V2X communication apparatus for verifying reliability of V2X data, system including the V2X communication apparatus, and method for verifying reliability of V2X data

1. A V2X communication apparatus comprising:

a message transceiver for receiving a V2X communication message and transmitting V2X data to an apparatus in a vehicle;

a parameter calculator for calculating a reliability verification parameter for verifying reliability of the V2X data;

a reliability level decider for deciding a reliability level by comparing the reliability verification parameter with a predetermined reference value; and

a message generator for generating the V2X data including the deciding reliability level using the V2X communication message

wherein the reliability level decider sets the reliability level to a first reliability level corresponding to a guidance level, a second reliability level corresponding to a warning level, and a third reliability level corresponding to a control level, and

wherein the reliability level decider sets reliability of the first reliability level to be lowest among the first, second and third reliability levels, and sets reliability of the third reliability level to be highest among the first, second and third reliability levels.

2. The V2X communication apparatus according to claim 1 , wherein the reliability verification parameter includes one or more of an information age (IA) parameter, a communication induced tracking error (CITE) parameter and a security parameter.

3. The V2X communication apparatus according to claim 2 , wherein the reliability level decider decides reliability levels of each of the IA parameter, the CITE parameter, and the security parameter, and decides that a lowest reliability level of the respective reliability levels decided for each parameter is a final reliability level.

4. The V2X communication apparatus according to claim 3 , wherein the reliability level decider checks whether or not the IA parameter exceeds a first reference value based on the first reliability level, a second reference value based on the second reliability level, and a third reference value based on the third reliability level that are predetermined to decide the reliability level of the IA parameter.

5. The V2X communication apparatus according to claim 4 , wherein the reliability level decider sets the first reference value of the first to third reference values to be highest among the first, second and third reliability levels, and sets the third reference value of the first to third reference values to be lowest among the first, second and third reliability levels.

6. The V2X communication apparatus according to claim 5 , wherein the reliability level decider sets the first to third reference values on the basis of a speed of the vehicle and a distance between the vehicle and a surrounding vehicle.

7. The V2X communication apparatus according to claim 6 , wherein the reliability level decider sets the first to third reference values to decrease as the speed of the vehicle decreases and the distance between the vehicle and the surrounding vehicle increases.

8. The V2X communication apparatus according to claim 4 , wherein the reliability level decider checks whether or not the CITE parameter exceeds a fourth reference value based on the first reliability level, a fifth reference value based on the second reliability level, and a sixth reference value based on the third reliability level that are predetermined to decide the reliability level of the CITE parameter.

9. The V2X communication apparatus according to claim 8 , wherein the reliability level decider sets the sixth reference value for deciding the third reliability level using a sensor fusion error (SFE).

10. The V2X communication apparatus according to claim 8 , wherein the reliability level decider checks whether or not the security parameter exceeds a seventh reference value based on the first reliability level and an eighth reference value based on the second reliability level and the third reliability level that are predetermined to decide the reliability level of the security parameter.

11. The V2X communication apparatus according to claim 10 , wherein the reliability level decider compares a difference value between a certification received time and a current time with the seventh reference value and the eight reference value to decide the reliability level of the security parameter.

12. The V2X communication apparatus according to claim 10 , wherein the reliability level decider checks whether or not a surrounding vehicle transmitting a V2X communication message is included in a certificate revocation list in the case in which the message transceiver receives the V2X communication message from the surrounding vehicle, and does not perform reliability decision in the case in which the surrounding vehicle is included in the certificate revocation list.

13. A V2X communication system comprising:

a V2X communication apparatus for generating V2X data on the basis of a V2X communication message when the V2X communication apparatus generating V2X data receives the V2X communication message from a surrounding vehicle, deciding a reliability level for the V2X data, and transmitting the V2X data including the decided reliability level to an apparatus in a vehicle; and

a plurality of vehicle apparatuses for performing at least one of vehicle guidance, warning, and control by determining whether or not the V2X data are used by checking the reliability level of the V2X data when the plurality of vehicle apparatuses receive the transmitted V2X data,

wherein the V2X communication apparatus sets the reliability level to a first reliability level corresponding to a guidance level, a second reliability level corresponding to a warning level, and a third reliability level corresponding to a control level, and

wherein the V2X communication apparatus sets reliability of the first reliability level to be lowest among the first, second and third reliability levels, and sets reliability of the third reliability level to be highest among the first, second and third reliability levels.

14. The V2X communication system according to claim 13 , wherein the plurality of vehicle apparatuses are one or more of a smart cruise control (SCC), a navigation apparatus, a lane departure warning system (LDWS), a parking assistance system, a lane keeping assist system (LKAS) and an advanced driving assistance system (ADAS).

15. The V2X communication system according to claim 13 , wherein the V2X communication apparatus includes:

a message transceiver for receiving the V2X communication message and transmitting the V2X data to the apparatus in the vehicle;

a parameter calculator for calculating a reliability verification parameter for verifying reliability of the V2X data;

a reliability level decider for deciding the reliability level by comparing the reliability verification parameter with a predetermined reference value; and

a message generator for generating the V2X data using the V2X communication message and generating the V2X data including the decided reliability level.

16. A method for verifying reliability of V2X data, comprising:

receiving a V2X communication message from a surrounding vehicle;

calculating a reliability verification parameter for verifying the reliability of the V2X data generated on the basis of the V2X communication message;

deciding a reliability level by comparing the reliability verification parameter with a predetermined reference value; and

allowing the decided reliability level to be included in the V2X data and transmitting the V2X data including the decided reliability level to an apparatus in a vehicle,

wherein in the step of deciding of the reliability level, the reliability level is decided to be one of a first reliability level corresponding to a guidance level, a second reliability level corresponding to a warning level, and a third reliability level corresponding to a control level, and

wherein in the step of deciding of the reliability level, the reliability level is decided to be the first reliability level to be lowest among the first, second and third reliability levels, and sets reliability of the third reliability level to be highest among the first, second and third reliability levels.