Vehicle control apparatus, system having the same and method thereof

1 . A vehicle control apparatus, comprising:

a sensor device comprising a plurality of sensors;

a processor circuit configured to monitor the plurality of sensors, identify a failed sensor among the plurality of sensors, and determine, based on faulty data obtained by the failed sensor, transmission data, wherein the processor circuit is configured to determine, based on a type of the failed sensor, at least a part of normal data obtained by at least one sensor other than the failed sensor among the plurality of sensors as the transmission data;

a communication device configured to transmit the transmission data to a server and receive, from the server, virtual data associated with the transmission data, wherein the virtual data is associated with the type of the failed sensor; and

an autonomous driving controller configured to perform autonomous driving control, for a vehicle, using:

the faulty data;

the virtual data associated with the type of the failed sensor;

additional sensing data obtained by the failed sensor; and

additional sensing data obtained by the at least one sensor other than the failed sensor.

2 . The vehicle control apparatus of claim 1 , wherein the communication device is configured to receive, from the server, guidance position information associated with the transmission data, and

wherein the guidance position information comprises information on a stop position of the vehicle.

3 . The vehicle control apparatus of claim 2 , wherein the autonomous driving controller is configured to perform the autonomous driving control, to allow the vehicle to stop in a stop area comprising the stop position of the vehicle, using at least one of: the virtual data, the transmission data, or the guidance position information.

4 . The vehicle control apparatus of claim 1 , wherein the autonomous driving controller is configured to encrypt vehicle information of the vehicle,

wherein the vehicle information comprises at least one of: a vehicle number, a vehicle model, a driving position, a driving speed of the vehicle, the type of the failed sensor, sensor state information, sensor data information, or types of the plurality of sensors other than the failed sensor, and

wherein the communication device is configured to transmit the encrypted vehicle information to the server.

5 . The vehicle control apparatus of claim 1 , wherein the processor circuit is configured to:

identify a related data list associated with the failed sensor; and

determine, by using at least one data type included in the related data list, the at least a part of normal data as the transmission data.

6 . The vehicle control apparatus of claim 1 , wherein the communication device is configured to:

establish a virtual sensor data channel for communicating the virtual data, and

transmit the virtual data to a multiplexer through the virtual sensor data channel.

7 . The vehicle control apparatus of claim 6 , wherein the autonomous driving controller is configured to:

generate autonomous driving data by processing an output of the multiplexer, wherein the output of the multiplexer comprises the virtual data transmitted through the virtual sensor data channel and normal data, and wherein the normal data is obtained using at least one sensor other than the failed sensor among the plurality of sensors, and

perform, based on at least a part of the autonomous driving data, the autonomous driving control.

8 . The vehicle control apparatus of claim 1 , wherein the processor circuit is configured to determine the transmission data by:

selectively extracting, based on the type of the failed sensor, at least a part of normal data of at least one sensor, of the vehicle, other than the failed sensor.

9 . A vehicle control system, comprising:

a vehicle control apparatus comprising a processor circuit and configured to monitor a plurality of sensors, identify a failed sensor among the plurality of sensors, and transmit transmission data, wherein the transmission data is determined based on faulty data obtained by the failed sensor, and wherein the vehicle control apparatus is configured to determine, based on a type of the failed sensor, at least a part of normal data obtained by at least one sensor other than the failed sensor among the plurality of sensors as the transmission data; and

a computing device configured to:

collect at least one of: vehicle information of a vehicle equipped with the vehicle control apparatus, sensor state information, or sensor data information;

generate, based on at least a part of the collection and map data, virtual data, wherein the virtual data is associated with the type of the failed sensor; and

transmit, based on reception of the transmission data, the virtual data to the vehicle control apparatus,

wherein the vehicle control apparatus is further configured to perform autonomous driving control, for the vehicle, using:

the faulty data;

the virtual data associated with the type of the failed sensor;

additional sensing data obtained by the failed sensor; and

additional sensing data obtained by the at least one sensor other than the failed sensor.

10 . The vehicle control system of claim 9 , wherein the computing device is configured to:

receive, from at least one road side unit using the vehicle information, infrastructure information comprising at least one of: a driving lane of the vehicle, a driving position of the vehicle, or a nearby vehicle,

determine a driving path of the vehicle using the infrastructure information and the at least one of: the vehicle information, the sensor state information, or the sensor data information, and

generate, based on the determined driving path, the virtual data associated with the failed sensor.

11 . The vehicle control system of claim 9 , wherein the computing device is configured to transmit and receive encrypted data to and from the vehicle based on a security system.

12 . The vehicle control system of claim 9 , wherein the computing device is configured to:

generate guidance position information comprising information about a stop position of the vehicle, and wherein the guidance position information is generated based on at least a part of the collection and the map data; and

transmit, to the vehicle control apparatus, the virtual data and the guidance position information.

13 . The vehicle control system of claim 9 , wherein the sensor state information comprises information on whether at least one of the plurality of sensors comprised in the vehicle is failed, and

wherein the sensor data information comprises at least one sensor data obtained by at least one sensor other than the failed sensor among the plurality of sensors.

14 . The vehicle control system of claim 9 , wherein the vehicle control apparatus is configured to:

generate autonomous driving data by processing an output of a multiplexer, wherein the output of the multiplexer comprises the virtual data and normal data obtained using at least one sensor other than the failed sensor among the plurality of sensors; and

perform, based on at least a part of the autonomous driving data, autonomous driving control for the vehicle.

15 . The vehicle control system of claim 9 , wherein the vehicle control apparatus is configured to:

encrypt the vehicle information of the vehicle, wherein the vehicle information comprises a vehicle number, a vehicle model, a driving position, a driving speed of the vehicle, the type of the failed sensor, the sensor state information, the sensor data information, or types of the plurality of sensors other than failed sensor; and

transmit the encrypted vehicle information to the computing device.

16 . A vehicle control method, comprising:

monitoring, by a vehicle control apparatus, a plurality of sensors;

identifying, by the vehicle control apparatus, a failed sensor among the plurality of sensors;

determining, by the vehicle control apparatus and based on faulty data obtained by the failed sensor, transmission data, wherein the determining the transmission data comprises: by using at least one data type comprised in a related data list associated with the failed sensor, determining, as the transmission data, at least a part of normal data obtained by at least one sensor other than the failed sensor among the plurality of sensors;

transmitting, by the vehicle control apparatus, the transmission data to a computing device;

receiving, by the vehicle control apparatus and from the computing device, virtual data associated with the transmission data, wherein the virtual data is associated with a type of the failed sensor; and

performing, by the vehicle control apparatus, autonomous driving control, for a vehicle, using:

the faulty data;

the virtual data associated with the type of the failed sensor;

additional sensing data obtained by the failed sensor; and

additional sensing data obtained by the at least one sensor other than the failed sensor.

17 . The vehicle control method of claim 16 , wherein the receiving the virtual data comprises receiving, by a communication device, guidance position information comprising information on a stop position of the vehicle in response to transmission of the transmission data, and

wherein the performing the autonomous driving control comprises performing, by an autonomous driving controller, the autonomous driving control, to allow the vehicle to stop in a stop area comprising the stop position of the vehicle, using at least one of: the virtual data, the transmission data, or the guidance position information.

18 . The method of claim 16 , wherein the transmitting the transmission data comprises:

encrypting, by an autonomous driving controller, vehicle information of the vehicle, wherein the vehicle information comprises a vehicle number, a vehicle model, a driving position, a driving speed of the vehicle, a type of the failed sensor, sensor state information, sensor data information, or types of the plurality of sensors other than failed sensor, and

transmitting, by a communication device, the encrypted vehicle information to the computing device.

19 . The vehicle control method of claim 16 , wherein the receiving the virtual data comprises:

establishing, by a communication device, a virtual sensor data channel for communicating the virtual data,

transferring the virtual data to a multiplexer through the virtual sensor data channel, and

generating, by an autonomous driving controller, autonomous driving data by processing an output of the multiplexer, wherein the output of the multiplexer comprises the virtual data and normal data obtained using at least one sensor other than the failed sensor among the plurality of sensors, and

wherein the performing the autonomous driving control comprises performing, by the autonomous driving controller and based on at least a part of the autonomous driving data, the autonomous driving control.

20 . The vehicle control method of claim 16 , wherein the determining the transmission data comprises:

selectively extracting, based on the at least one data type, at least a part of normal data of at least one sensor, of the vehicle, other than the failed sensor.