METHOD FOR WIRELESS COMMUNICATION OF VEHICLE IN AUTONOMOUS DRIVING SYSTEM AND APPARATUS THEREOF

[0001] This application is the National Stage filing under 35 U.S.C. 371 of Korean Patent Application No. 10-2019-0097361, filed on Aug. 9, 2019, the contents of which are all hereby incorporated by reference herein in their entirety.

[0002] The present disclosure relates to a method and an apparatus for wireless communication to and from a vehicle in an autonomous driving system, and, more particularly, to a method and an apparatus for wireless communication to and from a vehicle that performs beam-forming in an autonomous driving system.

[0003] Vehicles can be classified into an internal combustion engine vehicle, an external composition engine vehicle, a gas turbine vehicle, an electric vehicle, etc. according to types of motors used therefor.

[0004] An autonomous vehicle refers to a self-driving vehicle that can travel without an operation of a driver or a passenger, and Autonomous Driving Systems refer to systems that monitor and control the autonomous vehicle such that the autonomous vehicle can perform self-driving.

[0005] In order to transfer data high-volume data in a faster manner in vehicle-to-everything (V2X) communication, there has been discussion on the use of communication that uses a millimeter wave (mmWave) in a high-frequency band, such as a 28 GHz or 60 GHz band. In order to minimize path loss of a millimeter wave that requires strict line of sight, there has been much discussion on a beam-forming technology that uses a directional antenna.

[0006] An object of the present disclosure is to provide a method and an apparatus for wireless communication to and from a vehicle in an autonomous driving system, which are capable of decreasing path loss of a signal.

[0007] Another object of the present disclosure is to provide a method and an apparatus for wireless communication to and from a vehicle in an autonomous driving system, which are capable of decreasing the time taken for beam selection.

[0008] Technical problems that the present disclosure attempts to solve are not limited to the technical problems described above. From Description of Exemplary Embodiments, other technical problems that are not mentioned would be readily apparent to a person of ordinary skill in the art.

[0009] According to an aspect of the present disclosure, there is provided a method for wireless communication to and from a vehicle in an autonomous driving system, the method including: receiving data on a communication environment map that includes position-dependent beam information, from a server; determining a direction of transmitted or received beam based on a driving path for the vehicle and the communication environment map; and performing data communication through the direction of transmitted or received beam.

[0010] In the method, the position-dependent beam information may include positional information and beam-direction information relating to the positional information.

[0011] In the method, the beam-direction information may include a beam direction in which the strongest signal strength is obtained for each spatial section that results from division by the positional information, and a value of signal strength in the beam direction.

[0012] In the method, the determining of the direction of transmitted or received beam may include determining the direction of transmitted or received beam based on a reliability value representing the precision of the communication environment map and on whether or not antenna blocking occurs due to an obstacle that is present in the beam direction which is indicated by the beam information.

[0013] In the method, the determining of the direction of transmitted or received beam may include determining the reliability value of the communication environment map, determining the direction of transmitted or received beam through a beam search that uses a synchronization signal, in a case where the reliability value is lower than a predetermined first reference value, determining whether or not the antenna blocking occurs, in a case where the reliability value is equal to or higher than the first reference value, determining a beam that corresponds to the beam direction that is indicated by the beam information, as the direction of transmitted or received beam, in a case where the reliability value is equal to or higher than a second reference value that is set to be higher than the first reference value and where the antenna blocking does not occur, determining the direction of transmitted or received beam by sequentially conducting a search in beam directions, starting from the beam direction that is indicated by the beam information, in a case where the reliability level is equal to or higher than the first reference level, but is lower than the second reference level, and where the antenna blocking does not occur, and determining the direction of transmitted or received beam by sequentially conducting a search for beams, starting from a beam that is closest to the beam direction which is indicated by the beam information, in a case where the antenna blocking occurs.

[0014] In the method, the reliability value may be determined based on an error in an angle between the beam direction indicated by the beam information and a beam direction that is found as a result of the search by the vehicle, at a specific position, or on the number of times that the antenna blocking occurs.

[0015] In the method, whether or not the antenna blocking occurs may be determined based on antenna-sensed information acquired by a proximity sensor that is provided in the vicinity of an antenna of the vehicle, or on a vehicle position and vehicle size of a different vehicle that is positioned in the vicinity of the vehicle, and the vehicle position and vehicle size of the different vehicle may be acquired from vehicle information received from the different vehicle or by a sensor installed in the vehicle.

[0016] The method may further include changing a driving path for the vehicle based on the communication environment map.

[0017] The method may further include changing a frequency for the data communication and a setting of a service providing operator based on the communication environment map.

[0018] The method may further include updating the communication environment map using a type of communication, a service provider, a frequency, an antenna position, or an obstacle position, which relates to the data communication.

[0019] According to another aspect of the present disclosure, there is provided an apparatus for wireless communication to and from a vehicle in an autonomous driving system, the apparatus including: a transceiver that includes multiple antenna components; and a processor that is functionally coupled to the transceiver, in which the processor receives data on a communication environment map that includes position-dependent beam information, from a server through the transceiver, determines a direction of transmitted or received beam based on a driving path for the vehicle and the communication environment map, and sets the transceiver to perform data communication through the direction of transmitted or received beam.

[0020] Effects of the method and the apparatus for wireless communication in a vehicle in an autonomous system according to the embodiment of the present disclosure are described as follows.

[0021] According to the present disclosure, the data communication is performed through a directional beam. Thus, the method and the apparatus for wireless communication in a vehicle in an autonomous system can be provided that are capable of decreasing path loss.

[0022] According to the present disclosure, the direction of transmitted or received beam is determined based on the communication environment map including the position-dependent beam information. Thus, the method and the apparatus for wireless communication in a vehicle in an autonomous system can be provided that are capable of decreasing the time taken for beam selection.

[0023] Effects that can be accomplished according to the present disclosure are not limited to those described above, and, from the following description, effects that are not described above would be apparent to a person of ordinary skill in the art.

[0042] Hereinafter, embodiments of the disclosure will be described in detail with reference to the attached drawings. The same or similar components are given the same reference numbers and redundant description thereof is omitted. The suffixes “module” and “unit” of elements herein are used for convenience of description and thus can be used interchangeably and do not have any distinguishable meanings or functions. Further, in the following description, if a detailed description of known techniques associated with the present disclosure would unnecessarily obscure the gist of the present disclosure, detailed description thereof will be omitted. In addition, the attached drawings are provided for easy understanding of embodiments of the disclosure and do not limit technical spirits of the disclosure, and the embodiments should be construed as including all modifications, equivalents, and alternatives falling within the spirit and scope of the embodiments.

[0043] While terms, such as “first”, “second”, etc., may be used to describe various components, such components must not be limited by the above terms. The above terms are used only to distinguish one component from another.

[0044] When an element is “coupled” or “connected” to another element, it should be understood that a third element may be present between the two elements although the element may be directly coupled or connected to the other element. When an element is “directly coupled” or “directly connected” to another element, it should be understood that no element is present between the two elements.

[0045] The singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0046] In addition, in the specification, it will be further understood that the terms “comprise” and “include” specify the presence of stated features, integers, steps, operations, elements, components, and/or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or combinations.

[0047] A. Example of Block Diagram of UE and 5G Network

[0048] FIG. 1 is a block diagram of a wireless communication system to which methods proposed in the disclosure are applicable.

[0049] Referring to FIG. 1, a device (autonomous device) including an autonomous module is defined as a first communication device (910 of FIG. 1), and a processor 911 can perform detailed autonomous operations.

[0050] A 5G network including another vehicle communicating with the autonomous device is defined as a second communication device (920 of FIG. 1), and a processor 921 can perform detailed autonomous operations.

[0051] The 5G network may be represented as the first communication device and the autonomous device may be represented as the second communication device.

[0052] For example, the first communication device or the second communication device may be a base station, a network node, a transmission terminal, a reception terminal, a wireless device, a wireless communication device, an autonomous device, or the like.

[0053] For example, a terminal or user equipment (UE) may include a vehicle, a cellular phone, a smart phone, a laptop computer, a digital broadcast terminal, personal digital assistants (PDAs), a portable multimedia player (PMP), a navigation device, a slate PC, a tablet PC, an ultrabook, a wearable device (e.g., a smartwatch, a smart glass and a head mounted display (HMD)), etc. For example, the HMD may be a display device worn on the head of a user. For example, the HMD may be used to realize VR, AR or MR. Referring to FIG. 1, the first communication device 910 and the second communication device 920 include processors 911 and 921, memories 914 and 924, one or more Tx/Rx radio frequency (RF) modules 915 and 925, Tx processors 912 and 922, Rx processors 913 and 923, and antennas 916 and 926. The Tx/Rx module is also referred to as a transceiver. Each Tx/Rx module 915 transmits a signal through each antenna 926. The processor implements the aforementioned functions, processes and/or methods. The processor 921 may be related to the memory 924 that stores program code and data. The memory may be referred to as a computer-readable medium. More specifically, the Tx processor 912 implements various signal processing functions with respect to L1 (i.e., physical layer) in DL (communication from the first communication device to the second communication device). The Rx processor implements various signal processing functions of L1 (i.e., physical layer).

[0054] UL (communication from the second communication device to the first communication device) is processed in the first communication device 910 in a way similar to that described in association with a receiver function in the second communication device 920. Each Tx/Rx module 925 receives a signal through each antenna 926. Each Tx/Rx module provides RF carriers and information to the Rx processor 923. The processor 921 may be related to the memory 924 that stores program code and data. The memory may be referred to as a computer-readable medium.

[0055] B. Signal Transmission/Reception Method in Wireless Communication System

[0056] FIG. 2 is a diagram showing an example of a signal transmission/reception method in a wireless communication system.

[0057] Referring to FIG. 2, when a UE is powered on or enters a new cell, the UE performs an initial cell search operation such as synchronization with a BS (S201). For this operation, the UE can receive a primary synchronization channel (P-SCH) and a secondary synchronization channel (S-SCH) from the BS to synchronize with the BS and acquire information such as a cell ID. In LTE and NR systems, the P-SCH and S-SCH are respectively called a primary synchronization signal (PSS) and a secondary synchronization signal (SSS). After initial cell search, the UE can acquire broadcast information in the cell by receiving a physical broadcast channel (PBCH) from the BS. Further, the UE can receive a downlink reference signal (DL RS) in the initial cell search step to check a downlink channel state. After initial cell search, the UE can acquire more detailed system information by receiving a physical downlink shared channel (PDSCH) according to a physical downlink control channel (PDCCH) and information included in the PDCCH (S202).

[0058] Meanwhile, when the UE initially accesses the BS or has no radio resource for signal transmission, the UE can perform a random access procedure (RACH) for the BS (steps S203 to S206). To this end, the UE can transmit a specific sequence as a preamble through a physical random access channel (PRACH) (S203 and S205) and receive a random access response (RAR) message for the preamble through a PDCCH and a corresponding PDSCH (S204 and S206). In the case of a contention-based RACH, a contention resolution procedure may be additionally performed.

[0059] After the UE performs the above-described process, the UE can perform PDCCH/PDSCH reception (S207) and physical uplink shared channel (PUSCH)/physical uplink control channel (PUCCH) transmission (S208) as normal uplink/downlink signal transmission processes. Particularly, the UE receives downlink control information (DCI) through the PDCCH. The UE monitors a set of PDCCH candidates in monitoring occasions set for one or more control element sets (CORESET) on a serving cell according to corresponding search space configurations. A set of PDCCH candidates to be monitored by the UE is defined in terms of search space sets, and a search space set may be a common search space set or a UE-specific search space set. CORESET includes a set of (physical) resource blocks having a duration of one to three OFDM symbols. A network can configure the UE such that the UE has a plurality of CORESETs. The UE monitors PDCCH candidates in one or more search space sets. Here, monitoring means attempting decoding of PDCCH candidate(s) in a search space. When the UE has successfully decoded one of PDCCH candidates in a search space, the UE determines that a PDCCH has been detected from the PDCCH candidate and performs PDSCH reception or PUSCH transmission on the basis of DCI in the detected PDCCH. The PDCCH can be used to schedule DL transmissions over a PDSCH and UL transmissions over a PUSCH. Here, the DCI in the PDCCH includes downlink assignment (i.e., downlink grant (DL grant)) related to a physical downlink shared channel and including at least a modulation and coding format and resource allocation information, or an uplink grant (UL grant) related to a physical uplink shared channel and including a modulation and coding format and resource allocation information.

[0060] An initial access (IA) procedure in a 5G communication system will be additionally described with reference to FIG. 2.

[0061] The UE can perform cell search, system information acquisition, beam alignment for initial access, and DL measurement on the basis of an SSB. The SSB is interchangeably used with a synchronization signal/physical broadcast channel (SS/PBCH) block.

[0062] The SSB includes a PSS, an SSS and a PBCH. The SSB is configured in four consecutive OFDM symbols, and a PSS, a PBCH, an SSS/PBCH or a PBCH is transmitted for each OFDM symbol. Each of the PSS and the SSS includes one OFDM symbol and 127 subcarriers, and the PBCH includes 3 OFDM symbols and 576 subcarriers.

[0063] Cell search refers to a process in which a UE acquires time/frequency synchronization of a cell and detects a cell identifier (ID) (e.g., physical layer cell ID (PCI)) of the cell. The PSS is used to detect a cell ID in a cell ID group and the SSS is used to detect a cell ID group. The PBCH is used to detect an SSB (time) index and a half-frame.

[0064] There are 336 cell ID groups and there are 3 cell IDs per cell ID group. A total of 1008 cell IDs are present. Information on a cell ID group to which a cell ID of a cell belongs is provided/acquired through an SSS of the cell, and information on the cell ID among 336 cell ID groups is provided/acquired through a PSS.

[0065] The SSB is periodically transmitted in accordance with SSB periodicity. A default SSB periodicity assumed by a UE during initial cell search is defined as 20 ms. After cell access, the SSB periodicity can be set to one of {5 ms, 10 ms, 20 ms, 40 ms, 80 ms, 160 ms} by a network (e.g., a BS).

[0066] Next, acquisition of system information (SI) will be described.

[0067] SI is divided into a master information block (MIB) and a plurality of system information blocks (SIBs). SI other than the MIB may be referred to as remaining minimum system information. The MIB includes information/parameter for monitoring a PDCCH that schedules a PDSCH carrying SIB1 (SystemInformationBlock1) and is transmitted by a BS through a PBCH of an SSB. SIB1 includes information related to availability and scheduling (e.g., transmission periodicity and SI-window size) of the remaining SIBs (hereinafter, SIBx, x is an integer equal to or greater than 2). SiBx is included in an SI message and transmitted over a PDSCH. Each SI message is transmitted within a periodically generated time window (i.e., SI-window).

[0068] A random access (RA) procedure in a 5G communication system will be additionally described with reference to FIG. 2.

[0069] A random access procedure is used for various purposes. For example, the random access procedure can be used for network initial access, handover, and UE-triggered UL data transmission. A UE can acquire UL synchronization and UL transmission resources through the random access procedure. The random access procedure is classified into a contention-based random access procedure and a contention-free random access procedure. A detailed procedure for the contention-based random access procedure is as follows.

[0070] A UE can transmit a random access preamble through a PRACH as Msg1 of a random access procedure in UL. Random access preamble sequences having different two lengths are supported. A long sequence length 839 is applied to subcarrier spacings of 1.25 kHz and 5 kHz and a short sequence length 139 is applied to subcarrier spacings of 15 kHz, 30 kHz, 60 kHz and 120 kHz.

[0071] When a BS receives the random access preamble from the UE, the BS transmits a random access response (RAR) message (Msg2) to the UE. A PDCCH that schedules a PDSCH carrying a RAR is CRC masked by a random access (RA) radio network temporary identifier (RNTI) (RA-RNTI) and transmitted. Upon detection of the PDCCH masked by the RA-RNTI, the UE can receive a RAR from the PDSCH scheduled by DCI carried by the PDCCH. The UE checks whether the RAR includes random access response information with respect to the preamble transmitted by the UE, that is, Msg1. Presence or absence of random access information with respect to Msg1 transmitted by the UE can be determined according to presence or absence of a random access preamble ID with respect to the preamble transmitted by the UE. If there is no response to Msg1, the UE can retransmit the RACH preamble less than a predetermined number of times while performing power ramping. The UE calculates PRACH transmission power for preamble retransmission on the basis of most recent pathloss and a power ramping counter.

[0072] The UE can perform UL transmission through Msg3 of the random access procedure over a physical uplink shared channel on the basis of the random access response information. Msg3 can include an RRC connection request and a UE ID. The network can transmit Msg4 as a response to Msg3, and Msg4 can be handled as a contention resolution message on DL. The UE can enter an RRC connected state by receiving Msg4.

[0073] C. Beam Management (BM) Procedure of 5G Communication System

[0074] A BM procedure can be divided into (1) a DL MB procedure using an SSB or a CSI-RS and (2) a UL BM procedure using a sounding reference signal (SRS). In addition, each BM procedure can include Tx beam swiping for determining a Tx beam and Rx beam swiping for determining an Rx beam.

[0075] The DL BM procedure using an SSB will be described.

[0076] Configuration of a beam report using an SSB is performed when channel state information (CSI)/beam is configured in RRC_CONNECTED.

• • [0077] A UE receives a CSI-ResourceConfig IE including CSI-SSB-ResourceSetList for SSB resources used for BM from a BS. The RRC parameter “csi-SSB-ResourceSetList” represents a list of SSB resources used for beam management and report in one resource set. Here, an SSB resource set can be set as {SSB×1, SSB×2, SSB×3, SSB×4, . . . }. An SSB index can be defined in the range of 0 to 63.
  • [0078] The UE receives the signals on SSB resources from the BS on the basis of the CSI-SSB-ResourceSetList.
  • [0079] When CSI-RS reportConfig with respect to a report on SSBRI and reference signal received power (RSRP) is set, the UE reports the best SSBRI and RSRP corresponding thereto to the BS. For example, when reportQuantity of the CSI-RS reportConfig IE is set to ‘ssb-Index-RSRP’, the UE reports the best SSBRI and RSRP corresponding thereto to the BS.

[0080] When a CSI-RS resource is configured in the same OFDM symbols as an SSB and ‘QCL-TypeD’ is applicable, the UE can assume that the CSI-RS and the SSB are quasi co-located (QCL) from the viewpoint of ‘QCL-TypeD’. Here, QCL-TypeD may mean that antenna ports are quasi co-located from the viewpoint of a spatial Rx parameter. When the UE receives signals of a plurality of DL antenna ports in a QCL-TypeD relationship, the same Rx beam can be applied.

[0081] Next, a DL BM procedure using a CSI-RS will be described.

[0082] An Rx beam determination (or refinement) procedure of a UE and a Tx beam swiping procedure of a BS using a CSI-RS will be sequentially described. A repetition parameter is set to ‘ON’ in the Rx beam determination procedure of a UE and set to ‘OFF’ in the Tx beam swiping procedure of a BS.

[0083] First, the Rx beam determination procedure of a UE will be described.

• • [0084] The UE receives an NZP CSI-RS resource set IE including an RRC parameter with respect to ‘repetition’ from a BS through RRC signaling. Here, the RRC parameter ‘repetition’ is set to ‘ON’.
  • [0085] The UE repeatedly receives signals on resources in a CSI-RS resource set in which the RRC parameter ‘repetition’ is set to ‘ON’ in different OFDM symbols through the same Tx beam (or DL spatial domain transmission filters) of the BS.
  • [0086] The UE determines an RX beam thereof.
  • [0087] The UE skips a CSI report. That is, the UE can skip a CSI report when the RRC parameter ‘repetition’ is set to ‘ON’.

[0088] Next, the Tx beam determination procedure of a BS will be described.

• • [0089] A UE receives an NZP CSI-RS resource set IE including an RRC parameter with respect to ‘repetition’ from the BS through RRC signaling. Here, the RRC parameter ‘repetition’ is related to the Tx beam swiping procedure of the BS when set to ‘OFF’.
  • [0090] The UE receives signals on resources in a CSI-RS resource set in which the RRC parameter ‘repetition’ is set to ‘OFF’ in different DL spatial domain transmission filters of the BS.
  • [0091] The UE selects (or determines) a best beam.
  • [0092] The UE reports an ID (e.g., CRI) of the selected beam and related quality information (e.g., RSRP) to the BS. That is, when a CSI-RS is transmitted for BM, the UE reports a CRI and RSRP with respect thereto to the BS.

[0093] Next, the UL BM procedure using an SRS will be described.

• • [0094] A UE receives RRC signaling (e.g., SRS-Config IE) including a (RRC parameter) purpose parameter set to ‘beam management” from a BS. The SRS-Config IE is used to set SRS transmission. The SRS-Config IE includes a list of SRS-Resources and a list of SRS-ResourceSets. Each SRS resource set refers to a set of SRS-resources.

[0095] The UE determines Tx beamforming for SRS resources to be transmitted on the basis of SRS-SpatialRelation Info included in the SRS-Config IE. Here, SRS-SpatialRelation Info is set for each SRS resource and indicates whether the same beamforming as that used for an SSB, a CSI-RS or an SRS will be applied for each SRS resource.

• • [0096] When SRS-SpatialRelationInfo is set for SRS resources, the same beamforming as that used for the SSB, CSI-RS or SRS is applied. However, when SRS-SpatialRelationInfo is not set for SRS resources, the UE arbitrarily determines Tx beamforming and transmits an SRS through the determined Tx beamforming.

[0097] Next, a beam failure recovery (BFR) procedure will be described.

[0098] In a beamformed system, radio link failure (RLF) may frequently occur due to rotation, movement or beamforming blockage of a UE. Accordingly, NR supports BFR in order to prevent frequent occurrence of RLF. BFR is similar to a radio link failure recovery procedure and can be supported when a UE knows new candidate beams. For beam failure detection, a BS configures beam failure detection reference signals for a UE, and the UE declares beam failure when the number of beam failure indications from the physical layer of the UE reaches a threshold set through RRC signaling within a period set through RRC signaling of the BS. After beam failure detection, the UE triggers beam failure recovery by initiating a random access procedure in a PCell and performs beam failure recovery by selecting a suitable beam. (When the BS provides dedicated random access resources for certain beams, these are prioritized by the UE). Completion of the aforementioned random access procedure is regarded as completion of beam failure recovery.

[0099] D. URLLC (Ultra-Reliable and Low Latency Communication)

[0100] URLLC transmission defined in NR can refer to (1) a relatively low traffic size, (2) a relatively low arrival rate, (3) extremely low latency requirements (e.g., 0.5 and 1 ms), (4) relatively short transmission duration (e.g., 2 OFDM symbols), (5) urgent services/messages, etc. In the case of UL, transmission of traffic of a specific type (e.g., URLLC) needs to be multiplexed with another transmission (e.g., eMBB) scheduled in advance in order to satisfy more stringent latency requirements. In this regard, a method of providing information indicating preemption of specific resources to a UE scheduled in advance and allowing a URLLC UE to use the resources for UL transmission is provided.

[0101] NR supports dynamic resource sharing between eMBB and URLLC. eMBB and URLLC services can be scheduled on non-overlapping time/frequency resources, and URLLC transmission can occur in resources scheduled for ongoing eMBB traffic. An eMBB UE may not ascertain whether PDSCH transmission of the corresponding UE has been partially punctured and the UE may not decode a PDSCH due to corrupted coded bits. In view of this, NR provides a preemption indication. The preemption indication may also be referred to as an interrupted transmission indication.

[0102] With regard to the preemption indication, a UE receives DownlinkPreemption IE through RRC signaling from a BS. When the UE is provided with DownlinkPreemption IE, the UE is configured with INT-RNTI provided by a parameter int-RNTI in DownlinkPreemption IE for monitoring of a PDCCH that conveys DCI format 2_1. The UE is additionally configured with a corresponding set of positions for fields in DCI format 2_1 according to a set of serving cells and positionInDCI by INT-ConfigurationPerServing Cell including a set of serving cell indexes provided by servingCellID, configured having an information payload size for DCI format 2_1 according to dci-Payloadsize, and configured with indication granularity of time-frequency resources according to timeFrequencySect.

[0103] The UE receives DCI format 2_1 from the BS on the basis of the DownlinkPreemption IE.

[0104] When the UE detects DCI format 2_1 for a serving cell in a configured set of serving cells, the UE can assume that there is no transmission to the UE in PRBs and symbols indicated by the DCI format 2_1 in a set of PRBs and a set of symbols in a last monitoring period before a monitoring period to which the DCI format 2_1 belongs. For example, the UE assumes that a signal in a time-frequency resource indicated according to preemption is not DL transmission scheduled therefor and decodes data on the basis of signals received in the remaining resource region.

[0105] E. mMTC (Massive MTC)

[0106] mMTC (massive Machine Type Communication) is one of 5G scenarios for supporting a hyper-connection service providing simultaneous communication with a large number of UEs. In this environment, a UE intermittently performs communication with a very low speed and mobility. Accordingly, a main goal of mMTC is operating a UE for a long time at a low cost. With respect to mMTC, 3GPP deals with MTC and NB (NarrowBand)-IoT.

[0107] mMTC has features such as repetitive transmission of a PDCCH, a PUCCH, a PDSCH (physical downlink shared channel), a PUSCH, etc., frequency hopping, retuning, and a guard period.

[0108] That is, a PUSCH (or a PUCCH (particularly, a long PUCCH) or a PRACH) including specific information and a PDSCH (or a PDCCH) including a response to the specific information are repeatedly transmitted. Repetitive transmission is performed through frequency hopping, and for repetitive transmission, (RF) retuning from a first frequency resource to a second frequency resource is performed in a guard period and the specific information and the response to the specific information can be transmitted/received through a narrowband (e.g., 6 resource blocks (RBs) or 1 RB).

[0109] F. Basic Operation Between Autonomous Vehicles Using 5G Communication

[0110] FIG. 3 shows an example of basic operations of an autonomous vehicle and a 5G network in a 5G communication system.

[0111] The autonomous vehicle transmits specific information to the 5G network (S1). The specific information may include autonomous driving related information. In addition, the 5G network can determine whether to remotely control the vehicle (S2). Here, the 5G network may include a server or a module which performs remote control related to autonomous driving. In addition, the 5G network can transmit information (or signal) related to remote control to the autonomous vehicle (S3).

[0112] G. Applied Operations Between Autonomous Vehicle and 5G Network in 5G Communication System

[0113] Hereinafter, the operation of an autonomous vehicle using 5G communication will be described in more detail with reference to wireless communication technology (BM procedure, URLLC, mMTC, etc.) described in FIGS. 1 and 2.

[0114] First, a basic procedure of an applied operation to which a method proposed by the present disclosure which will be described later and eMBB of 5G communication are applied will be described.

[0115] As in steps S1 and S3 of FIG. 3, the autonomous vehicle performs an initial access procedure and a random access procedure with the 5G network prior to step S1 of FIG. 3 in order to transmit/receive signals, information and the like to/from the 5G network.

[0116] More specifically, the autonomous vehicle performs an initial access procedure with the 5G network on the basis of an SSB in order to acquire DL synchronization and system information. A beam management (BM) procedure and a beam failure recovery procedure may be added in the initial access procedure, and quasi-co-location (QCL) relation may be added in a process in which the autonomous vehicle receives a signal from the 5G network.

[0117] In addition, the autonomous vehicle performs a random access procedure with the 5G network for UL synchronization acquisition and/or UL transmission. The 5G network can transmit, to the autonomous vehicle, a UL grant for scheduling transmission of specific information. Accordingly, the autonomous vehicle transmits the specific information to the 5G network on the basis of the UL grant. In addition, the 5G network transmits, to the autonomous vehicle, a DL grant for scheduling transmission of 5G processing results with respect to the specific information. Accordingly, the 5G network can transmit, to the autonomous vehicle, information (or a signal) related to remote control on the basis of the DL grant.

[0118] Next, a basic procedure of an applied operation to which a method proposed by the present disclosure which will be described later and URLLC of 5G communication are applied will be described.

[0119] As described above, an autonomous vehicle can receive DownlinkPreemption IE from the 5G network after the autonomous vehicle performs an initial access procedure and/or a random access procedure with the 5G network. Then, the autonomous vehicle receives DCI format 2_1 including a preemption indication from the 5G network on the basis of DownlinkPreemption IE. The autonomous vehicle does not perform (or expect or assume) reception of eMBB data in resources (PRBs and/or OFDM symbols) indicated by the preemption indication. Thereafter, when the autonomous vehicle needs to transmit specific information, the autonomous vehicle can receive a UL grant from the 5G network.

[0120] Next, a basic procedure of an applied operation to which a method proposed by the present disclosure which will be described later and mMTC of 5G communication are applied will be described.

[0121] Description will focus on parts in the steps of FIG. 3 which are changed according to application of mMTC.

[0122] In step S1 of FIG. 3, the autonomous vehicle receives a UL grant from the 5G network in order to transmit specific information to the 5G network. Here, the UL grant may include information on the number of repetitions of transmission of the specific information and the specific information may be repeatedly transmitted on the basis of the information on the number of repetitions. That is, the autonomous vehicle transmits the specific information to the 5G network on the basis of the UL grant. Repetitive transmission of the specific information may be performed through frequency hopping, the first transmission of the specific information may be performed in a first frequency resource, and the second transmission of the specific information may be performed in a second frequency resource. The specific information can be transmitted through a narrowband of 6 resource blocks (RBs) or 1 RB.

[0123] H. Autonomous Driving Operation Between Vehicles Using 5G Communication

[0124] FIG. 4 shows an example of a basic operation between vehicles using 5G communication.

[0125] A first vehicle transmits specific information to a second vehicle (S61). The second vehicle transmits a response to the specific information to the first vehicle (S62).

[0126] Meanwhile, a configuration of an applied operation between vehicles may depend on whether the 5G network is directly (sidelink communication transmission mode 3) or indirectly (sidelink communication transmission mode 4) involved in resource allocation for the specific information and the response to the specific information.

[0127] Next, an applied operation between vehicles using 5G communication will be described.

[0128] First, a method in which a 5G network is directly involved in resource allocation for signal transmission/reception between vehicles will be described.

[0129] The 5G network can transmit DCI format 5A to the first vehicle for scheduling of mode-3 transmission (PSCCH and/or PSSCH transmission). Here, a physical sidelink control channel (PSCCH) is a 5G physical channel for scheduling of transmission of specific information a physical sidelink shared channel (PSSCH) is a 5G physical channel for transmission of specific information. In addition, the first vehicle transmits SCI format 1 for scheduling of specific information transmission to the second vehicle over a PSCCH. Then, the first vehicle transmits the specific information to the second vehicle over a PSSCH.

[0130] Next, a method in which a 5G network is indirectly involved in resource allocation for signal transmission/reception will be described.

[0131] The first vehicle senses resources for mode-4 transmission in a first window. Then, the first vehicle selects resources for mode-4 transmission in a second window on the basis of the sensing result. Here, the first window refers to a sensing window and the second window refers to a selection window. The first vehicle transmits SCI format 1 for scheduling of transmission of specific information to the second vehicle over a PSCCH on the basis of the selected resources. Then, the first vehicle transmits the specific information to the second vehicle over a PSSCH.

[0132] The above-described 5G communication technology can be combined with methods proposed in the present disclosure which will be described later and applied or can complement the methods proposed in the present disclosure to make technical features of the methods concrete and clear.

[0133] Driving

[0134] (1) Exterior of Vehicle

[0135] FIG. 5 is a diagram showing a vehicle according to an embodiment of the present disclosure.

[0136] Referring to FIG. 5, a vehicle 10 according to an embodiment of the present disclosure is defined as a transportation means traveling on roads or railroads. The vehicle 10 includes a car, a train and a motorcycle. The vehicle 10 may include an internal-combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and a motor as a power source, and an electric vehicle having an electric motor as a power source. The vehicle 10 may be a private own vehicle. The vehicle 10 may be a shared vehicle. The vehicle 10 may be an autonomous vehicle.

[0137] (2) Components of Vehicle

[0138] FIG. 6 is a control block diagram of the vehicle according to an embodiment of the present disclosure.

[0139] Referring to FIG. 6, the vehicle 10 may include a user interface device 200, an object detection device 210, a communication device 220, a driving operation device 230, a main ECU 240, a driving control device 250, an autonomous device 260, a sensing unit 270, and a position data generation device 280. The object detection device 210, the communication device 220, the driving operation device 230, the main ECU 240, the driving control device 250, the autonomous device 260, the sensing unit 270 and the position data generation device 280 may be realized by electronic devices which generate electric signals and exchange the electric signals from one another.

[0140] 1) User Interface Device

[0141] The user interface device 200 is a device for communication between the vehicle 10 and a user. The user interface device 200 can receive user input and provide information generated in the vehicle 10 to the user. The vehicle 10 can realize a user interface (UI) or user experience (UX) through the user interface device 200. The user interface device 200 may include an input device, an output device and a user monitoring device.

[0142] 2) Object Detection Device

[0143] The object detection device 210 can generate information about objects outside the vehicle 10. Information about an object can include at least one of information on presence or absence of the object, positional information of the object, information on a distance between the vehicle 10 and the object, and information on a relative speed of the vehicle 10 with respect to the object. The object detection device 210 can detect objects outside the vehicle 10. The object detection device 210 may include at least one sensor which can detect objects outside the vehicle 10. The object detection device 210 may include at least one of a camera, a radar, a lidar, an ultrasonic sensor and an infrared sensor. The object detection device 210 can provide data about an object generated on the basis of a sensing signal generated from a sensor to at least one electronic device included in the vehicle.

[0144] 2.1) Camera

[0145] The camera can generate information about objects outside the vehicle 10 using images. The camera may include at least one lens, at least one image sensor, and at least one processor which is electrically connected to the image sensor, processes received signals and generates data about objects on the basis of the processed signals.

[0146] The camera may be at least one of a mono camera, a stereo camera and an around view monitoring (AVM) camera. The camera can acquire positional information of objects, information on distances to objects, or information on relative speeds with respect to objects using various image processing algorithms. For example, the camera can acquire information on a distance to an object and information on a relative speed with respect to the object from an acquired image on the basis of change in the size of the object over time. For example, the camera may acquire information on a distance to an object and information on a relative speed with respect to the object through a pin-hole model, road profiling, or the like. For example, the camera may acquire information on a distance to an object and information on a relative speed with respect to the object from a stereo image acquired from a stereo camera on the basis of disparity information.

[0147] The camera may be attached at a portion of the vehicle at which FOV (field of view) can be secured in order to photograph the outside of the vehicle. The camera may be disposed in proximity to the front windshield inside the vehicle in order to acquire front view images of the vehicle. The camera may be disposed near a front bumper or a radiator grill. The camera may be disposed in proximity to a rear glass inside the vehicle in order to acquire rear view images of the vehicle. The camera may be disposed near a rear bumper, a trunk or a tail gate. The camera may be disposed in proximity to at least one of side windows inside the vehicle in order to acquire side view images of the vehicle. Alternatively, the camera may be disposed near a side mirror, a fender or a door.

[0148] 2.2) Radar

[0149] The radar can generate information about an object outside the vehicle using electromagnetic waves. The radar may include an electromagnetic wave transmitter, an electromagnetic wave receiver, and at least one processor which is electrically connected to the electromagnetic wave transmitter and the electromagnetic wave receiver, processes received signals and generates data about an object on the basis of the processed signals. The radar may be realized as a pulse radar or a continuous wave radar in terms of electromagnetic wave emission. The continuous wave radar may be realized as a frequency modulated continuous wave (FMCW) radar or a frequency shift keying (FSK) radar according to signal waveform. The radar can detect an object through electromagnetic waves on the basis of TOF (Time of Flight) or phase shift and detect the position of the detected object, a distance to the detected object and a relative speed with respect to the detected object. The radar may be disposed at an appropriate position outside the vehicle in order to detect objects positioned in front of, behind or on the side of the vehicle.

[0150] 2.3 Lidar

[0151] The lidar can generate information about an object outside the vehicle 10 using a laser beam. The lidar may include a light transmitter, a light receiver, and at least one processor which is electrically connected to the light transmitter and the light receiver, processes received signals and generates data about an object on the basis of the processed signal. The lidar may be realized according to TOF or phase shift. The lidar may be realized as a driven type or a non-driven type. A driven type lidar may be rotated by a motor and detect an object around the vehicle 10. A non-driven type lidar may detect an object positioned within a predetermined range from the vehicle according to light steering. The vehicle 10 may include a plurality of non-drive type lidars. The lidar can detect an object through a laser beam on the basis of TOF (Time of Flight) or phase shift and detect the position of the detected object, a distance to the detected object and a relative speed with respect to the detected object. The lidar may be disposed at an appropriate position outside the vehicle in order to detect objects positioned in front of, behind or on the side of the vehicle.

[0152] 3) Communication Device

[0153] The communication device 220 can exchange signals with devices disposed outside the vehicle 10. The communication device 220 can exchange signals with at least one of infrastructure (e.g., a server and a broadcast station), another vehicle and a terminal. The communication device 220 may include a transmission antenna, a reception antenna, and at least one of a radio frequency (RF) circuit and an RF element which can implement various communication protocols in order to perform communication.

[0154] For example, the communication device can exchange signals with external devices on the basis of C-V2X (Cellular V2X). For example, C-V2X can include sidelink communication based on LTE and/or sidelink communication based on NR. Details related to C-V2X will be described later.

[0155] For example, the communication device can exchange signals with external devices on the basis of DSRC (Dedicated Short Range Communications) or WAVE (Wireless Access in Vehicular Environment) standards based on IEEE 802.11p PHY/MAC layer technology and IEEE 1609 Network/Transport layer technology. DSRC (or WAVE standards) is communication specifications for providing an intelligent transport system (ITS) service through short-range dedicated communication between vehicle-mounted devices or between a roadside device and a vehicle-mounted device. DSRC may be a communication scheme that can use a frequency of 5.9 GHz and have a data transfer rate in the range of 3 Mbps to 27 Mbps. IEEE 802.11p may be combined with IEEE 1609 to support DSRC (or WAVE standards).

[0156] The communication device of the present disclosure can exchange signals with external devices using only one of C-V2X and DSRC. Alternatively, the communication device of the present disclosure can exchange signals with external devices using a hybrid of C-V2X and DSRC.

[0157] 4) Driving Operation Device

[0158] The driving operation device 230 is a device for receiving user input for driving. In a manual mode, the vehicle 10 may be driven on the basis of a signal provided by the driving operation device 230. The driving operation device 230 may include a steering input device (e.g., a steering wheel), an acceleration input device (e.g., an acceleration pedal) and a brake input device (e.g., a brake pedal).

[0159] 5) Main ECU

[0160] The main ECU 240 can control the overall operation of at least one electronic device included in the vehicle 10.

[0161] 6) Driving Control Device

[0162] The driving control device 250 is a device for electrically controlling various vehicle driving devices included in the vehicle 10. The driving control device 250 may include a power train driving control device, a chassis driving control device, a door/window driving control device, a safety device driving control device, a lamp driving control device, and an air-conditioner driving control device. The power train driving control device may include a power source driving control device and a transmission driving control device. The chassis driving control device may include a steering driving control device, a brake driving control device and a suspension driving control device. Meanwhile, the safety device driving control device may include a seat belt driving control device for seat belt control.

[0163] The driving control device 250 includes at least one electronic control device (e.g., a control ECU (Electronic Control Unit)).

[0164] The driving control device 250 can control vehicle driving devices on the basis of signals received by the autonomous device 260. For example, the driving control device 250 can control a power train, a steering device and a brake device on the basis of signals received by the autonomous device 260.

[0165] 7) Autonomous Device

[0166] The autonomous device 260 can generate a route for self-driving on the basis of acquired data. The autonomous device 260 can generate a driving plan for traveling along the generated route. The autonomous device 260 can generate a signal for controlling movement of the vehicle according to the driving plan. The autonomous device 260 can provide the signal to the driving control device 250.

[0167] The autonomous device 260 can implement at least one ADAS (Advanced Driver Assistance System) function. The ADAS can implement at least one of ACC (Adaptive Cruise Control), AEB (Autonomous Emergency Braking), FCW (Forward Collision Warning), LKA (Lane Keeping Assist), LCA (Lane Change Assist), TFA (Target Following Assist), BSD (Blind Spot Detection), HBA (High Beam Assist), APS (Auto Parking System), a PD collision warning system, TSR (Traffic Sign Recognition), TSA (Traffic Sign Assist), NV (Night Vision), DSM (Driver Status Monitoring) and TJA (Traffic Jam Assist).

[0168] The autonomous device 260 can perform switching from a self-driving mode to a manual driving mode or switching from the manual driving mode to the self-driving mode. For example, the autonomous device 260 can switch the mode of the vehicle 10 from the self-driving mode to the manual driving mode or from the manual driving mode to the self-driving mode on the basis of a signal received from the user interface device 200.

[0169] 8) Sensing Unit

[0170] The sensing unit 270 can detect a state of the vehicle. The sensing unit 270 may include at least one of an internal measurement unit (IMU) sensor, a collision sensor, a wheel sensor, a speed sensor, an inclination sensor, a weight sensor, a heading sensor, a position module, a vehicle forward/backward movement sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor, a temperature sensor, a humidity sensor, an ultrasonic sensor, an illumination sensor, and a pedal position sensor. Further, the IMU sensor may include one or more of an acceleration sensor, a gyro sensor and a magnetic sensor.

[0171] The sensing unit 270 can generate vehicle state data on the basis of a signal generated from at least one sensor. Vehicle state data may be information generated on the basis of data detected by various sensors included in the vehicle. The sensing unit 270 may generate vehicle attitude data, vehicle motion data, vehicle yaw data, vehicle roll data, vehicle pitch data, vehicle collision data, vehicle orientation data, vehicle angle data, vehicle speed data, vehicle acceleration data, vehicle tilt data, vehicle forward/backward movement data, vehicle weight data, battery data, fuel data, tire pressure data, vehicle internal temperature data, vehicle internal humidity data, steering wheel rotation angle data, vehicle external illumination data, data of a pressure applied to an acceleration pedal, data of a pressure applied to a brake panel, etc.

[0172] 9) Position Data Generation Device

[0173] The position data generation device 280 can generate position data of the vehicle 10. The position data generation device 280 may include at least one of a global positioning system (GPS) and a differential global positioning system (DGPS). The position data generation device 280 can generate position data of the vehicle 10 on the basis of a signal generated from at least one of the GPS and the DGPS. According to an embodiment, the position data generation device 280 can correct position data on the basis of at least one of the inertial measurement unit (IMU) sensor of the sensing unit 270 and the camera of the object detection device 210. The position data generation device 280 may also be called a global navigation satellite system (GNSS).

[0174] The vehicle 10 may include an internal communication system 50. The plurality of electronic devices included in the vehicle 10 can exchange signals through the internal communication system 50. The signals may include data. The internal communication system 50 can use at least one communication protocol (e.g., CAN, LIN, FlexRay, MOST or Ethernet).

[0175] (3) Components of Autonomous Device

[0176] FIG. 7 is a control block diagram of the autonomous device according to an embodiment of the present disclosure.

[0177] Referring to FIG. 7, the autonomous device 260 may include a memory 140, a processor 170, an interface 180 and a power supply 190.

[0178] The memory 140 is electrically connected to the processor 170. The memory 140 can store basic data with respect to units, control data for operation control of units, and input/output data. The memory 140 can store data processed in the processor 170. Hardware-wise, the memory 140 can be configured as at least one of a ROM, a RAM, an EPROM, a flash drive and a hard drive. The memory 140 can store various types of data for overall operation of the autonomous device 260, such as a program for processing or control of the processor 170. The memory 140 may be integrated with the processor 170. According to an embodiment, the memory 140 may be categorized as a subcomponent of the processor 170.

[0179] The interface 180 can exchange signals with at least one electronic device included in the vehicle 10 in a wired or wireless manner. The interface 180 can exchange signals with at least one of the object detection device 210, the communication device 220, the driving operation device 230, the main ECU 240, the driving control device 250, the sensing unit 270 and the position data generation device 280 in a wired or wireless manner. The interface 180 can be configured using at least one of a communication module, a terminal, a pin, a cable, a port, a circuit, an element and a device.

[0180] The power supply 190 can provide power to the autonomous device 260. The power supply 190 can be provided with power from a power source (e.g., a battery) included in the vehicle 10 and supply the power to each unit of the autonomous device 260. The power supply 190 can operate according to a control signal supplied from the main ECU 240. The power supply 190 may include a switched-mode power supply (SMPS).

[0181] The processor 170 can be electrically connected to the memory 140, the interface 180 and the power supply 190 and exchange signals with these components. The processor 170 can be realized using at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, and electronic units for executing other functions.

[0182] The processor 170 can be operated by power supplied from the power supply 190. The processor 170 can receive data, process the data, generate a signal and provide the signal while power is supplied thereto.

[0183] The processor 170 can receive information from other electronic devices included in the vehicle 10 through the interface 180. The processor 170 can provide control signals to other electronic devices in the vehicle 10 through the interface 180.

[0184] The autonomous device 260 may include at least one printed circuit board (PCB). The memory 140, the interface 180, the power supply 190 and the processor 170 may be electrically connected to the PCB.

[0185] (4) Operation of Autonomous Device

[0186] FIG. 8 is a diagram showing a signal flow in an autonomous vehicle according to an embodiment of the present disclosure.

[0187] 1) Reception Operation

[0188] Referring to FIG. 8, the processor 170 can perform a reception operation. The processor 170 can receive data from at least one of the object detection device 210, the communication device 220, the sensing unit 270 and the position data generation device 280 through the interface 180. The processor 170 can receive object data from the object detection device 210. The processor 170 can receive HD map data from the communication device 220. The processor 170 can receive vehicle state data from the sensing unit 270. The processor 170 can receive position data from the position data generation device 280.

[0189] 2) Processing/Determination Operation

[0190] The processor 170 can perform a processing/determination operation. The processor 170 can perform the processing/determination operation on the basis of traveling situation information. The processor 170 can perform the processing/determination operation on the basis of at least one of object data, HD map data, vehicle state data and position data.

[0191] 2.1) Driving Plan Data Generation Operation

[0192] The processor 170 can generate driving plan data. For example, the processor 170 may generate electronic horizon data. The electronic horizon data can be understood as driving plan data in a range from a position at which the vehicle 10 is located to a horizon. The horizon can be understood as a point a predetermined distance before the position at which the vehicle 10 is located on the basis of a predetermined traveling route. The horizon may refer to a point at which the vehicle can arrive after a predetermined time from the position at which the vehicle 10 is located along a predetermined traveling route.

[0193] The electronic horizon data can include horizon map data and horizon path data.

[0194] 2.1.1) Horizon Map Data

[0195] The horizon map data may include at least one of topology data, road data, HD map data and dynamic data. According to an embodiment, the horizon map data may include a plurality of layers. For example, the horizon map data may include a first layer that matches the topology data, a second layer that matches the road data, a third layer that matches the HD map data, and a fourth layer that matches the dynamic data. The horizon map data may further include static object data.

[0196] The topology data may be explained as a map created by connecting road centers. The topology data is suitable for approximate display of a location of a vehicle and may have a data form used for navigation for drivers. The topology data may be understood as data about road information other than information on driveways. The topology data may be generated on the basis of data received from an external server through the communication device 220. The topology data may be based on data stored in at least one memory included in the vehicle 10.

[0197] The road data may include at least one of road slope data, road curvature data and road speed limit data. The road data may further include no-passing zone data. The road data may be based on data received from an external server through the communication device 220. The road data may be based on data generated in the object detection device 210.

[0198] The HD map data may include detailed topology information in units of lanes of roads, connection information of each lane, and feature information for vehicle localization (e.g., traffic signs, lane marking/attribute, road furniture, etc.). The HD map data may be based on data received from an external server through the communication device 220.

[0199] The dynamic data may include various types of dynamic information which can be generated on roads. For example, the dynamic data may include construction information, variable speed road information, road condition information, traffic information, moving object information, etc. The dynamic data may be based on data received from an external server through the communication device 220. The dynamic data may be based on data generated in the object detection device 210.

[0200] The processor 170 can provide map data in a range from a position at which the vehicle 10 is located to the horizon.

[0201] 2.1.2) Horizon Path Data

[0202] The horizon path data may be explained as a trajectory through which the vehicle 10 can travel in a range from a position at which the vehicle 10 is located to the horizon. The horizon path data may include data indicating a relative probability of selecting a road at a decision point (e.g., a fork, a junction, a crossroad, or the like). The relative probability may be calculated on the basis of a time taken to arrive at a final destination. For example, if a time taken to arrive at a final destination is shorter when a first road is selected at a decision point than that when a second road is selected, a probability of selecting the first road can be calculated to be higher than a probability of selecting the second road.

[0203] The horizon path data can include a main path and a sub-path. The main path may be understood as a trajectory obtained by connecting roads having a high relative probability of being selected. The sub-path can be branched from at least one decision point on the main path. The sub-path may be understood as a trajectory obtained by connecting at least one road having a low relative probability of being selected at at least one decision point on the main path.

[0204] 3) Control Signal Generation Operation

[0205] The processor 170 can perform a control signal generation operation. The processor 170 can generate a control signal on the basis of the electronic horizon data. For example, the processor 170 may generate at least one of a power train control signal, a brake device control signal and a steering device control signal on the basis of the electronic horizon data.

[0206] The processor 170 can transmit the generated control signal to the driving control device 250 through the interface 180. The driving control device 250 can transmit the control signal to at least one of a power train 251, a brake device 252 and a steering device 254.

[0207] Cabin

[0208] FIG. 9 is a diagram showing the interior of the vehicle according to an embodiment of the present disclosure. FIG. 10 is a block diagram referred to in description of a cabin system for a vehicle according to an embodiment of the present disclosure.

[0209] (1) Components of Cabin

[0210] Referring to FIGS. 9 and 10, a cabin system 300 for a vehicle (hereinafter, a cabin system) can be defined as a convenience system for a user who uses the vehicle 10. The cabin system 300 can be explained as a high-end system including a display system 350, a cargo system 355, a seat system 360 and a payment system 365. The cabin system 300 may include a main controller 370, a memory 340, an interface 380, a power supply 390, an input device 310, an imaging device 320, a communication device 330, the display system 350, the cargo system 355, the seat system 360 and the payment system 365. The cabin system 300 may further include components in addition to the components described in this specification or may not include some of the components described in this specification according to embodiments.

[0211] 1) Main Controller

[0212] The main controller 370 can be electrically connected to the input device 310, the communication device 330, the display system 350, the cargo system 355, the seat system 360 and the payment system 365 and exchange signals with these components. The main controller 370 can control the input device 310, the communication device 330, the display system 350, the cargo system 355, the seat system 360 and the payment system 365. The main controller 370 may be realized using at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, and electronic units for executing other functions.

[0213] The main controller 370 may be configured as at least one sub-controller. The main controller 370 may include a plurality of sub-controllers according to an embodiment. The plurality of sub-controllers may individually control the devices and systems included in the cabin system 300. The devices and systems included in the cabin system 300 may be grouped by function or grouped on the basis of seats on which a user can sit.

[0214] The main controller 370 may include at least one processor 371. Although FIG. 6 illustrates the main controller 370 including a single processor 371, the main controller 371 may include a plurality of processors. The processor 371 may be categorized as one of the above-described sub-controllers.

[0215] The processor 371 can receive signals, information or data from a user terminal through the communication device 330. The user terminal can transmit signals, information or data to the cabin system 300.

[0216] The processor 371 can identify a user on the basis of image data received from at least one of an internal camera and an external camera included in the imaging device. The processor 371 can identify a user by applying an image processing algorithm to the image data. For example, the processor 371 may identify a user by comparing information received from the user terminal with the image data. For example, the information may include at least one of route information, body information, fellow passenger information, baggage information, position information, preferred content information, preferred food information, disability information and use history information of a user.

[0217] The main controller 370 may include an artificial intelligence (AI) agent 372. The AI agent 372 can perform machine learning on the basis of data acquired through the input device 310. The AI agent 371 can control at least one of the display system 350, the cargo system 355, the seat system 360 and the payment system 365 on the basis of machine learning results.

[0218] 2) Essential Components

[0219] The memory 340 is electrically connected to the main controller 370. The memory 340 can store basic data about units, control data for operation control of units, and input/output data. The memory 340 can store data processed in the main controller 370. Hardware-wise, the memory 340 may be configured using at least one of a ROM, a RAM, an EPROM, a flash drive and a hard drive. The memory 340 can store various types of data for the overall operation of the cabin system 300, such as a program for processing or control of the main controller 370. The memory 340 may be integrated with the main controller 370.

[0220] The interface 380 can exchange signals with at least one electronic device included in the vehicle 10 in a wired or wireless manner. The interface 380 may be configured using at least one of a communication module, a terminal, a pin, a cable, a port, a circuit, an element and a device.

[0221] The power supply 390 can provide power to the cabin system 300. The power supply 390 can be provided with power from a power source (e.g., a battery) included in the vehicle 10 and supply the power to each unit of the cabin system 300. The power supply 390 can operate according to a control signal supplied from the main controller 370. For example, the power supply 390 may be implemented as a switched-mode power supply (SMPS).

[0222] The cabin system 300 may include at least one printed circuit board (PCB). The main controller 370, the memory 340, the interface 380 and the power supply 390 may be mounted on at least one PCB.

[0223] 3) Input Device

[0224] The input device 310 can receive a user input. The input device 310 can convert the user input into an electrical signal. The electrical signal converted by the input device 310 can be converted into a control signal and provided to at least one of the display system 350, the cargo system 355, the seat system 360 and the payment system 365. The main controller 370 or at least one processor included in the cabin system 300 can generate a control signal based on an electrical signal received from the input device 310.

[0225] The input device 310 may include at least one of a touch input unit, a gesture input unit, a mechanical input unit and a voice input unit. The touch input unit can convert a user's touch input into an electrical signal. The touch input unit may include at least one touch sensor for detecting a user's touch input. According to an embodiment, the touch input unit can realize a touch screen by integrating with at least one display included in the display system 350. Such a touch screen can provide both an input interface and an output interface between the cabin system 300 and a user. The gesture input unit can convert a user's gesture input into an electrical signal. The gesture input unit may include at least one of an infrared sensor and an image sensor for detecting a user's gesture input. According to an embodiment, the gesture input unit can detect a user's three-dimensional gesture input. To this end, the gesture input unit may include a plurality of light output units for outputting infrared light or a plurality of image sensors. The gesture input unit may detect a user's three-dimensional gesture input using TOF (Time of Flight), structured light or disparity. The mechanical input unit can convert a user's physical input (e.g., press or rotation) through a mechanical device into an electrical signal. The mechanical input unit may include at least one of a button, a dome switch, a jog wheel and a jog switch. Meanwhile, the gesture input unit and the mechanical input unit may be integrated. For example, the input device 310 may include a jog dial device that includes a gesture sensor and is formed such that it can be inserted/ejected into/from a part of a surrounding structure (e.g., at least one of a seat, an armrest and a door). When the jog dial device is parallel to the surrounding structure, the jog dial device can serve as a gesture input unit. When the jog dial device is protruded from the surrounding structure, the jog dial device can serve as a mechanical input unit. The voice input unit can convert a user's voice input into an electrical signal. The voice input unit may include at least one microphone. The voice input unit may include a beam forming MIC.

[0226] 4) Imaging Device

[0227] The imaging device 320 can include at least one camera. The imaging device 320 may include at least one of an internal camera and an external camera. The internal camera can capture an image of the inside of the cabin. The external camera can capture an image of the outside of the vehicle. The internal camera can acquire an image of the inside of the cabin. The imaging device 320 may include at least one internal camera. It is desirable that the imaging device 320 include as many cameras as the number of passengers who can ride in the vehicle. The imaging device 320 can provide an image acquired by the internal camera. The main controller 370 or at least one processor included in the cabin system 300 can detect a motion of a user on the basis of an image acquired by the internal camera, generate a signal on the basis of the detected motion and provide the signal to at least one of the display system 350, the cargo system 355, the seat system 360 and the payment system 365. The external camera can acquire an image of the outside of the vehicle. The imaging device 320 may include at least one external camera. It is desirable that the imaging device 320 include as many cameras as the number of doors through which passengers ride in the vehicle. The imaging device 320 can provide an image acquired by the external camera. The main controller 370 or at least one processor included in the cabin system 300 can acquire user information on the basis of the image acquired by the external camera. The main controller 370 or at least one processor included in the cabin system 300 can authenticate a user or acquire body information (e.g., height information, weight information, etc.), fellow passenger information and baggage information of a user on the basis of the user information.

[0228] 5) Communication Device

[0229] The communication device 330 can exchange signals with external devices in a wireless manner. The communication device 330 can exchange signals with external devices through a network or directly exchange signals with external devices. External devices may include at least one of a server, a mobile terminal and another vehicle. The communication device 330 may exchange signals with at least one user terminal. The communication device 330 may include an antenna and at least one of an RF circuit and an RF element which can implement at least one communication protocol in order to perform communication. According to an embodiment, the communication device 330 may use a plurality of communication protocols. The communication device 330 may switch communication protocols according to a distance to a mobile terminal.

[0230] For example, the communication device can exchange signals with external devices on the basis of C-V2X (Cellular V2X). For example, C-V2X may include sidelink communication based on LTE and/or sidelink communication based on NR. Details related to C-V2X will be described later.

[0231] For example, the communication device can exchange signals with external devices on the basis of DSRC (Dedicated Short Range Communications) or WAVE (Wireless Access in Vehicular Environment) standards based on IEEE 802.11p PHY/MAC layer technology and IEEE 1609 Network/Transport layer technology. DSRC (or WAVE standards) is communication specifications for providing an intelligent transport system (ITS) service through short-range dedicated communication between vehicle-mounted devices or between a roadside device and a vehicle-mounted device. DSRC may be a communication scheme that can use a frequency of 5.9 GHz and have a data transfer rate in the range of 3 Mbps to 27 Mbps. IEEE 802.11p may be combined with IEEE 1609 to support DSRC (or WAVE standards).

[0232] The communication device of the present disclosure can exchange signals with external devices using only one of C-V2X and DSRC. Alternatively, the communication device of the present disclosure can exchange signals with external devices using a hybrid of C-V2X and DSRC.

[0233] 6) Display System

[0234] The display system 350 can display graphic objects. The display system 350 may include at least one display device. For example, the display system 350 may include a first display device 410 for common use and a second display device 420 for individual use.

[0235] 6.1) Common Display Device

[0236] The first display device 410 may include at least one display 411 which outputs visual content. The display 411 included in the first display device 410 may be realized by at least one of a flat panel display, a curved display, a rollable display and a flexible display. For example, the first display device 410 may include a first display 411 which is positioned behind a seat and formed to be inserted/ejected into/from the cabin, and a first mechanism for moving the first display 411. The first display 411 may be disposed such that it can be inserted/ejected into/from a slot formed in a seat main frame. According to an embodiment, the first display device 410 may further include a flexible area control mechanism. The first display may be formed to be flexible and a flexible area of the first display may be controlled according to user position. For example, the first display device 410 may be disposed on the ceiling inside the cabin and include a second display formed to be rollable and a second mechanism for rolling or unrolling the second display. The second display may be formed such that images can be displayed on both sides thereof. For example, the first display device 410 may be disposed on the ceiling inside the cabin and include a third display formed to be flexible and a third mechanism for bending or unbending the third display. According to an embodiment, the display system 350 may further include at least one processor which provides a control signal to at least one of the first display device 410 and the second display device 420. The processor included in the display system 350 can generate a control signal on the basis of a signal received from at last one of the main controller 370, the input device 310, the imaging device 320 and the communication device 330.

[0237] A display area of a display included in the first display device 410 may be divided into a first area 411a and a second area 411b. The first area 411a can be defined as a content display area. For example, the first area 411 may display at least one of graphic objects corresponding to can display entertainment content (e.g., movies, sports, shopping, food, etc.), video conferences, food menu and augmented reality screens. The first area 411a may display graphic objects corresponding to traveling situation information of the vehicle 10. The traveling situation information may include at least one of object information outside the vehicle, navigation information and vehicle state information. The object information outside the vehicle may include information on presence or absence of an object, positional information of an object, information on a distance between the vehicle and an object, and information on a relative speed of the vehicle with respect to an object. The navigation information may include at least one of map information, information on a set destination, route information according to setting of the destination, information on various objects on a route, lane information and information on the current position of the vehicle. The vehicle state information may include vehicle attitude information, vehicle speed information, vehicle tilt information, vehicle weight information, vehicle orientation information, vehicle battery information, vehicle fuel information, vehicle tire pressure information, vehicle steering information, vehicle indoor temperature information, vehicle indoor humidity information, pedal position information, vehicle engine temperature information, etc. The second area 411b can be defined as a user interface area. For example, the second area 411b may display an AI agent screen. The second area 411b may be located in an area defined by a seat frame according to an embodiment. In this case, a user can view content displayed in the second area 411b between seats. The first display device 410 may provide hologram content according to an embodiment. For example, the first display device 410 may provide hologram content for each of a plurality of users such that only a user who requests the content can view the content.

[0238] 6.2) Display Device for Individual Use

[0239] The second display device 420 can include at least one display 421. The second display device 420 can provide the display 421 at a position at which only an individual passenger can view display content. For example, the display 421 may be disposed on an armrest of a seat. The second display device 420 can display graphic objects corresponding to personal information of a user. The second display device 420 may include as many displays 421 as the number of passengers who can ride in the vehicle. The second display device 420 can realize a touch screen by forming a layered structure along with a touch sensor or being integrated with the touch sensor. The second display device 420 can display graphic objects for receiving a user input for seat adjustment or indoor temperature adjustment.

[0240] 7) Cargo System

[0241] The cargo system 355 can provide items to a user at the request of the user. The cargo system 355 can operate on the basis of an electrical signal generated by the input device 310 or the communication device 330. The cargo system 355 can include a cargo box. The cargo box can be hidden in a part under a seat. When an electrical signal based on user input is received, the cargo box can be exposed to the cabin. The user can select a necessary item from articles loaded in the cargo box. The cargo system 355 may include a sliding moving mechanism and an item pop-up mechanism in order to expose the cargo box according to user input. The cargo system 355 may include a plurality of cargo boxes in order to provide various types of items. A weight sensor for determining whether each item is provided may be embedded in the cargo box.

[0242] 8) Seat System

[0243] The seat system 360 can provide a user customized seat to a user. The seat system 360 can operate on the basis of an electrical signal generated by the input device 310 or the communication device 330. The seat system 360 can adjust at least one element of a seat on the basis of acquired user body data. The seat system 360 may include a user detection sensor (e.g., a pressure sensor) for determining whether a user sits on a seat. The seat system 360 may include a plurality of seats on which a plurality of users can sit. One of the plurality of seats can be disposed to face at least another seat. At least two users can set facing each other inside the cabin.

[0244] 9) Payment System

[0245] The payment system 365 can provide a payment service to a user. The payment system 365 can operate on the basis of an electrical signal generated by the input device 310 or the communication device 330. The payment system 365 can calculate a price for at least one service used by the user and request the user to pay the calculated price.

[0246] (2) Autonomous Vehicle Usage Scenarios

[0247] FIG. 11 is a diagram referred to in description of a usage scenario of a user according to an embodiment of the present disclosure.

[0248] 1) Destination Prediction Scenario

[0249] A first scenario S111 is a scenario for prediction of a destination of a user. An application which can operate in connection with the cabin system 300 can be installed in a user terminal. The user terminal can predict a destination of a user on the basis of user's contextual information through the application. The user terminal can provide information on unoccupied seats in the cabin through the application.

[0250] 2) Cabin Interior Layout Preparation Scenario

[0251] A second scenario S112 is a cabin interior layout preparation scenario. The cabin system 300 may further include a scanning device for acquiring data about a user located outside the vehicle. The scanning device can scan a user to acquire body data and baggage data of the user. The body data and baggage data of the user can be used to set a layout. The body data of the user can be used for user authentication. The scanning device may include at least one image sensor. The image sensor can acquire a user image using light of the visible band or infrared band.

[0252] The seat system 360 can set a cabin interior layout on the basis of at least one of the body data and baggage data of the user. For example, the seat system 360 may provide a baggage compartment or a car seat installation space.

[0253] 3) User Welcome Scenario

[0254] A third scenario S113 is a user welcome scenario. The cabin system 300 may further include at least one guide light. The guide light can be disposed on the floor of the cabin. When a user riding in the vehicle is detected, the cabin system 300 can turn on the guide light such that the user sits on a predetermined seat among a plurality of seats. For example, the main controller 370 may realize a moving light by sequentially turning on a plurality of light sources over time from an open door to a predetermined user seat.

[0255] 4) Seat Adjustment Service Scenario

[0256] A fourth scenario S114 is a seat adjustment service scenario. The seat system 360 can adjust at least one element of a seat that matches a user on the basis of acquired body information.

[0257] 5) Personal Content Provision Scenario

[0258] A fifth scenario S115 is a personal content provision scenario. The display system 350 can receive user personal data through the input device 310 or the communication device 330. The display system 350 can provide content corresponding to the user personal data.

[0259] 6) Item Provision Scenario

[0260] A sixth scenario S116 is an item provision scenario. The cargo system 355 can receive user data through the input device 310 or the communication device 330. The user data may include user preference data, user destination data, etc. The cargo system 355 can provide items on the basis of the user data.

[0261] 7) Payment Scenario

[0262] A seventh scenario S117 is a payment scenario. The payment system 365 can receive data for price calculation from at least one of the input device 310, the communication device 330 and the cargo system 355. The payment system 365 can calculate a price for use of the vehicle by the user on the basis of the received data. The payment system 365 can request payment of the calculated price from the user (e.g., a mobile terminal of the user).

[0263] 8) Display System Control Scenario of User

[0264] An eighth scenario S118 is a display system control scenario of a user. The input device 310 can receive a user input having at least one form and convert the user input into an electrical signal. The display system 350 can control displayed content on the basis of the electrical signal.

[0265] 9) AI Agent Scenario

[0266] A ninth scenario S119 is a multi-channel artificial intelligence (AI) agent scenario for a plurality of users. The AI agent 372 can discriminate user inputs from a plurality of users. The AI agent 372 can control at least one of the display system 350, the cargo system 355, the seat system 360 and the payment system 365 on the basis of electrical signals obtained by converting user inputs from a plurality of users.

[0267] 10) Multimedia Content Provision Scenario for Multiple Users

[0268] A tenth scenario S120 is a multimedia content provision scenario for a plurality of users. The display system 350 can provide content that can be viewed by all users together. In this case, the display system 350 can individually provide the same sound to a plurality of users through speakers provided for respective seats. The display system 350 can provide content that can be individually viewed by a plurality of users. In this case, the display system 350 can provide individual sound through a speaker provided for each seat.

[0269] 11) User Safety Secure Scenario

[0270] An eleventh scenario S121 is a user safety secure scenario. When information on an object around the vehicle which threatens a user is acquired, the main controller 370 can control an alarm with respect to the object around the vehicle to be output through the display system 350.

[0271] 12) Personal Belongings Loss Prevention Scenario

[0272] A twelfth scenario S122 is a user's belongings loss prevention scenario. The main controller 370 can acquire data about user's belongings through the input device 310. The main controller 370 can acquire user motion data through the input device 310. The main controller 370 can determine whether the user exits the vehicle leaving the belongings in the vehicle on the basis of the data about the belongings and the motion data. The main controller 370 can control an alarm with respect to the belongings to be output through the display system 350.

[0273] 13) Alighting Report Scenario

[0274] A thirteenth scenario S123 is an alighting report scenario. The main controller 370 can receive alighting data of a user through the input device 310. After the user exits the vehicle, the main controller 370 can provide report data according to alighting to a mobile terminal of the user through the communication device 330. The report data can include data about a total charge for using the vehicle 10.

[0275] The above-describe 5G communication technology can be combined with methods proposed in the present disclosure which will be described later and applied or can complement the methods proposed in the present disclosure to make technical features of the present disclosure concrete and clear.

[0276] Hereinafter, various embodiments of the present disclosure will be described in detail with reference to the attached drawings.

[0277] The above-described present disclosure can be implemented with computer-readable code in a computer-readable medium in which program has been recorded.

[0278] The computer-readable medium may include all kinds of recording devices capable of storing data readable by a computer system. Examples of the computer-readable medium may include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, magnetic tapes, floppy disks, optical data storage devices, and the like and also include such a carrier-wave type implementation (for example, transmission over the Internet). Therefore, the above embodiments are to be construed in all aspects as illustrative and not restrictive. The scope of the disclosure should be determined by the appended claims and their legal equivalents, not by the above description, and all changes coming within the meaning and equivalency range of the appended claims are intended to be embraced therein.

[0279] Furthermore, although the disclosure has been described with reference to the exemplary embodiments, those skilled in the art will appreciate that various modifications and variations can be made in the present disclosure without departing from the spirit or scope of the disclosure described in the appended claims. For example, each component described in detail in embodiments can be modified. In addition, differences related to such modifications and applications should be interpreted as being included in the scope of the present disclosure defined by the appended claims.

[0280] Although description has been made focusing on examples in which the present disclosure is applied to automated vehicle & highway systems based on 5G (5 generation) system, the present disclosure is also applicable to various wireless communication systems and autonomous devices.

[0281] A method and an apparatus for wireless communication to and from a vehicle in an autonomous driving system according to an embodiment of the present disclosure will be described below with reference to FIGS. 12 to 17. The autonomous vehicle and the 5G communication system that are described with reference to FIGS. 1 to 11 find application in embodiments of the present disclosure.

[0282] A signal in a millimeter-wave (mmWave) band is very sensitive to a channel change, and thus, in order to prevent heavy free-space path loss, high-performance directional antennas are used for redundant links. However, exact beam alignment between a transmitter and a receiver is necessary for using the high-performance directional antennas. This characteristic necessitates an initial access process, a handover, and a process, such as beam tracking. Furthermore, the characteristic entails an initial connection time delay, a link tracking error, and a delay time during handover, in a vehicle in which a channel changes frequently due to fast-moving.

[0283] In addition, in the case of a method for predicting a beam direction using a line-of-sight (LOS) communication channel, the precision of direction prediction decreases when blocking by an object, such as a building, or a human body, occurs between a road side unit (RSU) and a vehicle.

[0284] A base station (or an RSU) is stationary, and signal quality is mostly determined by a stationary obstacle (for example, a building). Because of this, communication setting information (a beam angle of a millimeter wave) received and transmitted by vehicles that passed previously and communication setting information that is received and transmitted by a vehicle that is passing thereafter are set similarly within a fixed range. However, in a case where a wireless channel between a base station and a vehicle is blocked by a moving object (a human body or another vehicle), the communication unit setting information changes over time, and thus an update on the communication setting information is required at a fixed time interval.

[0285] Therefore, according to an embodiment of the present disclosure, there is provided a method in which a vehicle that drove previously uploads positional information and communication setting information onto a server, in which the server constructs a communication environment map based on the uploaded information, and in which a vehicle that is driving thereafter uses the communication environment map, thereby utilizing the communication environment map as initial communication information.

[0286] Thus, according to embodiments of the present disclosure, when a vehicle that uses a millimeter wave uses multiple antenna components, the time taken for beam tracking is decreased and communication stability is improved.

[0287] A method and an apparatus for decreasing a beam search time using the communication environment map when a vehicle uses multiple antenna components for millimeter wave communication will be described below.

[0288] FIG. 12 illustrates an example of a functional block diagram for an apparatus for wireless communication to and from a vehicle in an autonomous driving system to the embodiment of the present disclosure.

[0289] With reference to FIG. 12, the apparatus for wireless communication to and from a vehicle in an autonomous driving system includes a transceiver 1210 that includes multiple component components, a processor 1230 that is functionally coupled to the transceiver 1210, and a memory 1250 that is functionally coupled to the processor 1230. The transceiver 1210 and the processor 1230 that are illustrated in FIG. 12 may be included in a vehicle 10 in FIG. 5.

[0290] The transceiver 1210 transmits or receives a signal over a wireless channel between the vehicle 10 and a different entity. The transceiver 1210, as illustrated in FIG. 1, may include one or more Tx/Rx radio frequency (RF) modules, Tx/Rx RF modules 915, and 925, Tx processors 912 and 922, Rx processors 913 and 923, and antennas 916 and 926.

[0291] According to the embodiment of the present disclosure, the transceiver 1210 may include an antenna array that includes multiple antenna components. The transceiver 1210 may perform beam-forming that controls a gain that depends on directivity of a signal that is transmitted or received. For example, the transceiver 1210 controls a phase difference between at least two antenna components in the antenna array and thus can transmit or receive a signal in a specific direction.

[0292] The processor 1230 processes data necessary to perform a function of the vehicle 10 and thus can control the function of the vehicle 10. The processor 1230 may be configured with at least one processing circuit for processing data. The processor 1230 may be configured in the same manner as the processors 911 and 921 in FIG. 1 or the processor 170 in FIG. 7.

[0293] According to the embodiment of the present disclosure, the processor 1230 executes commands stored in the memory 1250, and thus can realize methods of wireless communication to and from the vehicle 10 according to the embodiment of the present disclosure, which will be described below. For example, the processor 1230 determines a direction of transmitted or received beam using position-dependent beam information that is included in the communication environment map, controls the transceiver 1210 through the determined the transmission and reception beam, and thus can perform the wireless communication to and from the vehicle 10 that performs beam-forming. In addition, if necessary, the processor 1230 may update the communication environment map, and may store data of the updated communication environment map, in the memory 1250 or may transmit the data to a server.

[0294] In this disclosure, the processor 1230 selects a beam corresponding to the direction of the transmitted beam determined through a communication environment map or a beam search procedure and transmits a signal using the selected beam, or controls the transceiver 1210 to have a high transmission gain in an area corresponding to the determined direction of the transmitted beam. In addition, the processor 1230 sets the direction of the received beam determined through the communication environment map or the beam search procedure to the reception prediction range, and controls the transceiver 1210 (Antenna) to have a relatively high reception rate (receive gain) on the signal received in the reception prediction range.

[0295] Data processed by the processor 170 may be stored in the memory 1250, and the memory 1250 may be configured in the same manner as the memories 914 and 924 in FIG. 1 or the memory 140 in FIG. 7.

[0296] FIG. 13 illustrates an example of a flowchart of the method for wireless communication to and from a vehicle in an autonomous driving system according to the present embodiment.

[0297] In Step S1305, the vehicle 10 receives data on the communication environment map that includes the position-dependent beam formation, from the server. For example, the vehicle 10 may download the data on the communication environment map from the server periodically or after making a request to the server, or may update the communication environment map stored in the memory 1250. In addition, in order to correspond to determination of a driving path to a destination, the vehicle 10 can selectively download data of the communication environment map for the driving path, using a navigation module. The server collects beam data from vehicles that previously conducted a beam search, and thus can generate the communication environment map.

[0298] The position-dependent beam information here may include positional information and beam-direction information relating to the positional information, and the beam-direction information may include a beam direction in which the strongest signal strength is obtained for each spatial section that results from division by the positional information, and a value of signal strength in the beam direction. For example, the position-dependent beam information, as described in FIG. 14, may include an optimal beam direction (a beam angle) on a basis of coordinates representing each position, and signal strength (signal quality) in the corresponding beam direction. For example, the position-dependent beam information may be configured with a value of a position (coordinates representing a position), a beam index (a beam direction), and a value of signal strength (signal quality) in this order. In addition, for each position, the position-dependent beam information may include a set of optimal reception and transmission beams.

[0299] In Step S1310, the vehicle 10 determines the direction of transmitted or received beam based on a drive path for the vehicle 10 and the received communication environment map. For example, the vehicle 10 may acquire an optimal beam direction for a position on a path along which the vehicle 10 is currently driving and signal strength for the corresponding beam direction, from the communication environment map, and may determine a beam that is to be used to transmit or receive a signal, using the optimal beam direction and the signal strength. In addition, the vehicle 10 may use a beam that is derived from the communication environment map, and, in a case where an environment is reached in which the communication environment map is difficult to apply, may determine a direction of transmitted or received beam by an actual beam search.

[0300] According to the embodiment of the present disclosure, the vehicle 10 may determine the direction of transmitted or received beam, based on a reliability value representing the precision of the communication environment map and on whether or not antenna blocking occurs due to an obstacle that is present in the beam direction which is indicated by the beam information. A detailed process of determining the direction of transmitted or received beam based on reliability of the communication environment map and on whether or not the antenna blocking occurs is described in detail with reference to FIGS. 15 and 17.

[0301] In Step S1315, the vehicle 10 may perform data communication through the direction of transmitted or received beam determined in Step S1310. For example, by referring to the optimal beam direction corresponding to a current position of the vehicle 10 in the communication environment map, the vehicle 10 can determine a beam for signal transmission and reception and may adjust a phase of a signal in such a manner that energy concentrates in the determined beam direction.

[0302] In addition, the vehicle 10 may change the driving path for the vehicle 10, based on the communication environment map. That is, the vehicle 10 may change the driving path in such a manner as to drive along a path that ensures a good communication environment, which is selected from the position-dependent beam information that is included in the communication environment map.

[0303] In addition, the vehicle 10 may change a frequency for the data communication and a setting of a service providing operator, based on the communication environment map. For example, in a case where a signal in a 28 GHz band at a specific position has low signal strength and where a signal in a 60 GHz band has high signal strength, the vehicle 10 may set a signal to be transmitted in the 60 GHz band.

[0304] In addition, the vehicle 10 may update the communication environment map using a type of communication, a service provider, a frequency, an antenna position, or an obstacle position, which relates to the data communication. For example, the vehicle 10 may update the communication environment map using a type of connection-established communication, a type of connection-unestablished communication, a communication operator, a communication frequency, an antenna position, a direction and position (pieces of information provided by a proximity sensor) of a blocking object, and a level (for example, strong, weak, or communication-unachieved) of communication strength, and may transfer the updated communication environment map to the server.

[0305] FIG. 14 illustrates an example of a process of performing wireless communication to and from a vehicle by using the communication environment map in the autonomous driving system according to the embodiment of the present disclosure.

[0306] In FIG. 14, a vehicle 1210 receives the communication environment map from a server 1220. The communication environment map, as illustrated in FIG. 14, includes an optimal beam direction for each position and signal strength in the corresponding beam direction. For example, with reference to FIG. 14, the communication environment map may include an optimal beam direction in which communication with a base station 1230 is possible depending on each position, and signal strength (strong, weak, or communication-unachieved) in the corresponding beam direction.

[0307] The vehicle 1210 that performs the data communication with the base station 1230 using the position-dependent beam information included in the communication environment map may update the communication environment map using information (for example, a type of communication, a service provider, a frequency, an antenna position, or an obstacle position) derived during the data communication process, and may upload the updated communication environment map onto the server 1220.

[0308] FIG. 15 illustrates an example of a flow of a method of determining a direction of transmitted or received beam in the autonomous driving system according to the embodiment of the present disclosure. FIG. 15 illustrates an example of Step S1310 in FIG. 13.

[0309] In Step S1505, the vehicle 10 determines a reliability value (a reliability level) of the communication environment map. The reliability level of the communication environment map is a level of the precision of the position-dependent beam information that is included in the communication environment map received from the server. For example, reliability levels may be categorized as being “low,” “middle,” or “high,” and a reliability value may be allocated to each reliability level. For example, values of “0,” “1,” and “2” of the reliability may be allocated to low, middle, and high levels, respectively.

[0310] According to the embodiment of the present disclosure, the vehicle 10 may determine the reliability level based on an error in an angle between a beam direction indicated by beam information and a beam direction that is found as a result of the search by the vehicle 10, at a specific position, or on the number of times that the antenna blocking occurs. For example, the reliability level may be determined according to the number of times that an error occurs in which a difference in an angle between a beam direction (a beam angle) designated in the communication environment map and a beam direction in which communication is achieved actually is greater than a reference angle.

[0311] For example, “high,” “middle,” and “low” levels of the reliability may be set in a case where the number of times that the error occurs is smaller than a first reference number of times (for example, 10), in a case where the number of times that the error occurs is greater than the first reference number of times, but is smaller than a second reference number of times (for example, 100), and in a case where the number of times that the error occurs is greater than the second reference number of times, respectively.

[0312] In addition, the reliability level may be determined according to the number of times that the antenna blocking occurs. The antenna blocking here refers to a case where communication fails due to an obstacle present in the beam direction indicated by the beam information in the communication environment map (for example, a case where a selection as the optimal direction of transmitted or received beam is not made). For example, in a case where the number of times that the antenna blocking occurs may be counted in a case where due to the antenna blocking, the number of times that the antenna blocking occurs is excluded from calculating the number of times that the error occurs by the communication environment map, or in a case where the number of times that the antenna blocking occurs can be included in the error when an angle of the blocking is excluded.

[0313] According to the embodiment of the present disclosure, whether or not the blocking the antenna occurs may be determined based on information acquired by a proximity sensor provided to the vicinity of an antenna of the vehicle 10 or on a vehicle position or vehicle size of a different vehicle positioned in the vicinity of the vehicle 10.

[0314] For example, in a case where a distance between the proximity sensor and an object, which is detected by the proximity sensor installed in the vicinity of the antenna of the vehicle 10, is smaller than a reference distance (in a case where a degree of proximity is higher than a reference value), it may be determined that the antenna blocking occurs. In addition, whether or the antenna blocking occurs may be determined by taking into consideration a position of the antenna of the vehicle 10, together with a vehicle size and vehicle position of a different vehicle, which are received through V2X communication. For example, in a case where a bus with an antenna of a big size passes the vicinity of the antenna, it may be determined that the antenna blocking occurs. In addition, whether or not the antenna blocking occurs may be determined by taking into consideration whether or not an object that can prevent a signal wave is detected in the vicinity of the antenna through a camera installed in the vehicle 10.

[0315] In a case where the reliability value of the communication environment map is lower than a predetermined first reference value (in a case where the reliability level is “low”), the vehicle 10 proceeds to Step S1535 and determines the direction of transmitted or received beam through the beam search that uses a synchronization signal. The beam management technique that is described with reference to FIG. 2 may be used for the beam search that uses the synchronization signal. The vehicle 10 may determine the direction of transmitted or received beam through the beam determination process that uses the synchronization signal.

[0316] The reliability value of the communication environment map is the first reference value (in a case where the reliability level is “high” or “middle”), the vehicle 10 proceeds to Step S1510 and determines whether or not the antenna blocking occurs. As described above, whether or not the antenna blocking occurs may be determined based on antenna-sensed information acquired by the proximity sensor installed in the vicinity of the antenna of the vehicle 10 or on a vehicle position or vehicle size of a different vehicle positioned in the vicinity of the vehicle 10. In addition, the vehicle position and vehicle size of the different vehicle may be acquired from vehicle information that is received from the different vehicle through the V2X communication, or by the sensor installed in the vehicle 10.

[0317] In a case where the reliability value of the communication environment map is equal to or higher than a second reference value that is set to be higher than the first reference value (the reliability level of the communication environment map is “high”) and where the antenna blocking does not occur, the vehicle 10 proceeds to Step S1520 and determines a beam corresponding to the beam direction indicated by the beam information included in the communication environment map, as the direction of transmitted or received beam. For example, the vehicle 10 may attempt to perform the data communication using the direction of transmitted or received beam that corresponds to the beam direction corresponding to a current position of the vehicle 10, which is indicated by the communication environment map.

[0318] In a case where the reliability of the communication environment map is at a first reference level or higher, but is at a second reference level (the reliability level of the communication environment map is “middle”) and where the antenna blocking does not occur, the vehicle 10 proceeds to Step S1530 and sequentially conducts a search in beam directions, starting from a beam direction that is indicated by the beam information, thereby determining the direction of transmitted or received beam. For example, during the bean search process, the vehicle 10 attempts to transmit or receive a signal, preferentially using the direction of transmitted or received beam that corresponds the beam direction corresponding to a current position of the vehicle 10, which is indicated by the communication environment map. The vehicle 10, if it fails to transmit or receive a signal, may sequentially search for other beam directions, in the order of increasing a distance to the beam direction indicated by the communication environment map.

[0319] In a case where the antenna blocking occurs, the vehicle 10 proceeds to Step S1525, and sequentially searches for beams, starting from a beam that is closest to the beam direction that is indicated by the beam information included in the communication environment map, thereby determining the direction of transmitted or received beam. That is, because an obstacle is present in the vicinity of an antenna component relating to the beam direction corresponding to a current position of the vehicle 10, which is indicated by the communication environment map, the vehicle 10 conducts a search for beams, starting from a beam that is closest to the beam direction that is indicated by the communication environment map. The beam that is closest to the beam direction indicated by the communication environment map refers to a beam whose angle is the least different from that of the beam direction indicated by the communication environment map.

[0320] For example, the vehicle 10 receives the communication environment map and thus acquires arrangement information that includes positional information, beam angles (for example, a beam angle of 0 to 360 degrees in the horizontal direction and a beam angle of −30 to −90 degrees in the vertical direction), and a level (for example, strong, weak, or communication-unachieved) of communication strength.

[0321] FIG. 16 illustrates an example of the autonomous driving system according to the embodiment of the present disclosure.

[0322] With reference to FIG. 16, the autonomous driving system includes the vehicle 10 that includes an antenna set 1 (1610-1), an antenna set 2 (1610-2), and a telematics unit 1615, a different vehicle in the autonomous driving system or the vehicle 10 that includes an infrastructure apparatus 1630, and a server 1650.

[0323] The antenna set 1 (1610-1) may transmit or receive a signal (for example, a millimeter wave) in a high frequency band for the wireless communication to and from the vehicle 10. The antenna set 1 (1610-1) includes beam antennas that include beam antenna 1-1 (1611-1) and beam antenna 1-2 (1611-2) each of which transmits or receives a signal through a directional beam, and a proximity sensor 1 (1612) that detects whether or not an obstacle is present in the vicinity of each of the beam antennas. In substantially the same manner as the antenna set 1 (1610-1), the antenna set 2 (1610-2) may include a beam antenna 2-1 (1613-1), a beam antenna 2-2 (1613-2), and a proximity sensor 2 (1614).

[0324] The telematics unit 1615 provides information necessary for communication to and from the vehicle 10. The telematics unit 1615 includes a communication-environment-map management module 1620 that manages the communication environment map, and a beam-antenna setting module 1625 that sets the beam antennas.

[0325] The communication-environment-map management module 1620 may include a proximate-object determination module 1621 that determines whether or not an obstacle is present in the vicinity of the vehicle 10, a reliability-of-a-communication-environment-map determination module 1623 that determines the reliability value (the reliability level) of the communication environment map, and a communication-environment update module 1624 that performs an update of the communication environment map. In addition, the communication-environment-map management module 1620 may store a communication environment map 1622 or may load the communication environment map 1622 stored in the memory. The beam-antenna setting module 1625 may include a synchronization module 1626 that performs synchronization to the base station using a synchronization signal. In addition, the beam-antenna setting module 1625 may include high-priority-beam information 1627 and low-priority-beam information 1628.

[0326] The server 1650 stores a communication environment map 1651 in a database and transmits the communication environment map 1651 to the vehicle 10 periodically or at the request of the vehicle 10. In addition, the server 1650 may receive beam information for each position, an update on which is performed, from the vehicle 10, or may receive data of the updated communication environment map.

[0327] FIG. 17 illustrates another example of the flow of the method for wireless communication to and from a vehicle in an autonomous driving system according to the embodiment of the present disclosure.

[0328] In Step S1702, the vehicle 10 checks that a request to transmit or receive a signal is made. For example, a request for the data communication is made by a driving control apparatus of the vehicle 10 or a user application.

[0329] In Step S1704, the vehicle 10 determines whether or not beam tracking for the data communication is performed. That is, it is determined whether or not a beam is present that is determined in advance to be used for the data communication to the vehicle 10. In the case of a state where the beam tracking is performed, the vehicle 10 proceeds to Step S1706 and performs data transmission or reception according to the beam information that results from the tracking.

[0330] In the case of a state where the beam tracking is not performed, the vehicle 10 proceeds to Step S1708 and determines whether or not the communication environment map is received. In a case where the communication environment map is not received, the vehicle 10 proceeds to Step S1712, and receives the synchronization signal, thereby performing an initial bean search.

[0331] In a case where the communication environment map is received, the vehicle 10 proceeds to Step S1710, and determines a method of determining a beam, by taking into consideration the reliability level of the communication environment map and the antenna blocking. The method of determining a beam according to the reliability level of the communication environment map and the antenna blocking may be set as in Table 1.

TABLE 1
		Antenna blocking in
	Reliability of	direction of beam
	communication	information in
	environment	communication
Determination	map	environment map	processing
1	High	Non-occurrence	Transmission by utilizing beam
			information in communication
			environment map
2	High	Occurrence	Attempt to receive beams at
			angles, starting from closest
			angle that is not within antenna
			blocking angle range
3	Middle	Non-occurrence	Attempt to receive beams at
			angles, starting from angle
			indicated by communication
			environment map
4	Middle	Occurrence	Attempt to receive beams at
			angles, starting from closest
			angle that is not within antenna
			blocking angle range
5	Low	No relationship	Conducting initial beam search

[0332] As shown in Table 1, (1) in a case where the reliability level of the communication environment map is high and where the blocking of the antenna does not occur, the vehicle 10 proceeds to Step S1724 and attempts to transmit or receive a signal using the beam direction indicated by the beam information included in the communication environment map.

[0333] As shown in Table 1, (2) and (4) in a case where the liability level of the communication environment map is high or middle, but where the antenna blocking does not occur, the vehicle 10 proceeds to Step S1720 and starts to search preferentially for a beam that is close to the beam direction indicated by the beam information included in the communication environment map. When the beam search is completed, the vehicle 10 proceeds to Step S1722 and attempts to transmit or receive a signal in the bean direction in which the synchronization is completed.

[0334] As shown in Table 1, (3) in a case where the reliability level of the communication environment map is middle and where the antenna blocking does not occur, the vehicle 10 may proceed to Step S1716 and may conduct a beam search in beam directions, starting from a beam direction other than the direction in which the blocking occurs. In addition, the vehicle 10 may conduct the beam search for beam directions, starting preferentially from the beam direction indicated by the communication environment map. Thereafter, the vehicle 10 may proceed to Step S1718 and may conduct an initial beam search in beam directions, using the synchronization signal, starting from a beam direction (or the beam direction indicated by the communication environment map) other than the direction in which the blocking occurs.

[0335] As shown Table 1, (5) in a case where the reliability level of the communication environment map is low, the vehicle 10 may proceed to Step S1712, may conduct the beam search using the synchronization signal and may attempt to transmit or receive a signal in the beam direction in which the synchronization is completed in Step S1714.

[0336] In a case where the beam search is completed, the vehicle 10 may transmit or receive data through the direction of transmitted or received beam determined in Step S1726. Thereafter, the vehicle 10 compares the beam direction dependent on positional information, in which an attempt is made for the data transmission and reception in Step S1728, and the level of communication strength at which such an attempt is made, against the received communication environment map, and thus performs an update on the reliability level of the communication environment map. In a case where the degree to which the reliability level of the communication environment map decreases (an error in the level of the communication environment map) is at or above a threshold, the communication environment map may be updated, and data on the updated communication environment map may be reported to or uploaded onto the server.

[0337] In addition, the method and the apparatus for wireless communication to and from a vehicle in an autonomous driving system according to the embodiment of the present disclosure may change a driving path and position in accordance with the communication environment map. According to an embodiment, the vehicle 10 receives the communication environment map (the arrangement information that includes positional information, beam angles (for example, a beam angle of 0 to 360 degrees in the horizontal direction and a beam angle of −30 to −90 degrees in the vertical direction), and a level (for example, strong, weak, or communication-unachieved) of communication strength). Thereafter, the vehicle 10 changes the beam (antenna) direction (angle) in a manner that is suitable for the vehicle 10, by taking into consideration a beam angle and a configuration of antennas of the vehicle 10 in the received communication environment map.

[0338] For example, the vehicle 10 may change the beam direction, reflecting a case where the vehicle 10 does not support an antenna angle indicated by the communication environment map, or a case where transmission and reception sensitivity in a specific direction is weak. In addition, in a case where the vehicle 10 does not support the antenna angle indicated by the communication environment map, the vehicle 10 may select an angle that is closest to the indicated antenna angle or may conduct the initial beam search. At this point, this results from considering that, unlike a case where one isotropic antenna is used as before, transmission and reception sensitivity (whose unit is dB) can be decreased for each antenna angle according to a method in which many antennas are mounted on the vehicle 10.

[0339] In addition, the vehicle 10 may search for an optimal path and position in a communication service. For example, based on the communication environment map, the vehicle 10 may avoid a position at which the antenna blocking occurs, in such a manner as to drive along a path that ensures a better communication environment. The vehicle 10 may set a path in such a manner as to move to a position at which the level of communication strength is high, or to drive to a position at which the level of communication strength is high.

[0340] According to another embodiment of the present disclosure, the vehicle 10 may change a communication frequency in accordance with the communication environment map. For example, the vehicle 10 receives the communication environment map (the arrangement information that includes positional information, beam angles (for example, a beam angle of 0 to 360 degrees in the horizontal direction and a beam angle of −30 to −90 degrees in the vertical direction), and a level (for example, strong, weak, or communication-unachieved) of communication strength). Thereafter, the vehicle 10 may determine the beam direction by taking into consideration a communication frequency, a beam angle suitable for a communication-service providing operator, and a configuration of antennas of the vehicle 10, in the received communication environment map. In addition, in a case where a frequency band in which better communication quality is provided for a communication service than in a frequency band currently in use is found from the communication environment map and where the corresponding frequency band is available in the vehicle 10, the vehicle 10 may transmit or receive a signal using the corresponding frequency band. For example, in a case where an average level of signal strength in a 28 GHz frequency band currently in use is “low,” or where an average level of signal strength in a 60 GHz frequency band is “high,” the vehicle 10 may change a communication setting in such a manner as to use the 60 GHz frequency band.

[0341] In addition, according to another embodiment of the present disclosure, the vehicle 10 determines whether or not the antenna block occurs. The vehicle 10 receives the communication environment map (the arrangement information that includes positional information, beam angles (for example, a beam angle of 0 to 360 degrees in the horizontal direction and a beam angle of −30 to −90 degrees in the vertical direction), and a level (for example, strong, weak, or communication-unachieved) of communication). Thereafter, the vehicle 10 selects an optimal beam direction from the received communication environment map, by taking into consideration a communication frequency, a beam angle suitable for the communication-service providing operator, and a configuration of antennas of the vehicle 10. When the antenna blocking is detected continually in a specific direction by the proximity sensor, the vehicle 10 may select a frequency corresponding to a direction different from a direction in which the antenna blocking occurs. For example, when the antenna blocking in the rightward direction is detected by the proximity sensor, the vehicle 10 selects a frequency at which a beam angle ranges from 0 to 180 degrees instead of from 181 to 360 degrees, from the communication environment map, and then transmits or receives a signal.

[0342] A point in time for download of the communication environment map for the vehicle 10 according to the embodiment of the present disclosure, and contents to be uploaded, of the communication environment map therefor are as follows. When generating a path, the vehicle 10 may download a portion of the communication environment map relating to the path. In a case where a change is made to the path, a changed portion of the communication environment map, which corresponds to the changed portion of the path, may be downloaded. The communication environment map may be set to vary according to a type of communication (for example, 5G NR, or WiFi) that is supportable by the vehicle 10, a communication operator, a communication frequency (for example, 28 GHz, 39 GHz, or 72 GHz), and an antenna position. In addition, a validation date of the communication environment map may be set, and, by checking the validation data, the vehicle 10 may determine whether or not the communication environment map will be updated. In addition, when the time that it takes to drive from a current position to a destination is shorter than the time T1 that it takes to update the communication environment map, based on a speed of and a path (a driving direction of) for the vehicle 10, the vehicle 10 may make a request to the server for the latest communication environment map and may download the latest communication environment map from the server. After performing the communication that uses the communication environment map, the vehicle 10 may update the communication environment map (the arrangement information that includes positional information, beam angles (for example, a beam angle of 0 to 360 degrees in the horizontal direction and a beam angle of −30 to −90 degrees in the vertical direction), and a level (for example, strong, weak, or communication-unachieved) of communication strength), based on a type of connection-established communication, a type of connection-unestablished communication, a communication operator, a communication frequency, an antenna position, a direction in which the antenna blocking occurs (proximity sensor information), and a position at which the antenna blocking occurs (proximity sensor information).

[0343] Embodiments of the present disclosure that relates to wireless communication are summarized as follows.

[0344] There is provided a method for wireless communication to and from a vehicle in an autonomous driving system, the method including receiving data on a communication environment map that includes position-dependent beam information, from a server; determining a direction of transmitted or received beam based on a driving path for the vehicle and the communication environment map; and performing data communication using the direction of transmitted or received beam.

[0345] In Embodiment 1, the position-dependent beam information may include positional information and beam-direction information relating to the positional information.

[0346] In Embodiment 2, the beam-direction information may include a beam direction in which the strongest signal strength is obtained for each spatial section that results from division by the positional information, and a value of signal strength in the beam direction.

[0347] In Embodiment 1, the determining of the direction of transmitted or received beam may include determining the direction of transmitted or received beam based on a reliability value representing the precision of the communication environment map and on whether or not antenna blocking occurs due to an obstacle that is present in the beam direction which is indicated by the beam information.

[0348] In Embodiment 4, the determining of the direction of transmitted or received beam may include determining the reliability value of the communication environment map, determining the direction of transmitted or received beam through a beam search that uses a synchronization signal, in a case where the reliability value is lower than a predetermined first reference value, determining whether or not the antenna blocking occurs, in a case where the reliability value is equal to or higher than the first reference value, determining a beam that corresponds to the beam direction that is indicated by the beam information, as the direction of transmitted or received beam, in a case where the reliability value is equal to or higher than a second reference value that is set to be higher than the first reference value and where the antenna blocking does not occur, determining the direction of transmitted or received beam by sequentially conducting a search in beam directions, starting from the beam direction that is indicated by the beam information, in a case where the reliability level is equal to or higher than the first reference level, but is lower than the second reference level, and where the antenna blocking does not occur, and determining the direction of transmitted or received beam by sequentially conducting a search for beams, starting from a beam that is closest to the beam direction which is indicated by the beam information, in a case where the antenna blocking occurs.

[0349] In Embodiment 6, the reliability value may be determined based on an error in an angle between the beam direction indicated by the beam information and a beam direction that is found as a result of the search by the vehicle, at a specific position, or on the number of times that the antenna blocking occurs.

[0350] In Embodiment 5, whether or not the antenna blocking occurs may be determined based on antenna-sensed information acquired by a proximity sensor that is provided in the vicinity of an antenna of the vehicle, or on a vehicle position and vehicle size of a different vehicle that is positioned in the vicinity of the vehicle, and the vehicle position and vehicle size of the different vehicle may be acquired from vehicle information received from the different vehicle or by a sensor installed in the vehicle.

[0351] Embodiment 1 may further include changing a driving path for the vehicle based on the communication.

[0352] Embodiment 1 may further include changing a frequency for the data communication and a setting of a service providing operator based on the communication environment map.

[0353] Embodiment 1 may further include updating the communication environment map using a type of communication, a service provider, a frequency, an antenna position, or an obstacle position, which relates to the data communication.

[0354] There is provided an apparatus for wireless communication to and from a vehicle in an autonomous driving system, the apparatus including a transceiver that includes multiple antenna components; and a processor that is functionally coupled to the transceiver, in which the processor receives data on a communication environment map that includes position-dependent beam information, from a server through the transceiver, determines a direction of transmitted or received beam based on a driving path for the vehicle and the communication environment map, and sets the transceiver to perform data communication using the direction of transmitted or received beam.

[0355] In Embodiment, the position-dependent beam information may include positional information and beam-direction information relating to the positional information.

[0356] In Embodiment 12, the beam-direction information may include a beam direction in which the strongest signal strength is obtained for each spatial section that results from division by the positional information, and a value of signal strength in the beam direction.

[0357] In Embodiment 11, the processor may set the direction of transmitted or received beam to be determined based on a reliability value representing the precision of the communication environment map and on whether or not antenna blocking occurs due to an obstacle that is present in the beam direction which is indicated by the beam information.

[0358] In Embodiment 14, the processor may set the reliability value of the communication environment map to be determined, the direction of transmitted or received beam to be determined through a beam search that uses a synchronization signal, in a case where the reliability value is lower than a predetermined first reference value, whether or not the antenna blocking occurs to be determined, in a case where the reliability value is equal to or higher than the first reference value, a beam that corresponds to the beam direction that is indicated by the beam information to be determined as the direction of transmitted or received beam, in a case where the reliability value is equal to or higher than a second reference value that is set to be higher than the first reference value and where the antenna blocking does not occur, the direction of transmitted or received beam to be determined by sequentially conducting a search in beam directions, starting from the beam direction that is indicated by the beam information, in a case where the reliability level is equal to or higher than the first reference level, but is lower than the second reference level, and where the antenna blocking does not occur, and the direction of transmitted or received beam to be determined by sequentially conducting a search for beams, starting from a beam that is closest to the beam direction which is indicated by the beam information, in a case where the antenna blocking occurs.

[0359] In Embodiment 15, the reliability value may be determined based on an error in an angle between the beam direction indicated by the beam information and a beam direction that is found as a result of the search by the vehicle, at a specific position, or on the number of times that the antenna blocking occurs.

[0360] In Embodiment 15, whether or not the antenna blocking occurs may be determined based on antenna-sensed information acquired by a proximity sensor that is provided in the vicinity of an antenna of the vehicle, or on a vehicle position and vehicle size of a different vehicle that is positioned in the vicinity of the vehicle, and the vehicle position and vehicle size of the different vehicle may be acquired from vehicle information received from the different vehicle or by a sensor installed in the vehicle.

[0361] In Embodiment 11, the processor may set a driving path for the vehicle to be changed based on the communication environment map.

[0362] In Embodiment, the processor may set a frequency for the data communication and a setting of a service providing operator to be changed based on the communication environment map.

[0363] In Embodiment 11, the processor may set the communication environment map to be updated using a type of communication, a service provider, a frequency, an antenna position, or an obstacle position, which relates to the data communication.

[0364] According to the embodiment of the present disclosure, the method described above may be realized by being stored as compute-readable codes on a program-stored medium. The computer-readable media include all types of recording devices in which to store data that is readable by a computer system. Example of the computer-readable medium includes a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like. The computer-readable medium may be realized in the form of a carrier wave (for example, transmission over the Internet). Therefore, the detailed description should not be interpreted in a limited manner in all respects, and should be considered as serving the purpose of illustration. The scope of the present disclosure is determined by legitimate construction of the following claims. All equivalent modifications to the embodiments of the present disclosure fall within the scope of the present disclosure.