KR102639177B1 - Providing Method of route of automobile and electronic device supporting the same - Google Patents

Abstract

The present invention includes the steps of collecting a vehicle's origin coordinates, destination coordinates, and constraints, confirming an actual road environment corresponding to the origin coordinates and destination coordinates, and calculating a node map corresponding to the actual road environment. Removing at least one of at least one node corresponding to an intersection and at least one edge corresponding to a road connecting the intersections from the calculated node map according to environmental information in the road environment, at least one of the nodes and edges Disclosed is a method for providing a vehicle route, including calculating a route plan with a driving time that satisfies the time limit included in the constraint condition from the node map from which the has been removed, and an electronic device for providing a route using the same.

Description

{Providing Method of route of automobile and electronic device supporting the same}

The present invention relates to providing a route for an autonomous vehicle, and more specifically, to a vehicle route providing method capable of providing a low-cost vehicle movement route under certain constraints, and an electronic device supporting the same.

Once the vehicle's origin and destination are determined, a route plan between the origin and destination can be created. The main purposes of such route planning include planning the shortest route, avoiding obstacles, and preventing lane departure due to physical factors. Meanwhile, in order to establish a route plan for an autonomous vehicle, it is necessary to collect various information such as information about the vehicle's starting point and destination, as well as information about the vehicle's surrounding environment or the vehicle's current location. To this end, data transmission and reception between the vehicle and infrastructure is required. This is needed. V2I (Vehicle to Infrastructure) is a communication technique that allows data to be exchanged between vehicles and infrastructure. V2I can be divided into methods using telephone networks such as LTE and methods utilizing WLAN infrastructure.

On the other hand, since the telephone network uses base stations such as eNodeB, the cost of using the base station is consumed, but it has a communication range that exceeds RSU (Road side units) for communication using WLAN, and what interface technology or infrastructure is used? Communication fees vary depending on. Therefore, when communicating using a telephone network service, charges equivalent to the data served are consumed, and this charge consumption must be treated as an important factor in route planning. However, in conventional route planning, simply establishing the minimum route between the starting point and destination is treated as an important factor, which has the problem of not meeting the various needs of users.

The present invention proposes a method for providing a vehicle route that can optimize route planning by considering the driving environment, such as communication infrastructure, speed limits, and restricted driving areas, and an electronic device that supports the same.

In addition, the present invention proposes a vehicle route provision method and an electronic device supporting the same that can utilize relatively low-cost or no-cost communication infrastructure to reduce possible data charges and maintain transmission quality.

Additionally, the present invention proposes a method of providing a vehicle route and an electronic device supporting the same, which allows establishing a no-cost or low-cost vehicle movement route while satisfying the user's requirements such as time constraints or space constraints.

A method of providing a vehicle route according to an embodiment of the present invention includes the steps of collecting a vehicle's origin coordinates, destination coordinates, and constraints, confirming an actual road environment corresponding to the origin coordinates and destination coordinates, and determining an actual road environment corresponding to the actual road environment. Calculating a node map, removing at least one of at least one node corresponding to an intersection and at least one edge corresponding to a road connecting intersections from the calculated node map according to environmental information in the actual road environment. and calculating a route plan having a travel time that satisfies a time limit included in the constraint condition from a node map from which at least one of the nodes and edges is removed.

Here, the removing step includes removing a node or edge corresponding to an intersection or road on which a vehicle cannot move from the node map, or removing a node or edge corresponding to an intersection or road on which the vehicle's travel time is longer than a specified time from the node map. It is characterized in that it includes the step of removing from.

In addition, the step of calculating the node map includes applying the location of a roadside base station that supports a low-cost or no-cost communication network of a specified size or less among base stations deployed in an actual road environment and the communication coverage of the roadside base station to the node map. and removing a node or edge corresponding to an intersection or road outside the communication coverage of the roadside base station.

Additionally, calculating the route plan includes calculating first route plans having a driving time within the time limit among a plurality of route plans between the source coordinates and the destination coordinates, the first route plans and calculating at least one second route plan in which a medium communication fee is less than or equal to a specified cost.

In particular, the step of calculating the route plan further includes recovering at least a portion of the nodes or edges that are outside the communication common area of the roadside base station when there are no first route plans having a travel time within the time limit. It is characterized by

A path providing electronic device according to an embodiment of the present invention includes a server communication unit, first communication coverage information of a first network that supports data communication related to driving of the vehicle at a relatively low first cost, and data communication related to driving of the vehicle. A server memory that stores second communication coverage information of a second network that supports a second network at a relatively high second cost, and stores road information about the actual road environment on which the vehicle moves, the server communication unit and the server memory and functional and a server processor connected to the server processor, wherein the server processor establishes a route plan between the starting point coordinates and the destination coordinates provided by the vehicle, and includes a time limit for which the vehicle must travel from the starting point to the destination and when the vehicle moves. It is characterized in that it is set to check rate limit information that ensures that the communication fee is below a specified value, calculate a route plan that satisfies the time limit and the limit rate information, and provide it to the vehicle.

Here, the server processor checks the actual road environment corresponding to the source coordinates and the destination coordinates, calculates a node map corresponding to the actual road environment, and calculates the node map according to road information in the actual road environment. Remove at least one of at least one node corresponding to an intersection and at least one edge corresponding to a road connecting the intersections, and a time limit included in the constraint condition in the node map from which at least one of the node and the edge is removed. It is characterized in that it is set to calculate a route plan with a driving time that satisfies .

Additionally, the server processor removes a node or edge corresponding to an intersection or road on which the vehicle cannot move from the node map, or removes a node or edge corresponding to an intersection or road on which the vehicle's travel time is longer than a specified time to the node. It is characterized in that it is set to remove from the map, or to remove a node or edge corresponding to an intersection or road that is outside the first communication coverage of the first network.

In particular, when there are no route plans with a travel time within the limit time among the plurality of route plans between the source coordinates and the destination coordinates, the server processor relates to the first communication coverage among the removed nodes or edges. It is characterized in that it is set to restore at least part of the node or edge that was removed.

According to the method for providing a vehicle route according to the present invention and the electronic device supporting the same, the present invention provides a method for converting a node map of a road and supports the use of a route planning optimization method considering environmental information in the converted node map.

In addition, various effects supported by the present invention may be described along with descriptions of embodiments.

1 is a diagram illustrating an example of a vehicle route providing environment according to an embodiment of the present invention.
Figure 2 is a diagram illustrating an example of a configuration of a path providing electronic device according to an embodiment of the present invention.
Figure 3 is a diagram showing an example of a server processor configuration among the path providing electronic device configurations of the present invention.
4 is a diagram showing an example of at least a partial configuration of a vehicle according to an embodiment of the present invention.
Figure 5 is a diagram showing an example of an actual road environment related to route planning establishment according to an embodiment of the present invention.
Figure 6 is a diagram showing node map transformation corresponding to an actual road environment.
Figure 7 is a diagram showing the relationship between nodes, edges, and communication coverage in a node map according to an embodiment of the present invention.
Figure 8 is a diagram showing an example of a route plan established under specified constraints according to an embodiment of the present invention.
Figure 9 is a diagram showing an example of a method for providing a vehicle route according to an embodiment of the present invention.
Figure 10 is a diagram showing another example of a method for providing a vehicle route according to an embodiment of the present invention.

It should be noted that in the following description, only the parts necessary to understand the embodiments of the present invention will be described, and descriptions of other parts will be omitted to the extent that they do not distract from the gist of the present invention.

The terms or words used in the specification and claims described below should not be construed as limited to their usual or dictionary meanings, and the inventor should use the concept of terminology appropriately to explain his/her invention in the best way. It must be interpreted as meaning and concept consistent with the technical idea of the present invention based on the principle that it can be defined clearly. Therefore, the embodiments described in this specification and the configurations shown in the drawings are only preferred embodiments of the present invention and do not represent the entire technical idea of the present invention, and therefore various equivalents can be substituted for them at the time of filing the present application. It should be understood that there may be variations.

The present invention described below improves the situation where the existing route planning system only considers how the vehicle drives to the destination, and utilizes environmental information related to driving, such as the communication range of the communication infrastructure, speed limit, and driving restriction zone. We propose a method to optimize route planning. Through this method, the present invention can propose various route planning optimization methods that can meet various user needs, such as minimizing communication charges.

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

1 is a diagram illustrating an example of a vehicle route providing environment according to an embodiment of the present invention.

Referring to FIG. 1, the vehicle route providing environment 10 according to an embodiment of the present invention includes a vehicle 200 in which a user is riding or moving for the user to ride, and a system capable of communicating with the vehicle 200. 1 network 51 and the second network 52, establish a route plan between the origin and destination of the vehicle 200, and establish at least one route plan that can satisfy certain constraints to enable the vehicle 200 It may include an electronic device 100 that provides a path to the user or to a user. In the following description, an environment will be assumed in which a user can board the vehicle 200, check at least one route plan provided by the route providing electronic device 100, and select one route plan. However, the present invention is not limited to these conditions, and the present invention provides that when the starting point, destination, and constraints of the vehicle 200 are input, a route plan that satisfies certain conditions based on the input information is generated by the vehicle 200 or the vehicle ( 200) It can also be applied to the environment that can be provided to the terminal related to the relevant person.

The vehicle 200 includes a vehicle body, various structures constituting an interior space in which users can board, a power device (e.g., battery) that generates power for movement of the vehicle body, and a device that is driven based on the power transmitted from the power device. It may include means of movement (e.g. wheels and axles, etc.), a steering device that controls the direction of the vehicle body, an acceleration device that controls speed, and a brake device that controls speed deceleration. In particular, the vehicle 200 of the present invention may include a memory that stores an autonomous driving algorithm related to autonomous driving, and a processor that controls the operation of the autonomous driving algorithm. Additionally, the vehicle 200 of the present invention may be configured to receive a route plan that satisfies specified conditions and drive accordingly. The vehicle 200 described above can drive in a communication environment capable of communicating with at least one of the first network 51 and the second network 52. In this regard, the vehicle 200 may include a communication unit capable of communicating with the first network 51 and the second network 52 .

The first network 51 is an Internet network, which does not incur any cost through WLAN (Wireless Local Area Network) or RSU (Road Side Units) or costs less than the cost of using the second network 52. It may include a network capable of transmitting and receiving data. For example, the first network 51 may support the transmission and reception of data related to vehicle driving while the vehicle 200 is moving by arranging a plurality of RSUs in certain sections. The RSUs may have a smaller communication coverage than a base station (eg, eNodeB) supporting data transmission and reception of the second network 52. The first network 51 provides information on the surrounding environment of the vehicle 200 to the route providing electronic device 100 at the request of the vehicle 200 and receives a route plan from the route providing electronic device 100, It can be delivered to the vehicle 200. In response to a request from the path providing electronic device 100, the first network 51 may provide the path providing electronic device 100 with information about the installation locations of RSUs and communication coverage according to the installation locations. In the following description, the first network 51 will be described as a communication network capable of transmitting and receiving data related to the operation of the vehicle 200 at a relatively low cost or no cost compared to the second network 52.

The second network 52 has a relatively wide communication coverage compared to the first network 51, collects various surrounding information related to the driving of the vehicle 200 forming a communication channel, and provides a route for the electronic device. It can be provided at (100). Additionally, the second network 52 may transmit the route plan provided by the route providing electronic device 100 to the vehicle 200. The second network 52 is a configuration that supports communication services based on a base station, and may require a relatively large communication fee compared to the first network 51. In response to a request from the route providing electronic device 100, the second network 52 may provide the route providing electronic device 100 with information such as the location where the base station is installed and the size of communication coverage at the location where the base station is installed. In the following description, the second network 52 will be described as a communication network that costs more than the first network 51.

The route providing electronic device 100 may collect information related to the first network 51 and the second network 52 and information related to the vehicle 200. Additionally, the route providing electronic device 100 may collect information about the road on which the vehicle 200 is traveling in advance. This route providing electronic device 100 may be configured, for example, as a server device capable of communicating with the vehicle 200 and the first network 51 and the second network 52 . The route providing electronic device 100 establishes a route plan between the origin and destination of the vehicle 200 based on the acquired information, and satisfies the constraints based on the constraints required by the vehicle 200. After establishing an optimal route plan, it can be provided to the vehicle 200. In this process, the route providing electronic device 100 may establish a plurality of route plans that satisfy the constraints, provide them to the vehicle 200, and then support the user of the vehicle 200 to make a selection. In this regard, the path providing electronic device 100 may include a configuration as shown in FIG. 2 .

FIG. 2 is a diagram showing an example of a configuration of a path providing electronic device according to an embodiment of the present invention, and FIG. 3 is a diagram showing an example of a server processor configuration among the configuration of a path providing electronic device according to an embodiment of the present invention.

Referring to FIG. 2, the route providing electronic device 100 of the present invention may include a server communication unit 110, a server storage unit 130, and a server processor 150.

The server communication unit 110 may include a component that supports the communication function of the route providing electronic device 100. For example, the server communication unit 110 may include at least a first communication circuit capable of communicating with the first network 51 and a second communication circuit capable of communicating with the second network 52. In addition, the server communication unit 110 provides various information related to the operation of the vehicle 200, such as road information 135 stored in the server storage unit 130 and vehicle information 139 related to the vehicle 200. A communication interface that can communicate with the server can be provided. The server communication unit 110 may receive origin and destination information from the vehicle 200 and constraints specified by the user of the vehicle 200. The server communication unit 110 may provide route information 137 to the vehicle 200 in response to control of the server processor 150.

The server storage unit 130 contains various information for establishing a route plan related to driving (e.g., autonomous driving) of the vehicle 200, such as first network information 131, second network information 133, and road. Information 135, route information 137, and vehicle information 139 can be stored. The first network information 131 may include a plurality of RSU information connected to the first network 51 through communication with the first network 51. The RSU information may include, for example, RSU location information and communication coverage information. The second network information 132 may include information on a plurality of base stations constituting the second network 52 through communication with the second network 52. The base station information may include, for example, location information and communication coverage information of the base station. The road information 135 may be received from a server that provides map information (eg, a Ministry of Land, Infrastructure and Transport server). The road information 135 may include information about intersections included in the road, roads connecting the intersections, and conditions of each road. The conditions of each road may include information such as road traffic congestion, road travel speed limit, and road availability. The vehicle information 139 can be obtained at the time of requesting route plan collection from the terminal of the vehicle 200 or the owner of the vehicle 200. The vehicle information 139 includes current location information of the vehicle 200, connection information of the vehicle 200, movement speed information of the vehicle 200, origin and destination information of the vehicle 200, and constraints between movements of the vehicle 200. may include. The constraint conditions may include, for example, a minimum communication fee condition or a condition of less than a specified fee according to the use of a network during movement, a condition regarding travel time between the origin and destination, and an avoidable or required stopover condition between the origin and destination.

The server processor 150 may transmit and process data related to the operation of the route providing electronic device 100. For example, the server processor 150 forms a communication channel with at least one of the first network 51, the second network 52, and the vehicle 200, and provides information necessary for establishing a route plan for the vehicle 200. After collecting, a route plan can be established. The server processor 150 may provide the established route plan to the vehicle 200. In this regard, the server processor 150 may include an information collection unit 151, a route calculation unit 153, and a route proposal unit 155, as shown in FIG. 3 .

The information collection unit 151 may process information collection related to route establishment. For example, the information collection unit 151 performs real-time or periodic communication with the first network 51 and the second network 52, and determines the location and communication coverage of a plurality of RSUs included in the first network 51. First network information 131 including and second network information 133 including the location and communication coverage of a plurality of base stations included in the second network 52 can be collected. Additionally, the information collection unit 151 can form a communication channel with a server device that provides road-related information at a certain period or in real time and collect information about the road. Alternatively, when establishing a route plan for a specific vehicle 200 is requested, the information collection unit 151 provides road traffic information including the current location (or starting point) of the vehicle 200 and the destination of the vehicle 200. Can be collected from server devices.

The route calculation unit 153 can extract road part information including the starting point and destination and various roads between the starting point and destination on the road information 135 based on the vehicle information 139 provided by the vehicle 200. there is. The route calculation unit 153 performs mapping for each intersection, mapping for roads connecting each intersection, and mapping for traffic characteristics of each road from the road part information, and creates a node map corresponding to the actual road. Conversion can be performed. In this process, the route calculation unit 153 can obtain location sector information for the road part information extracted through the vehicle information 139 and confirm the locations of base stations or RSUs that affect the sector information. In this regard, the route calculation unit 153 checks the location information of RSUs in the first network information 131 and the location information of base stations in the second network information 133, and determines the location information included in the location sector information of the road part information. RSUs and base stations can be detected. The route calculation unit 153 marks the location information of the RSUs and the location information of the base stations on the road section information, and enters the communication coverage of the RSUs and the communication coverage of the base stations based on the marking point to be used for reference in establishing a route plan. You can. For example, the route calculation unit 153 may calculate at least one route that can minimize communication costs according to the first constraint condition when establishing a route plan between the origin and destination. The route calculation unit 153 may calculate at least one route that can travel within a specified travel time among at least one route with the minimum communication cost, according to the second constraint condition. The route calculation unit 153 may calculate a route through which the user of the vehicle 200 can pass through the stopping point he or she wants to pass through, according to the third constraint condition. Here, the plurality of constraints may be set differently depending on importance. For example, when the second constraint condition is a necessary condition, the route calculation unit 153 may list up movement routes whose travel times are less than or equal to the specified constraint condition by communication cost. Alternatively, when the second constraint condition and the third constraint condition are essential conditions, the route calculation unit 153 passes through at least one stop included in the third constraint condition among the movement routes, while satisfying the second constraint condition. Accordingly, routes whose travel times are less than or equal to the specified conditions can be calculated, and if there are multiple routes, they can be listed in order of communication cost. Alternatively, when the first constraint condition is a condition of satisfying a specified fee or less by partially using the first network 51 and the second network 52, the route calculation unit 153 satisfies the condition and 2 The minimum movement path can be calculated according to the constraints. The route calculation unit 153 may provide at least one calculated route plan to the route proposal unit 155.

The route proposal unit 155 may provide at least one route plan provided by the route calculation unit 153 to the vehicle 200 or a user terminal using the vehicle 200. In this process, the route proposal unit 155 may also provide constraint information for the calculated route plans. Additionally, the route proposal unit 155 may provide the vehicle 200 with a plurality of route plans listed according to each constraint condition. Meanwhile, the route proposal unit 155 may provide the vehicle 200 with a screen including a plurality of route plans and a screen including a change item that can change at least one constraint condition. there is. As the user of the vehicle 200 changes the corresponding constraint condition, condition change information may be provided to the route calculation unit 153, and the route plan changed by the route calculation unit 153 may be provided back to the vehicle 200.

4 is a diagram showing an example of at least a partial configuration of a vehicle according to an embodiment of the present invention.

Referring to FIG. 4, the vehicle 200 according to an embodiment of the present invention includes at least a communication unit 210, an input unit 220, a memory 230, a display 240, a sensor unit 260, and a processor 250. It can be included. Additionally, the vehicle 200 may further include various devices (eg, a vehicle body, a power unit, a power unit, a steering device, an acceleration device, a brake device, etc.) previously mentioned in the description of FIG. 1 . Meanwhile, at least some components of the vehicle 200 described in FIG. 4 may be configured as, for example, a separate user terminal and then installed on the vehicle 200. For example, if some of the components of the vehicle 200 described in FIG. 4 correspond to the user's smartphone, when the user boards the vehicle 200, communication is performed with the vehicle 200 and the vehicle 200 is driven. It can be operated as a separate support terminal that supports. In this case, the smartphone may be operated like a part of the vehicle 200.

The communication unit 210 may be a component that supports the communication function of the vehicle 200. For example, the communication unit 210 may form a communication channel with the first network 51 and the second network 52 and transmit and receive various information related to vehicle operation. For example, when the vehicle 200 is autonomously driving, the communication unit 210 may transmit and receive surrounding road information required for autonomous driving through at least one of the first network 51 and the second network 52. Meanwhile, the communication unit 210 transmits information necessary for establishing a route plan including the starting point, destination, and constraints of the vehicle 200 to the route providing electronic device 100, and receives at least One route plan may be received.

The input unit 220 may include means for supporting user input related to operation of the vehicle 200. For example, the input unit 220 may include a touch screen. Additionally, the input unit 220 may include a microphone to support voice input and an audio processor capable of processing recognition of the input voice. Additionally, the input unit 220 may include at least one physical button. The input unit 220 generates input information corresponding to the starting point, input information corresponding to the destination, and input information regarding New Year's Eve conditions in response to the user's manipulation, and provides the route providing electronic device 100 in response to the control of the processor 250. can be provided to. The input unit 220 may generate an input signal for selecting one of a plurality of path plans in response to a user input and transmit it to the processor 250.

The memory 230 can store various data and programs necessary for operating the vehicle 200. For example, the memory 230 may store vehicle 200 identification information and vehicle 200 connection information. Additionally, the memory 230 may store source information and destination information included in route information mainly traveled by the vehicle 200. The memory 230 may store at least one route plan provided by the route providing electronic device 100. The memory 230 may store an autonomous driving algorithm for autonomous driving of the vehicle 200.

The display 240 may output at least one screen related to the operation of the vehicle 200. For example, the display 240 may output a screen showing the ignition on-off state of the vehicle 200, a screen showing the autonomous driving state, an input screen for at least one of the origin and destination for establishing a route plan, and a constraint input screen. You can. In addition, the display 240 outputs at least one route plan provided by the route providing electronic device 100, and when a specific route plan is selected by the user, it outputs detailed route information corresponding to the selected route plan. You can. Additionally, the display 240 can output communication fee information required while moving through route planning, input constraint information, and a screen on which constraints can be modified. As an example, the display 240 provides a screen to change the communication fee consumed while driving, and when a user input requesting a change in communication fee occurs, the route is changed in real time according to the changed communication fee and other constraints. You can print the plan. For example, when the size of the allowable communication fee is increased, a travel route plan that allows movement in a minimum amount of time may be output through the display 240.

The sensor unit 260 may collect sensing information related to the operation of the vehicle 200. The sensor unit 260 includes, for example, an acceleration sensor that detects the speed of the vehicle 200, a geomagnetic sensor that collects sensing information about the direction of travel of the vehicle 200, and a camera that collects images of the environment around the vehicle 200. It may include at least one of a sensor and a LiDAR sensor that collects sensing information about the environment around the vehicle 200. Meanwhile, the sensor unit 260 is a component that collects sensing information related to the movement of the vehicle 200, and may be omitted.

The processor 250 may perform control related to operation of the vehicle 200 and process data related to autonomous driving of the vehicle 200. In particular, the processor 250 of the present invention can control the processing of user input related to establishing a route plan for the vehicle 200 and the output and storage of the received user route plan.

Figure 5 is a diagram showing an example of an actual road environment related to route planning establishment according to an embodiment of the present invention, and Figure 6 is a diagram showing node map conversion corresponding to the actual road environment. FIG. 7 is a diagram showing the relationship between nodes, edges, and communication coverage in a node map according to an embodiment of the present invention, and FIG. 8 is a diagram showing an example of a path plan established under specified constraints according to an embodiment of the present invention. am.

First, referring to FIG. 5, the actual road environment 500 includes at least one intersection 501, a plurality of roads 503 connecting the intersection 501, and an actual road environment 500, as shown. and a plurality of RSUs 505 belonging to the first network 51, first communication coverage 507 of the plurality of RSUs 505, first road characteristic information 509 indicating traffic congestion at an intersection, and movement of the road. It may include second road characteristic information 511 indicating that the speed is limited, third road characteristic information 513 indicating that the road is unusable, etc. Meanwhile, the base station of the second network 52 and the communication coverage through the base station are assumed to be larger than the size of the actual road environment 500, and are not shown, but the movement path of the vehicle 200 leaves one base station and goes to another base station. When moving, the base station and its communication coverage may be displayed in the actual road environment 500.

Meanwhile, the node map 600 corresponding to the actual road environment 500 may appear as shown in FIG. 6. In the node map 600, the node (S _i ) corresponds to the intersection 501 previously described in FIG. 5 , and the edges (d _ij ) connecting the nodes (S _i ) are the roads 503 connecting the intersections 501. can respond. The RSU 505 deployed in the actual road environment 500 may correspond to a communication infrastructure node (r _i ), and the first communication coverage 507 may correspond to the communication infrastructure coverage (C _i ). In the actual road environment 500, the intersection representing the first road characteristic information 509 is a node (609) showing characteristics different from other surrounding nodes (e.g., different color or shape), as shown in the node map 600. ) can be expressed as In addition, in the actual road environment 500, the road representing the second road characteristic information 511 is an edge representing different characteristics (e.g., different color or shape) from other adjacent roads, as shown in the node map 600. It can be expressed as (611). Meanwhile, in the actual road environment 500, a road representing the third road characteristic information 513 may be expressed as a removed edge 613, as shown in the node map 600.

As shown in FIGS. 5 and 6 , the route providing electronic device 100 converts the actual road environment 500 into a node map 600 to optimize the route plan. When converting the actual road environment 500 into the node map 600, the route providing electronic device 100 retrieves surrounding road characteristic information (or environment information) and applies it to the node (S _i ) and edge (d _ij ). . In the present invention, road characteristic information is applied to traffic jams, speed limits, and entry bans (accidents, etc.) as examples, but the present invention is not limited to this and may include all information applicable to roads. Road characteristic information is reflected in the node map 600 according to its characteristics and can be divided into factors that prevent the vehicle 200 from driving or factors that affect the driving of the vehicle 200. As shown, when road characteristic information on which the vehicle 200 cannot drive is applied according to the road characteristic information, a node or edge may be removed. Additionally, according to road characteristic information, factors affecting driving of the vehicle 200 may be reflected to the extent of influencing nodes or edges.

Meanwhile, as shown in FIG. 7, the node selected in the planned route is defined as n, and the next node adjacent to the selected node is defined as n+1. The node of the final destination is defined as m. is the part where the communication range of the RSU 505 and the edge intersect. In the present invention, the corresponding part can be defined as a ratio and set to have a value between 0 and 1. is the length of the edge corresponding to the communication range of the RSU 505 and may represent the distance in the actual road environment 500.

As shown in FIGS. 5 to 7 described above, when the actual road environment 500 has been converted into the node map 600, when establishing a route plan that minimizes specified constraints, for example, communication charges, is requested, the route providing electronic device As shown in FIG. 8, 100 can establish a route plan to move to the destination (end point) using roads included in the communication coverage of RSUs 505. As shown in FIG. 8, the route providing electronic device 100 communicates with the first network 51 and the second network 52, receives the starting point, destination, and constraints from the vehicle 200, and responds thereto. A first route plan 801 may be established and provided to the vehicle 200. Meanwhile, when there are no constraints, the route providing electronic device 100 may establish a second route plan 802 and provide the second route plan 802 to the vehicle 200. Here, the first route plan 801 includes first and second road characteristic information, and the vehicle's moving speed may be reduced or the travel time may be increased compared to the second route plan 802.

Meanwhile, in the above description, an example of providing the first route plan 801 to the vehicle 200 according to the communication fee minimization condition has been described, but the present invention is not limited to this. For example, while establishing a route plan by maximizing the use of WLAN infrastructure, it is possible to establish a plan that satisfies the user's time constraint requirements within a certain range. Through this, if the geographical distance to which the communication fee minimization condition is applied is abnormally longer than the route to which the communication fee minimization condition is not applied, the route providing electronic device 100 may adversely reduce the user's satisfaction even if the communication fee is reduced. Therefore, taking this into consideration, a situation in which the second network 52 is used within a certain range may be considered. In this process, the route providing electronic device 100 provides the vehicle 200 with a first route plan 801 corresponding to communication fee minimization, while providing the vehicle 200 with a second route plan 802 whose travel time is within a specified range. It can also be provided together with (200). Alternatively, the path providing electronic device 100 may use methods such as securing bandwidth in a real-time video service for the purpose and method of path optimization.

Meanwhile, in the process of establishing a route plan based on each item used for converting the node map 600 described in FIGS. 5 to 7, the route providing electronic device 100 uses the following Table 1 and Equations 1 to 11 Available.

variable meaning example path node intersection set of - path edge road name communication infrastructure node RSU, eNodeB covarage of communication infrastructure communication range Edge distance between node n and node n+1 - at percentage belonging to - at street belonging to - Travel time from n to n+1 - Total driving time - Total mileage - time constraints User requested timeout Result value of optimization target Communication fee, communication success rate

Hereinafter, the route providing electronic device 100 using the equation assumes an environment in which the RSU 505 communicates with the vehicle using a WLAN corresponding to the first network 51, and the vehicle 200 uses the RSU ( 505) and can communicate with the eNodeB of the second network 52. The eNodeB can be connected to the Internet (or the first network 51) through a telephone network, and the RSU 505 is directly connected to the Internet (or the first network 51). The vehicle 200 can communicate with a server (eg, the route providing electronic device 100) through the corresponding communication environment.

In FIG. 8, the second path plan 802 may mean an existing shortest path plan, and in this case, since it is outside the communication range of the RSU 505, communication must be performed using an eNodeB. Assuming that all RSUs 505 are managed in an integrated management system such as a data center and have information, the route providing electronic device 100 collects location information of the RSUs 505, etc.

Meanwhile, referring to Table 1, the set of nodes S can be expressed as Equation 1 below.

[Equation 1]

Additionally, the coordinates of nodes can be expressed as Equation 2 below.

[Equation 2]

In equation 2, node The coordinates of the x-axis and y-axis Each can be displayed as .

The distance between nodes can be expressed as Equation 3.

[Equation 3]

In equation 3: can represent the distance between nodes.

Meanwhile, A Communication range of RSU (505) The conditional expression included in can be expressed as Equation 4.

[Equation 4]

Nodes that do not belong to the communication range of the RSU 505 may be deleted from the path plan calculation or managed as a separate candidate group and used when changing constraints related to communication rates.

The following equation 5 is an equation representing the total driving distance D.

[Equation 5]

The following equation 6 is the travel time from hop n to m It represents.

[Equation 6]

Referring to Equation 6, the total travel time T can be expressed as Equation 7 below.

[Equation 7]

The following equation 8 shows that the total driving time is a time constraint. It represents a conditional expression that satisfies .

[Equation 8]

Meanwhile, Equation 9 is the edge Scope included in this communication scope It represents the proportion belonging to RSU (505) You can use .

[Equation 9]

Referring to Equation 9, the condition that the edge falls within the communication range of the RSU can be expressed as Equation 10 below. Edges that do not belong to Equation 10 are deleted, and if Equation 8 described above is not satisfied, By recovering the edge starting from the larger value, a path plan that satisfies the minimum communication fee condition can be established.

[Equation 10]

The following equation 11 shows the eNodeB communication fee cost and the data rate of the service provided. and communication charges per data rate Using , it can be expressed as follows.

[Equation 11]

Figure 9 is a diagram showing an example of a method for providing a vehicle route according to an embodiment of the present invention.

Referring to FIG. 9, according to the vehicle route providing method of the present invention, the server processor 150 of the route providing electronic device 100 may check whether there is a vehicle terminal connection in step 901. Here, the vehicle terminal may include at least one of the vehicle 200 described above or a user terminal that can be installed in the vehicle 200 to be used in connection with driving the vehicle 200. If there is no vehicle terminal connection, the server processor 150 may process the performance of the designated function in step 903. For example, the designation function can check changes in at least one of the first network 51, the second network 52, and the road information 135, and if there are changes, update previously stored information.

When the vehicle terminal is connected, the server processor 150 may collect vehicle information 139 in step 905. The vehicle information 139 includes, for example, identification information of the vehicle 200, connection information of the vehicle 200, current location information of the vehicle 200, origin information of the vehicle 200, destination information of the vehicle 200, (200) May include constraint information related to movement. In relation to this, the server processor 150 may provide the vehicle 200 with a screen interface for collecting the above-described vehicle information 139 and collect vehicle information 139 according to user input. Here, the server processor 150 acquires the current location information, vehicle 200 identification information, and connection information collected by the vehicle 200 through communication with the vehicle 200 without separate user input, user confirmation, or After authentication, relevant information can be automatically collected.

Next, the server processor 150 may collect road information 135 and network information 131 and 133 in step 907. That is, the server processor 150 can check whether there are any changes in road information and network information at the time of establishing the route plan for the vehicle 200. If there are changes, related information can be updated.

In step 909, the server processor 150 may calculate and provide a plurality of route information. In this process, the server processor 150 may apply road information to various paths between the origin coordinates and the destination coordinates to remove intersections or roads on which vehicles cannot move from the route plan. In addition, the server processor 150 may remove intersections or roads that take more than a specified travel time (e.g., places where the travel time due to traffic congestion is more than a specified value) among various routes between the origin and destination from the route plan calculation. . In addition, when there is a communication rate restriction condition, the server processor 150 removes intersections or roads that only belong to communication network coverage of a specified rate or higher or intersections or roads that do not belong to communication network coverage of a specified rate or less from the route plan calculation, A route plan can be calculated.

In step 911, the server processor 150 may check whether an event related to termination of the route planning providing function of the vehicle 200 occurs. In an event related to termination of the route planning providing function, for example, when the vehicle terminal is disconnected or a message canceling route planning use is received from the vehicle 200, the server processor 150 may terminate the route planning function. Meanwhile, if there is no event related to the termination of the route plan providing function of the vehicle 200, the server processor 150 may branch to step 905 and perform the following operations in real time or at regular intervals. Under the conditions for re-performing the operation below, if there is no change in the constraints, the server processor 150 can recalculate the route plan according to the road information and network information while satisfying the constraints. If the recalculated path plan is the same as the previous path plan, the server processor 150 may skip step 909 of providing a separate path plan and perform the following operations. If a route plan different from the previous route plan is established, the server processor 150 may perform step 909 to provide at least one route information to the vehicle 200. Even if the constraints are changed, if the same path plan as the previously provided path plan is established, the server processor 150 may skip step 909.

Figure 10 is a diagram showing another example of a method for providing a vehicle route according to an embodiment of the present invention.

Referring to FIG. 10, in relation to the vehicle route providing method of the present invention, the server processor 150 acquires a node map 600 corresponding to the actual road environment 500, and uses the obtained node map 600 and the above-described node map. After establishing a route plan using Equations 1 to 11, it can be provided to the vehicle 200. In this regard, the server processor 150 may input node coordinates in step 1001. The node coordinates may include source coordinates and destination coordinates. In relation to the node coordinate input, the route providing electronic device 100 may provide a node coordinate input interface to the vehicle 200.

In step 1003, the server processor 150 may perform edge distance calculation. In this process, the server processor 150 may calculate the edge distance in response to the road distance in the actual road environment 500. Additionally, the server processor 150 may calculate nodes corresponding to intersections between the origin and destination and edges connecting each node.

In step 1005, the server processor 150 may remove nodes and edges by considering environmental information (or road characteristic information). Considering environmental information, nodes corresponding to intersections in the actual road environment and edges corresponding to roads in the actual road environment are removed, but nodes and edges are removed by applying lane conditions and road characteristic information among the plurality of constraints entered by the user. It can be removed. For example, nodes and edges to be removed may be deleted if the intersection or road is unavailable, or if the traffic condition at the intersection or road is longer than a specified travel time. Additionally, nodes and edges to be removed may include nodes and edges that are outside the communication coverage of the RSUs 505 supporting the first network 51 whose communication fee is less than or equal to a specified cost.

In step 1007, the server processor 150 may calculate travel times for a plurality of routes between the origin and destination with nodes and edges removed. In step 1009, the server processor 150 may compare the travel time and the time limit.

If the travel time exceeds the time limit, the server processor 150 may perform node and edge recovery in step 1011, branch to step 1007, and re-perform the following operations. Nodes and edges on which recovery is performed may include nodes and edges outside the communication coverage of the RSU 505 belonging to the first network 51 . Among the removed nodes and edges, unusable roads and intersections may be excluded from restoration. Meanwhile, among the node and edge recovery rankings, nodes and edges located within the communication coverage of a network with relatively low communication rates (e.g., the first network 51 or a roadside base station) may be recovered preferentially. Additionally, among the node and edge recovery rankings, nodes and edges with relatively short travel times can be restored first.

Meanwhile, if the driving time satisfies the time limit in step 1009, the server processor 150 may calculate the result value of the optimization target in step 1013. After calculating the optimization target result value, the server processor 150 may provide the corresponding value to the vehicle 200. In this process, the server processor 150 may calculate a route plan that matches the communication fee input by the user in relation to the optimization target (or has a fee less than the communication fee).

As described above, the method for providing a vehicle route according to an embodiment of the present invention performs node map conversion corresponding to the actual road environment, removes nodes and edges that do not belong to the communication range of the communication infrastructure corresponding to the designated network, It is possible to provide a method of planning a path through the remaining edges while recovering nodes and edges when time constraints according to user input are not satisfied.

Meanwhile, the embodiments disclosed in the specification and drawings are merely provided as specific examples to aid understanding, and are not intended to limit the scope of the present invention. It is obvious to those skilled in the art that in addition to the embodiments disclosed herein, other modifications based on the technical idea of the present invention can be implemented.

10: Vehicle route provision environment
51: first network
52: second network
100: Path providing electronic device
110: Server communication department
130: server storage unit
150: server processor
200: vehicle
210: Department of Communications
220: input unit
230: memory
240: display
250: processor
260: sensor unit

Claims (10)

Collecting the vehicle's origin coordinates, destination coordinates, and constraints;
Confirming an actual road environment corresponding to the origin coordinates and destination coordinates, and calculating a node map corresponding to the actual road environment;
removing at least one node corresponding to an intersection and at least one edge corresponding to a road connecting the intersections from the calculated node map according to environmental information in the actual road environment;
Calculating a route plan with a driving time that satisfies the time limit included in the constraint condition from the node map from which at least one of the node and the edge is removed.
According to paragraph 1,
The removal step is
removing nodes or edges corresponding to intersections or roads on which vehicles cannot move from the node map; or
A method for providing a vehicle route, comprising: removing nodes or edges corresponding to intersections or roads where the vehicle's travel time is longer than a specified time from the node map.
According to paragraph 1,
The step of calculating the node map is
A vehicle comprising: applying the location of a roadside base station supporting a low-cost or no-cost communication network of a specified size or less among base stations deployed in an actual road environment and the communication coverage of the roadside base station to the node map; How to provide a route.
According to paragraph 3,
The removal step is
A method for providing a vehicle route, comprising: removing a node or edge corresponding to an intersection or road outside the communication coverage of the roadside base station.
According to paragraph 4,
The step of calculating the route plan is
calculating first route plans having a driving time within the time limit among a plurality of route plans between the source coordinates and the destination coordinates;
Calculating at least one second route plan among the first route plans whose communication fee is less than or equal to a specified cost.
According to clause 5,
The step of calculating the route plan is
If there are no first route plans having a driving time within the time limit, recovering at least a portion of the nodes or edges that are outside the communication common area of the roadside base station.
Server Communication Department;
First communication coverage information of a first network that supports data communication related to driving of the vehicle at a relatively low first cost, and second network coverage information of a second network that supports data communication related to driving of the vehicle at a relatively high second cost. 2 a server memory that stores communication coverage information and road information about the actual road environment on which the vehicle moves;
It includes a server processor functionally connected to the server communication unit and the server memory,
The server processor is
Establish a route plan between the origin coordinates and destination coordinates provided by the vehicle, but limit the time the vehicle must travel from the origin to the destination and limit charge information to ensure that the communication fee when driving the vehicle is below a specified value. , and calculates a route plan that satisfies the time limit and fee information, and provides the route plan to the vehicle. In clause 7,
The server processor is
Confirming the actual road environment corresponding to the origin coordinates and destination coordinates, calculating a node map corresponding to the actual road environment,
Remove at least one node that is outside the first communication coverage among at least one node corresponding to an intersection and at least one edge corresponding to a road connecting intersections from the calculated node map according to road information in the actual road environment; ,
A route providing electronic device, characterized in that it is set to calculate a route plan having a travel time that satisfies the time limit from a node map from which at least one of the nodes and edges is removed.
According to clause 8,
The server processor is
Remove nodes or edges corresponding to intersections or roads on which the vehicle cannot move from the node map, or
Remove nodes or edges corresponding to intersections or roads where the vehicle's travel time is longer than a specified time from the node map, or
A route providing electronic device, characterized in that it is set to remove a node or edge corresponding to an intersection or road outside the first communication coverage of the first network.
According to clause 9,
The server processor is
If there are no route plans having a travel time within the limit time among the plurality of route plans between the source coordinates and the destination coordinates, a node or edge removed in relation to the first communication coverage among the removed nodes or edges A path providing electronic device, characterized in that it is set to recover at least a portion of.

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