Vehicle and method of controlling the same
A vehicle and a control method thereof are capable of performing autonomous navigation by diagnosing a failure of the vehicle and a neighboring vehicle on the basis of position information derived by the vehicle and the neighboring vehicle. The vehicle includes a sensor unit, a communication unit configured to communicate with a neighboring vehicle, and a control unit. The control unit is configured to determine first position information of the vehicle on the basis of information acquired by the sensor unit, receive second position information of the vehicle determined by the neighboring vehicle, and determine that at least one of the vehicle or the neighboring vehicle is in a failure state when a difference between the first position information and the second position information exceeds a reference value.
1. A vehicle comprising:
a sensor unit;
a communication unit configured to communicate with a neighboring vehicle; and
a control unit configured to determine first position information of the vehicle on the basis of information acquired by the sensor unit, to receive second position information of the vehicle determined by the neighboring vehicle, and to determine that at least one of the vehicle or the neighboring vehicle is in a failure state when a difference between the first position information and the second position information exceeds a first reference value.
2. The vehicle of claim 1 , wherein the communication unit is configured to communicate with the neighboring vehicle and another neighboring vehicle, and
wherein the control unit is configured to:
receive third position information of the vehicle determined by the other neighboring vehicle;
determine expected position information of the vehicle on the basis of the second position information and the third position information; and
determine the vehicle to be in a failure state when a difference between the expected position information and the first position information exceeds a second reference value.
3. The vehicle of claim 2 , wherein the control unit determines expected position information of the vehicle on the basis of the first position information and the third position information and determines the neighboring vehicle to be in a failure state when a difference between the expected position information and the second position information of the vehicle exceeds a third reference value.
4. The vehicle of claim 3 , wherein the control unit controls the vehicle to avoid the neighboring vehicle when the neighboring vehicle is determined to be in a failure state.
5. The vehicle of claim 3 , wherein the control unit transmits a warning message to the neighboring vehicle when the neighboring vehicle is determined to be in a failure state.
6. The vehicle of claim 1 , wherein the sensor unit includes a plurality of sensors, and
wherein the control unit determines the first position information on the basis of pieces of information acquired by the plurality of sensors, respectively, and determines a failure state of at least one sensor of the plurality of sensors on the basis of the difference between the first position information and the second position information.
7. The vehicle of claim 6 , wherein the control unit is configured to, upon determining that at least one of the plurality of sensors is in a failure state, control the vehicle to travel on the basis of information acquired by the sensor unit excluding the at least one sensor.
8. The vehicle of claim 1 , wherein the control unit changes the first reference value on the basis of a reception strength of the communication unit and an operation state of the sensor unit.
9. A method of controlling a vehicle, the method comprising:
communicating with a neighboring vehicle;
determining first position information of the vehicle on the basis of information acquired by a sensor unit;
receiving second position information of the vehicle determined by the neighboring vehicle; and
determining that at least one of the vehicle or the neighboring vehicle is in a failure state when a difference between the first position information and the second position information exceeds a first reference value.
10. The method of claim 9 , further comprising communicating with the neighboring vehicle and with another neighboring vehicle.
11. The method of claim 10 , further comprising:
receiving third position information of the vehicle determined by the other neighboring vehicle;
determining expected position information of the vehicle on the basis of the second position information and the third position information; and
determining that the vehicle is in a failure state when a difference between the expected position information and the first position information exceeds a second reference value.
12. The method of claim 11 , wherein the determining that the vehicle is in a failure state includes:
receiving third position information of the vehicle determined by the other neighboring vehicle;
determining expected position information of the vehicle on the basis of the second position information and the third position information; and
determining that the vehicle is in a failure state when a difference between the expected position information and the first position information exceeds a second reference value.
13. The method of claim 11 , wherein the determining that the vehicle is in a failure state further includes:
determining expected position information of the vehicle on the basis of the first position information and the third position information; and
determining that the neighboring vehicle is in a failure state when a difference between the expected position information and the second position information of the vehicle exceeds a third reference value.
14. The method of claim 9 , wherein the sensor unit includes a plurality of sensors.
15. The method of claim 14 , wherein the determining that at least one of the vehicle or the neighboring vehicle is in a failure state includes:
determining the first position information on the basis of pieces of information acquired by the plurality of sensors, respectively; and
determining a failure state of at least one sensor of the plurality of sensors on the basis of the difference between the first position information and the second position information.
16. The method of claim 9 , further comprising changing the first reference value on the basis of a reception strength of the communication unit and an operation state of the sensor unit.
17. A vehicle comprising:
a sensor unit;
a communication unit configured to communicate with a neighboring vehicle;
a processor; and
a non-transitory computer-readable medium containing computer-executable instructions that, when executed by the vehicle, cause the processor to:
determine first position information of the vehicle on the basis of information acquired by the sensor unit;
receive second position information of the vehicle determined by the neighboring vehicle; and
determine that at least one of the vehicle or the neighboring vehicle is in a failure state when a difference between the first position information and the second position information exceeds a first reference value.