Patent Description:
A vehicle is an apparatus that moves in a direction desired by a user riding therein. A representative example of a vehicle is an automobile.

A variety of sensors and electronic devices are mounted in vehicles for convenience of a user who uses the vehicle. In particular, for driving convenience, an Advanced Driver Assistance System (ADAS) has been actively studied. In addition, enormous efforts have been being made to develop autonomous vehicles.

With development of technologies, vehicle-to-vehicle (V2V) communication technologies and vehicle-to-infrastructure (V2I) communication technologies have been developed as well.

When a plurality of vehicles is travelling, the vehicles may exchange information on their presence, locations, and the like with each other through the V2V communication. Such V2V communication and V2I communication may be referred to as V2X communication.

However, when a vehicle capable of performing V2X communication and a vehicle incapable of performing V2X communication are present together, it is not possible to obtain information on the vehicle incapable of performing V2X communication.

In this case, the vehicle incapable of performing V2X communication may be classified as a risk factor due to insufficient information and regarded as an obstacle for V2X communication-based autonomous driving.

Prior art relating to a communication apparatus for a vehicle is known, for example, from Patent Documents <CIT> and <CIT>.

<CIT> discloses a configuration for calculating the location of the vehicle based on GPS information sensed by a plurality of vehicles and transmitting a proxy message on behalf of a nearby non-equipped vehicle. Therein, it is suggested that although two vehicles are able to see the non-equipped vehicle, only one of the two vehicles should transmit a proxy message.

The present invention has been made in view of the above problems, and it is one object of the present invention to provide a communication apparatus that transmits recognition information for a vehicle incapable of performing vehicle-to-everything (V2X) communication.

It is another object of the present invention to provide a vehicle that receives recognition information for a vehicle incapable of performing V2X communication and displays the recognition information.

Objects of the present invention should not be limited to the aforementioned objects and other unmentioned objects will be clearly understood by those skilled in the art from the following description.

In accordance with an embodiment of the present invention, the above and other objects can be accomplished by the provision of a communication apparatus for a vehicle, comprising the features of claim <NUM>.

In accordance with an embodiment of the present invention, the above and other objects can be accomplished by the provision of a vehicle including the features of claim <NUM>.

The details of other embodiments are included in the following description and the accompanying drawings.

According to embodiments of the present invention, there are advantageous effects as follows.

First, vehicles capable of performing vehicle-to-vehicle (V2V) communication are able to share information on a vehicle incapable of performing V2V communication.

Second, by acquiring presence information, location information, speed information, and the like regarding the vehicle incapable of performing V2V communication, it is possible to predict movement of the vehicle incapable of performing V2V communication.

Third, it is possible to drive safely based on information on the vehicle incapable of performing V2V communication.

Effects of the present invention are not limited to those described above and other effects of the present invention will be apparent to those skilled in the art from the following descriptions. The scope of the claims is not limited to the aforementioned effects.

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, and the same or similar elements are denoted by the same reference numerals even though they are depicted in different drawings and redundant descriptions thereof will be omitted. In the following description, with respect to constituent elements used in the following description, the suffixes "module" and "unit" are used or combined with each other only in consideration of ease in the preparation of the specification, and do not have or serve as different meanings. Accordingly, the suffixes "module" and "unit" may be interchanged with each other. In addition, in the following description of the embodiments disclosed in the present specification, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the embodiments disclosed in the present specification rather unclear. In addition, the accompanying drawings are provided only for a better understanding of the embodiments disclosed in the present specification and are not intended to limit the technical ideas disclosed in the present specification. Therefore, it should be understood that the accompanying drawings include all modifications, equivalents and substitutions included in the scope and sprit of the present invention.

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

It will be understood that when a component is referred to as being "connected to" or "coupled to" another component, it may be directly connected to or coupled to another component or intervening components may be present. In contrast, when a component is referred to as being "directly connected to" or "directly coupled to" another component, there are no intervening components present.

As used herein, the singular form is intended to include the plural forms as well, unless the context clearly indicates otherwise.

In the present application, it will be further understood that the terms "comprises", "includes," etc. specify the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

A vehicle as described in this specification may include an automobile and a motorcycle. Hereinafter, a description will be given based on an automobile.

A vehicle as described in this specification may include all of an internal combustion engine vehicle including an engine as a power source, a hybrid vehicle including both an engine and an electric motor as a power source, and an electric vehicle including an electric motor as a power source.

In the following description, "the left side of the vehicle" refers to the left side in the forward driving direction of the vehicle, and "the right side of the vehicle" refers to the right side in the forward driving direction of the vehicle.

Referring to <FIG>, a vehicle <NUM> may include a wheel rotating by a power source, and a steering input device <NUM> for controlling a driving direction of the vehicle <NUM>.

The vehicle <NUM> may be an autonomous vehicle.

The vehicle <NUM> may be switched to an autonomous driving mode or a manual mode in response to a user input.

For example, in response to a user input received through the user interface device <NUM>, the vehicle <NUM> may be switched from a manual mode to an autonomous driving mode, or vice versa.

The vehicle <NUM> may be switched to an autonomous mode or a manual mode based on driving situation information.

The driving situation information may include at least one of information on an object outside a vehicle, navigation information, and vehicle state information.

For example, the vehicle <NUM> may be switched from the manual mode to the autonomous driving mode, or vice versa, based on driving situation information generated in the object detection apparatus <NUM>.

In another example, the vehicle <NUM> may be switched from the manual mode to the autonomous driving mode, or vice versa, based on driving situation information received through a communication apparatus <NUM>.

The vehicle <NUM> may be switched from the manual mode to the autonomous driving mode, or vice versa, based on information, data, and a signal provided from an external device.

When the vehicle <NUM> operates in the autonomous driving mode, the autonomous vehicle <NUM> may operate based on a vehicle travel system <NUM>.

For example, the autonomous vehicle <NUM> may operate based on information, data, or signals generated in a driving system <NUM>, a parking-out system <NUM>, and a parking-in system <NUM>.

In the manual mode, the autonomous vehicle <NUM> may receive a user input for driving the vehicle <NUM> through a driving manipulation device <NUM>. The vehicle <NUM> may operate based on the user input received through the driving manipulation device <NUM>.

The term "overall length" means the length from the front end to the rear end of the vehicle <NUM>, the term "width" means the width of the vehicle <NUM>, and the term "height" means the height from the bottom of the wheel to the roof. In the following description, the term "overall length direction L" may mean the reference direction for the measurement of the overall length of the vehicle <NUM>, the term "width direction W" may mean the reference direction for the measurement of the width of the vehicle <NUM>, and the term "height direction H" may mean the reference direction for the measurement of the height of the vehicle <NUM>.

As illustrated in <FIG>, the vehicle <NUM> may include the user interface apparatus <NUM>, the object detection apparatus <NUM>, the communication apparatus <NUM>, the driving manipulation apparatus <NUM>, a vehicle drive apparatus <NUM>, the vehicle travel system <NUM>, a navigation system <NUM>, a sensing unit <NUM>, an interface <NUM>, a memory <NUM>, a controller <NUM>, and a power supply unit <NUM>.

In some embodiments, the vehicle <NUM> may further include other components in addition to the aforementioned components, or may not include some of the aforementioned components.

The user interface apparatus <NUM> is provided to support communication between the vehicle <NUM> and a user. The user interface apparatus <NUM> may receive a user input, and provide information generated in the vehicle <NUM> to the user. The vehicle <NUM> may enable User Interfaces (UI) or User Experience (UX) through the user interface apparatus <NUM>.

The user interface apparatus <NUM> may include an input unit <NUM>, an internal camera <NUM>, a biometric sensing unit <NUM>, an output unit <NUM>, and a processor <NUM>.

In some embodiments, the user interface apparatus <NUM> may further include other components in addition to the aforementioned components, or may not include some of the aforementioned components.

The input unit <NUM> is configured to receive information from a user, and data collected in the input unit <NUM> may be analyzed by the processor <NUM> and processed into a control command of the user.

The input unit <NUM> may be disposed inside the vehicle <NUM>. For example, the input unit <NUM> may be disposed in a region of a steering wheel, a region of an instrument panel, a region of a seat, a region of each pillar, a region of a door, a region of a center console, a region of a head lining, a region of a sun visor, a region of a windshield, or a region of a window.

The input unit <NUM> may include a voice input unit <NUM>, a gesture input unit <NUM>, a touch input unit <NUM>, and a mechanical input unit <NUM>.

The voice input unit <NUM> may convert a voice input of a user into an electrical signal. The converted electrical signal may be provided to the processor <NUM> or the controller <NUM>.

The voice input unit <NUM> may include one or more microphones.

The gesture input unit <NUM> may convert a gesture input of a user into an electrical signal. The converted electrical signal may be provided to the processor <NUM> or the controller <NUM>.

The gesture input unit <NUM> may include at least one selected from among an infrared sensor and an image sensor for sensing a gesture input of a user.

In some embodiments, the gesture input unit <NUM> may sense a three-dimensional (3D) gesture input of a user. To this end, the gesture input unit <NUM> may include a plurality of light emitting units for outputting infrared light, or a plurality of image sensors.

The gesture input unit <NUM> may sense a 3D gesture input by employing a Time of Flight (TOF) scheme, a structured light scheme, or a disparity scheme.

The touch input unit <NUM> may convert a user's touch input into an electrical signal. The converted electrical signal may be provided to the processor <NUM> or the controller <NUM>.

The touch input unit <NUM> may include a touch sensor for sensing a touch input of a user.

In some embodiments, the touch input unit <NUM> may be formed integral with a display unit <NUM> to implement a touch screen. The touch screen may provide an input interface and an output interface between the vehicle <NUM> and the user.

The mechanical input unit <NUM> may include at least one selected from among a button, a dome switch, a jog wheel, and a jog switch. An electrical signal generated by the mechanical input unit <NUM> may be provided to the processor <NUM> or the controller <NUM>.

The mechanical input unit <NUM> may be located on a steering wheel, a center fascia, a center console, a cockpit module, a door, etc..

The internal camera <NUM> may acquire images of the inside of the vehicle. The processor <NUM> may sense a user state based on the images of the inside of the vehicle. The processor <NUM> may acquire information about a user's gaze from an image of the inside of the vehicle. The processor <NUM> may detect a user's gesture from an image of the inside of the vehicle.

The biometric sensing unit <NUM> may acquire biometric information of the user. The biometric sensing unit <NUM> may include a sensor for acquire biometric information of the user, and may utilize the sensor to acquire a user's finger print information, heart rate information, etc. The biometric information may be used to authenticate a user's identity.

The output unit <NUM> is configured to generate a visual, audio, or tactile output.

The output unit <NUM> may include at least one selected from among a display unit <NUM>, a sound output unit <NUM>, and a haptic output unit <NUM>.

The display unit <NUM> may display graphic objects corresponding to various types of information.

The display unit <NUM> may include at least one selected from among a Liquid Crystal Display (LCD), a Thin Film Transistor-Liquid Crystal Display (TFT LCD), an Organic Light-Emitting Diode (OLED), a flexible display, a 3D display, and an e-ink display.

The display unit <NUM> may form an inter-layer structure together with the touch input unit <NUM>, or may be integrally formed with the touch input unit <NUM> to implement a touch screen.

The display unit <NUM> may be implemented as a Head Up Display (HUD). When implemented as a HUD, the display unit <NUM> may include a projector module in order to output information through an image projected on a windshield or a window.

The display unit <NUM> may include a transparent display. The transparent display may be attached on the windshield or the window.

The transparent display may display a predetermined screen with a predetermined transparency. In order to achieve the transparency, the transparent display may include at least one selected from among a transparent Thin Film Electroluminescent (TFEL) display, an Organic Light Emitting Diode (OLED) display, a transparent Liquid Crystal Display (LCD), a transmissive transparent display, and a transparent Light Emitting Diode (LED) display. The transparency of the transparent display may be adjustable.

Meanwhile, the user interface apparatus <NUM> may include a plurality of display units 251a to <NUM>.

The display unit <NUM> may be disposed in a region of a steering wheel, a region 521a, 251b, or 251e of an instrument panel, a region 251d of a seat, a region 251f of each pillar, a region <NUM> of a door, a region of a center console, a region of a head lining, a region of a sun visor, a region 251c of a windshield, or a region <NUM> of a window.

The sound output unit <NUM> converts an electrical signal from the processor <NUM> or the controller <NUM> into an audio signal, and outputs the audio signal. To this end, the sound output unit <NUM> may include one or more speakers.

The haptic output unit <NUM> generates a tactile output. For example, the haptic output unit <NUM> may operate to vibrate a steering wheel, a safety belt, and seats 110FL, 110FR, 110RL, and 110RR so as to allow a user to recognize the output.

The processor <NUM> may control the overall operation of each unit of the user interface apparatus <NUM>.

In some embodiments, the user interface apparatus <NUM> may include a plurality of processors <NUM> or may not include any processor <NUM>.

In the case where the user interface apparatus <NUM> does not include any processor <NUM>, the user interface apparatus <NUM> may operate under control of the controller <NUM> or a processor of a different device inside the vehicle <NUM>.

Meanwhile, the user interface apparatus <NUM> may be referred to as a display device for vehicle.

The user interface apparatus <NUM> may operate under the control of the controller <NUM>.

The object detection apparatus <NUM> is used to detect an object located outside the vehicle <NUM>.

The object detection apparatus <NUM> may generate object information based on sensing data.

The object information may include information about the presence of an object, information about a location of the object, information about a distance between the vehicle <NUM> and the object, and information about a speed of the vehicle <NUM> relative to the object.

The object may include various objects related to travelling of the vehicle <NUM>.

Referring to <FIG> and <FIG>, an object O may include a lane OB10, other vehicle OB11, a pedestrian OB12, a two-wheeled vehicle OB13, a traffic signal OB14 and OB15, a light, a road, a structure, a bump, a geographical feature, an animal, etc..

The lane CB10 may be a lane in which the vehicle is traveling, a lane next to the lane in which the vehicle is travelling, or a lane in which the other vehicle is travelling in the opposite direction. The lane OB10 may include left and right lines that define the lane.

The other vehicle OB11 may be a vehicle travelling in the vicinity of the vehicle <NUM>. The other vehicle OB11 may be a vehicle within a predetermined distance from the vehicle <NUM>. For example, the other vehicle OB11 may be a vehicle that is preceding or following the vehicle <NUM>.

The pedestrian OB12 may be a person located in the vicinity of the vehicle <NUM>. The pedestrian OB12 may be a person located within a predetermined distance from the vehicle <NUM>. For example, the pedestrian OB12 may be a person on a sidewalk or on the roadway.

The two-wheeled vehicle OB12 is a vehicle located in the vicinity of the vehicle <NUM> and moves with two wheels. The two-wheeled vehicle OB12 may be a vehicle that has two wheels within a predetermined distance from the vehicle <NUM>. For example, the two-wheeled vehicle OB13 may be a motorcycle or a bike on a sidewalk or the roadway.

The traffic signal may include a traffic lamp OB15, a roadside sign OB14, and a pattern or text painted on a road surface.

The light may be light generated by a lamp provided in other vehicle. The light may be light generated by a street light. The light may be solar light.

The road may include a road surface, a curve, and slopes, such as an upward slope and a downward slope.

The structure may be an object located in the vicinity of a road and fixed onto the ground. For example, the structure may include a streetlight, a roadside tree, a building, a traffic light lamp, and a bridge.

The geographical feature may include a mountain and a hill.

The object may be classified as a moving object or a fixed object. For example, the moving object may be a concept including other vehicle and a pedestrian. For example, the fixed object may be a concept including a traffic signal, a roadway, and a structure.

The object detection apparatus <NUM> may include a camera <NUM>, a radar <NUM>, a lidar <NUM>, an ultrasonic sensor <NUM>, an infrared sensor <NUM>, and a processor <NUM>.

In some embodiments, the object detection apparatus <NUM> may further include other components in addition to the aforementioned components, or may not include some of the aforementioned components.

The camera <NUM> may be located at an appropriate position outside the vehicle in order to acquire images of the outside of the vehicle. The camera <NUM> may be a mono camera, a stereo camera 310a, an Around View Monitoring (AVM) camera 310b, or a <NUM>-degree camera.

Using various image processing algorithms, the camera <NUM> may acquire information on a location of an object, information on a distance to the object, and information on a speed relative to the object.

For example, the camera <NUM> may acquire the information on the distance to the object and the information on the speed relative to the object, based on a change in size of the object over time in acquired images.

For example, the camera <NUM> may acquire the information on the distance to the object and the information on the speed relative to the object through a pin hole model or through profiling a road surface.

In another example, the camera <NUM> may acquire the information on the distance to the object and the information on the speed relative to the object, based on information on disparity between stereo images acquired by the stereo camera 310a.

For example, the camera <NUM> may be disposed near a front windshield in the vehicle in order to acquire images of the front of the vehicle. Alternatively, the camera <NUM> may be disposed in the vicinity of a front bumper or a radiator grill.

For example, the camera <NUM> may be disposed near a rear glass in the vehicle in order to acquire images of the rear of the vehicle. Alternatively, the camera <NUM> may be disposed in the vicinity of a rear bumper, a trunk, or a tailgate.

For example, the camera <NUM> may be disposed near at least one of the side windows in the vehicle in order to acquire images of the side of the vehicle. Alternatively, the camera <NUM> may be disposed in the vicinity of a side mirror, a fender, or a door.

The camera <NUM> may provide an acquired image to the processor <NUM>.

The radar <NUM> may include an electromagnetic wave transmission unit and an electromagnetic wave reception unit. The radar <NUM> may be realized as a pulse radar or a continuous wave radar depending on the principle of emission of an electronic wave. In addition, the radar <NUM> may be realized as a Frequency Modulated Continuous Wave (FMCW) type radar or a Frequency Shift Keying (FSK) type radar depending on the waveform of a signal.

The radar <NUM> may detect an object through the medium of an electromagnetic wave by employing a time of flight (TOF) scheme or a phase-shift scheme, and may detect a location of the detected object, the distance to the detected object, and the speed relative to the detected object.

The radar <NUM> may be located at an appropriate position outside the vehicle in order to sense an object located in front of the vehicle, an object located to the rear of the vehicle, or an object located to the side of the vehicle.

The lidar <NUM> may include a laser transmission unit and a laser reception unit. The lidar <NUM> may be implemented by the TOF scheme or the phase-shift scheme.

The lidar <NUM> may be implemented as a drive-type lidar or a non-drive type lidar.

When implemented as the drive-type lidar, the lidar <NUM> may rotate by a motor and detect an object in the vicinity of the vehicle <NUM>.

When implemented as the non-drive type lidar, the lidar <NUM> may utilize a light steering technique to detect an object located within a predetermined distance from the vehicle <NUM>. The vehicle <NUM> may include a plurality of non-driving type lidars <NUM>.

The lidar <NUM> may detect an object through the medium of laser light by employing the TOF scheme or the phase-shift scheme, and may detect a location of the detected object, the distance to the detected object, and the speed relative to the detected object.

The lidar <NUM> may be located at an appropriate position outside the vehicle in order to sense an object located in front of the vehicle, an object located to the rear of the vehicle, or an object located to the side of the vehicle.

The ultrasonic sensor <NUM> may include an ultrasonic wave transmission unit and an ultrasonic wave reception unit. The ultrasonic sensor <NUM> may detect an object based on an ultrasonic wave, and may detect a location of the detected object, the distance to the detected object, and the speed relative to the detected object.

The ultrasonic sensor <NUM> may be located at an appropriate position outside the vehicle in order to detect an object located in front of the vehicle, an object located to the rear of the vehicle, and an object located to the side of the vehicle.

The infrared sensor <NUM> may include an infrared light transmission unit and an infrared light reception unit. The infrared sensor <NUM> may detect an object based on infrared light, and may detect a location of the detected object, the distance to the detected object, and the speed relative to the detected object.

The infrared sensor <NUM> may be located at an appropriate position outside the vehicle in order to sense an object located in front of the vehicle, an object located to the rear of the vehicle, or an object located to the side of the vehicle.

The processor <NUM> may control the overall operation of each unit of the object detection apparatus <NUM>.

The processor <NUM> may detect or classify an object by comparing sensing data with pre-stored data, the sensing data which is sensed by the camera <NUM>, the radar <NUM>, the lidar <NUM>, the ultrasonic sensor <NUM>, and the infrared sensor <NUM>.

The processor <NUM> may detect an object and track the detected object based on acquired images. The processor <NUM> may, for example, calculate the distance to the object and the speed relative to the object.

For example, based on change in size over time of a object in acquired images, the processor <NUM> may acquire information on distance to the object and information on speed relative to the object.

For example, the processor <NUM> may acquire information on distance to an object and information on speed relative to the object, by utilizing a pin hole model or by profiling a road surface.

For example, based on information on disparity of stereo images acquired by a stereo camera 310a, the camera <NUM> may acquire the information on distance to an object and information on speed relative to the object.

The processor <NUM> may detect and track an object based on a reflection electromagnetic wave which is formed as a result of reflection a transmission electromagnetic wave by the object. Based on the electromagnetic wave, the processor <NUM> may, for example, calculate the distance to the object and the speed relative to the object.

The processor <NUM> may detect and track an object based on a reflection laser light which is formed as a result of reflection of transmission laser by the object. Based on the laser light, the processor <NUM> may, for example, calculate the distance to the object and the speed relative to the object.

The processor <NUM> may detect and track an object based on a reflection ultrasonic wave which is formed as a result of reflection of a transmission ultrasonic wave by the object. Based on the ultrasonic wave, the processor <NUM> may, for example, calculate the distance to the object and the speed relative to the object.

The processor <NUM> may detect and track an object based on reflection infrared light which is formed as a result of reflection of transmission infrared light by the object. Based on the infrared light, the processor <NUM> may, for example, calculate the distance to the object and the speed relative to the object.

In some embodiments, the object detection apparatus <NUM> may include a plurality of processors <NUM> or may not include the processor <NUM>. For example, each of the camera <NUM>, the radar <NUM>, the lidar <NUM>, the ultrasonic sensor <NUM>, and the infrared sensor <NUM> may include its own processor.

In the case where the object detection apparatus <NUM> is not included in the processor <NUM>, the object detection apparatus <NUM> may operate under the control of the controller <NUM> or a processor inside the vehicle <NUM>.

The object detection apparatus <NUM> may operate under the control of the controller <NUM>.

The communication apparatus <NUM> is configured to perform communication with an external device. The external device may be other vehicle or a server.

To perform communication, the communication apparatus <NUM> may include at least one selected from a transmission antenna, a reception antenna, a Radio Frequency (RF) circuit capable of implementing various communication protocols, and an RF device.

The communication apparatus <NUM> may include a short-range communication unit <NUM>, a location information unit <NUM>, a V2X communication unit <NUM>, an optical communication unit <NUM>, a broadcast transmission and reception unit <NUM>, an Intelligent Transport Systems (ITS) communication unit <NUM>, and a processor <NUM>.

In some embodiments, the communication apparatus <NUM> may further include other components in addition to the aforementioned components, or may not include some of the aforementioned components.

The short-range communication unit <NUM> is configured to perform short-range communication. The short-range communication unit <NUM> may support short-range communication using at least one selected from among BluetoothTM, Radio Frequency IDdentification (RFID), Infrared Data Association (IrDA), Ultra-WideBand (UWB), ZigBee, Near Field Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus).

The short-range communication unit <NUM> may form wireless area networks to perform short-range communication between the vehicle <NUM> and at least one external device.

The location information unit <NUM> is configured to acquire location information of the vehicle <NUM>. For example, the location information unit <NUM> may include a Global Positioning System (GPS) module or a Differential Global Positioning System (DGPS) module.

The V2X communication unit <NUM> is configured to perform wireless communication between a vehicle and a server (that is, vehicle to infra (V2I) communication), wireless communication between a vehicle and a nearby vehicle (that is, vehicle to vehicle (V2V) communication), or wireless communication between a vehicle and a pedestrian (that is, vehicle to pedestrian(V2P) communication).

The optical communication unit <NUM> is configured to perform communication with an external device through the medium of light. The optical communication unit <NUM> may include a light emitting unit, which converts an electrical signal into an optical signal and transmits the optical signal to the outside, and a light receiving unit which converts a received optical signal into an electrical signal.

In some embodiments, the light emitting unit may be integrally formed with a lamp provided included in the vehicle <NUM>.

The broadcast transmission and reception unit <NUM> is configured to receive a broadcast signal from an external broadcasting management server or transmit a broadcast signal to the broadcasting management server through a broadcasting channel. The broadcasting channel may include a satellite channel, and a terrestrial channel. The broadcast signal may include a TV broadcast signal, a radio broadcast signal, and a data broadcast signal.

The ITS communication unit <NUM> may exchange information, data, or signals with a traffic system. The ITS communication unit <NUM> may provide acquired information or data to the traffic system. The ITS communication unit <NUM> may receive information, data, or signals from the traffic system. For example, the ITS communication unit <NUM> may receive traffic information from the traffic system and provide the traffic information to the controller <NUM>. In another example, the ITS communication unit <NUM> may receive a control signal from the traffic system, and provide the control signal to the controller <NUM> or a processor provided in the vehicle <NUM>.

The processor <NUM> may control the overall operation of each unit of the communication apparatus <NUM>.

In some embodiments, the communication apparatus <NUM> may include a plurality of processors <NUM>, or may not include any processor <NUM>.

In the case where the communication apparatus <NUM> does not include the processor <NUM>, the communication apparatus <NUM> may operate under control of the controller <NUM> or a processor of a device inside of the vehicle <NUM>.

Meanwhile, the communication apparatus <NUM> may implement a vehicle display device, together with the user interface apparatus <NUM>. In this case, the vehicle display device may be referred to as a telematics device or an Audio Video Navigation (AVN) device.

The communication apparatus <NUM> may operate under the control of the controller <NUM>.

The driving manipulation apparatus <NUM> is configured to receive a user input for driving the vehicle.

In the manual mode, the vehicle <NUM> may operate based on a signal provided by the driving manipulation apparatus <NUM>.

The driving manipulation apparatus <NUM> may include a steering input device <NUM>, an acceleration input device <NUM>, and a brake input device <NUM>.

The steering input device <NUM> may receive a user input with regard to the driving direction of the vehicle <NUM>. The steering input device <NUM> may take the form of a wheel to enable a steering input through the rotation thereof. In some embodiments, the steering input device may be configured as a touchscreen, a touch pad, or a button.

The acceleration input device <NUM> may receive a user input for acceleration of the vehicle <NUM>.

The brake input device <NUM> may receive a user input for deceleration of the vehicle <NUM>. Each of the acceleration input device <NUM> and the brake input device <NUM> may take the form of a pedal. In some embodiments, the acceleration input device or the break input device may be configured as a touch screen, a touch pad, or a button.

The driving manipulation apparatus <NUM> may operate under the control of the controller <NUM>.

The vehicle drive apparatus <NUM> is configured to electrically control the operation of various devices of the vehicle <NUM>.

The vehicle drive apparatus <NUM> may include a power train drive unit <NUM>, a chassis drive unit <NUM>, a door/window drive unit <NUM>, a safety apparatus drive unit <NUM>, a lamp drive unit <NUM>, and an air conditioner drive unit <NUM>.

In some embodiments, the vehicle drive apparatus <NUM> may further include other components in addition to the aforementioned components, or may not include some of the aforementioned components.

Meanwhile, the vehicle drive apparatus <NUM> may include a processor. Each unit of the vehicle drive apparatus <NUM> may include its own processor.

The power train drive unit <NUM> may control the operation of a power train.

The power train drive unit <NUM> may include a power source drive unit <NUM> and a transmission drive unit <NUM>.

The power source drive unit <NUM> may control a power source of the vehicle <NUM>.

In the case in which a fossil fuel-based engine is the power source, the power source drive unit <NUM> may perform electronic control of the engine. The output torque of the engine may be controlled according thereto. The power source drive unit <NUM> may adjust the output toque of the engine under control of the controller <NUM>.

In the case where an electric motor is the power source, the power source drive unit <NUM> may control the motor. The power source drive unit <NUM> may control, for example, the RPM and toque of the motor under control of the controller <NUM>.

The transmission drive unit <NUM> may control a transmission.

The transmission drive unit <NUM> may adjust the state of the transmission. The transmission drive unit <NUM> may adjust a state of the transmission to a drive (D), reverse (R), neutral (N), or park (P) state.

Meanwhile, in the case where an engine is the power source, the transmission drive unit <NUM> may adjust a gear-engaged state to the drive position D.

The chassis drive unit <NUM> may control the operation of a chassis.

The chassis drive unit <NUM> may include a steering drive unit <NUM>, a brake drive unit <NUM>, and a suspension drive unit <NUM>.

The steering drive unit <NUM> may perform electronic control of a steering apparatus provided inside the vehicle <NUM>. The steering drive unit <NUM> may change the direction of travel of the vehicle.

The brake drive unit <NUM> may perform electronic control of a brake apparatus provided inside the vehicle <NUM>. For example, the brake drive unit <NUM> may reduce the speed of the vehicle <NUM> by controlling the operation of a brake located at a wheel.

Meanwhile, the brake drive unit <NUM> may control a plurality of brakes individually. The brake drive unit <NUM> may apply a different degree-braking force to each wheel.

The suspension drive unit <NUM> may perform electronic control of a suspension apparatus inside the vehicle <NUM>. For example, when the road surface is uneven, the suspension drive unit <NUM> may control the suspension apparatus so as to reduce the vibration of the vehicle <NUM>.

Meanwhile, the suspension drive unit <NUM> may control a plurality of suspensions individually.

The door/window drive unit <NUM> may perform electronic control of a door apparatus or a window apparatus inside the vehicle <NUM>.

The door/window drive unit <NUM> may include a door drive unit <NUM> and a window drive unit <NUM>.

The door drive unit <NUM> may control the door apparatus. The door drive unit <NUM> may control opening or closing of a plurality of doors included in the vehicle <NUM>. The door drive unit <NUM> may control opening or closing of a trunk or a tail gate. The door drive unit <NUM> may control opening or closing of a sunroof.

The window drive unit <NUM> may perform electronic control of the window apparatus. The window drive unit <NUM> may control opening or closing of a plurality of windows included in the vehicle <NUM>.

The safety apparatus drive unit <NUM> may perform electronic control of various safety apparatuses provided inside the vehicle <NUM>.

The safety apparatus drive unit <NUM> may include an airbag drive unit <NUM>, a safety belt drive unit <NUM>, and a pedestrian protection equipment drive unit <NUM>.

The airbag drive unit <NUM> may perform electronic control of an airbag apparatus inside the vehicle <NUM>. For example, upon detection of a dangerous situation, the airbag drive unit <NUM> may control an airbag to be deployed.

The safety belt drive unit <NUM> may perform electronic control of a seatbelt apparatus inside the vehicle <NUM>. For example, upon detection of a dangerous situation, the safety belt drive unit <NUM> may control passengers to be fixed onto seats 110FL, 110FR, 110RL, and 110RR with safety belts.

The pedestrian protection equipment drive unit <NUM> may perform electronic control of a hood lift and a pedestrian airbag. For example, upon detection of a collision with a pedestrian, the pedestrian protection equipment drive unit <NUM> may control a hood lift and a pedestrian airbag to be deployed.

The lamp drive unit <NUM> may perform electronic control of various lamp apparatuses provided inside the vehicle <NUM>.

The air conditioner drive unit <NUM> may perform electronic control of an air conditioner inside the vehicle <NUM>. For example, when the inner temperature of the vehicle is high, an air conditioner drive unit <NUM> may operate the air conditioner so as to supply cool air to the inside of the vehicle.

The vehicle drive apparatus <NUM> may include a processor. Each unit of the vehicle dive device <NUM> may include its own processor.

The vehicle drive apparatus <NUM> may operate under control of the controller <NUM>.

The vehicle travel system <NUM> is a system for controlling the overall driving operation of the vehicle <NUM>. The vehicle travel system <NUM> may operate in the autonomous driving mode.

The vehicle travel system <NUM> may include the driving system <NUM>, the parking-out system <NUM>, and the parking-in system <NUM>.

In some embodiments, the vehicle travel system <NUM> may further include other components in addition to the aforementioned components, or may not include some of the aforementioned component.

Meanwhile, the vehicle travel system <NUM> may include a processor. Each unit of the vehicle travel system <NUM> may include its own processor.

Meanwhile, in some embodiments, in the case where the vehicle travel system <NUM> is implemented as software, the vehicle travel system <NUM> may be a subordinate concept of the controller <NUM>.

Meanwhile, in some embodiments, the vehicle travel system <NUM> may be a concept including at least one selected from among the user interface apparatus <NUM>, the object detection apparatus <NUM>, the communication apparatus <NUM>, the driving manipulation apparatus <NUM>, the vehicle drive apparatus <NUM>, the navigation system <NUM>, the sensing unit <NUM>, and the controller <NUM>.

The driving system <NUM> may control driving of the vehicle <NUM>.

The driving system <NUM> may receive navigation information from the navigation system <NUM> and provide a control signal to the vehicle drive apparatus <NUM> so as to control driving of the vehicle <NUM>.

The driving system <NUM> may receive object information from the object detection apparatus <NUM> and provide a control signal to the vehicle drive apparatus <NUM> to thereby control driving of the vehicle <NUM>.

The driving system <NUM> may receive a signal from an external device through the communication apparatus <NUM> and provide a control signal to the vehicle drive apparatus <NUM> so as to control driving of the vehicle <NUM>.

The driving system <NUM> may be a system that performs driving of the vehicle <NUM> with including at least one of the user interface apparatus <NUM>, the object detection apparatus <NUM>, the communication apparatus <NUM>, the driving manipulation apparatus <NUM>, the vehicle drive apparatus <NUM>, the navigation system <NUM>, the sensing unit <NUM>, or the controller <NUM>.

The driving system <NUM> may be referred to as a vehicle driving control apparatus.

The parking-out system <NUM> may control exiting of the vehicle <NUM> from a parking space.

The parking-out system <NUM> may receive navigation information from the navigation system <NUM> and provide a control signal to the vehicle drive apparatus <NUM> so as to control exiting of the vehicle <NUM> from a parking space.

The parking-out system <NUM> may receive object information from the object detection apparatus <NUM> and provide a control signal to the vehicle drive apparatus <NUM> so as to control exiting of the vehicle <NUM> from a parking space.

For example, the parking-out system <NUM> may receive a signal from an external device through the communication apparatus <NUM> and provide a control signal to the vehicle drive apparatus <NUM> so as to control exiting of the vehicle <NUM> from a parking space.

The parking-out system <NUM> may be a system that performs exiting of the vehicle <NUM> from a parking space with including at least one of the user interface apparatus <NUM>, the object detection apparatus <NUM>, the communication apparatus <NUM>, the driving manipulation apparatus <NUM>, the vehicle drive apparatus <NUM>, the navigation system <NUM>, the sensing unit <NUM>, or the controller <NUM>.

The parking-out system <NUM> may be referred to as a vehicle parking-out control apparatus.

The parking-in system <NUM> may control parking of the vehicle <NUM>.

The parking-in system <NUM> may receive navigation information from the navigation system <NUM> and provide a control signal to the vehicle drive apparatus <NUM> so as to control parking of the vehicle <NUM>.

The parking-in system <NUM> may receives object information from the object detection apparatus <NUM> and provide a control signal to the vehicle drive apparatus <NUM> so as to control parking of the vehicle <NUM>.

The parking-in system <NUM> may receive a signal from an external device through the communication apparatus <NUM> and provide a control signal to the vehicle drive apparatus <NUM> so as to control parking of the vehicle <NUM>.

The parking-in system <NUM> may be a system that performs driving of the vehicle <NUM> with including at least one of the user interface apparatus <NUM>, the object detection apparatus <NUM>, the communication apparatus <NUM>, the driving manipulation apparatus <NUM>, the vehicle drive apparatus <NUM>, the navigation system <NUM>, the sensing unit <NUM>, or the controller <NUM>.

The parking-in system <NUM> may be referred to as a vehicle parking-in control apparatus.

The navigation system <NUM> may provide navigation information. The navigation information may include at least one selected from among map information, information on a set destination, information on a route to the set destination, information on various objects along the route, lane information, and information on a current location of the vehicle.

The navigation system <NUM> may include a memory and a processor. The memory may store navigation information. The processor may control the operation of the navigation system <NUM>.

In some embodiments, the navigation system <NUM> may update pre-stored information by receiving information from an external device through the communication apparatus <NUM>.

In some embodiments, the navigation system <NUM> may be classified as a subordinate element of the user interface apparatus <NUM>.

The sensing unit <NUM> may sense the state of the vehicle. The sensing unit <NUM> may include an attitude sensor (i.e., a yaw sensor, a roll sensor, and a pitch sensor), a collision sensor, a wheel sensor, a speed sensor, a gradient sensor, a weight sensor, a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward/reverse movement sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor based on the rotation of the steering wheel, an in-vehicle temperature sensor, an in-vehicle humidity sensor, an ultrasonic sensor, an illumination sensor, an accelerator pedal position sensor, and a brake pedal position sensor.

The sensing unit <NUM> may acquire sensing signals with regard to, for example, vehicle attitude information, vehicle collision information, vehicle driving direction information, vehicle location information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward/reverse movement information, battery information, fuel information, tire information, vehicle lamp information, in-vehicle temperature information, in-vehicle humidity information, steering-wheel rotation angle information, out-of-vehicle illumination information, information about the pressure applied to an accelerator pedal, and information about the pressure applied to a brake pedal.

The sensing unit <NUM> may further include, for example, an accelerator pedal sensor, a pressure sensor, an engine speed sensor, an Air Flow-rate Sensor (AFS), an Air Temperature Sensor (ATS), a Water Temperature Sensor (WTS), a Throttle Position Sensor (TPS), a Top Dead Center (TDC) sensor, and a Crank Angle Sensor (CAS).

The sensing unit <NUM> may generate vehicle state information based on sensing data. The vehicle state information may be information that is generated based on data sensed by a variety of sensors inside a vehicle.

For example, the vehicle state information may include vehicle position information, vehicle speed information, vehicle tilt information, vehicle weight information, vehicle direction information, vehicle battery information, vehicle fuel information, vehicle tire pressure information, vehicle steering information, in-vehicle temperature information, in-vehicle humidity information, pedal position information, vehicle engine temperature information, etc..

The interface <NUM> may serve as a passage for various kinds of external devices that are connected to the vehicle <NUM>. For example, the interface <NUM> may have a port that is connectable to a mobile terminal and may be connected to the mobile terminal through the port. In this case, the interface <NUM> may exchange data with the mobile terminal.

Meanwhile, the interface <NUM> may serve as a passage for the supply of electrical energy to a mobile terminal connected thereto. When the mobile terminal is electrically connected to the interface <NUM>, the interface <NUM> may provide electrical energy, supplied from the power supply unit <NUM>, to the mobile terminal under control of the controller <NUM>.

The memory <NUM> is electrically connected to the controller <NUM>. The memory <NUM> may store basic data for each unit, control data for the operational control of each unit, and input/output data. The memory <NUM> may be any of various hardware storage devices, such as a ROM, a RAM, an EPROM, a flash drive, and a hard drive. The memory <NUM> may store various data for the overall operation of the vehicle <NUM>, such as programs for the processing or control of the controller <NUM>.

In some embodiments, the memory <NUM> may be integrally formed with the controller <NUM>, or may be provided as an subelement of the controller <NUM>.

The controller <NUM> may control the overall operation of each unit inside the vehicle <NUM>.

The controller <NUM> may be referred to as an Electronic Control Unit (ECU).

The power supply unit <NUM> may supply power required to operate each component under control of the controller <NUM>. In particular, the power supply unit <NUM> may receive power from, for example, a battery inside the vehicle.

One or more processors and thee controller <NUM> included in the vehicle <NUM> may be implemented using at least one selected from among 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 for the implementation of other functions.

<FIG> is a block diagram referred to in the description of a communication apparatus according to an embodiment of the present invention.

A vehicle <NUM> is a vehicle capable of performing vehicle-to-vehicle communication (V2V communication or V2X communication).

A communication apparatus <NUM> for a vehicle may be referred to as a V2X communication apparatus.

The communication apparatus <NUM> includes include a receiver <NUM>, a transmitter <NUM>, a processor <NUM>, an interface unit <NUM>, and may include a memory <NUM>, and a power supply unit <NUM>.

The receiver <NUM> and the transmitter <NUM> may be included in a V2X communication unit <NUM>.

The receiver <NUM> may receive information, data, or a signal from other vehicle or infrastructure. The receiver <NUM> may include a radio frequency (RF) circuit including a receiver antenna.

The receiver <NUM> receives recognition information for a plurality of other vehicles.

The receiver <NUM> may operate under control of the processor <NUM>.

The transmitter <NUM> may transmit information, data, or a signal to other vehicle or infrastructure. The transmitter <NUM> may include an radio frequency (RF) circuit including a transmitter antenna.

The transmitter <NUM> transmits information to a second other vehicle capable of performing vehicle-to-vehicle communication.

The transmitter <NUM> transmits recognition information for the vehicle <NUM> to the second other vehicle.

Here, the recognition information for the vehicle <NUM> is information necessary for the second other vehicle to recognize the vehicle <NUM>. The recognition information for the vehicle <NUM> may include presence information, location information, speed information, information on an occupied lane, direction information, and navigation information regarding the vehicle <NUM>.

Meanwhile, the recognition information for the vehicle <NUM> capable of performing vehicle-to-vehicle communication may be referred to as a beacon message.

The transmitter <NUM> transmits the recognition information for the vehicle to the second other vehicle, along with recognition information for a first other vehicle.

Here, the recognition information for the first other vehicle includes information on the first other vehicle acquired by an object detection apparatus <NUM>. For example, the recognition information for the first other vehicle may include presence information, location information, speed information, information on an occupied lane, direction information, and navigation information regarding the first other vehicle.

Meanwhile, the recognition information for the first other vehicle incapable of performing vehicle-to-vehicle communication may be referred to as an N-beacon message.

The recognition information for the first other vehicle may include ID information distinguishable from the recognition information for the vehicle <NUM>.

The transmitter <NUM> may operate under the control of the processor <NUM>.

In some embodiments, the receiver <NUM> and the transmitter <NUM> may be integrally formed. In this case, a receiving RF circuit and a transmitting RF circuit may be integrally formed as a communication RF circuit.

The processor <NUM> may control overall operations of each unit of the communication apparatus <NUM>.

The processor <NUM> receives sensing information regarding the first other vehicle from the object detection apparatus <NUM> through the interface unit <NUM>.

The first other vehicle is a vehicle located in the vicinity of the vehicle <NUM> and incapable of performing vehicle-to-vehicle communication.

The processor <NUM> generates recognition information for the first other vehicle based on the sensing information.

Here, the recognition information for the first other vehicle may be information necessary to recognize the first other vehicle incapable of performing vehicle-to-vehicle communication. The recognition information for the first other vehicle may include information (object information) of the first other vehicle acquired by the object detection apparatus <NUM>. For example, the recognition information for the first other vehicle may include presence information, location information, speed information, information on an occupied lane, and direction information regarding the first other vehicle.

The recognition information for the first other vehicle may include ID information.

The processor <NUM> transmits the recognition information for the first other vehicle to the second other vehicle through the transmitter <NUM>.

The second other vehicle is a vehicle capable of performing vehicle-to-vehicle communication (V2V communication, V2X communication). The second other vehicle may be in plural.

As such, as the recognition information for the first other vehicle is transmitted to the second other vehicle, the second other vehicle may be able to recognize the presence of the first other vehicle and perform travelling with preparation against the first other vehicle.

Meanwhile, the second other vehicle may receive the recognition information for the first other vehicle. Based on ID information included in the recognition information for the first other vehicle, the second other vehicle may confirm that the received recognition information is recognition information for the first other vehicle. Based on ID information, the second other vehicle may determine whether the received recognition information is recognition information for the first other vehicle incapable of performing vehicle-to-vehicle communication or recognition information for the vehicle <NUM> capable of performing vehicle-to-vehicle communication.

Through the interface unit <NUM>, the processor <NUM> may receive information on a relative distance between the vehicle <NUM> and the first other vehicle, and information on a relative speed between the vehicle <NUM> and the first other vehicle.

The processor <NUM> may generate the recognition information for the first other vehicle, based on the information on the relative distance between the vehicle <NUM> and the first other vehicle and the information on the relative speed between the vehicle <NUM> and the first other vehicle.

The processor <NUM> may acquire location information of the vehicle <NUM> through the interface unit <NUM> from a sensing unit <NUM> or a navigation system <NUM>.

The processor <NUM> may generate the recognition information for the first other vehicle, further based on the location information of the vehicle <NUM>. The processor <NUM> may generate location information of the first other vehicle by adding the information on the relative distance between the vehicle <NUM> and the first other vehicle to the location information of the vehicle <NUM>.

The processor <NUM> may acquire speed information of the vehicle <NUM> through the interface unit <NUM> from the sensing unit <NUM>.

The processor <NUM> may generate the recognition information for the first other vehicle, further based on the speed information of the vehicle <NUM>. The processor <NUM> may generate speed information of the first other vehicle, by adding the information on the relative speed between the vehicle <NUM> and the first other vehicle to the speed information of the vehicle <NUM>.

The processor <NUM> may transmit the recognition information for the vehicle <NUM> to the second other vehicle, along with the recognition information for the first other vehicle.

The processor <NUM> may transmit the recognition information for the vehicle <NUM> and the recognition information for the first other vehicle by dividing time.

The processor <NUM> may alternately transmit the recognition information for the first other vehicle and the recognition information for the vehicle <NUM> to the second other vehicle. For example, the processor <NUM> may transmit the recognition information for the first other vehicle in a first time period, and transmit the recognition information for the vehicle <NUM> in a second time period. The processor <NUM> may transmit the recognition information for the first other vehicle in a third time period, and the recognition information for the vehicle <NUM> in a fourth time period. The processor <NUM> may alternately and repeatedly transmit the recognition information for the first other vehicle and the recognition information for the vehicle <NUM>.

The processor <NUM> may generate the recognition information for the first other vehicle by Wireless Access in Vehicular Environment (WAVE) scheme.

The processor <NUM> may generate the recognition information for the first other vehicle in a Basic Safety Message (BSM) format or a Contextual Awareness Message (CAM) format.

The BSM format (exemplified in <FIG>) is a vehicle-to-vehicle communication format used in North America. The CAM format (exemplified in <FIG>) is a vehicle-to-vehicle communication format used in Europe. The BSM format and the CAM format are communication formats apparent to those skilled in the art, and a detailed description thereof is herein omitted.

The processor <NUM> may receive recognition information for at least one other vehicle through the receiver <NUM> from at least one other vehicle capable of performing vehicle-to-vehicle communication. Here, recognition information may be recognition information necessary to recognize other vehicle capable of performing vehicle-to-vehicle communication. For example, the recognition information for the other vehicle may include information on the presence, location information, speed information, information on an occupied lane, and direction information regarding the other vehicle.

The processor <NUM> may determine that the first other vehicle is a vehicle incapable of performing vehicle-to-vehicle communication, by comparing the received recognition information and sensing information regarding the first other vehicle.

The object detection apparatus <NUM> generates sensing information by sensing other vehicle located in the vicinity of the vehicle <NUM>.

The processor <NUM> may recognize the first other vehicle in capable of performing vehicle-to-vehicle communication, by comparing recognition information for other vehicle and sensing information regarding other vehicle located in the vicinity of the vehicle <NUM>.

For example, through the object detection apparatus <NUM>, the processor <NUM> may acquire sensing information regarding a first other vehicle, a second other vehicle, and a third other vehicle located in the vicinity of the vehicle <NUM>. The processor <NUM> may receive recognition information for the second other vehicle and recognition information for the third other vehicle through the receiver <NUM>. In this case, the processor <NUM> may determine that the first other vehicle detected in the vicinity of the vehicle <NUM> and having no recognition information acquired therefor is a vehicle incapable of performing vehicle-to-vehicle communication.

If the first other vehicle is located in front of the vehicle <NUM>, the processor <NUM> may generate recognition information for the first other vehicle.

A plurality of vehicles capable of performing vehicle-to-vehicle communication may travel on a road on which a plurality of lanes is formed. In this case, if the plurality of vehicles respectively generate and transmit recognition information for the first other vehicle incapable of performing vehicle-to-vehicle communication, excessive communication traffic may be resulted. In addition, for a vehicle receiving the recognition information for the first other vehicle, incorrect information may be received because the recognition information for the first other vehicle is received from the plurality of vehicles.

Generally, since the vehicle <NUM> moves forward, a sensor included in the object detection apparatus <NUM> senses an area in front of the vehicle <NUM> more precisely than a side area or a rear area. The object detection apparatus <NUM> may sense other vehicle located in front of the vehicle <NUM> more precisely than any other vehicle located on the side of or in rear of the vehicle <NUM>. As the plurality of vehicles capable of performing vehicle-to-vehicle communication senses the first other vehicle in the front and generates recognition information therefor, there are effect of preventing excessive information but generating relatively precise information.

Recognition information for other vehicle incapable of performing vehicle-to-vehicle communication may not be redundantly generated, and the most precise recognition information for the other vehicle may be generated and provided.

The processor <NUM> may receive first sensing information regarding a first-a other vehicle incapable of performing vehicle-to-vehicle communication from the object detection apparatus <NUM> through the interface unit <NUM>.

The processor <NUM> may receive second sensing information regarding a first-b other vehicle incapable of performing vehicle-to-vehicle communication from the object information <NUM> through the interface unit <NUM>.

In the first time period, the processor <NUM> may generate and transmit recognition information for the first-a other vehicle based on the first sensing information.

In the second time period, the processor <NUM> may generate and transmit recognition information for the first-b other vehicle based on the second sensing information.

Here, the first time period and the second time period may be in sync with the plurality of other vehicles.

Meanwhile, the first other vehicle may be in plural, and the first-a other vehicle and the first-b other vehicle may be included in the first other vehicle.

In doing so, recognition information for other vehicle incapable of performing vehicle-to-vehicle communication may not be generated through cooperation with a plurality of vehicles, and excessive communication traffic may be addressed.

The processor <NUM> may receive license plate information of the first other vehicle being captured by a camera <NUM> and acquired through the interface unit.

The processor <NUM> may generate recognition information for the first other vehicle with the license plate information included therein.

As the license plate information is included, the second other vehicle is able to recognize the first other vehicle precisely.

The processor <NUM> may receive situation information for the first other vehicle from the object detection apparatus <NUM> through the interface unit <NUM>.

The processor <NUM> may control the transmitter <NUM> not to transmit the recognition information for the first other vehicle, based on the situation information for the first other vehicle.

The processor <NUM> may not generate recognition information for the first other vehicle, based on the situation information for the first other vehicle.

The situation information for the first other vehicle may include first situation information, second situation information, and third situation information.

The first situation information may be situation information indicating that the first other vehicle is traveling in a dedicated lane.

The processor <NUM> may receive the first situation information from the object detection apparatus <NUM> through the interface unit <NUM>. The processor <NUM> may control the transmitter <NUM> not to transmit the recognition information for the first other vehicle, based on the first situation information.

In the case where the first other vehicle is traveling in a dedicated lane, the first other vehicle may not disturb traveling of a vehicle capable of performing vehicle-to-vehicle communication, including the vehicle <NUM>, and thus, the recognition information for the first other vehicle is not required. As unnecessary information is not transmitted, there is an effect of not affecting a communication traffic condition.

The second situation information may be situation information indicating that a difference in speed between the first other vehicle and the vehicle <NUM> is equal to or greater than a reference value.

The processor <NUM> may receive the second situation information from the object detection apparatus <NUM> through the interface unit <NUM>. The processor <NUM> may control the transmitter <NUM> not to transmit the recognition information for the first other vehicle, based on the second situation information.

In the case where the first other vehicle is traveling at low speed, the first other vehicle may not disturb traveling of a vehicle capable of performing vehicle-to-vehicle communication, including the vehicle <NUM>, and thus, the recognition information for the first other vehicle is not required. As unnecessary information is not transmitted, there is an effect of not affecting a communication traffic condition.

The third situation information may be situation information indicating that a direction of travel of the first other vehicle is different from a direction of travel of the vehicle <NUM>.

The processor <NUM> receive the third situation information from the object detection apparatus <NUM> through the interface unit <NUM>. The processor <NUM> may control the transmitter <NUM> not to transmit the recognition information for the first other vehicle, based on the third situation information.

In the case where the first other vehicle is traveling in a direction different from the direction of travel of the vehicle <NUM>, the first other vehicle may not disturb traveling of a vehicle capable of performing vehicle-to-vehicle communication, including the vehicle <NUM>, and thus, the recognition information for the first other vehicle is not required. As unnecessary information is not transmitted, there is an effect of not affecting a communication traffic condition.

The interface unit <NUM> may exchange information, a signal, or data with a difference device included in the vehicle <NUM>. The interface unit <NUM> may receive information, a signal, or data from a different device included in the vehicle <NUM>. The interface unit <NUM> may transmit received information, signal, or data to the processor <NUM>. The interface unit <NUM> may transmit information, signal, or data generated or processed by the processor <NUM> to a different device included in the vehicle <NUM>.

The interface unit <NUM> receives sensing information from the object detection apparatus <NUM>. Here, the sensing information is sensing information regarding the first other vehicle located in the vicinity of the vehicle <NUM> and incapable of performing vehicle-to-vehicle communication. The vehicle-to-vehicle communication may be referred to as V2V communication or V2X communication.

The memory <NUM> is electrically connected to the processor <NUM>. The memory <NUM> may store basic data for each unit, control data for the operational control of each unit, and input/output data. The memory <NUM> may be any of various hardware storage devices, such as a ROM, a RAM, an EPROM, a flash drive, and a hard drive. The memory <NUM> may store various data for the overall operation of the communication apparatus <NUM>, such as programs for the processing or control of the processor <NUM>.

In some embodiments, the memory <NUM> may be integrally formed with the processor <NUM>, or may be implemented as a subcomponent of the processor <NUM>.

The power supply unit <NUM> may supply power required to operate each component under the control of the processor <NUM>. In particular, the power supply unit <NUM> may receive power from, for example, a battery inside the vehicle.

<FIG> is a diagram referred to in the description of a communication apparatus and a vehicle according to an embodiment of the present invention.

Referring to <FIG>, description is provided by distinguishing an information generating vehicle and an information receiving vehicle.

The communication apparatus <NUM> described with reference to <FIG> may be understood as a communication apparatus included in an information generating vehicle 100a.

An information receiving vehicle 100b may include the same constituent components as those of the information generating vehicle 100a.

The information generating vehicle 100a may not just transmit recognition information for other vehicle incapable of performing vehicle-to-vehicle communication, but also receive recognition information for the other vehicle generated by one another vehicle capable of performing vehicle-to-vehicle communication.

The information receiving information 100b may not just receive recognition information for other vehicle incapable of performing vehicle-to-vehicle communication, but also generate and transmit recognition information for the another vehicle being generated by one another vehicle capable of performing vehicle-to-vehicle communication.

The information generating vehicle 100a may be referred to as the vehicle <NUM>, and the information receiving vehicle 100b may be referred to as a second other vehicle.

Firstly, description is provided from the perspective of the vehicle 100a.

The processor <NUM> may receive sensing information regarding a first other vehicle (S910).

The processor <NUM> may receive the sensing information regarding the first other vehicle from the object detection apparatus <NUM> through the interface unit <NUM>.

The first other vehicle may be a vehicle located in the vicinity of the vehicle <NUM> and incapable of performing vehicle-to-vehicle communication.

The processor <NUM> may generate recognition information for the first other vehicle, based on the sensing information (S920).

The processor <NUM> may transmit the recognition information for the first other vehicle to the second other vehicle through the transmitter <NUM> (S930).

The second other vehicle is a vehicle capable of performing vehicle-to-vehicle communication (V2V communication, V2X communication)/ The second other vehicle may be in plural. The second other vehicle may be the information receiving vehicle 100b.

Next, description is provided from the perspective of the information receiving vehicle 100b.

The information receiving vehicle 100b may include the user interface apparatus <NUM>, the object detection apparatus <NUM>, the communication apparatus <NUM>, the driving manipulation apparatus <NUM>, the vehicle drive apparatus <NUM>, the vehicle travel system <NUM>, the controller <NUM>, the navigation system <NUM>, the sensing unit <NUM>, the interface unit <NUM>, the memory <NUM>, and the power supply unit <NUM>, as described above with reference to <FIG>.

The description provided with reference to <FIG> may apply to the communication apparatus <NUM> in the information receiving vehicle 100b. That is, the communication apparatus <NUM> may include the receiver <NUM>, the transmitter <NUM>, the processor <NUM>, the interface unit <NUM>, the memory <NUM>, and the power supply unit <NUM>.

The vehicle 100b may receive recognition information for a first other vehicle (S940).

The receiver <NUM> may receive information from a plurality of other vehicles.

The processor <NUM> may receive the recognition information from the first other vehicle incapable of performing vehicle-to-vehicle communication, through the receiver <NUM>.

The processor <NUM> may specify the first other vehicle based on a plurality of items of recognition information for the first other vehicle received from the plurality of other vehicles.

For example, the processor <NUM> may receive first recognition information for the first other vehicle from A other vehicle through the receiver <NUM>. The processor <NUM> may receive second recognition information for the first other vehicle from B other vehicle through the receiver <NUM>. The processor <NUM> may specify the first other vehicle based on a combination of the first recognition information and the second recognition information.

Meanwhile, the first recognition information may include first location information and first speed information for the first other vehicle generated by A other vehicle. The second recognition information may include second location information and second speed information for the first other vehicle generated by B vehicle.

The processor <NUM> may generate a graphic image corresponding to the first other vehicle based on the plurality of items of recognition information for the first other vehicle received from the plurality of other vehicles.

For example, the processor <NUM> may generate the graphic image based on a combination of the first recognition information and the second recognition information.

The processor <NUM> may determine reliability of recognition information for the first other vehicle based on the number of other vehicles transmitting the recognition information for the first other vehicle.

For example, the processor <NUM> may determine reliability of recognition information for the first other vehicle in proportion to the number of other vehicles transmitting the recognition information for the first other vehicle.

The processor <NUM> determines reliability of the recognition information for the first other vehicle based on communication strength.

For example, the processor <NUM> may determine reliability of recognition information for the first other vehicle based on a communication reliability.

The processor <NUM> determines reliability of recognition information for the first other vehicle based on information on a type of a sensor sensing the first other vehicle.

The processor <NUM> determines reliability for recognition information for the first other vehicle based on information on a position where a sensor sensing the first other vehicle is attached.

The vehicle 100b may display a graphic image corresponding to the first other vehicle (S950).

The user interface apparatus <NUM> may output a graphic image corresponding to the first other vehicle based on recognition information for the first other vehicle through the display unit <NUM>.

The user interface apparatus <NUM> may generate a first graphic image corresponding to the first other vehicle based on first recognition information.

The user interface apparatus <NUM> may generate a second graphic image corresponding to the first other vehicle based on second recognition information.

The user interface apparatus <NUM> may display a Region of Interest (ROI) that is set to the entire area of the first graphic image and the second graphic image.

The user interface apparatus <NUM> may display an ROI that is set to an area where the first graphic image and the second graphic image overlap each other.

The user interface apparatus <NUM> may determine a shape of a graphic image based reliability determined by the processor <NUM>.

The user interface apparatus <NUM> may determine color, transparency, or size of the graphic image by the reliability.

<FIG> are for explaining the information generating vehicle 100a shown in <FIG>.

<FIG> is a diagram referred to in the description of vehicle-to-vehicle communication according to an embodiment of the present invention.

Referring to the drawing, the vehicle 100a may communicate with the second other vehicle 100b through the communication apparatus <NUM>. The vehicle 100a and the second other vehicle 100b may be vehicles each including the communication apparatus <NUM> and thereby capable of communicating with each other. The second other vehicle 100b may be in plural.

The vehicle 100a may generate recognition information for the vehicle 100a and share the recognition information with the second other vehicle 100b. Here, the recognition information for the vehicle 100a may be information necessary for the second other vehicle 100b to recognize the vehicle 100a.

The second other vehicle 100b may receive the recognition information for the vehicle 100a. Upon receiving the recognition information for the vehicle 100a, the second other vehicle 100b may recognize the presence of the vehicle 100a. The second other vehicle 100b may acquire location information, speed information, information on an occupied lane, direction information, and navigation information regarding the vehicle <NUM> based on the recognition information for the vehicle 100a.

The vehicles 100a and 100b capable of performing vehicle-to-vehicle communication and a vehicle <NUM> incapable of performing vehicle-to-vehicle communication may be travelling together on a roadway. Here, the vehicle <NUM> incapable of performing vehicle-to-vehicle communication may be referred to as a first other vehicle.

If the first other vehicle is not detected by provided sensors <NUM>, <NUM>, <NUM>, <NUM>, and <NUM>, the vehicles 100a and 100b recognizing each other through vehicle-to-vehicle communication are not able to recognize the presence of the vehicle <NUM> through vehicle-to-vehicle communication.

In this case, the first other vehicle <NUM> may disturb travelling the vehicles 100a and 100b capable of performing vehicle-to-vehicle communication. In order to solve this problem, the communication apparatus <NUM> according to an embodiment of the present invention is provided.

<FIG> and <FIG> are diagrams referred to in the description of acquiring sensing information regarding the first other vehicle according to an embodiment of the present invention.

As shown in <FIG>, the object detection apparatus <NUM> may detect the first other vehicle <NUM>. The object detection apparatus <NUM> may generate information regarding the first other vehicle <NUM>. The information regarding the first other vehicle <NUM> may be referred to as sensing information regarding the first other vehicle <NUM>.

The object detection apparatus <NUM> may include at least one sensor from among the camera <NUM>, the radar <NUM>, the lidar <NUM>, the ultrasonic sensor <NUM>, and the infrared sensor <NUM>.

The object detection apparatus <NUM> may detect the first other vehicle <NUM> using at least one sensor from among the camera <NUM>, the radar <NUM>, the lidar <NUM>, the ultrasonic sensor <NUM>, and the infrared sensor <NUM>.

<FIG> shows an example of detection ranges of various sensors included in the object detection apparatus <NUM>.

A first detection range 310RGF may be a forward detection range from the camera <NUM>.

A second detection range 310RGS may be a lateral detection range from the camera <NUM>.

A third direction range 320RG may be a rearward detection range from the radar <NUM>.

A fourth detection range 330RG may be a forward detection range from the lidar <NUM>.

A fifth detection range 340RG may be a rearward lateral direction range from the ultrasonic sensor <NUM>.

In the case where the first other vehicle is located in at least one of the first to fifth detection ranges, the object detection apparatus <NUM> may detect the first other vehicle <NUM> and generate sensing information regarding the first other vehicle <NUM>.

The processor <NUM> may receive the sensing information regarding the first other vehicle <NUM> from the object detection apparatus <NUM> through the interface unit <NUM>.

The processor <NUM> may generate recognition information for the first other vehicle <NUM> based on the sensing information regarding the first other vehicle <NUM>.

<FIG> are diagrams referred to in the description of generating recognition information for the first other vehicle according to an embodiment of the present invention.

Referring to <FIG>, the object detection apparatus <NUM> of the vehicle 100a may detect the first other vehicle <NUM> through at least one sensor from among the camera <NUM>, the radar <NUM>, the lidar <NUM>, the ultrasonic sensor <NUM>, and the infrared sensor <NUM>, and generate sensing information regarding the first other vehicle <NUM>.

The object detection apparatus <NUM> of the second other vehicle 100b may detect the first other vehicle <NUM> through at least one sensor from among the camera <NUM>, the radar <NUM>, the lidar <NUM>, the ultrasonic sensor <NUM>, and the infrared sensor <NUM>, and generate sensing information regarding the first other vehicle <NUM>.

As shown in <FIG>, the first other vehicle <NUM> may be located in front of the vehicle 100a. The first other vehicle <NUM> may be located on the side of or in rear of the second other vehicle 100b.

The vehicle 100a and the second other vehicle 100b may respectively generate recognition information for the first other vehicle <NUM> based on the respective sensing information.

If the recognition information for the first other vehicle <NUM> respectively generated by the vehicle 100a and the second other vehicle 100b are shared, excessive communication traffic may be resulted.

Referring to <FIG>, when the first other vehicle <NUM> is located in front of the vehicle 100a, the processor <NUM> may generate recognition information for the first other vehicle <NUM>.

When the first other vehicle <NUM> is located on the side of or in rear of the vehicle 100a, the processor <NUM> may not generate recognition information for the first other vehicle <NUM>.

As recognition information only for the first other vehicle <NUM> located in front of the vehicle 100a is generated, excessive communication traffic may be avoided.

Referring to reference numeral <NUM> in <FIG>, the processor <NUM> may receive first sensing information regarding a first-a other vehicle 1111a incapable of performing vehicle-to-vehicle communication from the object detection apparatus <NUM> through the interface unit <NUM>.

The processor <NUM> may generate second sensing information regarding a first-b other vehicle 1111b incapable of performing vehicle-to-vehicle communication from the object detection apparatus <NUM> through the interface unit <NUM>.

The processor <NUM> may generate and transmit recognition information for the first-a other vehicle 1111a based on the first sensing information in a first time period.

The processor <NUM> may generate and transmit recognition information for the first-b other vehicle 1111b based on the second sensing information in a second time period.

Here, the second time period may be after the first time period. The first time period and the second time period may be in sync with the other vehicle 100b capable of performing communication with a plurality of vehicles.

Referring to reference numeral <NUM> in <FIG>, recognition information for the first other vehicle <NUM> may be generated by the vehicle 100a. In addition, recognition information for the first other vehicle <NUM> may be generated by the second other vehicle 100b.

In the first time period, the recognition information for the first other vehicle <NUM> may be generated by the vehicle 100a.

In the second time period, the recognition information for the first other vehicle <NUM> may be generated by the second other vehicle 100b.

The vehicle 100a may sequentially generate the recognition information of the first other vehicle <NUM> in order of <NUM>-><NUM>-><NUM>-><NUM> in a clockwise direction around the vehicle 100a, and transmits the recognition information.

The second other vehicle 100b may sequentially generate the recognition information of the first other vehicle <NUM> in order of <NUM>-><NUM>-><NUM>-><NUM> in a clockwise direction around the second other vehicle 100b, and transmits the recognition information.

In this case, the order of <NUM>-><NUM>-><NUM>-><NUM> may be predetermined between the first other vehicle 100a and the second other vehicle 100b.

The vehicle 100a may generate and transmit the recognition information for the first other vehicle <NUM> at the step of <NUM>. The second other vehicle 100b may generate and transmit the recognition information for the first other vehicle <NUM> at the step of <NUM>.

As such, as the plurality of vehicles 100a and 100b generates and transmits recognition information for the first other vehicle <NUM> by dividing time, excessive communication traffic may be avoided.

Referring to <FIG>, the processor <NUM> may receive license plate information <NUM> of the first other vehicle <NUM> being captured by the camera <NUM> and acquired through the interface unit <NUM>.

The processor <NUM> may generate recognition information for the first other vehicle <NUM> with the license plate information <NUM> included therein.

The second other vehicle 100b having received the recognition information for the first other vehicle <NUM> may clearly specify the first other vehicle <NUM> by comparing the license plate information <NUM> of the first other vehicle <NUM> and an image of the license plate of the first other vehicle <NUM>, the image which is acquired by the camera <NUM> of the second other vehicle 100b.

<FIG> and <FIG> are diagrams referred to in the description of transmitting recognition information according to an embodiment of the present invention.

Referring to <FIG>, the processor <NUM> may transmit recognition information for the vehicle 100a to the second other vehicle, along with recognition information for the first other vehicle <NUM>.

The processor <NUM> may transmit the recognition information for the first other vehicle <NUM> and the recognition information for the vehicle 100a to the second other vehicle by dividing time.

The processor <NUM> may alternately transmit the recognition information for the first other vehicle <NUM> and the recognition information for the vehicle 100a to the second other vehicle.

For example, in a first time period t0-t1, a third time period t2-t3, a fifth time period t4-t5, a seventh time period t6-t7, and a ninth time period t8-t9, the recognition information for the vehicle 100a may be transmitted.

In addition, in a second time period t1-t2, a fourth time period t3-t4, a sixth time period t5-t6, an eighth time period t7-t8, and a tenth time period t9-t10, the recognition information for the first other vehicle <NUM> may be transmitted.

As such, as the recognition information for the vehicle 100a and the recognition information for the first other vehicle <NUM> are repeatedly and alternately transmitted, it is possible to transmit information without omission by use of one transmitter <NUM> alone.

Referring to <FIG>, the object detection apparatus <NUM> may detect other vehicle incapable of performing communication with a plurality of vehicles.

For example, the object detection apparatus <NUM> may detect a first-a other vehicle 1111a and a first-b other vehicle 1111b.

The first-a other vehicle 1111a and the first-b other vehicle 1111b may be vehicles incapable of performing vehicle-to-vehicle communication.

The processor <NUM> may generate recognition information for each of the other vehicles incapable of performing vehicle-to-vehicle communication.

For example, the processor <NUM> may generate recognition information for the first-a other vehicle 1111a and recognition information for the first-b other vehicle 1111b.

The processor <NUM> may transmit the recognition information for the vehicle 100a and a plurality of items of recognition information for other vehicle incapable of performing communication with a plurality of vehicles to the second other vehicle.

The processor <NUM> may transmit the recognition information for the vehicle 100a and the plurality of items of recognition information for the other vehicle incapable of performing communication with a plurality of vehicles to the second other vehicle by dividing time.

For example, in a first time period t0-t1, a fourth time period t3-t4, a seventh time period t6-t7, and a tenth time period t9-t10, the recognition information for the vehicle 100a may be transmitted.

In addition, in a second time period t1-t2, a fifth time period t4-t5, and an eighth time period t7-t8, the recognition information for the first-a other vehicle 1111a may be transmitted.

In addition, in a third time period t2-t3, a sixth time period t5-t6, and a ninth time period t8-t9, the recognition information for the first-b other vehicle 1111b may be transmitted.

As such, as the recognition information for the vehicle 100a and a plurality of items of recognition information for other vehicle incapable of performing communication with a plurality of vehicles are alternately and repeatedly transmitted, it is possible to transmit information without omission using one transmitter <NUM> alone.

<FIG> are for explaining the information receiving vehicle 100b shown in <FIG>.

<FIG> are diagrams referred to in the description of receiving and displaying recognition information for the first other vehicle according to an embodiment of the present invention.

Referring to <FIG>, the communication apparatus <NUM> of a second other vehicle 100b may receive recognition information for first other vehicle.

The communication apparatus <NUM> may confirm the presence of the first other vehicle <NUM>, a position of the first other vehicle <NUM>, a speed of the first other vehicle <NUM>, a lane occupied by the first other vehicle <NUM>, and a direction of the first other vehicle <NUM> based on the recognition information for the first other vehicle.

Meanwhile, the vehicle 100a may generate the recognition information for the first other vehicle <NUM> with ID information included therein.

Based on the ID information, the second other vehicle 100b may determine that the received recognition information is the recognition information for the first other vehicle <NUM>.

<FIG> are diagrams referred to in the description of a second other vehicle determining a position of a first other vehicle according to an embodiment of the present invention.

As shown in <FIG>, the second other vehicle 100b may receive recognition information for a first other vehicle <NUM> from a plurality of vehicles 100a.

The plurality of vehicles 100a may be distinguished into A vehicle 100a-<NUM> and B vehicle 100a-<NUM>.

The second other vehicle 100b may receive recognition information for the first other vehicle <NUM> from the A vehicle 100a-<NUM>.

The second other vehicle 100b may receive recognition information for the first other vehicle <NUM> from B vehicle 100a-<NUM>.

Meanwhile, based on ID information or license plate information, the second other vehicle 100b may determine that recognition information for a vehicle incapable of performing vehicle-to-vehicle communication received from the A vehicle 100a-<NUM> and recognition information received a vehicle incapable of performing vehicle-to-vehicle communication received from the B vehicle 100a-<NUM> are recognition information for the first other vehicle <NUM>.

As shown in <FIG>, when recognition information for the first other vehicle <NUM> is received from the A vehicle 100a-<NUM> in a second time period t1-t2, the second other vehicle 100b may determine a position of the first other vehicle <NUM> based on the recognition information for the first other vehicle <NUM> being received in the second time period t1-t2.

As shown in <FIG>, when recognition information for the first other vehicle <NUM> is received from the B vehicle 100a-<NUM> in a third time period t2-t3, the second other vehicle 100b may determine a position of the first other vehicle <NUM> based on the recognition information for the first other vehicle <NUM> being received in the third time period t2-t3.

As shown in <FIG>, when recognition information for the first other vehicle <NUM> is received from the A vehicle 100a-<NUM> in a fourth time period t3-t4, the second other vehicle 100b may determine a position of the first other vehicle <NUM> based on the recognition information for the first other vehicle <NUM> being received in the fourth time period t3-t4.

<FIG> and <FIG> are diagram referred to in the description of determining a position of the first other vehicle <NUM> by the second other vehicle based on recognition information for the first other vehicle <NUM> being received from a plurality of other vehicles according to an embodiment of the present invention.

Referring to the drawing, a second other vehicle 100b may generate recognition information for a first other vehicle <NUM>.

The second other vehicle 100b may receive first recognition information for the first other vehicle <NUM> from the A vehicle 100a-<NUM>.

The second other vehicle 100b may receive second recognition information for the first other vehicle <NUM> from the B vehicle 100a-<NUM>.

Meanwhile, based on ID information or license plate information, the second other vehicle 100b may determine that recognition information for a vehicle incapable of performing vehicle-to-vehicle communication generated by the second other vehicle 100b, recognition information for a vehicle incapable of performing vehicle-to-vehicle communication received from the A vehicle 100a-<NUM>, and recognition information for a vehicle incapable of performing vehicle-to-vehicle communication received from the B vehicle 100a-<NUM> are recognition information for the first other vehicle <NUM>.

The user interface apparatus <NUM> of the second other vehicle 100b may generate a graphic image corresponding to the first other vehicle <NUM> based on the first recognition information and the second recognition information, and output the graphic image through the display unit <NUM>.

The user interface apparatus <NUM> of the second other vehicle 100b may generate a first graphic image corresponding to the first other vehicle <NUM> based on the first recognition information.

The user interface apparatus <NUM> of the second other vehicle 100b may generate a second graphic image corresponding to the second other vehicle <NUM> based on the second recognition information.

The second other vehicle 100b may determine a first location 1111a of the first other vehicle based on recognition information for the first other vehicle <NUM> generated by the second other vehicle 100b.

The second other vehicle 100b may determine a second location 1111b of the first other vehicle based on recognition information for the first other vehicle <NUM> received from the A vehicle 100a-<NUM>.

The second other vehicle 100b may determine a third location 1111c of the first other vehicle based on recognition information for the first other vehicle <NUM> received from the B vehicle 100a-<NUM>.

As shown in <FIG>, the second other vehicle 100b may set an ROI <NUM> to the entire area of the first location 1111a, the second location 1111b, and the third location 1111c.

The user interface apparatus <NUM> of the second other vehicle 100b may display an ROI that is set to the entire area of the first graphic image and the second graphic image.

Alternatively, the user interface apparatus <NUM> of the second other vehicle 100b may display an ROI that is set to an area where the first graphic image and the second graphic image overlap each other.

As shown in <FIG>, the second other vehicle 100b may determine that a center <NUM> in the entire area of the first location 1111a, the second location 1111b, and the third location 1111c as a position of the first other vehicle <NUM>.

<FIG> is a diagram referred to in the description of displaying information on a first other vehicle through a user interface apparatus of a second other vehicle according to an embodiment of the present invention.

Referring to the drawing, the user interface apparatus <NUM> of a second other vehicle 100b may generate a graphic image 1111i corresponding to a first other vehicle <NUM> based on recognition information for the first other vehicle <NUM> received from the vehicle 100a, and display the graphic image 1111i on a display unit <NUM>.

The user interface apparatus <NUM> of the second other vehicle 100b may generate graphic images <NUM> and <NUM> corresponding to vehicles capable of performing vehicle-to-vehicle communication, based on recognition information for such vehicles, and display the graphic images <NUM> and <NUM> on the display unit <NUM>.

The user interface apparatus <NUM> of the second other vehicle 100b may generate a graphic image 100bi corresponding to the second other vehicle 100b based on location information of the second other vehicle 100b, and display the graphic image 100bi on the display unit <NUM>.

The user interface apparatus <NUM> of the second other vehicle 100b may determine color, transparency, or size of a graphic image based on reliability of recognition information for the first other vehicle.

Here, the reliability of the recognition information for the first other vehicle may be determined in proportion to the number of other vehicles transmitting recognition information for the first other vehicle.

Here, the reliability of the recognition information for the first other vehicle may be determined based on communication strength between the vehicle 100a and the second other vehicle 100b.

Here, the reliability of the recognition information for the first other vehicle may be determined based on communication reliability between the vehicle 100a and the second other vehicle 100b.

<FIG> is a diagram referred to in the description of determining reliability according to an embodiment of the present invention.

A second other vehicle 100b may receive recognition information for a first other vehicle <NUM> from a plurality of vehicles 100a-<NUM>, 100a-<NUM>, and 100a-<NUM>.

The recognition information for the first other vehicle <NUM> may include information on a type of a sensor sensing the first other vehicle <NUM>, and information on a position where the sensor is attached.

A vehicle 100a-<NUM> may sense the first other vehicle <NUM> using a sensor attached to the front thereof. The A vehicle 100a-<NUM> may generate first recognition information for the first other vehicle <NUM> based on sensing information regarding the first other vehicle <NUM>.

B vehicle 100a-<NUM> may sense the first other vehicle <NUM> using a sensor attached on the right side thereof. The B vehicle 100a-<NUM> may generate second recognition information for the first other vehicle <NUM> based on sensing information regarding the first other vehicle <NUM>.

Vehicle C 100a-<NUM> may sense the first other vehicle <NUM> using a sensor attached to the rear thereof. Vehicle C 100a-<NUM> may generate third recognition information for the first other vehicle <NUM> based on sensing information regarding the first other vehicle <NUM>.

The second other vehicle 100b may receive the first recognition information, the second recognition information, and the third recognition information.

The second other vehicle 100b may determine reliability of the first to third recognition information based on information on a type of a sensor sensing the first other vehicle <NUM>.

For example, the second other vehicle 100b may determine reliability of the first to third recognition information based on precision in calculation of a distance between a sensor and an object. For example, reliability of the first to third recognition information are determined in order of a radar, a camera, and an ultrasonic sensor.

The second other vehicle 100b may determine reliability of the first to third recognition information based on information on a position where a sensor sensing the first other vehicle <NUM> is attached.

For example, reliability of the first to third recognition information may be determined in order of a sensor attached on the front, a sensor attached on the side, and a sensor attached on the rear.

<FIG> are diagrams referred to in the description of controlling not to transmit recognition information of a first other vehicle according to an embodiment of the present invention.

Referring to the drawings, the processor <NUM> may receive situation information of a first other vehicle from the object detection apparatus <NUM> through the interface unit <NUM>.

The processor <NUM> may control the transmitter <NUM> not to transmit recognition information for the first other vehicle, based on the situation information of the first other vehicle.

The processor <NUM> may not generate recognition information for the first other vehicle based on the situation information for the first other vehicle.

The situation information of the first other vehicle may include first situation information, second situation information, and third situation information.

As shown in <FIG>, the first situation information may be situation information indicating that the first other vehicle <NUM> is travelling in a dedicated lane <NUM>.

The processor <NUM> may include the first situation information from the object detection apparatus <NUM> through the interface unit <NUM>. The processor <NUM> may control the transmitter <NUM> not to transmit recognition information for the first other vehicle <NUM>, based on the first situation information.

As shown in <FIG>, the second situation information may be information on a situation where a difference in speed between the first other vehicle <NUM> and the vehicle <NUM> is equal to or greater than a reference value.

The processor <NUM> may receive the second situation information from the object detection apparatus <NUM> through the interface unit <NUM>. The processor <NUM> may control the transmitter <NUM> not to transmit recognition information for the first other vehicle <NUM>, based on the second situation information.

As shown in <FIG>, the third situation information may be situation information indicating that a direction of travel of the first other vehicle <NUM> may be different from a direction of travel of a vehicle 100a.

The processor <NUM> may receive the third situation information from the object detection apparatus <NUM> through the interface unit <NUM>. The processor <NUM> may control the transmitter <NUM> not to transmit recognition information for the first other vehicle <NUM>, based on the third situation information.

<FIG> are diagrams referred to in the description of operation of a vehicle communication system according to an embodiment of the present invention.

The vehicle communication system may include a vehicle 100a, a second vehicle 100b, and a Road Side Unit (RSU) <NUM>.

In the following description, a communication apparatus <NUM> of a vehicle <NUM> is assumed to include one transceiver antenna. The communication apparatus <NUM> may be referred to as an On Board Unit (OBU).

Referring to <FIG>, the communication apparatus <NUM> may transmit and receive information, signals, or data via two communication channels at the same time.

The communication apparatus <NUM> may transmit and receive information, signals, or data by hopping the two communication channels at predetermined time intervals.

Referring to <FIG>, an information receiving vehicle 100b may bypass the RSU1810 during traveling and thereby receive information, signals, or data from an external server <NUM>. In this case, the information receiving vehicle 100b may access the external server <NUM> via a predetermined network <NUM>. In this case, the information receiving vehicle 100b may utilize a first communication channel.

An information generating vehicle 100a may generate recognition information for the first other vehicle <NUM>, and transmit the recognition information to the information receiving vehicle 100b. In this case, the information generating vehicle 100a may utilize a second communication channel.

Since the information receiving vehicle 100b is in communication with the external server <NUM> via the first communication channel, the information receiving vehicle 100b is not able to receive the recognition information for the first other vehicle <NUM> transmitted via the second communication channel.

Referring to <FIG>, when the information receiving vehicle 100b wishes to receive the recognition information while in communication with the external server <NUM>, the information receiving vehicle 100b may transmit a request message <NUM> to the RSU <NUM>.

Referring to <FIG>, the RSU <NUM> may include two or more antennas and utilize two or more channels.

The RSU <NUM> may receive the recognition information for the first other vehicle <NUM> from the information generating vehicle 100a via the second communication channel.

The RSU <NUM> may shift the second communication channel to the first communication channel to be used by the recognition information for the first other vehicle <NUM>.

The RSU <NUM> may transmit the recognition information for the first other vehicle <NUM> to the information receiving vehicle 100b via the first communication channel.

In this case, the information receiving vehicle 100b may receive the recognition information for the first other vehicle <NUM> while keeping in communication with the external server <NUM> via the first communication channel.

Referring to <FIG>, the information receiving vehicle 100b may transmit recognition information for itself to the RSU <NUM> via the first communication channel.

In this case, the RSU <NUM> may transmit recognition information <NUM> for the information receiving vehicle 100b to other nearby vehicles 100c via the first communication channel or the second communication channel.

Here, the other nearby vehicles 100c may be other vehicles 100c located in a predetermined distance from the information receiving vehicle 100b.

Referring to <FIG>, the vehicle communication system may further include an information relay vehicle <NUM>.

Here, the information relay vehicle <NUM> may play a role of the aforementioned RSU <NUM>.

The information relay vehicle <NUM> may include two or more antennas and utilize two or more channels.

The information relay vehicle <NUM> may receive recognition information for the first other vehicle <NUM> from the information generating vehicle 100a via the second communication channel.

The information relay vehicle <NUM> may shift the second communication channel to the first communication channel to be used by the recognition information for the first other vehicle <NUM>.

The information relay vehicle <NUM> may transmit the recognition information for the first other vehicle <NUM> to the information receiving vehicle 100b via the first communication channel.

In this case, the information receiving vehicle 100b may receive the recognition information for the first other vehicle <NUM> while in communication with the external server <NUM> via the first communication channel.

The information receiving vehicle 100b may transmit recognition information for itself to the information relay vehicle <NUM> via the first communication channel.

In this case, the information relay vehicle <NUM> may transmit recognition information <NUM> for the information receiving vehicle 100b to other nearby vehicles 100c via the first communication channel or the second communication channel.

Here, the other nearby vehicle 100c may be other vehicles 100c located in a predetermined distance from the information receiving vehicle 100b.

Claim 1:
A communication apparatus (<NUM>) for a vehicle (<NUM>, 100a), comprising:
an interface unit (<NUM>) configured to receive sensing information regarding a first other vehicle (<NUM>) from an object detection apparatus (<NUM>) not part of the communication apparatus (<NUM>) and configured to generate the sensing information by sensing the first other vehicle (<NUM>) located in a vicinity of the vehicle (<NUM>, 100a) and incapable of performing vehicle-to-vehicle communication;
a receiver (<NUM>) configured to receive information from a plurality of other vehicles;
a transmitter (<NUM>) configured to transmit information to a second other vehicle (100b) capable of performing vehicle-to-vehicle communication; and
a processor (<NUM>) configured to generate recognition information for the first other vehicle (<NUM>) based on the sensing information, and transmit the recognition information for the first other vehicle (<NUM>) to the second other vehicle (100b) through the transmitter (<NUM>),
characterised in that <NUM>
the processor (<NUM>) is further configured to:.
receive, through the receiver (<NUM>), recognition information for the first other vehicle (<NUM>) from the plurality of other vehicles; and
determine reliability of the received recognition information for the first other vehicle (<NUM>), based on at least one of communication strength, information on a type of a sensor sensing the first other vehicle (<NUM>), and information on a position where the sensor sensing the first other vehicle (<NUM>) is attached.