KR101587485B1 - Apparatus for vehicle-to-vehicle communication using visible light communication and method of the same - Google Patents

Abstract

The present invention relates to an inter-vehicle communication apparatus and method using visible light communication, and more particularly, to a receiving apparatus for receiving an optical signal including information on a vehicle from another vehicle located in the vicinity through a plurality of receivers arranged in different directions Control means for analyzing each signal received through the plurality of receivers to determine positional information of another vehicle located in the vicinity, determining a control operation of the vehicle based on the detected positional information, and control means And driving means for driving the corresponding actuator according to the operation. According to the present invention, it is possible to identify each of the moving vehicles, improve the safe driving of the vehicle through analysis of the directions of the identified vehicles, make voice calls among the unspecified driver cars, It is possible to prevent an unnecessary car-to-car communication by preventing a call.

Description

[0001] The present invention relates to an apparatus for communication between vehicles using visible light communication,

The present invention relates to an inter-vehicle communication device using visible light communication and a method thereof, and more particularly, to a vehicle equipped with a lighting device using LEDs, which can communicate with other vehicles by using visible light, To-vehicle communication apparatus using visible light communication and a method therefor.

The present invention was derived from research carried out as part of the IT original technology development project of the Ministry of Knowledge Economy and the Korea Information Society Agency. [Project number: 2008-F-009-01, Project name: IT lighting communication convergence 380 ~ 780nm A Study on Selectable Wireless Communication of Meter Visible Light.

Conventionally, communication can be performed only by using a separate light source for communication between vehicles.

2. Description of the Related Art [0002] In recent years, when an ITS (Intelligent Transportation System) server generates an information request message for a traffic situation and transmits the information request message to a light controller, a light controller receives the information request message There is proposed a technique for converting peripheral information and / or transportation means information to at least one lighting means through an illumination light receiver to an ITS server.

However, the above-described conventional techniques suggest a communication method for automobiles, traffic lights, and the like, and no technology for communicating with a plurality of vehicles located around the driver's vehicle or grasping the positions of a plurality of vehicles has been proposed .

Also, there is no description of a technique of controlling operation by connecting with an actuator according to the situation of an object of each vehicle, or performing voice communication between vehicles.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to provide an automobile communication method using a visible light wireless communication method while maintaining the function of a lighting or indicator, which is an inherent function of an LED in an environment in which an LED headlight, It is possible to identify each of the moving vehicles and to improve the safe driving of the vehicle through the analysis of the directions of the identified vehicles and to make voice calls between the unspecified driver's vehicles and to prevent calls from undesired vehicles So that unnecessary car-to-car communication can be prevented.

Other objects and advantages of the present invention can be understood by the following description, and will be apparent from the description of the embodiments of the present invention. It will also be readily apparent that the objects and advantages of the invention may be realized and attained by means of the instrumentalities and combinations particularly pointed out in the appended claims.

According to an aspect of the present invention, there is provided an intervehicular communication apparatus using visible light wireless communication, comprising: a plurality of receivers arranged in different directions for transmitting an optical signal including information about the vehicle from another vehicle located in the vicinity; Control means for analyzing each signal received through the plurality of receivers to determine position information of the other vehicle located in the vicinity and determining a control operation of the vehicle based on the detected position information, And driving means for driving the corresponding actuator in accordance with the control operation determined by the control means.

A plurality of receiving units are disposed at different positions of the vehicle, and a plurality of receiving units are disposed at different angles according to positions where the receiving units are arranged.

The control means measures any one of a signal receiving angle, a signal receiving direction, and a signal receiving distance of the optical signal received from the other vehicle located in the vicinity, thereby determining the position of the vehicle.

Wherein the control means judges whether or not the vehicle is in a dangerous condition based on the position information of the other vehicle located in the vicinity,

And a storage unit storing status information at the time of occurrence of the dangerous situation and control operation information determined by the control unit in response to the dangerous situation.

And the optical signal received from another vehicle located in the vicinity includes unique information of another vehicle located in the vicinity.

The optical signal received from another vehicle located in the vicinity includes data stored in another vehicle located in the vicinity or data input by the vehicle driver.

The receiving means receives an optical signal from a plurality of vehicles located in the vicinity, and the control means selects one of the vehicles from the optical signals received from the plurality of vehicles located in the vicinity, and performs communication.

According to another aspect of the present invention, there is provided an inter-vehicle communication method using visible light wireless communication, the method comprising: receiving light from a vehicle located near by a plurality of receivers arranged in different directions, Analyzing each signal received through the plurality of receivers to obtain position information of another vehicle located in the vicinity of the vehicle, receiving control information of the vehicle based on the position information detected in the sensing step, , And driving the corresponding actuator according to the control operation determined in the determining step.

The step of determining the positional information may include measuring a signal reception angle, a signal reception direction, and a signal reception distance of an optical signal received from another vehicle located in the vicinity in the reception step, .

The method may further include determining whether the vehicle is in a dangerous condition based on the position information of another vehicle located in the vicinity of the vehicle, And the operation of the vehicle is automatically controlled based on the information.

The method may further include selecting one of the plurality of vehicles from the optical signals received from the plurality of vehicles located in the vicinity, and performing communication with the selected vehicle.

According to the present invention, it is possible to improve safe driving of an automobile by selectively communicating with an automobile using visible light communication.

In addition, in the environment where the automobile uses LED headlights, LED car lights, LED brakes, etc., communication between automobiles is possible using a visible light wireless communication method while maintaining the function of a lighting or indicator, which is an original function of the LED.

In addition, it is possible to identify each of the moving vehicles according to the present invention, to improve the safe driving of the vehicle through the analysis of the directions of the identified vehicles, to make voice calls between the unspecified driver cars, It is possible to prevent calls between unnecessary cars.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, in which: There will be. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a diagram illustrating an operation state of a vehicle to which an intervehicular communication apparatus using visible light communication according to the present invention is applied.

Referring to FIG. 1, when a plurality of vehicles 100a, 100b, 100c, 100d, and 100e are disposed around the vehicle 100, the plurality of vehicles 100a, 100b, 100c, 100d, Backward, leftward, and rightward directions of the display unit 100, respectively.

A vehicle 100 having an intervehicular communication device using visible light wireless communication according to the present invention has a plurality of vehicles positioned in the periphery thereof and a plurality of vehicles 100a, 100b, 100c, 100d, and 100e And direction, respectively, and can selectively communicate with any vehicle.

For example, a plurality of vehicles 100a, 100b, 100c, 100d, and 100e located in the vicinity of the vehicle 100 may transmit signals using visible light communication (VLC) send. At this time, signals originated by the plurality of vehicles 100a, 100b, 100c, 100d, and 100e include unique numbers such as car numbers of the plurality of vehicles 100a, 100b, 100c, 100d, and 100e.

On the other hand, the vehicle 100 receives signals output from a plurality of vehicles 100a, 100b, 100c, 100d, and 100e located nearby as signal receiving vehicles. At this time, the vehicle 100 is connected to each of the plurality of vehicles 100a, 100b, 100c, 100d, and 100e based on signals received from a plurality of vehicles 100a, 100b, 100c, 100d, (Distance, direction, etc.) for each vehicle can be obtained from the obtained information.

The configuration of the inter-vehicle communication apparatus using the visible light wireless communication according to the present invention will be described in more detail with reference to FIGS. 2A to 3B.

2A is a block diagram illustrating a configuration of an intervehicular communication apparatus using visible light wireless communication based on a signaling vehicle.

2A, an intervehicular communication apparatus using visible light wireless communication according to the present invention includes a data storage unit 210, a signal input unit 220, an origination signal processing unit 230, and a calling unit 240 do.

The data storage means 210 stores content data to be transmitted to another vehicle, for example, media data and the like.

The signal input means 220 includes key input means for generating a predetermined command corresponding to the operated key operated by the user and voice input means (microphone or the like) for receiving the user's voice.

The calling signal processing means 230 outputs to the calling means 240 a signal for allowing the other vehicle around the vehicle to recognize the vehicle. At this time, the calling signal processing means 230 includes the unique information of the corresponding vehicle in the corresponding signal and outputs it to the calling means 240.

The calling means 240 converts the signal output from the calling signal processing means 230 into a visible light signal and transmits it to another vehicle outside. For example, the transmitting means 240 includes an LED, and emits a visible light signal by emitting an LED.

On the other hand, when the outgoing signal processing means 230 desires to transmit a visible light signal to the surrounding vehicle, the outgoing signal processing means 230 calls the content data stored in the data storage means 210, receives data from the signal input means 220, (240).

In this case, the vehicle transmits and receives data with other vehicles in the vicinity, so that the contents data currently held by the vehicle can be output through another vehicle.

FIG. 2B is a block diagram showing the detailed configuration of the calling means 240 in FIG. 2A.

Referring to FIG. 2B, the calling unit 240 functions to send an electric signal output from the calling signal processing unit 230 to a visible light signal emitted from various lamps of the vehicle.

The transmitting unit 240 includes a transmitting control unit 241 and a transmitting unit 242. The transmitting unit 242 includes an encoding unit 243, a modulating unit 244, an optical signal driving unit 245, And an output unit 246.

The calling control unit 241 transmits the electric signal output from the calling signal processing unit 230 to the transmitting unit 242 and controls the operation of each unit included in the transmitting unit 242. [ At this time, the call control unit 241 monitors the status of each block while exchanging control signals with the units included in the transmission unit 242. [

The encoding unit 243 of the transmitting unit 242 performs line encoding such as 4B5B or 8B10B so that the receiving means 310 of the signal receiving vehicle can easily recover the electric signal transmitted from the calling control unit 241. [

The modulator 244 performs a function of electrically modulating the output signal of the encoding unit 243 using one modulation method desired by the user among various modulation methods used in the digital communication system.

The optical signal driving unit 245 receives the modulated signal from the modulating unit 244 and transmits the modulated signal to the optical output unit 246 and supplies the power required by the optical output unit 246 in addition to the modulated signal. The optical signal driver 245 adjusts the visible light emitted from the optical output unit 246.

For example, the optical signal driving unit 245 adjusts at least one of the intensity and the color of the visible light emitted from the light output unit 246.

The optical output unit 246 includes a plurality of lamps such as LEDs, and receives a modulated signal transmitted from the optical signal driver 245 and a signal other than the modulated signal, and emits the modulated signal as a visible light signal.

Although FIGS. 2A and 2B illustrate the structure of the signal transmitting vehicle in order to facilitate the understanding of the explanation, all of the inter-vehicle communication devices using visible light wireless communication are applicable.

FIG. 3A is a block diagram showing the configuration of an intervehicle communication device using visible light wireless communication based on a signal receiving vehicle.

3A, an inter-vehicle communication apparatus using visible light wireless communication according to the present invention includes a receiving unit 310, a control unit 320, a storage unit 330, a driving unit 340, and an output unit 350, .

The receiving means 310 is provided with a plurality of receiving portions, and receives visible light signals emitted from the calling means 240 of another vehicle. At this time, the receiving means 310 converts the received visible light signal into an electric signal and outputs it to the control means 320.

The control means 320 analyzes the signal received by the receiving means 310 to determine the position of another vehicle, and performs a corresponding operation.

The control unit 320 includes a field of view (FOV) analysis unit 321, a position determination unit 323, and an operation control unit 325.

The FOV analyzing unit 321 measures a signal reception angle, a signal reception direction, a signal reception distance, and the like with respect to a reception signal from the reception means 310. The information measured by the FOV analysis unit 321 is transmitted to the position determination unit 323.

The position determination unit 323 grasps the position of each vehicle from the information measured by the FOV analysis unit 321, and assigns the unique information of the vehicle to the identified vehicle at each position.

Here, the unique information includes at least one of a car number, a car number, and identification information of the car. At this time, the unique information of each vehicle is used as a channel for communication between vehicles.

The operation control unit 325 determines the control operation of the vehicle based on the information obtained by the position determination unit 323. [

For example, the operation control unit 325 determines whether the vehicle is in a dangerous state based on the information obtained from the position determination unit 323. [ At this time, the operation control unit 325 determines the control operation of the corresponding vehicle if it is determined that it is the corresponding dangerous situation, and controls the driving unit 340 accordingly.

The driving means 340 includes a predetermined actuator. When the control operation of the vehicle is determined by the operation control unit 325, the driving unit 340 drives the actuator corresponding to the control operation determined by the operation control unit 325 before the driver operates the vehicle.

For example, the driving means 340 performs deceleration or stop by a brake, direction switching by a handle operation, and output of an alarm sound.

Meanwhile, the storage unit 330 includes a status data storage unit 331 and an output data storage unit 333.

The situation data storage unit 331 stores the situation data detected by the operation control unit 325. [ At this time, the situation data storage unit 331 may be implemented in connection with a black box of a vehicle or the like.

The output data storage unit 333 stores commonly used or commonly used data as output data. In addition, data input from the signal input means 220, data manipulated by the user, and the like are stored.

The output means 350 includes a car audio interface, a speaker, a display, and the like. The output unit 350 calls the data stored in the output data storage unit 333 according to a control command from the operation control unit 325 and outputs the data.

That is, the vehicle outputs voice data and media data via the car audio interface, or outputs the voice of the user through the speaker. Further, the vehicle outputs images, alarms, lights, and the like in accordance with a control command from the operation control unit 325. [

FIG. 3B is a block diagram showing the detailed configuration of the receiving means 310 in FIG. 3A.

3B, the receiving unit 310 receives the visible light signal emitted from the calling unit 240 of another vehicle, converts the received visible light signal into an electric signal, and transmits the electric signal to the control unit 320 of the corresponding vehicle Function.

The receiving unit 310 includes a receiving unit 311 and a receiving control unit 319. The receiving unit 311 includes an optical / electrical converting unit 312, an amplifying unit 313, a clock recovering unit 314, A data restoring unit 315, and a decoding unit 316. [

First, the light / electric conversion unit 312 of the receiving unit 311 performs a function of converting an optical signal, that is, a visible light signal, into an electric signal. The light / electric conversion unit 312 may include an optical lens for receiving a visible light signal emitted from the receiving means 310 of another vehicle as much as possible. Also, the light-to-electricity conversion unit 312 may use a photodiode for light / electric conversion.

The amplification unit 313 amplifies the electrical signal converted by the optical / electrical conversion unit 312 to a size suitable for subsequent signal processing. At this time, the amplification unit 313 may be constituted by a preamplifier, a limiting amplifier, and the like.

The clock recovery unit 314 restores the clock signal from the signal transmitted to the clock recovery unit 314. The clock recovery unit 314 transfers the restored clock signal to the demodulation and data recovery unit 315. [

The demodulation and data restoring unit 315 demodulates the signal modulated by the transmission unit 242 of the other vehicle using the clock signal restored by the clock restoring unit 314, and restores the data signal.

The decoding unit 316 decodes the signal encoded in the transmission unit 242 of another vehicle. At this time, the decoding unit 316 transmits only the original information signal among the decoded signals to the output data storage unit 333, and stores the information.

On the other hand, the reception control section 319 basically controls each sub-operation in the receiving section 311. [ The reception control unit 319 exchanges signals with the optical / electrical conversion unit 312, the amplification unit 313, the clock recovery unit 314, the demodulation and data recovery unit 315, and the decoding unit 316, Lt; / RTI >

Of course, FIGS. 3A and 3B illustrate the structure of a signal receiving vehicle in order to facilitate the understanding of the description, but the present invention is applied to any vehicle communication apparatus using visible light wireless communication.

FIG. 4 is a diagram illustrating a structure applied to a vehicle-to-vehicle communication apparatus using visible light communication according to an embodiment of the present invention.

4, the receiving unit 310 is provided with a plurality of receiving units 311. Here, the first receiving unit, the Mth receiving unit, and the Mth receiving unit are disposed together in a specific direction of the vehicle, ..., and the Z-th receiving unit are arranged together in a direction different from the first receiving unit, ..., and the M-th receiving unit.

For example, the first receiving unit, ..., the Mth receiving unit are disposed in front of the vehicle, the Nth receiving unit, ..., and the Z receiving unit are disposed on the right side of the vehicle. Of course, in this manner, it can also be arranged on the right side of the vehicle and also on the rear side.

The first receiving unit, the M th receiving unit, and the M th receiving unit are arranged at different angles in the vehicle, but are arranged at different angles, and when receiving the visible light signal from the vehicle ahead, It is possible to measure the position of the vehicle by measuring the received angle.

When the visible light signal transmitted from the vehicle ahead is received by the first receiving unit, the Mth receiving unit, the received signal is applied to the FOV analyzing unit 321.

The FOV analyzing unit 321 measures the signal receiving angle, the signal receiving direction, the signal receiving distance, and the like with respect to the received signal from the first receiving unit, the Mth receiving unit, The position of each vehicle is determined from the information measured by the sensor 321.

Of course, when the visible light signal transmitted from the vehicle on the left side is received by the Nth receiving unit, the Z th receiving unit, the received signal is applied to the FOV analyzing unit 321.

The FOV analyzer 321 measures a signal reception angle, a signal reception direction, a signal reception distance, and the like with respect to a reception signal from the Nth reception unit, the Z-th reception unit, The position of each vehicle is determined from the information measured by the sensor 321.

At this time, the FOV analyzing unit 321a and the FOV analyzing unit 321b, which analyze signals transmitted from different vehicles, exchange the measured data with each other. Thus, each of the FOV analyzers 321a and 321b can perform an overall analysis on all the visible light signals received by the corresponding vehicle.

The position locating section 323 also exchanges information about the position of the vehicle positioned nearby by the position locating section 323a and the position locating section 323b so as to match the data, .

As described above, the operation control unit 325 determines the control operation for the vehicle using the information gleaned by the position determination units 323a and 323b, and controls the drive unit 340 according to the determination do.

Hereinafter, the operation of the present invention will be described.

5 and 6 illustrate an operation flow for a vehicle-to-vehicle communication method using visible light communication according to the present invention.

First, FIG. 5 shows a method of operation in a signaling vehicle. As shown in FIG. 5, when the vehicle wants to transmit a predetermined signal to the surrounding vehicle, the vehicle converts the signal into a visible light signal and emits the visible light signal.

At this time, the vehicle may transmit the selected data together with the visible light signal at the request of the user.

On the other hand, when a transmission request of voice data is input from the user, voice input means such as a microphone is turned on, and voice data inputted from the voice input means is transmitted on a visible light signal.

The processes of 'S500' to 'S540' are continuously performed until the signal or data transmission is terminated.

Although the voice data is transmitted in the embodiment of FIG. 5, it is also possible to transmit not only voice data but also media data of different attributes and various types of data stored in the corresponding vehicle, The present invention is not limited to any one embodiment.

On the other hand, Fig. 6 shows an operation method in the signal receiving vehicle.

As shown in FIG. 6, when a visible light signal is received from another vehicle in the vicinity, the vehicle senses a received signal. At this time, the vehicle analyzes the FOV from the detected received signal.

Then, based on the analysis result, the position of the nearby vehicle is identified, and the channel is assigned to the identified vehicle. When there are a plurality of identified vehicles, a unique channel is assigned to each vehicle.

Here, since the vehicle to which the channel is allocated is the vehicle currently traveling on the road, the channel direction of the moving vehicle is analyzed. The vehicle then analyzes the state of each channel from the channel direction analysis result.

For example, the vehicle determines whether the vehicle is in a dangerous state or a normal state corresponding to the nearby vehicle from the channel direction analysis result.

If it is determined in step S650 that the vehicle is in a dangerous state, a control operation corresponding to the dangerous situation is determined, and the operation of the driving unit 340 is controlled according to the determined operation to cope with the dangerous situation (S670).

For example, when the distance from the vehicle ahead is rapidly approaching, the brake operation is controlled so that the vehicle is decelerated.

Of course, in this case, even if the driver does not cope with a dangerous situation, the driving means 340 is operated to perform the control operation. However, when a coping action by the driver is given, the coping situation of the driver is given priority.

Since this risk situation needs to be stored in the black box for the management of the car accident history, the emergency situation data is stored in the situation data storage unit 331. In addition, by generating and broadcasting status data indicating a dangerous situation, the driver is easily perceived as a dangerous situation.

On the other hand, although not shown in the embodiment of FIG. 6, in the signal receiving vehicle according to the present invention, when voice data or the like is received from the signal transmitting vehicle, an alarm At this time, it is possible to output or block the received voice data according to the input from the driver of the vehicle. Of course, the vehicle can receive not only the signaling vehicle and voice data, but also media data of different attributes, as well as various types of data stored in the vehicle. In addition, the present invention is not limited to any one embodiment in which the signal receiving vehicle receives data from the signal transmitting vehicle.

The present invention can be embodied as a computer readable code on a light emitting diode (LED), a visible light communication, and / or a computer readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored.

Examples of the computer-readable recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and may be implemented in the form of a carrier wave (for example, transmission via the Internet) . In addition, the computer-readable recording medium may be distributed over a network-connected computer system so that computer-readable code can be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing the present invention can be easily inferred by programmers of the technical field to which the present invention belongs.

The present invention has been described with reference to preferred embodiments. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is defined by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

1 is a view showing an operation state of a vehicle to which an inter-vehicle communication apparatus using visible light communication according to the present invention is applied.

FIGS. 2A to 3B are diagrams for explaining a configuration of an intervehicular communication apparatus using visible light wireless communication according to the present invention.

4 is an exemplary diagram referred to in the description of the operation of the inter-vehicle communication apparatus using visible light communication according to the present invention.

5 and 6 illustrate an operation flow for a vehicle-to-vehicle communication method using visible light communication according to the present invention.

Claims (11)

Receiving means for receiving an optical signal including information about the vehicle from another vehicle located in the vicinity through a plurality of receivers arranged in different directions; A controller for analyzing each signal received through the plurality of receivers to determine position information of the other vehicle located in the vicinity, and determining a control operation of the vehicle based on the detected position information; And And drive means for driving the corresponding actuator in accordance with the control operation determined by the control means, The control means A field of view (FOV) analyzer for measuring at least one of a signal reception angle, a signal reception direction, and a signal reception distance of an optical signal received from another vehicle located in the vicinity; And And a position determination unit for determining a position of the vehicle based on the information measured by the FOV analysis unit, Wherein the control means includes a plurality of FOV analyzers, The control means Wherein the FOV analyzing unit exchanges analyzed data of signals transmitted from different vehicles measured by the FOV analyzing units, and matches the analyzed data with each other. The method according to claim 1, Wherein said receiving means comprises: A plurality of receiving units are disposed at different positions of the vehicle, And a plurality of receiving units are arranged at different angles according to positions where the receiving units are arranged. delete The method according to claim 1, Wherein the control means judges whether or not the vehicle is in a dangerous condition based on the position information of the other vehicle located in the vicinity, Further comprising storage means for storing status information at the time of occurrence of the dangerous situation and control operation information determined by the control means in response to the dangerous situation. The method according to claim 1, Wherein the optical signal received from another vehicle located in the vicinity includes unique information of another vehicle located in the vicinity of the vehicle. The method according to claim 1, An optical signal received from another vehicle located in the vicinity, And data stored in another vehicle located in the vicinity or data input by the vehicle driver. The method according to claim 1, Wherein the receiving means receives an optical signal from a plurality of vehicles located in the vicinity, Wherein the control means selects one of the plurality of vehicles from the optical signals received from the plurality of vehicles located in the periphery and performs communication by using the visible light wireless communication. Receiving means for receiving an optical signal including information about the vehicle from another vehicle located in the vicinity through a plurality of receivers arranged in different directions; The control means analyzes each signal received through the plurality of receivers and grasps the location information of the other vehicle located in the vicinity; Determining, by the control means, a control operation of the vehicle based on the position information detected in the detecting step; And Driving the corresponding actuator according to the control operation determined in the determining step, The step of determining the control action The FOV analyzing unit measuring at least one of a signal receiving angle, a signal receiving direction, and a signal receiving distance of an optical signal received from another vehicle located in the vicinity; And The positioning unit includes a step of determining a position of the vehicle based on the measured information, The step of determining the control action Wherein the FOV analysis units exchange data analyzed signals from different vehicles, and match the analyzed data with each other. delete The method of claim 8, And determining whether the vehicle is in a dangerous condition based on position information of the other vehicle located in the vicinity, Wherein when the vehicle is determined to be in a dangerous state, the vehicle status information is stored, and the operation of the vehicle is automatically controlled based on the detected position information. The method of claim 8, Selecting one of the plurality of vehicles from the optical signals received from the plurality of vehicles located in the vicinity; And And performing communication with the selected vehicle by using the visible light wireless communication.

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