V2X BSM METHOD FOR TRANSMITTING BSM MESSAGE OF V2X CONNUMICATION DEVICE PROVIDED IN VEHICLE IN AUTONOMOUS DRIVING SYSTEM

摘要

Disclosed is a BSM message transmitting method of a V2X communication device installed in a vehicle in an autonomous driving system. According to an embodiment of the present invention, when BSM data cannot be normally configured due to sensor errors, the BSM message transmitting method of a V2X communication device multiplexes sensor data and GPS data each received from a plurality of sensors in the vehicle and can use the multiplexed sensor data in generation of the BSM data. Therefore, the present invention can enhance stability of a V2X system and efficiently compensate an error generated between sensors. An autonomous driving system can be associated with an artificial intelligence module, a drone (an unmanned aerial vehicle, UAV), a robot, an augmented reality (AR) device, a virtual reality (VR) device, and a device related to a 5G service.