Autonomous driving system, autonomous driving control method, data ECU, and autonomous driving ECU

An autonomous driving control method in an autonomous driving system in which an autonomous driving ECU and a plurality of data ECUs are connected with each other through a first network and are connected with each other through a second network having a communication bandwidth that is narrower than a communication bandwidth of the first network, the method comprising:

• constructing, by the plurality of data ECUs, first autonomous driving data;
• transmitting, by the plurality of data ECUs, the first autonomous driving data to the autonomous driving ECU via the first network;
• autonomously controlling, by the autonomous driving ECU, a host vehicle on the basis of the first autonomous driving data constructed by the plurality of data ECUs and transmitted from the plurality of data ECUs via the first network;
• upon determining that a predetermined event occurs, one or more data ECUs among the plurality of data ECUs further construct second autonomous driving data and transmit the second autonomous driving data to the autonomous driving ECU via the second network;
• autonomously controlling, by the autonomous driving ECU, the host vehicle on the basis of the second autonomous driving data constructed by the one or more data ECUs and transmitted from the one or more data ECUs via the second network,
• wherein, in a case where the first autonomous driving data is first sensor data, a range of second sensor data related to objects around the host vehicle included in the second autonomous driving data is reduced with respect to a range of the first sensor data related to objects around the host vehicle included in the first autonomous driving data,
• wherein, in a case where the first autonomous driving data is map data, a map size of a map included in the second autonomous driving data is reduced with respect to a map size of a map included in the first autonomous driving data,
• wherein the autonomous driving ECU determines a release point at which the autonomous control is not able to be performed, and
• wherein the map included the second autonomous driving data includes the release point and the map included the first autonomous driving data does not include the release point.

A data ECU connected to a plurality of data ECUs and an autonomous driving ECU through a first network and through a second network having a communication bandwidth that is narrower than a communication bandwidth of the first network, the data ECU comprising:

• a first communication interface connected with the autonomous driving ECU through the first network;
• a second communication interface connected with the autonomous driving ECU through the second network;
• and
• a processor programmed to:
• construct first autonomous driving data which is used in autonomous control of a host vehicle by the autonomous driving ECU,
• transmit the constructed first autonomous driving data to the autonomous driving ECU via the first communication interface and the first network,
• in a case in which a predetermined event occurs, construct second autonomous driving data which is used in autonomous control of the host vehicle by the autonomous driving ECU and transmit the constructed second autonomous driving data to the autonomous driving ECU via the second communication interface and the second network,
• wherein, in a case where the first autonomous driving data is first sensor data, a range of second sensor data related to objects around the host vehicle included in the second autonomous driving data is reduced with respect to a range of the first sensor data related to objects around the host vehicle included in the first autonomous driving data,
• wherein, in a case where the first autonomous driving data is map data, a map size of a map included in the second autonomous driving data is reduced with respect to a map size of a map included in the first autonomous driving data,
• wherein the autonomous driving ECU is further programmed to determine a release point at which the autonomous control of the host vehicle is not able to be performed, and
• wherein the map included in the second autonomous driving data includes the release point and the map included in the first autonomous driving data does not include the release point.

An autonomous driving ECU connected to a plurality of data ECUs through a first network and through a second network having a communication bandwidth that is narrower than a communication bandwidth of the first network, the autonomous driving ECU comprising:

• a first communication interface connected with the plurality of data ECUs via the first network;
• a second communication interface connected with the plurality of data ECUs via the second network;
• and
• a processor programmed to:
• receive first autonomous driving data from the plurality of data ECUs via the first communication interface and the first network,
• perform autonomous control of a host vehicle on the basis of the first autonomous driving data received from the plurality of data ECUs,
• in a case in which a predetermined event occurs, transmit a demand autonomous driving data request via the second communication interface and the second network, receive second autonomous driving data from one or more data ECUs among the plurality of data ECUs via the second communication interface and the second network, and perform autonomous control of the host vehicle on the basis of the second autonomous driving data received from the one or more data ECUs,
• wherein, in a case where the first autonomous driving data is first sensor data, a range of second sensor data related to objects around the host vehicle included in the second autonomous driving data is reduced with respect to a range of the first sensor data related to objects around the host vehicle included in the first autonomous driving data,
• wherein, in a case where the first autonomous driving data is map data, a map size of a map included in the second autonomous driving data is reduced with respect to a map size of a map included in the first autonomous driving data,
• wherein the autonomous driving ECU is further programmed to determine a release point at which the autonomous control of the host vehicle is not able to be performed, and
• wherein the map included in the second autonomous driving data includes the release point and the map included in the first autonomous driving data does not include the release point.