KR101802858B1 - Integrated data processing system and method for vehicle - Google Patents

Abstract

The integrated data processing control system for a vehicle according to an embodiment of the present invention includes a multicore processor unit (hereinafter, referred to as a " Multicore Processor Unit ") unit for receiving data from a plurality of sensors installed in a vehicle, , A control unit for controlling at least one of the control units for controlling each part of the vehicle based on the integrated data generated by the multicore processor unit, and a control unit for controlling the generated control data to be transmitted to the control unit Core processor unit and the vehicle integrated control unit via the vehicle integrated control unit (Automotive ECU) and the communication channel in which the above application logic is installed, and transmits the control data generated in the vehicle integrated control unit to the control means Lt; RTI ID = 0.0 > Wherein the multi-core processor unit, the vehicle integrated control unit, and the communication channel unit are installed on a single board so as to be installed in a specific area of the vehicle, set.

Description

[0001] INTEGRATED DATA PROCESSING SYSTEM AND METHOD FOR VEHICLE [0002]

The present invention relates to an integrated data processing control system and method for an automotive vehicle, and more particularly, to an integrated data processing control system and method for an automotive vehicle that generates integrated data by utilizing sensed data from various sensors installed in a vehicle, And more particularly, to a system and method for an integrated data processing control system for a vehicle, which provides a platform capable of designing application logic for controlling each of a train domain, a chassis domain, a body domain, and a multimedia domain.

With the development of IT technology, powertrain domain, chassis domain, body domain, and multimedia domain driven by various sensors and electronic controls mounted on a vehicle are increasing In addition, recently, the autonomous vehicle has reached the stage of trial operation. That is, as the ECU (Electronic Control Unit) technology mounted on a vehicle is developed, not only the powertrain domain related to the running of the vehicle such as the engine, the transmission, and the ABS can be automatically controlled but also the automobile such as the chassis domain, It has reached the level of technology that can be controlled automatically.

In addition, an embedded system (Embedded System) has been applied to a system for electronic control of a vehicle. An embedded system applied to a vehicle refers to a computer system that embeds software for operating various areas of a vehicle in hardware and performs only specific functions. Unlike a general personal computer, the embedded system has specific requirements, . ≪ / RTI > On the other hand, in recent automobiles, various electrical equipments are mounted and the configuration becomes complicated, so that the software implemented in the embedded system of the vehicle becomes complicated. Especially, the complicatedness of the embedded system and the embedded system for controlling the autonomous vehicle, which are currently under active research, is relatively inevitable.

As described above, automobile middleware in which a plurality of ECUs are provided for each domain area in an automobile so that each ECU can be effectively managed has been applied. AUTOSAR (AUTOMOTIVE OPEN SYSTEM ARCHITECTURE) is a typical automotive middleware. AUTOSAR provides automotive software specifications and execution environments designed for automotive manufacturers to use in common. AUTOSAR is being applied as a standardized integrated software platform to solve the complexity of hardware and software as the structure of electronic equipments in automobiles becomes very precise and complex.

On the other hand, in order to implement embedded software embedded in automotive embedded systems, OSEK operating system, which guarantees real time, has been developed and applied mainly to development of applications for vehicle control. In other words, most of the vehicles are equipped with a software platform that utilizes the OSEK operating system, and are applied to electric vehicles for controlling the entire vehicle such as a chassis domain, a body domain, and a multimedia domain as well as a powertrain domain.

In addition, most of the automobiles currently supplied are equipped with an advanced driver assistance system (ADAS, Advanced Driver Assistance System) to prevent accidents with advanced sensing sensors and intelligent video equipment, and an active control ECU .

1, an active control ECU includes an AEB ECU (Emergency Braking System ECU), an SCC ECU (Smart Cruse Control ECU), an HDA ECU, a TJA ECU (Traffic Jam Assist)), an LKA ECU (Lane Keeping Assist System ECU) , And an ADAS ECU 10 such as a PAS ECU (Parking Assistance System ECU).

Each ADAS ECU described above is configured to control the power train domain, the chassis domain, the body domain, and the multimedia domain based on the data measured by the sensors installed in each part of the vehicle.

Therefore, not only the process of processing the measured data in each sensor is inefficient, but also the logic is difficult to verify and debug when a problem occurs in the active control logic. Further, as a plurality of active control ECUs are mounted, the manufacturing cost of the automobile rises, and further, the performance required for the autonomous vehicle is not satisfied.

Korea Intellectual Property Office Registration No. 10-3208167 (Nov. 13, 2013) Korea Intellectual Property Office Registered Patent Bulletin 10-5005108 (2012.01.16) Korea Patent Office Registration No. 10-1320405 (Mar. 30, 2012) Korean Patent Application Publication No. 10-2013-0138468 (Dec. 19, 2013)

Accordingly, the present invention has been made to solve the above-mentioned problems occurring in the prior art, and it is an object of the present invention to provide an information processing apparatus and method capable of generating integrated data by utilizing sensed data from various sensors installed in a vehicle, There is provided an integrated data processing control system and method for an automobile which provides a platform capable of designing application logic for controlling a train domain, a chassis domain, a body domain, and a multimedia domain, respectively, There is a purpose.

Therefore, the present invention can be configured as follows to achieve the above-mentioned object.

The integrated data processing control system for a vehicle according to an embodiment of the present invention includes a multicore processor unit (hereinafter, referred to as a " Multicore Processor Unit ") unit for receiving data from a plurality of sensors installed in a vehicle, , A control unit for controlling at least one of the control units for controlling each part of the vehicle based on the integrated data generated by the multicore processor unit, and a control unit for controlling the generated control data to be transmitted to the control unit Core processor unit and the vehicle integrated control unit via the vehicle integrated control unit (Automotive ECU) and the communication channel in which the above application logic is installed, and transmits the control data generated in the vehicle integrated control unit to the control means Lt; RTI ID = 0.0 > Wherein the multi-core processor unit, the vehicle integrated control unit, and the communication channel unit are installed on a single board so as to be installed in a specific area of the vehicle, set.

In accordance with another aspect of the present invention, there is provided an integrated data processing method for an automotive integrated data processing control system, the integrated data processing method comprising: (a) receiving a data from a plurality of sensors, (B) generating, based on the generated integrated data, a vehicle integrated control unit to perform a control for controlling one or more of the control means for controlling each part of the vehicle And (c) transmitting, via the communication channel, the control data generated by the vehicle integrated control unit in accordance with the control of the vehicle integrated control unit to the control means, The multi-core processor unit, the vehicle integrated control unit, and the communication channel unit are each mounted on a single board. A may be formed in a chip set (chip set).

According to an embodiment of the present invention, it is possible to design application logic for efficiently controlling data received from a plurality of sensors and then controlling each power train domain, a chassis domain, a body domain, and a multimedia domain of an automobile There is an advantage in providing a platform.

Meanwhile, according to the integrated data processing method for an automobile according to the embodiment of the present invention, in the integrated data processing control system for an automobile, since a plurality of active control ECUs are mounted in an existing automobile, Can be reduced.

In addition, since it is easy to test and verify various active control algorithms, the safety of the vehicle can be ensured.

It should be understood that the effects of the present invention are not limited to the above effects and include all effects that can be deduced from the detailed description of the present invention or the configuration of the invention described in the claims.

1 is a view for explaining a conventional technique;
2 is a block diagram showing a configuration of an integrated data processing control system for a vehicle according to an embodiment of the present invention;
FIGS. 3A and 3B are diagrams for explaining the configuration and hierarchy of a multicore processor unit according to an embodiment of the present invention; FIG.
4A and 4B are diagrams for explaining the configuration and hierarchy of a vehicle integrated control unit according to an embodiment of the present invention;
5A and 5B are diagrams for explaining a configuration and a layer of a communication channel unit according to an embodiment of the present invention;
FIG. 6 illustrates a process of controlling an integrated data processing system for a vehicle according to an embodiment of the present invention; FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "indirectly connected" .

Also, when a part is referred to as "comprising ", it means that it can include other components as well, without excluding other components unless specifically stated otherwise.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a block diagram showing a configuration of an integrated data processing control system for a vehicle according to an embodiment of the present invention.

The integrated data processing control system 100 for a vehicle according to the embodiment of the present invention includes a multicore processor unit (hereinafter referred to as a " multicore processor ") for clustering data received from a plurality of sensors 500 to generate integrated data A vehicle integrated control unit (Automotive ECU) 300 in which application logic for controlling each control means 600 of the vehicle is installed based on the generated integrated data, And a communication channel unit (400) for transmitting data between the units (300).

Particularly, in the integrated data processing control system 100 for a vehicle according to the embodiment of the present invention, the multicore processor unit 200, the vehicle integrated control unit 300 and the communication channel unit 400 are mounted on one board And a chip set that can be divided into a plurality of chips.

The sensor 500 capable of receiving data in the multicore processor unit 200 of the integrated data processing control system 100 for an automobile according to the embodiment of the present invention may be a radar, a lidar, an ultrasonic at least one of an ultrasonic sensor, at least one camera, a stereo camera, an AVM camera, a wheel speed sensor, an accelerator level sensor, a steering sensor, and a gyroscope sensor . ≪ / RTI >

For reference, the sensor 500 of the present invention is not limited to the above sensors, and may include all sensors applicable to a vehicle.

Meanwhile, the multi-core processor unit 200 is configured to receive data from the sensor 500 through a network. In this case, CAN, LIN, FlexRay, and the like can be applied to the types of networks that can be implemented.

The data received from the sensor 500 may include distance data using at least one of a radar, Image data using a camera such as a stereo camera and an Around View Monitoring camera, speed data of a vehicle using a wheel speed detecting sensor, acceleration data of a vehicle using an accelerator level detecting sensor, Rotation direction, rotation angle data, and three-axis direction data of the vehicle using the gyroscope sensor.

In the integrated data processing control system 100 for a vehicle according to the embodiment of the present invention, the multicore processor unit 200 is configured to clustering data received from the sensors 500 to generate integrated data for each clustering .

At this time, the multicore processor unit 200 is configured to cluster the sensor data based on at least one of the running speed of the vehicle, the transmission mode (Parking, Rear, Drive) and the driver's input.

In one embodiment, when the vehicle speed is less than a certain speed (e.g., 5 km / h) and the transmission mode repeats R (reverse) and D (travel) Mode and sensor data for parking among the data received from the sensors 500 can be clustered.

For reference, when the automatic parking mode is supported, if the driver's automatic parking mode button is selected, the multicore processor unit 200 may be configured to cluster the sensor data for automatic parking.

Here, the sensor data clustered for parking may include distance data and image data.

In addition, it may further include a rotation speed of the handle, a rotation direction, rotation angle data, and the like.

For example, the rotation speed, the rotation direction, the rotation angle data, and the like of the steering wheel can be utilized to display a proper traveling path of the vehicle at the time of parking on a monitor of an AVN (Audio, Visual and Navigation) system.

The multi-core processor unit 200 may generate integrated data incorporating the clustered sensor data, and may synchronize the sensor data received at a predetermined time difference.

In addition, the multicore processor unit 200 may monitor whether or not a connection is established with the plurality of sensors 500, and may monitor whether or not the vehicle integrated control unit 300 and the communication channel unit 400 are connected to each other.

In addition, the multicore processor unit 200 can perform at least one of debugging and logging of algorithms for clustering sensor data and real-time uploading, debugging and logging of data received from the plurality of sensors 500 have.

The multicore processor unit 200 may include a program capable of performing at least one of debugging of the algorithm and real-time uploading, debugging and logging of data, and the program is stored in a memory in the multicore processor unit 200 Lt; / RTI >

In the meantime, in the integrated data processing control system 100 for a vehicle according to the embodiment of the present invention, the vehicle integrated control unit 300 determines each part of the vehicle based on the clustering-specific integrated data generated in the multicore processor unit 200 And application logic for controlling at least one of the control means for controlling the control means.

In one embodiment, when the clustering integrated data-distance data, image data, etc., for automatic parking from the multicore processor unit 200 is received, the vehicle integrated control unit 300 determines, based on the clustering integrated data for automatic parking Application logic is provided to enable the determination of the parkable position of the vehicle.

Then, the multi-core processor unit 200 generates control data for controlling each control means-handle, brake, accelerator level, etc. of the vehicle in order to automatically park the vehicle in the parking-enabled position, To be transmitted to the control means.

At this time, the vehicle integrated control unit 300 synchronizes the control data generated for each control means, or controls the control means so that each control command is transmitted to the control means in accordance with a preset control sequence, can do.

In addition, the vehicle integrated control unit 300 is configured to monitor whether or not the multicore processor unit 200, the communication channel unit 400, and the respective control means are connected.

The communication channel unit 400 may transmit data between the multicore processor unit 200 and the vehicle integrated control unit 300 through the internal communication channel and may transmit control data of the integrated vehicle control unit 300 To the respective control means (600).

In addition, the communication channel unit 400 can support communication of the vehicle to the vehicle.

The communication channel unit 400 may also include a program for performing at least one of real-time debugging, logging, and timing sinking of a communication channel, and the program may be stored in a memory within the communication channel unit 400.

The various control means 600 of the vehicle, which can be controlled through the application logic installed in the vehicle integration control unit 300, is included in each part of the vehicle such as a power train domain, a chassis domain, a body domain and a multimedia domain, And an ECU for controlling the part.

The ECU, which is the control unit of each of the above-described parts, can drive the corresponding part in accordance with the control command of the vehicle integrated control unit 300. [

For reference, a powertrain domain may include a powerplant and a powertrain of a vehicle, the chassis domain may include a brake and a steering device of the vehicle, and the body domain may include a comfort and safety device of the vehicle have.

And, the multimedia domain may include a device for providing telematics, navigation (navigation), music and video.

FIG. 3A is a schematic view illustrating a configuration of a multicore processor unit according to an embodiment of the present invention.

The multicore processor unit 200 according to an embodiment of the present invention may include a sensor interface 210, a control unit 220, a memory 230, and a communication unit 240.

The sensor interface 210 may provide a wired or wireless interface as an interface connected to the plurality of sensors 500.

Meanwhile, the controller 220 may synchronize sensor data received at a predetermined time difference, cluster the sensor data, and generate integrated data for each cluster.

Here, the clustering of the sensor data may be performed based on at least one of the running speed of the vehicle, the transmission mode, and the driver's input.

For reference, the control unit 220 can process voice and image data, such as voice data and encoding of image data, among sensor data.

The control unit 220 can monitor whether the multicore processor unit 200 is connected to the plurality of sensors 500 or whether the vehicle integrated control unit 300 is connected to the communication channel unit 400 .

In addition, the control unit 220 can perform debugging and real-time uploading of algorithms for clustering sensor data, and debugging and logging of data received from the plurality of sensors 500.

Meanwhile, the memory 230 may store a program capable of performing at least one of debugging of an algorithm, real-time uploading, data debugging and logging, and the control unit 220 controls the debugging Uploading, logging and so on.

The communication unit 240 may be connected to the communication channel unit 400 and may transmit the data to the vehicle integrated control unit 300 through the communication channel unit 400. [

3B is a layer diagram for implementing a configuration of a multicore processor unit according to an embodiment of the present invention.

The multicore processor unit 200 of the integrated data processing control system 100 for an automobile according to the embodiment of the present invention includes an MPU hardware (Multicore Process Unit Hardware) for performing the overall functions as shown in FIG. 3B, Based IDE debugger, IDE logger, IDE loader / flashing, Automotive algorithm, video algorithm, file system, network connectivity, vision capture, real-time (RTE), a TCP / IP stack, a hypervisor, InterProcessor Communication (IPC), and a Communication Sync Library.

4A is a diagram showing a configuration of a vehicle integrated control unit according to an embodiment of the present invention.

The vehicle integrated control unit 300 according to an embodiment of the present invention may include an internal interface 310, a control unit 320, a memory 330, and a communication unit 340.

First, the internal interface 310 may include an interface connected to the multicore processor unit 200 and the communication channel unit 400, respectively.

The vehicle integrated control unit 300, the multicore processor unit 200, and the communication channel unit 400 may be formed in the form of respective chipsets on one board, and the integrated vehicle control unit 300 and the multi- The unit 200 and the communication channel unit 400 may be connected to each other by wire bonding on one board.

Meanwhile, the control unit 320 may generate control data for actively controlling each part of the vehicle based on the integrated control data received from the multicore processor unit 200.

Here, 'actively controlling' means that not only the received data is converted into a control command and transmitted, but the current driving state is grasped on the basis of the received data, and the control means of each part is efficiently controlled Lt; RTI ID = 0.0 > control data. ≪ / RTI >

The control unit 320 may monitor whether the multicore processor unit 200 is connected to the communication channel unit 400 and the control unit 600.

In addition, the control unit 320 may transmit the control data to the respective control means 600 of the vehicle through the communication unit 340. At this time, a separate security policy may be applied to prevent data from being tampered with or tampered with .

Meanwhile, the memory 330 may store a program for performing the operation and debugging of the control unit 320 described above.

The communication unit 340 may transmit the control data generated by the control unit 320 to the corresponding control unit 600. The control unit 320 may transmit and receive information about the other vehicle and the vehicle when the vehicle is in the vehicle- can do.

4B is a hierarchical diagram for implementing a configuration of a vehicle integrated control unit according to an embodiment of the present invention.

The vehicle integrated control unit 300 of the integrated data processing control system 100 for an automobile according to the embodiment of the present invention may include an IDE logger (not shown) on the basis of Automotive ECU hardware for performing the overall functions as shown in FIG. Intergrate Development Environment Logger, IDE Loader / Flashing, Multiple Application Logic, Real Time Executive (RTE), Memory Management, and Communication Service Stack. And the like.

5A is a block diagram illustrating a configuration of a communication channel unit according to an embodiment of the present invention.

The communication channel unit 400 according to an embodiment of the present invention may include an internal interface 410, a control unit 420, a memory 430, and a communication unit 440.

First, the internal interface 410 may include an interface connected to the multicore processor unit 200 and the vehicle integrated control unit 300, respectively.

The control unit 420 may perform at least one of real-time debugging, logging, and timing synchronization of a communication channel, and transmits integrated data of the multicore processor unit 200 to the vehicle integrated control unit 300, So that data can be transferred between the processor unit 200 and the vehicle integrated control unit 300.

Further, the control unit 420 can control the control data of the vehicle integrated control unit 300 to be transmitted to each control means 600, and can support the vehicle-to-vehicle communication.

Meanwhile, the memory 430 may store a program for performing at least one of real-time debugging, logging, and timing synchronization of the communication channel under the control of the control unit 420.

The communication unit 440 may transmit the control data of the vehicle integrated control unit 300 to the respective control means 600 under the control of the control unit 420 and may transmit the control data of the other vehicle And data can be transmitted and received.

5B is a layer diagram for implementing a configuration of a communication channel unit according to an embodiment of the present invention.

The communication channel unit 400 of the integrated data processing control system 100 for an automobile according to the embodiment of the present invention may include a real time logger channel (not shown) on the ICC hardware for performing the overall functions as shown in FIG. A Real Time Logger Channel, a Real Time Debugger Channel, an Automotive Network Analyzer, an Automotive Network Timing Sync, a Task Scheduler, an RTOS (Real Time Operating System), and the like.

6 is a flowchart illustrating a process for controlling integrated data processing for a vehicle according to an embodiment of the present invention.

The process shown in Fig. 6 can be performed by the components shown in Fig.

First, in step S601, the multicore processor unit 200 receives data from the plurality of sensors 500 and clusters the received data to generate integrated data for each clustering.

After S601, the vehicle integrated control unit 300 generates control data for controlling at least one of the control means 600 that controls each part of the vehicle, based on the integrated data generated in S601 (S602).

After S602, the communication channel unit 400 transmits the control data generated in S602 to the corresponding control means 600 in accordance with the control of the vehicle integrated control unit 300 (S603)

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be.

It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

100: Integrated data processing control system for automobile
200: multicore processor unit 210: sensor interface
220: control unit 230: memory
240: communication unit 300: vehicle integrated control unit
310: internal interface 320:
330: memory 340:
400: communication channel unit 410: internal interface
420: control unit 430: memory
440: communication unit 500: plural sensors
600: control means

Claims (12)

A multi-core communication system, comprising: a plurality of sensors installed in a vehicle to determine an operation mode of the vehicle using data received from the plurality of sensors; A processor (Multicore Processor Unit) unit;
And control means for controlling at least one of the control means for controlling each part of the vehicle based on the integrated data, and if there is a preset control order for the control data, A vehicle integrated control unit (Automotive ECU) for controlling the vehicle to be transmitted to the control means; And
And a communication channel unit (Inter Communication Channel Unit) for transmitting data between the multicore processor unit and the vehicle integrated control unit via a communication channel and transmitting the control data generated by the vehicle integrated control unit to the control means Respectively,
Wherein the multi-core processor unit, the vehicle integrated control unit, and the communication channel unit are formed as chip sets, each of which is divided on a single board. The method according to claim 1,
The multi-core processor unit includes:
And synchronizes the respective data received from the plurality of sensors. 3. The method of claim 2,
Wherein the plurality of sensors comprise:
A radar, a lidar, an ultrasonic sensor, a camera, a stereo camera, an AVM camera, a wheel speed sensor, an accelerator level sensor, a steering sensor a steering sensor, and a gyroscope sensor,
Wherein the data received from the plurality of sensors comprises:
Distance data using at least one of the radar, the radar, and the ultrasonic sensor,
Image data using the at least one camera,
Speed data of the vehicle using the wheel speed detecting sensor,
Acceleration data of the vehicle using the accelerator level detection sensor,
The rotational speed, the rotational direction, the rotational angle data of the steering wheel using the steering sensor,
Axis direction data of the vehicle using the gyroscope sensor, and the three-axis direction data of the vehicle using the gyroscope sensor. The method according to claim 1,
Wherein the multi-core processor unit determines the operation mode based on at least one of a running speed of the vehicle, a mode of a vehicle (Rear, Drive) and a driver, and the data received from the sensor corresponding to the operation mode Wherein the first data processing unit and the second data processing unit are clustered. The method according to claim 1,
The multi-core processor unit includes:
Monitoring of connection with the plurality of sensors, connection monitoring with the vehicle integrated control unit and communication channel unit, debugging and real-time uploading of the algorithm for clustering, debugging and logging of data received from the plurality of sensors logging, and so on. The method according to claim 1,
The vehicle integrated control unit
Wherein the control data generated by the control means is synchronized or transmitted to the corresponding control means in a predetermined control order. The method according to claim 1,
The vehicle integrated control unit
Wherein the control unit monitors whether or not the vehicle is connected to the control unit. 8. The method of claim 7,
Wherein,
A power domain control means including a power train of the vehicle and a power transmission device, chassis domain control means including a braking and steering device of the vehicle, body domain control means including a comfort device and a safety device of the vehicle, And multimedia domain control means including route guidance, music and video. ≪ Desc / Clms Page number 19 > The method according to claim 1,
The communication channel unit
And performs at least one of real-time debugging, logging, and timing sink of the communication channel. 1. An integrated data processing method for an integrated data processing control system for an automobile,
(a) the multi-core processor unit determines the operation mode of the vehicle using data received from a plurality of sensors installed in the vehicle, and clustering data received from the sensor corresponding to the operation mode among the plurality of sensors ) To generate integrated data;
(b) generating, based on the integrated data, control data for controlling at least one of the control means for controlling each part of the vehicle, the vehicle integrated control unit; And
(c) transmitting, via the communication channel, the control data to the control means in the control order in accordance with the control of the vehicle integrated control unit when the predetermined control order exists;
Wherein the multi-core processor unit, the vehicle integrated control unit, and the communication channel unit are formed as chip sets, each of which is divided on a single board. 11. The method of claim 10,
The step (a)
And synchronizing data received from the plurality of sensors. 11. The method of claim 10,
The step (a) may include: determining the operation mode based on at least one of a running speed of the vehicle, a mode of a vehicle (Parking, Rear, Drive) and an input of a driver, Wherein the data is clustered.

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