and receiving portions. The ultrasonic sensor  340  may detect an object based on an ultrasonic wave, and detect a position of the detected object, a distance from the detected object, and a relative speed with the detected object. 
     The ultrasonic sensor  340  may be disposed on an appropriate position outside the vehicle for detecting an object located at the front, rear, or side of the vehicle. 
     The infrared sensor  350  may include infrared light transmitting and receiving portions. The infrared sensor  350  may detect an object based on infrared light, and detect a position of the detected object, a distance from the detected object, and a relative speed with the detected object. 
     The infrared sensor  350  may be disposed on an appropriate position outside the vehicle for detecting an object located at the front, rear, or side of the vehicle. 
     The processor  370  may control an overall operation of each unit of the object detecting apparatus  300 . 
     The processor  370  may detect an object based on an acquired image, and track the object. The processor  370  may execute operations, such as a calculation of a distance from the object, a calculation of a relative speed with the object and the like, through an image processing algorithm. 
     The processor  370  may detect an object based on a reflected electromagnetic wave, which is generated when an emitted electromagnetic wave is reflected from the object, and track the object. The processor  370  may execute operations, such as a calculation of a distance from the object, a calculation of a relative speed with the object, and the like, based on the reflected electromagnetic wave. 
     The processor  370  may detect an object based on a reflected laser beam, which is generated when an emitted laser beam is reflected from the object, and track the object. The processor  370  may execute operations, such as a calculation of a distance from the object, a calculation of a relative speed with the object, and the like, based on the reflected laser beam. 
     The processor  370  may detect an object based on a reflected ultrasonic wave, which is generated when an emitted ultrasonic wave is reflected from the object, and track the object. The processor  370  may execute operations, such as a calculation of a distance from the object, a calculation of a relative speed with the object, and the like, based on the reflected ultrasonic wave. 
     The processor may detect an object based on reflected infrared light, which is generated when emitted infrared light is reflected from the object, and track the object. The processor  370  may execute operations, such as a calculation of a distance from the object, a calculation of a relative speed with the object, and the like, based on the reflected infrared light. 
     According to some implementations, the object detecting apparatus  300  may include a plurality of processors  370  or does not include the processor  370 . In some implementations, each of the camera  310 , the radar  320 , the LiDAR  330 , the ultrasonic sensor  340 , and the infrared sensor  350  may include a processor, respectively. 
     When the processor  370  is not included in the object detecting apparatus  300 , the object detecting apparatus  300  may operate according to the control of a processor of an apparatus within the vehicle  100  or the controller  170 . 
     Referring to  FIG.  7   , the object detecting apparatus  300  may operate according to the control of the controller  170 . 
     The communication apparatus  400  is an apparatus for communicating with an external device. Here, the external device may be another vehicle, a mobile terminal or a server. 
     The communication apparatus  400  may perform the communication by including at least one of a transmitting antenna, a receiving antenna, and radio frequency (RF) circuit and RF device for implementing various communication protocols. 
     The communication apparatus  400  may include a short-range communication unit  410 , a location information unit  420 , a V2X communication unit  430 , an optical communication unit  440 , a broadcast transceiver  450  and a processor  470 . 
     According to some implementations, the communication apparatus  400  may further include other components in addition to the components described herein, or may exclude one or more of the components described herein. 
     The short-range communication unit  410  is a unit for facilitating short-range communications. Suitable technologies for implementing such short-range communications include BLUETOOTH™, Radio Frequency IDentification (RFID), Infrared Data Association (IrDA), Ultra-WideBand (UWB), ZigBee, Near Field Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct, Wireless USB (Wireless Universal Serial Bus), and the like. 
     The short-range communication unit  410  may construct short-range area networks to perform short-range communication between the vehicle  100  and at least one external device. 
     The location information unit  420  is a unit for acquiring position information. For example, the location information unit  420  may include a Global Positioning System (GPS) module or a Differential Global Positioning System (DGPS) module. 
     The V2X communication unit  430  is a unit for performing wireless communications with a server (Vehicle to Infra; V2I), another vehicle (Vehicle to Vehicle; V2V), or a pedestrian (Vehicle to Pedestrian; V2P). The V2X communication unit  430  may include an RF circuit implementing a communication protocol with the infra (V2I), a communication protocol between the vehicles (V2V) and a communication protocol with a pedestrian (V2P). 
     The optical communication unit  440  is a unit for communicating with an external device through the medium of light. The optical communication unit  440  may include a light-emitting diode for converting an electric signal into an optical signal and sending the optical signal to the exterior, and a photodiode for converting the received optical signal into an electric signal. 
     According to some implementations, the light-emitting diode may be integrated with lamps provided on the vehicle  100 . 
     The broadcast transceiver  450  is a unit for receiving a broadcast signal from an external broadcast managing entity or transmitting a broadcast signal to the broadcast managing entity via a broadcast channel. The broadcast channel may include a satellite channel, a terrestrial channel, or both. The broadcast signal may include a TV broadcast signal, a radio broadcast signal, and a data broadcast signal. 
     The processor  470  may control an overall operation of each unit of the communication apparatus  400 . 
     According to some implementations, the communication apparatus  400  may include a plurality of processors  470  or does not include the processor  470 . 
     When the processor  470  is not included in the communication apparatus  400 , the communication apparatus  400  may operate according to the control of a processor of another device within the vehicle  100  or the controller  170 . 
     In some implementations, the communication apparatus  400  may implement a display apparatus for a vehicle together with the user interface apparatus  200 . In this instance, the display apparatus for the vehicle may be referred to as a telematics apparatus or an Audio Video Navigation (AVN) apparatus. 
     In some implementations, the communication apparatus  400  may operate according to the control of the controller  170 . 
     Referring still to  FIG.  7   , the driving control apparatus  500  is an apparatus for receiving a user input for driving. 
     In a manual mode, the vehicle  100  may be operated based on a signal provided by the driving control apparatus  500 . 
     The driving control apparatus  500  may include a steering input device  510 , an acceleration input device  530 , and a brake input device  570 . 
     The steering input device  510  may receive an input regarding a driving (proceeding) direction of the vehicle  100  from the user. The steering input device  510  may refer to a wheel allowing a steering input in a rotating manner. According to some implementations, the steering input device  510  may also refer to a touch screen, a touch pad, or a button. 
     The acceleration input device  530  may receive an input for accelerating the vehicle  100  from the user. The brake input device  570  may receive an input for braking the vehicle  100  from the user. Each of the acceleration input device  530  and the brake input device  570  may refer to a pedal. According to some implementations, the acceleration input device  530  or the brake input device  570  may also refer to a touch screen, a touch pad, or a button. 
     In some implementations, the driving control apparatus  500  may operate according to the control of the controller  170 . 
     Referring still to  FIG.  7   , the vehicle operating apparatus  600  is an apparatus for electrically controlling operations of various devices within the vehicle  100 . 
     The vehicle operating apparatus  600  may include a power train operating unit  610 , a chassis operating unit  620 , a door/window operating unit  630 , a safety apparatus operating unit  640 , a lamp operating unit  650 , and an air-conditioner operating unit  660 . 
     According to some implementations, the vehicle operating apparatus  600  may further include other components in addition to the components described, or may not include some of the components described. 
     In some implementations, the vehicle operating apparatus  600  may include a processor. Alternatively or in addition, each unit of the vehicle operating apparatus  600  may individually include a processor. 
     The power train operating unit  610  may control an operation of a power train device. 
     The power train operating unit  610  may include a power source operating portion  611  and a gearbox operating portion  612 . 
     The power source operating portion  611  may perform a control for a power source of the vehicle  100 . 
     For example, upon using a fossil fuel-based engine as the power source, the power source operating portion  611  may perform an electronic control for the engine. Accordingly, an output torque and the like of the engine can be controlled. The power source operating portion  611  may adjust the engine output torque according to the control of the controller  170 . 
     In other example, upon using an electric energy-based motor as the power source, the power source operating portion  611  may perform a control for the motor. The power source operating portion  611  may adjust a rotating speed, a torque and the like of the motor according to the control of the controller  170 . 
     The gearbox operating portion  612  may perform a control for a gearbox. 
     The gearbox operating portion  612  may adjust a state of the gearbox. The gearbox operating portion  612  may change the state of the gearbox into drive (forward) (D), reverse (R), neutral (N), or parking (P). 
     For example, when an engine is the power source, the gearbox operating portion  612  may adjust a locked state of a gear in the drive (D) state. 
     The chassis operating unit  620  may control an operation of a chassis device. 
     The chassis operating unit  620  may include a steering operating portion  621 , a brake operating portion  622 , and a suspension operating portion  623 . 
     The steering operating portion  621  may perform an electronic control for a steering apparatus within the vehicle  100 . The steering operating portion  621  may change a driving direction of the vehicle. 
     The brake operating portion  622  may perform an electronic control for a brake apparatus within the vehicle  100 . For example, the brake operating portion  622  may control an operation of brakes provided at wheels to reduce speed of the vehicle  100 . 
     In some implementations, the brake operating portion  622  may individually control each of a plurality of brakes. The brake operating portion  622  may differently control braking force applied to each of a plurality of wheels. 
     The suspension operating portion  623  may perform an electronic control for a suspension apparatus within the vehicle  100 . For example, the suspension operating portion  623  may control the suspension apparatus to reduce vibration of the vehicle  100  when a bump is present on a road. 
     In some implementations, the suspension operating portion  623  may individually control each of a plurality of suspensions. 
     The door/window operating unit  630  may perform an electronic control for a door apparatus or a window apparatus within the vehicle  100 . 
     The door/window operating unit  630  may include a door operating portion  631  and a window operating portion  632 . 
     The door operating portion  631  may perform the control for the door apparatus. The door operating portion  631  may control opening or closing of a plurality of doors of the vehicle  100 . The door operating portion  631  may control opening or closing of a trunk or a tail gate. The door operating portion  631  may control opening or closing of a sunroof. 
     The window operating portion  632  may perform the electronic control for the window apparatus. The window operating portion  632  may control opening or closing of a plurality of windows of the vehicle  100 . 
     Referring still to  FIG.  7   , the safety apparatus operating unit  640  may perform an electronic control for various safety apparatuses within the vehicle  100 . 
     The safety apparatus operating unit  640  may include an airbag operating portion  641 , a seatbelt operating portion  642 , and a pedestrian protecting apparatus operating portion  643 . 
     The airbag operating portion  641  may perform an electronic control for an airbag apparatus within the vehicle  100 . For example, the airbag operating portion  641  may control the airbag to be deployed upon a detection of a risk. 
     The seatbelt operating portion  642  may perform an electronic control for a seatbelt apparatus within the vehicle  100 . For example, the seatbelt operating portion  642  may control passengers to be motionlessly seated in seats  110 FL,  110 FR,  110 RL, and  110 RR (depicted in  FIG.  4   ) using seatbelts upon a detection of a risk. 
     The pedestrian protecting apparatus operating portion  643  may perform an electronic control for a hood lift and a pedestrian airbag. For example, the pedestrian protecting apparatus operating portion  643  may control the hood lift and the pedestrian airbag to be open up upon detecting pedestrian collision. 
     Referring still to  FIG.  7   , the lamp operating unit  650  may perform an electronic control for various lamp apparatuses within the vehicle  100 . 
     The air-conditioner operating unit  660  may perform an electronic control for an air conditioner within the vehicle  100 . For example, the air-conditioner operating unit  660  may control the air conditioner to supply cold air into the vehicle when an internal temperature of the vehicle is high. 
     In some implementations, the vehicle operating apparatus  600  may include a processor. Each unit of the vehicle operating apparatus  600  may individually include a processor. 
     In some implementations, the vehicle operating apparatus  600  may operate according to the control of the controller  170 . 
     Referring still to  FIG.  7   , the operation system  700  is a system that controls various driving modes of the vehicle  100 . The operation system  700  may operate in an autonomous driving mode. 
     The operation system  700  may include a driving system  710 , a parking exit system  740 , and a parking system  750 . 
     According to implementations, the operation system  700  may further include other components in addition to the components described herein, or may exclude one or more of the components described herein. 
     In some implementations, the operation system  700  may include at least one processor. Alternatively, or in addition, each unit of the operation system  700  may individually include at least one processor. 
     According to some implementations, the operation system  700  may be implemented by the controller  170  when it is implemented in a software configuration. 
     In some implementations, the operation system  700  may include at least one of the user interface apparatus  200 , the object detecting apparatus  300 , the communication apparatus  400 , the vehicle operating apparatus  600 , or the controller  170 . 
     The driving system  710  may perform driving of the vehicle  100 . 
     The driving system  710  may receive navigation information from a navigation system  770 , transmit a control signal to the vehicle operating apparatus  600 , and perform driving of the vehicle  100 . 
     The driving system  710  may receive object information from the object detecting apparatus  300 , transmit a control signal to the vehicle operating apparatus  600  and perform driving of the vehicle  100 . 
     The driving system  710  may receive a signal from an external device through the communication apparatus  400 , transmit a control signal to the vehicle operating apparatus  600 , and perform driving of the vehicle  100 . 
     The parking exit system  740  may perform an exit of the vehicle  100  from a parking lot. 
     The parking exit system  740  may receive navigation information from the navigation system  770 , transmit a control signal to the vehicle operating apparatus  600 , and perform the exit of the vehicle  100  from the parking lot. 
     The parking exit system  740  may receive object information from the object detecting apparatus  300 , transmit a control signal to the vehicle operating apparatus  600 , and perform the exit of the vehicle  100  from the parking lot. 
     The parking exit system  740  may receive a signal from an external device through the communication apparatus  400 , transmit a control signal to the vehicle operating apparatus  600 , and perform the exit of the vehicle  100  from the parking lot. 
     The parking system  750  may perform parking of the vehicle  100 . 
     The parking system  750  may receive navigation information from the navigation system  770  and transmit a control signal to the vehicle operating apparatus  600  to park the vehicle  100 . 
     The parking system  750  may receive object information from the object detecting apparatus  300 , and transmit a control signal to the vehicle operating apparatus  600  to park the vehicle  100 . 
     The parking system  750  may receive a signal from an external device through the communication apparatus  400 , and transmit a control signal to the vehicle operating apparatus  600  to park the vehicle  100 . 
     The navigation system  770  may provide navigation information. The navigation information may include at least one of map information, information regarding a set destination, path information according to the set destination, information regarding various objects on a path, lane information, and current location information of the vehicle  100 . 
     The navigation system  770  may include a memory and a processor. The memory may store the navigation information. The processor may control an operation of the navigation system  770 . 
     According to some implementations, the navigation system  770  may update stored information by receiving information from an external device through the communication apparatus  400 . 
     According to some implementations, the navigation system  770  may be classified as a sub component of the user interface apparatus  200 . 
     The sensing unit  120  may detect a status of the vehicle. The sensing unit  120  may include a posture sensor (e.g., a yaw sensor, a roll sensor, a pitch sensor, etc.), a collision sensor, a wheel sensor, a speed sensor, a tilt sensor, a weight-detecting sensor, a heading sensor, a gyro sensor, a position module, a vehicle forward/backward movement sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by a turn of a handle, a vehicle internal temperature sensor, a vehicle internal humidity sensor, an ultrasonic sensor, an illumination sensor, an accelerator position sensor, a brake pedal position sensor, and the like. 
     The sensing unit  120  may acquire sensing signals with respect to vehicle-related information, such as a posture, a collision, an orientation, a position (GPS information), an angle, a speed, an acceleration, a tilt, a forward/backward movement, a battery, a fuel, tires, lamps, internal temperature, internal humidity, a rotated angle of a steering wheel, external illumination, pressure applied to an accelerator, pressure applied to a brake pedal, and the like. 
     The sensing unit  120  may further include an accelerator sensor, a pressure sensor, an engine speed sensor, an air flow sensor (AFS), an air temperature sensor (ATS), a water temperature sensor (WTS), a throttle position sensor (TPS), a TDC sensor, a crank angle sensor (CAS), and the like. 
     The interface unit  130  may serve as a path allowing the vehicle  100  to interface with various types of external devices connected thereto. For example, the interface unit  130  may be provided with a port connectable with a mobile terminal, and connected to the mobile terminal through the port. In this instance, the interface unit  130  may exchange data with the mobile terminal. 
     In some implementations, the interface unit  130  may serve as a path for supplying electric energy to the connected mobile terminal. When the mobile terminal is electrically connected to the interface unit  130 , the interface unit  130  supplies electric energy supplied from a power supply unit  190  to the mobile terminal according to the control of the controller  170 . 
     The memory  140  is electrically connected to the controller  170 . The memory  140  may store basic data for units, control data for controlling operations of units and input/output data. The memory  140  may be a variety of storage devices, such as ROM, RAM, EPROM, a flash drive, a hard drive and the like in a hardware configuration. The memory  140  may store various data for overall operations of the vehicle  100 , such as programs for processing or controlling the controller  170 . 
     According to some implementations, the memory  140  may be integrated with the controller  170  or implemented as a sub component of the controller  170 . 
     The controller  170  may control an overall operation of each unit of the vehicle  100 . The controller  170  may be referred to as an Electronic Control Unit (ECU). 
     The power supply unit  190  may supply power required for an operation of each component according to the control of the controller  170 . Specifically, the power supply unit  190  may receive power supplied from an internal battery of the vehicle, and the like. 
     At least one processor and the controller  170  included in the vehicle  100  may be implemented using at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro controllers, microprocessors, and electric units performing other functions. 
     In some implementations, the vehicle  100  according to the present disclosure may include a path providing device  800 . 
     The path providing device  800  may control at least one of those components illustrated in  FIG.  7   . From this perspective, the path providing device  800  may be the controller  170 . 
     Without a limit to this, the path providing device  800  may be a separate device, independent of the controller  170 . When the path providing device  800  is implemented as a component independent of the controller  170 , the path providing device  800  may be provided on a part of the vehicle  100 . 
     Hereinafter, description will be given of implementations in which the path providing device  800  is a component which is separate from the controller  170 , for the sake of explanation. As such, according to implementations described in this disclosure, the functions (operations) and control techniques described in relation to the path providing device  800  may be executed by the controller  170  of the vehicle. That is, every detail described in relation to the path providing device  800  may be applied to the controller  170  in the same/similar manner. 
     Also, the path providing device  800  described herein may include some of the components illustrated in  FIG.  7    and various components included in the vehicle. For the sake of explanation, the components illustrated in  FIG.  7    and the various components included in the vehicle will be described with separate names and reference numbers. 
     Hereinafter, description will be given in more detail of a method of autonomously driving a vehicle related to the present disclosure in an optimized manner or providing path information optimized for the travel the vehicle, with reference to the accompanying drawings. 
       FIG.  8    is a diagram of an exemplary Electronic Horizon Provider (EHP). 
     Referring to  FIG.  8   , a path providing device  800  may autonomously control the vehicle  100  based on eHorizon (electronic Horizon). 
     The path providing device  800  may be an electronic horizon provider (EHP). 
     In some implementations, Electronic Horizon may be refer to ‘ADAS Horizon’, ‘ADASIS Horizon’, ‘Extended Driver Horizon’ or ‘eHorizon’. 
     The eHorizon may be a software, a module, or a system that performs operations including generating vehicle&#39;s forward path information (e.g., using high-definition (HD) map data), configuring the vehicle&#39;s forward path information based on a specified standard (protocol) (e.g., a standard specification defined by the ADAS), and transmitting the configured vehicle forward path information to an application (e.g., an ADAS application, a map application, etc.) which may be installed in a module (e.g., an ECU, the controller  170 , the navigation system  770 , etc.) of the vehicle or in the vehicle requiring map information (or path information). 
     In some implementations, the vehicle&#39;s forward path (or a path to the destination) may be provided as a single path based on a navigation map. In some implementations, eHorizon may provide lane-based path information based on a high-definition (HD) map. 
     Data generated by eHorizon may refer to ‘electronic horizon data’ or ‘eHorizon data’. 
     The electronic horizon data may be driving plan data which is used to generate a driving control signal of the vehicle  100  in a driving (traveling) system. For example, the electronic horizon data may be driving plan data which provides a range from a point where the vehicle  100  is located to horizon. 
     The horizon may be a point in front of a location of the vehicle  100 , by a preset distance, on the basis of a preset travel path. The horizon may refer to a point where the vehicle  100  is to reach after a predetermined time from the point, at which the vehicle  100  is currently located, along a preset travel path. Here, the travel path refers to a path for the vehicle to travel up to a final destination, and may be set by a user input. 
     Electronic horizon data may include horizon map data and horizon path data. The horizon map data may include at least one of topology data, ADAS data, HD map data, or dynamic data. According to some implementations, the horizon map data may include a plurality of layers of data. For example, the horizon map data may include a first layer that matches topology data, a second layer that matches ADAS data, a third layer that matches HD map data, and a fourth layer that matches dynamic data. The horizon map data may further include static object data. 
     Topology data may be a map created by connecting road centers. Topology data may indicate a position of a vehicle and may be in the form of data used in a navigation for a driver. For example, topology data may be road information excluding lane-related information. Topology data may be generated based on data received by an infrastructure through V2I. For example, topology data may be based on data generated in the infrastructure. By way of further example, topology data may be based on data stored in at least one memory included in the vehicle  100 . 
     ADAS data may refer to data related to road information. ADAS data may include at least one of road slope data, road curvature data, or road speed limit data. ADAS data may further include no-passing zone data. ADAS data may be based on data generated in an infrastructure. In some implementations, ADAS data may be based on data generated by the object detecting apparatus  300 . ADAS data may be named road information data. 
     HD map data may include detailed lane-unit topology information of a road, connection information of each lane, and feature information for localization of a vehicle (e.g., traffic signs, lane marking/attributes, road furniture, etc.). HD map data may be based on data generated in an infrastructure. 
     Dynamic data may include various dynamic information that may be generated on a road. For example, the dynamic data may include construction information, variable-speed lane information, road surface state information, traffic information, moving object information, and any other information associated with the road. Dynamic data may be based on data received by an infrastructure. In some implementations, dynamic data may be based on data generated by the object detecting apparatus  300 . 
     The path providing device  800  may provide map data within a range from a location of the vehicle  100  to the horizon. The horizon path data may be a trajectory that the vehicle  100  can take within the range from the location of the vehicle  100  to the horizon. The horizon path data may include data indicating a relative probability to select one road at a decision point (e.g., fork, intersection, crossroads, etc.). Relative probability may be calculated based on a time taken to arrive at a final destination. For example, if a shorter time is taken to arrive at the final destination by selecting a first road than selecting a second road at a decision point, the probability to select the first road may be calculated higher than the probability to select the second road. 
     The horizon path data may further include a main path and a sub path. The main path may be a trajectory connecting roads with a higher relative probability to be selected. The sub path may be merged with or diverged from at least one point on the main path. The sub path may be a trajectory connecting at least one road having a low relative probability to be selected at the at least one decision point on the main path. 
     eHorizon may be classified into categories such as software, a system, and the like. eHorizon denotes a configuration of aggregating real-time events, such as road shape information of a high-definition map, real-time traffic signs, road surface conditions, accidents and the like, under a connected environment of an external server (cloud server), V2X (Vehicle to everything) or the like, and providing the information related to the aggregated real-time events to the autonomous driving system and the infotainment system. 
     In some implementations, eHorizon may transfer a road shape on a high-definition map and real-time events with respect to the front of the vehicle to the autonomous driving system and the infotainment system under an external server/V2X environment. 
     In order to effectively transfer eHorizon data (information) transmitted from eHorizon (i.e., external server) to the autonomous driving system and the infotainment system, a data specification and transmission method may be formed in accordance with a technical standard called “Advanced Driver Assistance Systems Interface Specification (ADASIS).” 
     The vehicle  100  may use information, which is received (generated) in eHorizon, in an autonomous driving system and/or an infotainment system. For example, the autonomous driving system may use information provided by eHorizon in safety and ECO aspects. 
     In terms of the safety aspect, the vehicle  100  may perform an Advanced Driver Assistance System (ADAS) function such as Lane Keeping Assist (LKA), Traffic Jam Assist (TJA) or the like, and/or an AD (AutoDrive) function such as passing, road joining, lane change or the like, by using road shape information and event information received from eHorizon and surrounding object information sensed through the localization unit  840  provided in the vehicle. 
     Furthermore, in terms of the ECO aspect, the path providing device  800  may receive slope information, traffic light information, and the like related to a forward road from eHorizon, to control the vehicle so as to get efficient engine output, thereby enhancing fuel efficiency. 
     The infotainment system may include convenience aspect. For example, the vehicle  100  may receive from eHorizon accident information, road surface condition information, and the like related to a road ahead of the vehicle, and output the received information on a display unit (e.g., Head Up Display (HUD), CID, Cluster, etc.) provided in the vehicle, so as to provide guide information for the driver to drive the vehicle safely. 
     eHorizon may receive position information related to various types of event information (e.g., road surface condition information, construction information, accident information, etc.) occurred on roads and/or road-based speed limit information from the vehicle  100  or other vehicles or may collect such information from infrastructures (e.g., measuring devices, sensing devices, cameras, etc.) installed on the roads. 
     In addition, the event information and the road-based speed limit information may be linked to map information or may be updated. 
     In addition, the position information related to the event information may be divided into lane units. 
     By using such information, the eHorizon system can provide information necessary for the autonomous driving system and the infotainment system to each vehicle, based on a high-definition map on which road conditions (or road information) can be determined on the lane basis. For example, an Electronic Horizon (eHorizon) Provider (EHP) may provide an high-definition map using coordinates of road-related information (for example, event information, position information regarding the vehicle  100 , etc.) based on a high-definition map. 
     The road-related information provided by the eHorizon may be information included in a predetermined area (predetermined space) with respect to the vehicle  100 . 
     The EHP may be a component which is included in an eHorizon system and configured to perform functions provided by the eHorizon (or eHorizon system). 
     The path providing device  800  may be EHP, as shown in  FIG.  8   . 
     The path providing device  800  (EHP) may receive a high-definition map from an external server (or a cloud server), generate path (route) information to a destination with respect to one or more lanes of a road, and transmit the high-definition map and the path information generated with respect to the one or more lanes to a module or application (or program) of the vehicle requiring the map information and the path information. 
     Referring to  FIG.  8   ,  FIG.  8    illustrates an exemplary overall structure of an Electronic Horizon (eHorizon) system. In some implementations, the eHorizon system can include the path providing device  800  (EHP). 
     The path providing device  800  (EHP) may include a telecommunication control unit (TCU)  810  that receives a high-definition map (HD-map) from a cloud server. 
     The TCU  810  may be the communication apparatus  400  described above, and may include at least one of components included in the communication apparatus  400 . 
     The TCU  810  may include a telematics module or a vehicle to everything (V2X) module. 
     The TCU  810  may receive an HD map that complies with the Navigation Data Standard (NDS) (or conforms to the NDS standard) from the cloud server. 
     In addition, the HD map may be updated by reflecting data sensed by sensors provided in the vehicle and/or sensors installed around road, according to the sensor ingestion interface specification (SENSORIS). 
     The TCU  810  may download the HD map from the cloud server through the telematics module or the V2X module. 
     In addition, the path providing device  800  may include an interface unit  820 . In some implementations, the interface unit  820  may receive sensing information from one or more sensors provided in the vehicle  100 . 
     The interface unit  820  may refer to a sensor data collector. The interface unit  820  may collect or receive information sensed by sensors (V.Sensors) provided in the vehicle for detecting a manipulation of the vehicle (e.g., heading, throttle, break, wheel, etc.) and sensors (S.Sensors) for detecting surrounding information of the vehicle (e.g., Camera, Radar, LiDAR, Sonar, etc.) 
     The interface unit  820  may transmit the information sensed through the sensors provided in the vehicle to the TCU  810  (or processor  830 ) to reflect the information in the HD map. 
     TCU  810  may update the HD map stored in the cloud server by transmitting the information transmitted from the interface unit  820  to the cloud server. 
     The path providing device  800  may include a processor  830  (or an eHorizon module). 
     The processor  830  may control the TCU  810  and the interface unit  820 . 
     The processor  830  may store the HD map received through the TCU  810 , and update the HD map using the information received through the interface unit  820 . This operation may be performed in a storage part of the processor  830 . 
     The processor  830  may receive first path information from an audio video navigation (AVN) or a navigation system  770 . 
     The first path information may be route information provided in conventional systems and may be information for guiding a traveling path (travel path, driving path, driving route) to a destination. For example, the first path information provided by the conventional systems provides only one path information and does not distinguish lanes. In contrast, when the processor  830  receives the first path information, the processor  830  may generate second path information for guiding, with respect to one or more lanes of a road, a traveling path up to the destination set in the first path information, by using the HD map and the first path information. For example, the operation may be performed by a calculating part of the processor  830 . 
     In addition, the eHorizon system may include a localization unit  840  for identifying the position of the vehicle by using information sensed through the sensors (V. Sensors, S. Sensors) provided in the vehicle. 
     The localization unit  840  may transmit the position information of the vehicle to the processor  830  to match the position of the vehicle identified by using the sensors provided in the vehicle with the HD map. 
     The processor  830  may match the position of the vehicle  100  with the HD map based on the position information of the vehicle. 
     The processor  830  may generate horizon data, electronic horizon data, and horizon path data. 
     The processor  830  may generate the electronic horizon data by reflecting the traveling (driving) situation of the vehicle  100 . For example, the processor  830  may generate the electronic horizon data based on traveling direction data and traveling speed data of the vehicle  100 . 
     The processor  830  may merge the generated electronic horizon data with previously-generated electronic horizon data. For example, the processor  830  may connect horizon map data generated at a first time point with horizon map data generated at a second time point on the position basis. For example, the processor  830  may connect horizon path data generated at a first time point with horizon path data generated at a second time point on the position basis. 
     The processor  830  may include a memory, an HD map processing part, a dynamic data processing part, a matching part, and a path generating part. 
     The HD map processing part may receive HD map data from a server through the TCU. The HD map processing part may store the HD map data. According to some implementations, the HD map processing part may also process the HD map data. The dynamic data processing part may receive dynamic data from the object detecting device. The dynamic data processing part may receive the dynamic data from a server. The dynamic data processing part may store the dynamic data. In some implementations, the dynamic data processing part may process the dynamic data. 
     The matching part may receive an HD map from the HD map processing part. The matching part may receive dynamic data from the dynamic data processing part. The matching part may generate horizon map data by matching the HD map data with the dynamic data. 
     According to some implementations, the matching part may receive topology data. The matching part may receive ADAS data. The matching part may generate horizon map data by matching the topology data, the ADAS data, the HD map data, and the dynamic data. The path generating part may generate horizon path data. The path generating part may include a main path generator and a sub path generator. The main path generator may generate main path data. The sub path generator may generate sub path data. 
     In addition, the eHorizon system may include a fusion unit  850  for fusing information (data) sensed through the sensors provided in the vehicle and eHorizon data generated by the eHorizon module (control unit). For example, the fusion unit  850  may update an HD map by fusing sensing data sensed by the vehicle with an HD map corresponding to eHorizon data, and provide the updated HD map to an ADAS function, an AD (AutoDrive) function, or an ECO function. 
     In addition, the fusion unit  850  may provide the updated HD map to the infotainment system. 
       FIG.  8    illustrates that the path providing device  800  merely includes the TCU  810 , the interface unit  820 , and the processor  830 , but the present disclosure is not limited thereto. 
     The path providing device  800  of the present disclosure may further include at least one of the localization unit  840  or the fusion unit  850 . 
     In addition or alternatively, the path providing device  800  (EHP) may further include a navigation system  770 . 
     With such a configuration, when at least one of the localization unit  840 , the fusion unit  850 , or the navigation system  770  is included in the path providing device  800  (EHP), the functions/operations/controls performed by the included configuration may be understood as being performed by the processor  830 . 
       FIG.  9    is a block diagram of an exemplary path providing device (e.g., the path providing device of  FIG.  8   ). 
     The path providing device refers to a device for providing a route (or path) to a vehicle. For example, the path providing device may be a device mounted on a vehicle to perform communication through CAN communication and generate messages for controlling the vehicle and/or electric components mounted on the vehicle. By way of further example, the path providing device may be located outside the vehicle, like a server or a communication device, and may perform communication with the vehicle through a mobile communication network. In this case, the path providing device may remotely control the vehicle and/or the electric components mounted on the vehicle using the mobile communication network. 
     The path providing device  800  is provided in the vehicle, and may be implemented as an independent device detachable from the vehicle or may be integrally installed on the vehicle to construct a part of the vehicle  100 . 
     Referring to  FIG.  9   , the path providing device  800  may include a TCU  810 , an interface unit  820 , and a processor  830 . 
     The TCU  810  may be configured to perform communications with various components provided in the vehicle. For example, the TCU  810  may receive various information provided through a controller area network (CAN). 
     The TCU  810  may include a first communication module  812 , and the first communication module  812  may receive an HD map provided through telematics. For example, the first communication module  812  may be configured to perform ‘telematics communication’. The first communication module  812  performing the telematics communication may communicate with a server and the like by using a satellite navigation system or a base station provided by mobile communications such as 4G or 5G. 
     The first communication module  812  may communicate with a telematics communication device  910 . The telematics communication device  910  may include a server provided by a portal provider, a vehicle provider, and/or a mobile communication company. 
     The processor  830  of the path providing device  800  may determine absolute coordinates of road-related information (event information) based on ADAS MAP received from an external server (eHorizon) through the first communication module  812 . In addition, the processor  830  may autonomously drive the vehicle or perform a vehicle control using the absolute coordinates of the road-related information (event information). 
     The TCU  810  may include a second communication module  814 , and the second communication module  814  may receive various types of information provided through vehicle to everything (V2X) communication. For example, the second communication module  814  may be configured to perform ‘V2X communication’. The V2X communication may be a technology of exchanging or sharing information, such as traffic condition and the like, while communicating with road infrastructures and other vehicles during driving. 
     The second communication module  814  may communicate with a V2X communication device  930 . The V2X communication device  930  may include a mobile terminal associated with a pedestrian or a person riding a bike, a fixed terminal installed on a road, another vehicle, and the like. 
     Here, the another vehicle may denote at least one of vehicles existing within a predetermined distance from the vehicle  100  or vehicles approaching by a predetermined distance or shorter with respect to the vehicle  100 . 
     The present disclosure may not be limited thereto, and the another vehicle may include all the vehicles capable of performing communication with the TCU  810 . According to this specification, for the sake of explanation, an example will be described in which the another vehicle is at least one vehicle existing within a predetermined distance from the vehicle  100  or at least one vehicle approaching by a predetermined distance or shorter with respect to the vehicle  100 . 
     The predetermined distance may be determined based on a distance capable of performing communication through the TCU  810 , determined according to a specification of a product, or determined/varied based on a user&#39;s setting or V2X communication standard. 
     The second communication module  814  may be configured to receive LDM data from another vehicle. The LDM data may be a V2X message (BSM, CAM, DENM, etc.) transmitted and received between vehicles through V2X communication. The LDM data may include position information related to the another vehicle. 
     The processor  830  may determine a position of the vehicle  100  relative to the another vehicle, based on the position information related to the vehicle  100  and the position information related to the another vehicle included in the LDM data received through the second communication module  814 . 
     In addition, the LDM data may include speed information regarding another vehicle. The processor  830  may also determine a relative speed of the another vehicle using speed information of the vehicle  100  and the speed information of the another vehicle. The speed information of the vehicle  100  may be calculated using a degree to which the location information of the vehicle received through the TCU  810  changes over time or calculated based on information received from the driving operation apparatus  500  or the power train operating unit  610  of the vehicle  100 . 
     The second communication module  814  may be the V2X communication unit  430  described above. 
     If the TCU  810  is a component that performs communication with a device located outside the vehicle  100  using wireless communication, the interface unit  820  may be a component performing communication with a device located inside the vehicle  100  using wired or wireless communication. 
     The interface unit  820  may receive information related to driving of the vehicle from most of electric components provided in the vehicle  100 . Information transmitted from the electric component provided in the vehicle to the path providing device  800  is referred to as ‘vehicle driving information (or vehicle travel information)’. For example, when the electric component is a sensor, the vehicle driving information may be sensing information sensed by the sensor. 
     Vehicle driving information may include vehicle information and surrounding information related to the vehicle. Information related to the inside of the vehicle with respect to a frame of the vehicle may be defined as the vehicle information, and information related to the outside of the vehicle may be defined as the surrounding information. 
     The vehicle information refers to information related to the vehicle itself. For example, the vehicle information may include a traveling speed, a traveling direction, an acceleration, an angular velocity, a location (GPS), a weight, a number of passengers on board the vehicle, a braking force of the vehicle, a maximum braking force, air pressure of each wheel, a centrifugal force applied to the vehicle, a driving (or travel) mode of the vehicle (autonomous driving mode or manual driving mode), a parking mode of the vehicle (autonomous parking mode, automatic parking mode, manual parking mode), whether or not a user is on board the vehicle, and information associated with the user. 
     The surrounding information refers to information related to another object located within a predetermined range around the vehicle, and information related to the outside of the vehicle. The surrounding information of the vehicle may be a state of a road surface on which the vehicle is traveling (e.g., a frictional force), the weather, a distance from a preceding (or following) vehicle, a relative speed of a preceding (or following) vehicle, a curvature of a curve when a driving lane is the curve, information associated with an object existing in a reference region (predetermined region) based on the vehicle, whether or not an object enters (or leaves) the predetermined region, whether or not the user exists near the vehicle, information associated with the user (for example, whether or not the user is an authenticated user), and the like. 
     The surrounding information may also include ambient brightness, temperature, a position of the sun, information related to a nearby subject (a person, another vehicle, a sign, etc.), a type of a driving road surface, a landmark, line information, and driving lane information, and information required for an autonomous driving/autonomous parking/automatic parking/manual parking mode. 
     In addition, the surrounding information may further include a distance from an object existing around the vehicle to the vehicle, collision possibility, a type of an object, a parking space for the vehicle, an object for identifying the parking space (e.g., a parking line, a string, another vehicle, a wall, etc.), and the like. 
     The vehicle driving information is not limited to the example described above and may include all information generated from the components provided in the vehicle. 
     In some implementations, the processor  830  may be configured to control one or more electric components provided in the vehicle using the interface unit  820 . 
     For example, the processor  830  may determine whether or not at least one of a plurality of preset or predetermined conditions is satisfied, based on vehicle driving information received through the TCU  810 . Based on a satisfied condition, the processor  830  may control the one or more electric components in different ways. 
     In connection with the preset conditions, the processor  830  may detect an occurrence of an event in an electric component provided in the vehicle and/or application, and determine whether the detected event meets a preset condition. At this time, the processor  830  may also detect the occurrence of the event from information received through the TCU  810 . 
     The application may be implemented, for example, as a widget, a home launcher, and the like, and may refer to various types of programs that can be executed on the vehicle. Accordingly, the application may be a program that performs various functions, such as a web browser, a video playback, message transmission/reception, schedule management, or application update. 
     In addition, the application may include at least one of forward collision warning (FCW), blind spot detection (BSD), lane departure warning (LDW), pedestrian detection (PD), Curve Speed Warning (CSW), or turn-by-turn navigation (TBT). For example, the occurrence of the event may be a missed call, presence of an application to be updated, a message arrival, start on, start off, autonomous travel on/off, pressing of an LCD awake key, an alarm, an incoming call, a missed notification, and the like. 
     In some implementations, the occurrence of the event may be a generation of an alert set in the advanced driver assistance system (ADAS), or an execution of a function set in the ADAS. For example, the occurrence of the event may be an occurrence of forward collision warning, an occurrence of blind spot detection, an occurrence of lane departure warning, an occurrence of lane keeping assist warning, or an execution of autonomous emergency braking. 
     In some implementations, the occurrence of the event may also be a change from a forward gear to a reverse gear, an occurrence of an acceleration greater than a predetermined value, an occurrence of a deceleration greater than a predetermined value, a change of a power device from an internal combustion engine to a motor, or a change from the motor to the internal combustion engine. 
     In addition, even when various electronic control units (ECUs) provided in the vehicle perform specific functions, it may be determined as the occurrence of the events. For example, when a generated event satisfies the preset condition, the processor  830  may control the interface unit  820  to display information corresponding to the satisfied condition on one or more displays provided in the vehicle. 
       FIG.  10    is a diagram of an exemplary eHorizon. 
     Referring to  FIG.  10   , the path providing device  800  may autonomously drive the vehicle  100  based on the eHorizon. 
     eHorizon may be classified into categories such as software, a system, and the like. The eHorizon denotes a configuration in which road shape information on a detailed map under a connected environment of an external server (cloud), V2X (Vehicle to everything) or the like and real-time events such as real-time traffic signs, road surface conditions, accidents and the like are merged to provide relevant information to autonomous driving systems and infotainment systems. For an example, eHorizon may refer to an external server (a cloud or a cloud server). By way of further example, eHorizon may transfer a road shape on a high-definition map and real-time events with respect to the front of the vehicle to the autonomous driving system and the infotainment system under an external server/V2X environment. 
     In order to effectively transfer eHorizon data (information) transmitted from eHorizon (i.e., external server) to the autonomous driving system and the infotainment system, a data specification and transmission method may be formed in accordance with a technical standard called “Advanced Driver Assistance Systems Interface Specification (ADASIS).” 
     The path providing device  800  may use information, which is received from eHorizon, in the autonomous driving system and/or the infotainment system. For example, the autonomous driving system may be divided into a safety aspect and an ECO aspect. 
     In terms of the safety aspect, the vehicle  100  may perform an Advanced Driver Assistance System (ADAS) function such as Lane Keeping Assist (LKA), Traffic Jam Assist (TJA) or the like, and/or an AD (AutoDrive) function such as passing, road joining, lane change or the like, by using road shape information and event information received from eHorizon and surrounding object information sensed through the localization unit  840  provided in the vehicle  100 . 
     Furthermore, in terms of the ECO aspect, the path providing device  800  may receive slope information, traffic light information, and the like related to a forward road from eHorizon, to control the vehicle so as to get efficient engine output, thereby enhancing fuel efficiency. 
     The infotainment system may include convenience aspect. For example, the vehicle  100  may receive from eHorizon accident information, road surface condition information, and the like related to a road ahead of the vehicle and output the received information on a display unit (for example, Head Up Display (HUD), CID, Cluster, etc.) provided in the vehicle, so as to provide guide information for the driver to drive the vehicle safely. 
     Referring to  FIG.  10   , the eHorizon (external server) may receive location information related to various types of event information (e.g., road surface condition information  1010   a , construction information  1010   b , accident information  1010   c , etc.) occurred on roads and/or road-based speed limit information  1010   d  from the vehicle  100  or other vehicles  1020   a  and  1020   b  or may collect such information from infrastructures (e.g., measuring devices, sensing devices, cameras, etc.) installed on the roads. 
     Furthermore, the event information and the road-based speed limit information may be linked to map information or may be updated. 
     In addition, the location information related to the event information may be divided with respect to one or more lanes of a road. 
     By using such information, the eHorizon (external server) can provide information necessary for the autonomous driving system and the infotainment system to each vehicle, based on a high-definition map capable of determining a road situation (or road information) with respect to one or more lanes of the road. For example, the eHorizon (external server) may provide a high-definition map using coordinates of road-related information (for example, event information, position information regarding the vehicle  100 , etc.) based on a high-definition map. 
     The road-related information provided by the eHorizon may be information corresponding to a predetermined region (predetermined space) with respect to the vehicle  100 . 
     In some implementations, the path providing device  800  may acquire position information related to another vehicle through communication with the another vehicle. Communication with the another vehicle may be performed through V2X (Vehicle to everything) communication, and data transmitted/received to/from the another vehicle through the V2X communication may be data in a format defined by a Local Dynamic Map (LDM) standard. 
     The LDM denotes a conceptual data storage located in a vehicle control unit (or ITS station) including information related to a safe and normal operation of an application (or application program) provided in a vehicle (or an intelligent transport system (ITS)). The LDM may, for example, comply with EN standards. 
     The LDM differs from the foregoing ADAS MAP in the data format and transmission method. For an example, the ADAS MAP may correspond to a high-definition map having absolute coordinates received from eHorizon (external server), and the LDM may denote a high-definition map having relative coordinates based on data transmitted and received through V2X communication. 
     The LDM data (or LDM information) denotes data mutually transmitted and received through V2X communication (vehicle to everything) (e.g., V2V (Vehicle to Vehicle) communication, V2I (Vehicle to Infra) communication, or V2P (Vehicle to Pedestrian) communication). 
     The LDM may be implemented, for example, by a storage for storing data transmitted and received through V2X communication, and the LDM may be formed (stored) in a vehicle control device provided in each vehicle. 
     The LDM data (or LDM information) denotes data mutually transmitted and received through V2X communication (vehicle to everything) (e.g., V2V (Vehicle to Vehicle) communication, V2I (Vehicle to Infra) communication, or V2P (Vehicle to Pedestrian) communication). The LDM data may include a Basic Safety Message (BSM), a Cooperative Awareness Message (CAM), and a Decentralized Environmental Notification message (DENM), and the like, for example. For example, the LDM data may refer to a V2X message or an LDM message. 
     The vehicle control device may efficiently manage LDM data (or V2X messages) transmitted and received between vehicles using the LDM. 
     Based on LDM data received via V2X communication, the LDM may store, distribute to another vehicle, and continuously update all relevant information (e.g., a location, a speed, a traffic light status, weather information, a road surface condition, and the like of the vehicle (another vehicle)) related to a traffic situation around a place where the vehicle is currently located (or a road situation for an area within a predetermined distance from a place where the vehicle is currently located). 
     For example, a V2X application provided in the path providing device  800  registers in the LDM, and receives a specific message such as all the DENMs in addition to a warning about a failed vehicle. Then, the LDM may automatically assign the received information to the V2X application, and the V2X application may control the vehicle based on the information assigned from the LDM. 
     As described above, the vehicle  100  may be controlled by using the LDM formed by the LDM data collected through V2X communication. 
     The LDM may provide road-related information to the vehicle control device. The road-related information provided by the LDM provides only a relative distance and a relative speed with respect to another vehicle (or an event generation point), other than map information having absolute coordinates. For example, the vehicle  100  may perform autonomous driving using an ADAS MAP (absolute coordinates HD map) according to the ADASIS standard provided by eHorizon, but the map may be used only to determine a road condition in a surrounding area of the vehicle. 
     In addition, the vehicle  100  may perform autonomous driving using an LDM (relative coordinates HD map) formed by LDM data received through V2X communication, but there is a limitation in that accuracy is inferior due to insufficient absolute position information. 
     The path providing device  800  included in the vehicle  100  may generate a fused definition map using the ADAS MAP received from the eHorizon and the LDM data received through the V2X communication, and control (autonomously drive) the vehicle in an optimized manner using the fused definition map. 
       FIG.  11 A  illustrates an example of a data format of LDM data (or LDM) transmitted and received between vehicles via V2X communication, and  FIG.  11 B  illustrates an example of a data format of an ADAS MAP received from an external server (eHorizon). 
     Referring to  FIG.  11 A , the LDM data (or LDM)  1050  may be formed to have four layers of data. 
     The LDM data  1050  may include a first layer  1052 , a second layer  1054 , a third layer  1056  and a fourth layer  1058 . 
     The first layer  1052  may include static information, for example, map information, among road-related information. 
     The second layer  1054  may include landmark information (e.g., specific place information specified by a maker among a plurality of place information included in the map information) among information associated with roads. The landmark information may include location information, name information, size information, and the like. 
     The third layer  1056  may include traffic situation related information (e.g., traffic light information, construction information, accident information, etc.) among information associated with roads. The construction information and the accident information may include position information. 
     The fourth layer  1058  may include dynamic information (e.g., object information, pedestrian information, other vehicle information, etc.) among the road-related information. The object information, pedestrian information, and other vehicle information may include location information. 
     For example, the LDM data  1050  may include information sensed through a sensing unit of another vehicle or information sensed through a sensing unit of the vehicle of the present disclosure, and may include road-related information that is transformed in real time as it goes from the first layer to the fourth layer. 
     Referring to  FIG.  11 B , the ADAS MAP may be formed to have four layers of data similar to the LDM data. 
     The ADAS MAP  1060  may denote data received from eHorizon and formed to conform to the ADASIS specification. 
     The ADAS MAP  1060  may include a first layer  1062 , a second layer  1064 , a third layer  1066 , and a fourth layer  1068 . 
     The first layer  1062  may include topology information. The topology information, for example, is information that explicitly defines a spatial relationship, and may indicate map information. 
     The second layer  1064  may include landmark information (e.g., specific place information specified by a maker among a plurality of place information included in the map information) among information associated with the road. The landmark information may include position information, name information, size information, and the like. 
     The third layer  1066  may include high-definition map information. The high-definition map information may be referred to as an HD-MAP, and road-related information (e.g., traffic light information, construction information, accident information) may be recorded in the lane unit. The construction information and the accident information may include location information. 
     The fourth layer  1068  may include dynamic information (e.g., object information, pedestrian information, other vehicle information, etc.). The object information, pedestrian information, and other vehicle information may include location information. 
     For example, the ADAS MAP  1060  may include road-related information that is transformed in real time as it goes from the first layer to the fourth layer, similarly to the LDM data  1050 . 
     The processor  830  may autonomously drive the vehicle  100 . For example, the processor  830  may autonomously drive the vehicle  100  based on vehicle driving information sensed through various electric components provided in the vehicle  100  and information received through the TCU  810 . 
     More specifically, the processor  830  may control the TCU  810  to acquire the position information of the vehicle. For example, the processor  830  may acquire the position information (location coordinates) of the vehicle  100  through the location information unit  420  of the TCU  810 . 
     Furthermore, the processor  830  may control the first communication module  812  of the TCU  810  to receive map information from an external server. Here, the first communication module  812  may receive ADAS MAP from the external server (eHorizon). The map information may be included in the ADAS MAP. 
     In addition, the processor  830  may control the second communication module  814  of the TCU  810  to receive position information of another vehicle from the another vehicle. Here, the second communication module  814  may receive LDM data from the another vehicle. The position information of the another vehicle may be included in the LDM data. 
     The another vehicle denotes a vehicle existing within a predetermined distance from the vehicle  100 , and the predetermined distance may be a communication-available distance of the TCU  810  or a distance set by a user. 
     The processor  830  may control the communication unit to receive the map information from the external server and the position information of the another vehicle from the another vehicle. 
     Furthermore, the processor  830  may fuse the acquired position information of the vehicle and the received position information of the another vehicle into the received map information, and control the vehicle  100  based on at least one of the fused map information or vehicle-related information sensed through the sensing unit  120 . 
     Here, the map information received from the external server may denote highly detailed map information (HD-MAP) included in the ADAS MAP. The HD map information may be recorded with road-related information with respect to one or more lanes of a road. 
     The processor  830  may fuse the position information of the vehicle  100  and the position information of the another vehicle into the map information with respect to one or more lanes of a road. In addition, the processor  830  may fuse the road-related information received from the external server and the road-related information received from the another vehicle into the map information with respect to one or more lanes of a road. 
     The processor  830  may generate ADAS MAP required for the control of the vehicle using the ADAS MAP received from the external server and the vehicle-related information received through the sensing unit  120 . More specifically, the processor  830  may apply the vehicle-related information sensed within a predetermined range through the sensing unit  120  to the map information received from the external server. Here, the predetermined range may be an available distance which can be sensed by an electric component provided in the vehicle  100  or may be a distance set by a user. 
     The processor  830  may control the vehicle by applying the vehicle-related information sensed within the predetermined range through the sensing unit to the map information and then additionally fusing the location information of the another vehicle thereto. For example, when the vehicle-related information sensed within the predetermined range through the sensing unit is applied to the map information, the processor  830  may only use the information within the predetermined range from the vehicle, and thus a range capable of controlling the vehicle may be local. 
     However, the position information of the another vehicle received through the V2X module may be received from the another vehicle located out of the predetermined range. It may be because the communication-available distance of the V2X module communicating with the another vehicle through the V2X module is farther than a predetermined range of the sensing unit  120 . 
     As a result, the processor  830  may fuse the location information of the another vehicle included in the LDM data received through the second communication module  814  into the map information on which the vehicle-related information has been sensed, so as to acquire the location information of the another vehicle located in a broader range and more effectively control the vehicle using the acquired information. For example, it is assumed that a plurality of other vehicles is crowded ahead in a lane in which the vehicle  100  travels, and it is also assumed that the sensing unit can sense only location information related to the immediately preceding vehicle. In this case, when only vehicle-related information sensed within a predetermined range on map information is used, the processor  830  may generate a control command to control the vehicle such that the vehicle overtakes the preceding vehicle. 
     However, a plurality of other vehicles may be actually present ahead, which may make the vehicle difficult to overtake the other vehicles. At this time, the vehicle  100  may acquire the location information of another vehicle received through the V2X module. Here, the received location information of the another vehicle may include location information related to not only the vehicle immediately in front of the vehicle  100  (or the preceding vehicle) but also a plurality of other vehicles in front of the preceding vehicle. 
     The processor  830  may additionally fuse the location information related to the plurality of other vehicles acquired through the V2X module into map information to which the vehicle-related information is applied, so as to determine a situation where it is inappropriate to overtake the preceding vehicle. 
     With such configuration, the vehicle  100  can overcome the technical limitation associated with conventional systems that only vehicle-related information acquired through the sensing unit  120  is merely fused to high-definition map information and thus autonomous driving is enabled only within a predetermined range. For example, vehicle  100  can achieve more accurate and stable vehicle control by additionally fusing information related to other vehicles (e.g., speeds, locations of other vehicles), which have been received from the other vehicles located at a farther distance than the predetermined range through the V2X module, as well as vehicle-related information sensed through the sensing unit, into map information. 
     Vehicle control described herein may include at least one of autonomously driving the vehicle  100  or outputting a warning message associated with the driving of the vehicle. 
     Hereinafter, description will be given in more detail of a method in which a processor controls a vehicle using LDM data received through a V2X module, ADAS MAP received from an external server (eHorizon), and vehicle-related information sensed through a sensing unit provided in the vehicle, with reference to the accompanying drawings. 
       FIGS.  12 A and  12 B  are exemplary views illustrating a method in which a communication device receives high-definition map data. 
     The server may divide HD map data into tile units and provide them to the path providing device  800 . The processor  830  may receive HD map data in the tile units from the server or another vehicle through the TCU  810 . Hereinafter, HD map data received in tile units is referred to as ‘HD map tile’. 
     The HD map data is divided into tiles having a predetermined shape, and each tile corresponds to a different portion of the map. By connecting all the tiles, the full HD map data may be acquired. Since the HD map data has a high capacity, the vehicle  100  may be provided with a high-capacity memory in order to download and use the full HD map data. As communication technologies are developed, it is more efficient to download, use, and delete HD map data in tile units, rather than to provide the high-capacity memory in the vehicle  100 . 
     For the convenience of description, a case in which the predetermined shape is rectangular is described as an example, but the predetermined shape may be modified to various polygonal shapes. 
     The processor  830  may store the downloaded HD map tile in the memory  140 . The processor  830  may delete the stored HD map tile. For example, the processor  830  may delete the HD map tile when the vehicle  100  leaves an area corresponding to the HD map tile. By way of further example, the processor  830  may delete the HD map tile when a preset time elapses after storage. 
     As illustrated in  FIG.  12 A , when there is no preset destination, the processor  830  may receive a first HD map tile  1251  including a location (position)  1250  of the vehicle  100 . The server receives data of the location  1250  of the vehicle  100  from the vehicle  100 , and transmits the first HD map tile  1251  including the location  1250  of the vehicle  100  to the vehicle  100 . In addition, the processor  830  may receive HD map tiles  1252 ,  1253 ,  1254 , and  1255  around the first HD map tile  1251 . For example, the processor  830  may receive the HD map tiles  1252 ,  1253 ,  1254 , and  1255  that are adjacent to top, bottom, left, and right sides of the first HD map tile  1251 , respectively. In this case, the processor  830  may receive a total of five HD map tiles. For example, the processor  830  may further receive HD map tiles located in a diagonal direction, together with the HD map tiles  1252 ,  1253 ,  1254 , and  1255  adjacent to the top, bottom, left, and right sides of the first HD map tile  1251 . In this case, the processor  830  may receive a total of nine HD map tiles. 
     As illustrated in  FIG.  12 B , when there is a preset destination, the processor  830  may receive tiles associated with a path from the location  1250  of the vehicle  100  to the destination. The processor  830  may receive a plurality of tiles to cover the path. 
     In some implementations, the processor  830  may receive all the tiles covering the path at one time. 
     Alternatively, the processor  830  may receive the entire tiles in a dividing manner while the vehicle  100  travels along the path. For example, the processor  830  may receive only some of the entire tiles based on the location of the vehicle  100  while the vehicle  100  travels along the path. Thereafter, the processor  830  may continuously receive tiles during the travel of the vehicle  100  and delete the previously received tiles. 
     The processor  830  may generate electronic horizon data based on the HD map data. 
     The vehicle  100  may travel in a state where a final destination is set. The final destination may be set based on a user input received via the user interface apparatus  200  or the communication apparatus  400 . According to some implementations, the final destination may be set by the driving system  710 . 
     In the state where the final destination is set, the vehicle  100  may be located within a preset distance from a first point during driving. When the vehicle  100  is located within the preset distance from the first point, the processor  830  may generate electronic horizon data having the first point as a start point and a second point as an end point. The first point and the second point may be points on the path heading to the final destination. The first point may be described as a point where the vehicle  100  is located or will be located in the near future. The second point may be described as the horizon described above. 
     The processor  830  may receive an HD map of an area including a section from the first point to the second point. For example, the processor  830  may request an HD map for an area within a predetermined radial distance from the section between the first point and the second point and receive the requested HD map. 
     The processor  830  may generate electronic horizon data for the area including the section from the first point to the second point, based on the HD map. The processor  830  may generate horizon map data for the area including the section from the first point to the second point. The processor  830  may generate horizon path data for the area including the section from the first point to the second point. The processor  830  may generate a main path for the area including the section from the first point to the second point. The processor  830  may generate data of a sub path for the area including the section from the first point to the second point. 
     When the vehicle  100  is located within a preset distance from the second point, the processor  830  may generate electronic horizon data having the second point as a start point and a third point as an end point. The second point and the third point may be points on the path heading to the final destination. The second point may be described as a point where the vehicle  100  is located or will be located in the near future. The third point may be described as the horizon described above. In some implementations, the electronic horizon data having the second point as the start point and the third point as the end point may be geographically connected to the electronic horizon data having the first point as the start point and the second point as the end point. 
     The operation of generating the electronic horizon data using the second point as the start point and the third point as the end point may be performed by correspondingly applying the operation of generating the electronic horizon data having the first point as the start point and the second point as the end point. 
     According to some implementations, the vehicle  100  may travel even when the final destination is not set. 
       FIG.  13    is a flowchart of an exemplary method of generating autonomous driving visibility information by receiving high-definition map by the path providing device. 
     The processor  830  may receive a high-definition (HD) map from an external server (S 1310 ). 
     The external server is a device capable of performing communication through the first communication module  812 , which is an example of the telematics communication device  910 . The HD map is provided with a plurality of layers of data. The HD map is ADAS MAP and may include at least one of the four layers described above with respect to  FIG.  11 B . 
     The processor  830  may generate autonomous driving visibility (or visual field) information for guiding a road located ahead of the vehicle  100  in lane units (or lane by lane) using the HD map (S 1330 ). 
     The processor  830  may receive sensing information from one or more sensors provided in the vehicle  100  through the interface unit  820 . The sensing information may be vehicle driving information. 
     The processor  830  may specify one lane in which the vehicle  100  is located on a road having a plurality of lanes based on an image, which has been received from an image sensor, among the sensing information. For example, when the vehicle  100  is traveling in a first lane on an eight-lane road, the processor  830  may specify (determine) the first lane as a lane in which the vehicle  100  is located, based on the image received from the image sensor. 
     The processor  830  may estimate an optimal path, in which the vehicle  100  is expected or planned to move based on the specified lane, in lane units using the map information. 
     Here, the optimal path may be referred to as a Most Preferred Path or Most Probable Path, and may be abbreviated as MPP. 
     The vehicle  100  may autonomously travel along the optimal path. When driven manually, the vehicle  100  may provide navigation information to guide the optimal path to the driver. 
     The processor  830  may generate autonomous driving visibility information, in which the sensing information has been fused with the optimal path. The autonomous driving visibility information may refer to ‘eHorizon’. 
     The processor  830  may generate different autonomous driving visibility information depending on whether a destination is set in the vehicle  100 . For example, when a destination has been set in the vehicle  100 , the processor  830  may generate autonomous driving visibility information for guiding a driving path (travel path) to the destination lane by lane. In contrast, when a destination has not been set in the vehicle  100 , the processor  830  may calculate a main path (Most Preferred Path (MPP)) along which the vehicle  100  is most likely to travel, and generate autonomous driving visibility information for guiding the main path (MPP) in the lane units. In this case, the autonomous driving visibility information may further include sub path information related to a sub path, which is branched from the main path (MPP) and along which the vehicle  100  is likely to travel with a higher probability than a predetermined reference. 
     The autonomous driving visibility information may provide a driving path up to a destination for each lane drawn on a road, thereby providing more precise and detailed path information. The autonomous driving visibility information may be path information that complies with the standard of ADASIS v 3 . 
     The autonomous driving visibility information may be provided by subdividing a path, along which the vehicle should travel or can travel, into lane units. The autonomous driving visibility information may be information for guiding a driving path to a destination in lane units. When the autonomous driving visibility information is displayed on a display mounted on the vehicle  100 , a guide line for guiding a lane on which the vehicle  100  can travel may be displayed on the map. In addition, a graphic object indicating the position of the vehicle  100  may be included on at least one lane in which the vehicle  100  is located among a plurality of lanes included in a map. 
     The autonomous driving visibility information may be fused with dynamic information for guiding a movable (moving) object located on the optimal path. The dynamic information may be received by the processor  830  through the TCU  810  and/or the interface unit  820 , and the processor  830  may update the optimal path based on the dynamic information. As the optimal path is updated, the autonomous driving visibility information is also updated. The dynamic information may include dynamic data. 
     The processor  830  may provide the autonomous driving visibility information to at least one electric component provided in the vehicle (S 1350 ). Further, the processor  830  may also provide the autonomous driving visibility information to various applications installed in the system of the vehicle  100 . 
     The electric component, which refers to any device mounted on the vehicle  100  and capable of performing communication, may include the components  120  to  700  described above with respect to  FIG.  7   . For example, the object detecting apparatus  300  such as a radar or a LiDAR, the navigation system  770 , the vehicle operating apparatus  600 , and the like may be included in the electric components. 
     The electric component may perform its own function based on the autonomous driving visibility information. 
     The autonomous driving visibility information may include a lane-based path and the position or location of the vehicle  100 , and may include dynamic information including at least one object to be sensed by the electric component. The electric component may reallocate resources to sense an object corresponding to the dynamic information, determine whether the dynamic information matches sensing information sensed by the electric component itself, or change a setting value for generating sensing information. 
     The autonomous driving visibility information may include a plurality of layers of data. The processor  830  may selectively transmit at least one of the layers according to an electric component that receives the autonomous driving visibility information. 
     In detail, the processor  830  may select at least one of the plurality of layers of data included in the autonomous driving visibility information, based on at least one of a function that the electric component is executing or a function that is expected to be executed by the electric component. The processor  830  may transmit the selected layer to the electric component, and the unselected layers may not be transmitted to the electric component. 
     The processor  830  may receive external information generated by an external device, which is located within a predetermined range with respect to the vehicle  100 , from the external device. 
     The predetermined range may refer to a distance at which the second communication module  814  can perform communication, and may vary according to performance of the second communication module  814 . When the second communication module  814  performs V2X communication, a V2X communication-available range may be defined as the predetermined range. 
     Further, the predetermined range may vary according to an absolute speed of the vehicle  100  and/or a relative speed with the external device. 
     The processor  830  may determine the predetermined range based on the absolute speed of the vehicle  100  and/or the relative speed with the external device, and permit the communication with external devices located within the determined predetermined range. 
     In detail, based on the absolute speed of the vehicle  100  and/or the relative speed with the external device, external devices that can perform communication through the second communication module  814  may be classified into a first group or a second group. External information received from an external device included in the first group is used to generate dynamic information, but external information received from an external device included in the second group is not used to generate the dynamic information. Even when external information is received from the external device included in the second group, the processor  830  may ignore the external information. 
     The processor  830  may generate dynamic information related to an object to be sensed by at least one electric component provided in the vehicle based on the external information, and match the dynamic information with the autonomous driving visibility information. For example, the dynamic information may correspond to the fourth layer described above with respect to  FIGS.  11 A and  11 B . 
     As described above with respect to  FIGS.  11 A and  11 B , the path providing device  800  may receive the ADAS MAP and/or the LDM data. More specifically, the path providing device  800  may receive the ADAS MAP from the telematics communication device  910  through the first communication module  812 , and the LDM data from the V2X communication device  930  through the second communication module  814 . 
     The ADAS MAP and the LDM data may be provided with a plurality of layers of data each having the same format. The processor  830  may select at least one layer from the ADAS MAP, select at least one layer from the LDM data, and generate the autonomous driving visibility information including the selected layers. For example, after selecting first to third layers of the ADAS MAP and selecting a fourth layer of the LDM data, one autonomous driving visibility information may be generated by aligning those four layers into one. In this case, the processor  830  may transmit a refusal message for refusing the transmission of the fourth layer to the telematics communication device  910 . This is because receiving partial information excluding the fourth layer uses less resources of the first communication module  812  than receiving all information including the fourth layer. By matching part of the ADAS MAP with part of the LDM data, complementary information can be utilized. 
     In some implementations, after selecting the first to fourth layers of the ADAS MAP and selecting the fourth layer of the LDM data, one autonomous driving visibility information may be generated by aligning those five layers into one. In this case, priority may be given to the fourth layer of the LDM data. If the fourth layer of the ADAS MAP includes information which is inconsistent with the fourth layer of the LDM data, the processor  830  may delete the inconsistent information or correct the inconsistent information based on the LDM data. 
     The dynamic information may be object information for guiding a predetermined object. For example, the dynamic information may include at least one of position coordinates for guiding the position of the predetermined object, or information guiding the shape, size, and kind of the predetermined object. 
     The predetermined object may refer to an object that disturbs driving in a corresponding lane among objects that can be driven on a road. 
     For example, the predetermined object may include a bus stopped at a bus stop, a taxi stopped at a taxi stand or a truck from which package boxes are being put down. By way of further example, the predetermined object may include a garbage truck that travels at a predetermined speed or slower, or a large-sized vehicle (e.g., a truck or a container truck, etc.) that is determined to obstruct a driver&#39;s vision. As another example, the predetermined object may include an object informing of an accident, road damage or construction. 
     As described above, the predetermined object may include all kinds of objects blocking a lane so that driving of the vehicle  100  is impossible or interrupted. The predetermined object may correspond to an icy road, a pedestrian, another vehicle, a construction sign, a traffic signal such as a traffic light, or the like that the vehicle  100  should avoid, and may be received by the path providing device  800  as the external information. 
     The processor  830  may determine whether or not the predetermined object guided by the external information is located within a reference range based on the travel path of the vehicle  100 . Whether or not the predetermined object is located within the reference range may vary depending on a lane in which the vehicle  100  is traveling and a position where the predetermined object is located. For example, external information for a guiding sign indicating the construction on a third lane 1 km ahead of the vehicle while the vehicle is traveling in a first lane may be received. If the reference range is set to 1 m based on the vehicle  100 , the sign is located outside the reference range. This is because the third lane is located outside the reference range of 1 m based on the vehicle  100  if the vehicle  100  is continuously traveling in the first lane. On the other hand, if the reference range is set to 10 m based on the vehicle  100 , the sign is located within the reference range. 
     The processor  830  may generate the dynamic information based on the external information when the predetermined object is located within the reference range, but may not generate the dynamic information when the predetermined object is located outside the reference range. That is, the dynamic information may be generated only when the predetermined object guided by the external information is located on the driving path of the vehicle  100  or is within a reference range that may affect the driving path of the vehicle  100 . 
     The path providing device may generate the autonomous driving visibility information by integrating information received through the first communication module and information received through the second communication module into one, which may result in generating and providing optimal autonomous driving visibility information capable of complementing different types of information provided through such different communication modules. This is because information received through the first communication module cannot reflect information in real time but such limitation can be complemented by information received through the second communication module. 
     Further, when there is information received through the second communication module  814 , the processor  830  may control the first communication module  812  so as not to receive the corresponding information. Accordingly, the bandwidth of the first communication module  812  may be used less than that of conventional systems. That is, the resource usage of the first communication module  812  can be minimized. 
     The processor  830  may control the interface unit  820  to shut off or restart the engine of the vehicle  100  based on the autonomous driving visibility information (S 1370 ). More specifically, the processor  830  may control the interface unit  820  such that the engine of the vehicle  100  is turned off or on based on the autonomous driving visibility information while the vehicle  100  is stationary. For example, when the autonomous driving visibility information satisfies a preset or predetermined ‘engine-off’ condition while the vehicle is at rest, an ‘off’ command is generated and is transmitted through the interface unit  820  so as to shut off the engine of the vehicle  100 . By way of further example, when the autonomous driving visibility information satisfies a predetermined ‘engine-on (or vehicle on)’ condition while the vehicle  100  is at a standstill, an ‘on’ command is generated and is transmitted through the interface unit  820  so as to restart the engine of the vehicle  100 . 
     In some implementations, when a traffic signal in front of the vehicle  100  is changed while the engine of the vehicle  100  is off, the processor  830  may control the interface unit  820  to restart the engine of the vehicle  100 . 
     As another example, while the engine of the vehicle  100  is off, the processor  830  may control the interface unit  820  to restart the engine of the vehicle  100  when another vehicle ahead of the vehicle  100  starts moving or is expected to move (or will leave soon). 
     In conclusion, the processor  830  may control the vehicle  100  such that the path providing device  800 , which is configured to provide path information to the vehicle  100 , may receive map information including a plurality of layers of data from a server. The path providing device  800  may receive sensing information from one or more sensors provided in the vehicle  100 . The path providing device  800  may identify one lane in which the vehicle  100  is located on a road with a plurality of lanes based on an image, received from an image sensor, among the sensing information. The path providing device  800  may determine an optimal path on which the vehicle  100  is expected or planned to move based on the identified one lane, with respect to one or more lanes using the map information. The path providing device  800  may generate autonomous driving visibility information by fusing the sensing information with the optimal path to be transmitted to at least one of the server or an electric component provided in the vehicle  100 . The autonomous driving visibility information is fused with dynamic information for guiding a movable object located on the optimal path. The path providing device  800  may update the optimal path based on the dynamic information. Further, a control command is generated to shut off or restart the engine of the vehicle  100  based on the autonomous driving visibility information while the vehicle  100  is at a stop. 
     The conventional Start and Stop function, called Idle Stop and Go (ISG), is a function (or system) that automatically switches the engine off when the vehicle is brought to a stop and starts the engine again as soon as the brake pedal is released. The present disclosure employs artificial intelligence (AI) in the existing ISG function, thereby providing an improved ISG function based on autonomous driving visibility information. 
     In detail, the ISG function is executed when it is needed for a passenger, thereby preventing inconvenience caused to the passenger. Further, by restarting the engine in a situation-specific (or customized) manner, the engine is turned on when actually needed, thereby reducing exhaust gases. 
     Hereinafter, a description will be given of specific examples of generating an ‘engine-on’ command and ‘engine-off’ command. 
       FIG.  14    is a flowchart of an exemplary method of determining a specific time for shutting off or restarting the engine by a path driving device, and  FIGS.  15 A to  15 C  are exemplary diagrams illustrating implementations of the method of  FIG.  14   . 
     Referring to  FIG.  14   , the processor  830  may receive surrounding information of the vehicle through the TCU  810  (S 1410 ). 
     The surrounding information may refer to information received from various devices located in a periphery of (or around) the vehicle  100 . The periphery may refer to a predetermined range available for receiving information through V2X communication, and the predetermined range may be variously changed according to the performance of the TCU  810 . 
     The surrounding information may include, for example, traffic light information, another vehicle&#39;s information, area information, and the like. 
     The traffic light information may include at least one of a type of the current signal or the time remaining before the current signal changes to another signal. 
     The another vehicle&#39;s information may include at least one of a current speed, a driving (re)start time when the another vehicle is stationary, or the time remaining to the driving start time. 
     The processor  830  may determine a specific time based on the surrounding information (S 1430 ). 
     The specific time may be a reference time for shutting off or restarting the engine of the vehicle  100 . For example, when 40 seconds are remaining before the red light turns to green, the processor  830  may determine the specific time based on the 40 seconds. If there is no other vehicle ahead, and it is possible to start off immediately when the signal changes, the specific time may be set to a time shorter (less) than 40 seconds. If there is another vehicle ahead, and it is impossible to start off almost simultaneously when the signal changes, the specific time may be set to a time equal to or longer (greater) than 40 seconds. 
     The specific time may vary depending on where the vehicle  100  at a standstill is located with respect to a traffic light. 
     When a plurality of surrounding information is received, the processor  830  may select at least one surrounding information based on the optimal path included in the autonomous driving visibility information, and select the specific time by using the selected surrounding information. For example, even if the same vehicle driving information is received, the specific time may be differently determined according to the optimal path expected to be taken by the vehicle  100 . By way of further example, a specific time for turning left and going straight may be set differently although the same signal information is received. 
     When a plurality of other vehicles is ahead of the vehicle  100  on the road, the processor  830  may select one vehicle located on the same lane as the vehicle  100  based on the optimal path. 
     The processor  830  may determine a state (or status) of the selected another vehicle, whether it is moving or is expected to move based on at least one of the sensing information or another vehicle&#39;s information (information regarding the another vehicle) received from the another vehicle. 
     When the selected another vehicle starts moving, or is expected to move, the processor  830  may control the interface unit  820  to restart the engine of the vehicle  100 . 
     The processor  830  may determine a specific time point rather than the specific time. For example, when the current time is 21:20:20 (21 hours, 20 minutes, 20 seconds), 40 seconds may be set to a specific time, or 21:21:00 may be set to a specific time point. 
     The processor  830  may output notification information of the specific time (S 1450 ). The processor  830  may control the interface unit  820  such that notification information regarding the specific time is output in at least one of visual, auditory, or tactile manners. For example, the notification information is output from the vehicle  100  by using at least one of visual, auditory, or tactile manners, so as to be provided to a passenger on board the vehicle  100 . 
     The processor  830  may shut off or restart the engine of the vehicle  100  based on the specific time (S 1470 ). 
     As illustrated in  FIG.  15 A , a first vehicle  100   a  may receive signal information from a traffic light  1520  ahead, and stop in response to the signal information. The first vehicle  100   a  may stop itself in response to a yellow or red signal of the traffic light  1520 . In some implementations, the first vehicle  100   a  may be stopped by the driver. In this case, a first engine  1510  of the first vehicle  100   a  is kept on while the first vehicle  100   a  is at a standstill. 
     As illustrated in  FIG.  15 B , a processor of a vehicle controlling device that controls the first vehicle  100   a  may shut off the first engine  1510  based on the autonomous driving visibility information when the first vehicle  100   a  comes to a complete stop. The first engine  1510  may be shut off based on the autonomous driving visibility information regardless of a gear position (state) of the first vehicle  100   a , whether or not a brake pedal is pressed, or the like. 
     A graphic object  1532  indicating that the engine is shut off due to activation of the Idle Stop and Go function may be displayed on a display  1530  of the first vehicle  100   a . The graphic object  1532  may include remaining time information indicating the remaining time before the engine is started again. For example, when 35 seconds remain before the engine is started again, a text, image, and video corresponding to 35 seconds may be displayed on the display  1530  of the first vehicle  100   a.    
     A second vehicle  100   b  may also receive signal information from the traffic light  1520 , and stop in response to the signal information. A processor of a vehicle controlling device that controls the second vehicle  100   b  may shut off a second engine  1512  based on the autonomous driving visibility information when the second vehicle  100   b  comes to a complete stop. 
     As illustrated in  FIG.  15 C , when the specific time has elapsed, or the specific time point is arrived, the processor of the first vehicle  100   a  may start the first engine  1510  again. 
     The processor  830  may control the interface unit  820  to restart the engine of the vehicle  100  when another vehicle ahead of the vehicle  100 , namely the preceding vehicle starts moving, or is expected to move while the engine of the vehicle  100  is shut off. 
     For example, the second vehicle  100   b  located behind the first vehicle  100   a  may receive first vehicle information (information regarding the first vehicle) from the first vehicle  100   a . The first vehicle information may include an expected (or estimated) time to restart the engine of the first vehicle  100   a  and/or the time remaining before the expected time. Further, the first vehicle information may include information that indicates a status (or state) of the first vehicle  100   a  is changed to moving from stationary. 
     The processor of the second vehicle  100   b  may determine whether to turn off or on the second engine  1512  based on the first vehicle information. The processor of the second vehicle  100   b  determines when the second vehicle  100   b  should move as the first vehicle  100   a  starts moving, and restarts the second engine  1512  at the determined time. This may allow exhaust gas emissions to be reduced or minimized, and the vehicle to be prepared to move by restarting the engine at an optimal time. 
       FIG.  16    is an exemplary diagram of determining a specific time based on another vehicle. 
     The processor  830  may receive various surrounding information of the vehicle  100 . 
     When a plurality of surrounding information is received, the processor  830  may select at least one surrounding information based on an optimal path of the vehicle  100  and determine the specific time using the selected surrounding information. 
     When there is a plurality of vehicles in front of the vehicle  100 , the processor  830  may select one vehicle, located on the same lane, as the another vehicle based on the optimal path. When the another vehicle starts moving or is expected to move, the processor  830  may control the interface unit  820  to turn on the engine of the vehicle  100 . Other vehicles, which are not selected, may not be used for shutting off or restarting the engine of the vehicle  100 . 
     For example, as illustrated in  FIG.  16   , even when green signal information is received from a traffic light, the second vehicle  100   b  may maintain the engine-off state when the first vehicle  100   a  is at a standstill. The processor of the second vehicle  100   b  may control such that the second engine  1512  is started again when the first vehicle  100   a  starts moving or is expected to move. 
     When the first vehicle  100   a  is stopped at a green light (signal) for a reference time, it is determined that the first vehicle  100   a  has a trouble, and the like. Then, the processor of the second vehicle  100   b  may control to start the second engine  1512  again. 
       FIG.  17    is a flowchart of an exemplary method of determining whether to execute an Idle Stop and Go (ISG) function by a path providing device, and  FIGS.  18 A to  18 C  are exemplary diagrams illustrating implementations of the method of  FIG.  17   . 
     The processor  830  may update an optimal path based on dynamic information (S 1710 ). 
     When there is an accident or traffic jam on an optimal path, such events may be transmitted as dynamic information. The optimal path may be changed by the dynamic information. 
     The processor  830  may determine whether to execute an Idle Stop and Go (ISG) function that shuts off or restarts the engine of the vehicle according to a predetermined condition based on the optimal path (S 1730 ). 
     The processor  830  may determine whether to execute the ISG function based on the dynamic information included in the autonomous driving visibility information. 
     The processor  830  may determine whether to execute the ISG function based on at least one of characteristics of the road on which the vehicle is traveling or characteristics of a road on which the vehicle is expected to travel, included in the optimal path. 
     For example, as illustrated in  FIG.  18 A , when a vehicle  1800  passes a ramp to enter a main line  1810  included in an optimal path, the ISG function is not executed even if the vehicle  1800  comes to a stop. However, when the vehicle  1800  stops at a red light an intersection according to a red signal of a traffic light, the Idle Stop and Go is executed. 
     By way of further example, as shown in  FIG.  18 B , when the vehicle  1800  stops at a red light (signal) in an intersection to join a main line  1820  included in an optimal path, the ISG function is not executed. 
     As another example, as illustrated in  FIG.  18 C , when the vehicle  1800  travels on an optimal path that includes a parking lot, the ISG function is not executed. This is because when the engine is turned off at a temporary stop for parking, inconvenience occurs to a passenger on board. 
     The processor  830  may determine whether the vehicle  1800  enters the parking lot using the sensing information. When it was determined that the vehicle  1800  entered the parking lot, the processor  830  may control the interface unit  820  such that the ISG function is not executed. 
     Further, the processor  830  may control the interface unit  820  such that the ISG function is not executed when the optimal path includes a road that cannot generate a route with respect to one or more lanes (or lane-by-lane). 
     The processor  830  may determine whether the driving road is a parking lot based on road characteristics included in the autonomous driving visibility information. Further, if there is no lane or if the vehicle  1800  is traveling in a private area (or land), the processor  830  may determine that the vehicle  1800  is traveling in the parking lot. 
     The predetermined condition may be changed based on the optimal path (S 1750 ). 
     The processor  830  may change the predetermined condition for executing the ISG function based on the optimal path included in the autonomous driving visibility information. 
     For example, a predetermined condition for executing the ISG function may be set to a stop reference time during which the brake pedal is being pressed while the vehicle  1800  is stationary. The stop reference time may be changed by the autonomous driving visibility information. For example, in the case of a (metro) expressway, the stop reference time may be set to a first time. As for a general road, the stop reference time may be set to a second time which is shorter than the first time. 
     As another example, the predetermined condition may be variously changed according to a surface condition of a road on which the vehicle is traveling, weather, and traffic volume, and the like. 
     Among a plurality of lanes included in the road on which the vehicle is traveling, the processor  830  may classify lanes available for executing the ISG function as a first group, and lanes unavailable for executing the ISG function as a second group, based on the optimal path. Further, the predetermined condition may be changed based on at least one of the first group or the second group. 
     According to the implementations disclosed herein, a smart Idle Stop and Go function employing AI elements is provided, an unnecessary engine-off situation may be minimized, thereby minimizing exhaust gas emissions. 
     The present disclosure can be implemented as computer-readable codes (applications or software) in a program-recorded medium. The method of controlling the autonomous vehicle can be realized by a code stored in a memory or the like. 
     The computer-readable medium may include all types of recording devices each storing data readable by a computer system. Examples of such computer-readable media may include hard disk drive (HDD), solid state disk (SSD), silicon disk drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage element and the like. Also, the computer-readable medium may also be implemented as a format of carrier wave (e.g., transmission via an Internet). The computer may include the processor or the controller. Therefore, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, unless otherwise specified, but rather should be construed broadly within its scope as defined in the appended claims. Therefore, all changes and modifications that fall within the metes and bounds of the claims, or equivalents of such metes and bounds are therefore intended to be embraced by the appended claims.