Vehicle control device mounted on vehicle and method for controlling the vehicle

Abstract

The present disclosure relates to a vehicle control device provided in a vehicle and a method of controlling the vehicle. A vehicle control device according to an embodiment of the present disclosure may include a communication unit formed to acquire the location information of the vehicle and perform communication with at least one of an external server and another vehicle, a sensing unit configured to sense information associated with the vehicle, and a processor configured to control the communication unit to receive map information from the external server and the location information of the another vehicle from the another vehicle, wherein the processor merges the acquired location information of the vehicle and the received location information of the another vehicle into the received map information to control the vehicle based on at least one of the merged map information and the information associated with the vehicle sensed through the sensing unit.

1 . A vehicle control device for a vehicle, the vehicle control device comprising:
 a communication unit configured to obtain location information of the vehicle and communicate with an external server and one or more other vehicles;   a sensing unit configured to sense vehicle-associated information;   a processor; and   a computer-readable medium coupled to the processor having stored thereon instructions which, when executed by the processor, causes the processor to perform operations comprising:   instructing the communication unit to obtain map information from the external server and respective location information of the one or more other vehicles from the one or more other vehicles;   merging the location information of the vehicle and the respective location information of the one or more other vehicles with the map information to generate merged map information; and   controlling the vehicle based on at least one of the merged map information or the vehicle-associated information.   
     
     
         2 . The vehicle control device of  claim 1 , wherein the map information comprises lane unit information, and wherein the merging of the location information of the vehicle and the respective location information of the one or more other vehicles with the map information is based at least on the lane unit information. 
     
     
         3 . The vehicle control device of  claim 1 , wherein the merging further comprises merging the vehicle-associated information sensed within a predetermined range with the map information, and wherein the controlling of the vehicle is based on the merged map information. 
     
     
         4 . The vehicle control device of  claim 1 , wherein the controlling of the vehicle comprises at least one of autonomously driving the vehicle or outputting a warning message associated with the driving of the vehicle. 
     
     
         5 . The vehicle control device of  claim 1 , wherein the communication unit comprises:
 a Vehicle-to-Everything (V2X) module configured to obtain respective Local Dynamic Map (LDM) data from the one or more other vehicles; and   an eHorizon module configured to obtain an Advanced Driver Assistance System (ADAS) MAP from the external server,   wherein the respective LDM data comprise the respective location information of the one or other vehicles, and   the ADAS MAP comprises the map information.   
     
     
         6 . The vehicle control device of  claim 5 , wherein the operations comprise converting a coordinate system of the ADAS MAP into respective coordinate systems of the respective LDM data, or converting the respective coordinate systems of the respective LDM data into the coordinate system of the ADAS MAP. 
     
     
         7 . The vehicle control device of  claim 6 , wherein the map information comprises lane unit information, and wherein the operations comprise:
 extracting respective relative location information between the vehicle and the one or more other vehicles based on the respective LDM data;   determining respective lane unit placements of the vehicle and the one or more other vehicles based on the lane unit information and the respective LDM data;   aligning the respective relative locations of the vehicle and the one or more other vehicles based on the respective lane unit placements of the vehicle and the one or more other vehicles; and   merging the respective relative locations of the vehicle and the one or more other vehicles with the map information to generate the merged map information.   
     
     
         8 . The vehicle control device of  claim 7 , wherein the controlling of the vehicle comprises autonomously driving the vehicle based on the merged map information comprising the aligned respective relative locations of the vehicle and the one or more other vehicles. 
     
     
         9 . The vehicle control device of  claim 7 , wherein the operations comprise generating a warning message associated with the driving of the vehicle based on a decision to generate the warning message, wherein the decision to generate the warning message is based on the merged map information comprising the aligned respective relative locations of the vehicle and the one or more other vehicles, and wherein the controlling of the vehicle comprises outputting the warning message. 
     
     
         10 . The vehicle control device of  claim 8 , wherein the operations comprise generating a warning message associated with the driving of the vehicle based on a decision to generate the warning message, and wherein the decision to generate the warning message is affirmative based on the respective relative locations being less than a preset distance and the respective lane unit placements of the vehicle and respective other vehicles being the same, and the decision to generate the warning message is negative based on the respective relative locations being less than the preset distance and the respective lane unit placements of the vehicle and respective other vehicles being different. 
     
     
         11 . The vehicle control device of  claim 8 , wherein the operations comprise generating a warning message associated with the driving of the vehicle based at least on a decision to generate the warning message, and wherein the decision to generate the warning message is negative based on the respective lane unit placements of the vehicle and the one or more other vehicles being different. 
     
     
         12 . A vehicle comprising:
 a plurality of wheels;   a power source configured to drive the plurality of wheels; and   the vehicle control device of  claim 1 .   
     
     
         13 . A method of controlling a vehicle, the method comprising:
 obtaining, through a communication unit, location information of the vehicle, map information from an external server, and respective location information of one or more other vehicles from the one or more other vehicles;   sensing, through a sensing unit, vehicle-associated information;   merging the location information of the vehicle and the respective location information of the one or more other vehicles with the map information to generate merged map information; and   controlling the vehicle based on at least one of the merged map information or the vehicle-associated information.