KR20240059020A - Method for providing stereoscopic sound alarm service through relative position conversion of moving objects, and apparatus and system therefor - Google Patents

Abstract

The present invention relates to a method for providing a three-dimensional sound alarm service through conversion of the relative position of a moving object, and a device and system therefor. The method for providing a three-dimensional sound alarm service in a V2N (Vehicle to Network) server according to an aspect of the present disclosure includes: Receiving location information from a plurality of moving objects through the infrastructure, generating polar coordinate information by performing relative position transformation based on the location information, and sending at least one message containing the polar coordinate information through the infrastructure. It may include transmitting to a moving object.

Description

{Method for providing stereoscopic sound alarm service through relative position conversion of moving objects, and apparatus and system therefor}

The present invention relates to a three-dimensional sound alarm service for moving objects. In detail, the risk between moving objects is calculated by performing relative position conversion based on location data collected from moving objects through V2N (Vehicle to Network) communication. , relates to a technology that adaptively provides three-dimensional sound alarm information to the corresponding moving object according to the calculated risk.

An autonomous vehicle is a vehicle that can operate on its own without driver or passenger intervention. Additionally, as communication technology develops, high-speed and large-capacity data transmission becomes possible, making it possible to provide more diverse services through wireless communication systems.

Currently, autonomous vehicles are not yet technically at a level where they can drive without problems in environments with heavy rain, heavy snow, dense fog, or unexpected situations. When Google received a driverless car license in Nevada, inspectors pointed out problems with the car's inability to adapt to various weather conditions and unpaved roads.

In order to compensate for these problems of self-driving vehicles, autonomous vehicles can be remotely operated based on information about the driving point of the self-driving vehicle, location information of the self-driving vehicle, and various sensing information collected by the self-driving vehicle. Research is being actively conducted on teleoperated driving (ToD), a remote-controlled autonomous driving control system that can be monitored and manipulated at all times. As various transportation methods and services spread and expand, remote control of autonomous vehicles is expected to become a very important transportation element.

Safe remote control and support of autonomous vehicles requires the provision of accurate information about moving objects around the autonomous vehicle.

Providing accurate and reliable information about accident risks is required not only for autonomous vehicles but also for various moving objects around roads that are at risk of accidents.

Conventionally, various vehicle safety measures include analyzing various sensors installed inside the vehicle and information collected from the sensors inside the vehicle to determine risk factors in the vehicle itself and around the vehicle, and adaptively controlling the vehicle's operation according to the judgment results. systems and driver assistance systems were provided.

However, as various vehicle safety systems and driver assistance systems are applied to vehicles, vehicle prices are rising rapidly, and there are limitations in accurately analyzing risk factors around the vehicle depending on the performance of vehicle sensors and the ability to analyze sensing information within the vehicle.

In Korean Patent Publication No. 10-2010-0073501 (2010.07.01), the direction is determined by receiving the route guidance audio signal from the vehicle multimedia system, and the route guidance audio signal generated based on the determined direction information is transmitted through the corresponding speaker of the vehicle. A method of reproducing vehicle guidance information output through a vehicle has been disclosed.

In Korean Patent Publication No. 10-2000-0070673 (2000.11.25), when a collision threat message is received from a collision prediction sensor, the potential collision direction is determined, and the intuitive directional sounds are converted and output to be oriented in the determined potential collision direction. A vehicle collision warning system has been launched.

Korean Patent Publication No. 10-2021-0086470 (2021.07.08) provides an object tracking circuit that tracks an object located in the environment in which the vehicle is operating based on vehicle sensor data, and provides the spatiotemporal location of the object relative to the vehicle at a specific time. and determining the probability of a collision between a specific object and a vehicle at a specific time based on the speed of the object relative to the vehicle at a specific time, and including information on objects with a high risk of collision and information on the predicted collision time according to the collision probability. A vehicle safety system that outputs a warning alarm has been disclosed.

The purpose of the present disclosure is to provide a method for providing a three-dimensional sound alarm service by converting the relative position of a moving object, and an apparatus and system therefor.

Another object of the present disclosure is to perform relative position conversion based on the location information collected from the moving objects in a server linked to the moving object through V2N communication to generate polar coordinate information including risk information, and transmit it to the moving object. By providing a method for providing a three-dimensional sound alarm service capable of outputting a three-dimensional sound alarm based on polar coordinate information received from the moving object, a device and a system therefor are provided.

Another purpose of the present disclosure is to generate polar coordinate information for a three-dimensional sound alarm service in a server linked through a V2N communication network and provide it to the target moving object, thereby minimizing the increase in processing load and cost of the moving object. To provide a method of providing a three-dimensional sound alarm service through location conversion and a device and system therefor.

Another purpose of the present disclosure is to provide more reliable information to V2N clients by linking with RSU (Road Side Unit), LTA (local trusted authority), and RTA (root trusted authority), which provide real-time status information around the road through a communication network. The goal is to provide a V2N server that can provide a three-dimensional sound alarm service.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

A method of providing a three-dimensional sound alarm service in a V2N (Vehicle to Network) server according to an aspect of the present disclosure includes receiving location information from a plurality of moving objects through an infrastructure and performing relative position conversion based on the location information. It may include generating polar coordinate information and transmitting a message containing the polar coordinate information to at least one moving object through the infrastructure.

In an embodiment, the location information is information about two-dimensional location coordinates, and may be received periodically during a certain period of time.

In an embodiment, the polar coordinate information includes information about a moving object identifier for identifying the moving object, vector information indicating a relative movement speed between the moving object identifiers, and direction angle information indicating a relative movement direction between the moving object identifiers. and at least one of risk information indicating relative risk information between the moving object identifiers.

In an embodiment, the risk may be determined based on at least one of the distance between target moving objects, the relative moving speed between target moving objects, and the relative moving direction between target moving objects.

In an embodiment, the step of transmitting the polar coordinate information to at least one moving object further includes identifying a moving object whose risk is greater than or equal to a predetermined standard value, and the polar coordinate information is applied only to the moving object identified as having the risk greater than or equal to a predetermined standard value. A three-dimensional sound warning alarm message containing information may be transmitted.

In an embodiment, the method further includes updating a location map based on the location information and storing the updated location map in a map database, wherein the polar coordinate information is generated based on the updated location map. It can be.

In an embodiment, the method further includes receiving information about a moving object entering the corresponding road section from a Road Side Unit (RSU) through Vehicle to Infrastructure (V2I) communication, wherein the information received from the Road Side Unit (RSU) is further included. The moving object for which the location information will be received may be determined based on information about the moving object.

As an embodiment, the method further includes collecting public data from at least one of a local trusted authority (LTA) server and a root trusted authority (RTA) server through an Internet network and mapping the public data to a high-precision map, , The public data may include at least one of information about road construction, information about traffic accidents, and information about road control events.

In an embodiment, a sound signal generated based on the polar coordinate information may be output through a stereoscopic sound system provided in the corresponding moving object.

In an embodiment, the infrastructure may include at least one of a Road Side Unit (RSU) and a base station.

When executed by at least one processor provided in a V2N (Vehicle to Network) server according to another aspect of the present disclosure, the at least one processor performs operations to provide a three-dimensional sound alarm service in conjunction with a moving object through an infrastructure. A non-volatile computer-readable storage medium storing at least one computer program including instructions to perform the operations, the operations comprising receiving location information from a plurality of moving objects through the infrastructure and based on the location information. It may include generating polar coordinate information by performing relative position transformation and transmitting a message containing the polar coordinate information to at least one moving object through the infrastructure.

A V2N (Vehicle to Network) server linked to a moving object through an infrastructure according to another aspect of the present disclosure includes a communication unit that receives location information from a moving object through the infrastructure, and a plurality of location information received from the moving object. and a generator that generates polar coordinate information by performing relative position transformation based on the communication unit, and the communication unit can transmit a message containing the polar coordinate information to at least one moving object through the infrastructure.

In an embodiment, the location information is information about two-dimensional location coordinates, and may be received periodically during a certain period of time.

In an embodiment, the V2N server may further include a high-precision map database storing high-precision maps, and the generator may include a location map update module that updates the location map by mapping the location information to the high-precision map.

In an embodiment, the generator further includes a polar coordinate update module that updates the polar coordinate information based on the updated location map, and the polar coordinate information includes information on a moving object identifier for identifying the moving object and the It may include at least one of vector information indicating the relative movement speed between the moving object identifiers, orientation angle information indicating the relative movement direction between the moving object identifiers, and risk information indicating the relative risk between the moving object identifiers.

In an embodiment, the polar coordinate update module may determine the risk based on at least one of a distance between target moving objects, a relative moving speed between target moving objects, and a relative moving direction between target moving objects.

In an embodiment, the generator may further include an alarm module that identifies a moving object whose risk level is higher than the reference value and generates a three-dimensional sound alarm message for the identified moving object based on the updated polar coordinate information.

In an embodiment, the communication unit further receives information about a moving object entering the corresponding road section from a Road Side Unit (RSU) through Vehicle to Infrastructure (V2I) communication, and the moving object received from the Road Side Unit (RSU) The moving object for which the location information will be received may be determined based on information about the object.

In an embodiment, the communication unit further receives public data from at least one of a local trusted authority (LTA) server and a root trusted authority (RTA) server through an Internet network, and the polar coordinate update module further bases the public data on the public data. The level of risk can be determined.

In an embodiment, the location map update module updates the location map by further mapping the public data to a high-precision map, and the public data includes at least one of information about road construction, information about traffic accidents, and information about road control events. It can contain one.

In an embodiment, a three-dimensional sound signal generated based on the polar coordinate information may be controlled to be output through a corresponding speaker of a three-dimensional sound system provided in the corresponding moving object.

A method of providing a three-dimensional sound alarm service in a V2N (Vehicle to Network) client according to another aspect of the present disclosure includes the steps of acquiring current location information of the V2N client and transmitting the obtained location information to a V2N server through an infrastructure. receiving a message containing polar coordinate information from the V2N server through the infrastructure; generating a three-dimensional sound signal for a warning alarm based on the received polar coordinate information; and generating a three-dimensional sound signal for a warning alarm based on the received polar coordinate information. It includes the step of outputting through a provided stereoscopic sound system, and the polar coordinate information may be generated by performing relative position transformation based on location information received from a plurality of V2N clients of the corresponding road section.

In an embodiment, the method further includes determining whether a stereoscopic sound warning alarm is necessary based on the received polar coordinate information, and as a result of the determination, the stereoscopic sound signal is generated based on whether the stereoscopic sound warning alarm is necessary. It can be generated and output.

A V2N (Vehicle to Network) client according to another aspect of the present disclosure transmits the sensor that measures the current location to generate location information and the measured location information to the V2N server through infrastructure communication, and includes polar coordinate information. It includes a communication unit that receives a three-dimensional sound alarm message from the V2N server through the infrastructure, and a three-dimensional sound output unit that generates and outputs a three-dimensional sound signal for a warning alarm based on the received polar coordinate information, and the polar coordinate information. Can be generated by performing relative position conversion based on location information received from a plurality of V2N clients in the corresponding road section.

In an embodiment, the stereoscopic sound output unit determines whether a stereoscopic sound warning alarm is necessary based on the received polar coordinate information, and generates and outputs the stereoscopic sound signal based on whether the stereoscopic sound warning alarm is necessary as a result of the determination. can do.

The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below. You will be able to.

Various embodiments according to the present disclosure have the advantage of providing a method for providing a three-dimensional sound alarm service through conversion of the relative position of a moving object, and an apparatus and system therefor.

In addition, various embodiments according to the present disclosure generate polar coordinate information including risk information by performing relative position conversion based on location information collected from moving objects in a server linked to moving objects through V2N communication, and generate polar coordinate information including risk information. There is an advantage in providing a method for providing a three-dimensional sound alarm service and a device and system therefor that can output a three-dimensional sound alarm based on polar coordinate information received from the moving object by providing the same to the moving object.

In addition, various embodiments according to the present disclosure are capable of minimizing the increase in processing load and cost of the moving object by providing polar coordinate information for a three-dimensional sound alarm service to the target moving object from a server linked through a V2N communication network. There is an advantage in providing a method of providing a three-dimensional sound alarm service through relative position conversion and a device and system therefor.

In addition, various embodiments according to the present disclosure have the advantage of providing a three-dimensional sound alarm service for various moving objects such as pedestrians, electric bicycles, and electric quick boards as well as vehicles through a V2N communication network.

In addition, various embodiments according to the present disclosure have the advantage of minimizing the risk of accidents by providing a three-dimensional sound alarm service not only to the target vehicle but also to other moving objects around the target vehicle.

In addition, various embodiments according to the present disclosure link the V2N server with a road side unit (RSU), a local trusted authority (LTA), and a root trusted authority (RTA) that provide real-time status information around the road to the V2N client. It has the advantage of providing a more reliable three-dimensional sound alarm service.

The effects that can be obtained from various embodiments are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description below. There will be.

The drawings attached to this specification are intended to provide an understanding of the present invention, show various embodiments of the present invention, and together with the description of the specification, explain the principles of the present invention.
1 is a diagram for explaining the overall system structure for providing a three-dimensional sound alarm service according to an embodiment of the present disclosure.
Figure 2 is a block diagram for explaining the structure of a V2N server according to an embodiment of the present disclosure.
Figure 3 is a block diagram for explaining the structure of a V2N client according to an embodiment of the present disclosure.
FIG. 4 is a diagram for explaining the general operation of an autonomous vehicle according to an embodiment of the present disclosure.
Figure 5 is a flowchart for explaining a method of providing a three-dimensional sound alarm service in a V2N server according to an embodiment of the present disclosure.
Figure 6 is a flowchart for explaining a method of providing a three-dimensional sound alarm service in a V2N client according to an embodiment of the present disclosure.
FIG. 7 is a diagram illustrating a location map generation process for providing a location-based three-dimensional sound alarm service according to an embodiment of the present disclosure.
FIG. 8 is a diagram illustrating a method of generating polar coordinate information of a moving object through relative position transformation according to an embodiment of the present disclosure.
Figure 9 shows a polar coordinate table according to an embodiment of the present disclosure.

Hereinafter, embodiments disclosed in the present specification will be described in detail with reference to the attached drawings. However, identical or similar components will be assigned the same reference numbers regardless of reference numerals, and duplicate descriptions thereof will be omitted. The suffixes “part” and “part” for components used in the following description are given or used interchangeably only for the ease of preparing the specification, and do not have distinct meanings or roles in themselves.

Additionally, in describing the embodiments disclosed in this specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed descriptions will be omitted. In addition, the attached drawings are only for easy understanding of the embodiments disclosed in this specification, and the technical idea disclosed in this specification is not limited by the attached drawings, and all changes included in the spirit and technical scope of the present invention are not limited. , should be understood to include equivalents or substitutes.

Terms containing ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be.

On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

Singular expressions include plural expressions unless the context clearly dictates otherwise.

In this application, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, with reference to FIGS. 1 to 9, a method for providing a three-dimensional sound alarm service through conversion of the relative position of a moving object according to the present disclosure and a device and system therefor will be described in detail.

1 is a diagram for explaining the overall system structure for providing a three-dimensional sound alarm service according to an embodiment of the present disclosure.

Referring to FIG. 1, the system 1 includes a mobile object (or V2N client, 10), a V2N server 20, a base station 30, a Road Side Unit (RSU) 40, and a Local Trusted Authority (LTA) server 50. ) and an RTA (Root Trusted Authority) server 60.

The moving object 10 may include, but is not limited to, vehicles, pedestrians, two-wheeled vehicles, bicycles, and electric quickboards.

The mobile object 10 can transmit and receive signals with the RSU 40 through V2I (Vehicle to Infrastructure) communication.

The moving object 10 may transmit and receive signals with the base station 30 through V2N (Vehicle to Network) communication.

The moving object 10 may transmit and receive signals with the V2N server 20 through the RSU 40 and/or the base station 30. As an example, the base station 30 may be connected to the V2N server 20 through an Internet network.

The RSU 40 and the LTA server 50 may exchange information with each other through inter-infrastructure communication - or backhaul communication.

The V2N server 20 can exchange information with the LTA server 50 and the RTA server 60 through the Internet network.

Advances in technologies such as the Internet of Things (IoT) and cloud computing have partially contributed to the reality of smart cities comprised of infrastructure systems such as intelligent transportation systems (ITS) and vehicular communication networks. For example, a network for vehicular communication may be used between other infrastructures - e.g. RSUs 40 - and mobile objects 10 - e.g. Intelligent and Connected Vehicles (ICVs) - within a smart city. It supports communication and facilitates the application of important safety-related applications. In particular, (near) real-time dissemination, mining, and analysis of information within the system are important for the commercialization of autonomous driving and the implementation of smart cities. According to the 3GPP 4G Long Term Evolution (LTE) standard, 3GPP 5G New Radio (NR) standard, and IEEE 802.11p standard, the frequency of cooperation recognition messages between vehicles or between vehicles and infrastructure can be generated in milliseconds.

Vehicle communication networks can play a vital role in saving drivers' lives by disseminating important messages. According to current standards, vehicle communication networks can be broadly divided into four types. The first type is vehicle-to-vehicle communication, commonly known as vehicle-to-vehicle (V2V) communication. V2V communication uses an on-board unit (OBU) mounted on a vehicle to communicate directly with adjacent vehicles without going through infrastructure. The second type is V2I (vehicle-to-infrastructure) communication for communication between vehicles and road infrastructure - for example, RSU 40. The RSU 40 is deployed on the roadside and has more computing and storage capabilities than a vehicle, and can communicate with the base station 30 and the LTA server 50 through inter-infrastructure communication. The third type is vehicle-to-pedestrian (V2P) communication that exists between vehicles and pedestrians or cyclists.

The RTA server 60 and/or the LTA server 50 may perform a function of registering the mobile object 10 and the RSU 40 before distributing them to the network. During the moving object 10 and RSU 40 registration step, the RTA server 60 may store sensitive parameters generated during registration - for example, unique key values - in internal memory.

The moving object 10 can collect important information from the surrounding area using sensors, etc. and then transmit it to the nearby RSU 40. The RSU 40 may process the information received from the moving object 10 using various encryption primitives such as hashing, encryption, etc. according to requirements and then store it in a centralized cloud server.

The LTA server 50 may be a centralized cloud server that manages information collected through a plurality of RSUs 40 on a regional basis.

The RTA server 60 can manage a plurality of LTA servers 50 in the corresponding area. Here, the RTA server 60 and the LTA server 50 are trusted entities and must be managed to prevent information from being leaked to outsiders (or enemies). For this purpose, by operating TA in a distributed manner rather than a single TA and a single cloud server, we can not only solve the single point of failure (SPoF) problem, but also create a structure suitable for applying various applications by region. can be provided.

The moving object 10 according to the embodiment acquires its current location information using a provided GPS receiver and transmits it to the base station 30 (or RSU 40) through V2N (or V2I) communication, The base station 30 (or RSU 40) may transmit the location information received from the moving object 10 to the V2N server 20 through inter-infrastructure communication. The moving object 10 may transmit its location information to the V2N server 20 at a predetermined period. As an example, the V2N server 20 may set the location information transmission period of the moving object 10 through a predetermined control signal.

The V2N server 20 may generate (or update) polar coordinate information by performing relative position transformation based on the position information received from the plurality of moving objects 10. Here, the specific method of generating (or updating) polar coordinate information will become clearer through the description of the drawings to be described later.

The V2N server 20 can calculate the relative risk between the moving objects 10 and identify the moving object 10 whose calculated risk is higher than the standard value. Here, the specific method of calculating the relative risk between the moving objects 10 of the V2N server 20 will become clearer through the description of the drawings to be described later.

The V2N server 20 can generate a three-dimensional sound alarm message containing corresponding polar coordinate information only for the moving object 10 identified as having a risk level higher than the standard value and transmit it through the base station 30 (or RSU 40). In an embodiment, the stereoscopic sound alarm message may be transmitted by further including two-dimensional coordinate information - for example, latitude and longitude information - of the corresponding moving object 10 in the stereoscopic sound alarm message.

The moving object 10 can generate a three-dimensional sound signal for a warning alarm using a three-dimensional sound alarm message containing polar coordinate information, and output the generated three-dimensional sound alarm signal through the corresponding speaker of the three-dimensional sound system. there is.

The user can intuitively recognize external or surrounding risk factors through a three-dimensional sound signal output through a speaker provided in the moving object 10 (or a speaker connected to the moving object 10) and take appropriate action accordingly. By doing this, you can minimize the risk of accidents and damage.

The V2N server 20 according to another embodiment of the present disclosure transmits predetermined data to the moving object 10, and the moving object 10 determines whether to output a three-dimensional sound warning alarm based on the received data. According to the results, the stereoscopic sound warning alarm signal may be generated and output through the corresponding speaker through the corresponding output means provided. In an embodiment, data transmitted from the V2N server 20 to the moving object 10 may include polar coordinate information. Here, the polar coordinate information includes moving object identifier information for identifying the corresponding moving object, vector information indicating the relative movement speed between the corresponding moving object identifiers, orientation angle information indicating the relative moving direction between the corresponding moving object identifiers, and the corresponding moving object identifier. It may include at least one piece of risk information indicating the relative risk between identifiers.

The risk according to an embodiment may be determined based on at least one of the distance between target moving objects, the relative moving speed between target moving objects, and the relative moving direction between target moving objects.

Figure 2 is a block diagram for explaining the structure of a V2N server according to an embodiment of the present disclosure.

Referring to FIG. 2, the V2N server 20 may be largely configured to include a communication unit 210 and a generation unit 220.

The communication unit 210 can not only communicate with the mobile object 10 through the infrastructure, but also communicate with other servers connected to the Internet network - for example, the RTA server 60 and the LTA server 50.

The communication unit 210 may provide the location information received from the moving object 10 to the generation unit 220.

The generating unit 220 generates (or updates) a location map based on the high-precision map database 221, which provides high-precision map information, the high-precision map information, and the location information of the moving object 10, and stores it in the location map database 223. A location map update module 222 for storing, and a polar coordinate information update module 225 for generating (or updating) polar coordinate information based on the location map stored in the location map database 223 and storing it in the polar coordinate database 224. and an alarm module that refers to the polar coordinate database 224 to identify a moving object 10 to transmit a stereoscopic sound alarm message, and generates a stereoscopic sound alarm message containing polar coordinate information corresponding to the identified moving object 10. It may be configured to include at least one of (226). The specific method of generating (or updating) the polar coordinate information of the generator 220 will become clearer through the description of the drawings to be described later.

The stereoscopic sound alarm message generated by the alarm module 226 may be transmitted to the corresponding moving object 10 through the communication unit 210.

The generator 220 according to another embodiment generates (or updates) a location map based on the high-precision map database 221 that provides high-precision map information, high-precision map information, and location information of the moving object 10. Polar coordinate information is generated (or updated) based on the location map update module 222 stored in the database 223 and the location map stored in the location map database 223, and stored in the polar coordinate database 224. It may be configured to include an update module 225.

The communication unit 210 may transmit a predetermined message containing polar coordinate information to the moving object 10 through the infrastructure. In this case, the moving object 10, which receives a message containing polar coordinate information, determines whether a stereoscopic sound alarm is necessary based on the received message, generates a stereoscopic sound alarm signal according to the determination result, and then generates a stereoscopic sound alarm signal through the corresponding output means. It can be output through -for example, a speaker-. Through this, there is an advantage of reducing the processing load of the V2N server 20.

Figure 3 is a block diagram for explaining the structure of a V2N client according to an embodiment of the present disclosure.

Referring to FIG. 3, a moving object (or V2N client, 10) may be configured to include a sensor 310, a communication unit 320, and a three-dimensional sound output unit 330.

The sensor 310 may generate current location information by measuring the location of the moving object 10 through a provided positioning means (for example, a GPS receiver, etc.).

The communication unit 320 may transmit the current location information received from the sensor 310 to the V2N server 20 through V2N (or V2I) communication. As an example, the communication unit 320 may transmit current location information at a certain period according to the request (or setting) of the V2N server 20.

The communication unit 320 may receive a three-dimensional sound alarm message including polar coordinate information from the V2N server 20.

The stereoscopic sound output unit 330 may generate a stereoscopic sound signal based on polar coordinate information included in the stereoscopic sound alarm message, and output the generated stereoscopic sound signal through a speaker corresponding to the polar coordinate information.

In another embodiment, when the communication unit 320 receives a predetermined message containing polar coordinate information from the V2N server 20, the stereoscopic sound output unit 330 determines whether a stereoscopic sound alarm is necessary based on the received message. , If a three-dimensional sound alarm is necessary as a result of the determination, a three-dimensional sound alarm signal may be generated based on the received polar coordinate information and output through the provided output means. Through this, there is an advantage of reducing the processing load of the V2N server 20.

Figure 4 is a diagram for explaining the general operation of a vehicle according to an embodiment of the present disclosure.

Referring to FIG. 4, a vehicle may be largely comprised of an information providing entity 301, a processing and judgment entity 302, and an operating entity 303.

The information provider 301 can provide high-precision map information and various sensing information to the processing and judgment entity 302.

As shown in FIG. 4, the information provider 301 may include a high-precision map storage, a safety sensor, and a vehicle sensor.

High-definition maps (or HD maps) contain detailed information about the surface of a road or intersection, including lanes, intersections, construction zones, and road signs. High-precision maps are not only used to determine the location of an autonomous vehicle, but can also provide a variety of information to determine the route required for vehicle operation.

For example, safety sensors include cameras, sonar sensors, lidar, radar, etc., and vehicle sensors include wheel sensors, inertial sensors (Inertial Measurement Unit, IMU), and global navigation satellite systems (GNSS). can do.

GNSS and IMU can measure the vehicle's location and provide inertial information and measured values of geographic location to the processing and decision subject 302 at a fast cycle of 200 Hz or more. Here, the Kalman filter can be applied so that the advantages and disadvantages of GPS's slow measurement cycle and high accuracy, and IMU's fast measurement cycle and large cumulative error are well combined.

LiDAR can be used for map mapping, localization, obstacle avoidance, etc., and can measure distance and create a monochromatic 3D map by measuring the Time of Flight (ToF) of laser light. Because LiDAR has high accuracy, it can be mainly used to create HD maps, localize (estimate) the location of a moving vehicle, and detect obstacles ahead.

Cameras can be used for object recognition and tracking tasks, such as lane, traffic light, and pedestrian detection. For example, more than eight 1080p cameras may be used to increase safety. Based on camera sensing information, the processing and decision subject 302 can detect, recognize, and track objects in the front, rear, and left/right directions.

Radar and sonar can be used as a last resort for obstacle avoidance. Sensing information from radar and sonar can provide distance and speed information to the nearest target along the vehicle's movement path.

The processing and decision subject 302 may correspond to an autonomous driving controller.

The autonomous driving controller may be comprised of a high-precision positioning unit, a route creation unit, a V2X (Vehicle to Everything) communication unit, an autonomous driving determination unit, a sensor fusion unit, a control command generation unit, and a remote driving connection unit.

The high-precision positioning unit can measure and/or estimate the position and attitude of the vehicle based on sensing information.

The path generator may generate a vehicle's driving path based on sensing information.

The V2X communication unit can provide V2X communication functions. V2X communication refers to a communication technology that exchanges information with other vehicles, pedestrians, objects with built infrastructure, etc. through wired/wireless communication. V2X can be divided into four types: vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-network (V2N), and vehicle-to-pedestrian (V2P). V2X communication may be provided through the PC5 interface and/or the Uu interface.

The autonomous driving determination unit may control the vehicle to enter the autonomous driving mode when autonomous driving is possible according to the driver's autonomous driving request. Additionally, if the autonomous driving determination unit determines that it is no longer difficult to maintain autonomous driving during autonomous driving, it may control the vehicle to switch to a manual control mode. If the autonomous driving determination unit determines that autonomous driving is possible again while operating in the manual control mode, it may control the switch to the autonomous driving mode.

The sensor fusion unit can express information around the vehicle's immediate vicinity on HD-MAP by fusing the strengths and characteristics of the sensing information collected from each sensor.

Through sensor fusion, the high-precision positioning unit is capable of high-precision positioning on a lane-by-lane basis, and the path creation unit can generate a short-distance path for the vehicle.

The control command generator can acquire short-range situation information through V2X communication, and recognizes objects and tracks the location of objects by comprehensively considering the above-mentioned high-precision positioning results, path creation results, and short-range situation information acquired through V2X communication. And, based on this, a control command for the operating subject 303 can be generated.

The remote driving connection (or ToD connection) can perform the function of switching from autonomous driving to remote driving, which has recently been legislated.

The remote driving connection unit can switch the autonomous driving mode to the remote driving mode when autonomous driving on the road section ahead is not possible during autonomous driving, when a request to switch control is received from the remote control center, or when remote driving is requested from the driver. .

The operating entity 303 may include an engine ECU (Electronic Control Unit), a braking ECU, a steering ECU, and a transmission ECU. The operating subject 303 may operate according to control commands received from the processing and judging subject 302.

Figure 5 is a flowchart for explaining a method of providing a three-dimensional sound alarm service in a V2N server according to an embodiment of the present disclosure.

Referring to FIG. 5, the V2N server 20 may receive current location information for each of the plurality of moving objects 10 (S510). As an example, the V2N server 20 may receive current location information about the moving object 10 through the base station 30 and/or the RSU 40.

The V2N server 20 may generate (or update) polar coordinate information by performing relative position transformation based on the current location information received corresponding to the plurality of moving objects 10 (S520). As an example, polar coordinate information may include a moving object identifier for identifying a target moving object, a vector value (v) related to the relative movement speed between target moving object identifiers, an angle value (a) related to the relative direction between target moving object identifiers, and a target moving object identifier. It may be configured to include a risk level (r) indicating the relative risk level between moving object identifiers. Here, the risk between target moving object identifiers may be determined based on the relative movement speed between target moving object identifiers, the angle related to the relative direction between target moving object identifiers, and the distance between target moving object identifiers. For example, the risk may increase as the movement directions of the target moving object identifiers are opposite to each other's movement directions. Additionally, as the relative direction angle between target moving object identifiers approaches 90 degrees - that is, as other moving objects exist on the movement path of one moving object - the risk may increase. Additionally, the closer the distance between target moving object identifiers is, the higher the risk may be. As an example, the relative risk r12 between two moving object identifiers (01, 02) can be calculated by Equation 1 below.

Here, d12 and w1 mean the distance between two moving object identifiers (01, 02) and its weight, respectively, and a12 and w2 mean the relative direction angle between two moving object identifiers (01, 02) and its weight, and , v12 and w3 mean the relative velocity vector and its weight between two moving object identifiers (01, 02). The calculated risk can be scaled and mapped to a predefined level.

As an example, the V2N server 20 may obtain traffic accident statistical information on the relevant road from the TA server, and a predetermined weight may be applied to the risk calculated by Equation 1 above according to the traffic accident statistical information. For example, a higher weight may be applied to a road section where more traffic accidents occur.

As an example, the V2N server 20 may obtain construction information on the relevant road from the TA server, and a predetermined weight may be applied to the risk calculated by Equation 1 above according to the road construction information. For example, a higher weight may be applied to a road section where road construction is in progress.

Figure 6 is a flowchart for explaining a method of providing a three-dimensional sound alarm service in a V2N client according to an embodiment of the present disclosure.

Referring to FIG. 6, the V2N client 10 may obtain its current location information and transmit the obtained current location information to the V2N server 20 through the infrastructure (S610 to S620).

When the V2N client 10 receives a stereoscopic sound alarm message containing polar coordinate information from the V2N server 20 through the infrastructure, the V2N client 10 can generate a stereoscopic sound signal for a warning alarm based on the received polar coordinate information ( S630 to S640).

The V2N client 10 can output a three-dimensional sound signal generated through a provided three-dimensional sound system (S650).

In another embodiment, when the V2N client 10 receives a predetermined message containing polar coordinate information from the V2N server 20 through the infrastructure, it can determine whether a three-dimensional sound alarm is necessary based on the received polar coordinate information. . If the V2N client 10 determines that a three-dimensional sound alarm is necessary, it can generate the corresponding three-dimensional sound alarm signal and output it through the corresponding output means. Through this, there is an advantage of reducing the processing load of the V2N server 20.

FIG. 7 is a diagram illustrating a location map generation process for providing a location-based three-dimensional sound alarm service according to an embodiment of the present disclosure.

The V2N server according to the present disclosure can manage the target moving object by assigning a unique moving object identifier.

In an embodiment, the moving object identifier may be uniquely assigned to a specific region, but this is only one example, and may be uniquely assigned to a specific time zone and/or to the type of the moving object.

For example, a specific area may be divided into an intersection area, a railroad crossing area, a school zone area, a toll gate area, a highway interchange area, etc., but is not limited thereto.

For example, a specific time zone may be divided into a commute time zone, a work time zone, a business time zone, a morning time zone, an afternoon time zone, and a night time zone, but is not limited thereto.

As an example, the type of moving object may be classified into general vehicles, two-wheeled vehicles, bicycles, electric quick boards, pedestrians, etc., but is not limited thereto.

Referring to (a) of FIG. 7, around the intersection, there is a first moving object (moving object identifier: O1) driving a bicycle, and a second moving object (moving object identifier: O2) that is a vehicle passing through the intersection in the first direction. , a third moving object (moving object identifier: O3), which is a pedestrian waiting for a walk signal, and a fourth moving object (moving object identifier: O4), which is a vehicle entering the intersection in a second direction different from the first direction, may exist. You can.

Each moving object may transmit its current location information or location coordinates (for example, latitude and longitude information) to the V2N server through V2N (or V2I) communication.

In an embodiment, each moving object calculates its own moving direction using a provided sensor - for example, a GPS (GNSS) sensor and/or a gyro sensor, and sends it to a V2N server through V2N (or V2I) communication. Information about one's direction of movement - that is, heading information - can also be transmitted.

In an embodiment, each moving object calculates its own moving speed using a provided sensor - for example, a GPS sensor and/or an acceleration sensor and/or an inertial sensor, and V2N (or V2I) communication. You can also transmit information about your movement speed to the server.

In an embodiment, each moving object transmits only information about its current location coordinates to the V2N server at a predetermined period, and the V2N server calculates the moving direction and moving speed of the moving object based on the received location coordinates for each moving object. You may.

As an example, the V2N server may calculate the moving speed and direction of movement of the moving object based on at least two consecutive position coordinates received from the moving object at regular intervals. The V2N server can calculate the relative movement speed and relative movement direction between two moving objects based on the movement speed and direction calculated for each moving object. Additionally, the V2N server may calculate the distance between two moving objects based on the location coordinates of the two moving objects.

The V2N server can calculate the relative risk between two moving objects by considering the actual separation distance between the two moving objects as well as the calculated relative moving speed and relative moving direction.

As shown in (b) of Figure 7, the V2N server displays the location/heading/velocity of the target moving object as the origin and vector on the high-precision map corresponding to the intersection to generate a location map for the target moving object. You can.

A moving object identifier may be displayed on one side of the origin of the corresponding moving object displayed on the location map.

If the V2N server provides a warning alarm service by providing only latitude/longitude information, information about movement speed, and information about the direction of movement for each moving object in the situation of FIG. 7 above, the V2N client receives the information received from the V2N server. Based on the information, a warning alarm signal can be generated by processing it according to each built-in algorithm, and the generated warning alarm signal can be output using the provided warning alarm output means.

However, the accuracy of the warning alarm may differ depending on the information processing performance of the moving object. Accordingly, in the case of a moving object equipped with a low-end processor and an incomplete warning alarm algorithm, a warning alarm with low reliability is output, causing an accident. There are problems that may increase the risk.

In order to solve the above-described problem, the V2N service according to an embodiment of the present disclosure determines the relative risk between moving objects by performing relative position transformation on target moving objects, and determines the relative risk between moving objects, and moving objects whose risk satisfies the standard value. It can be implemented to transmit a three-dimensional sound alarm message containing polar coordinate information to. In this case, the V2N client can generate a three-dimensional sound signal according to the received polar coordinate information and output the generated three-dimensional sound signal through a provided three-dimensional sound system. This has the advantage of not only significantly reducing the processing load of V2N clients, but also providing V2N services for more intuitive and highly reliable three-dimensional sound warning alarms to V2N clients with low-end processing performance.

In order to solve the above-described problem, the V2N service according to another embodiment of the present disclosure generates polar coordinate information by performing relative position transformation on target moving objects, and a message containing the generated polar coordinate information. Can be implemented to transmit to a moving object - that is, a V2N client. In this case, the V2N client determines whether a stereoscopic sound alarm is necessary based on the received polar coordinate information, and as a result of the determination, if a stereoscopic sound alarm is necessary, a stereoscopic sound signal is generated and then generated through the corresponding speaker of the stereo sound system. Three-dimensional sound signals can also be output. This can significantly reduce the processing load on the V2N server.

As an example, assume that an alarm service is provided by displaying the location of the moving object as is on the navigation map.

In this case, the V2N server broadcasts information about the latitude/longitude/heading/speed of the target moving objects, and the target moving objects receive the broadcasted information and process it according to their internal algorithms. There may be. Alternatively, the V2N server selects high-risk moving objects and sends information about the selected moving objects to other moving objects around the selected moving objects - hereinafter, for convenience of explanation, referred to as 'service receiving moving objects'. It can also be passed on to .

In the same way as described above, service-receiving mobile objects that have acquired information about other mobile objects - that is, mobile objects with a high risk of accident - map the received information to their own HD-MAP and utilize it for autonomous driving. This can be output on the navigation screen so that the driver and/or passengers can visually check the risk factors. However, there is a problem with this because it is from the navigation perspective, not the driver or passenger perspective. In other words, after checking the vehicle's risk factors on the navigation screen, it is not only inconvenient for the driver and/or passengers to actually look out the window to check external risk factors, but in case of an emergency, they may hesitate because it is difficult to quickly determine the direction. Therefore, safety problems may arise.

In order to solve the above-described problems, the main purpose of the V2N service according to an embodiment of the present disclosure is to provide a method by which a V2N client can intuitively recognize and confirm risk factors through a three-dimensional sound alarm message.

FIG. 8 is a diagram illustrating a method of generating polar coordinate information of a moving object through relative position transformation according to an embodiment of the present disclosure.

Referring to (a) of FIG. 8, looking at the location of the moving object identifier O3 with the moving object identifier O2 as the center, a polar coordinate system can be considered centered on the direction of movement of O2.

From O2's perspective, the position of O3 can be expressed as (V23, A23), that is, vector 23, angle 23-. Additionally, because O3 is at rest, the degree of risk is low in terms of O2's location and direction of travel, so the polar coordinates of O2 relative to O3 can be determined as (V23, A23, r0), that is, (vector 23, angle 23, risk 0)- You can. Here, risk 0 means the lowest risk, and a higher value may mean a higher risk.

Referring to (b) of FIG. 8, looking at the position of 03 with the moving object identifier 04 as the center, a polar coordinate system can be considered centered on the direction of movement of 04.

The position of O3 can be expressed as (V43, A43) from O4's perspective. O3 is in a stationary state, but because it is very close to O4, its risk can be determined to be relatively higher than that of O2.

As an example, the polar coordinates of O2 relative to O3 may be determined as (V43, A43, r2), that is, (vector 43, angle 43, risk 2).

Figure 9 shows a polar coordinate table according to an embodiment of the present disclosure.

In detail, Figure 9 is a polar coordinate table created according to the examples of Figures 7 and 8 described above.

In an embodiment, the information included in the polar coordinate table may be provided along with the latitude/longitude coordinate information of each moving object when providing a three-dimensional sound alarm service to each moving object.

The polar coordinate information according to the embodiment has the advantage of being able to be used as is in the vehicle's three-dimensional sound system. That is, the output intensity of the three-dimensional sound alarm signal can be adaptively adjusted depending on the level of risk. In addition, when the risk is higher than the standard value, a three-dimensional sound alarm signal can be controlled to be output through an output means (for example, a speaker) in a direction corresponding to the polar coordinate information. Through this, users can intuitively recognize surrounding risk factors according to the stereoscopic sound alarm signal that is output.

In addition, the V2N server according to the embodiment can prevent unnecessary bandwidth use by identifying moving objects whose relative risk is higher than the standard value and controlling stereoscopic sound alarm messages to be transmitted only for the identified moving objects.

The method of providing a three-dimensional sound alarm service through conversion of the relative position of a moving object according to the present disclosure is controlled so that a three-dimensional sound signal is output at the current location of the moving object whose risk level is higher than the standard value, so that drivers and passengers can quickly respond to the risk factors. There is an advantage.

The present invention described above can be implemented as computer-readable code on a program-recorded medium. Computer-readable media includes all types of recording devices that store data that can be read by a computer system. Examples of computer-readable media include HDD (Hard Disk Drive), SSD (Solid State Disk), SDD (Silicon Disk Drive), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. It also includes those implemented in the form of carrier waves (e.g., transmission via the Internet).

Although the ODD provision method for autonomous vehicles, autonomous driving controllers, ODD servers, remote control vehicles, remote control centers, and ODD information transmitters according to embodiments of the present invention has been described above as a specific embodiment, this is only an example and the present invention is not limited thereto, and should be construed as having the widest scope following the basic ideas disclosed in this specification. A person skilled in the art may combine and substitute the disclosed embodiments to implement embodiments not specified, but this also does not deviate from the scope of the present invention. In addition, a person skilled in the art can easily change or modify the embodiments disclosed based on the present specification, and it is clear that such changes or modifications also fall within the scope of the present invention.

Claims (24)

In a method of providing a three-dimensional sound alarm service on a V2N (Vehicle to Network) server,
Receiving location information from a plurality of moving objects through an infrastructure;
generating polar coordinate information by performing relative position transformation based on the position information; and
Transmitting a message containing the polar coordinate information to at least one moving object through the infrastructure
Method, including. According to paragraph 1,
The location information is information about two-dimensional location coordinates and is received periodically during a certain period of time. According to paragraph 1,
The polar coordinate information is,
Information on a moving object identifier for identifying the moving object;
Vector information indicating relative movement speed between the moving object identifiers;
Orientation angle information indicating a relative movement direction between the moving object identifiers; and
Risk information indicating the relative risk between the moving object identifiers
Method, comprising at least one of: According to paragraph 3,
The risk is determined based on at least one of a distance between target moving objects, a relative moving speed between target moving objects, and a relative moving direction between target moving objects. According to paragraph 3,
The step of transmitting the polar coordinate information to at least one moving object includes:
Further comprising the step of identifying a moving object whose risk level is greater than or equal to a reference value,
Characterized in that the message containing the polar coordinate information is transmitted to a moving object identified as having a risk level greater than or equal to a reference value. According to paragraph 1,
updating a location map based on the location information; and
Saving the updated location map in a map database
A method further comprising generating the polar coordinate information based on the updated location map. According to paragraph 1,
Further comprising receiving information about a moving object entering the corresponding road section from a Road Side Unit (RSU) through V2I (Vehicle to Infrastructure) communication,
A method, characterized in that the moving object for which the location information is to be received is determined based on the information about the moving object received from the RSU (Road Side Unit). According to paragraph 1,
Collecting public data from at least one of a local trusted authority (LTA) server and a root trusted authority (RTA) server through an Internet network; and
Mapping the public data to a high-precision map
It further includes,
The method, wherein the public data includes at least one of information about road construction, information about traffic accidents, and information about road closure events. According to paragraph 1,
A method, characterized in that the stereoscopic sound signal generated based on the polar coordinate information is output through the corresponding speaker of the stereoscopic sound system provided in the moving object. When executed by at least one processor provided in a V2N (Vehicle to Network) server, instructions that cause the at least one processor to perform operations to provide a three-dimensional sound alarm service in conjunction with a moving object through an infrastructure. A non-volatile computer-readable storage medium storing at least one computer program, comprising:
The above operations are:
Receiving location information from a plurality of moving objects through the infrastructure;
generating polar coordinate information by performing relative position transformation based on the position information; and
Transmitting a message containing the polar coordinate information to at least one moving object through the infrastructure
Storage media, including. In a V2N (Vehicle to Network) server that is linked to moving objects through infrastructure,
a communication unit that receives location information from the moving object through the infrastructure; and
A generator that generates polar coordinate information by performing relative position transformation based on the position information received from the plurality of moving objects.
Including,
A V2N server, characterized in that the communication unit transmits a message containing the polar coordinate information to at least one moving object through the infrastructure. According to clause 11,
The location information is information about two-dimensional location coordinates and is received periodically during a certain period of time. A V2N server. According to clause 11,
It further includes a high-precision map database in which high-precision maps are stored,
The generating unit includes a location map updating module that maps the location information to the high-precision map and updates the location map. According to clause 13,
The generating unit,
Further comprising a polar coordinate update module that updates the polar coordinate information based on the updated location map,
The polar coordinate information is,
Information on a moving object identifier for identifying the moving object;
Vector information indicating relative movement speed between the moving object identifiers;
Orientation angle information indicating a relative movement direction between the moving object identifiers; and
Risk information indicating the degree of risk between the moving object identifiers
Containing at least one of the V2N servers. According to clause 14,
V2N server, wherein the polar coordinate update module determines the risk based on at least one of the distance between target moving objects, the relative moving speed between target moving objects, and the relative moving direction between target moving objects. According to clause 14,
The generating unit,
V2N server further comprising an alarm module that identifies a moving object whose risk is higher than the reference value and generates a three-dimensional sound alarm message for the identified moving object based on the updated polar coordinate information. According to clause 11,
The communication unit further receives information about the moving object entering the corresponding road section from the RSU (Road Side Unit) through V2I (Vehicle to Infrastructure) communication,
A V2N server, characterized in that the moving object for which the location information is to be received is determined based on the information about the moving object received from the RSU (Road Side Unit). According to clause 14,
The communication unit further receives public data from at least one of a local trusted authority (LTA) server and a root trusted authority (RTA) server through an Internet network, and the polar coordinate update module determines the risk level based on the public data. A V2N server. According to clause 18,
The location map update module updates the location map by further mapping the public data to a high-precision map,
The public data includes at least one of information about road construction, information about traffic accidents, and information about road control events, a V2N server. According to clause 11,
A V2N server, characterized in that the stereoscopic sound signal generated based on the polar coordinate information is output through the corresponding speaker of the stereoscopic sound system provided in the moving object. In a method of providing a three-dimensional sound alarm service in a V2N (Vehicle to Network) client,
Obtaining current location information of the V2N client;
Transmitting the acquired location information to a server through infrastructure;
Receiving a message containing polar coordinate information from the server through the infrastructure;
generating a three-dimensional sound signal for a warning alarm based on the received polar coordinate information;
Outputting the generated stereoscopic sound signal through a stereophonic sound system.
A method comprising: wherein the polar coordinate information is generated by performing relative position transformation based on position information received from a plurality of the V2N clients. According to clause 21,
Further comprising determining whether a three-dimensional sound warning alarm is necessary based on the received polar coordinate information,
As a result of the determination, the three-dimensional sound signal is generated based on the need for the three-dimensional sound warning alarm. A sensor that measures the current location and generates location information;
A communication unit that transmits the measured location information to a V2N (Vehicle to Network) server through the infrastructure and receives a message containing polar coordinate information from the V2N server through the infrastructure; and
A three-dimensional sound output unit that generates and outputs a three-dimensional sound signal for a warning alarm based on the received polar coordinate information.
A V2N client comprising: wherein the polar coordinate information is generated by performing relative position transformation based on position information received from a plurality of moving objects in the corresponding road section. According to clause 23,
A V2N client in which a three-dimensional sound output unit determines whether a three-dimensional sound warning alarm is necessary based on the received polar coordinate information, and generates and outputs the three-dimensional sound signal based on whether the three-dimensional sound warning alarm is necessary as a result of the determination. .