KR102256619B1 - System and method for detecting road ice conditions using wave communication - Google Patents

Abstract

The present invention relates to a technical concept of detecting an icy state of a road by using wave communication. A system for detecting a road ice condition comprises: a driving information collection unit which collects wheel rotation information and real-time speed information of a vehicle at a specific location on a road; a slip information generating unit which compares collected wheel rotation speed information with the speed information, and generates slip information in which a ratio of the speed information to the collected wheel rotation speed information is reflected according to a comparison result; a determination unit which checks the generated slip information and determines the specific location as an icy state when the ratio is less than or equal to a first reference; a speed control signal generating unit which generates a speed control signal for a vehicle entering the specific location when it is determined that a state is in an icy state; and a communication processing unit which transmits the generated speed control signal through wave communication. A vehicle for receiving the speed control signal can control a speed to be reduced below a reference speed while entering the specific location.

Description

System and method for detecting road ice conditions using wave communication

The present invention relates to a technical idea of detecting an ice condition of a road using wave communication, and more particularly, to a system for detecting an ice condition of a road by collecting information on the number of wheel revolutions of a vehicle.

Typically, information on road surface conditions in bad weather, such as water curtains, freezing, and snow, plays an important role in efficient road management and traffic safety. Existing road surface condition management utilizes equipment called Road Weather Information System (RWIS), and this RWIS can provide predictive information to road surface and atmospheric condition prediction system using data from the weather observation system. It is a capable system.

This RWIS provides the measured weather data and road surface condition information in real time, providing the driver with road weather information in advance and providing information for safe driving to the driver, and also for road management to the road operator. It can provide efficient decision-making information. Such RWIS uses various sensors such as temperature sensors and lasers to detect the condition of the road surface, but these RWISs are limited in their spread because equipment installation and maintenance costs are very expensive.

On the other hand, various technologies related to a road surface condition determination device for reducing driving accidents by automatically detecting dangerous conditions such as freezing of the road or snow and notifying the driver in advance are known.

For example, road surface condition determination devices according to the prior art are equipped with buried sensors or a method in which a person observes a camera installed at each point of the road to determine. However, these conventional road surface condition determination devices have problems such as relatively high mounting cost, increase in labor costs, and frequent breakdowns.

In order to solve this problem, a road surface condition determination device that automatically determines the road surface condition by analyzing image information acquired from a camera installed on the road and additional information such as temperature or humidity obtained through sensors installed around the road is being studied. For example, there is a method of determining a road surface condition while rotating a polarizing filter.

Meanwhile, there are many research cases and technology development cases both at home and abroad for the acquisition and use of real-time road surface information. However, the road surface information acquisition technology currently being used in actual road sites is implemented based on laser or radar, and due to its nature, installation and operation costs are very expensive, or detection systems that target only specific points, for example, point-based Since technology development is mainly conducted on a fixed road surface sensor, there is a limit to covering a wide range of road sections.

In addition, in general, when snow falls or the road surface is frozen in winter, especially when snow accumulates on roads such as bridges, curves, uphill roads, tunnel entrances, etc., or the road surface is frozen, not only can it cause enormous obstacles to vehicle traffic, but also safety. As the risk of accidents increases, rapid snow removal and thawing operations must be performed.

Korean Registered Patent No. 1696821 "Device and method for detecting the slip condition of the road surface using the driving characteristics of a vehicle" Korean Patent Publication No. 2020-0062433 "Vehicle, 　vehicle 　 road surface 　 condition 　 information provision method and 　 vehicle safe driving provision method"

An object of the present invention is to provide a system capable of predicting an ice condition on a road surface only by driving a vehicle and sharing information with other vehicles.

The present invention utilizes habitual ice section information and weather information in determining the freezing state, and accordingly calculates the appropriate speed of the vehicle for non-slip for each type of vehicle to determine the optimal speed to prevent the vehicle passing through the ice section from slipping. It aims to provide a system that induces safe driving by providing information about the vehicle to other vehicles.

An object of the present invention is to predict a road surface condition based on information acquired from a vehicle through wave communication between vehicles or between a vehicle and a center, and provide information on the road surface condition to a subsequent vehicle based on the predicted information. do.

An object of the present invention is to grasp information on a road surface that is in an ice or wet state, informs a vehicle passing through the road, and induces a deceleration.

An object of the present invention is to determine whether a road surface is abnormal even if a camera or a device for determining the presence or absence of a road surface is not installed on the road, and the information is provided to other vehicles to use it as information for safe driving.

The present invention utilizes habitual ice section information and weather information in determining the freezing state, and accordingly calculates the appropriate speed of the vehicle for non-slip for each type of vehicle to determine the optimal speed to prevent the vehicle passing through the ice section from slipping. It aims to provide a system that induces safe driving by providing information about the vehicle to other vehicles.

The road freezing state detection system according to an embodiment includes a driving information collection unit that collects vehicle wheel rotation speed information and real-time speed information at a specific location on the road, and compares the collected wheel rotation speed information with the speed information. , A slip information generation unit that generates slip information reflecting the ratio of the speed information to the collected wheel rotation speed information according to the comparison result, and checks the generated slip information, and when the ratio is less than the first criterion, the specific A determination unit that determines a location as an iced state, a speed control signal generation unit that generates a speed control signal for a vehicle entering the specific location when it is determined that it is the freezing state, and a wave communication with the generated speed control signal. It includes a communication processing unit transmitted through the transmission, and the vehicle receiving the speed control signal may control the speed to decelerate to a reference speed or less while entering the specific position.

The transmitted speed control signal according to an embodiment is transmitted to a roadside base station installed on the roadside, and base station identification information is added from the roadside base station and transmitted to a central server, and on a path moving from the central server to the roadside base station. Vehicles that are transmitted to at least one or more other located roadside stations, and which have received the speed control signal from the at least one other roadside base station, may control the speed to decelerate below a reference speed while entering the specific location.

The slip information generation unit according to an embodiment classifies a plurality of grades using the ratio and the difference from the reference, adds the classified grade to the sleep information, and the speed control signal generation unit comprises: A speed control signal is generated to decelerate to a different reference speed for each class, and vehicles receiving the speed control signal control the speed to decelerate to a different standard speed or less for each of the classified classes while entering the specific position. I can.

According to an embodiment, the determination unit determines that a difference between the ratio and the first criterion is less than or equal to a second criterion, and determines the specific location as a pre-icing state, and the pre-icing state is determined by referring to current weather information. When it is predicted that the state will be changed to the freezing state, and the speed control signal generation unit may generate the speed control signal when it is predicted that the state of the pre-icing state will be changed to the freezing state.

The central server according to an embodiment may collect the received speed control signal, calculate speed control signals for each vehicle type, and transmit the calculated speed control signals for each vehicle type to the at least one or more other roadside base stations. have.

The communication processing unit according to an embodiment may directly transmit the calculated speed control signal to an adjacent vehicle through a wave communication method.

The communication processor according to an embodiment may transmit the calculated speed control signal to at least one of a mobile communication network of another driver, the roadside base station, or the central server through a mobile communication network using the driver's mobile phone.

According to an embodiment, it is possible to provide a system capable of predicting an ice condition on a road surface only by driving a vehicle and sharing information with other vehicles.

According to an embodiment, in determining the freezing state, the habitual freezing section information and the weather information are used, and accordingly, the appropriate speed of the vehicle for non-slip is calculated for each vehicle type, thereby preventing the vehicle passing through the freezing section from slipping. It is possible to provide a system that induces safe driving by providing information on the speed of the vehicle to other vehicles.

According to an embodiment, the road surface condition is predicted based on information acquired from the vehicle through wave communication between vehicles or between the vehicle and the center, and information on the road surface condition is provided to a subsequent vehicle based on the predicted information. I can.

According to an exemplary embodiment, information on a road surface in an ice or wet state may be identified to inform a vehicle passing through the road and induce a deceleration.

According to an embodiment, even if a camera or a device for determining the presence or absence of a road surface is not installed on the road, it is possible to determine whether there is an abnormality in the road surface, and provide information according to the information to other vehicles to be used as information for safe driving.

According to an embodiment, in determining the freezing state, the habitual freezing section information and the weather information are used, and accordingly, the appropriate speed of the vehicle for non-slip is calculated for each vehicle type, thereby preventing the vehicle passing through the freezing section from slipping. It is possible to provide a system that induces safe driving by providing information on the speed of the vehicle to other vehicles.

1 is a diagram illustrating a road freezing state detection system that detects an ice state of a road using wave communication.
2 is a diagram illustrating a road freezing state detection system among the configurations of the entire system.
3 is a diagram illustrating a method of detecting an ice road condition using wave communication.
4 is a diagram illustrating a method of changing the responsiveness of a steering control device based on a road surface condition.

Specific structural or functional descriptions of embodiments according to the concept of the present invention disclosed in the present specification are exemplified only for the purpose of describing embodiments according to the concept of the present invention, and embodiments according to the concept of the present invention They may be implemented in various forms and are not limited to the embodiments described herein.

Since the embodiments according to the concept of the present invention can apply various changes and have various forms, the embodiments will be illustrated in the drawings and described in detail in the present specification. However, this is not intended to limit the embodiments according to the concept of the present invention to specific disclosed forms, and includes changes, equivalents, or substitutes included in the spirit and scope of the present invention.

Terms such as first or second may be used to describe various elements, but the elements should not be limited by the terms. The terms are only for the purpose of distinguishing one component from other components, for example, without departing from the scope of the rights according to the concept of the present invention, the first component may be referred to as the second component, Similarly, the second component may also be referred to as a first component.

When a component is referred to as being "connected" or "connected" to another component, it is understood that it may be directly connected or connected to the other component, but other components may exist in the middle. It should be. On the other hand, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there is no other component in the middle. Expressions describing the relationship between components, for example, "between" and "just between" or "directly adjacent to" should be interpreted as well.

The terms used in the present specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present specification, terms such as "comprise" or "have" are intended to designate that the specified features, numbers, steps, actions, components, parts, or combinations thereof exist, but one or more other features or numbers, It is to be understood that the presence or addition of steps, actions, components, parts or combinations thereof does not preclude the possibility of preliminary exclusion.

Unless otherwise defined, all terms used herein including technical or scientific terms have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms as defined in a commonly used dictionary should be construed as having a meaning consistent with the meaning of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in the present specification. Does not.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, the scope of the patent application is not limited or limited by these embodiments. The same reference numerals shown in each drawing indicate the same members.

1 is a diagram illustrating a system for detecting an ice condition of a road using wave communication.

The present invention may predict a road surface condition based on information acquired from a vehicle through wave communication between vehicles or between a vehicle and a center, and provide information on the road surface condition to a subsequent vehicle based on the predicted information.

To this end, the entire system 100 according to an embodiment may include roadside base stations 110 and 150, road ice detection systems 120 and 130, and a central server 140.

The road ice condition detection systems 120 and 130 are mounted on a vehicle and can move together with the vehicle's movement. For example, the road ice condition detection system 120, 130 is interpreted as an on-board unit that records driving information such as vehicle speed and wheel rotation speed, corresponds to some function modules of the on-board unit, or includes the on-board unit and some functions. It can be interpreted as a separate device sharing a module. That is, the road ice condition detection systems 120 and 130 may be understood as an electronic vehicle body built into a vehicle, or may be interpreted as a separate device that is attached or detached from the vehicle.

The present invention predicts a road surface condition based on information acquired from a vehicle through wave communication between the road ice condition detection systems 120 and 130 or between the road ice condition detection system 120 and 130 and the central server 140 , Based on the predicted information, information on the road surface condition may be provided to the following vehicle.

The road freezing state detection system 100 according to an embodiment can determine whether the road surface is abnormal even if a camera or a device for determining the presence or absence of the road surface is not installed on the road, and the information is provided to other vehicles. It can be used as information for safe driving.

The road icing state detection system 100 according to an embodiment uses the road icing state detection system 120 and 130 to match real-time speed information with the wheel rotational speed information of the vehicle, and thus real-time speed information compared to the wheel rotational speed of the vehicle. Generates sleep information according to and transmits the sleep information to the roadside base stations 110 and 150 through wave communication.

The roadside base stations 110 and 150 may be connected to the central server 140 through wired or wireless communication, and may provide sleep information to the central server 140. Accordingly, the central server 140 determines whether the road surface is frozen or wet using the slip information, and transmits the determined result information to other vehicles passing through the road.

In particular, the road ice condition detection system 120 is mounted on a vehicle, calculates slip information based on driving information collected at a specific location 101 on the road surface, and transmits the calculated slip information in a broadcasting method. .

Accordingly, the roadside base station 110 may collect sleep information transmitted through a broadcasting method. In addition, the roadside base station 110 may add the base station identification information to the collected sleep information and transmit it to the central server 140 in order to reflect its position in the sleep information.

The central server 140 may receive the transmitted sleep information and check the location of the roadside base station 110 using the base station identification information.

In addition, the central server 140 may transmit the received sleep information to another roadside base station located on a path to the roadside base station 110.

For example, the central server 140 may determine the number of roadside base stations to transmit received sleep information from among roadside base stations located on the moving path in consideration of at least one of season, temperature, humidity, and time.

In addition, the central server 140 may transmit the received sleep information from a specific location to the roadside base station corresponding to the determined number.

For example, in winter when the road surface is likely to freeze or the braking distance is longer due to low friction between the tire and the road, the number of roadside base stations to transmit slip information for a specific location from the central server 140 is summer. Than can be stretched.

Another roadside base station may transmit the transmitted slip information to vehicles entering the wave communication distance in a push method.

According to the present invention, information on a road surface that is in an ice or wet state is notified to a vehicle passing through the road, and a deceleration can be induced. In addition, even if a camera or a device for determining the presence or absence of a road surface is not installed on the road, it is possible to determine whether the road surface is abnormal, and provide the information to other vehicles to use it as information for safe driving.

After receiving the slip information from the roadside base station 110, the road ice condition detection system 130 according to an embodiment causes a slip in a vehicle equipped with a road ice condition detection system 120 ahead at a specific location 101 on the road surface. When it is determined that it has occurred, a signal for controlling a steering control device of a vehicle equipped with the road ice detection system 130 may be generated.

In particular, the road ice condition detection system 130 may control the steering control device by changing the responsiveness of the steering device. For example, when it is determined that slip has occurred, slip can be prevented by adjusting the settings of the steering control device to be insensitive by a certain ratio.

In addition, the road icing state detection systems 120 and 130 receiving the slip information through a push method may automatically control deceleration or acceleration based on the slip information when the slip information is inserted into the slip information.

Meanwhile, the road ice condition detection systems 120 and 130 may directly transmit the calculated slip information to adjacent vehicles through a wave communication method. For example, when the preceding road ice condition detection system 120 generates slip information as a slip occurs at a specific location 101, the road ice condition detection system 130 located at a nearby wave communication distance You can scan if it exists.

As a result of the scan, if the road ice detection system 130 located at a distance capable of wave communication is identified, sleep information generated using not only wave communication but also various short-range wireless communication methods may be directly transmitted.

As a result of the scan, if the road icing state detection system 130 located at a distance capable of wave communication is not identified, the preceding road icing state detection system 120 sleeps to the road icing state detection system 130 through the central server 140 Information can be transmitted.

To this end, the road ice condition detection system 120 may transmit sleep information to the central server 140 through a mobile communication network using the driver's mobile phone.

2 is a diagram illustrating a road freezing state detection system 200 among the configurations of the entire system.

The road freezing state detection system 200 according to an embodiment includes a driving information collection unit 210, a slip information generation unit 220, a determination unit 230, a speed control signal generation unit 240, and a communication processing unit 250. ) Can be included.

First, the driving information collection unit 210 may collect information on the number of wheel rotations of the vehicle and speed information in real time at a specific position on the road. Next, the slip information generation unit 220 may compare the collected wheel rotation speed information with the speed information, and generate slip information reflecting the ratio of the speed information to the wheel rotation speed information collected according to the comparison result.

At this time, the determination unit 230 may check the generated slip information and determine a specific location as an ice-free state when the ratio is less than or equal to the first reference.

For example, the ratio of the speed information to the wheel rotation speed information may be lower than the first criterion when the speed is not generated so as to correspond to the wheel rotation speed. Preferably, the ratio should be close to 1 if the number of rotations of the vehicle is directly reflected in the speed, but it may be less than 1 when slipping occurs. In addition, when the ratio falls below 1 and then falls below a certain level, the speed is too small compared to the number of wheel rotations, and in this case, it may be determined as slip.

The speed control signal generation unit 240 may determine that the road is in an ice state when slip occurs. In addition, when it is determined that it is in an ice state, a speed control signal for a vehicle entering a specific location may be generated.

The communication processing unit 250 may transmit the generated speed control signal through wave communication, and control the vehicle receiving the speed control signal to decelerate the speed to below the reference speed while entering a specific position.

According to an embodiment, the vehicle may change acceleration and responsiveness of the steering control device instead of controlling the speed.

According to an embodiment, the sleep information generation unit 220 may classify a plurality of grades by using a ratio and a difference from a reference, and add the classified grades to the sleep information.

In addition, the speed control signal generation unit 240 may generate a speed control signal that decelerates to a different reference speed or less for each class.

For example, when the difference between the ratio and the reference is insignificant and the difference between the ratio and the reference is very large, the degree of deceleration may be different.

Vehicles that have received the speed control signal can control the speed to decelerate below a different reference speed for each class classified while entering a specific position.

In addition, the determination unit 230 determines that the ratio and the difference between the first criterion and the second criterion are less than or equal to the second criterion, and determines a specific location as a preliminary freezing state, and refers to the current weather information, and the pre-icing state is a freezing state It can be predicted to change. In other words, it is possible to determine a situation that has not been frozen at present, but will soon be frozen.

Accordingly, the speed control signal generation unit 240 may generate a speed control signal when it is predicted that the pre-icing state will change to the icing state.

The controller 260 may be interpreted as a unit that controls each component constituting the road ice condition detection system 200 or processes an operation to support an operation.

Meanwhile, the central server may collect the received speed control signal and calculate speed control signals for each vehicle type. In addition, the central server may transmit the calculated speed control signals for each type of vehicle to at least one or more other roadside base stations.

3 is a diagram illustrating a method of detecting an ice road condition using wave communication.

In the method for detecting road ice conditions according to an embodiment, information on the number of wheel rotations of a vehicle and speed information in real time may be collected at a specific location on the road (step 301).

In the method for detecting road ice conditions according to an embodiment, slip information in which a ratio of speed information to collected wheel rotation speed information may be reflected may be generated (step 302).

To this end, the road freezing state detection method according to an embodiment compares the collected wheel rotation speed information with the speed information, and generates slip information reflecting the ratio of the speed information to the wheel rotation speed information collected according to the comparison result. I can.

In the method for detecting road ice conditions according to an exemplary embodiment, a plurality of grades may be classified by using a ratio and a difference from the criterion, and the classified grade may be added to the slip information. In addition, the road freezing state detection method according to an embodiment generates a speed control signal that decelerates to a different reference speed or less for each classified class, and vehicles that have received the speed control signal distinguish the speed while entering a specific position. It can be controlled to decelerate below the standard speed, which is different for each class.

At least one or more other roadside stations receiving the slip information may transmit the transmitted slip information to vehicles entering the wave communication distance in a push method. In addition, the road ice detection system located at the communication distance can transmit the calculated slip information to at least one of the mobile communication network of another driver, roadside base station, or a central server through the mobile communication network of the driver. I can.

On the other hand, the transmitted speed control signal is transmitted to the roadside base station installed on the roadside, and base station identification information is added from the roadside base station to be transmitted to the central server. In addition, it is transmitted from the central server to at least one other roadside station located on the path moving from the central server to the roadside base station. It can be controlled to decelerate below.

4 is a diagram for explaining a method of changing the responsiveness of the steering control device based on the state of the road surface.

In the method of detecting an ice condition on a road according to an embodiment, the possibility of slipping in a dangerous section may be reduced by changing the responsiveness of the steering control device according to the condition of the road surface.

To this end, the road ice state detection method according to an embodiment determines whether the road surface is in an ice state (step 401), and if the road surface is not in an ice state, determines whether the vehicle is in a stopped state (step 402), and the vehicle If the vehicle is not in a stopped state, it may be determined whether the steering angular velocity is equal to or greater than a threshold value (step 403).

If the steering angular velocity is greater than or equal to the threshold value, slip may occur depending on the freezing state of the road surface. Accordingly, in the method for detecting an ice road state according to an embodiment, the responsiveness of the steering control device may be changed through step 404. In addition, the road freezing state detection method according to an embodiment can maintain the responsiveness of the initially set steering control device as it is, if the road surface is not in an ice state, the vehicle is in a stopped state, or the steering angular velocity is not more than a threshold value. (Step 405).

After all, using the present invention, the road surface condition is predicted based on the information acquired from the vehicle through wave communication between vehicles or between the vehicle and the center, and information on the road surface condition is provided to the following vehicles based on the predicted information. can do. In addition, it is possible to grasp the information on the road surface in the frozen or wet state, inform the passing vehicle and induce the deceleration, and even if a camera or a device for determining the abnormality of the road surface is not installed on the road, It can be used as information for safe driving by determining whether there is an abnormality and providing information according to it to other vehicles.

The apparatus described above may be implemented as a hardware component, a software component, and/or a combination of a hardware component and a software component. For example, the devices and components described in the embodiments include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array (FPA), It may be implemented using one or more general purpose or special purpose computers, such as a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications executed on the operating system. Further, the processing device may access, store, manipulate, process, and generate data in response to the execution of software. For the convenience of understanding, although it is sometimes described that one processing device is used, one of ordinary skill in the art, the processing device is a plurality of processing elements and/or a plurality of types of processing elements. It can be seen that it may include. For example, the processing device may include a plurality of processors or one processor and one controller. In addition, other processing configurations are possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of these, configuring the processing unit to operate as desired or processed independently or collectively. You can command the device. Software and/or data may be interpreted by a processing device or, to provide instructions or data to a processing device, of any type of machine, component, physical device, virtual equipment, computer storage medium or device. , Or may be permanently or temporarily embodyed in a transmitted signal wave. The software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the embodiment, or may be known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -A hardware device specially configured to store and execute program instructions such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as one or more software modules to perform the operation of the embodiment, and vice versa.

As described above, although the embodiments have been described by the limited drawings, various modifications and variations are possible from the above description to those of ordinary skill in the art. For example, the described techniques are performed in a different order from the described method, and/or components such as systems, structures, devices, circuits, etc. described are combined or combined in a form different from the described method, or other components Alternatively, even if substituted or substituted by an equivalent, an appropriate result can be achieved.

Therefore, other implementations, other embodiments, and those equivalents to the claims also fall within the scope of the claims to be described later.

Claims (7)

A driving information collection unit for collecting vehicle wheel rotation speed information and real-time speed information at a specific position on the road;
A slip information generation unit that compares the collected wheel rotation speed information with the speed information, and generates slip information reflecting the ratio of the collected wheel rotation speed information to the collected wheel rotation speed information according to the comparison result;
A determination unit that checks the generated slip information and determines the specific location as an ice-free state when the ratio is less than or equal to a first criterion;
A speed control signal generator for generating a speed control signal for a vehicle entering the specific position when it is determined that it is in the freezing state; And
And a communication processing unit for transmitting the generated speed control signal through wave communication,
The vehicle receiving the speed control signal controls to decelerate the speed below the reference speed while entering the specific position,
The transmitted speed control signal is transmitted to the roadside base station installed on the roadside, and base station identification information is added from the roadside base station and transmitted to the central server,
It is transmitted to at least one other roadside base station located on the path from the central server to the roadside base station,
Vehicles that have received the speed control signal from the at least one other roadside base station are controlled to decelerate the speed below a reference speed while entering the specific position,
The slip information generation unit,
Classify a plurality of grades using the ratio and the difference from the standard, and add the classified grades to the slip information,
The speed control signal generation unit,
Generates a speed control signal that decelerates below a different reference speed for each of the classified grades,
Vehicles receiving the speed control signal are controlled to decelerate the speed to below a different reference speed for each of the classified grades while entering the specific position,
The central server,
Collecting the received speed control signal,
Calculating speed control signals for each type of vehicle, and transmitting the calculated speed control signals for each type of vehicle to the at least one or more other roadside base stations,
A road freezing condition detection system that reduces the possibility of slipping in dangerous sections by changing the responsiveness of the steering control device according to the road surface condition. delete delete The method of claim 1,
The determination unit,
The ratio and the difference from the first criterion are less than or equal to the second criterion, and the specific location is determined as a pre-icing state,
With reference to the current weather information, it is predicted that the preliminary freezing state will change to the freezing state,
The speed control signal generation unit generates the speed control signal when it is predicted that the pre-icing state will change to an icing state. delete The method of claim 1,
The communication processing unit,
A road freezing condition detection system for directly transmitting the calculated speed control signal to an adjacent vehicle through a wave communication method. The method of claim 1,
The communication processing unit,
A road freezing condition detection system for transmitting the calculated speed control signal to at least one of a mobile communication network of another driver, the roadside base station, or the central server through a mobile communication network.

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