Patent Description:
A vehicle refers to a device that carries a passenger in a direction intended by a passenger. A car is a major example of such a vehicle. In the industrial field of vehicles, application of an advanced driver assistance system (ADAS) is under active study to increase the driving convenience of users. Furthermore, the application of autonomous driving of vehicles is also under active study.

The application of ADAS or the application of autonomous driving may be configured based on map data. Conventionally, low-scale standard definition (SD) map data is provided to users while being stored in a memory installed in a vehicle. However, recently, as the need for high-scale high-definition (HD) map data has increased, map data into which a cloud service is integrated has come to be provided to users.

To process data of the application of ADAS and the application of autonomous driving based on an HD map, capability to process a large amount of data and capability to store a large amount of data are required. There is thus a need to develop technology for effectively transmitting and receiving a large amount of data of the HD map.

<CIT> discloses a positioning method for a vehicle navigation system, which is based on a data fusion of data obtained from a plurality of different sensors. The method takes into account the reliability of the sensor data obtained from each of the sensors. For this purpose, the method further takes into account electronic horizon data. Reliability of the different sensor data paths is judged by comparing each of the sensor data paths with the information included in the electronic horizon data. As a result, only those sensor data paths which have been judged as being reliable are selected for the data fusion.

<CIT> discloses a data architecture for a motor vehicle that continuously provides updated data about paths along roads onto which the motor vehicle can travel from a current position of the motor vehicle as the motor vehicle travels along the roads. The data architecture uses a map database containing data about roads in a geographic region and a vehicle positioning program that uses data from sensors to provide an output indicating a current location along a road segment represented by data in the map database. The data architecture also includes a data horizon program that uses the output of the vehicle positioning program and data from the map database to determine one or more paths that the motor vehicle can travel extending from the current vehicle position to an extent associated with a threshold. Data representing the paths determined by the data horizon program are stored in a data repository from which driver assistance systems can obtain the data.

<CIT> discloses a method for transmitting road information, a traffic control unit (TCU) and an on-board unit (OBU). The method includes the following steps: a TCU acquires a planned path of a vehicle; the TCU extends the planned path to generate an available driving area of the vehicle on the planned path, wherein the available driving area includes a safety driving area of the vehicle; and the TCU sends road information to an OBU, wherein the road information includes instruction information of the available driving area.

<CIT> discloses a method for determining, in a predictive manner, types of road situations of a vehicle comprising the following steps: points defining at least one possible path situated in front of the vehicle are obtained from a navigation system, for each point, at least one attribute describing the type of road environment associated with this point is extracted from the navigation system, the attribute of this point is compared with that of the preceding point, if the attributes are identical, a driving situation is deduced from this such that said driving situation is a function of the attribute of the preceding point, if the two attributes are different, an end of driving situation is deduced from this, and a transition to a new driving situation is determined depending on the attribute of this point, in such a manner as to define a succession of driving situations for this path.

<CIT> discloses a vehicle control device for controlling a vehicle, which may include a communication unit configured to receive a map having a plurality of layers from a server; and a processor configured to generate a control signal for driving the vehicle using the map, wherein a control region that is a reference for the generation of the control signal around a location of the vehicle is defined differently according to a preset reference.

To overcome the aforementioned problems, the present disclosure may provide an electronic device for a vehicle for adjusting the speed of reception of high-definition (HD) map data depending on traveling situation information.

The present disclosure may provide a method of operating an electronic device for a vehicle for adjusting the speed of reception of HD map data depending on situation information.

The present disclosure may provide a system for adjusting a speed of reception of HD map data depending on traveling situation information.

It will be appreciated by persons skilled in the art that that the effects that could be achieved with the present disclosure are not limited to what has been particularly described hereinabove and other advantages of the present disclosure will be more clearly understood from the detailed description.

The above object is solved by the subject matter of the independent claims.

Details of other embodiments are included in detailed descriptions and drawings.

As is apparent from the foregoing description, the embodiments of the present disclosure have the following one or more effects.

First, communication load may be reduced by adjusting the speed of reception of HD map data depending on traveling situation information.

Second, processing efficiency may be enhanced by generating electronic horizon data depending on traveling situation information.

It will be appreciated by persons skilled in the art that that the effects that could be achieved with the present disclosure are not limited to what has been particularly described hereinabove and other advantages of the present disclosure will be more clearly understood from the following claims.

Reference will now be made in detail to exemplary embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings. The suffixes "module" and "unit" of elements herein are used for convenience of description and thus can be used interchangeably, and do not have any distinguishable meanings or functions. In the following description of the at least one embodiment, a detailed description of known functions and configurations incorporated herein will be omitted for the purposes of clarity and brevity. The features of the present disclosure will be more clearly understood from the accompanying drawings, and should not be understood to be limited by the accompanying drawings.

It will be understood that, although the terms "first", "second", "third" etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element.

It will be understood that when an element is referred to as being "on", "connected to" or "coupled to" another element, it may be directly on, connected to or coupled to the other element, or intervening elements may be present. In contrast, when an element is referred to as being "directly on," "directly connected to" or "directly coupled to" another element or layer, there are no intervening elements present.

Singular expressions in the present specification include the plural expressions unless clearly specified otherwise in context.

It will be further understood that the terms "comprises" or "comprising" when used in this specification specify the presence of stated features, integers, steps, operations, elements, or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof.

In the description below, the left side of the vehicle means the left side with respect to the travel direction of the vehicle and the right side of the vehicle means the right side with respect to the travel direction of the vehicle.

<FIG> is a diagram showing a vehicle that travels on a road according to an embodiment of the present disclosure.

Referring to <FIG>, a vehicle <NUM> according to an embodiment may be defined as a form of a transport that travels on a road or rails. The vehicle <NUM> may be interpreted as including an automobile, a train, or a motorcycle. Hereinafter, an autonomous driving vehicle that travels without driver manipulation for driving or a vehicle including an advanced driver assistance system (ADAS) will exemplify the vehicle <NUM>.

The vehicle described in this specification may include a vehicle equipped with an internal combustion engine as a power source, a hybrid vehicle equipped with both an engine and an electric motor as a power source, and an electric vehicle equipped with an electric motor as a power source.

The vehicle <NUM> may include an electronic device <NUM>. The electronic device <NUM> may be referred to as an electronic horizon provider (EHP). The electronic device <NUM> may be conductively connected to another electronic device inside the vehicle <NUM> in the state of being installed in the vehicle <NUM>.

<FIG> is a diagram for explaining a system according to an embodiment of the present disclosure.

Referring to <FIG>, a system <NUM> may include an infrastructure <NUM> and at least one vehicle 10a and 10b.

The infrastructure <NUM> may include at least one server <NUM>. The server <NUM> may receive data generated by the vehicles 10a and 10b. The server <NUM> may process the received data. The server <NUM> may manipulate the received data.

The server <NUM> may receive data generated by at least one electronic device installed in the vehicles 10a and 10b. For example, the server <NUM> may receive data generated by at least one of an EHP, a user interface device, an object detection device, a communication device, a driving manipulation device, a main ECU, a vehicle-driving device, a travel system, a sensor, and a position-data-generating-device. The server <NUM> may generate big data based on the data received from a plurality of vehicles. For example, the server <NUM> may receive dynamic data from the vehicles 10a and 10b and may generate big data based on the received dynamic data. The server <NUM> may update HD map data based on the data received from a plurality of vehicles. For example, the server <NUM> may receive data generated by an object detection device from the EHP included in the vehicles 10a and 10b and may update HD map data.

The server <NUM> may provide pre-stored data to the vehicles 10a and 10b. For example, the server <NUM> may provide at least one of high-definition (HD) map data or standard definition (SD) map data to the vehicles 10a and 10b. The server <NUM> may classify the map data into map data for respective sections, and may provide only the map data corresponding to a section requested by the vehicles 10a and 10b. The HD map data may be referred to as high-precision map data.

The server <NUM> may provide data that is processed or manipulated by the server <NUM> to the vehicles 10a and 10b. The vehicles 10a and 10b may generate a travel control signal based on data received from the server <NUM>. For example, the server <NUM> may provide the HD map data to the vehicles 10a and 10b. For example, the server <NUM> may provide dynamic data to the vehicles 10a and 10b.

<FIG> is a diagram for explaining a vehicle including an electronic device according to an embodiment of the present disclosure.

<FIG> is diagram showing an example of the outer appearance of an electronic device according to an embodiment of the present disclosure.

Referring to <FIG> and <FIG>, the vehicle <NUM> may include the electronic device <NUM>, a user interface device <NUM>, an object detection device <NUM>, a communication device <NUM>, a driving manipulation device <NUM>, a main electronic control unit (ECU) <NUM>, a vehicle-driving device <NUM>, a travel system <NUM>, a sensor <NUM>, and a position-data-generating-device <NUM>.

The electronic device <NUM> may be referred to as an electronic horizon provider (EHP). The electronic device <NUM> may generate electronic horizon data and may provide the same to at least one electronic device included in the vehicle <NUM>.

The electronic horizon data may be described as driving plan data used to generate a travel control signal of the vehicle <NUM> in the travel system <NUM>. For example, the electronic horizon data may be understood as driving plan data within a range to a horizon from the point where the vehicle <NUM> is positioned. Here, the horizon may be understood as a point a preset distance ahead of the point at which the vehicle <NUM> is positioned based on a preset travel path. The horizon may refer to a point that the vehicle <NUM> is capable of reaching after a predetermined time from the point at which the vehicle <NUM> is positioned along the preset traveling path. Here, the travel path may refer to a travel path to a final destination, and may be set by user input.

The 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. In some embodiments, the horizon map data may include a plurality of layers. For example, the horizon map data may include a first layer matching the topology data, a second layer matching the ADAS data, a third layer matching the HD map data, and a fourth layer matching the dynamic data. The horizon map data may further include static object data.

The topology data may be described as a map made by connecting middle parts of roads. The topology data may be appropriate to broadly indicate the position of a vehicle and may be configured in the form of data that is mainly used in a navigation device for a driver. The topology data may be understood as data about road information other than information on lanes. The topology data may be generated based on data received from the infrastructure <NUM>. The topology data may be based on data generated by the infrastructure <NUM>. The topology data may be based on data stored in at least one memory included in the vehicle <NUM>.

The ADAS data may refer to data related to information on a road. The ADAS data may include at least one of data on a slope of a road, data on a curvature of a road, or data on a speed limit of a road. The ADAS data may further include data on a no-passing zone. The ADAS data may be based on data generated by the infrastructure <NUM>. The ADAS data may be based on data generated by the object detection device <NUM>. The ADAS data may be referred to as road information data.

The HD map data may include topology information in units of detailed lanes of a road, information on connection between lanes, and information on characteristics for localization of a vehicle (e.g., a traffic sign, lane marking/attributes, or road furniture). The HD map data may be based on data generated by the infrastructure <NUM>.

The dynamic data may include various pieces of dynamic information to be generated on a road. For example, the dynamic data may include information on construction, information on variable-speed lanes, information on the state of a road surface, information on traffic, and information on moving objects. The dynamic data may be based on data received from the infrastructure <NUM>. The dynamic data may be based on data generated by the object detection device <NUM>.

The electronic device <NUM> may provide map data within a range to a horizon from the point where the vehicle <NUM> is positioned.

The horizon path data may be described as the trajectory of the vehicle <NUM> within a range to a horizon from the point where the vehicle <NUM> is positioned. The horizon path data may include data indicating the relative probability of selection of any one among roads at a decision point (e.g., a forked road, a junction, or an intersection). The relative probability may be calculated based on the time taken to reach a final destination. For example, when a first road is selected at the decision point, if the time taken to reach a final destination is shorter than in the case in which a second road is selected, the probability of selecting the first road may be calculated to be higher than the probability of selecting the second road.

The horizon path data may include a main path and a sub path. The main path may be understood as a trajectory formed by connecting roads having a high probability of being selected. The sub path may branch from at least one decision point on the main path. The sub path may be understood as a trajectory formed by connecting roads having a low probability of being selected from at least one decision point on the main path.

The electronic device <NUM> may include an interface <NUM>, a power supply <NUM>, a memory <NUM>, and a processor <NUM>.

The interface <NUM> may exchange a signal with at least one electronic device included in the vehicle <NUM> in a wired or wireless manner. The interface <NUM> may exchange a signal with at least one of the user interface device <NUM>, the object detection device <NUM>, the communication device <NUM>, the driving manipulation device <NUM>, the main ECU <NUM>, the vehicle-driving device <NUM>, the travel system <NUM>, the sensor <NUM>, or the position-data-generating-device <NUM> in a wired or wireless manner. The interface <NUM> may include at least one of a communication module, a terminal, a pin, a cable, a port, a circuit, an element, or a device.

The power supply <NUM> may supply power to the electronic device <NUM>. The power supply <NUM> may receive power from a power source (e.g., a battery) included in the vehicle <NUM> and may provide power to each unit of the electronic device <NUM>. The power supply <NUM> may operate according to a control signal provided from the main ECU <NUM>. The power supply <NUM> may be embodied as a switched-mode power supply (SMPS).

The memory <NUM> is conductively connected to the controller <NUM>. The memory <NUM> may store default data for a unit, control data for controlling the operation of the unit, and input and output data. The memory <NUM> may be any of various storage devices in hardware, such as read only memory (ROM), random access memory (RAM), erasable and programmable ROM (EPROM), flash drive, and hard drive. The memory <NUM> may store various data for the overall operation of the vehicle <NUM>, such as programs for processing or controlling in the controller <NUM>.

The processor <NUM> may be conductively connected to the interface <NUM> and the power supply <NUM> and may exchange a signal therewith. The processor <NUM> may be embodied 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, or electric units for performing other functions.

The processor <NUM> may be driven by power provided from the power supply <NUM>. The processor <NUM> may continuously generate electronic horizon data in the state in which the power supply <NUM> supplies power.

The processor <NUM> may generate electronic horizon data. The processor <NUM> may generate electronic horizon data. The processor <NUM> may generate horizon path data.

The processor <NUM> may generate electronic horizon data by applying a traveling situation of the vehicle <NUM>. For example, the processor <NUM> may generate the electronic horizon data based on traveling direction data and traveling speed data of the vehicle <NUM>.

The processor <NUM> may combine the generated electronic horizon data with the pre-generated electronic horizon data. For example, the processor <NUM> may connect horizon map data generated at a first time with horizon map data generated at a second time in terms of position. For example, the processor <NUM> may connect horizon path data generated at a first time with horizon path data generated at a second time in terms of position.

The processor <NUM> may provide electronic horizon data. The processor <NUM> may provide the electronic horizon data to at least one of the travel system <NUM> or the main ECU <NUM> through the interface <NUM>.

The processor <NUM> may include the memory <NUM>, an HD map processor <NUM>, a dynamic data processor <NUM>, a matcher <NUM>, and a path generator <NUM>.

The HD map processor <NUM> may receive HD map data from the server <NUM> through the communication device <NUM>. The HD map processor <NUM> may store the HD map data. In some embodiments, the HD map processor <NUM> may process and manipulate the HD map data.

The dynamic data processor <NUM> may receive dynamic data from the object detection device <NUM>. The dynamic data processor <NUM> may receive the dynamic data from the server <NUM>. The dynamic data processor <NUM> may store the dynamic data. In some embodiments, the dynamic data processor <NUM> may process and manipulate the dynamic data.

The matcher <NUM> may receive an HD map from the HD map processor <NUM>. The matcher <NUM> may receive the dynamic data from the dynamic data processor <NUM>. The matcher <NUM> may generate horizon map data by matching the HD map data and the dynamic data.

In some embodiments, the matcher <NUM> may receive topology data. The matcher <NUM> may receive ADAS data. The matcher <NUM> may generate horizon map data by matching topology data, ADAS data, HD map data, and dynamic data.

The path generator <NUM> may generate horizon path data. The path generator <NUM> may include a main path generator <NUM> and a sub path generator <NUM>. The main path generator <NUM> may generate main path data. The sub path generator <NUM> may generate sub path data.

The electronic device <NUM> may include at least one printed circuit board (PCB). The interface <NUM>, the power supply <NUM>, and the processor <NUM> may be conductively connected to the PCB.

In some embodiments, the electronic device <NUM> may be integrated into the communication device <NUM>. In this case, the vehicle <NUM> may include the communication device <NUM> as a lower-ranking component of the electronic device <NUM>.

The user interface device <NUM> may be a device for communication between the vehicle <NUM> and a user. The user interface device <NUM> may receive user input and may provide information generated by the vehicle <NUM> to a user. The vehicle <NUM> may embody a user interface (UI) or user experience (UX) through the user interface device <NUM>.

The object detection device <NUM> may detect an object outside the vehicle <NUM>. The object detection device <NUM> may include at least one of a camera, a RADAR, a LiDAR, an ultrasonic sensor, or an infrared sensor. The object detection device <NUM> may provide data on an object, generated based on a sensing signal generated by a sensor, to at least one electronic device included in a vehicle.

The object detection device <NUM> may generate dynamic data based on a sensing signal for sensing an object. The object detection device <NUM> may provide the dynamic data to the electronic device <NUM>.

The object detection device <NUM> may receive electronic horizon data. The object detection device <NUM> may include an electronic horizon re-constructor (EHR) <NUM>. The EHR <NUM> may convert the electronic horizon data into the data format to be used in the object detection device <NUM>.

The communication device <NUM> may exchange a signal with a device positioned outside the vehicle <NUM>. The communication device <NUM> may exchange a signal with at least one of an infrastructure (e.g., a server) or other vehicles. The communication device <NUM> may include at least one of a transmission antenna and a reception antenna for communication, and a radio frequency (RF) circuit or an RF device for embodying various communication protocols.

The driving manipulation device <NUM> may be a device for receiving user input for driving. In the case of a manual mode, the vehicle <NUM> may be driven based on a signal provided by the driving manipulation device <NUM>. The driving manipulation device <NUM> may include a steering input device (e.g., a steering wheel), an acceleration input device (e.g., an accelerator pedal), and a brake input device (e.g., a brake pedal).

The main ECU <NUM> may control the overall operation of at least one electronic device included in the vehicle <NUM>.

The main ECU <NUM> may receive electronic horizon data. The main ECU <NUM> may include an electronic horizon re-constructor (EHR) <NUM>. The EHR <NUM> may convert the electronic horizon data into a data format to be used in the main ECU <NUM>.

The vehicle-driving device <NUM> may be a device for electrical control of various devices in the vehicle <NUM>. The vehicle-driving device <NUM> may include a powertrain driver, a chassis driver, a door/window driver, a safety device driver, a lamp driver, and a conditioning driver. The powertrain driver may include a power source driver and a transmission driver. The chassis driver may include a steering driver, a brake driver, and a suspension driver.

The travel system <NUM> may perform a traveling operation of the vehicle <NUM>. The travel system <NUM> may provide a control signal to at least one of a powertrain driver or a chassis driver of the vehicle-driving device <NUM>, and may move the vehicle <NUM>.

The travel system <NUM> may receive electronic horizon data. The travel system <NUM> may include an electronic horizon re-constructor (EHR) <NUM>. The EHR <NUM> may convert the electronic horizon data into a data format to be used in an ADAS application and an autonomous driving application.

The travel system <NUM> may include at least one of an ADAS application or an autonomous driving application. The travel system <NUM> may generate a travel control signal using at least one of the ADAS application and the autonomous driving application.

The sensor <NUM> may sense the state of a vehicle. The sensor <NUM> may include at least one of an inertial navigation unit (IMU) sensor, a collision sensor, a wheel sensor, a speed sensor, an inclination sensor, a weight detection sensor, a heading sensor, a position module, a vehicle forward/backward sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor using rotation of a steering wheel, a vehicle interior temperature sensor, a vehicle interior humidity sensor, an ultrasonic sensor, an illumination sensor, an accelerator pedal position sensor, or a brake pedal position sensor. The inertial navigation unit (IMU) sensor may include one or more of an acceleration sensor, a gyro sensor, and a magnetic sensor.

The sensor <NUM> may generate data on the state of the vehicle based on a signal generated by at least one sensor. The sensor <NUM> may acquire a sensing signal for sensing vehicle posture information, vehicle motion information, vehicle yaw information, vehicle roll information, vehicle pitch information, vehicle collision information, vehicle direction information, vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle inclination information, vehicle forward/backward information, battery information, fuel information, tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, steering wheel rotation angle, vehicle external illumination, the pressure applied to an accelerator pedal, the pressure applied to a brake pedal, and the like.

In addition, the sensor <NUM> may further include an accelerator pedal sensor, a pressure sensor, an engine rotation 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, and a crank angle sensor (CAS).

The sensor <NUM> may generate vehicle state information based on sensing data. The vehicle state information may be information generated based on data detected by various sensors included in a vehicle.

For example, the vehicle state information may include vehicle posture information, vehicle speed information, vehicle inclination information, vehicle weight information, vehicle direction information, vehicle battery information, vehicle fuel information, vehicle tire air-pressure information, vehicle steering information, vehicle interior temperature information, vehicle interior humidity information, pedal position information, and vehicle engine temperature information.

The position-data-generating-device <NUM> may generate position data of the vehicle <NUM>. The position-data-generating-device <NUM> may include at least one of a global positioning system (GPS) or a differential global positioning system (DGPS). The position-data-generating-device <NUM> may generate position data of the vehicle <NUM> based on a signal generated by at least one of the GPS or the DGPS. In some embodiments, the position-data-generating-device <NUM> may correct the position data based on at least one of an inertial measurement unit (IMU) of the sensor <NUM> or a camera of the object detection device <NUM>.

The vehicle <NUM> may include an internal communication system <NUM>. A plurality of electronic devices included in the vehicle <NUM> may exchange a signal using the internal communication system <NUM> as a medium. The signal may include data. The internal communication system <NUM> may use at least one communication protocol (e.g., CAN, LIN, FlexRay, MOST, or Ethernet).

<FIG> is a flowchart of a signal inside a vehicle including an electronic device according to an embodiment of the present disclosure.

Referring to <FIG>, the electronic device <NUM> may receive HD map data from the server <NUM> through the communication device <NUM>.

The electronic device <NUM> may receive dynamic data from the object detection device <NUM>. In some embodiments, the electronic device <NUM> may also receive dynamic data from the server <NUM> through the communication device <NUM>.

The electronic device <NUM> may receive position data of a vehicle from the position-data-generating-device <NUM>.

In some embodiments, the electronic device <NUM> may receive a signal based on user input through the user interface device <NUM>. In some embodiments, the electronic device <NUM> may receive vehicle state information from the sensor <NUM>.

The electronic device <NUM> may generate electronic horizon data based on HD map data, dynamic data, and position data. The electronic device <NUM> may match the HD map data, the dynamic data, and the position data with each other to generate horizon map data. The electronic device <NUM> may generate horizon path data on a horizon map. The electronic device <NUM> may generate main path data and sub path data on the horizon map.

The electronic device <NUM> may provide electronic horizon data to the travel system <NUM>. The EHR <NUM> of the travel system <NUM> may convert the electronic horizon data into a data format appropriate for applications <NUM> and <NUM>. The applications <NUM> and <NUM> may generate a travel control signal based on the electronic horizon data. The travel system <NUM> may provide the travel control signal to the vehicle-driving device <NUM>.

The travel system <NUM> may include at least one of an ADAS application <NUM> or an autonomous driving application <NUM>. The ADAS application <NUM> may generate a control signal for assisting the driver in driving of the vehicle <NUM> through the driving manipulation device <NUM> based on the electronic horizon data. The autonomous driving application <NUM> may generate a control signal for moving the vehicle <NUM> based on the electronic horizon data.

With reference to <FIG>, the embodiment of the present disclosure will be described in terms of differences from <FIG>. The electronic device <NUM> may provide the electronic horizon data to the object detection device <NUM>. The EHR <NUM> of the object detection device <NUM> may convert the electronic horizon data into a data format appropriate for the object detection device <NUM>. The object detection device <NUM> may include at least one of a camera <NUM>, a RADAR <NUM>, a LiDAR <NUM>, an ultrasonic sensor <NUM>, or an infrared sensor <NUM>. The electronic horizon data, the data format of which is converted by the EHR <NUM>, may be provided to at least one of the camera <NUM>, the RADAR <NUM>, the LiDAR <NUM>, the ultrasonic sensor <NUM>, or the infrared sensor <NUM>. At least one of the camera <NUM>, the RADAR <NUM>, the LiDAR <NUM>, the ultrasonic sensor <NUM>, or the infrared sensor <NUM> may generate data based on the electronic horizon data.

With reference to <FIG>, the embodiment of the present disclosure will be described in terms of differences from <FIG>. The electronic device <NUM> may provide electronic horizon data to the main ECU <NUM>. The EHR <NUM> of the main ECU <NUM> may convert the electronic horizon data into a data format appropriate for the main ECU <NUM>. The main ECU <NUM> may generate a control signal based on the electronic horizon data. For example, the main ECU <NUM> may generate a control signal for controlling at least one of the user interface device <NUM>, the object detection device <NUM>, the communication device <NUM>, the driving manipulation device <NUM>, the vehicle-driving device <NUM>, the travel system <NUM>, the sensor <NUM>, or the position-data-generating-device <NUM> based on the electronic horizon data.

<FIG> and <FIG> are diagrams for explaining an operation of receiving HD map data according to an embodiment of the present disclosure.

The server <NUM> may divide the HD map data in units of HD map tiles and may provide the divided HD map data to the electronic device <NUM>. The processor <NUM> may download the HD map data in units of HD map tiles from the server <NUM> through the communication device <NUM>.

An HD map tile may be defined as sub HD map data obtained by geographically dividing an entire HD map into rectangular shapes. All HD map data may be acquired by connecting all HD map tiles. The HD map data is high-scale data, and thus the vehicle <NUM> requires a high-performance controller to download all of the HD map data and to use the downloaded HD map data by the vehicle <NUM>. As communication technologies have been developed, the vehicle <NUM> may download and use the HD map data in the form of HD map tiles and may thus obviate a high-performance controller rather than requiring inclusion of the high-performance controller, and thus may effectively process data.

The processor <NUM> may store the downloaded HD map tile in the memory <NUM>. The processor <NUM> may delete the stored HD map tile. For example, the processor <NUM> may delete the HD map tile when the vehicle <NUM> moves out of a section corresponding to the HD map tile. For example, the processor <NUM> may delete the HD map tile when a preset time elapses since the HD map tile was stored.

<FIG> is a diagram for explaining an operation of receiving HD map data when there is no preset destination.

Referring to <FIG>, when there is no preset destination, the processor <NUM> may receive a first HD map tile <NUM> including a position <NUM> of the vehicle <NUM>. The server <NUM> may receive data on the position <NUM> of the vehicle <NUM> from the vehicle <NUM> and may provide the first HD map tile <NUM> including a position <NUM> of the vehicle <NUM> to the vehicle <NUM>. The processor <NUM> may receive HD map tiles <NUM>, <NUM>, <NUM>, and <NUM> around the first HD map tile <NUM>. For example, the processor <NUM> may receive the HD map tiles <NUM>, <NUM>, <NUM>, and <NUM> that neighbor upper, lower, left, and right sides of the first HD map tile <NUM>, respectively. In this case, the processor <NUM> may receive five HD map tiles in total. For example, the processor <NUM> may further receive an HD map tile positioned in a diagonal direction from the first HD map tile <NUM> along with the HD map tiles <NUM>, <NUM>, <NUM>, and <NUM> that neighbor upper, lower, left, and right sides of the first HD map tile <NUM>, respectively. In this case, the processor <NUM> may receive nine HD map tiles in total.

<FIG> is a diagram for explaining an operation of receiving HD map data when there is a preset destination.

Referring to <FIG>, when there is a preset destination, the processor <NUM> may receive tiles <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, and <NUM> associated with a path <NUM> to the position <NUM> of the vehicle <NUM>. The processor <NUM> may receive the plurality of tiles <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, and <NUM> to cover the path <NUM>.

The processor <NUM> may receive all of the tiles <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, and <NUM>, which cover the path <NUM>, at one time.

While the vehicle <NUM> moves along the path <NUM>, the processor <NUM> may separately receive all of the tiles <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, and <NUM>. While the vehicle <NUM> moves along the path <NUM>, the processor <NUM> may receive only at least some of the tiles <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, and <NUM> based on the position of the vehicle <NUM>. Then, the processor <NUM> may continuously receive tiles and may delete the pre-received tiles while the vehicle <NUM> moves.

<FIG> is a diagram for explaining an operation of generating electronic horizon data according to an embodiment of the present disclosure.

Referring to <FIG>, the processor <NUM> may generate the electronic horizon data based on HD map data.

The vehicle <NUM> may travel in the state in which a final destination is set. The final destination may be set based on user input received through the user interface device <NUM> or the communication device <NUM>. In some embodiments, the final destination may also be set by the travel system <NUM>.

In the state in which the final destination is set, the vehicle <NUM> may be positioned within a preset distance from a first point while traveling. When the vehicle <NUM> is positioned within a preset distance from the first point, the processor <NUM> may generate electronic horizon data using a first point as a start point and a second point as an end point. Each of the first point and the second point may be one point on a path toward the final destination. The first point may be described as the point at which the vehicle <NUM> is currently positioned or is to be positioned in the near future. The second point may be described as the aforementioned horizon.

The processor <NUM> may receive an HD map of a region including a section to the second point from the first point. For example, the processor <NUM> may make a request for an HD map of a region within a predetermined radius from a section to the second point from the first point and may receive the HD map.

The processor <NUM> may generate electronic horizon data on a region including the section to the second point from the first point based on the HD map. The processor <NUM> may generate horizon map data of the region including the section to the second point from the first point. The processor <NUM> may generate horizon path data of the region including the section to the second point from the first point. The processor <NUM> may generate data on a main path <NUM> of the region including the section to the second point from the first point. The processor <NUM> may generate data on a sub path <NUM> of the region including the section to the second point from the first point.

When the vehicle <NUM> is positioned within a preset distance from the second point, the processor <NUM> may generate electronic horizon data using a second point as a start point and a third point as an end point. Each of the second point and the third point may be one point on a path toward a final destination. The second point may be described as a point at which the vehicle <NUM> is currently positioned or is to be positioned in the near future. The third point may be described as the aforementioned horizon. The electronic horizon data using the second point as a start point and the third point as an end point may be geographically connected to the aforementioned electronic horizon data using the first point as a start point and the second point as an end point.

The aforementioned operation of generating the electronic horizon data using the first point as a start point and the second point as an end point may be applied in the same way to the operation of generating the electronic horizon data using the second point as a start point and the third point as an end point.

In some embodiments, the vehicle <NUM> may also travel in the state in which a final destination is not set.

<FIG> is a flowchart of an electronic device according to an embodiment of the present disclosure.

Referring to <FIG>, the processor <NUM> may receive power through the power supply <NUM> (S710). The power supply <NUM> may supply power to the processor <NUM>. When the vehicle <NUM> is turned on, the processor <NUM> may receive power received from a battery included in the vehicle <NUM> through the power supply <NUM>. When receiving power, the processor <NUM> may perform a processing operation.

The processor <NUM> may receive data of traveling situation information of the vehicle <NUM> through the interface <NUM> (S720). The interface <NUM> may receive data of traveling situation information of the vehicle <NUM>. The traveling situation information of the vehicle <NUM> may include at least one of autonomous driving state information, manual driving state information, traveling speed information, parking operation situation information, stop situation information, or vehicle position information. The interface <NUM> may transmit data of traveling situation information to the processor <NUM>.

The processor <NUM> may adjust the speed of reception of HD map data based on the traveling situation information (S730). The speed of reception of the HD map data may be defined as the amount of HD map data received per unit time. When the electronic device <NUM> and the communication device <NUM> are of a separable type, the processor <NUM> may generate a signal for adjusting the speed of reception of the HD map data and may transmit the signal to the communication device <NUM> through the interface <NUM>. When the electronic device <NUM> and the communication device <NUM> are of an integrated type, the processor <NUM> may control the speed of reception of the HD map data.

The adjusting operation S730 may include an operation of adjusting a bandwidth for receiving the HD map data based on the traveling situation information. The processor <NUM> may adjust the bandwidth for receiving the HD map data based on the traveling situation information. For example, the processor <NUM> may adjust the bandwidth in order to change a communication method (e.g., <NUM> or LTE) for receiving HD map data based on the traveling situation information. For example, the processor <NUM> may adjust the bandwidth in order to change a frequency used to receive the HD map data based on the traveling situation information. As such, the speed of reception of the HD map data may be adjusted by adjusting the bandwidth.

The adjusting operation S730 may further include an operation of adjusting the geographic range of the HD map data based on the traveling situation information. The processor <NUM> may adjust the geographic range of the HD map data based on the traveling situation information. For example, in the case of high-speed traveling, the processor <NUM> may increase the geographic range of the HD map data, and in the case of low-speed traveling, the processor <NUM> may reduce the geographic range of the HD map data. As such, the speed of reception of the HD map data may be adjusted by adjusting the geographic range of the HD map data.

The adjusting operation S730 may further include an operation of adjusting the speed of reception of the HD map data based on at least one of autonomous driving state information, manual driving state information, traveling speed information, parking operation situation information, stop situation information, or vehicle position information. The processor <NUM> may adjust the speed of reception of the HD map data based on at least one of autonomous driving state information, manual driving state information, traveling speed information, parking operation situation information, stop situation information, or vehicle position information.

For example, in an autonomous driving state, the processor <NUM> may adjust the speed of reception of the HD map data to be higher than a manual driving state. For example, in high-speed traveling, the processor <NUM> may adjust the speed of reception of the HD map data to be higher than low-speed traveling. For example, when a vehicle currently performs a parking operation or is in a stationary state, the processor <NUM> may minimize the speed of reception of the HD map data or may not receive data. For example, when the vehicle <NUM> is located in a city, the processor <NUM> may adjust the speed of reception of the HD map data to be higher than in the case in which the vehicle <NUM> is located in the countryside.

The processor <NUM> may receive HD map data of a region specified according to a reception speed from the server <NUM> through the communication device <NUM> (S740). In the state in which the vehicle <NUM> travels, the interface <NUM> may receive the HD map data of a specified geographic region at the reception speed from the server <NUM> through the communication device <NUM>. The interface <NUM> may receive HD map data on the vicinity of the position of the vehicle <NUM>. The interface <NUM> may transmit the received HD map data to the processor <NUM>.

The processor <NUM> may generate electronic horizon data of the specified region based on the HD map data (S750).

The generating operation (S750) may further include an operation of generating electronic horizon data based on at least one of autonomous driving state information, manual driving state information, traveling speed information, parking operation situation information, stop situation information, or vehicle position information. The processor <NUM> may generate electronic horizon data based on at least one of autonomous driving state information, manual driving state information, traveling speed information, parking operation situation information, stop situation information, or vehicle position information.

For example, in an autonomous driving state, the processor <NUM> may generate electronic horizon data including data of an object (e.g., a moving object) to be recognized as an obstacle while a vehicle travels. For example, in a manual driving state, the processor <NUM> may generate electronic horizon data including only data of an object that needs to be recognized by a driver while the vehicle travels. For example, the processor <NUM> may generate electronic horizon data by adjusting the length of the main path and the sub path depending on the traveling speed of the vehicle <NUM>. For example, when the vehicle currently performs a parking operation or is in a stationary state, the processor <NUM> may generate electronic horizon data including at least one lane type information, information on whether a towaway zone is present, or information on a vehicle that stops in the vicinity thereof. For example, while the vehicle moves to the countryside from a city, the processor <NUM> may generate electronic horizon data based on road shape information for generating a horizon path. For example, while the vehicle moves to a city from the outskirt, the processor <NUM> may generate electronic horizon data including road shape information, landmark information, and dynamic information.

The processor <NUM> may provide the electronic horizon data to the travel system <NUM> through the interface <NUM> (S760). The processor <NUM> may provide electronic horizon data corresponding to a set geographic range to the travel system <NUM> through the interface <NUM>. Then, the processor <NUM> may repeatedly perform operations subsequent to operation S720.

Operations S720 to S760 may be performed in the state in which power is received from the power supply <NUM>.

<FIG> is a diagram showing an example of a block diagram of control of an electronic device according to an embodiment of the present disclosure.

Referring to <FIG>, the electronic device <NUM> may further include the communication device <NUM> in the electronic device <NUM> described above with reference to <FIG>.

The electronic device <NUM> of <FIG> may function as an independent device that is separate from the communication device <NUM>. In this case, the processor <NUM> may provide a signal to the communication device <NUM> through the interface <NUM>. The communication device <NUM> may communicate with the server <NUM> based on a signal received from the electronic device <NUM>. The processor <NUM> may generate a signal for adjusting the speed of reception of the HD map data and may transmit the signal to the communication device <NUM> through the interface <NUM>. The communication device <NUM> may adjust the speed of reception of the HD map data based on the received signal.

The electronic device <NUM> of <FIG> may be integrated into the communication device <NUM> and may be configured as an integrated type. In this case, the processor <NUM> may be conductively connected to the communication device <NUM>. The processor <NUM> may directly control the communication device <NUM>. The processor <NUM> may control the communication device <NUM> to adjust the speed of reception of the HD map data.

The processor <NUM> may receive autonomous driving state information and traveling speed information of the vehicle <NUM> from at least the electronic device included in the vehicle <NUM> through the interface <NUM>. When the vehicle <NUM> travels at a low speed equal to or less than a reference speed in an autonomous driving state, the processor <NUM> may reduce the geographic range of the HD map and the length of the horizon path compared with the case of high-speed travel. The processor <NUM> may download minimum information required to generate electronic horizon data through long-term evolution (LTE). When the vehicle <NUM> travels at a high speed equal to or greater than a reference speed in an autonomous driving state, the processor <NUM> may increase the geographic range of the HD map and the length of the horizon path compared with the case of low-speed travel. The processor <NUM> may rapidly download information required for electronic horizon data through fifth-generation (<NUM>).

When the vehicle <NUM> travels at a low speed equal to or less than a reference speed in a manual driving state, the processor <NUM> may reduce the geographic range of the HD map and the length of the horizon path compared with the case of high-seed travel. The processor <NUM> may download minimum information required to generate electronic horizon data through long-term evolution (LTE). When the vehicle <NUM> travels at a high speed equal to or greater than a reference speed in a manual driving state, the processor <NUM> may increase the geographic range of the HD map and the length of the horizon path compared with the case of low-speed travel. The processor <NUM> may rapidly download information required for electronic horizon data through fifth-generation (<NUM>). When the vehicle <NUM> manually travels, the processor <NUM> may generate electronic horizon data based on information required for manual driving. The processor <NUM> may provide a horizon path including dynamic information required for safe driving based on information on objects around the vehicle <NUM> and various real-time events.

<FIG> are diagrams for explaining an operation of an electronic device according to an embodiment of the present disclosure.

Referring to the drawing, the processor <NUM> may variably receive HD map tiles based on traveling situation information of the vehicle <NUM>. As such, the processor <NUM> may adjust a communication speed and traffic depending on traveling situation information, thereby enhancing communication efficiency and processing efficiency.

The processor <NUM> may adjust a communication speed and traffic by adjusting the respective bandwidths of LTE and <NUM>. When the vehicle travels at a high speed in autonomous driving, safe and rapid data reception is the foremost consideration, so real-time high-speed communication through <NUM> is required in the case of high-speed traveling. When the vehicle travels at a low speed in autonomous driving, the communication load and processing load may be reduced using LTE or <NUM> rather than <NUM>. When the vehicle travels at a high speed in manual traveling, only warnings with respect to dangerous objects may be provided using LTE, without receiving all HD map data. When the vehicle travels at a low speed in manual driving, only warnings with respect to dangerous objects may be provided to a driver using LTE or <NUM>.

The processor <NUM> may variably control the download method of HD map data based on the position of the vehicle <NUM>. For example, when the vehicle <NUM> moves to the countryside from a city, the processor <NUM> may download and manipulate the HD map data based on road shape data for generating a horizon path. For example, when the vehicle <NUM> enters a city from the countryside, the processor <NUM> may selectively download and manipulate road shape data, dynamic data, and landmark data required for traveling.

The processor <NUM> may variably control the download method of HD map data based on the driving mode of the vehicle <NUM>.

For example, when the vehicle <NUM> travels in an autonomous driving mode, the processor <NUM> may download dynamic data and road shape data for generating horizon path data. The processor <NUM> may receive moving object information from nearby vehicles or a V2I infrastructure (RSU). When the computational load of the processor <NUM> is drastically increased due to excessive downloading and manipulating of HD map data, the processor <NUM> may reduce a geographic region of the downloaded HD map data and may reduce a recommended traveling speed.

For example, when the vehicle <NUM> travels in a manual driving mode, the processor <NUM> may download dynamic data and road shape data for generating horizon path data. The processor <NUM> may selectively receive information on dangers that affect travel, from information on near moving objects through V2X. When computational load of the processor <NUM> is drastically increased due to excessive downloading and manipulating of HD map data, the processor <NUM> may process only basic information required to generate a horizon path and may selectively receive additional information depending on the system situation.

<FIG> and <FIG> are diagrams for explaining an operation of an electronic device according to an embodiment of the present disclosure.

Referring to the drawings, as shown in <FIG>, when the vehicle <NUM> moves slowly or temporarily stops, a large amount of HD map data may not be required. In this case, the processor <NUM> may receive HD map data including vehicle lane information, information on whether a towaway zone is present, parking fee information, and information on other vehicles positioned around the vehicle <NUM>. The processor <NUM> may provide vehicle lane information, information on whether a towaway zone is present, parking fee information, and information on other vehicles positioned around the vehicle <NUM> to a driver through the user interface device <NUM> within a horizon path range.

As shown in <FIG>, the processor <NUM> may flexibly set the length of a horizon path and may provide only information required by a driver. The electronic device <NUM> may provide only required information depending on the situation of a driver to facilitate temporary parking and slow movement, and may receive only a small amount of data to lower an occupancy ratio of a processor, to increase a the lifespan of the memory <NUM>, and to reduce communication costs.

Referring to the drawings, the processor <NUM> may provide a horizon path of a rear side and a specified region inside a parking lost while the vehicle parks. In this case, when the vehicle reaches a destination and parks, the electronic device <NUM> does not necessarily receive a large amount of data, unlike the case in which the vehicle travels. Communication costs and the load on a processor may be reduced using a parking lot map, which is received when communication is disconnected and the vehicle enters the parking lot. In a parking mode, the processor <NUM> may disconnect communication irrespective of autonomous driving or manual driving and may generate electronic horizon data based on the received parking lot map data and data of the object detection device <NUM>. The travel system <NUM> may receive electronic horizon data at a parking lot and may perform parking. The parking lot map data may receive the data from a server that manages a parking lot.

When the vehicle <NUM> reaches a destination and attempts to be parked, only parking lot map data may be required. An available parking space may be recognized in advance based on the parking lot map data. The vehicle <NUM> may immediately enter the available parking space recognized in advance and does not need to search an entire parking lot to find an available parking space. As shown in <FIG>, the vehicle <NUM> may search for an available parking space and may provide pieces of information required for parking to a driver using a sensor of the object detection device <NUM>.

Claim 1:
An electronic device (<NUM>) for a vehicle (<NUM>), comprising:
a power supply (<NUM>) configured to supply power;
an interface (<NUM>) configured to receive high-definition, HD, map data of a specified region from a server (<NUM>) through a communication device (<NUM>) and to receive traveling situation information of the vehicle;
characterized in that
the electronic device (<NUM>) further comprises:
at least one processor (<NUM>) configured to continuously generate electronic horizon data of the specified region based on the HD map data in a state in which the power is received, and to adjust a speed of reception of the HD map data by changing the bandwidth in order to change a communication method for receiving HD map data based on the traveling situation information,
wherein the electronic horizon data is a driving plan data used to generate a travel control signal of the vehicle, and
wherein the speed of reception of the HD map data is defined as the amount of HD map data received per unit time.