The present invention provides a method and an apparatus for processing a driving cooperative message to perform cooperative driving between autonomous vehicles through negotiations with surrounding autonomous vehicles. According to an embodiment of the present invention, the method for processing a driving cooperative message comprises: a step of receiving a plurality of first driving cooperative messages from surrounding autonomous vehicles; a step of adjusting cooperative classes of the plurality of first driving cooperative messages; a step of generating driving power corresponding to the adjusted cooperative classes in descending order of priorities of the adjusted cooperative classes; a step of generating a second driving cooperative message including the adjusted cooperative classes and driving power corresponding to the adjusted cooperative classes; and a step of transmitting the second driving cooperative message to the surrounding autonomous vehicles requiring cooperative driving.
본 발명에 따른 주행협력 메시지 처리방법은 주변 자율주행차량으로부터 복수개의 제1 주행협력 메시지를 수신하는 단계와, 상기 복수개의 제1 주행협력 메시지의 협력 등급을 조정하는 단계와, 우선 순위가 높은 조정된 협력 등급 순으로 상기 조정된 협력 등급에 대응하는 주행 전략을 생성하는 단계와, 상기 조정된 협력 등급 및 상기 조정된 협력 등급에 대응하는 주행 전략을 포함하는 제2 주행협력 메시지를 생성하는 단계와, 상기 제2 주행협력 메시지를 협력 주행이 필요한 상기 주변 자율주행차량에 송신하는 단계를 포함할 수 있다.
METHOD AND APPARATUS PROCESSING DRIVING COOPERATIVE MESSAGE
주행협력 메시지 처리방법 및 장치
2023-12-05
Patent
Electronic Resource
Korean
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze |
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