KR101399026B1 - Method for notification warning when vhicles change lanes system - Google Patents

Abstract

The present invention relates to a risk notification system and method for lane change. According to the method for notifying risk during lane change between a main vehicle and other vehicles connected via V2X communications, the main vehicle performs a process for generating vehicle information data of the main vehicle; a process for periodically receiving vehicle information data of the other vehicles; a process for grasping the intention of a driver of the main vehicle on lane change; a process for calculating the possibility of entrance into a target lane based on the vehicle information data of the main vehicle and the vehicle information data of the other vehicles; a process for calculating a recommended speed that is recommended during the entrance into the target lane; and a driver alarm process for informing the driver of the possibility of the entrance and the recommended speed.

Description

TECHNICAL FIELD [0001] The present invention relates to a risk warning system,

The present invention relates to a V2X technology, that is, a vehicle-to-infrastructure (V2I) communication and a vehicle-to-vehicle communication (V2V) The present invention relates to a risk notification system and a method thereof for changing a lane of a vehicle to prevent an accident in advance by providing risk information according to lane change when a lane change is made.

Intelligent Transportation Systems (ITS) is a system that integrates electronic, information, communication, and control technologies into a transportation system. It uses a passive method that recognizes the vehicle as an object and obtains the driving information of the vehicle when passing through the vehicle at a certain point by using techniques such as image and electromagnetic waves, and performs communication between the terminals installed in the vehicle and the roadside equipment It is difficult to cope with various unexpected situations on the road even if there is no problem in traffic information and statistical calculation.

On the other hand, V2X technology refers to vehicle-to-infrastructure communication (V2I) and vehicle-to-vehicle communication (V2V), which continuously communicate with infrastructure and other vehicles as the vehicle travels. If ITS technology is a unidirectional information delivery technology, V2X is a bi-directional information delivery technology. The vehicle can send forward collision warning or collision warning between vehicles, and the infrastructure can control the traffic flow by informing the vehicle of the real time traffic situation or controlling the signal waiting time. In addition, it is possible to eliminate a road congestion due to vehicle concentration by setting a bypass road.

On the other hand, a vehicle traveling along a route leading from a departure point to a destination departs from a preset route in accordance with road conditions such as a road congestion, a road construction area, an accident occurrence area, and the like, The behavior of the driver who wants to change to another lane and continue driving by changing the driving lane is a natural driving behavior. The most important consideration in changing these lanes is the safety of the vehicle that wants to change lanes. For example, there should be no other vehicle at the entry position when changing lanes, and a safety distance for preventing collision with a subsequent vehicle that is running at the target lane must be secured, a sudden stop and deceleration of the preceding vehicle in the target lane, Acceleration and the possibility of collision according to the physical condition of the lane changing vehicle and the other vehicle should be considered when entering simultaneously to the same position of the other vehicle while driving in the lane other than the target lane.

Conventional lane changing technology is a technique for a driver of a vehicle which desires to change lanes, and it includes existence of another vehicle at the entrance position upon lane changing and a vehicle control technique for entering the lane.

However, not only the lane change vehicle but also the possibility of collision between the lane change vehicle described above and the other lane can be considered together to prevent an accident caused by the lane change in advance. This is because the driver skill of each vehicle differs from the ability to cope with sudden situations. Therefore, in order to prevent the accident, the physical condition of the lane-changing vehicle and the other vehicle described above should be sensed in real time. When the lane change is made, the driver should be provided with the risk of collision with another vehicle. It is also possible to prevent traffic accidents by providing danger to other vehicles, which may act as a risk factor, according to the possibility of collision due to lane change.

JP 2003-025868 A1

The present invention provides a risk notification system and a method for changing a lane so that a driver can easily change lanes during a lane change while driving.

The present invention also provides a risk warning system and method for changing a lane so as to easily recognize a risk of collision with another vehicle that the driver can not recognize when changing lanes.

The method of notifying a risk of lane change according to an embodiment of the present invention is a method of performing a risk notification when a lane change occurs between a main vehicle and other vehicles connected by V2X communication, A process of periodically receiving the other vehicle information data of the other vehicles, a procedure of determining whether the driver intends to change the lane of the main vehicle, the vehicle information data of the main vehicle and the other vehicle information data A procedure for calculating a possibility of entry into a target lane on the basis of a target lane, a procedure for calculating a recommended speed recommended when entering the target lane, and a driver warning procedure for notifying the driver of the possibility of entry and the recommended speed.

In addition, a procedure of periodically receiving location information through a location information receiver provided with the main vehicle before a procedure of periodically receiving other vehicle information data of the other vehicles performed by the main vehicle, And further performs a procedure of periodically generating it.

The procedure for periodically receiving the positional information through the positional information receiving unit of the main vehicle performed by the main vehicle may include performing a triangulation between at least three or more satellites and a GPS or DGPS module provided in the main vehicle Obtaining positioning information data of the vehicle, executing the positioning error analysis of the reference position data of the GPS reference station with the position information data, and mapping the position information data with the precision map data provided in the main vehicle . ≪ / RTI >

The procedure for determining whether or not the intention of the driver of the main vehicle to change lanes is performed by the main vehicle includes the steps of detecting a direction in which the turn signal lamp provided in the vehicle is illuminated and indicating the turning direction of the steering apparatus, And conducts a procedure for judging the intention of changing.

The procedure for calculating the entrance possibility may further include calculating a predicted position of the main vehicle and a predicted position of the other vehicle and calculating distance data between a predicted position of the main vehicle and a predicted position of the other vehicle, Comparing the calculated distance data with the safety distance data to determine if the calculated distance data is smaller than the safety distance data, generating non-entering data if the calculated distance data is greater than or equal to the safety distance data, A procedure for calculating the collision probability between the main vehicle and the other vehicle is performed.

The predicted position of the main vehicle is calculated as the current position of the main vehicle + ((current speed x running time of main vehicle) + (acceleration / deceleration coefficient x running time ² of main vehicle)), position is calculated by (travel time) + (running time acceleration-deceleration coefficient × ²⁾ of another vehicle (the current vehicle speed × other) the current position + the other of the vehicle.

The safety factor is calculated by multiplying the total length of the main vehicle by the safety factor. The safety factor is calculated based on driving speed data of the main vehicle, state data of the running road surface, friction coefficient data of the road surface and the tire, Based on the performance data of the apparatus.

In addition, the collision probability calculation procedure between the main vehicle and the other vehicle performed by the main vehicle may include a collision probability calculation procedure with another vehicle attempting to enter the lane change target lane at the time of changing the main vehicle lane, A collision probability calculation procedure with a rearward traveling vehicle in a lane change target lane at the time of lane change, and a collision probability calculation procedure with a preceding vehicle running at the lane change target lane at the time of changing the main vehicle lane.

The collision probability calculation procedure performed by the main vehicle may further include calculating a collision prediction time between the main vehicle and the other vehicle and calculating a collision prediction time between the main vehicle and the other vehicle based on the collision prediction time, Generating risk data when the calculated collision prediction time is equal to or greater than the predetermined inaccessible time and less than or equal to a predetermined risk time, and when the calculated collision prediction time exceeds the predetermined risk time, And generating permission data.

The recommended vehicle speed is equal to or higher than the driving speed of the rear vehicle traveling at the lane change target lane when the main vehicle changes lanes. When the main vehicle changes the lane, The speed of the preceding vehicle is less than the traveling speed of the preceding vehicle.

In addition, the driver alarm may output the entering possibility and the recommended speed as a voice message, a text message, or a color change of a screen by using a screen display device and a sound output device.

The risk warning system for lane changing according to an embodiment of the present invention is a system for performing risk notification when a lane change occurs between a main vehicle and other vehicles connected by V2X communication, A position information receiving unit for receiving position information data, a neighboring vehicle information receiving unit connected to the other vehicles through wireless communication and receiving vehicle information data periodically transmitted by the other vehicles, An information generating unit and a vehicle information transmitting unit for periodically transmitting the vehicle data of the main vehicle to the other vehicles, and calculating collision possibility data and recommended speed data based on the other vehicle information data and the vehicle information data of the main vehicle And a control unit for receiving the collision probability data According to the recommended speed data includes a display for warning the driver through a display device provided in the vehicle.

The vehicle information data may include at least one of identification data of a vehicle, time data, vehicle position data, vehicle driving data, vehicle control data, vehicle size data, sudden braking data of a vehicle, control loss data, , And relative position data using GPS (Global Positioning System).

The control unit may further include calculating the crashworthiness data and the recommendation speed data when the direction indicator provided in the vehicle lights up and the direction indicated by the turn indicator and the direction of rotation of the steering apparatus are detected.

In addition, the collision possibility data includes generating incomplete data, risk data, and lane change permission data according to a collision prediction time between the main vehicle and the other vehicle.

The recommendation speed data is calculated based on the recommendation speed data that the recommended vehicle speed is calculated as speed data that is equal to or higher than the driving speed of the rear vehicle traveling at the lane change target lane when the main vehicle changes lanes, And the speed of the preceding vehicle is calculated to be lower than the running speed of the preceding vehicle when the running speed is decelerated.

Further, the safety distance data is calculated as an overall length x safety factor of the main vehicle, and the safety factor is calculated based on running speed data of the main vehicle, state data of the running road surface, friction coefficient data of the road surface and the tire, , And calculated based on the performance data of the braking device.

Also, the alarm includes outputting the possibility of collision and the recommended speed as a color change of a voice message, a text message, and a screen using a screen display device and a sound output device.

According to the embodiments of the present invention, the risk notification system and the method thereof can change the lane by providing the collision risk information according to the lane change when the lane change occurs.

In addition, a display and an alarm according to the risk of collision are provided so as to easily recognize the possibility of collision with another vehicle that the driver can not recognize.

1 is a configuration diagram of a vehicle according to an embodiment of the present invention.
FIG. 2 is a flow chart illustrating a possibility of entry of a vehicle according to an embodiment of the present invention. FIG.
FIG. 3 is a flow chart for explaining accessibility information according to an embodiment of the present invention.
FIG. 4 is a flowchart of possible collision information processing between the main vehicle and another vehicle attempting to enter the same target lane according to the embodiment of the present invention.
Fig. 5 is a flowchart of possible possibility of collision with the main vehicle according to the embodiment of the present invention and the running vehicle in the same lane; Fig.
Fig. 6 is a flow chart of collision probability information processing between the main vehicle and the preceding vehicle in the same lane according to the embodiment of the present invention. Fig.
Fig. 7 is a diagram showing the possibility (a) of collision between the main vehicle and another vehicle entering the same lane according to the embodiment of the present invention, the possibility of collision (b) between the main vehicle and the other vehicle traveling in the same lane, And the possibility (c) of collision with the preceding vehicle in the same lane in the same lane.
FIG. 8 is a plan view showing an entry prohibition indication (a), a medium risk lane changeable indication (b), a small risk lane changeable indication (c), and a dangerous lane changeable indication (d) according to an embodiment of the present invention to be.
FIG. 9 is a view showing a lane changeable indication (a) including a rear vehicle risk, a lane change indication including a front vehicle risk (b), and a lane changeable indication And a lane change indication (c).
Fig. 10 is a plan view in which the lane-changeable information and the acceleration recommendation speed information according to the embodiment of the present invention are displayed together (a), and the lane changeable information and the deceleration recommendation speed information together are represented by a display (b).

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It will be apparent to those skilled in the art that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, It is provided to let you know. Wherein like reference numerals refer to like elements throughout.

Hereinafter, a risk notification system and its method for changing a lane of a vehicle provided according to an embodiment of the present invention includes a V2X communication, that is, a roadside apparatus supporting vehicle-to-infrastructure communication (V2I) The risk warning system will be described by way of example.

In addition, there is no limitation to the present invention as long as it is a system having at least one or more V2X communication supporting roadside apparatuses and vehicles. Since the communication technology of V2X used herein is well-known technology, a detailed description is omitted.

Further, in the present invention described below, communication between the roadside apparatus and the vehicle means V2I communication, and communication between the vehicle and the vehicle means V2V communication. V2I and V2V communication transmits and receives vehicle information, that is, a basic vehicle status message, between the roadside apparatus and the vehicle, and between the vehicle and the vehicle. The basic vehicle status message essentially includes identification data of the vehicle, data permutation, time data, vehicle position data, vehicle driving data, vehicle control data, and vehicle size data. Also, event information such as rapid braking data and vehicle control loss data of the vehicle, route record data of the vehicle, estimated route data of the vehicle, relative position data using the GPS (Global Positioning System), and the like are transmitted and received. Here, it is possible to acquire the driving position and lane information of the vehicle through the relative position information using the GPS.

In addition, V2V communication between the vehicle and the vehicle and V2I communication between the vehicle and the roadside apparatus are performed within the V2X communication range, without the need of a separate communication setup procedure for data transmission / reception. This is because the data transmission and reception in the V2X communication is a technology developed on the assumption that the vehicle is traveling along the movement path where the starting point and the destination are set.

Further, terms used in the risk notification system and the method of changing lanes according to the embodiment of the present invention will be described.

The term "Master Vehicle " means a vehicle in which the driver is driving. In the embodiment of the present invention, the term " Master Vehicle "

"Objective lane" means a lane in which the main vehicle wants to change lanes, i.e., a lane in which the main vehicle attempts to enter for lane change.

"Expected location" means a position where the main vehicle travels to the target lane when the lane is changed.

"Others Vehicle" means vehicles that are traveling in the vicinity of the main vehicle when the main vehicle changes lanes, and vehicles that attempt to enter the target lane at the same time when changing lanes based on the main vehicle, And a rearward vehicle traveling in a target lane where the main vehicle attempts to enter.

The risk notification system and the method for changing the lane of the vehicle described below will be described in detail in the following order.

1. A method of recognizing a present driving lane according to an embodiment of the present invention will be described.

2. A risk notification system for changing lanes of a vehicle according to an embodiment of the present invention will be described.

3. The configuration of the vehicle according to the embodiment of the present invention will be described.

4. The procedure of calculating the entering possibility at the time of lane change of the vehicle in the vehicle according to the embodiment of the present invention will be described.

5. The procedure of calculating the entry possibility when changing lanes of the vehicle in the vehicle according to the embodiment of the present invention will be described.

6. The process of calculating the collision probability with another vehicle attempting to enter the same target lane at the time of changing the main vehicle lane according to the embodiment of the present invention will be described.

7. The procedure of calculating the possibility of collision with the running vehicle in the same target lane at the time of changing the main vehicle lane according to the embodiment of the present invention will be described.

8. The procedure of calculating the possibility of collision with a forward vehicle traveling in the same target lane at the time of changing the main vehicle lane according to the embodiment of the present invention will be described.

9. The possibility of collision with the other vehicle when the main vehicle enters the target lane according to the embodiment of the present invention will be described.

10. A description will now be made of a method for providing information on possibility of entry according to a single collision possibility between the main vehicle and another vehicle according to the embodiment of the present invention.

11. A description will now be made of a method for providing entry possibility information according to the possibility of a complex collision between a main vehicle and other vehicles according to an embodiment of the present invention.

12. A method of providing collision probability and recommendation speed information according to an embodiment of the present invention will be described.

1. A method of recognizing a present driving lane according to an embodiment of the present invention will be described.

The conventional method of acquiring position information using GPS has an error range of 10 meters to acquire position information by a triangulation method between a plurality of satellites and a GPS module. In the case of roads in the Republic of Korea, the width of the road designated by the Road Traffic Act is 3.5 meters or more for highways and 3 meters to 3.5 meters or more for ordinary roads, depending on the speed of the road. Considering the error range of 10 meters, It is hard to recognize.

The vehicle according to the embodiment of the present invention is intended for a vehicle to which the V2X technology is applied. When the relative position data using the GPS (Global Positioning System) is utilized among the V2X vehicle information data, the present driving lane can be recognized. The GPS technology used herein is to acquire vehicle position information data by performing triangulation between a GPS module provided in a vehicle and a plurality of satellites using DGPS (Differential Global Positioning System) technology, and to reduce an error range of vehicle position information data The positioning error analysis is performed between the reference position data of the GPS reference station installed on the ground surface and the vehicle position data. Here, GPS data used for maritime traffic safety is used as the base data for positioning error analysis. The current position data of the calibrated vehicle has an error range within 1 meter. Since this is an error within the range of the road width described above, it is possible to recognize the driving lane of the present vehicle.

Further, the position data of the corrected vehicle and the precision map data provided in the vehicle are mapped to recognize the present driving lane and the current vehicle position.

2. A risk notification system for changing lanes of a vehicle according to an embodiment of the present invention will be described.

In the conventional technology for preventing collision between vehicles caused by a change of lane, when the driver of the vehicle tries to change lanes while driving, it is determined whether or not the vehicle can be entered, that is, Prevention technology, and technology to prevent accidents by warning the possibility of collision with a vehicle running in the rear, which is located in the lane of change target.

Meanwhile, the risk notification system and the method of changing a lane of a vehicle according to an embodiment of the present invention include a risk of collision between a lane changing vehicle and a lane changing lane in the same lane, a lane changing vehicle, The risk of collision between vehicles traveling on the road is informed not only to the traveling vehicle but also to the surrounding vehicles, thereby preventing a second collision accident in case of an accident. Here, the running vehicle in the change lane can be distinguished as a forward running vehicle and a rearward running vehicle.

The risk notification system and the method for changing a lane of a vehicle according to an embodiment of the present invention may further include a criterion for determining whether a driver should decelerate or accelerate when changing lanes, So that the lane change can be safely completed.

3. The configuration of the vehicle according to the embodiment of the present invention will be described.

1 is a configuration diagram of a vehicle according to an embodiment of the present invention.

In the risk notification system, when the lane change is made, the vehicle 100 acquires vehicle information of other vehicles in real time through the V2V communication with the other vehicle as a main vehicle supporting V2X communication in the risk notification system, The vehicle information of the other vehicles and the vehicle information of the main vehicle are calculated to provide the driver with the recommended speed data that can avoid the possibility of collision and the possibility of collision to prevent collision between the main vehicle and another vehicle.

The vehicle 100 includes a position information receiving unit 103 for receiving a GPS signal for calculating the position recognition information of the vehicle, an adjacent vehicle information receiving unit 102 for receiving vehicle information signals transmitted by other vehicles, Vehicle information generating unit 104, a vehicle information transmitting unit 105 for transmitting the vehicle information of the main vehicle to the surrounding vehicles and the sidewalk device, vehicle information of other vehicles received from the surrounding vehicle information receiving unit 102, A control unit 101 for calculating collision possibility data and recommended speed data by comparing and calculating vehicle information of the main vehicle generated and delivered by the control unit 104, And a display unit 106 for displaying and notifying the driver through the provided display device.

The position information receiving unit 103 receives the GPS signal of the main vehicle and calculates the position of the main vehicle based on the received GPS signal. Here, the position information of the main vehicle includes information of the driving lane in the current driving, the position of the main vehicle in the driving lane, the number of total lanes of the main road running on the main vehicle, and the position information of each lane. For example, as a method of calculating the position of the main vehicle by receiving the position information, a method of acquiring position information using the conventional GPS described in detail above, and a method of calculating the position of the main vehicle by utilizing the relative position data using GPS among the V2X vehicle information data A method of recognizing the position of the main vehicle in the V2V communication, a method of recognizing the position of the main vehicle by calculating the relative position between the vehicles using the V2V communication, and the like.

The surrounding vehicle information receiving unit 102 receives the vehicle information data from other surrounding vehicles. Here, the description of each data constituting the vehicle information data is omitted because it is the same as the description of the vehicle information of the vehicle using the V2X communication detailed above. For example, the main vehicle can transmit and receive data using the V2V communication between the vehicle and the vehicle, and the V2I communication between the vehicle and the roadside apparatus, without establishing communication connection with the roadside apparatus and other vehicles around the vehicle within the V2V communication range.

The vehicle information generating unit 104 generates vehicle information of the main vehicle. For example, the vehicle information may be stored in the vehicle 100 based on the vehicle electronic device data received from the electronic control unit ECU (Electronic Control Unit) and the position information received from the position information receiving unit 103 by the V2X terminal device provided in the vehicle And generates information data.

The control unit 101 generates a collision possibility and recommended speed data between the main vehicle and another vehicle.

The possibility of a collision between the main vehicle and the other vehicle is first determined as to whether the driver of the main vehicle intends to change the lane or not, the possibility of entry of the main vehicle at the time of lane change is calculated and at the same time, the possibility of collision between the main vehicle and another vehicle is calculated. For example, the data based on the possibility of entry and the possibility of collision include the predicted position where the main vehicle is positioned at the entry of the target lane, the expected position of the other vehicle, the distance between the main vehicle and the other vehicle, Presence of entry signal, possibility of collision with another vehicle when the main vehicle enters the target lane. Here, the possibility of collision is calculated on the basis of the vehicle information of the main vehicle and the vehicle information of the same lane entry attempt vehicle, the forward vehicle traveling in the target lane, and the rear vehicle.

Also, the recommended speed data is calculated based on the running speed of the present main vehicle and the running speed of other vehicles calculated from the possibility of collision, and when the value of the crash risk prediction time value is equal to or greater than a predetermined reference time value Provided to the driver. Here, the predetermined reference time value means a time at which the driver recognizes the danger information at the time and can perceive it. Normally, a time of 2 to 2.5 seconds is a time required for the perception reaction of the driver, so that it can be set within the above range. It is also possible to set the time to 2.5 seconds or more depending on the driving skill of the driver.

The display unit 106 receives the collision possibility data and recommendation speed data generated from the control unit 101, and provides the driver with danger information and recommendation speed information through a screen display and an alarm. For example, a danger is warned by using a screen display device, a sound output device, an interior light brightness control, and the like provided in a vehicle. In the case of the screen display device, the screen displays a danger level according to the lane change direction from light color to dark color, and outputs a danger message or a dangerous direction that may collide with another vehicle. And can notify the danger.

In addition, in the case of a sound output device, the risk level can be warned by outputting dangerous information by changing the degree of sound magnitude. For example, when changing lanes, such as "Danger! Can not change the lane!", The remaining distance difference from the other vehicle can be output by voice.

It is also possible to display the recommended speed information when changing lanes and to display "30+" when acceleration of 30 km is required for the vehicle display apparatus and "30-" when deceleration is required. "30 km The lane change speed can be output as a voice based on the traveling speed of the main vehicle or other vehicles.

In addition, in the case of the interior light brightness control, a dimming change is given to give a change in the color of the interior light or repeated lighting of the interior light or the like, thereby warning the driver of the possibility of collision.

The vehicle information transmission unit 105 basically transmits the vehicle information of the main vehicle periodically to the other vehicle and the roadside apparatus, and transmits the lane change signal to the other vehicle and the roadside apparatus when the lane change occurs.

4. The procedure of calculating the entering possibility at the time of lane change of the vehicle in the vehicle according to the embodiment of the present invention will be described.

FIG. 2 is a flow chart illustrating a possibility of entry of a vehicle according to an embodiment of the present invention. FIG.

First, a procedure of periodically receiving location information is performed (S200). Here, the vehicle means a main vehicle and another vehicle communicating with the V2X, and periodically receives position information of the vehicle through a position information receiving unit provided in each vehicle. For example, a GPS or DGPS module provided in each vehicle and at least three or more satellite triangulation are performed to obtain the positional information data of the vehicle.

Further, the acquired position information data can be used to calculate the position information data in which the error is reduced by executing the reference position data of the GPS reference station and the positioning error analysis.

In addition, the calculated position information data is mapped to the precision map data provided in the vehicle, so that the position of the current vehicle can be known.

Thereafter, the main vehicle information is periodically generated (S210). For example, vehicle information of the main vehicle is periodically generated through a vehicle information generating unit provided in the vehicle. Here, the description of the vehicle information is the same as the description of the vehicle information described in detail above, and is omitted.

Also, the vehicle information periodically generated in the main vehicle is periodically transmitted to the surrounding vehicles.

Thereafter, the main vehicle periodically receives the other vehicle information of nearby vehicles (S220). For example, vehicles communicating with V2X periodically generate vehicle information and periodically transmit and receive vehicle information with other vehicles. Here, the description of the vehicle information is the same as the description of the vehicle information data described in detail above, and thus will be omitted.

Thereafter, a procedure for determining whether or not the driver intends to change lanes is performed (S230). For example, when changing lanes, a typical driver lights the turn signal lamp in the target lane direction, rotates the steering device in the target lane direction, maintains the running speed, accelerates or decelerates, and performs lane change. Accordingly, the main vehicle detects whether the driver turns on the turn signal lamp, whether the steering apparatus is turned or not, and determines whether or not the driver intends to change the lane by determining whether the direction indicated by the turn signal lamp matches the turning direction of the steering apparatus. Here, the turn-on of the turn signal lamp and the rotation of the steering apparatus are executed in order regardless of each other.

When the direction of the turn signal lamp and the turn signal of the steering device after turning on the turn signal lamp are the same, the following procedure proceeds. On the other hand, if the above-described conditions are not satisfied, a procedure for periodically receiving location information is performed (S200).

Thereafter, a procedure is performed to calculate the entering possibility that the main vehicle can enter the target lane (S240). The procedure for calculating the entering possibility is a procedure for calculating the distance between the main vehicle and another vehicle, a procedure for judging whether the calculated distance satisfies the safety distance, a procedure for judging whether or not there is an entry attempt of the other vehicle, And calculating a possibility of collision between the vehicle and the rearward vehicle.

That is, if the condition that the safety distance between the main vehicle and the other vehicle is secured and the condition that no attempt is made to enter the target lane by the target lane is met, the collision between the vehicle and the vehicle Calculate the possibility to secure safety when changing lanes. In this case, the possibility of collision between the vehicle and the vehicle is calculated. Then, the possibility of collision between the target vehicle and the main vehicle in the target lane, the target vehicle, and the target lane are calculated, Thereby securing safety when changing lanes. Here, the safety distance calculation will be described in detail with reference to FIG. 3, and the calculation of the possibility of collision with another vehicle will be described in detail with reference to FIG. 4 to FIG.

In addition, the calculation of the possibility of entry calculates the collision prediction time between the main vehicle and the other vehicle, generates the entry impossible data when the calculated collision prediction time is equal to or less than the predetermined entry impossible time, Time and a predetermined risk time or less, and generates lane change permission data when the calculated collision prediction time is longer than a predetermined risk time.

In addition, the generated risk data can be classified into medium risk and low risk depending on the degree of risk.

Thereafter, a procedure for calculating the recommended speed is performed (S250). The recommended speed calculated here refers to the speed at which the driver can perform the lane change more safely than when the lane change is performed at the current driving speed when the lane change is performed by referring to the recommended speed information. For example, the recommended speed is to secure the safety of the main vehicle by changing lanes while decelerating or accelerating in response to rapid deceleration of the preceding vehicle and rapid acceleration of the preceding vehicle when the main vehicle changes lanes.

Thereafter, a process of alarming the possibility of entering the driver and the recommended speed is displayed and alarmed (S260). The main vehicle entrance possibility calculation process, that is, alarms the display and alarm corresponding to the entry possibility data generated according to the entry impossible data or the degree of possibility of collision, and provides the driver with the possibility of entry into the target lane.

In addition, the entering possibility information and the recommended speed information can be displayed together and displayed to the driver through an alarm. Here, the display and the alarm method are the same as those of the above-described display unit, and thus will not be described.

Thereafter, a procedure for transmitting the lane change signal to the surrounding vehicles during the progress of the target lane entry is performed (S270). When the driver is changing the lane of the main vehicle in the target lane, the main vehicle generates a signal indicating that the lane change is in progress and transmits the signal to the surrounding vehicles. Other vehicles can prevent collision with the main vehicle based on the transmitted signal.

Thereafter, the main vehicle completes the lane change (S280). When the lane change of the main vehicle is completed as the target lane, the main vehicle performs the procedure (S200) of receiving the position information.

5. The procedure of calculating the entry possibility when changing lanes of the vehicle in the vehicle according to the embodiment of the present invention will be described.

FIG. 3 is a flow chart for explaining accessibility information according to an embodiment of the present invention.

First, the main vehicle carries out a procedure of calculating a predicted position when changing lanes (S300). Here, the expected position is calculated based on the current position of the main vehicle, the current traveling speed of the main vehicle, the traveling time, the acceleration / deceleration coefficient, and the like. For example, the expected position can be calculated by the following equation.

Estimated position of main vehicle = current position + ((current speed × running time of main vehicle) + (acceleration / deceleration coefficient × running time of main vehicle ² ))

In addition, it is calculated as a variable that takes two seconds to complete the entry into the target lane when the main vehicle lane is changed. The second criterion is that traffic engineering defines lane change within 2 seconds. That is, the predicted position of the main vehicle finally calculated is a position calculated by predicting a position where the lane change is performed for two seconds from the current driving lane to the target lane.

Thereafter, a procedure for calculating a predicted position of another vehicle is performed (S310). Since the other vehicle is not traveling at the same traveling speed as the main vehicle predicted position, a procedure for calculating the expected position of the other vehicle is performed in consideration of the traveling time and the acceleration / deceleration coefficient. Here, the predicted position of the other vehicle is obtained by receiving the car information of the other vehicle and the acceleration / deceleration coefficient data periodically transmitted from the other vehicle at the main vehicle, extracting the time data, To calculate the acceleration / deceleration coefficient. Based on the calculated acceleration / deceleration coefficient and other vehicle information, the estimated position of the other vehicle is calculated.

Thereafter, a procedure for calculating the distance between the expected position of the main vehicle and the expected position of the other vehicle is performed (S320). Here, the distance between the predicted position of the main vehicle and the predicted position of the other vehicle is calculated based on the traveling speed and the total length of each vehicle.

Thereafter, a procedure is performed to determine whether the distance between the expected position of the main vehicle and the expected position of the other vehicle satisfies the safety distance (S330). Here, the calculation of the safety distance is based on the overall length of each vehicle, the safety factor, and the like. The safety distance is the distance required for the driver to detect the danger by sight and operate the brake to stop the vehicle. The safety factor is calculated based on the weight of each vehicle, the traveling speed of each vehicle, the performance of the braking-related device of each vehicle, and the road surface condition of the road. For example, the information on the vehicle is acquired from the vehicle information data, the weather information data is received on the basis of the current position of the vehicle, the road surface state data of the road is calculated, and the total length of the vehicle, Performance and so on. The safety distance criterion can be calculated by the following equation.

Safety distance reference = total length x safety factor

The distance data between the expected position of the main vehicle and the expected position of the other vehicle is compared with the calculated safety distance data. If the distance data between the expected position of the main vehicle and the expected position of the other vehicle has a value larger than the safety distance data, it is determined that the braking distance for stopping the vehicle in the event of a frontal accident occurs during the lane change, Move.

On the other hand, if the safety distance data has a value larger than the distance data between the expected position of the main vehicle and the expected position of the other vehicle, the braking distance for stopping the vehicle in the event of a front- Since an accident may occur, the process proceeds to a step S345 for generating the entry impossibility data.

Thereafter, a procedure is performed to determine whether there is another vehicle in the lane change going to the target lane in which the main vehicle is to be entered (S350). In the case of another vehicle to which the risk notification system is applied in the lane change according to the present invention, the lane change signal is transmitted to neighboring vehicles when the lane change is performed. Thus, when the lane change signal of the other vehicle is received, the other vehicle is entering the target lane , And the main vehicle carries out a procedure (S300) for calculating the expected position. On the other hand, if there is no entry signal of the other vehicle in the target lane, the following procedure is performed.

Thereafter, a procedure is performed to calculate whether there is a possibility of collision with the other vehicle when the main vehicle enters the target lane (S360). The possibility of collision calculated here is to calculate the possibility of vehicle-to-vehicle collision, that is, the possibility of collision with another vehicle during lane change. The possibility of collision with the other vehicle when the main vehicle enters the target lane will be described in detail below with reference to Figs. 4 to 6. Fig.

Thereafter, a process of generating entry possibility data is performed according to the calculated degree of possibility of collision (S370). The possibility of collision is largely divided into a case where the driver needs to pay attention and a lane change must be performed, and a case where the possibility of collision satisfies a predetermined threshold value and the driver can safely perform lane change. In other cases, the possibility of collision between the main vehicle and the other vehicle is higher than that in the above two cases. Herein, the driver is required to pay attention and the lane change can be safely performed and the lane change can be safely performed based on a predetermined threshold value, which will be described in detail with reference to FIG.

6. The process of calculating the collision probability with another vehicle attempting to enter the same target lane at the time of changing the main vehicle lane according to the embodiment of the present invention will be described.

FIG. 4 is a flowchart of possible collision information processing between the main vehicle and another vehicle attempting to enter the same target lane according to the embodiment of the present invention.

First, a procedure for correcting a predicted position of the main vehicle and surrounding other vehicles in real time is performed (S400). The predicted position of the main vehicle and the expected position of the other vehicle mean all expected positions while the lane change is proceeded, not the predicted position of the target lane described above. More specifically, the predicted position is calculated including a predicted position for two seconds required when the driver tries to change the lane at the present driving position and a predicted position at the target lane. In addition, the meaning of the correction means that the position and the traveling speed of the main vehicle and the surrounding vehicles change in real time, so that it is calculated by updating the vehicle information periodically transmitted from other vehicles and the vehicle information of the main vehicle in real time . Here, the detailed description of the estimated position calculation method is the same as the predicted position calculation method described above, and thus will be omitted.

Thereafter, the vehicle information periodically transmitted from the other vehicle around the main vehicle is received, and the other vehicle is classified according to the position of the vehicle based on the main vehicle position (S410). Here, the vehicle classification is classified into the following three cases by comparing the predicted positions of the other vehicles based on the predicted position of the main vehicle. A vehicle capable of attempting to enter the same position when the main vehicle enters the expected position of the target lane, a vehicle capable of accelerating the driving speed of the rear driving vehicle when the main vehicle enters the target position of the target lane, It is classified as a vehicle capable of decelerating the running speed of the forward driving vehicle when entering the expected position of the lane.

Also, the other vehicle may be restricted to other vehicles attempting to enter the expected position of the target lane and vehicles forward and backward traveling to the target lane.

Thereafter, the main vehicle performs a procedure for determining whether there is an entry attempt vehicle for a vehicle that can attempt to enter the same position at the time of entering the expected position of the target lane (S420). Here, the entry attempting vehicle of the other vehicle can judge whether the entry attempting vehicle exists by first judging the intention to enter the other vehicle described above. If there is an entry attempt vehicle, the following procedure is performed. If there is no entry attempt vehicle, the collision possibility degree data generation procedure (S470) is performed.

Thereafter, a procedure for calculating the possibility of collision with a vehicle that can attempt to enter the same lane as the main vehicle is performed (S430). Here, the possibility of collision is calculated by calculating the time required for collision between two vehicles based on the predicted position of the main vehicle and the expected position of the other vehicle calculated in real time.

Thereafter, a procedure is performed to determine whether the possibility of collision with a vehicle that can attempt to enter the same lane as the main vehicle is within a permissible range of a predetermined threshold value (S440). For example, a procedure for determining whether the possibility of collision between the main vehicle and another vehicle is within a range allowed by a predetermined threshold value may be performed as follows.

The collision prediction time between the main vehicle and the other vehicle is calculated. If the calculated collision prediction time is equal to or less than the predetermined entry impossible time, the entry impossible data is generated.

Further, when the calculated collision prediction time is equal to or longer than a predetermined entry-in time and is equal to or less than a predetermined risk time, risk data is generated.

When the calculated collision prediction time is longer than the predetermined risk time, the lane change permission data is generated.

Here, on the basis of the collision prediction time and the predetermined threshold value, entry impossible data, risk data, and lane change permission data are calculated. Here, the collision prediction time means a collision prediction time that is a time required until the main vehicle collides with another vehicle.

In addition, the predetermined threshold value includes a predetermined inaccessible time and a predetermined dangerous time. For example, the predetermined inactivity time is set to a time less than 2.5 seconds, which is the cognitive response time of the traffic engineer, and the predetermined risk time can be set to a time of 5 seconds in which the driver can easily change the lane.

When the collision prediction time exceeds the predetermined risk time, the lane change permission data can be classified into the lane change permission data at the time when the driver can easily perform the lane change.

In addition, when the collision prediction time is longer than the predetermined inaccessible time and less than the predetermined risk time, it is a time for the driver to perform the lane change while paying attention to the surrounding vehicles, .

If the collision prediction time is less than the entry impossible time, it is classified as entry impossible data in a dangerous state at the time of lane change, and the process proceeds to a step of generating the entry impossible data (S450) And moves to the receiving procedure (S460).

In the present invention, the predetermined threshold value is classified based on 2.5 seconds and 5 seconds, but there is an individual difference in predicting the vehicle control ability and the risk depending on the driver who drives the vehicle, Can be changed according to the ability of each driver.

Thereafter, a procedure of generating collision degree data is performed (S470). For example, the collision-capable degree data including the above-mentioned uninitialized data, dangerous data, and lane allowance data is generated. Here, the collision degree data is background data for alarming the driver of a display and an alarm corresponding to the above-described case, as background data for recognizing the possibility of collision between the main vehicle and another vehicle to the driver through display and alarm .

7. The procedure of calculating the possibility of collision with the running vehicle in the same target lane at the time of changing the main vehicle lane according to the embodiment of the present invention will be described.

Fig. 5 is a flowchart of possible possibility of collision with the main vehicle according to the embodiment of the present invention and the running vehicle in the same lane; Fig.

The collision possibility information processing flowchart with the main vehicle in the same lane and on the same lane of travel as the main vehicle described below corresponds to the possibility of collision with the other vehicle attempting to enter the same lane as the main vehicle described in detail with reference to Fig. The description of the process flow chart and the procedure for calculating the risk between the main vehicle and the rear vehicle are the same and the other procedures are the same.

First, a procedure for correcting a predicted position of the main vehicle and surrounding other vehicles in real time is performed (S500).

Thereafter, the vehicle information periodically transmitted from the other vehicle around the main vehicle is received, and the other vehicle is classified according to the position of the vehicle based on the main vehicle position (S510). Here, the vehicle classification is classified as a vehicle that can accelerate the driving speed of the rear driving vehicle when the main vehicle enters the target position of the target lane among the three cases classified by comparing the expected positions of the other vehicles based on the expected position of the main vehicle do.

Thereafter, the main vehicle performs a procedure of determining the acceleration degree of the rearward vehicle in the target lane at the time of entering the predicted position of the target lane (S520). Here, the criterion for determining the degree of acceleration of the rear vehicle is to determine whether the distance between the predicted position of the main vehicle and the predicted position of the rear vehicle according to the backward vehicle acceleration described above satisfies the safety distance. For example, based on the safety distance to the rear vehicle required when the main vehicle changes to a lane-changing and expected position, the vehicle running data extracted from the vehicle information of the rear vehicle, and the vehicle control data, The reference speed can be calculated. Here, the acceleration of the rear vehicle can be determined by predicting at least the speed of the rear vehicle after 2.5 seconds or more, which is the cognitive response time of road engineering. For example, in the case of the V2X vehicle, the vehicle information of the other vehicle is periodically received, but during the time when the information is updated, the safety of the main vehicle due to the acceleration of the rear vehicle is ensured. This is because the average driver often accelerates from the current driving speed when there is no preceding vehicle in the driving lane or when the distance from the front vehicle is out of sight.

If the acceleration of the rear vehicle is below the reference speed, the procedure proceeds to the next step. If the degree of acceleration of the rear vehicle is equal to or higher than the reference speed, the process proceeds to step S550 of generating the entry impossibility data to generate the entry prohibition data, and moves to the location information receiving procedure S560.

Thereafter, a collision probability calculation procedure is performed (S530). Here, the possibility of collision is calculated by calculating the time required for collision between two vehicles based on the predicted position of the main vehicle and the expected position of the other vehicle calculated in real time.

Thereafter, a procedure is performed to determine whether the possibility of collision between the main vehicle and the backward vehicle in the target lane is within a permissible range of the predetermined threshold value (S540). The description of the procedure for determining whether the possibility of collision is within the allowable range of the predetermined threshold value differs from that of the main vehicle and the rear vehicle, and the remaining description is the same as the description of S440 of FIG. do.

Thereafter, a procedure of generating collision degree data is performed (S570). Here, the description of the generation of the collision degree data is the same as the description of S470 of FIG. 4 described above, and thus a detailed description thereof will be omitted.

8. The procedure of calculating the possibility of collision with a forward vehicle traveling in the same target lane at the time of changing the main vehicle lane according to the embodiment of the present invention will be described.

Fig. 6 is a flow chart of collision probability information processing between the main vehicle and the preceding vehicle in the same lane according to the embodiment of the present invention. Fig.

The collision probability information processing flowchart with the main vehicle in the same lane as the main lane described in the following will be described with reference to the collision probability information with other vehicles attempting to enter the same lane as the main vehicle described in detail with reference to Fig. The description of the process flow chart and the procedure for calculating the risk between the main vehicle and the preceding vehicle are the same and the other procedures are the same, so the description of the same procedure is omitted.

First, a procedure for correcting a predicted position of the main vehicle and surrounding other vehicles in real time is performed (S600).

Thereafter, the vehicle information periodically transmitted from the other vehicle around the main vehicle is received, and the other vehicle is classified according to the position of the vehicle based on the main vehicle position (S610). In this case, the car classification is classified as a vehicle capable of decelerating the driving speed of the forward driving vehicle when the main vehicle enters the anticipated position of the target lane among the three cases classified by comparing the expected positions of the other vehicles based on the estimated position of the main vehicle do.

Thereafter, the main vehicle performs a procedure of determining the deceleration of the preceding vehicle in the target lane at the time of entering the predicted position of the target lane (S620). Here, the criterion for determining the degree of deceleration of the preceding vehicle is to determine whether the distance between the predicted position of the main vehicle and the predicted position of the preceding vehicle according to the front vehicle acceleration described above satisfies the safety distance. For example, based on the safety distance to the preceding vehicle required when the main vehicle changes to a lane-changing and predicted position, the vehicle running data extracted from the vehicle information of the preceding vehicle, and the vehicle control data, deceleration is allowed at the current running speed of the preceding vehicle The reference speed can be calculated. Here, the deceleration rate of the forward vehicle can be determined by predicting at least the speed of the forward vehicle after 2.5 seconds or more, which is the cognitive response time in road engineering. For example, in the case of the V2X vehicle, the vehicle information of the other vehicle is periodically received, but the main vehicle is secured by the deceleration of the forward vehicle during the time when the information is updated. In general, the driver often stays in the driving lane because the roads are congested by road congestion, or the roads are slowed down or stopped more than the current driving speed depending on the surroundings, such as traffic lights, crosswalks, and child protection areas.

If the deceleration of the preceding vehicle is below the reference speed, proceed to the next step. If the degree of deceleration of the preceding vehicle is equal to or higher than the reference speed, the process proceeds to a step S650 for generating the entry impossibility data to generate the entry prohibition data, and the process proceeds to the location information receiving procedure S660.

Thereafter, the collision probability calculation procedure is performed (S630). Here, the possibility of collision is calculated by calculating the time required for collision between two vehicles based on the predicted position of the main vehicle and the expected position of the other vehicle calculated in real time.

Thereafter, a procedure is performed to determine whether the possibility of collision between the main vehicle and the preceding vehicle in the target lane is within a permissible range of a predetermined threshold value (S640). Here, the description of the procedure for determining whether the possibility of collision is within a permissible range of the predetermined threshold value differs in that the object is the main vehicle and the preceding vehicle, and the remaining description is the same as the description of S440 of FIG. do.

Thereafter, a procedure of generating collision degree data is performed (S670). Here, the description of the generation of the collision degree data is the same as the description of S470 of FIG. 4 described above, and thus a detailed description thereof will be omitted.

9. The possibility of collision with the other vehicle when the main vehicle enters the target lane according to the embodiment of the present invention will be described.

Fig. 7 is a diagram showing the possibility (a) of collision between the main vehicle and another vehicle entering the same lane according to the embodiment of the present invention, the possibility of collision (b) between the main vehicle and the other vehicle traveling in the same lane, And the possibility (c) of collision with the preceding vehicle in the same lane in the same lane.

The possibility of collision between the main vehicle and another vehicle according to the embodiment of the present invention can be classified into the following three cases. For example, as shown in (a), the probability of collision with the vehicle in which the main vehicle attempts to enter the same position when entering the expected position of the target lane, and (b) When the main vehicle enters the predicted position of the target lane as shown in (c), the possibility of collision with the vehicle that accelerates the running speed of the rear running vehicle upon entering the predicted position, The possibility of collision with the vehicle can be classified.

The three cases described above may occur as a single case according to an embodiment of the present invention, and may occur in combination with each other. For example, Figs. 7 (a), 7 (b) and 7 (c) can be generated in combination with each other. Accordingly, in the risk notification system and method of the present invention, the possibility of collision between the main vehicle and the other vehicle is not calculated only in one independent case, and each case is calculated at the same time considering the physical environment with the other vehicle, And information about the possibility of entry through alarms.

10. A description will now be made of a method for providing information on possibility of entry according to a single collision possibility between the main vehicle and another vehicle according to the embodiment of the present invention.

FIG. 8 is a plan view showing an entry prohibition indication (a), a medium risk lane changeable indication (b), a low risk lane changeable indication (c), and a lane change permission indication (d) according to an embodiment of the present invention.

(a) shows the inability to enter into the target lane, (b) represents the potential hazard among the risk data, and (c) indicates the possibility of changing the risk lane. The low risk lane changeable sign is expressed, and (d) the lane change permission sign which can safely change lane is expressed. It is possible to warn the driver of the possibility of entering the vehicle through the screen display and the alarm provided in the vehicle according to the degree of possibility of collision described above. For example, as shown in FIG. 8, colors can be displayed in different colors depending on the degree of possibility of collision, and can be displayed in the form of a triangle, arrow, or the like indicating the corresponding direction so as to recognize the lane change direction.

In addition, it is possible to output the danger level together with the screen display by voice. The method of alarming the possibility of entry to the driver is the same as that of the display section described above, and thus a detailed description thereof will be omitted.

11. A description will now be made of a method for providing entry possibility information according to the possibility of a complex collision between a main vehicle and other vehicles according to an embodiment of the present invention.

FIG. 9 is a view showing a lane changeable indication (a) including a rear vehicle risk, a lane change indication including a front vehicle risk (b), and a lane changeable indication And a lane change indication (c).

FIG. 9 shows a case in which the vehicle is likely to collide with the other vehicle. for example. If at least one of the collision probability information provided to the driver is collision probability data classified into a medium risk level, a complex case information can not be provided and an entry impossible indication can be output.

In addition, depending on the driving skill of the driver, information on a complex case may be changed so as to provide a degree of risk.

Preferably, multiple collision possibilities are provided to provide complex case information including minor hazards to ensure operator safety in the event of an accident.

(a) is an indication that the lane change is possible while paying attention to the acceleration of the rearward vehicle when entering the target lane, (b) is an indication that the lane change is possible while paying attention to the deceleration of the preceding vehicle at the time of entering the target lane, A sign is displayed to indicate that the deceleration of the vehicle and the other vehicle running on the right side are changing lanes in the leftward direction of the lane while the main vehicle is running. Here, the method of alarming the possibility of entry to the driver is the same as that of FIG. 8, so that detailed explanation is omitted.

12. A method of providing collision probability and recommendation speed information according to an embodiment of the present invention will be described.

Fig. 10 is a plan view in which the lane-changeable information and the acceleration recommendation speed information according to the embodiment of the present invention are displayed together (a), and the lane changeable information and the deceleration recommendation speed information together are represented by a display (b).

(a) It is an indication that the current lane change is possible at the entry into the target lane and the lane change is accelerated by 20 more than the current driving speed and that the lane change can be performed safely compared to the current lane change. It is possible to change the lane at the current time and to change the lane to be 20 times slower than the current driving speed. Here, the method of alarming the possibility of entry to the driver is the same as that of FIG. 8, so that detailed explanation is omitted.

Although the present invention has been described with reference to the accompanying drawings and the preferred embodiments described above, the present invention is not limited thereto but is limited by the following claims. Accordingly, those skilled in the art will appreciate that various modifications and changes may be made thereto without departing from the spirit of the following claims.

100: vehicle 101: control unit
102: surrounding vehicle information receiving unit 103: position information receiving unit
104: vehicle information generating unit 105: vehicle information transmitting unit
106:

Claims (18)

A method for performing a risk notification when a lane change occurs between a main vehicle and other vehicles connected to a V2X communication,
In the main vehicle,
A step of generating vehicle information data of the main vehicle;
A process of periodically receiving vehicle information data of the other vehicles;
A procedure for determining whether or not the driver of the main vehicle intends to change lanes;
Calculating a possibility of entry into the target lane based on the vehicle information data of the main vehicle and the other vehicle information data;
A procedure for calculating a recommended speed recommended when entering the target lane; And
A driver alarm procedure for informing the driver of the possibility of entry and the recommended speed;
Lt; / RTI >
Wherein the step of calculating the entry probability comprises:
Calculating an expected position of the main vehicle and an expected position of the other vehicle;
Calculating distance data between a predicted position of the main vehicle and a predicted position of the other vehicle;
Calculating safety distance data between a predicted position of the main vehicle and a predicted position of the other vehicle;
Comparing the calculated distance data with the safety distance data to determine;
Generating infiltration data when the calculated distance data is smaller than the safety distance data; And
Performing a procedure including a collision probability calculation procedure between the main vehicle and the other vehicle when the calculated distance data has a value greater than or equal to the safety distance data,
The predicted position of the main vehicle is calculated as the current position of the main vehicle + ((current speed x running time of main vehicle) + (acceleration / deceleration coefficient x running time of main vehicle ² )), (Current speed x running time of another vehicle) + (acceleration / deceleration coefficient x running time ² of another vehicle)) is calculated based on the current position of the other vehicle. delete delete delete delete delete The method according to claim 1,
Wherein the step of calculating the safety distance data is calculated by multiplying the total length of the main vehicle by the safety coefficient, wherein the safety coefficient is calculated from the running speed data of the main vehicle, the state data of the running road surface, The weight data of the braking device, and the performance data of the braking device. The method according to claim 1,
Wherein the collision probability calculation procedure between the main vehicle and the other vehicle performed by the main vehicle comprises:
A collision probability calculation procedure with another vehicle attempting to enter a lane change target lane at the time of changing the main vehicle lane;
A collision probability calculation procedure with a rearward traveling vehicle in the lane change target lane at the time of changing the main vehicle lane; And
Further comprising the step of calculating a possibility of collision with a preceding vehicle traveling in the lane change target lane when the main vehicle lane is changed. The method according to claim 1 or 8,
Wherein the collision probability calculation procedure performed by the main vehicle comprises:
Calculating a collision prediction time between the main vehicle and the other vehicle;
Generating incoherent data when the calculated collision prediction time is less than a predetermined entry impossible time;
Generating risk data when the calculated collision prediction time is equal to or greater than the predetermined inaccessible time and less than or equal to a predetermined risk time; And
And generating lane change permission data when the calculated collision prediction time exceeds the predetermined risk time lag. The method according to claim 1,
Wherein the recommended vehicle speed is equal to or higher than the traveling speed of the rearward traveling vehicle in the lane change-over target lane when the main vehicle changes lanes, and when the main vehicle is in the lane- And a speed lower than the running speed of the preceding vehicle. The method according to claim 1,
Wherein the driver alarm uses the screen display device and the sound output device to output the entry probability and the recommended speed in a color change of a voice message, a text message, and a screen. A system for performing a risk notification when a lane change occurs between a main vehicle and other vehicles connected to V2X communication,
In the main vehicle,
A position information receiving unit for receiving position information data of the main vehicle;
An adjacent vehicle information receiving unit connected to the other vehicles through wireless communication and receiving vehicle information data of other vehicles periodically transmitted by the other vehicles;
A vehicle information generating unit for periodically generating the main vehicle data;
A vehicle information transmission unit periodically transmitting vehicle data of the main vehicle to the other vehicles;
A control unit for calculating collision possibility data and recommendation speed data based on the other vehicle information data and the vehicle information data of the main vehicle; And
A display unit for alerting the driver through a display unit provided in the vehicle according to the collision possibility data and recommendation speed data received from the control unit;
Lt; / RTI >
The information data of the main vehicle and the other vehicles includes identification data of the vehicle, time data, vehicle position data, vehicle driving data, vehicle control data, vehicle size data, sudden braking data of the vehicle, Record data, estimated route data of the vehicle, and relative position data using GPS (Global Positioning System)
Wherein the control unit calculates the crashworthiness data and the recommendation speed data when the direction indicator provided in the main vehicle lights up and the directions indicated by the turning directions of the steering apparatus match. delete delete The method of claim 12,
Wherein the collision possibility data is generated based on a collision prediction time between the main vehicle and the other vehicle, and generates the entry impossible data, the danger data, the lane change permission data, and the safety distance data. The method of claim 12,
Wherein the recommended vehicle speed data is calculated as speed data that is equal to or higher than the traveling speed of the rear vehicle traveling at the lane change target lane when the main vehicle changes lanes, And the speed data is calculated as speed data less than the running speed of the preceding vehicle at the time of deceleration. 16. The method of claim 15,
Wherein the safety distance data is calculated as an overall length x safety factor of the main vehicle, and the safety factor is calculated based on driving speed data of the main vehicle, state data of the running road surface, friction coefficient data of the road surface and the tire, Wherein the risk information is calculated on the basis of performance data of the device. The method of claim 12,
Wherein the alarm is output by using a screen display device and a sound output device to output the collision probability and the recommended speed as a voice message, a text message, or a color change of a screen.

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