KR102599273B1 - Apparatus and method for controlling driving priority of vehicle at a point where roads are joined - Google Patents

Abstract

The present invention relates to an apparatus for controlling driving priorities of vehicles at a road merging point, and includes a server that sets driving priorities for each vehicle for entry from a feeder road to a main road, wherein the server is configured to control the driving priorities of vehicles on the road. At the merging point, driving priorities are set for each vehicle to enter the main road, including entry priority information and waiting information for each vehicle, and as the driving priority for each vehicle, each vehicle driving on each branch road is set. By comparing the arrival times to the main road merging point, the priority of the vehicle with the faster arrival time to the main road merging point is set as the first priority, and the vehicle with the faster arrival time to the main road merging point is set as the 2nd priority based on the entry angle and driving speed to the main road. A fourth priority is additionally set and provided to vehicle terminals and traffic control systems.

Description

Apparatus and method for controlling driving priority of a vehicle at a road joining point {APPARATUS AND METHOD FOR CONTROLLING DRIVING PRIORITY OF VEHICLE AT A POINT WHERE ROADS ARE JOINED}

The present invention relates to an apparatus and method for controlling the driving priority of a vehicle at a road merging point. More specifically, the present invention relates to a device and a method for controlling the driving priority of a vehicle at a point where a feeder road merges with a main road. It relates to an apparatus and method for controlling the driving priority of vehicles at a road merge point, which allows resolving or alleviating vehicle congestion by controlling the priority of entering vehicles.

In general, a road is a facility created to economically move people and goods between two points. It refers to a road made for people or vehicles to travel, but recently it has been divided into sidewalks and roads, allowing vehicles to drive comfortably and safely. It mainly refers to the road that was created.

These roads can be classified into various types according to their shape, size, and function. Basically, they branch from one road (i.e., main road in this embodiment) into multiple roads (i.e., feeder roads in this embodiment). Alternatively, it is common for multiple roads (i.e., feeder roads) to merge into one road (i.e., main road).

However, vehicle congestion does not occur at the branch point, but vehicle congestion often occurs at a certain section of the convergence point where the feeder road and the main road merge, as shown in FIG. 1.

At this time, congestion may be improved if vehicles from each feeder road entering the main road take turns entering the main road according to rules, but drivers usually do not give way to allow other vehicles to cut in front of their vehicles. There are differences depending on the driver's inclination, such as putting their vehicle in front of another vehicle, but only vehicles on a specific feeder road unilaterally enter the main road, or drivers who are not confident in driving are cautious and end up on the main road. There is a problem that congestion may further increase due to delayed entry.

Moreover, in the case of self-driving vehicles, if priority is not set for entering the main road at the merging point, congestion may worsen or a collision accident may occur while entering the main road.

The background technology of the present invention is disclosed in Korean Patent Publication No. 10-2004-0025235 (published on March 24, 2004, traffic signal control method for automatic vehicle detection).

According to one aspect of the present invention, the present invention was created to solve the above problems, and a vehicle enters the main road from the feeder road according to predetermined conditions in a certain section at the point where the feeder road joins the main road. The purpose of the present invention is to provide an apparatus and method for controlling the driving priority of vehicles at a road merge point, which allows eliminating or alleviating vehicle congestion by controlling the priority of the vehicle.

An apparatus for controlling driving priorities of vehicles at a road merging point according to an aspect of the present invention includes a server that sets driving priorities for each vehicle for entry from a feeder road to a main road, wherein the server includes: At the confluence point of the roads, driving priorities for each vehicle are set for entering the main road, including entry priority information and waiting information for each vehicle, and as the driving priority for each vehicle, driving on each branch road is set. By comparing the arrival times to the main road merging point for each vehicle, the priority of the vehicle with the faster arrival time to the main road merging point is set as the first priority, and the priority is set based on the entry angle and driving speed to the main road. The second to fourth priorities are additionally set and provided to the vehicle terminal and traffic control system.

In the present invention, the server communicates with a vehicle terminal, receives a request for driving priority information for entering the main road from the vehicle terminal, or transmits driving priority information for entering the main road to the vehicle terminal, It is characterized by outputting driving priority information for entering the main road through the information output unit of the terminal.

In the present invention, the server performs a cross check based on information collected and transmitted from the vehicle terminal and information collected and transmitted from the traffic control system to set driving priorities for each vehicle for entering the main road. It is characterized by

In the present invention, the server compares the angle of entry into the main road for each vehicle driving on each feeder road when the arrival time to the main road merging point for each vehicle driving on each feeder road is the same within a specified range. Thus, the priority of the vehicle with the smaller entry angle to the main road is set as the second priority, and if the entry angle to the main road for each vehicle driving on each feeder road is the same within the specified range, each feeder road is By comparing the driving speeds of each vehicle, the priority of the vehicle with a faster driving speed is set as the third priority, and the priority of the vehicle with a slower driving speed is set as the fourth priority.

A method of controlling the driving priority of a vehicle at a road merging point according to another aspect of the present invention includes a server that sets driving priorities for each vehicle for entry from a feeder road to a main road, at the merging point of the road, Setting driving priorities for each vehicle for entering the main road, including entry priority information and waiting information for each main road; As the driving priority for each vehicle, the server compares the arrival times to the main road merging point for each vehicle driving on each feeder road and gives the priority of the vehicle with the faster arrival time to the main road merging point as first priority. Setting by ranking; and the step of the server additionally setting second to fourth priorities based on the entry angle and driving speed to the main road and providing the second to fourth priorities to the vehicle terminal and the traffic control system.

In the present invention, the server receives a request for driving priority information for entering the main road from the vehicle terminal, or transmits driving priority information for entering the main road to the vehicle terminal through the information output unit of the vehicle terminal. It is characterized by outputting driving priority information for entering the main road.

In the present invention, in order to set the second to fourth priorities, the server operates on each feed road when the arrival time to the main road confluence point for each vehicle traveling on each feed road is the same within a specified range. Compare the entry angles to the main road for each vehicle driving on the main road and set the priority of the vehicle with the smaller entry angle to the main road as the second priority, and enter the main road for each vehicle driving on each branch road. If the angle is the same within the specified range, the driving speed of each vehicle driving on each branch road is compared, and the priority of the vehicle with the faster driving speed is set as the third priority, and the priority of the vehicle with the slower driving speed is set as the third priority. It is characterized by setting it as the fourth priority.

In the present invention, in order to control the driving priority of vehicles at the road merge point, the server receives vehicle information for each branch road entering the road merge point from the traffic control system installed at the road merge point and the merge point. collecting information on vehicle congestion sections; Based on the information collected from the traffic control system, setting a driving priority for entering the main road by comparing entry information at the merging point for each vehicle; And when the driving priority information for entering the main road is set, the server transmits and outputs the driving priority information for entering the main road to the vehicle terminal and the traffic control system. .

In the present invention, the step of comparing the entry information of the merging point for each vehicle includes the server comparing the arrival time to the merging point for each vehicle, the entry angle of the main road for each vehicle, and the driving speed for each vehicle. It is characterized by

In the present invention, the server performs a cross check based on information collected and transmitted from the vehicle terminal and information collected and transmitted from the traffic control system to set driving priorities for each vehicle for entering the main road. It is characterized by

According to one aspect of the present invention, the present invention relieves vehicle congestion by controlling the priority of vehicles entering the main road from the feeder road according to predetermined conditions in a certain section at the point where the feeder road merges with the main road. or to alleviate it.

Figure 1 is an example diagram shown to explain the problem of congestion occurring at a general road junction.
Figure 2 is an exemplary diagram showing a schematic configuration of a device for controlling the driving priority of a vehicle at a road merge point according to an embodiment of the present invention.
Figure 3 is a flowchart illustrating a method of controlling the driving priority of a vehicle at a road merge point according to an embodiment of the present invention.
FIG. 4 is a flowchart illustrating the method in FIG. 3 where the server determines and outputs the priority of entering the main road for each vehicle based on information collected through the traffic control system.
FIG. 5 is a flowchart illustrating a method in which the server determines the priority of entering the main road for each vehicle in FIG. 4. FIG.
Figure 6 is an example diagram showing driving priority information for each vehicle for entering the main road provided through the traffic control system in Figure 2.

Hereinafter, an embodiment of an apparatus and method for controlling the driving priority of a vehicle at a road merge point according to the present invention will be described with reference to the attached drawings.

In this process, the thickness of lines or sizes of components shown in the drawing may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are terms defined in consideration of functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

Figure 2 is an exemplary diagram showing the schematic configuration of an apparatus for controlling the driving priority of a vehicle at a road merge point according to an embodiment of the present invention.

As shown in FIG. 2, the device for controlling the driving priority of a vehicle at a road merge point according to this embodiment includes a vehicle terminal 100, a server 210, and a traffic control system 300.

The vehicle terminal 100 is attached to the vehicle and communicates with the server 210, and requests information (i.e., driving priority information for entering the main road) from the server 210 or receives information from the server 210. (i.e., driving priority information for entering the main road) is received, and the received information is output through the information output unit 140.

For example, the information output unit 140 may include a guidance device (eg, AVN device, not shown) or an autonomous driving device (eg, ECU for autonomous driving, not shown).

The vehicle terminal 100 includes an information collection unit 110, a control unit 120, a communication unit 130, and an information output unit 140. The information collection unit 110 includes a location detection unit 111, a vehicle information detection unit 112, and a traffic information detection unit 113.

The vehicle terminal 100 collects the vehicle itself and traffic information around the vehicle through the information collection unit 110. For this purpose, the vehicle terminal 100 can communicate with the vehicle's electronic control unit (ECU: Electronic Control Unit (not shown)).

Additionally, the vehicle terminal 100 may be an Audio Video Navigation (AVN) device, a device included in the AVN device that performs some functions, or a smartphone with a navigation app installed.

The location detection unit 111 receives the current location information of the vehicle terminal 100 using a GPS (Global Positioning System) module.

The vehicle information detection unit 112 communicates with the vehicle's electronic control unit (ECU, not shown) to detect information through a plurality of sensors (e.g., vehicle speed sensor, image sensor, lidar sensor, laser sensor, etc.) mounted on the vehicle. Receive vehicle information.

The traffic information detection unit 113 uses a real-time traffic information reception module (not shown) or a V2X (e.g. V2V, V2I, V2P, etc.) communication module (not shown) to obtain traffic information around the vehicle, vehicle traffic information, and road-specific information. Receive lane information, etc.

Meanwhile, although not shown in the drawing, digital map data is stored in an internal storage unit (not shown). In addition to the geographical coordinates, the map data may also use UTM (Universal Transverse Mercator) coordinates, UPS (Universal Polar System) coordinates, TM (Transverse Mercator) coordinates, etc.

The control unit 120 detects the current location of the vehicle based on the information detected or received through the information collection unit 110 (i.e., the vehicle itself and traffic information around the vehicle) and the map information, and performs route search and Route guidance is performed and the vehicle's current location is checked to see if it is in a designated section of the road junction (e.g., a section where vehicle congestion occurs from the road junction).

If the current location of the vehicle is in a designated section of the road merge point (e.g., a section where vehicle congestion occurs from the road merge point), the control unit 120 uses the information collected through the information collection unit 110 (i.e. , the vehicle itself and traffic information around the vehicle) and location information are transmitted to the server 210 through the communication unit 130, and driving priority information for entering the main road is requested from the server 210.

Here, the communication unit 130 communicates with the server 210 and includes at least one of a short-range wireless communication method (e.g., WiFi, Bluetooth, etc.) and a long-distance wireless communication method (e.g., 3G, 4G, LTE, etc.).

In addition to the information transmitted by the vehicle (i.e., the vehicle itself and traffic information around the vehicle) and location information, the server 210 includes the vehicle information collection unit 310 of the traffic control system 300 (e.g. : Information collected through cameras, sensors installed on road sections, etc. (e.g. vehicle information entering the merging point, traffic information at the merging point, vehicle congestion section at the merging point, traffic information about the queue, location information, emergency vehicles) information, and information about the degree to which the vehicle behind is pushed, etc.) is additionally received.

This is because some vehicles cannot provide the information necessary to set driving priorities for entering the main road on their own (i.e., traffic information and location information on the vehicle itself and around the vehicle), and also make more accurate decisions (i.e. This is because a cross check can be performed to determine driving priority for each vehicle to enter the road.

Accordingly, the server 210 receives information from the vehicle terminal 100 and/or the traffic control system 300 (e.g., traffic information and location information on the vehicle itself and around the vehicle, vehicle information entering the merging point, Driving priority for each vehicle to enter the main road based on traffic information at the merging point, vehicle congestion section at the merging point, traffic information about the queue, location information, emergency vehicle information, and information about the degree to which cars behind are behind, etc. Determine (or set) .

When the driving priority for each vehicle for entering the main road is determined (or set) as described above, the server 210 sends the determined information (driving priority for each vehicle for entering the main road) to the vehicle terminal 100. It is provided through the information output unit 140 and the priority information output unit 320 of the traffic control system 300 (see FIG. 6).

For example, Figure 6 is an example diagram showing driving priority information for each vehicle for entering the main road provided through the traffic control system in Figure 2, and as shown, a plurality of vehicles merging at the confluence point of the main road. Assume that a traffic control system 300 is installed on each feeder road (e.g., first feeder, second feeder). At this time, information on vehicles driving on each feeder road (e.g., vehicle number) and the entry priority of the vehicle are sequentially displayed through the electronic display board, while traffic lights can be used to additionally indicate entry and waiting on the main road. Accordingly, vehicle congestion can be improved when each vehicle enters the main road in the order displayed on the electronic signboard.

However, the form of information displayed through the information output unit 140 of the vehicle terminal 100 may be different from the form of information displayed through the traffic control system 300, but is basically the vehicle's own entry priority information. , and entry or waiting information.

Figure 3 is a flowchart illustrating a method of controlling the driving priority of a vehicle at a road merge point according to an embodiment of the present invention.

Referring to FIG. 3, the control unit 120 of the vehicle terminal 100 checks whether the vehicle has arrived at the designated section of the road merge point (S101).

For example, the control unit 120 of the vehicle terminal 100 checks whether the current location of the vehicle is in a designated section of the road merge point (e.g., a section where vehicle congestion occurs from the road merge point).

Accordingly, when the vehicle arrives at the designated section of the road junction (example in S101), the control unit 120 requests the server 210 to designate (set) an entry priority for entering the main road (S102) ).

In addition, when requesting the entry priority designation (setting), the control unit 120 collects the information necessary to set the driving priority for entering the main road (i.e., traffic information and location information on the vehicle itself and around the vehicle) It is delivered to the server 210 (S103).

Accordingly, the server 210 determines the driving priority of each vehicle for entering the main road based on the information received from the vehicle terminal 100 (e.g., traffic information and location information on the vehicle itself and around the vehicle, etc.) (or set) (see Figures 4 and 5).

When the driving priority for entering the main road is determined from the server 210 as described above, the control unit 120 receives driving priority information for entering the main road from the server 210 (S104).

Accordingly, the control unit 120 of the vehicle provides assistance to the driver by simply displaying the received information (i.e., driving priority information for entering the main road) through a guidance device (not shown), or provides assistance to the driver through an autonomous driving device (not shown). The vehicle is driven to enter the main road according to the information received (i.e., driving priority information for entering the main road) (S105).

FIG. 4 is a flowchart illustrating the method in FIG. 3 where the server determines and outputs the priority of entering the main road for each vehicle based on information collected through the traffic control system.

As shown in FIG. 4, the server 210 receives vehicle information for each branch road entering the road junction and information on the vehicle congestion section at the road junction from the traffic control system 300 installed at the road junction. Collect (S201).

In addition, the server 210 collects information collected from the traffic control system 300 (e.g., vehicle information entering the merging point, traffic information at the merging point, vehicle congestion section at the merging point, traffic information about the queue, location information , emergency vehicle information, and information about the degree to which the vehicle behind is pushed behind, etc.), through comparison of entry information at the merging point for each vehicle (e.g., arrival time to the merging point, entry angle of the main road, vehicle driving speed) , the entry priority (i.e., the driving priority for entering the main road) is determined (or set) (S202).

As described above, information transmitted by the vehicle terminal 100 (e.g., traffic information and location information on the vehicle itself and around the vehicle, etc.) and information collected from the traffic control system 300 (e.g., vehicle information entering the merging point) , entry priority (i.e., entry priority on the main road) based on traffic information at the merging point, vehicle congestion section at the merging point, traffic information about the queue, location information, emergency vehicle information, and information about the degree to which cars behind are behind. When the information (driving priority for entering the main road) is determined (or set), the server 210 sends the determined (or set) entry priority (i.e., driving priority for entering the main road) information to the vehicle terminal 100. It is transmitted and output to the priority information output unit 320 of the traffic control system 300 (e.g., an electronic sign or traffic light to indicate entry or waiting for each vehicle on the main line of each branch line) (S203).

FIG. 5 is a flowchart illustrating a method in which the server determines the priority of entering the main road for each vehicle in FIG. 4.

As shown in Figure 5, the server 210 compares the arrival time to the main road merging point for each vehicle traveling on each branch road (S301).

As a result of comparing the arrival times to the main road merge point, if the arrival time to the main road merge point is faster for vehicles on one side of the feeder road than the vehicle on the other side feeder road, the arrival time to the main road merge point is faster. The priority of the fast vehicle is set to first priority (e.g., priority 1) (S302).

Additionally, if the arrival time to the main road merging point for each vehicle driving on each feeder road is the same within a specified range, the server 210 compares the entry angles to the main road for each vehicle driving on each feeder road (S303 ).

As a result of comparing the entry angles to the main road, if the vehicle on one side of the feeder road has a smaller entry angle into the main road than the vehicle on the other side of the feeder road, the vehicle with the smaller entry angle into the main road is given priority. Set to priority 2 (e.g. priority 2) (S303).

Additionally, if the entry angles of each vehicle driving on each branch road onto the main road are the same within a specified range, the server 210 compares the driving speeds of each vehicle driving on each branch road (S305).

As a result of comparing the driving speeds of each vehicle driving on each feeder road, if the driving speed of the vehicle on one feeder road is faster than the vehicle on the other feeder road, the priority of the vehicle with the faster driving speed is given as the third priority. (e.g., priority 3) is set (S306), and the priority of the vehicle with a relatively slower driving speed is set to the fourth priority (e.g., priority 4) (S307).

For example, assume that the method according to this embodiment described above (i.e., a method of controlling the driving priority of vehicles at a road merging point) is applied to a road of the type shown in FIG. 1. That is, assume that four vehicles (e.g., vehicles A, B, C, and D) drive on a road of the type shown in FIG. 1, and a congestion section occurs at the merging point.

Accordingly, the traffic control system 300 installed at the merging point recognizes the congestion section of the merging point and provides information about the merging point (e.g., vehicle information entering the merging point, traffic information at the merging point, Traffic information on vehicle congestion sections, queues, location information, emergency vehicle information, and information on the degree to which cars behind are behind are collected and transmitted to the server 210.

Referring to FIG. 1, vehicles A and B merge on a first feeder road, vehicles C and D merge on a second feeder road, and vehicles A and B on the first feeder road and vehicles C on the second feeder road, D vehicle meets and merges on the main road, and when the A, B, C, and D vehicles meet and merge on the main road, the server 210 sets the entry priority for each vehicle (i.e., driving priority for entering the main road). ranking).

For example, if vehicles A and B depart at the same time at the same driving speed, vehicle B will arrive at the merging point first, so vehicle B will have first priority (priority 1) and vehicle A will have second priority (priority 2). ) becomes. However, assuming that vehicle A travels faster and passes the merging point at the same time, vehicle A has first priority because its entry angle onto the main road converges to 0 degrees (is smaller) than vehicle B. Vehicle B becomes second priority.

Meanwhile, if vehicles C and D depart at the same time at the same driving speed, vehicle D will arrive at the merging point first, so vehicle D will have first priority (priority 1) and vehicle C will have second priority (priority 2). ) becomes. However, assuming that vehicle C's driving speed is fast and passes the merging point at the same time, and that the entry angles of vehicle C and D are the same within the specified error range, if the driving speed of the vehicle moving to the merging point is faster, then that vehicle A higher priority can be given to vehicle C, and if vehicle C's speed is faster than vehicle D, vehicle C becomes the first priority and vehicle D becomes the second priority.

As described above, this embodiment uses pre-specified conditions (e.g., comparison of arrival time to the merge point, By controlling (or setting) the priority of vehicles entering the main road from the feeder road according to the angle of entry to the main road, comparison of vehicle driving speed, etc.), vehicle congestion at road merging points can be resolved or alleviated. It has the effect of allowing it to happen.

As described above, the present invention has been described with reference to the embodiments shown in the drawings, but these are merely illustrative, and various modifications and equivalent embodiments can be made by those skilled in the art. You will understand the point. Therefore, the scope of technical protection of the present invention should be determined by the scope of the patent claims below.

100: vehicle terminal 110: information collection unit
111: location detection unit 112: vehicle information detection unit
113: Traffic information detection unit 120: Control unit
130: communication unit 140: information output unit
210: Server 300: Traffic control system
310: vehicle information collection unit 320: priority information output unit

Claims (10)

It includes a server that sets driving priorities for each vehicle for entering the main road from the feeder road,
The server is,
At the convergence point of the roads, set driving priorities for each vehicle for entering the main road, including entry priority information and waiting information for each vehicle,
As the driving priority for each vehicle, the arrival time to the main road merging point for each vehicle driving on each feeder road is compared, and the priority of the vehicle with the faster arrival time to the main road merging point is set as the first priority, , A device that controls the driving priority of a vehicle at a road merge point by additionally setting the second to fourth priorities based on the entry angle and driving speed to the main road and providing them to the vehicle terminal and traffic control system.
The method of claim 1, wherein the server:
Communicates with a vehicle terminal and receives a request for driving priority information for entering the main road from the vehicle terminal, or transmits driving priority information for entering the main road to the vehicle terminal and enters the main road through the information output unit of the vehicle terminal. A device for controlling the driving priority of a vehicle at a road merge point, characterized in that it outputs driving priority information for.
The method of claim 1, wherein the server:
A cross check is performed based on the information collected and transmitted from the vehicle terminal and the information collected and transmitted from the traffic control system, and the driving priority of each vehicle for entering the main road is set. A device that controls driving priorities.
The method of claim 1, wherein the server:
If the arrival time to the main road merging point for each vehicle driving on each feeder road is the same within a specified range, the entry angle to the main road for each vehicle driving on each feeder road is compared, and the entry angle to the main road is greater. Set the priority of small vehicles as second priority,
If the entry angle to the main road for each vehicle driving on each feeder road is the same within a specified range, the driving speeds for each vehicle driving on each feeder road are compared, and the vehicle with the faster driving speed is given priority as the third priority. A device for controlling the driving priority of vehicles at a road merge point, characterized in that the priority of the vehicle with a slower driving speed is set as the fourth priority.
A server that sets driving priorities for each vehicle to enter the main road from the feeder road,
At the confluence point of the roads, setting driving priorities for each vehicle for entering the main road including entry priority information and waiting information for each vehicle on the main road;
As the driving priority for each vehicle, the server compares the arrival times to the main road merging point for each vehicle driving on each feeder road and gives the priority of the vehicle with the faster arrival time to the main road merging point as first priority. Setting by ranking; and
At a road merge point, wherein the server additionally sets second to fourth priorities based on the entry angle and driving speed to the main road and provides them to the vehicle terminal and the traffic control system. How to control your vehicle's driving priorities.
The method of claim 5, wherein the server:
Driving priority information for entering the main road is requested from the vehicle terminal, or driving priority information for entering the main road is transmitted to the vehicle terminal, and driving priority information for entering the main road is provided through the information output unit of the vehicle terminal. A method of controlling the driving priority of a vehicle at a road merge point, characterized by outputting.
The method of claim 5, wherein to set the second to fourth priorities,
The server is,
If the arrival time to the main road merging point for each vehicle driving on each feeder road is the same within a specified range, the entry angle to the main road for each vehicle driving on each feeder road is compared, and the entry angle to the main road is greater. Set the priority of small vehicles as second priority,
If the entry angle to the main road for each vehicle driving on each feeder road is the same within a specified range, the driving speeds for each vehicle driving on each feeder road are compared, and the vehicle with the faster driving speed is given priority as the third priority. A method of controlling the driving priority of a vehicle at a road merge point, characterized by setting the priority of the vehicle with a slower driving speed as the fourth priority.
The method of claim 5, wherein to control the driving priority of the vehicle at the road merge point,
The server is,
Collecting vehicle information for each branch road entering the road junction and information on the vehicle congestion section at the road junction from a traffic control system installed at the road junction;
Based on the information collected from the traffic control system, setting a driving priority for entering the main road by comparing entry information at the merging point for each vehicle; and
When the driving priority information for entering the main road is set, the server transmits and outputs the driving priority information for entering the main road to a vehicle terminal and a traffic control system. How to control the driving priority of vehicles at a merging point.
The method of claim 8, wherein the step of comparing entry information at the merging point for each vehicle comprises:
The server,
A method of controlling the driving priority of vehicles at a road merge point, characterized by comparing the arrival time to the merge point for each vehicle, the entry angle of the main road for each vehicle, and the driving speed for each vehicle.
The method of claim 5, wherein the server:
A cross check is performed based on the information collected and transmitted from the vehicle terminal and the information collected and transmitted from the traffic control system, and the driving priority of each vehicle for entering the main road is set. How to control driving priorities.

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