KR102253658B1 - Vehicle communication system - Google Patents

Abstract

A vehicle communication system is disclosed. The vehicle communication system includes: a first communication unit installed in a vehicle and receiving vehicle position data from the satellite navigation system by communicating with the satellite navigation system; A second communication unit that is installed in a vehicle and communicates with a base station installed on the road in V2I (Vehicle to Infrastructure) to transmit the first V2I message for vehicle location data to the base station and receive a second V2I message for checking the vehicle speed from the base station. ; And a controller including a processor that processes vehicle location data, a first V2I message, and a second V2I message. In response to processing the vehicle position data, the first V2I message and the second V2I message, the control unit regulates the vehicle when the vehicle's position enters the Safe Zone and the vehicle's speed exceeds a predetermined prescribed speed. The braking system can be controlled to decelerate below speed.

Description

Vehicle communication system {VEHICLE COMMUNICATION SYSTEM}

The disclosed invention relates to a vehicle communication system, and more particularly, to a vehicle communication system capable of preventing a collision with a pedestrian in a safe zone.

In general, a vehicle refers to a means of transportation or transportation that travels on a road or track using fossil fuel, electricity, or the like as a power source. A vehicle can move to several positions mainly using one or more wheels installed on the vehicle body. Such a vehicle may include a three-wheeled or four-wheeled vehicle, a two-wheeled vehicle such as a motorcycle, a construction machine, a bicycle, and a train running on a rail disposed on a track.

Vehicles are the most common means of transportation in modern society, and the number of people using them is increasing. Due to the advancement of vehicle technology, long-distance movement is easy and life is easier. However, in places with a high population density, such as in Korea, road traffic conditions deteriorate and traffic congestion often occurs.

Recently, when a vehicle enters a safe zone, research on a vehicle communication system that prevents a collision with a pedestrian by providing a warning phrase and speed information has been actively conducted.

However, it was not possible to prevent collisions with pedestrians in the safe zone using only warning phrases and speed information.

For the above reasons, an aspect of the disclosed invention is to provide a vehicle communication system and a vehicle communication method capable of preventing a collision with a pedestrian in a safe zone.

A vehicle communication system according to an aspect of the disclosed invention includes: a first communication unit installed in a vehicle and receiving vehicle position data from the satellite navigation system by communicating with the satellite navigation system; V2I (Vehicle to Infrastructure) communication with a base station installed on the vehicle and installed on the road, transmits a first V2I message for the vehicle location data to the base station, and receives a second V2I message for confirming the vehicle speed from the base station A second communication unit to receive; And a control unit including a processor for processing the vehicle location data, the first V2I message, and the second V2I message, wherein the control unit includes the vehicle location data, the first V2I message, and the second V2I message. In response to the processing, when the position of the vehicle enters a safe zone and the speed of the vehicle exceeds a predetermined prescribed speed, the braking system can be controlled to decelerate the vehicle below the prescribed speed. have.

A vehicle speed sensor installed in the vehicle and detecting a speed of the vehicle; The controller may further control the emergency light to flash the emergency light when it is expected that the safe zone will not decelerate below the prescribed speed based on the speed of the vehicle.

A vehicle speed sensor installed in the vehicle and detecting a speed of the vehicle; The controller may further control the horn device to sound a horn when it is expected that the safe zone will not decelerate below the prescribed speed based on the speed of the vehicle.

A vehicle speed sensor installed in the vehicle and detecting a speed of the vehicle; The controller may further control the HUD device to display a deceleration impossible message in a HUD (Head-Up Display) pop-up window when it is expected that the speed of the vehicle is not decelerated below the prescribed speed in the safe zone. .

An image sensor installed in the vehicle, having a front view of the vehicle, and obtaining image data of a pedestrian in the safe zone; A non-image sensor selected from the group consisting of a radar sensor and a lidar sensor, installed in the vehicle, has a detection field in front and/or a side of the vehicle, and acquires pedestrian detection data in the safe zone. Including; The control unit includes a processor that processes the pedestrian image data and the pedestrian detection data, and the control unit collides with a pedestrian in the safe zone in response to processing the pedestrian image data and the pedestrian detection data. If this is expected, the HUD device can be further controlled to display a collision prediction message in the HUD pop-up window.

When a collision with a pedestrian in the safe zone is predicted based on the pedestrian detection data in the safe zone acquired by the non-image sensor, the control unit converts the pedestrian image data in the safe zone obtained by the image sensor. If further received, feature data on the behavior of the pedestrian is further extracted from the received pedestrian image data, and the extracted characteristic data on the behavior of the pedestrian is a pedestrian jumping in front of a vehicle at a predicted collision position with the vehicle, the The HUD device may be further controlled to display a collision prediction message corresponding to a pedestrian jumping in front of the vehicle at the predicted collision position with the vehicle through the HUD pop-up window.

When a collision with a pedestrian in the safe zone is predicted based on the pedestrian detection data in the safe zone acquired by the non-image sensor, the control unit converts the pedestrian image data in the safe zone obtained by the image sensor. If further received, feature data on a pedestrian's behavior is further extracted from the received pedestrian image data, and the extracted characteristic data on a pedestrian's behavior is a pedestrian operating a portable terminal at a predicted collision position with the vehicle, The HUD device may be further controlled to display a collision prediction message corresponding to a pedestrian operating a portable terminal at a position where a collision with the vehicle is expected through the HUD pop-up window.

When a collision with a pedestrian in the safe zone is predicted based on the pedestrian detection data in the safe zone acquired by the non-image sensor, the control unit converts the pedestrian image data in the safe zone obtained by the image sensor. Further received, further extracting characteristic data on the behavior of the pedestrian from the received image data of the pedestrian, and if the extracted characteristic data on the behavior of the pedestrian is a pedestrian listening to music at a predicted collision position with the vehicle, the HUD The HUD device may be further controlled to display a collision prediction message corresponding to a pedestrian listening to music at a collision predicted position with the vehicle through a pop-up window.

When a collision with a pedestrian in the safe zone is predicted based on the pedestrian detection data in the safe zone acquired by the non-image sensor, the control unit converts the pedestrian image data in the safe zone obtained by the image sensor. If further received, feature data on a pedestrian's behavior is further extracted from the received pedestrian image data, and the extracted characteristic data on a pedestrian's behavior is a pedestrian talking on the phone at a predicted collision position with the vehicle, the HUD The HUD device may be further controlled to display a collision prediction message corresponding to a pedestrian making a phone call at a location where a collision with the vehicle is expected through a pop-up window.

The control unit further transmits a communication signal to a second communication unit that communicates with the base station in V2P (Vehicle to Pedestrian) communication when a collision with a pedestrian in the safe zone is expected; The second communication unit is further configured to receive the communication signal and further transmit a V2P message for an expected collision situation to the base station; The portable terminal owned by the pedestrian may further receive a V2P message for the predicted collision situation from the base station.

A vehicle communication method according to an aspect of the disclosed invention includes, by a first communication unit installed in a vehicle and communicating with a satellite navigation system, receiving vehicle position data from the satellite navigation system; By a second communication unit installed in the vehicle and communicating with a base station installed on the road V2I (Vehicle to Infrastructure), a first V2I message for the vehicle position data is transmitted to the base station, and the vehicle speed is checked from the base station. Receive a second V2I message; By a control unit responsive to the processing of the vehicle location data, the first V2I message, and the second V2I message, the location of the vehicle enters a safe zone, and the speed of the vehicle reaches a predetermined prescribed speed. If exceeded, it may include decelerating the vehicle to less than the prescribed speed.

Installed in the vehicle, further sensing a vehicle speed by a vehicle speed sensor; By the control unit responsive to the processing of the vehicle speed, if it is expected that the safe zone will not decelerate below the prescribed speed based on the speed of the vehicle, flashing an emergency light.

Installed in the vehicle, further sensing a vehicle speed by a vehicle speed sensor; By the control unit responsive to processing the speed of the vehicle, if it is expected that the vehicle will not decelerate below the prescribed speed in the safe zone based on the speed of the vehicle, sounding a horn may be further included.

Installed in the vehicle, further sensing a vehicle speed by a vehicle speed sensor; When the control unit responds to the processing of the vehicle's speed, if it is expected that it will not decelerate to less than the prescribed speed in the safe zone based on the speed of the vehicle, a deceleration impossible message is displayed through a head-up display (HUD) It may further include displaying.

Further obtaining pedestrian image data in the safe zone by a camera installed in the vehicle and having a front view of the vehicle; Further obtaining pedestrian detection data in the safe zone by a radar installed in the vehicle and having a detection field of view in the front and/or side of the vehicle; When a collision with a pedestrian in the safe zone is expected by a control unit responsive to processing the pedestrian image data and the pedestrian detection data, displaying a collision prediction message in a HUD pop-up window.

When a collision with a pedestrian in the safe zone is predicted by the control unit, further transmitting a communication signal to a second communication unit that communicates with the base station in V2P (Vehicle to Pedestrian); Receiving the communication signal by the second communication unit and further transmitting a V2P message for an expected collision situation to the base station; It may include further receiving a V2P message for the collision predicted situation from the base station by a portable terminal owned by the pedestrian in V2P communication with the base station.

According to an aspect of the disclosed invention, it is possible to provide a vehicle communication system and a vehicle communication method capable of preventing a collision with a pedestrian in a safe zone.

1 shows a vehicle communication system according to an embodiment.
2 shows a configuration of a vehicle according to an embodiment.
3 is a diagram illustrating a configuration of a satellite navigation system, a base station, and a vehicle communicating with a portable terminal according to an embodiment.
4 shows a camera and a radar included in a vehicle according to an embodiment.
5 illustrates an example of a vehicle communication method of a vehicle communication system according to an embodiment.
6 illustrates another example of a vehicle communication method of a vehicle communication system according to an embodiment.
7 shows another example of a vehicle communication method of a vehicle communication system according to an embodiment.
8 shows an example of the operation of the emergency light and/or the operation of the horn device of the vehicle.
9 shows an example of the operation of the HUD device of the vehicle.
10 shows another example of a vehicle communication method of a vehicle communication system according to an embodiment.
11 shows another example of a vehicle communication method of a vehicle communication system according to an embodiment.
12 to 15 show an example of a collision prediction message.
16 illustrates an example of an operation of a HUD device of a vehicle and an operation of a portable terminal.

The same reference numerals refer to the same elements throughout the specification. This specification does not describe all elements of the embodiments, and general content in the technical field to which the disclosed invention belongs or content overlapping between the embodiments will be omitted. The term'unit, module, member, block' used in the specification may be implemented in software or hardware, and according to embodiments, a plurality of'units, modules, members, blocks' may be implemented as one component, It is also possible for one'unit, module, member, block' to include a plurality of components.

Throughout the specification, when a part is said to be "connected" with another part, this includes not only the case of being directly connected, but also the case of indirect connection, and the indirect connection includes connection through a wireless communication network. do.

In addition, when a part "includes" a certain component, it means that other components may be further included rather than excluding other components unless specifically stated to the contrary.

Throughout the specification, when a member is said to be positioned "on" another member, this includes not only the case where a member is in contact with another member, but also the case where another member exists between the two members.

Terms such as first and second are used to distinguish one component from other components, and the component is not limited by the above-described terms.

Singular expressions include plural expressions, unless the context clearly makes exceptions.

In each step, the identification code is used for convenience of explanation, and the identification code does not describe the order of each step, and each step may be implemented differently from the specified order unless a specific sequence is clearly stated in the context. have.

Hereinafter, an operating principle and embodiments of the disclosed invention will be described with reference to the accompanying drawings.

1 shows a vehicle communication system according to an embodiment.

As shown in FIG. 1, the vehicle 1 communicates with the satellite navigation system 2, communicates with the base station 3, and communicates with the portable terminal 4 through the base station 3. When the vehicle 1 communicates with the satellite navigation system 2 and the base station 3 to enter a safe zone for protecting pedestrians, when it exceeds the specified speed, it decelerates to less than the specified speed.

When it is expected that the vehicle 1 will not decelerate below the specified speed in the safe zone, it may flash an emergency light, sound a horn, or display a deceleration impossible message through a HUD (Head-Up Display) pop-up window.

The portable terminal 4 owned by the pedestrian communicates with the base station 3 and V2P (Vehicle to Pedestrian), and when a collision with a pedestrian in the safe zone is expected, the base station 3 receives a V2P message about the expected collision situation. I can.

The safe zone for protecting pedestrians may be a safe zone around a school, a safe zone around an alley, a safe zone around an underground parking lot, and a safe zone around a pedestrian crossing.

Hereinafter, when a vehicle enters the safe zone, a vehicle communication system capable of preventing a collision with a pedestrian in the safe zone will be described.

2 shows a configuration of a vehicle according to an embodiment.

As shown in FIG. 2, the vehicle 1 includes an engine 10, a transmission 20, a braking device 30, and a steering device 40. The engine 10 includes a cylinder and a piston, and may generate power for the vehicle 1 to travel. The transmission 20 includes a plurality of gears, and may transmit power generated by the engine 10 to a wheel. The braking device 30 may decelerate the vehicle 1 or stop the vehicle 1 through friction with a wheel. The steering device 40 may change the driving direction of the vehicle 1.

The vehicle 1 may include a plurality of electric components. For example, the vehicle 1 includes an engine management system (EMS) 11, a transmission control unit (TCU) 21, and an electronic brake control module ( 31), Electronic Power Steering (EPS) 41, Body Control Module (BCM) 51, and Driver Assistance System (DAS) 100. I can.

The engine management system 11 may control the engine 10 in response to a driver's willingness to accelerate through an accelerator pedal or a request from the vehicle communication system 100. For example, the engine management system 11 may control the torque of the engine 10.

The transmission control unit 21 may control the transmission 20 in response to a driver's shift command through a shift lever and/or a driving speed of the vehicle 1. For example, the transmission control unit 21 may adjust a shift ratio from the engine 10 to a wheel.

The electronic braking control module 31 may control the braking device 30 in response to a braking will of a driver through a braking pedal and/or slip of wheels. For example, the electronic braking control module 31 may temporarily release the braking of a wheel in response to a slip of a wheel detected when the vehicle 1 is braking (Anti-lock Braking Systems, ABS). The electronic brake control module 31 may selectively release the brake of the wheel in response to oversteering and/or understeering detected during steering of the vehicle 1 (Electronic stability control, ESC). ). In addition, the electronic brake control module 31 may temporarily brake a wheel in response to a slip of a wheel detected when the vehicle 1 is driven (Traction Control System, TCS).

The electronic steering device 41 may assist the operation of the steering device 40 so that the driver can easily manipulate the steering wheel in response to the driver's will to steer through the steering wheel. For example, the electronic steering device 41 may assist the operation of the steering device 40 so as to decrease the steering force during low-speed driving or parking and increase the steering force during high-speed driving.

The body control module 51 may control the operation of electronic components that provide convenience to the driver or ensure safety of the driver. For example, the body control module 51 may control a head lamp, a wiper, a cluster, a multi-function switch, and a direction indicator lamp.

The driver assistance system 100 may assist a driver in manipulating (driving, braking, steering) the vehicle 1. For example, the driver assistance system 100 detects the environment around the vehicle 1 (for example, other vehicles, pedestrians, cyclists, lanes, road signs, etc.), and responds to the detected environment. (1) Driving and/or braking and/or steering can be controlled.

The driver assistance system 100 may provide various functions to a driver. For example, the driver assistance system 100 includes Lane Departure Warning (LDW), Lane Keeping Assist (LKA), High Beam Assist (HBA), and automatic emergency braking ( Autonomous Emergency Braking (AEB), Traffic Sign Recognition (TSR), Smart Cruise Control (SCC), and Blind Spot Detection (BSD) can be provided.

The driver assistance system 100 includes a camera module 101 that acquires image data around the vehicle 1 and a radar module 102 that acquires object data around the vehicle 1. The camera module 101 includes a camera 101a and a controller (Electronic Control Unit, ECU) 101b, and can photograph the front of the vehicle 1 and recognize other vehicles, pedestrians, cyclists, lanes, road signs, etc. I can. The radar module 102 includes a radar 102a and a controller 102b, and can obtain a relative position, a relative speed, etc. of objects (eg, other vehicles, pedestrians, cyclists, etc.) around the vehicle 1. have.

The driver assistance system 100 is not limited to that shown in FIG. 2, and may further include a lidar including a lidar sensor that scans around the vehicle 1 and detects an object.

The above electronic components may communicate with each other through a vehicle communication network (NT). For example, electronic components transmit data through Ethernet, MOST (Media Oriented Systems Transport), Flexray, CAN (Controller Area Network), and LIN (Local Interconnect Network). You can give and take. For example, the driver assistance system 100 provides a drive control signal, a braking signal, and a steering signal to the engine management system 11, the electronic brake control module 31, and the electronic steering device 41, respectively, through a vehicle communication network NT. Can transmit signals.

3 is a diagram illustrating a configuration of a satellite navigation system, a base station, and a vehicle communicating with a portable terminal according to an embodiment. 4 shows a camera and a radar included in a vehicle according to an embodiment.

As shown in Fig. 3, the vehicle 1 includes a braking system 32, an emergency light 60, a horn device 70, a head-up display (HUD) device 80, and a first communication unit ( 110), a second communication unit 120, a vehicle speed sensor 130, a camera 140, a radar 150, and a control unit 160.

The braking system 32 may include an electronic braking control module 31 (see FIG. 1) and a braking device 30 (see FIG. 1) described with reference to FIG. 2. When the position of the vehicle 1 enters a safe zone (S, see Fig. 8) by the control unit 160 and the vehicle speed exceeds a predetermined prescribed speed, the vehicle 1 ) Can be decelerated below the specified speed.

The emergency light 60 may blink when it is expected that the vehicle 1 is not decelerated below a prescribed speed in the safe zone (S, see FIG. 8) by the control unit 160. For example, the emergency light 60 may include front emergency lights 61 and 62 and rear emergency lights 63 and 64, and the front emergency lights 61 and 62 can blink and operate, and the front emergency lights 61 and 62 ) And the rear emergency lights (63, 64) can be blinking at the same time.

The horn device 70 may sound the horn when it is expected that the vehicle 1 will not decelerate below the prescribed speed in the safe zone S (refer to FIG. 8) by the control unit 160. For example, the horn device 70 may be provided on the steering wheel or separately provided in the vehicle 1 to sound the horn.

When the HUD device 80 is predicted that the vehicle 1 will not decelerate below the specified speed in the safe zone (S, see FIG. 8) by the control unit 160, the HUD device 80 displays a deceleration impossible message with a head-up display (HUD) (80a, see Fig. 9) can be displayed.

The HUD device 80 may display a collision prediction message in a HUD pop-up window when a collision with a pedestrian 5 (see FIG. 8) in the safe zone (S, see FIG. 8) is expected by the control unit 160. The control unit 160 is based on the pedestrian detection data in the safe zone (S, see FIG. 8) acquired by the radar 150, which is a non-image sensor, to the pedestrian 5, in the safe zone (S, see FIG. 8). 8), the pedestrian image data in the safe zone (S, see FIG. 8) acquired by the camera 140, which is an image sensor, is received, and from the received pedestrian image data, the pedestrian 5, FIG. 8) can extract feature data about the behavior. The controller 160 may extract feature data on the behavior of the pedestrian 5 (refer to FIG. 8) using a conventional image feature data extraction method.
For example, if the extracted characteristic data on the behavior of the pedestrian is a pedestrian jumping in front of the vehicle in the predicted collision position with the vehicle 1, the HUD pop-up window displays the vehicle 1 and the collision predicted position. The HUD device 80 may be controlled to display a collision prediction message 80b (refer to FIG. 12) corresponding to a pedestrian jumping in front of the vehicle.
If the extracted characteristic data on the pedestrian's behavior is a pedestrian who operates the portable terminal at the predicted collision position with the vehicle 1, the controller 160 displays the portable terminal at the predicted collision position with the vehicle 1 through a HUD pop-up window. The HUD device 80 may be controlled to display a collision prediction message (80c, see FIG. 13) corresponding to the manipulating pedestrian.
If the extracted characteristic data on the pedestrian's behavior is the pedestrian who listens to the music at the predicted collision position with the vehicle 1, the HUD pop-up window is displayed to the pedestrian who listens to the music at the predicted collision position with the vehicle 1 The HUD device 80 may be controlled to display a corresponding collision prediction message (80d, see FIG. 14).
If the extracted characteristic data on the pedestrian's behavior is a pedestrian making a phone call with the vehicle 1 at a predicted collision position, the HUD pop-up window is displayed to the pedestrian making a phone call with the vehicle 1 at the predicted collision position. The HUD device 80 may be controlled to display a corresponding collision prediction message 80e (refer to FIG. 15).

The HUD device 80 may be provided on a window in front of the driver to prevent distraction of the driver's attention, and may display a message through the window.

The first communication unit 110 is installed in the vehicle 1 and communicates with the satellite navigation system 2 to receive vehicle position data from the satellite navigation system 2. The satellite navigation system 2 is a position and time determination system using an artificial satellite. The satellite navigation system 2 can be classified into a corrected satellite navigation system (Differential GPS: DGPS) and a carrier phase differential GPS (CDGPS) according to a location accuracy method. For example, the first communication unit 110 may be provided as a satellite communication module.

The second communication unit 120 is installed in the vehicle 1 and communicates with the base station 3 installed on the road in V2I (Vehicle to Infrastructure) communication to transmit the first V2I message for vehicle location data to the base station 3, and the base station ( From 3), a second V2I message for checking the vehicle speed may be received. For example, the second communication unit 120 may be provided as a V2X module. The V2X module is a V2V (Vehicle to Vehicle) communication module that exchanges information through wireless communication between vehicles, and V2I (Vehicle to Infrastructure) communication that exchanges information between the vehicle and the road infrastructure through wireless communication through a base station (3) installed on the road. Vehicle to Pedestrian (V2P) that exchanges information through wireless communication between a pedestrian (5, see Fig. 8) and a vehicle (1) through the module, the base station 3 installed on the road, the camera 140 and/or the radar 150 ) A communication module and a V2N (Vehicle to Network) communication module for exchanging information through wireless communication between the vehicle 1 and the portable terminal 4 may be included.

The vehicle speed sensor 130 may be installed in the vehicle 1 and may acquire vehicle speed detection data by sensing the speed of the vehicle 1. The vehicle speed sensor 130 may be provided in the drive motor of the transmission 20 to detect the speed of the vehicle 1 according to the rotation angle of the drive motor. For example, the vehicle speed sensor 130 may be classified into a Hall effect sensor method, an optical sensor method, and a magnetic sensor method.

The camera 140 may have a field of view 140a facing the front of the vehicle 1 as shown in FIG. 4. For example, the camera 140 may be installed on the front windshield of the vehicle 1.

The camera 140 may photograph the front of the vehicle 1 and acquire image data of a pedestrian in the safe zone (S, see FIG. 8) in front of the vehicle 1. Pedestrian image data in the safe zone (S, see FIG. 8) may include a location of the pedestrian 5 (see FIG. 8).

The camera 140 may include a plurality of lenses and a front image sensor. The front image sensor may include a plurality of photodiodes that convert light into electrical signals, and the plurality of photodiodes may be arranged in a 2D matrix.

The camera 140 may be electrically connected to the controller 160. For example, the camera 140 is connected to the control unit 160 through a vehicle communication network (NT), or connected to the control unit 160 through a hard wire, or a printed circuit board (PCB). ) Can be connected to the control unit 160 through.

The camera 140 may transmit the pedestrian image data in the safe zone (S, see FIG. 8) to the controller 160.

The radar 150 may include a front radar 151 and a plurality of corner radars 152-155.

The front radar 151 may have a field of sensing 151a facing the front of the vehicle 1 as shown in FIG. 4. The front radar 151 may be installed, for example, on a grille or bumper of the vehicle 1.

The front radar 151 reflects on a transmission antenna (or a transmission antenna array) that emits a transmission wave toward the front of the vehicle 1 and a pedestrian (see 5, 8) in the safe zone (S, see FIG. 8). It may include a receiving antenna (or receiving antenna array) for receiving the reflected wave. The front radar 151 may acquire pedestrian detection data in the safe zone (S, see FIG. 8) from the transmitted transmission wave by the transmitting antenna and the reflected wave received by the receiving antenna.

The pedestrian detection data may include distance information and speed level of pedestrians 5 and 8 in the safe zone S (see FIG. 8) in front of the vehicle 1. The front radar 151 calculates the relative distance to the pedestrian (see Fig. 5 and 8) based on the phase difference (or time difference) between the transmitted radio wave and the reflected radio wave, and based on the frequency difference between the transmitted radio wave and the reflected radio wave. Thus, the relative speed of the pedestrian (5, see FIG. 8) can be calculated.

The front radar 151 may include a radar sensor that is a non-image sensor. The radar sensor may obtain pedestrian detection data by calculating a relative distance and a relative speed to a pedestrian (see 5, 8) in the safe zone (S, see FIG. 8).

The front radar 151 may be connected to the controller 160 through, for example, a vehicle communication network NT, a hard wire, or a printed circuit board. The front radar 151 may transmit pedestrian detection data in the safe zone S (refer to FIG. 8) to the control unit 160.

The plurality of corner radars 152 to 155 include a first corner radar 152 installed on the front right side of the vehicle 1, a second corner radar 153 installed on the front left side of the vehicle 1, and a vehicle A third corner radar 154 installed on the rear right side of (1) and a fourth corner radar 155 installed on the rear left side of the vehicle 1 may be included.

The first corner radar 152 may have a side detection field 152a facing the front right side of the vehicle 1, as shown in FIG. 4, and is installed, for example, on the right side of the front bumper of the vehicle 1 Can be. The second corner radar 153 may have a side sensing field 153a facing the front left side of the vehicle 1, and may be installed, for example, on the left side of the front bumper of the vehicle 1. The third corner radar 154 may have a side sensing field 154a facing the rear right side of the vehicle 1, and may be installed, for example, on the right side of the rear bumper of the vehicle 1. The fourth corner radar 155 may have a side sensing field 155a facing the rear left side of the vehicle 1, and may be installed, for example, on the left side of the rear bumper of the vehicle 1.

The first, second, third and fourth corner radars 152 to 155 may include respective transmit antennas and receive antennas. The first, second, third, and fourth corner radars 152 to 155 may acquire respective first corner detection data, second corner detection data, third corner detection data, and fourth corner detection data. . The first corner detection data may include distance information and speed information about a pedestrian in a safe zone located on the front right side of the vehicle 1. The second corner detection data may include distance information and speed information about a pedestrian in a safe zone located on the front left of the vehicle 1. The third and fourth corner detection data may include distance information and speed information of objects (eg, other vehicles, pedestrians, cyclists, etc.) located on the rear right side of the vehicle 1 and the rear left side of the vehicle 1. .

The first, second, third and fourth corner radars 152 to 155 may each include a radar sensor that is a non-image sensor. The radar sensor can obtain the first and second pedestrian detection data by calculating the relative distance and the relative speed to the pedestrians in the safe zone (refer to 5, 8), and can obtain the third and fourth object detection data. have.

The first, second, third and fourth corner radars 152 to 155 may be respectively connected to the controller 160 through a vehicle communication network NT, a hard wire, or a printed circuit board. The first, second, third and fourth corner radars 152 to 155 may transmit respective first, second pedestrian detection data and third and fourth object detection data to the controller 160.

The controller 160 is a controller 101b (see FIG. 1) of the camera module 101 (see FIG. 1) and/or a controller 102b (see FIG. 1) of the radar module 102 (see FIG. 1) and/or separate integration It may include a controller.

The control unit 160 may include a processor 161 and a memory 162.

The processor 161 stores vehicle position data of the first communication unit 110, a first V2I message to be transmitted to the base station 3, a second V2I message of the second communication unit 120, and vehicle speed detection data of the vehicle speed sensor 130. In response to processing the vehicle position data, the first V2I message, the second V2I message, and the vehicle speed detection data, the position of the vehicle enters the safe zone (S, see Fig. 8), and the vehicle speed is a predetermined standard speed. If it exceeds, it is possible to generate a braking signal for controlling the braking system 32 to decelerate the vehicle to less than a prescribed speed. For example, the processor 160 includes vehicle location data of the first communication unit 110 and a first V2I message to be transmitted to the base station 3, a second V2I message of the second communication unit 120, and the vehicle speed sensor 130. A digital signal processor that processes vehicle speed detection data and/or a micro control unit (MCU) that generates a braking signal may be included.

The processor 161 is a turn-on signal for turning on the emergency light 60 to flash the emergency light 60 when it is expected not to be decelerated below the specified speed in the safe zone (S, see FIG. 8) based on the speed of the vehicle. And/or generating a display signal for controlling the HUD device 80 to display a deceleration impossible message (80a, see FIG. 9) as a horn signal and/or a HUD pop-up window for controlling the horn device 70 to sound the horn. It may include a micro control unit (MCU).

The processor 161 processes the pedestrian image data of the camera 140 and the pedestrian detection data of the radar 150, and a display signal for controlling the HUD device 80 in response to the processing of the pedestrian image data and the pedestrian detection data. Can be created. For example, the processor 160 is a digital signal processor that processes pedestrian image data of the camera 140 and/or a digital signal processor that processes pedestrian detection data of the radar 150 and/or a microcontroller that generates a display signal. It may include a unit (MCU).

The processor 161 may detect pedestrians 5 and 8 in the safe zone S (see FIG. 8) based on pedestrian image data of the camera 140 and pedestrian detection data of the radar 150.

Specifically, the processor 161 acquires the position (distance and direction) and the relative speed of the pedestrian (see 5, 8) in the safe zone (S, see FIG. 8) based on the pedestrian detection data of the radar 150 can do. The processor 161 may acquire the location (direction) of the pedestrian 5 (see FIG. 8) in the safe zone (S, see FIG. 8) based on the pedestrian image data of the camera 140. Processor 161 is a pedestrian (see 5, 8) in the safe zone (see Fig. 8) detected by the pedestrian image data is located in the safe zone (S, see Fig. 8) detected by the pedestrian detection data. A pedestrian (5, see FIG. 8) is matched, and the position and a relative speed of the pedestrian (see 5, 8) in the safe zone (S, see FIG. 8) may be obtained based on the matching result.

The processor 161 may generate a display signal based on a position and a relative speed of a pedestrian 5 (see FIG. 8) in the safe zone (S, see FIG. 8). For example, the processor 161 is based on the location (distance) and the relative speed of the pedestrian (see 5, 8) in the safe zone (S, see Fig. 8) and the vehicle 1 and the safe zone (S, Fig. 8). 8) calculates the time to collision (TTC) between pedestrians (see 5, Fig. 8), and based on the comparison of the time until collision (TTC) and a predetermined reference time, the safe zone ( S, when a collision with a pedestrian (see 5 and 8) in (see FIG. 8) is expected, a display signal may be transmitted to the HUD device 80 to display a collision prediction message in a HUD pop-up window. As another example, the processor 161 calculates a distance to collision (DTC) based on the relative speed of a pedestrian (see 5, 8) in the safe zone (S, see FIG. 8), and Based on the comparison of the distance between the distance and the distance to the pedestrian (see FIG. 8, 5) in the safe zone (S, see FIG. 8) and the pedestrian (see FIG. 8) in the safe zone (S, see FIG. 8). When a collision is expected, a display signal may be transmitted to the HUD device 80 to display a collision prediction message in a HUD pop-up window.

When a collision with a pedestrian (see 5, 8) in the safe zone (S, see FIG. 8) is expected, the processor 161 transmits to the second communication unit 120 that communicates with the base station 3 and V2P (Vehicle to Pedestrian). Can transmit communication signals. The second communication unit 120 may receive a communication signal and transmit a V2P message for an expected collision situation to the base station 3. The portable terminal 4 (see FIG. 16) owned by the pedestrian 5 (refer to FIG. 16) may receive a V2P message for the expected collision situation from the base station 3 (see FIG. 8). For example, the processor 161 may include a micro control unit (MCU) that generates a communication signal for transmission to the second communication unit 120.

The memory 162 includes a program and/or data for the processor 161 to process vehicle position data, a program and/or data for processing the first V2I message, and a program for processing the second V2I message and/or data. Or a program and/or data for processing data and pedestrian image data, and a program and/or data for processing pedestrian detection data, and for the processor 161 to turn on the braking signal and/or emergency light 60 Programs and/or data for generating turn-on signals and/or horn signals and/or indication signals and/or communication signals may be stored.

The memory 162 includes vehicle location data received from the first communication unit 110 and/or a first V2I message to be transmitted to the base station 3 and/or a second V2I message received from the second communication unit 120 and/or Temporarily store the vehicle speed detection data received from the vehicle speed sensor 130 and/or the pedestrian image data received from the camera 140 and/or the pedestrian detection data received from the radar 150, and the vehicle position of the processor 161 The data and/or the processing result of the first V2I message and/or the second V2I message and/or the vehicle speed detection data and/or the pedestrian image data and/or the pedestrian detection data may be temporarily stored.

The memory 162 includes not only volatile memories such as S-RAM and D-RAM, but also flash memory, read-only memory (ROM), and Erasable Programmable Read Only Memory (EPROM). It may include non-volatile memory.

In this way, when the location of the vehicle 1 enters the safe zone (S, see FIG. 8) and the speed of the vehicle 1 exceeds a prescribed prescribed speed, the vehicle 1 is less than the prescribed speed. A braking signal can be transmitted to the braking system 32 to decelerate to. If the control unit 160 is expected not to decelerate below the specified speed in the safe zone (S, see Fig. 8) based on the speed of the vehicle 1, the turn-on signal and/or the horn device 70 to the emergency light 60 The horn signal and/or the display signal may be transmitted to the HUD device 80. When a collision with a pedestrian (see 5, 8) in the safe zone (S, see FIG. 8) is expected, the controller 160 can transmit a communication signal to the second communication unit 120 and display it as the HUD device 80 Can transmit signals.

5 illustrates an example of a vehicle communication method of a vehicle communication system according to an embodiment. 6 illustrates another example of a vehicle communication method of a vehicle communication system according to an embodiment. 7 shows another example of a vehicle communication method of a vehicle communication system according to an embodiment.

8 shows an example of the operation of the emergency light and/or the operation of the horn device of the vehicle. 9 shows an example of the operation of the HUD device of the vehicle.

5 to 7, the vehicle 1 receives vehicle position data from the satellite navigation system 2 by the first communication unit 110 that communicates with the satellite navigation system 2 (510).

The vehicle 1 transmits a first V2I message for vehicle location data to the base station 3 by the second communication unit 120 that communicates with the base station 3 installed on the road V2I (Vehicle to Infrastructure) (520). , A second V2I message for checking the vehicle speed is received from the base station 3 (530). The second communication unit 120 may include a vehicle to infrastructure (V2I) communication module that transmits and receives information through wireless communication between the vehicle and the road infrastructure through the base station 3 installed on the road.

The vehicle 1 determines whether it is entering the safe zone (S, see FIG. 8) by the control unit 160 in response to processing the vehicle location data, the first V2I message, and the second V2I message (540). . The vehicle 1 senses the speed of the vehicle by the vehicle speed sensor 130 (550). The vehicle 1 determines whether the vehicle speed exceeds the specified speed by the control unit 160 (560).

The vehicle 1 enters the safe zone (S, see Fig. 8) (example of 540), and if it exceeds the specified speed (example of 560), the brake system 32 decelerates to less than the specified speed (580). ). For example, when the vehicle 1 is entering the safe zone (S, see FIG. 8) (example of 540) and exceeds the prescribed speed (example of 550), it can decelerate to less than 30Km/h.

If the vehicle 1 is not entering the safe zone (S, see Fig. 8) (No in 540) or does not exceed the specified speed (No in 560), a first communication unit that communicates with the satellite navigation system 2 ( 110) receives vehicle position data from the satellite navigation system 2 again (510), and transmits a first V2I message for vehicle position data to the base station 3 by the second communication unit 120 (520). , A second V2I message for checking the vehicle speed is received from the base station 3 by the second communication unit 120 (530).

When the vehicle 1 according to the embodiment exceeds the specified speed (YES in 560), the control unit 160 responds to processing the vehicle speed, and the safe zone (S, Fig. 8) is based on the speed of the vehicle. Reference), it may be further determined whether it is expected not to decelerate below the specified speed (570).

If the vehicle 1 is expected to decelerate below the specified speed (example of 570), the vehicle 1 may decelerate below the specified speed by means of the braking system 32 (580). For example, if vehicle 1 is expected to decelerate below a prescribed speed (example of 570), it may decelerate to less than 30 Km/h.

As shown in FIG. 5, if the vehicle 1 is expected not to decelerate below the specified speed (No in 570), the emergency light 60 may be further flashed (591). For example, as shown in FIG. 8, the vehicle 1 may flash and operate the front emergency lights 61 and 62, and simultaneously flash the front emergency lights 61 and 62 and the rear emergency lights 63 and 64. can do. The driver may change the steering of the steering device 40 (see FIG. 2) to avoid a collision with the pedestrian 5 in the safe zone S.

As shown in FIG. 6, if the vehicle 1 is expected not to decelerate below the specified speed (No in 570), the horn of the horn device 70 may be further sounded as shown in FIG. The horn of the horn device may be further sounded (592). The driver may change the steering of the steering device 40 (see FIG. 2) to avoid a collision with the pedestrian 5 in the safe zone S.

As shown in FIG. 7, when it is expected that the vehicle 1 will not decelerate below the specified speed (No in 570), a deceleration impossible message 80a of the HUD device 80 is displayed as a pop-up window as shown in FIG. 9. More can be displayed (593). The driver may change the steering of the steering device 40 (see FIG. 2) to avoid a collision with the pedestrian 5 in the safe zone S.

10 shows another example of a vehicle communication method of a vehicle communication system according to an embodiment. 11 shows another example of a vehicle communication method of a vehicle communication system according to an embodiment.

12 to 15 show an example of a collision prediction message. 16 illustrates an example of an operation of a HUD device of a vehicle and an operation of a portable terminal.

Referring to FIG. 10, the vehicle 1 may further acquire image data for pedestrians in the safe zone S (refer to FIG. 8) by the camera 140 having a front view (541 ). The vehicle 1 may further acquire pedestrian detection data in the safe zone (S, see FIG. 8) by the radar 150 having a front and/or side detection field of view (542).

The vehicle 1 checks whether a collision with a pedestrian 5 (see FIG. 8) in the safe zone (S, see FIG. 8) is expected by the control unit 160 in response to processing the pedestrian image data and the pedestrian detection data. Further determination can be made (543).

The control unit 160 controls the vehicle 1 and the safe zone (S, see FIG. 8) based on the position (distance) and the relative speed of the pedestrian (see 5 and 8) in the safe zone (S, see FIG. 8). Time to collision (TTC) is calculated between pedestrians (see Fig. 5 and Fig. 8), and the safe zone (S, Fig. 8) is based on a comparison between the time until collision (TTC) and a predetermined reference time. Reference) it can be determined whether a collision with a pedestrian (see 5, 8) is expected.

The controller 160 calculates a distance to collision (DTC) based on the relative speed of a pedestrian (see 5, 8) in the safe zone (S, see FIG. 8), and calculates the distance to the collision and A collision with a pedestrian (see 5, 8) in the safe zone (S, see FIG. 8) is expected based on the comparison of the distance to the pedestrian (see 5, 8) in the safe zone (S, see FIG. 8). You can judge whether it works.

When a collision with a pedestrian (see 5, 8) in the safe zone (S, see FIG. 8) is expected (example of 543), the vehicle 1 may further display a collision prediction message of the HUD device 80 in a pop-up window. Can (544). The driver may change the steering of the steering device 40 (see FIG. 2) in order to avoid a collision with a pedestrian 5 (see FIG. 8) in the safe zone (S, see FIG. 8).

The control unit 160 is based on the pedestrian detection data in the safe zone (S, see FIG. 8) acquired by the radar 150, which is a non-image sensor, to the pedestrian 5, in the safe zone (S, see FIG. 8). 8), the pedestrian image data in the safe zone (S, see FIG. 8) acquired by the camera 140, which is an image sensor, is received, and from the received pedestrian image data, the pedestrian 5, FIG. 8) can extract feature data about the behavior.
As shown in FIG. 12, the control unit 160 predicts a collision with the vehicle 1 through a HUD pop-up window if the extracted characteristic data on the behavior of the pedestrian is a pedestrian jumping in front of the vehicle at the predicted collision position with the vehicle 1 The HUD device 80 may be controlled to display a collision prediction message 80b corresponding to a pedestrian jumping in front of the vehicle at the location.
As shown in FIG. 13, if the extracted characteristic data on the pedestrian's behavior is a pedestrian operating a portable terminal at a predicted collision position with the vehicle 1, the controller 160 collides with the vehicle 1 through a HUD pop-up window. The HUD device 80 may be controlled to display a collision prediction message 80c corresponding to a pedestrian operating a portable terminal in an expected position.

As shown in FIG. 14, if the extracted characteristic data on the pedestrian's behavior is a pedestrian who listens to music at the predicted collision position with the vehicle 1, the HUD pop-up window displays the vehicle 1 and the predicted collision position. It is possible to control the HUD device 80 to display a collision prediction message (80d) corresponding to a pedestrian who listens to music in.
As shown in FIG. 15, if the extracted characteristic data on the pedestrian's behavior is a pedestrian talking on the phone at the predicted collision position with the vehicle 1, the HUD pop-up window displays the predicted collision position with the vehicle 1 It is possible to control the HUD device 80 to display a collision prediction message (80e) corresponding to the pedestrian talking on the phone.

Referring to FIG. 11, when a collision with a pedestrian (5, see FIG. 8) in the safe zone (S, see FIG. 8) is expected by the control unit 160, the base station 3, see FIG. ) And V2P (Vehicle to Pedestrian) communication to the second communication unit 120 may further transmit a communication signal (545). The vehicle 1 may receive a communication signal by the second communication unit 120 and further transmit a V2P message for a collision predicted situation to the base station 3 (refer to FIG. 8) (546 ). The second communication unit 120 provides information through wireless communication between the pedestrian (5, 8) and the vehicle 1 through the base station 3 (see FIG. 8) installed on the road and the camera 140 and/or the radar 150. It may include a V2P (Vehicle to Pedestrian) communication module that exchanges and receives.

As shown in FIG. 16, the portable terminal 4 owned by the pedestrian 5 may further receive a V2P message for a collision predicted situation from the base station 3 (see FIG. 8) (547). The portable terminal 4 owned by the pedestrian 5 is a V2P (Vehicle to Pedestrian) communication that exchanges information through wireless communication between the pedestrian 5 and the vehicle 1 through a base station installed on the road (see 3, FIG. 8). May contain modules.

Thereafter, the vehicle 1 senses the speed of the vehicle by the vehicle speed sensor 130 (550). The vehicle 1 determines whether the vehicle speed exceeds the specified speed by the control unit 160 (560). When the vehicle 1 exceeds the prescribed speed (YES in 560), the vehicle 1 decelerates to less than the prescribed speed by the braking system 32 (580). If the vehicle 1 does not exceed the specified speed (No of 560), the vehicle position data is received again from the satellite navigation system 2 by the first communication unit 110 that communicates with the satellite navigation system 2 (510 ), then steps 520 to 540 of FIG. 7 are performed again.

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. The instruction may be stored in the form of a program code, and when executed by a processor, a program module may be generated to perform the operation of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

Computer-readable recording media include all types of recording media in which instructions that can be read by a computer are stored. For example, there may be read only memory (ROM), random access memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage device, and the like.

As described above, the disclosed embodiments have been described with reference to the accompanying drawings. Those of ordinary skill in the art to which the present invention pertains will understand that the present invention may be practiced in a form different from the disclosed embodiments without changing the technical spirit or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

1: vehicle 2: satellite navigation system
3: base station 4: portable terminal
5: Pedestrian S: Safe Zone
32: braking system 60: emergency light
70: horn device 80: HUD device
110: first communication unit 120: second communication unit
130: vehicle speed sensor 140: camera
150: radar 160: control unit
161: processor 162: memory

Claims (16)

A first communication unit installed in a vehicle and receiving vehicle position data from the satellite navigation system by communicating with the satellite navigation system;
V2I (Vehicle to Infrastructure) communication with a base station installed on the vehicle and installed on the road, transmits a first V2I message for the vehicle location data to the base station, and receives a second V2I message for confirming the vehicle speed from the base station A second communication unit to receive;
A vehicle speed sensor installed in the vehicle and detecting a speed of the vehicle; And
And a control unit including a processor that processes the vehicle location data, the first V2I message, and the second V2I message,
The control unit,
In response to processing the vehicle location data, the first V2I message, and the second V2I message, when the location of the vehicle enters a safe zone and the speed of the vehicle exceeds a predetermined prescribed speed, Controlling a braking system to decelerate the vehicle below the prescribed speed,
If it is expected that the vehicle will not decelerate below the prescribed speed in the safe zone based on the speed of the vehicle, the emergency light is controlled to flash the emergency light, and at the same time, a deceleration impossible message is displayed in a HUD (Head-Up Display) pop-up window Vehicle communication system that controls HUD devices. delete The method of claim 1,
A vehicle speed sensor installed in the vehicle and detecting a speed of the vehicle;
The control unit further controls the horn device to sound a horn when it is expected not to decelerate below the prescribed speed in the safe zone based on the speed of the vehicle. delete The method of claim 1,
An image sensor installed in the vehicle, having a front view of the vehicle, and obtaining image data of a pedestrian in the safe zone;
A non-image sensor selected from the group consisting of a radar sensor and a lidar sensor, installed in the vehicle, has a detection field in front and/or a side of the vehicle, and acquires pedestrian detection data in the safe zone. Including;
The control unit includes a processor for processing the pedestrian image data and the pedestrian detection data,
In response to processing the pedestrian image data and the pedestrian detection data, the controller further controls the HUD device to display a collision prediction message in a HUD pop-up window when a collision with a pedestrian in the safe zone is expected. system. The method of claim 5,
The control unit,
When a collision with a pedestrian in the safe zone is expected based on the pedestrian detection data in the safe zone acquired by the non-image sensor,
Further receiving the pedestrian image data in the safe zone obtained by the image sensor,
Further extracting characteristic data on the behavior of the pedestrian from the received pedestrian image data,
If the extracted characteristic data on the behavior of the pedestrian is a pedestrian jumping in front of the vehicle at the predicted position of collision with the vehicle,
A vehicle communication system for further controlling the HUD device to display a collision prediction message corresponding to a pedestrian jumping in front of a vehicle at a predicted collision position with the vehicle through the HUD pop-up window. The method of claim 5,
The control unit,
When a collision with a pedestrian in the safe zone is expected based on the pedestrian detection data in the safe zone acquired by the non-image sensor,
Further receiving the pedestrian image data in the safe zone obtained by the image sensor,
Further extracting characteristic data on the behavior of the pedestrian from the received pedestrian image data,
If the extracted characteristic data on the pedestrian's behavior is a pedestrian operating a portable terminal at a predicted collision position with the vehicle,
A vehicle communication system for further controlling the HUD device to display a collision prediction message corresponding to a pedestrian operating a portable terminal at a predicted collision position with the vehicle through the HUD pop-up window. The method of claim 5,
The control unit,
When a collision with a pedestrian in the safe zone is expected based on the pedestrian detection data in the safe zone acquired by the non-image sensor,
Further receiving the pedestrian image data in the safe zone obtained by the image sensor,
Further extracting characteristic data on the behavior of the pedestrian from the received pedestrian image data,
If the extracted characteristic data on the pedestrian's behavior is a pedestrian listening to music at a predicted position of a collision with the vehicle,
A vehicle communication system for further controlling the HUD device to display a collision prediction message corresponding to a pedestrian listening to music at a collision predicted position with the vehicle through the HUD pop-up window. The method of claim 5,
The control unit,
When a collision with a pedestrian in the safe zone is expected based on the pedestrian detection data in the safe zone acquired by the non-image sensor,
Further receiving the pedestrian image data in the safe zone obtained by the image sensor,
Further extracting characteristic data on the behavior of the pedestrian from the received pedestrian image data,
If the extracted characteristic data on the pedestrian's behavior is a pedestrian talking on the phone at a predicted position of a collision with the vehicle,
A vehicle communication system for further controlling the HUD device to display a collision prediction message corresponding to a pedestrian making a phone call at a predicted collision position with the vehicle through the HUD pop-up window. The method of claim 5,
The control unit further transmits a communication signal to a second communication unit that communicates with the base station in V2P (Vehicle to Pedestrian) communication when a collision with a pedestrian in the safe zone is expected;
The second communication unit is further configured to receive the communication signal and further transmit a V2P message for an expected collision situation to the base station;
The portable terminal owned by the pedestrian further receives a V2P message for the predicted collision situation from the base station. Receiving vehicle position data from the satellite navigation system by a first communication unit installed in the vehicle and communicating with the satellite navigation system;
By a second communication unit installed in the vehicle and communicating with a base station installed on the road V2I (Vehicle to Infrastructure), a first V2I message for the vehicle position data is transmitted to the base station, and the vehicle speed is checked from the base station. Receive a second V2I message;
By a control unit responsive to the processing of the vehicle location data, the first V2I message, and the second V2I message, the location of the vehicle enters a safe zone, and the speed of the vehicle reaches a predetermined prescribed speed. If exceeded, decelerate the vehicle to less than the prescribed speed;
If it is expected that the vehicle will not decelerate below the prescribed speed in the safe zone based on the speed of the vehicle, flashing an emergency light while simultaneously displaying a deceleration impossible message in a HUD (Head-Up Display) pop-up window. delete The method of claim 11,
Installed in the vehicle, further sensing a vehicle speed by a vehicle speed sensor;
The vehicle communication method further comprising, by the control unit responsive to processing the speed of the vehicle, sounding a horn when it is expected not to decelerate below the prescribed speed in the safe zone based on the speed of the vehicle. delete The method of claim 11,
Further obtaining pedestrian image data in the safe zone by a camera installed in the vehicle and having a front view of the vehicle;
Further obtaining pedestrian detection data in the safe zone by means of a radar installed in the vehicle and having a detection field of view in the front and/or side of the vehicle;
When a collision with a pedestrian in the safe zone is expected by a control unit responsive to the processing of the pedestrian image data and the pedestrian detection data, further displaying a collision prediction message through a HUD pop-up window. The method of claim 15,
When a collision with a pedestrian in the safe zone is predicted by the control unit, further transmitting a communication signal to a second communication unit that communicates with the base station in V2P (Vehicle to Pedestrian);
Receiving the communication signal by the second communication unit and further transmitting a V2P message for an expected collision situation to the base station;
A vehicle communication method comprising receiving a V2P message for the collision predicted situation from the base station by a portable terminal owned by the pedestrian in V2P communication with the base station.

Images