KR102050991B1 - System for recognizing circumstance of vehicle and method thereof - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system and method for recognizing a surrounding situation of a vehicle. The present invention relates to a first vehicle that transmits broadcast information to surrounding vehicles when a dangerous situation or a congestion occurs, and the broadcast information is location information of the first vehicle. And when it is determined that the first vehicle is a preceding vehicle or a subsequent vehicle based on the location information of the first vehicle and the first vehicle received from the first vehicle, including the surrounding image information of the first vehicle. And a second vehicle that outputs surrounding image information of the received first vehicle.

Description

A system and method for recognizing surrounding conditions of a vehicle {SYSTEM FOR RECOGNIZING CIRCUMSTANCE OF VEHICLE AND METHOD THEREOF}

The present invention relates to a system and method for recognizing a surrounding situation of a vehicle, and more particularly, to a system and method for recognizing a surrounding situation of a vehicle for outputting a surrounding image of the vehicle to a driver in a dangerous situation or a congestion situation.

A driver assistance system is applied to a vehicle to improve driving convenience by photographing and providing surrounding conditions while driving. A typical example is the Around View Monitoring (AVM) system, which provides the driver with the surrounding images from the front, rear, left and right cameras of the vehicle. A system that allows you to recognize a situation. The AVM system has been widely used as a driving support system for assisting drivers by providing convenience such as providing a blind spot image of a vehicle and a rear view image when parking.

The support system including the AVM system has a limitation of photographing only the surrounding objects located at the front, rear, left and right sides of the vehicle and providing them to the driver. There is no limit. For example, the current support system alone does not allow the driver to recognize the situation ahead of the vehicle where the driver's vision is not secured by the vehicle ahead of the vehicle. exist.

This problem may be exacerbated in a situation where the driver's field of view is difficult to secure by a large bus or truck located in front of the vehicle, so that not only the immediate surrounding object of the vehicle but also other objects covered by the surrounding object A system is required to enable verification to predict the risk situation.

Background art of the present invention is disclosed in Republic of Korea Patent Publication No. 10-2013-0028230 (published on March 19, 2013).

The present invention has been made to solve the above-described problems, an object according to an aspect of the present invention is to provide the driver with the image information of the object present in the position not to secure the driver's field of view as well as the direct surrounding objects of the vehicle. The present invention provides a system and method for recognizing surrounding conditions of a vehicle to improve driving convenience of the driver by allowing the driver to recognize whether a dangerous situation or a congestion situation has occurred around the vehicle.

A surrounding situation awareness system of a vehicle according to an aspect of the present invention is a first vehicle that transmits broadcast information to a surrounding vehicle when a dangerous situation or a congestion occurs, wherein the broadcast information is a location of the first vehicle. When the first vehicle is determined to be a preceding vehicle or a subsequent vehicle based on location information of the first vehicle and the first vehicle transmitted from the first vehicle, including information and surrounding image information of the first vehicle; And a second vehicle that outputs surrounding image information of the first vehicle received from the first vehicle.

In the present invention, the surrounding image information includes the front image information of the first vehicle, the first vehicle, when the distance reduction rate between the front object of the first vehicle and the first vehicle is equal to or greater than a preset reference value, The broadcast information is transmitted to the surrounding vehicles by determining that the situation is dangerous.

In the present invention, the surrounding image information includes front image information of the first vehicle, wherein the first vehicle is configured to perform a preset time of any one of the preceding vehicle and the first vehicle of the first vehicle. When the average vehicle speed is less than or equal to a predetermined reference vehicle speed, the traffic information is determined to be determined as the congestion state and the broadcast information is transmitted to the surrounding vehicles.

In the present invention, the second vehicle is configured to determine the position of the preceding vehicle of the second vehicle estimated based on the distance between the preceding vehicle and the second vehicle of the second vehicle and the position of the second vehicle. When it is determined that the first vehicle is a preceding vehicle of the second vehicle compared to the position information of the vehicle, the front image information of the first vehicle may be output.

In the present invention, the surrounding image information includes rear image information of the first vehicle, wherein the first vehicle is configured to perform a preset time of any one of a subsequent vehicle of the first vehicle and one of the first vehicles. When the average vehicle speed is less than or equal to a predetermined reference vehicle speed, the traffic information is determined to be determined as the congestion state and the broadcast information is transmitted to the surrounding vehicles.

In the present invention, the second vehicle is configured to determine a position of a subsequent vehicle of the second vehicle estimated based on a distance between a subsequent vehicle of the second vehicle and the second vehicle and a position of the second vehicle. When it is determined that the first vehicle is a subsequent vehicle of the second vehicle compared to the position information of the vehicle, the rear image information of the first vehicle may be output.

In the present invention, the first vehicle and the second vehicle is characterized in that the transmission and reception of the broadcast information using a vehicle to vehicle (V2V).

In the present invention, the second vehicle is characterized by outputting the surrounding image information of the first vehicle using Augmented Reality (AR).

In a method of recognizing a surrounding environment of a vehicle according to an exemplary embodiment of the present disclosure, a first determination step of determining whether a dangerous situation or a congestion situation has occurred in a surrounding of a first vehicle, and determines that the dangerous situation or the congestion situation occurs In this case, the first vehicle transmits broadcast information to surrounding vehicles, wherein the broadcast information includes location information of the first vehicle and surrounding image information of the first vehicle. A second determination step of determining, by the second vehicle, whether the first vehicle is a preceding vehicle or a subsequent vehicle of the second vehicle based on the position information of the first vehicle received from the first vehicle, and When it is determined that the first vehicle is a preceding vehicle or a subsequent vehicle of the second vehicle, the first vehicle received by the second vehicle from the first vehicle And outputting the image information of the surroundings.

According to an aspect of the present invention, the present invention can provide a driver with image information of an object existing at a position where the driver's field of view is not secured so that the driver can recognize a wider range of surrounding conditions, and By providing only the information transmitted by the preceding vehicle or the subsequent vehicle of the vehicle to the driver only when a dangerous situation or a congestion situation occurs, the driver can recognize the surrounding situation while minimizing the communication load between the vehicles.

1 is a block diagram illustrating a system for recognizing a surrounding situation of a vehicle according to an exemplary embodiment of the present invention.
2 is an exemplary diagram for describing an operation of a system for recognizing a surrounding situation of a vehicle according to an exemplary embodiment of the present disclosure.
3 is a flowchart illustrating a method of recognizing a surrounding situation of a vehicle according to an exemplary embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described an embodiment of the surrounding situation recognition system and method of the vehicle according to the present invention. In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of description. In addition, terms to be described below are terms defined in consideration of functions in the present invention, which may vary according to the intention or convention of a user or an operator. Therefore, definitions of these terms should be made based on the contents throughout the specification.

1 is a block diagram illustrating a system for recognizing a surrounding situation according to an embodiment of the present invention, and FIG. 2 is an example for describing an operation of a system for recognizing surrounding conditions according to an embodiment of the present invention. It is also.

Referring to FIG. 1, a system for recognizing surrounding conditions of a vehicle according to an exemplary embodiment of the present invention may include a first vehicle 100 that operates as a broadcaster that takes a surrounding image and transmits the surrounding image to a nearby vehicle. And a second vehicle 200 outputting the surrounding image received from the first vehicle 100 to the driver.

First, when the operation of the first vehicle 100 is described, the first vehicle 100 may transmit broadcast information to surrounding vehicles when a dangerous situation or a congestion occurs in the surroundings. Here, the broadcast information may include location information of the first vehicle 100 and surrounding image information of the first vehicle 100.

Hereinafter, the operation of the first vehicle 100 described above will be described in detail as its detailed configuration.

As a detailed configuration for performing the above-described operation, the first vehicle 100 may include the first detector 110, the first positioning unit 130, the photographing unit 150, the first communication unit 170, and the first control unit 190. ) May be included.

The first detector 110 may detect a front object of the first vehicle 100, detect a distance between the first vehicle 100, and a front object, and transmit the detected distance to the first controller 190 to be described later. The first detection unit 110 may use a lidar sensor, a radar sensor, or the like to detect an object in front of the first vehicle 100, but is not limited thereto. An object detection sensor (eg, an ultrasonic sensor or an infrared sensor) may be used. Etc.) can also be used. Accordingly, the first detection unit 110 transmits a pulse signal to the front object of the first vehicle 100, and measures the time when the transmitted pulse signal is reflected from the front object to return. The distance between objects can be detected. In addition, the first detector 110 may detect a rear object of the first vehicle 100, detect a distance between the first vehicle 100 and the rear object, and transmit the detected distance to the first controller 190. To this end, the first detector 110 may include a first front detector 111 that detects a distance to a front object, and a first rear detector 113 that detects a distance to a rear object. Here, the front object or the rear object may include a front vehicle or a rear vehicle traveling in front of or behind the first vehicle 100, and a fixed obstacle located at the front or rear of the first vehicle 100.

The first positioning unit 130 may obtain location information of the first vehicle 100 and transmit the location information to the first control unit 190. The first positioning unit 130 receives GPS coordinates of the current position of the first vehicle 100, that is, location information of latitude and longitude coordinates, using a satellite navigation system such as GPS, and transmits the received location information to the first controller 190. The first control unit 190 may enable the current position of the first vehicle 100 to be determined.

The photographing unit 150 may obtain image information about the surrounding environment of the first vehicle 100, that is, the surrounding image information, and transmit the image information to the first controller 190. The surrounding image information may include front image information and rear image information of the first vehicle 100. In this embodiment, the photographing unit 150 captures the front image to acquire the front image information of the first vehicle 100. The unit 151 may include a rear photographing unit 153 for acquiring rear image information of the first vehicle 100. The photographing unit 150 may include an image recognition sensor such as a camera sensor in order to obtain surrounding image information of the first vehicle 100.

The first communication unit 170 may receive broadcast information from the first control unit 190 and transmit the broadcast information to the second vehicle 200 to be described later. That is, the first communication unit 170 may function as a communication interface for the first vehicle 100 to communicate with the second vehicle 200, and broadcast information using vehicle to vehicle (V2V). May be transmitted to the second vehicle 200.

The first control unit 190 receives location information of the first vehicle 100 received from the first positioning unit 130 and a first vehicle 100 received from the photographing unit 150 when a dangerous situation or a congestion situation occurs. The broadcast information including the surrounding image information may be transmitted to the surrounding vehicles through the first communication unit 170.

First, when the first control unit 190 describes a process of determining whether a dangerous situation has occurred, the first control unit 190 determines that the distance reduction rate between the front object of the first vehicle 100 and the first vehicle 100 is increased. If the threshold is higher than or equal to a preset threshold, it may be determined that a dangerous situation has occurred.

That is, the first controller 190 calculates a distance reduction rate for a predetermined time based on the distance between the first vehicle 100 and the front object received from the first front detection unit 111, and the calculated distance reduction rate is greater than or equal to the reference value. When it is determined that there is a risk of collision between the first vehicle 100 and the front object, that is, it is determined that a dangerous situation has occurred, the location information acquired by the first positioning unit 130 and the front photographing unit 151 are determined. The broadcast information including the obtained front image information may be transmitted to the surrounding vehicles through the first communication unit 170.

Next, when the first control unit 190 describes a process of determining whether a congestion situation has occurred, the first control unit 190 is any one of the preceding vehicle and the first vehicle 100 of the first vehicle 100. When the average vehicle speed during the preset time of the vehicle is equal to or less than the preset reference vehicle speed, it may be determined that a congestion situation has occurred.

That is, the average vehicle speed of the first vehicle 100 or the average vehicle speed of the preceding vehicle of the first vehicle 100 (the average vehicle speed of the first vehicle 100 and the first detected by the first front detection unit 111). The first control unit 190 determines that a congestion has occurred and the positional information obtained by the first positioning unit 130 is determined based on the distance between the vehicle 100 and the preceding vehicle. And broadcast information including the front image information obtained by the front photographing unit 151 to the surrounding vehicles through the first communication unit 170.

Accordingly, the first vehicle 100 does not always transmit broadcast information including location information and forward image information to the surrounding vehicles, but reduces the communication load by transmitting broadcast information only when a dangerous situation or a congestion situation occurs. By doing so, the communication efficiency between vehicles can be improved.

Next, the operation of the second vehicle 200 will be described. The second vehicle 200 is based on the position information of the first vehicle 100 received from the first vehicle 100. When it is determined that the vehicle is the preceding vehicle or the subsequent vehicle of the second vehicle 200, the peripheral image information of the first vehicle 100 received from the first vehicle 100 may be output. Here, the preceding vehicle and the subsequent vehicle of the second vehicle 200 may refer to the preceding vehicle and the subsequent vehicle traveling on the same lane as the second vehicle 200.

Hereinafter, the operation of the above-described second vehicle 200 will be described in detail as its detailed configuration.

As the detailed configuration for performing the above-described operation, the second vehicle 200 includes the second detector 210, the second positioning unit 230, the output unit 250, the second communication unit 270, and the second control unit 290. ) May be included.

The second detector 210 may detect a preceding vehicle of the second vehicle 200, detect a distance between the second vehicle 200 and the preceding vehicle, and transmit the detected distance to the second controller 290 to be described later. Since the operation of the second detector 210 is the same as the operation of the first detector 110 described above, a detailed description of the operation is omitted. In addition, the second detector 210 may detect a subsequent vehicle of the second vehicle 200, detect a distance between the second vehicle 200 and the subsequent vehicle, and transmit the detected distance to the second controller 290. The detector 210 may include a second front detector 211 that detects a distance to a preceding vehicle, and a second rear detector 213 that detects a distance to a subsequent vehicle.

The second positioning unit 230 may transfer the position of the second vehicle 200 to the second control unit 290. The second positioning unit 230 receives GPS coordinates of the current position of the second vehicle 200, that is, location information of latitude and longitude coordinates, using a satellite navigation system such as GPS, and transmits the location information to the second control unit 290. The second control unit 290 may be able to determine the current position of the second vehicle 200.

The second communication unit 270 may receive broadcast information from the first communication unit 170 of the first vehicle 100 and transmit the broadcast information to the second control unit 290. That is, the second communication unit 270 may function as a communication interface for the second vehicle 200 to communicate with the first vehicle 100, and broadcast information using vehicle to vehicle (V2V). May be transmitted from the first vehicle 100.

The output unit 250 may receive the surrounding image information of the broadcast information from the second control unit 290 and output the received image information to the driver. The output unit 250 may be implemented as a display provided in the instrument panel of the second vehicle 200 to output surrounding image information. The output unit 250 may include augmented reality (AR) like a head up display (AR). It may be implemented by outputting the surrounding image information to the windshield of the vehicle by using.

When it is determined that the first vehicle 100 is a preceding vehicle of the second vehicle 200, the second controller 290 includes the first vehicle 100 included in the broadcast information received from the first communication unit 170. Front image information may be output through the output unit 250.

When the second controller 290 describes a process of determining whether the first vehicle 100 is a preceding vehicle of the second vehicle 200, the second controller 290 is input from the second front detector 211. The preceding of the second vehicle 200 based on the distance between the preceding vehicle of the second vehicle 200 and the second vehicle 200 received, and the position of the second vehicle 200 received from the second positioning unit 230. The location of the vehicle can be estimated. Then, by comparing the estimated position of the preceding vehicle of the second vehicle 200 with the position information of the first vehicle 100 included in the broadcast information received through the second communication unit 270 to determine the match It may be determined whether the first vehicle 100 is a preceding vehicle of the second vehicle 200. When comparing the estimated position of the preceding vehicle of the second vehicle 200 and the position information of the first vehicle 100, the second control unit 290 is not the exact match between the position coordinates, the distance difference between the position coordinates is set in advance When it is within the tolerance range, it may be determined that the first vehicle 100 is a preceding vehicle of the second vehicle 200.

When it is determined that the first vehicle 100 is a preceding vehicle of the second vehicle 200, the second controller 290 may output front image information of the first vehicle 100 through the output unit 250. have.

Therefore, the second vehicle 200 does not output the front image information of the first vehicle 100, but the first vehicle 100 is also a preceding vehicle of the second vehicle 200, and thus the second vehicle 200 does not output the front image information of the first vehicle 100. Only when there is a possibility that a dangerous situation may occur or when there is a need to notify the driver of the congestion situation, the front image information of the first vehicle 100 may be output to provide the surrounding situation to the driver more actively.

2, the first vehicle 100 determines that a dangerous situation has occurred due to a front object and includes location information and front image information of the first vehicle 100. The broadcast information is transmitted to nearby vehicles. Since the first vehicle 100 is a preceding vehicle of the second vehicle 200, the second vehicle 200 that receives the broadcast information outputs front image information of the first vehicle 100 and receives the broadcast information. The third vehicle 300 does not output front image information of the first vehicle 100 since the first vehicle 100 is not a preceding vehicle of the third vehicle.

In the above description, when a dangerous situation or a congestion situation occurs in the front environment of the first vehicle 100, the first vehicle 100 receives broadcast information including the location information and the front image information of the first vehicle 100. Transmitting to the vehicle 200, and when it is determined that the first vehicle 100 is a preceding vehicle of the second vehicle 200, the second vehicle 200 outputs front image information of the first vehicle 100. As described. In addition, in the present exemplary embodiment, when a traffic jam occurs in the rear environment of the first vehicle 100, the first vehicle 100 may transmit broadcast information including the location information and the rear image information of the first vehicle 100. When the first vehicle 100 is determined to be a subsequent vehicle of the second vehicle 200, the second vehicle 200 outputs rear image information of the first vehicle 100. It may be implemented in a configuration to.

Specifically, when the average vehicle speed of the subsequent vehicle of the first vehicle 100 and any one of the first vehicle 100 is less than or equal to the preset reference vehicle speed, the first vehicle 100 may enter into a stall situation. The determination may transmit broadcast information (location information and rear image information of the first vehicle 100) to the surrounding vehicles.

That is, the average vehicle speed of the first vehicle 100 or the average vehicle speed of the subsequent vehicle of the first vehicle 100 (the average vehicle speed of the first vehicle 100 and the first detected by the first rear detector 113). The first control unit 190 determines that the congestion has occurred when the vehicle is 100 or less than the reference vehicle speed. The broadcast information may be transmitted to the surrounding vehicles through the first communication unit 170 through the position information of the vehicle 100 and the rear image information obtained by the rear photographing unit 153.

In this case, the second vehicle 200 may follow the second vehicle 200 estimated based on the distance between the subsequent vehicle of the second vehicle 200 and the second vehicle 200 and the position of the second vehicle 200. When the location of the vehicle is compared with the location information of the first vehicle 100 and it is determined that the first vehicle 100 is a subsequent vehicle of the second vehicle 200, the rear image information of the first vehicle 100 is output. can do.

That is, the second controller 290 is a distance between the subsequent vehicle and the second vehicle 200 of the second vehicle 200 received from the second rear detector 213 and the second received from the second positioning unit 230. The position of a subsequent vehicle of the second vehicle 200 may be estimated based on the position of the second vehicle 200. And, by comparing the estimated position of the next vehicle of the second vehicle 200 with the position information of the first vehicle 100 included in the broadcast information received through the second communication unit 270 to determine whether the match It may be determined whether the first vehicle 100 is a subsequent vehicle of the second vehicle 200. When comparing the estimated position of the subsequent vehicle of the second vehicle 200 and the position information of the first vehicle 100, the second controller 290 is not a precise match between the position coordinates, but the distance difference between the position coordinates is set in advance. If it is within the tolerance range, it may be determined that the first vehicle 100 is a subsequent vehicle of the second vehicle 200.

Accordingly, when it is determined that the first vehicle 100 is a subsequent vehicle of the second vehicle 200, the second controller 290 outputs rear image information of the second vehicle 200 through the output unit 250. can do. Accordingly, the driver of the second vehicle 200 may recognize the surrounding environment by checking the rear image information of the second vehicle 200 when the driver reverses in a congestion situation such as an urban alley.

3 is a flowchart illustrating a method for recognizing a surrounding environment of a vehicle according to an exemplary embodiment of the present invention.

Referring to FIG. 3, a method for recognizing a surrounding environment of a vehicle according to an exemplary embodiment of the present invention will be described. First, the first vehicle 100 determines whether a dangerous situation or a congestion situation occurs around the first vehicle 100. Determine (S100).

In operation S100, the first vehicle 100 may determine that a dangerous situation occurs when the distance reduction rate between the front object of the first vehicle 100 and the first vehicle 100 is greater than or equal to a preset reference value. It may be determined that the congestion situation occurs when the average vehicle speed during a preset time of any one of the preceding vehicle and the first vehicle 100 of 100 is equal to or less than the preset reference vehicle speed.

In operation S100, when the first vehicle 100 has an average vehicle speed during a preset time of any one of a subsequent vehicle of the first vehicle 100 and one of the first vehicles 100, the first vehicle 100 is less than or equal to the preset reference vehicle speed. A congestion situation may have occurred.

Subsequently, when it is determined that a dangerous situation or a congestion situation occurs in step S100, the first vehicle 100 transmits broadcast information to surrounding vehicles (S200). The broadcast information may include location information of the first vehicle 100 and surrounding image information of the first vehicle 100, and the surrounding image information may include front image information or rear image information of the first vehicle 100. can do.

Subsequently, the second vehicle 200 determines whether the first vehicle 100 is a preceding vehicle or a subsequent vehicle of the second vehicle 200 based on the location information of the first vehicle 100 received from the first vehicle 100. It is determined whether or not (S300).

In operation S300, the second vehicle 200 may estimate the second vehicle 200 based on the distance between the preceding vehicle and the second vehicle 200 of the second vehicle 200 and the position of the second vehicle 200. The position of the preceding vehicle may be compared with the position information of the first vehicle 100 to determine whether the first vehicle 100 is the preceding vehicle of the second vehicle 200.

In operation S300, the second vehicle 200 may include a second vehicle estimated based on a distance between a subsequent vehicle of the second vehicle 200 and the second vehicle 200 and the position of the second vehicle 200 ( The position of the subsequent vehicle of 200 may be compared with the position information of the first vehicle 100 to determine whether the first vehicle 100 is a subsequent vehicle of the second vehicle 200.

Subsequently, when it is determined in operation S300 that the first vehicle 100 is a preceding vehicle or a subsequent vehicle of the second vehicle 200, the second vehicle 200 may receive the first vehicle (received from the first vehicle 100). The surrounding image information of 100 is output (S400).

When it is determined in step S300 that the first vehicle 100 is a preceding vehicle of the second vehicle 200, the second vehicle 200 may output front image information of the first vehicle 100, and in step S300. When it is determined that the first vehicle 100 is a subsequent vehicle of the second vehicle 200, the second vehicle 200 may output rear image information of the first vehicle 100.

As such, the present embodiment can provide the driver with image information of an object existing at a position where the driver's field of view cannot be secured, so that the driver can recognize a wider range of surrounding conditions, and the preceding vehicle of the own vehicle or Only the information transmitted by the subsequent vehicle is provided to the driver only when a dangerous situation or a congestion occurs so that the driver can recognize the surrounding situation while minimizing the communication load between the vehicles.

Although the present invention has been described with reference to the embodiments shown in the drawings, this is merely exemplary, and those skilled in the art to which the art belongs can make various modifications and other equivalent embodiments therefrom. Will understand. Therefore, the technical protection scope of the present invention will be defined by the claims below.

100: first vehicle
110: first detection unit
111: first front detection unit
113: first rear detector
130: first positioning part
150: the photographing unit
151: the front photographing unit
153: rear filming unit
170: first communication unit
190: first control unit
200: second vehicle
210: second detection unit
211: second front detection unit
213: second rear detector
230: second positioning part
250: output unit
270: second communication unit
290: second control unit
300: third vehicle

Claims (16)

A first vehicle transmitting broadcast information to surrounding vehicles when a dangerous situation or a traffic jam occurs, wherein the broadcast information includes location information of the first vehicle and surrounding image information of the first vehicle. A first vehicle; And
Outputting peripheral image information of the first vehicle received from the first vehicle when it is determined that the first vehicle is a preceding vehicle or a subsequent vehicle based on the location information of the first vehicle received from the first vehicle; A second vehicle;
Including,
The surrounding image information includes front image information of the first vehicle.
The first vehicle, when the distance reduction rate between the front object of the first vehicle and the first vehicle is greater than or equal to a preset reference value, determines that the dangerous situation and transmits the broadcast information to the surrounding vehicles,
The first vehicle determines that the traffic jam is determined to be the traffic jam when the average vehicle speed during a preset time of one of the preceding vehicle and the first vehicle of the first vehicle is equal to or less than a preset reference vehicle speed. Transfer to nearby vehicles,
The second vehicle may include location information of the first vehicle based on a distance between a preceding vehicle and the second vehicle of the second vehicle and an estimated position of the preceding vehicle of the second vehicle based on the position of the second vehicle. And outputs front image information of the first vehicle only when it is determined that the first vehicle is a preceding vehicle of the second vehicle,
The surrounding image information includes rear image information of the first vehicle,
When the average vehicle speed during a preset time period of one of the following vehicle and the first vehicle of the first vehicle is less than or equal to a preset reference vehicle speed, the first vehicle determines that the traffic jam is to determine the broadcast information. Transfer to nearby vehicles,
The second vehicle may include location information of the first vehicle based on a distance between a subsequent vehicle of the second vehicle and the second vehicle, and a position of a subsequent vehicle of the second vehicle estimated based on the position of the second vehicle. And the rear image information of the first vehicle is output only when it is determined that the first vehicle is a subsequent vehicle of the second vehicle.
delete delete delete delete delete The method of claim 1,
And the first vehicle and the second vehicle transmit and receive the broadcast information using a vehicle to vehicle (V2V).
The method of claim 1,
And the second vehicle outputs surrounding image information of the first vehicle using Augmented Reality (AR).
A first determination step of determining, by the first vehicle, whether a dangerous situation or a congestion situation has occurred in the vicinity;
When it is determined that the dangerous situation or the congestion occurs, the first vehicle transmits broadcast information to surrounding vehicles, wherein the broadcast information includes location information of the first vehicle and the first vehicle. A transmission step including surrounding image information of the first vehicle;
A second determination step of determining, by the second vehicle, whether the first vehicle is a preceding vehicle or a subsequent vehicle of the second vehicle based on the position information of the first vehicle received from the first vehicle; And
An output step of outputting, by the second vehicle, surrounding image information of the first vehicle received from the first vehicle when it is determined that the first vehicle is a preceding vehicle or a subsequent vehicle of the second vehicle;
Including,
The surrounding image information includes front image information of the first vehicle.
In the first determination step, the first vehicle,
When the distance reduction rate between the front object of the first vehicle and the first vehicle is equal to or greater than a preset reference value, it is determined that the dangerous situation occurs, and the preset vehicle of any one of the preceding vehicle and the first vehicle of the first vehicle is determined. If the average vehicle speed during the time is less than the predetermined reference vehicle speed, it is determined that the congestion occurred.
In the second determination step, the second vehicle,
The first vehicle is compared with the position information of the first vehicle by comparing the distance between the preceding vehicle and the second vehicle of the second vehicle and the position of the preceding vehicle estimated based on the position of the second vehicle. Determine whether the vehicle is a preceding vehicle of the second vehicle,
In the output step, the second vehicle,
Output front image information of the first vehicle only when it is determined that the first vehicle is a preceding vehicle of the second vehicle,
The surrounding image information includes rear image information of the first vehicle,
In the first determination step, the first vehicle,
If the average vehicle speed during a preset time of a subsequent vehicle of the first vehicle and any one of the first vehicle is less than or equal to a preset reference vehicle speed, it is determined that the congestion situation has occurred,
In a second determination step, the second vehicle,
The distance between a subsequent vehicle of the second vehicle and the second vehicle and a position of a subsequent vehicle of the second vehicle estimated based on the position of the second vehicle are compared with the position information of the first vehicle to compare the first vehicle with the first vehicle. Determine whether the vehicle is a subsequent vehicle of the second vehicle,
In the output step, the second vehicle,
And the rear image information of the first vehicle is output only when it is determined that the first vehicle is a subsequent vehicle of the second vehicle.
delete delete delete delete delete The method of claim 9,
And the first vehicle and the second vehicle transmit and receive the broadcast information using a vehicle to vehicle (V2V).
The method of claim 9,
In the output step, the second vehicle,
The surrounding situation information recognition method of the vehicle, characterized in that for outputting the surrounding image information of the first vehicle using Augmented Reality (AR).

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