# US 2019/0377341 A1 · Vehicle control device and vehicle comprising the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0377341 A1 - Document ID: US20190377341A1 - Status: Published application - Kind: A1 - Application number: 16/276,186 - Filed: 2019-02-14 - Published: 2019-12-12 - Earliest claimed: 2018-07-16 - Assignees: LG Electronics Inc. - Applicants: LG Electronics Inc. - Inventors: Heedong CHOI - Web page: https://patentgrep.com/patent/US20190377341A1 ## CPC - B60W 50/082: {Selecting or switching between different modes of propelling} - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B60R 16/0231: {Circuits relating to the driving or the functioning of the vehicle (monitoring tyres B60C23/00; indicating overspeed B60K31/00; for dash boards B60K37/00, B60Q3/10; for indicating emergencies B60Q1/52; brake control systems B60T; registering or indicating the working of vehicles G07C5/00; measuring distance G01C, e.g. combinations of speed and distance G01C23/00; engine indicators G01L; measuring speed or acceleration G01P)} - B60W 30/182: Selecting between different operative modes, e.g. comfort and performance modes - B60W 50/16: Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal - B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles} - B60W 60/005: {Handover processes (Handing over between remote control and on-board control or handing over between remote control arrangements G05D1/227)} - G05D 1/0276: {using signals provided by a source external to the vehicle (involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058)} - G08G 1/096725: {where the received information generates an automatic action on the vehicle control} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - H04W 4/46: for vehicle-to-vehicle communication [V2V] - B60W 2050/0075: {Automatic parameter input, automatic initialising or calibrating means} - B60W 2050/143: {Alarm means} - B60W 2050/146: {Display means} - B60W 2420/40: Photo, light or radio wave sensitive means, e.g. infrared sensors - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2420/54: Audio sensitive means, e.g. ultrasound - B60W 2556/45: External transmission of data to or from the vehicle - B60W 2556/65: Data transmitted between vehicles - B60W 2756/10: Involving external transmission of data to or from the vehicle - G05D 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)} - G05D 1/0242: {using non-visible light signals, e.g. IR or UV signals} - G05D 1/0255: {using acoustic signals, e.g. ultra-sonic singals (sonar systems designed for anti-collision purposes G01S15/93)} - G05D 1/0257: {using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931)} - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract The present disclosure relates to a vehicle control device mounted on a vehicle having a plurality of devices. The vehicle control device may include a communication unit configured to communicate with at least one of the devices; and a processor configured to transmit an autonomous driving message to the at least one to perform autonomous driving in the vehicle, wherein the processor generates an autonomous driving message for controlling one or more autonomous driving functions based on an external message received from outside the vehicle. ## Claims ### Claim 1 A vehicle control device for a vehicle, the vehicle including a plurality of devices, the vehicle control device comprising: a communication unit configured to communicate with at least one of the plurality of devices of the vehicle; and one or more processors configured to: based on an external message received from an external device outside of the vehicle, generate an autonomous driving message configured to control one or more autonomous driving functions of the vehicle, and transmit the autonomous driving message to at least one of the plurality of devices that are configured to perform the one or more autonomous driving functions of the vehicle. ### Claim 2 (depends on 1) The vehicle control device of claim 1, wherein the one or more processors are further configured to: select an autonomous driving level among a plurality of autonomous driving levels based on the external message; and generate the autonomous driving message to instruct the at least one of the plurality of devices to perform the one or more autonomous driving functions corresponding to the selected autonomous driving level. ### Claim 3 (depends on 2) The vehicle control device of claim 2, wherein the one or more autonomous driving functions are configured to vary according to the selected autonomous driving level. ### Claim 4 (depends on 3) The vehicle control device of claim 3, wherein the one or more processors are further configured to, in response to reception of a new external message during an autonomous driving of the vehicle at the selected autonomous driving level, determine another autonomous level among the plurality of autonomous driving levels based on the new external message. ### Claim 5 (depends on 4) The vehicle control device of claim 4, wherein the one or more processors are further configured to: set a transition range for changing the autonomous driving of the vehicle from the selected autonomous driving level to another autonomous driving level; and control the communication unit to change a set value of at least one of the plurality of devices of the vehicle corresponding to the transition range. ### Claim 6 (depends on 5) The vehicle control device of claim 5, wherein the one or more processors are further configured to determine the transition range according to at least one of the new external message or a speed of the vehicle. ### Claim 7 (depends on 2) The vehicle control device of claim 2, wherein the plurality of devices of the vehicle include a plurality of types of sensors, and wherein the one or more processors are further configured to use information from different types of sensors among the plurality of types of sensors to generate messages to autonomously drive the vehicle at different autonomous driving levels among the plurality of autonomous driving levels. ### Claim 8 (depends on 7) The vehicle control device of claim 7, wherein one or more sensors of the plurality types of sensors are included in a first group of sensors, the first group of sensors being configured to be used to generate a message for autonomous driving of the vehicle at a first level among the autonomous driving levels, and wherein the one or more processors are further configured to control the communication unit to turn off at least one sensor that is not included in the first group of sensors in a state in which the vehicle is autonomously driven at the first level. ### Claim 9 (depends on 2) The vehicle control device of claim 2, wherein the one or more processors are further configured to, based on reception of the external message, deactivate the one or more autonomous driving functions. ### Claim 10 (depends on 9) The vehicle control device of claim 9, wherein the one or more processors are further configured to determine deactivation of the one or more autonomous driving functions based on the selected autonomous driving level. ### Claim 11 (depends on 9) The vehicle control device of claim 9, wherein the one or more processors are further configured to control the communication unit to turn off a device among the plurality of devices of the vehicle to deactivate the one or more autonomous driving functions. ### Claim 12 (depends on 2) The vehicle control device of claim 2, wherein the one or more processors are further configured to determine priority levels of the plurality of devices of the vehicle based on the selected autonomous driving level. ### Claim 13 (depends on 12) The vehicle control device of claim 12, wherein the one or more processors are further configured to change the priority levels of the plurality of devices of the vehicle by reassigning a message identification (ID) that has been assigned to each of the plurality of devices. ### Claim 14 (depends on 2) The vehicle control device of claim 2, wherein the one or more processors are further configured to, based on reception of the external message, activate the one or more autonomous driving functions to execute the one or more autonomous driving functions. ### Claim 15 (depends on 1) The vehicle control device of claim 1, wherein the one or more processors are further configured to, based on the external message, control the communication unit to display guide information that indicates the one or more autonomous driving functions in at least one of visual, auditory, or tactile manners. ### Claim 16 (depends on 15) The vehicle control device of claim 15, wherein the one or more processors are further configured to: determine a predetermined range in which the one or more autonomous driving functions are controlled based on the external message; and execute one or more autonomous driving functions based on the vehicle being located in the predetermined range. ### Claim 17 (depends on 16) The vehicle control device of claim 16, wherein the guide information comprises predetermined information indicating the predetermined range. ### Claim 18 (depends on 1) The vehicle control device of claim 1, wherein the one or more processors are further configured to: receive vehicle driving information through the communication unit; based on the vehicle driving information, search at least one autonomous driving function that does not satisfy a predetermined criterion; and control the communication unit to output a warning message indicating that the at least one autonomous driving function is not executed in another vehicle located outside of the vehicle. ### Claim 19 (depends on 18) The vehicle control device of claim 18, wherein the one or more processors are further configured to: determine a predetermined range in which the at least one autonomous driving function is restricted based on the vehicle driving information; and include, in the warning message, predetermined information corresponding to the predetermined range to cause another vehicle to not execute the at least one autonomous driving function. ### Claim 20 (depends on 19) The vehicle control device of claim 19, wherein the warning message comprises at least one of a generation time at which the warning message is generated, a valid period for which the warning message is valid, or an expiration time at which validity of the warning message expires.