KR102459742B1 - V2x performance test system with portable instruments - Google Patents

Abstract

The present invention relates to a vehicle-to-everything (V2X) performance test system including a portable measuring instrument and, more specifically, to a V2X performance test system including a portable measuring instrument, in which a user rides on a measuring vehicle with a portable measuring instrument and a user terminal linked to the measuring instrument to perform a V2X test through transmission and reception of data while the measuring vehicle travels. The V2X performance test system including a portable measuring instrument according to the present invention comprises: a device to be measured which collects data for a road and can transmit and receive the collected data for a road according to a V2X communication standard; a measuring instrument which can be carried by a user and moved to the measuring vehicle and can transmit and receive the data for a road with the device to be measured according to the V2X communication standard; and a user terminal which is carried by the user to be moved to the measuring vehicle, is linked to the measuring instrument to receive the data for a road transmitted and received by the measuring instrument, and analyzes the data for a road, thereby testing the V2X communication performance.

Description

V2X PERFORMANCE TEST SYSTEM WITH PORTABLE INSTRUMENTS

The present invention relates to a V2X performance test system including a portable measuring device, and more particularly, to a portable measuring device and a user terminal connected to the measuring device, riding in a measuring vehicle, and driving data of the measuring vehicle It relates to a V2X performance test system including a portable measuring device capable of V2X testing according to the transmission and reception of

As V2X communication, which refers to communication between vehicles and vehicles, and between vehicles and objects, became common, the V2X communication standard was established. For smooth V2X communication, a method that meets the promised standard must be used, and verification of the V2X communication standard is required to confirm this. And for standard verification, V2X communication performance test is required.

In general, in order to test the V2X communication performance, the device under test that transmits and receives data according to the V2X communication standard and the device under test and the device under test and the data transmitted/received according to the V2X communication standard are measured and analyzed to measure and analyze the V2X communication performance. Includes testing equipment for testing. The test device and the device under test each have a V2X module so that wireless communication using the V2X communication standard is possible. Under the conditions of the test, the test device and the device under test are connected wirelessly in the room, and the data transmission/reception performance of the test device and the device under test has been tested.

However, it is desirable that the V2X communication performance test be tested in a field situation that would occur if it was mounted on a vehicle running on an actual road. That is, it is necessary to test the V2X data transmission/reception performance of the test device and the device under test that may occur on the actual road.

Republic of Korea Patent Publication No. 10-2018-0112385 (published on October 12, 2018)

An object of the present invention for solving the above-described problems is a portable measuring device that transmits and receives data with a device to be measured in accordance with the V2X communication standard in a vehicle that is moved and driven in a vehicle, and is portable and is moved and measured in a vehicle It is to provide a V2X performance test system including a portable measuring device connected to the device and including a user terminal that can test the V2X communication performance by analyzing the data transmitted and received by the measuring device according to the V2X communication standard.

In order to achieve the above object, the V2X performance test system including a portable measuring device according to an embodiment of the present invention collects data on the road, and collects the data according to the V2X (Vehicle to Everything) communication standard. A measurement device capable of transmitting and receiving data on the road, the user can carry and move to a measurement vehicle, and a measurement device capable of transmitting and receiving data on the road according to the V2X communication standard with the measurement device and the user carry the measurement A user terminal that is moved to a vehicle, is connected to the measurement device, receives the road data transmitted and received by the measurement device, and analyzes the road data to test V2X communication performance, wherein the device to be measured includes: According to the first RTK module for measuring the position of the measured device using RTCM (Radio Technical Commission for Maritime Services) information and the V2X communication standard, the data on the road and the measured position of the measured device are transferred to the measuring device. a first V2X module for transmitting and receiving, wherein the measurement device uses a second RTK module for measuring the location of the measurement device using RTCM information, and a CAN (Controller Area Network) protocol to obtain driving information of the measurement vehicle A second CAN module that collects, a second V2X module and the second V2X module that transmits and receives data including the measured location of the measuring device and the collected driving information through wireless communication of the V2X method to the device to be measured and a communication module that the measuring device transmits to the measured device or transmits data received by the measuring device from the measured device to the user terminal, wherein the user terminal includes a display module, and the user The terminal analyzes the V2X communication performance based on the data transmitted by the measuring device to the measured device or received from the measured device by the measuring device and displays it on the display module, wherein the data is, and a portable measuring device, characterized in that it includes the measured device and road data collected by the measuring device.

The measured device is installed in a test vehicle or a roadside base station, and the measured device installed in the test vehicle further includes a first CAN module configured to collect driving information of the test vehicle using a CAN protocol.

The user terminal includes a map display unit for displaying the positions of the measuring device and the measured device on a map to be displayed on the display module, so that real-time tracking of the measuring device and the measured device on the map is possible.

The user terminal includes a graph display unit that displays the V2X communication performance as a graph, and the graph display unit generates a V2X communication performance test result in real time according to an evaluation item based on the analyzed data and displays it on the display module do.

The user terminal includes an error comparison unit that compares a transmission log transmitted by the measuring device and a reception log received by the measured device, and the error comparison unit includes a comparison result of the transmission log and the reception log. , when the measured device receives data without error, an ACK (ACKnowledge) response is displayed on the display module.

According to the present invention, the V2X performance test system including a portable measuring device is portable, and a measuring device that transmits and receives data to and from a device to be measured according to the V2X communication standard in a vehicle that is moved and driven in a vehicle and is portable. V2X communication performance can be tested in the vehicle while driving, including a user terminal that is moved in the vehicle and connected to the measurement device and can test the V2X communication performance by analyzing the data transmitted and received by the measurement device according to the V2X communication standard It works.

1 is a block diagram schematically showing a configuration included in a V2X performance test system including a portable measurement device according to the present invention.
2 is a block diagram showing a state in which the device to be measured according to the present invention is installed in a roadside base station.
3 is a block diagram showing a state in which the device to be measured according to the present invention is installed in a test vehicle.
4 is a block diagram showing the configuration of a device to be measured, a measurement device, and a user terminal according to the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to components in each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated in different drawings.

And in describing the embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function interferes with the understanding of the embodiment of the present invention, the detailed description thereof will be omitted.

In addition, in describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the elements from other elements, and the essence, order, or order of the elements are not limited by the terms.

As used herein, the singular also includes the plural, unless the phrase specifically states otherwise. As used herein, “comprises” and/or “comprising” does not exclude the presence or addition of one or more other components in addition to the stated components.

On the other hand, the configuration of the present invention is hereinafter referred to as a measurement device and a device to be measured so as to be largely distinguished from the test device and the device under test of the prior art.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings.

1 is a block diagram schematically showing a configuration included in a V2X performance test system 1000 including a portable measurement device according to the present invention.

Referring to FIG. 1 , a V2X performance test system 1000 including a portable measuring device according to the present invention includes a device to be measured 100 , a measuring device 210 , and a user terminal 220 .

The measuring device 210 and the user terminal 220 can be carried by the user. The measurement device 210 and the user terminal 220 are moved inside the measurement vehicle 200 for measuring the V2X communication performance carried by the user. The measuring device 210 may be connected to an antenna of the vehicle. The antenna includes a shark antenna for wireless communication or an antenna that performs a function equivalent to or similar to the shark antenna. The measuring device 210 and the antenna may be connected to each other by an antenna cable. The measuring device 210 and the user terminal 220 may be connected through wired/wireless communication, but preferably may be connected by wire through Ethernet. The measuring device 210 includes a communication module 215 for connection with the user terminal 220 through Ethernet.

The measuring device 210 and the measuring device 100 communicate with each other according to the V2X communication standard, and transmit and receive data. The measurement device 210 transmits data transmitted and received with the device 100 to be measured to the user terminal 220 . Data transmitted and received by communication between the measurement device 210 and the device 100 to be measured may be included in a Basic Safety Message (BSM) message. In addition, the data transmitted and received by communication between the measuring device 210 and the measured device 100 may be included in a message generated and transmitted/received by other V2X communication methods in addition to the BSM message.

The user terminal 220 tests the V2X communication performance by analyzing the data received from the measurement device 210 . The user terminal 220 includes a display module 221 capable of displaying the result of testing the V2X communication performance by analyzing the data. The user terminal 220 analyzes the data transmitted and received between the measurement device 210 and the device 100 to be measured, and displays the result of testing the V2X communication performance on the display module 221 so that the user can check it. The data analyzed by the user terminal 220 includes on-road data collected by the sensor module, the position measurement module, the CAN module for collecting driving information, etc. included in the measured device 100 and the measuring device 210 . . The data on the road includes, for example, data related to vehicle driving information, vehicle collision warning, vehicle failure warning, work section notification, real-time traffic information, falling object information provision, and road surface weather information provision.

The device to be measured 100 according to the present invention collects road data. The measured device 100 may communicate with the measuring device 210 according to the V2X communication standard. The measurement target device 100 transmits and receives the collected road data to the measurement device 210 according to the V2X communication standard.

2 is a block diagram showing a state in which the measured device 100 according to the present invention is installed in the roadside base station 10, and FIG. 3 is a state in which the measured device 100 according to the present invention is installed in the test vehicle 20. is a block diagram showing In detail, FIG. 2 shows a state in which the measured device 100 installed in the roadside base station 10 is positioned inside the measuring vehicle 200 and communicates with the measuring device 210 connected to the antenna of the measuring vehicle 200 . 3 is a block diagram showing a state in which the device to be measured 100 installed in the test vehicle 20 is positioned inside the measurement vehicle 200 and communicates with the measurement device 210 connected to the antenna of the measurement vehicle 200 . This is a block diagram showing

2 and 3 , the device to be measured 100 according to the present invention is installed in a roadside base station 10 (RSU, Road Side Unit) and/or a test vehicle 20 . The roadside base station 10 is an ITS infrastructure device installed on the roadside, collects road data, and transmits and receives the collected data to and from a vehicle equipped with a V2X communication module according to the V2X communication standard.

When the device to be measured 100 is installed in the roadside base station 10 , as shown in FIG. 2 , data is transmitted and received with the measurement device of the measurement vehicle 200 according to the V2X communication standard.

When the device to be measured 100 is installed in the test vehicle 20 , as shown in FIG. 3 , the measurement device 210 connected to the measurement vehicle 200 includes the device 100 installed in the test vehicle 20 . ) and transmits and receives data according to the V2X communication standard. At this time, the data received by the measuring device is that the measured device 100 receives the road data collected by the roadside base station 10 , and the measured device 100 transmits the received data to the measuring device 210 . It may be one data, or it may be data on the road directly collected by the measured device 100 , preferably the test vehicle 20 .

In summary, the measuring device 210 according to the present invention exchanges data with the measured device 100 installed in the roadside base station 10 and/or the test vehicle 20 according to the V2X communication standard. Information on the data transmitted and received by the measurement device 210 is transmitted to the user terminal 220 connected to the measurement device 210, and the user terminal 220 analyzes the information to test the V2X communication performance, and the test result is displayed on the display module 221 of the user terminal 220, the user can check the result of the V2X communication performance test.

4 is a block diagram showing the configuration of the device to be measured 100, the measurement device 210, and the user terminal 220 according to the present invention.

First, the to-be-measured device 100 is a first sensor module 110 that collects road data, a first sensor module 110 for measuring the position of the measured device 100 using RTCM (Radio Technical Commission for Maritime Services) information. 1 RTK module 120 and a first V2X module 140 for transmitting and receiving the data on the road and the measured position of the measured device 100 to the measuring device 210 according to the V2X communication standard. The device to be measured 100 installed in the test vehicle 20 further includes a first CAN module 130 that collects driving information of the test vehicle 20 using a CAN protocol.

The first sensor module 110 included in the device 100 to be measured may further include a configuration for collecting road data. For example, the first sensor module 110 may include an image monitoring device, a radar, a lidar, a signal controller, and a meteorological sensor. have.

Real Time Kinematic (RTK) is a high-precision, high-tech technology for maintaining an error of several centimeters in a satellite navigation system as a real-time precision measurement technology.

The first RTK module 120 included in the device 100 to be measured (the second RTK module 212 included in the measuring device 210 to be described later is also the same) transmits Radio Technical Commission for Maritime Services (RTCM) information. The position of the device 100 to be measured can be measured by using it. The first RTK module 120 measures the changed position of the measured device 100 to generate location information of the measured device 100, and the generated location information is the first V2X module 140 as data on the road. is transmitted to the measurement device 210 by The first RTK module 120 includes an RF unit for receiving RTCM information for position correction, an RTK unit for measuring a position with 1 cm and 1 ppm accuracy using the received RTCM information, and a control unit for controlling the RF unit and the RTK unit. , RTK part can support GPS, GNSS, GLONASS, QZSS and Beidou.

The first V2X module 140 included in the measured device 100 transmits/receives on-road data generated or received by the measured device 100 according to the V2X communication standard with the measuring device 210 . The first V2X module 140 (the second V2X module 214 to be described later is also the same) receives an RF (Radio Frequency) signal according to the V2X communication standard and converts the received RF signal into an analog I/Q signal. RF unit, a data conversion unit that converts the converted analog I/Q signal into a digital I/Q signal, decodes the converted digital I/Q signal according to the V2X communication standard and measures the V2X communication performance of the decoded signal and a modem unit and a control unit for controlling operations of the RF unit, the data conversion unit, and the modem unit.

The first CAN module 130 (the second CAN module 213 to be described later is also the same) included when the measured device 100 is installed in the test vehicle 20 collects vehicle driving information. The driving information includes information such as acceleration, deceleration, and braking of the vehicle. The driving information is included in on-road data transmitted by the measured device 100 to the measuring device 210 . The first CAN module 130 may collect driving information of the vehicle using a CAN protocol. The first CAN module 130 may include a WIFI module for transmitting and receiving data through WIFI (Wireless Fidelity) and a BT module for transmitting and receiving data through BT (Bluetooth).

The road information collected by the device to be measured 100 is transmitted to the measurement device 210 by the first V2X module 140 . The measuring device 210 measures the transmission/reception performance of the measured device 100 according to the V2X communication standard.

The measuring device 210 uses a second RTK module 212 for measuring the position of the measuring device 210 using RTCM information, and driving information of the measuring vehicle 200 using a CAN (Controller Area Network) protocol. A second CAN module 213 for collecting The measuring device 210 transmits to the measured device 100 by the V2X module 214 and the second V2X module 214 , or the measuring device 210 receives it from the measured device 100 . and a communication module 215 for transmitting one data to the user terminal 220 .

The second RTK module 212 measures the position of the measurement device 210 to generate position information.

The second CAN module 213 collects driving information of the measurement vehicle 200 .

The second V2X module 214 transmits and receives data on the road according to the V2X communication standard with the measured device 100 . The second V2X module 214 transmits the location information and the driving information of the measuring device 210 to the measured device 100 according to the V2X communication standard, or receives the location information and the driving information of the measured device 100 . .

The information of the data transmitted and received by the second V2X module 214 according to the V2X communication standard is transmitted to the user terminal 220 .

The communication module 215 connects the measurement device 210 and the user terminal 220 . As described above, the measuring device 210 and the user terminal 220 may be wired through Ethernet or Giga Ethernet, and the measuring device 210 includes an Ethernet interface.

The user terminal 220 includes an operation unit 225 for testing the V2X communication performance by analyzing the data transmitted and received by the second V2X module 214 . The user terminal 220 includes software and a display module 221 for testing the V2X communication performance. The calculation unit 225 evaluates the V2X communication performance by executing the software. The user terminal 220 expresses the test result of the V2X communication performance through the display module 221 through the user interface. When the user executes the user interface, the user terminal 220 displays the received road data, location information of the device 100 to be measured, driving information, V2X communication performance, location information of the measurement device, and driving information of the measurement device. It can be expressed in real time through the module.

On the other hand, when analyzing the data transmitted and received by the second V2X module 214 by software, the calculating unit 225 analyzes the data according to the evaluation items. Evaluation items at this time include packet error rate (PER), delay time (latency), maximum communication distance (MCD), received signal strength (RSSI), Heading Error, Jitter, and Distance.

The user terminal 220 includes a driving screen display unit, a performance item display unit, a driving information display unit, a map display unit 222 and a graph display unit 223. The driving screen display unit streams the driving screen of the measurement device in real time, and the performance item display unit displays the measured V2X communication performance in real time, the driving information display unit displays driving information of the measuring device in real time, and the map display unit 222 displays the positions of the measuring device 210 and the measured device 100 on the map. is displayed in real time, and the graph display unit 223 may display the measured V2X communication performance as a graph.

The map display unit 222 displays the positions measured by the measuring device 210 and the measured device 100 on a map on the display module 221 . Google Map can be used for the map at this time, enabling real-time tracking on the map. The map display unit 222 displays the locations of the measuring device 210 and the measured device 100 according to the user's selection, including a road-based map, a satellite photo-based map, a terrain-based map, or a road, satellite and topography combination. mark on the map. The map display unit 222 provides V2V communication between the measured device 100 and the measuring device 210 installed in the test vehicle 20 or V2I communication between the measured device 100 and the measuring device installed in the roadside base station 10 . The successful and unsuccessful sections can be distinguished and displayed on the map in real time.

The graph display unit 223 displays the V2X communication performance as a graph and displays it on the display module 221 . The graph display unit 223 generates a result of the V2X communication performance test by the operation unit 225 according to the evaluation item in real time, graphs it, and displays it on the display module 221 . The graph display unit 223 may generate and display a graph in real time according to set input and output information.

The user terminal 220 further includes a log display unit and an error comparison unit 224 .

The log display unit collects communication logs from the measurement device 210 through Ethernet. The communication log collected by the log display unit includes data transmission/reception logs of the measuring device 210 and the measuring device 100 . That is, the communication log collected by the log display unit includes a data log received by the measuring device 210 from the measured device 100 , a data log transmitted by the measuring device 210 to the measured device 100 , and The data log transmitted by the 100 to the measuring device 210 and the data log received by the measuring device 100 from the measuring device 210 are collected. The log display unit may collect data transmission/reception logs according to V2X communication and display it on the display module 221 . The log display unit may calculate the communication log of the measurement target device 100 and the measurement device 210 and display it on the display module 221 .

The error comparison unit 224 compares the transmission log transmitted by the measurement device 210 and the reception log received by the measurement target device 100 . After comparing the transmission log and the reception log, the error comparison unit 224 expresses an ACK (ACKnowledge) response to the display module 221 when the measured device 100 receives the data without error, and the data is received without error. convey that it has been

The user terminal 220 may store the DB (Data Base) file by dividing the data received from the measured device 100 and/or the measuring device 210 into a unique hardware address (MAC Address).

The device to be measured 100 and the measuring device 210 may be formed in the form of a chassis into which each module may be inserted in the form of a card. The measuring device 210 can support a power supply of 12 to 24 Vdc, a frequency of 5.86 GHz to 5.92 GHz, a physical layer IEEE 802.11p / ITS-G5 for Europe, and a reception sensitivity of -92 dBm At 6 Mbps, and V2X of WAVE and C-V2X. It can support communication standards. WAVE and C-V2X have different protocol stacks and different data modulation methods. If C-V2X and WAVE are used at different frequencies, there is no mutual influence even if they are used at the same time. Therefore, the first V2X module 140 and the second V2X module 214 included in the measured device 100 and the measuring device 210 according to the present invention include a C-V2X module and a WAVE module, and C- As V2X and WAVE use different frequencies at the same time to communicate with the measured device 100 and the measuring device 210, both C-V2X and WAVE V2X communication are possible.

PER (Packet Error Rate) averages the calculated value by measuring all received packets in a sliding manner according to the SAE J2945/1 standard. If at least one bit is wrong, the packet is treated as invalid. In the case of wireless communication, it includes data that has not been received. There are two methods of measuring PER according to an embodiment of the present invention.

First, there is a method of calculating the overall PER from the first to the last received packet, which is suitable for testing the communication performance of the roadside base station. The first method is not suitable for measuring a moving vehicle because it does not reflect the actual field environment where the communication distance continuously changes in the middle of communication according to the movement of the vehicle. Also, the accumulated amount changes depending on the speed of the vehicle, so it cannot be considered that the actual overall PER is obtained. When the vehicle passes slowly within the communication range, the PER measurement result is inevitably better than when the vehicle passes quickly. This can lead to erroneous collection results where the readings will slowly drop. Therefore, this test method is only valid for measurements in a stationary state.

The second method is suitable for testing the vehicle-to-vehicle V2X communication performance. This method determines the sampling rate (amount of sample packet) to be used for calculation, and performs PER evaluation for each section for the sampling rate on continuous data. will do The effective unit of the result value is determined according to the sampling rate. For example, when the sampling rate is 10, the results are displayed in 10% units (1/10), and when the sampling rate is 20, PER analysis in 5% units (1/20) becomes possible. In the case of PER for all packet reception, it can be used to check the PER within the entire communication available section. It can be used to determine the PER according to the distance. For this reason, the maximum communication distance can be confirmed by applying the PER measurement method using the sampling rate. The maximum effective communication distance refers to the distance at which communication is successful to the farthest among the sections where the PER is 10% or less. The latency of the packet-switched network is the one-way (time from the destination sending the packet to the receiving point) or the round-trip latency (the one-way latency from the source to the destination and the one-way latency from the destination to the source) sum) means Round-trip latency is often quoted because it can be measured at a single point, and round-trip latency excludes the time the target system spends processing packets. Many software platforms provide a service called ping to measure round-trip latency, and ping is a popular method because it sends back packets immediately without processing them. Because ping uses the ICMP protocol and is different from the actual communication protocol such as TCP, it is measured by using the WAVE (ITS G5) communication stack to measure the accurate delay time of vehicle-to-vehicle communication. What is important in V2X communication will be transmission delay within the entire layer. This is because it is directly related to QoS and is a very important performance variable for reliability and quick response of safety services. In addition, it is natural that the overall performance is affected by the H/W configuration of the terminal manufacturer, CPU performance, OS, stack implementation efficiency, and API or application implementation degree. Therefore, in the performance verification system designed and implemented in this proposal, end-to-end delay time can be measured and evaluated. Data throughput refers to the amount of pure data transmission without considering data compression.

The user interface for evaluation of V2X communication performance may include a function menu, streaming driving screen, 2D error evaluation result, performance evaluation result graph, real-time information for each item, a web-based map analysis window, and/or real-time DUT information. Here, each configuration of the user interface is sequentially configured such as a driving screen display unit, a 2D error evaluation result display unit, a graph display unit 223, (a performance item display unit and a position accuracy display unit), a map display unit 222 and/or a driving information display unit. can be named

The function unit may include a load database item, a save database item, a save log item, a preference setting item, a simulation start item, an evaluation test information item, an evaluation start item, a report output item, and/or a program information item. The load database item or the simulation start item can load and run the simulation video (evaluation result) stored in the database. At this time, the V2X performance evaluation system can analyze the evaluation tests conducted in the past using the stored database. And, when the simulation starts, the location of the equipment (vehicle terminal and/or base station) and/or measurement device used for the test is displayed on the map display unit 222 with markers, and the evaluation result graph display unit 223 contains information about the set evaluation items. The test data value is displayed as a graph, and values corresponding to each component may be displayed on the driving information display unit, the performance item display unit and/or the position accuracy display unit. The save database item can save the data currently being evaluated in the database. The save log entry can save the log that occurred during performance evaluation. The preference setting item may set the configuration of the user interface, etc., and may include a general setting item, a streaming setting item, a map setting item, a graph setting item, a monitor setting item, and/or an evaluation requirement setting item, and detailed Description will be given later. The simulation start item can run the simulation video loaded from the database. The evaluation test information item may input information about the corresponding evaluation test and store it in the database, and a detailed description thereof will be provided later. The evaluation start item can start the evaluation. The report output item can output the evaluation result as a report. The program information item can output information about this evaluation program.

The driving screen display unit may receive a driving image input through a camera of a vehicle equipped with a vehicle terminal as streaming and output it.

The 2D error evaluation result display unit may display the accuracy of position information of the measurement device or the device under test in a two-dimensional graph.

The performance item display unit may display a performance item (test item). Test items may include PER, maximum effective communication distance, latency, and/or data throughput.

The driving information display unit may display GPS information of the vehicle terminal or the base station. The GPS information may include information such as latitude, longitude, altitude, speed, direction, and yaw rate.

The position accuracy display unit may display the accuracy of the position information measured by the measuring device or the device under test.

The map display unit 222 may display the location of the vehicle terminal, the measurement device, and/or the base station on the map. The map display unit 222 may use Google Maps, and may display hybrid, road, satellite and/or topographic maps supported by Google Maps.

The graph display unit 223 may generate and display a graph in real time according to set input and output information. In this case, the information to be displayed may be determined by inputting an X-axis value, a Y1-axis value, and/or a Y2-axis value on the right side of the graph.

The video surveillance apparatus according to the present invention may be a closed circuit television (CCTV) or a camera that generates image data by photographing a road. The video surveillance device may be a CCTV having a plurality of different uses, and each CCTV may collect data on the road including images of different predetermined areas. On the other hand, in this specification, on the road (road road) includes the road side (road road side).

Radar is an abbreviation of Radio Detecting And Ranging. It emits electromagnetic waves of about microwave (microwave, 10cm~100cm wavelength) to an object and receives the electromagnetic waves reflected from the object to receive the distance, direction, and altitude of the object. As a wireless monitoring device that detects etc., it is a device that measures the direction and distance of an object by measuring the time until the time when the reflected wave is received using the straightness of radio waves.

Lidar emits laser pulses, receives the reflected light from the surrounding target object, and measures the distance to the object to accurately draw the surroundings. It is the same, but the wavelength of the electromagnetic wave used is different. LiDAR can measure not only the distance to the target, but also the speed and direction of movement. Lidar is used as a sensor that acquires the necessary information to implement a 3D image.

The signal controller refers to a device that controls traffic signals, and may collect information on traffic signals as well as control of traffic signals.

The weather sensor is a sensor that detects the weather, and can collect and generate weather information provided to vehicles autonomously driving on the road.

Gigabit Ethernet is an Ethernet transmission technology that achieves gigabit per second speed and is defined in IEEE 802.3-2008 standard.

GNSS (Global　Navigation　Satellite　System) is a system that provides information on the location, altitude, and speed of ground objects using artificial satellites.

GLONASS is the Russian Space Agency's radio navigation system that distributes and operates 3-axis positioning, speed determination and time stamping to base stations around the world. GLONASS is similar to US GPS in many respects. it just happened

QZSS　 or 　Juntencho is a GNSS system developed by Japan for regional use. Whereas 　GPS in the US is for the whole world, QZSS is for Japan only. It covers 24 hours with four Michibiki satellites that stay in the air for 8 hours over Japan.

Beidou also refers to a satellite for the Global Positioning System (GPS) developed by China or the GPS system itself in China.

The Galileo system is the world's first civilian GPS positioning system (GPS) jointly promoted by the European Union (EU) and the European Space Agency (ESA) against the US monopoly of GPS.

The user terminal 220 is equipped with software and capable of analyzing data, a smartphone, a tablet personal computer, a mobile phone, a video phone, a desktop PC, and a laptop PC ( laptop personal computer, netbook computer, personal digital assistant (PDA), portable multimedia player (PMP), wearable device (e.g. smart glasses, head-mounted-device (HMD) ), etc.) or a smart watch).

The display module 221 is a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display ( flexible display) and at least one of a three-dimensional display (3D display).

Meanwhile, the measurement vehicle 200 and/or the test vehicle 20 according to the present invention may further include a light emitting diode transmission module (not shown) that emits light toward the front at the front of the vehicle, and the rear of the vehicle. may further include a light emitting diode receiving module (not shown) for receiving light emitted by the light emitting diode transmitting module. The light emitting diode transmitting module transmits light according to a specific frequency, and the light emitting diode receiving module determines whether the received light is received according to a specific frequency. For example, the light emitting diode transmitting module transmits light to be on/off 100 times per second, and the light emitting diode receiving module determines whether the light is received 100 times per second.

The light emitting diode receiving module may modulate it to 0 or 1 according to the reception of the light transmitted by the light emitting diode transmitting module. That is, it is possible to modulate the light transmitted by the light emitting diode transmitting module to 1 when it is received, and to modulate it to 0 when the light is not received when the light is to be received according to the frequency transmitted by the light emitting diode transmitting module. Through this, wireless communication between vehicles using light may be possible.

For example, when the test vehicle 20 is driving in front of the running measurement vehicle 200 , the light emitting diode transmission module provided in the measurement vehicle 200 is directed toward the light emitting diode receiving module of the test vehicle 20 . It emits light at a specific frequency. The light emitting diode receiving module collects information on receiving the light transmitted by the measurement vehicle 200 . The collected information is transmitted to the measurement device mounted on the measurement vehicle 200 according to the V2X communication standard by the measurement target device 100 installed in the test vehicle 20, and the measurement device transmits the received information to the user terminal 220. send to The user terminal 220 compares the information communicated by the light emitting diode transmitting module and the light emitting diode receiving module to test the V2X communication performance of the measured device 100 of the test vehicle 20 in the same way as described above. It is possible. The user terminal 220 compares the data transmitted by the light emitting diode transmitting module with the data received by the second V2X module 214 of the measuring device 210 from the device 100 to be measured, and the light emitting diode transmitting module and the light emitting diode You can test the communication performance of the receiving module.

It is known that the human eye, specifically the lens, operates at an operating speed of 70 to 103 Hz (average 83.68 Hz). Therefore, when the frequency of the light emitted by the light emitting diode transmitting module exceeds the operating speed of the lens, the flickering of the light emitted by the light emitting diode transmitting module cannot be recognized by humans. Therefore, the light emitting diode transmission module can replace the headlight of a vehicle. In addition, the LED receiving module may replace the vehicle's tail light.

The roadside base station 10 according to the present invention further includes a pedestrian detection unit. The pedestrian detection unit, as an embodiment, determines that an unexpected situation has occurred when an abnormal behavior of a pedestrian located in the safety area is detected. The pedestrian detection unit detects a pedestrian by processing data on the road captured by the image monitoring device, that is, image data. At this time, the video surveillance system may be installed to photograph a crosswalk, a sidewalk near a crosswalk, a road near the sidewalk, or an area where pedestrians wait to cross the road using a crosswalk (hereinafter, “safety zone”). The image monitoring device for photographing the image processed by the pedestrian detection unit captures the entire crosswalk and pedestrians in the safety area located at both ends of the crosswalk as objects, and generates image data captured by the pedestrian.

The pedestrian detection unit recognizes the presence of pedestrians between the crosswalk and the safety zone by analyzing and processing the image data of the safety zone and the zone including the crosswalk photographed by the image monitoring device. The pedestrian detection unit analyzes the image data generated by the image monitoring device. The pedestrian detection unit may draw a plurality of virtual lines in the safety area adjacent to the crosswalk. The virtual line, as an embodiment, may be drawn in a direction perpendicular to the direction of the crosswalk formed to connect two sidewalks. That is, the virtual line may be drawn in a direction parallel to the road.

The pedestrian detection unit may draw a plurality of virtual lines. For example, when there are two virtual lines, one may be drawn closer to the crosswalk, and the other may be drawn farther from the crosswalk. If the virtual line drawn farther from the crosswalk is called the first virtual line, and the virtual line drawn closer to the crosswalk is called the second virtual line, the pedestrian detection unit determines that the position of the pedestrian waiting to cross in the safety area is the first virtual line. It is discriminated whether waiting away from the line, waiting to pass through the first virtual line to come into contact with the second virtual line, or whether to wait through both the first virtual line and the second virtual line.

The pedestrian detection unit according to the present invention may receive a signal of a pedestrian traffic light from the signal controller, and may operate when the pedestrian traffic light is currently red. The pedestrian detection unit, when the pedestrian traffic light is currently red, when the pedestrian crosses the first virtual line and waits to come into contact with the second virtual line, and passes both the first virtual line and the second virtual line and waits for the pedestrian A dangerous situation can be detected as a sudden situation by a pedestrian on the road. When the pedestrian detection unit detects a dangerous situation of the pedestrian, the pedestrian detection unit generates alarm information to be transmitted toward the vehicle, and the generated alarm information is transmitted to the first V2X module 140 , and the first V2X module 140 . sends alarm information to the vehicle. On the other hand, it is desirable that the warning information be different when the pedestrian's position passes the first virtual line and waits to come into contact with the second virtual line and when the pedestrian passes both the first virtual line and the second virtual line and waits. . That is, even if the detection of the pedestrian's danger is the same, the case where the pedestrian's position crosses both the first virtual line and the second virtual line and waits is compared to the case where the pedestrian passes the first virtual line and waits to come into contact with the second virtual line could be considered more dangerous.

The pedestrian detection unit according to the present invention generates alarm information with a stronger alarm when it is determined that the current pedestrian's position is more dangerous, that is, when the pedestrian passes both the first virtual line and the second virtual line and waits. can do. A stronger alarm may include, for example, a change in tone displayed by the HMI of the vehicle or an alarm displayed even if the driver does not press the emergency button.

The pedestrian detection unit according to the present invention can distinguish the danger according to the position of the pedestrian waiting in the safety zone and at the same time detect the abnormal behavior of the pedestrian in the safety zone. As described above, the pedestrian detection unit may operate when the traffic light for pedestrians is a red signal, and may determine and recognize the presence of pedestrians in the safety zone and the zone including the crosswalk.

On the other hand, the roadside base station 10 according to the present invention may further include a speaker unit (not shown) that can give an alarm to the pedestrian when an unexpected situation occurs. If the pedestrian traffic light is a red signal and there is a pedestrian in the crosswalk, the speaker unit generates an alarm to give an audible attention effect to the pedestrian, and at the same time, the first V2X module 140 warns the vehicle normally driving on the road. information can be sent.

The video surveillance apparatus according to the present invention includes a motion detector camera having a function of detecting a moving object in a safe area and a crosswalk, an infrared camera having a heat detection function, a camera with a radar attached, and a pan and tilt camera IP communication for performing automatic tracking It may further include at least one of network cameras capable of performing .

The pedestrian detection unit according to the present invention may further include an object detection unit (not shown) and an abnormal behavior detection unit (not shown). The object detecting unit may detect a change in the position of the pedestrian in the area including the safety area and the crosswalk. As an embodiment, the object detecting unit detects the pedestrian by analyzing the movement trajectory of the pedestrian. In addition, the object detection unit patterns the image data to determine the presence of a pedestrian when a pedestrian is detected in the safety zone based on the safety zone. The presence or absence of pedestrians is performed based on shape information and feature information. Pedestrian location tracking performs a block-based matching algorithm based on the shape control points extracted according to the occurrence of object occlusion to track the pedestrian, or tracks the pedestrian by a block matching algorithm based on the center of gravity or a block matching algorithm based on periodic update. can do.

Specifically, the steps of the pedestrian detection unit, particularly the object detection unit, generating a background image based on continuously input image frames, and updating the background image according to whether or not the pedestrian is moving detected from the image frames, and the background image; The steps of detecting a rectangle including all blocks with differences between the input image frame and the motion area as a movement area, extracting a shape control point (SCP) from the detected movement area, and extracting if object occlusion does not occur The block matching algorithm (BMA) is performed based on the shape control points to track the pedestrian, and when object occlusion occurs, the center-of-gravity-based Block Matching Algorithm (CBMA) ) and a periodic-update-based Block Matching Algorithm (PBMA), which may include tracking the pedestrian by any one algorithm.

Meanwhile, in the step of updating the above-described background image, if the value obtained by using <Equation 1> below is less than a preset threshold, the background image is updated using <Equation 2> below.

<Formula 1>

Here, (u, v) denotes horizontal and vertical coordinates, (mx, my) denotes a motion vector, and (p, q) denotes horizontal and vertical sizes of an image block.

<Formula 2>

Here, B(t) represents the background at time t, I(t) represents the input image at time t, and σ represents the mixing ratio experimentally set in the range from 0 to 1. Accordingly, tracking of pedestrians can be continued with only the verified shape control points, thereby being free from potential failure factors such as temporal spatial similarity between the pedestrian and the background, object deformation, and occlusion.

The abnormal behavior detection unit according to the present invention performs pattern analysis by detecting irregular loitering when a specific pedestrian moves continuously in an unspecified movement trajectory for a certain period of time within the safety zone. In the case of loitering and abnormal behavior detection, based on the change in the position of the pedestrian detected by the difference between the image frame and the background image, it detects abnormal situations such as loitering that may occur within the safe zone area to determine whether a specific abnormal situation occurs. effective unattended monitoring.

The abnormal behavior detection unit according to the present invention, as an embodiment, detects an optical flow detected between a current image frame and a previous image frame temporally preceding the current image frame among a plurality of image frames input from the image monitoring device. A background image generation step of generating a background image corresponding to the current image frame based on the background image generation step, a moving object detection step of detecting the movement of a pedestrian from the current image frame by the difference between the background image and the current image frame, and a temporal step until the current image frame Based on the movement trajectory, which is the change in the movement position of the pedestrian detected equally from consecutive image frames with It is divided into a plurality of blocks of the size set in It may include an abnormal behavior detection step.

Additionally, it is possible to detect a still pedestrian based on the difference between the background image and the current image frame and the difference between the past background image and the current image frame, which is a background image generated in response to an image frame preceding the current image frame by a preset reference time. , if the position of the still pedestrian is the same on a preset reference number of image frames that are temporally continuous up to the current image frame, it can be estimated as a still pedestrian. Such a stationary pedestrian is estimated to correspond to a person who faints based on the invariant moment value. In addition, it is possible to estimate the behavior of a person who rushes toward a crosswalk from a safety zone.

In the present specification, the pedestrian detection unit for processing image data on the road may include a main processing unit and a GPU unit including a video card.

On the other hand, the pedestrian detection unit according to the present invention proposes a design of a real-time CCTV image security system using a frame dividing thread when processing images collected from a video surveillance device (CCTV). In the proposed method, in order to reduce the size of image information, a frame blockization method is used in which frames are divided into blocks and compared. At this time, it is implemented using 16 threads for efficient data processing. Since all processed data is encrypted and stored by ARIA encryption algorithm, confidentiality of image information is guaranteed. Through the experimental results, it was confirmed that the image processing speed was improved by about 40% compared to the existing method using the original image, and the size of the image was reduced by about 60%.

In the early days of using CCTV, it was mainly used for security and crime prevention purposes, but now it is used for traffic information collection, crime prevention, accident, evidence, security, monitoring, observation, etc. CCTV is widely used. In the past, CCTV image storage mainly used a limited capacity hard disk. CCTV, which can be said to be a representative security device so far, is being applied to various industries as it meets various information and communication technologies such as artificial intelligence, autonomous driving, Internet of Things, and big data, which are important fields of the 4th industrial revolution. In other words, CCTV can be applied to various fields such as smart home and smart factory as well as various smart city services such as disaster and safety fields, environment and energy, and healthcare. Today's CCTV is able to store a large amount of information by converting from the analog method of the past to the digital method. As such a large amount of information is stored, the cost of storage space has increased significantly, and countermeasures for this have become necessary. In addition, since it is a digital method, access to information is easy, and security measures are also required. CCTV, which is generally used, takes a video as it is, converts it into a digital video, and stores it. That is, it is a method of storing the image as it is without processing it in an appropriate way. Compared to conventional cameras, IP cameras have better picture quality and provide various additional functions, and intelligent IP cameras that can mask personal information analyzed from metadata are also used [5]. However, since the existing methods allow forgery and falsification of images, many security-related problems such as invasion of privacy may occur. The present invention proposes a design and implementation of a real-time CCTV video security system using a frame division thread. In the proposed method, in order to reduce the size of image information, a frame blocking method in which a frame is divided into blocks and compared is used and implemented using 16 threads. Since all processed data is encrypted and stored by ARIA encryption algorithm, confidentiality of image information is guaranteed.

Proposed CCTV video security system

In the image processing process of the system proposed in the present invention, the image is received from the CCTV and image processing and encryption are performed. The processed data is transmitted to the Viewer, and the original image is reproduced by decoding and image restoration in the Viewer. The image processing method in the present invention is a method using the correlation between frames, compares the frame to be compared with the currently reproduced frame, extracts and stores only meaningful pixel values. This is a method using the fact that CCTV, which continuously shoots the same place from a fixed location, has overlapping pixel values than other images. By using this method, frame capacity can be greatly reduced because only meaningful frames are extracted and combined into existing overlapping frames, excluding overlapping frames. Assuming that the video security system takes a picture with a camera and generates a reference frame every 60 seconds, the operation from shooting to transmission to the Viewer server is shown in Figure 1.

<Figure 1. Flowchart of the proposed image processing>

As shown in Figure 1, the proposed image processing process receives frames starting with camera shooting, finds the difference between the comparison target frame and the current frame, and blocks the values. At this time, the difference value between frames and blockization are designed based on 16 split threads in consideration of efficiency. After that, the blocked frames are sorted and the first coordinates of each block (reference frame) are saved in a file. After that, using the ARIA encryption algorithm, encryption is performed on each frame data as a standard and sent to the Viewer, and the processed block alignment data is also sent to the Viewer.

16 split thread design

A moving picture is a technology that makes each still screen, that is, a frame, pass quickly to make it appear as if it is moving. Frame correlation refers to the difference between two frames in the area where the background is the same but a moving object is present when successive frames are slightly different. In order to obtain a pixel difference using the frame correlation, a method of comparing the entire two frames in units of pixels has been mainly used in the prior art. However, since this method takes a lot of time to compare, the present invention proposes a method of processing an image by dividing the image into 16 for more efficient frame comparison. A meaningful content is extracted by comparing the comparison target frame (reference frame) with the currently played frame. That is, in comparison with two frames, a fixed (reference) frame without a moving object is not extracted, but only the difference between the pixels of the two frames is obtained when there is a moving object. At this time, by comparing the pixel difference, redundant data is removed, and only meaningful data is composed of variable blocks. In other words, after comparing the pixel difference, the same part is filled with white and only the moving object (the part different from the reference frame) is filled in the image. The reason for dividing the frame into blocks is to instantiate meaningful pixel values and process them quickly and accurately. Since both finding the difference value between pixels (frames) and blocking the frame can be performed after specifying an area, the entire area can be divided into 16 and threads can be used at the same time. Therefore, the thread of each divided area performs the work of the next frame when the difference value between frames and frame block are performed at the same time period and the work for all areas is finished. By designing 16-split threads in this way, the image processing speed can be increased to prevent speed interference between the current frame and the next frame. Figure 2 shows an example of a frame 16-split thread configuration. A thread is the smallest program unit executed in the CPU and consists of information such as a thread ID, a set of registers, a stack, and a program counter. Since multi-threading can share memory even within the same process, efficient data processing is possible and system resource waste is reduced. In the present invention, when many threads are executed, the image is processed by dividing the data into 16 segments in consideration of the efficiency of data processing. In Figure 2, Locked is used to synchronize, and 16 threads belonging to one process share resources such as memory for parallel processing, so processing speed is very fast.

<Figure 2. Example of frame 16-split thread configuration>

frame reference

Reference frame (image) designation creates a reference image every designated time by using the characteristics of CCTV images that shoot a designated place. When a reference image is specified, subsequent frames are compared with this reference image and pixels. Assuming that the background brightness of the reference image and the subsequent frame is the same and there is a moving object, there is no pixel difference in the overlapping part with the previous one, so this part is filled with white, and only the moving object is extracted and filled in the image. In order to save the size of image files for comparison, a reference image generated every predetermined time is used. Figure 3 (a) shows the method for generating the reference image, and (b) shows the efficient algorithm for pixel comparison.

<Figure 3(a) Reference image generation>

<Figure 3(b) Pixel Comparison>

As shown in Figure 3, a reference image is created every 60 seconds, and this file is encrypted and stored.

Frame Blocking and Block Alignment

When overlapping data is removed by comparing pixel differences, only meaningful data is composed of variable blocks. At this time, a portion having the same pixel is filled with white, only a portion different from the reference frame (image) is filled, and the block is made to a predetermined size. If you want to extract more precise motion or data than this level, you can extract the data by lowering the reference value for pixel comparison or reducing the size of the block. After block formation, each block is filled in order from the top left. At this time, the coordinate values are put in front of each block so that the original position of each block can be found. Blocking and block sorting are performed by searching the entire image by block size. Only when the searched value is not white, the value is stored and blocked. Store the first coordinate of the block and sort the blocks. Figure 4 shows the blockization and block sorting processes that are executed simultaneously in 16 divisions.

<Figure 4. Image Blocking and Block Alignment Process>

When the image is processed through this process, the size of the image file can be reduced by up to 1/30 of the original image file size by reducing unnecessary data. When sorting, the first coordinates of each block are saved in the file, and they are read together when reading through the Viewer and used when rearranging blocks.

Image Viewer Design

In order to reproduce an image as a video, you need to know the processing speed (FPS, Frame Per Second) when taking each image so that you can see the same video as the actual recorded video. If you do not know the FPS, the video may be too fast or too slow, and there may be parts missing during video playback. Therefore, while shooting CCTV, the FPS must be saved in the image file. In the Viewer server, the processed image files are stored after the CCTV image is taken. At this time, since the images are stored after block and block alignment, the viewer has to find the coordinates (coordinates for each reference frame) of each block (fragments) that have already been transmitted. Then, the original image is reproduced by connecting the blocks aligned to the reference image file according to the block coordinates.

Encryption of frame of reference

The proposed CCTV security system performs encryption and decryption based on ARIA encryption algorithm. ARIA, a symmetric key algorithm, has a block length of 128 bits, and the length of a key of 128/192/256 bits can be variably used. Also, according to the size of the key, 10/12/14 rounds are repeated to execute encryption. The implemented encryption engine consists of a round module that performs encryption and decryption and a scheduler for generating key values. In the present invention, an encryption engine is designed and implemented using a key of 128 bits. The round function module consists of three main parts: key addition (AddRoundKey function), substitution layer (SubstLayer function), and diffusion layer (DiffLayer function). Key addition of the round function performs bitwise XOR operation on the 128-bit round key and the 128-bit input value. The permutation layer is composed of two types, and each layer has an 8-bit input and output S-box and an inverse transformation structure for them. The spreading layer performing the spreading function has a 16×16 involution structure and performs matrix operations.

Implementation result

In the present invention, the system is implemented by converting the existing ARIA C (C++) source code into C# code. Using each class, the definition part and the encryption and decryption part were reconstructed, and a fixed key value was set and used. Figure 5 shows the process of converting the C source code of the existing ARIA algorithm into C# code. Figure 6 shows an encrypted example of an aligned frame and a reference frame. Encryption is performed only on the last frame (aligned reference frame) that comes out after block alignment. As shown in Figure 6, if the aligned frame is encrypted, the encrypted frame (reference frame) is stored at the same address. At this time, the file to be encrypted is a reference frame file (bmp file), and due to the nature of this file, if the header part is damaged, the entire file becomes unreadable. Therefore, in the present invention, the bmp file, which is the header part of the frame, is partially encrypted to increase the encryption speed. Figure 7 shows the results of encryption (Ciphertext) and decryption (Decrypted) for three plaintext addresses of the aligned frame in Figure 6, respectively. As described above, the viewer in the video system reads the fixed frame file, the aligned file, and the coordinate file. Then, it reads the coordinates of the block from the coordinate file and applies these coordinates to the block alignment to move the block to its original position.

<Figure 5. Process of converting existing ARIA C code to C#>

<Figure 6. Examples of aligned and encrypted frames>

<Figure 7. Encryption and Decryption Results for Aligned Frames>

Performance evaluation

Table 1 shows the experimental results of the existing original image and the proposed method while shooting an image for 5 minutes.

<Table 1. Comparison of image processing results and performance>

In the case of an original video, it is a method of recording a video without processing the video. In fact, it is the most used method in Korea, requires a lot of storage space, and anyone can access it, so there is a problem in data security. Proposed method 1 shows the result of performing the split-thread-based method proposed here, and Proposed method 2 shows the result of concurrently performing the split-thread-based and encryption method. As can be seen from Table 1, the FPS of Proposed Method 1 was improved by about 40% compared to the existing original video. And the capacity has also been reduced by about 75%, but anyone can access it, so it is exposed to security. In the case of Proposed Method 2, only the header part of the BMP file is partially encrypted and transmitted, so there is no difference from Method 1 in terms of speed. However, the average capacity increased to some extent through encryption, but security is excellent because access and confidentiality of unauthorized persons are guaranteed. Figure 8 shows a part of the screen executed in Viewer. The part shown in white in Figure 8 represents the part with no change (difference) from the reference frame. Among the four files, the image files stored as files in the server are block alignment (a) and reference frame (c). The reference frame and block image (d) are images obtained by synthesizing the result of rearrangement of blocks in the reference frame, and the actual captured image is the same as (d). The encrypted image is decrypted only when the image is played back in the Viewer.

<Figure 8. Viewer execution screen>

The implemented CCTV video security system was implemented using C# of Visual Studio 15, and the camera used USB WebCam ALC-M600.

Because the existing CCTV uses the original image by converting it into a digital image without processing the image, the security is weak in forgery and falsification of the image. In the present invention, the implementation of a frame division thread-based CCTV security system using the ARIA algorithm has been described. The implemented system extracts only meaningful frames, excluding overlapping frames, and processes the images by synthesizing them with the existing overlapping frames, so that the frame capacity can be greatly reduced. The processing speed of the implemented security system was improved by about 40% compared to the existing image processing method, and the capacity was reduced by about 60%. In addition, the implemented system is effective in preventing infringement of personal information or privacy by a third party because the image data is encrypted and stored.

In the present specification, a first sensor module, a first RTK module, a first CAN module, a first V2X module, a second sensor module, a second RTK module, a second CAN module, a second V2X module, a communication module, a display module, a map The display unit, the graph display unit, the error comparison unit, and the calculation unit may be processors that execute consecutive execution processes stored in a memory. Alternatively, it may operate as software modules driven and controlled by a processor. Furthermore, the processor may be a hardware device.

In this specification, a "part" includes a unit realized by hardware, a unit realized by software, and a unit realized using both. In addition, one unit may be implemented using two or more hardware, and two or more units may be implemented by one hardware.

The protection scope of the present invention is not limited to the description and expression of the embodiments explicitly described above. In addition, it is added once again that the protection scope of the present invention cannot be limited due to obvious changes or substitutions in the technical field to which the present invention pertains.

10: roadside base station 20: test vehicle
100: device to be measured 110: first sensor module
120: first RTK module 130: first CAN module
140: first V2X module 200: measurement vehicle
210: measurement device 211: second sensor module
212: second RTK module 213: second CAN module
214: second V2X module 215: communication module
220: user terminal 221: display module
222: map display unit 223: graph display unit
224: error comparison unit 225: calculation unit
1000: V2X performance test system including portable instrumentation

Claims (5)

a device to be measured that is installed in a test vehicle or roadside base station to collect road data, and is capable of transmitting and receiving the collected road data according to the V2X (Vehicle to Everything) communication standard;
a measurement device that can be carried by a user and moved to a measurement vehicle, and capable of transmitting and receiving data on the road according to the V2X communication standard with the device to be measured; and
It includes a user terminal that is carried by a user and moved to the measurement vehicle, is connected to the measurement device, receives the road data transmitted and received by the measurement device, and analyzes the road data to test V2X communication performance,
The device to be measured is
a first RTK module for measuring a position of the device to be measured using RTCM (Radio Technical Commission for Maritime Services) information; and
A first V2X module for transmitting and receiving the data on the road and the measured position of the measured device to the measuring device according to the V2X communication standard,
The measuring device is
a second RTK module for measuring the position of the measuring device using RTCM information;
a second CAN module for collecting driving information of the measured vehicle using a controller area network (CAN) protocol;
a second V2X module for transmitting and receiving data including the measured location of the measuring device and the collected driving information through V2X wireless communication to the measured device; and
and a communication module for transmitting, by the second V2X module, data transmitted by the measuring device to the measured device or data received by the measuring device from the measured device to the user terminal,
The user terminal includes a display module,
The user terminal is
The measurement device analyzes the V2X communication performance based on the data transmitted to the measurement target device or the measurement device receives from the measurement target device and displays it on the display module,
The data is
It includes data on the road collected by the measured device and the measuring device,
The roadside base station is
By processing the data on the road, an abnormal behavior of a pedestrian located in a safety zone including an area where pedestrians wait to cross a road through a crosswalk is detected, and when abnormal behavior of a pedestrian is detected, alarm information is generated and the alarm Further comprising a pedestrian detection unit for transmitting information to the first V2X module,
The pedestrian detection unit,
Draw a first imaginary line and a second imaginary line in the safety zone adjacent to the crosswalk, the first imaginary line is drawn farther from the crosswalk than the second imaginary line,
The pedestrian detection unit,
When the pedestrian passes both the first virtual line and the second virtual line and waits, the alarm information having a stronger alarm than when the pedestrian crosses the first virtual line and waits to come into contact with the second virtual line Detects abnormal behavior of pedestrians by classifying risks according to the location of pedestrians waiting in the safety zone,
The measurement vehicle includes a light emitting diode transmission module that emits light toward the front of the vehicle,
The test vehicle includes a light emitting diode receiving module for receiving light emitted by the light emitting diode transmitting module,
The light emitting diode transmission module is installed in front of the measurement vehicle and transmits light according to a specific frequency toward the test vehicle driving in front,
The light emitting diode receiving module is installed in the rear of the test vehicle to receive the light transmitted by the light emitting diode transmitting module of the measurement vehicle according to a specific frequency, and collect information based on the received light,
The information collected by the light emitting diode receiving module is transmitted to the measurement device mounted in the measurement vehicle according to the V2X communication standard by the device to be measured installed in the test vehicle, and the measurement device transmits the received information to the user send to the terminal,
The user terminal compares the information transmitted by the light emitting diode transmitting module to the light emitting diode receiving module with the information collected by the light emitting diode receiving module received by the measuring device according to the V2X communication standard, and transmitting the light emitting diode Testing the communication performance of the module and the light emitting diode receiving module and the V2X communication performance,
The device to be measured is
Further comprising a video surveillance device for generating data on the road by taking a picture,
The video monitoring device,
a motion detector camera having a function of detecting a moving object in a safe area;
Infrared camera with thermal sensing function;
camera with radar;
Pan and tilt camera for performing automatic tracking; and
At least one of network cameras capable of performing IP communication,
The pedestrian detection unit,
an object detection unit that detects a change in the position of a pedestrian in a safety zone; and
an abnormal behavior detection unit that detects abnormal behavior of pedestrians detected in the safety zone;
further comprising,
The object detection unit,
After generating a background image based on image frames continuously input from the image monitoring device, the background image generated by detecting the movement of a pedestrian from the input image frames is updated,
Detecting a quadrangle including all blocks having a difference between the background image and the image frame as the movement area of the pedestrian,
Extracting a shape control point (SCP) from the detected movement region,
Based on the extracted shape control point, the position change of the pedestrian is sensed,
The abnormal behavior detection unit,
generating a background image corresponding to the current image frame based on the optical flow detected between the current image frame and the previous image frame among the plurality of image frames received from the image monitoring device;
The movement of the pedestrian is detected from the current image frame by the difference between the generated background image and the current image frame,
Based on the movement trajectory of the pedestrian detected identically from the image frames that are temporally continuous up to the current image frame, an abnormal situation that occurs as the pedestrian moves within the safety zone corresponding to the current image frame is detected, but the current image frame It is divided into a plurality of blocks of a preset size, and if the number of times the pedestrian's movement trajectory passes is greater than or equal to the preset number of blocks, it is determined that the pedestrian is a pedestrian engaging in an abnormal behavior within the safety zone. do,
The pedestrian detection unit reduces the size of image information by processing the image collected from the image monitoring device through frame blockization that divides and compares frames into blocks, and encrypts each data of the processed image through an ARIA encryption algorithm. save,
The pedestrian detection unit,
It is possible to extract and store only meaningful pixel values by comparing the frame to be compared with the currently reproduced frame through the correlation of frames, and to synthesize and reproduce the extracted and stored meaningful pixel values with the existing overlapping frames. and
The comparison target frame is generated every 60 seconds,
The correlation of the frames means the difference between the comparison target frame of the part with the moving object and the currently reproduced frame,
In the comparison of the comparison target frame and the currently reproduced frame, when there is a moving object in the comparison target frame and the currently reproduced frame, only the difference between pixels of each frame is obtained and compared;
The pedestrian detection unit,
When comparing the frame to be compared with the currently reproduced frame, the pixel difference is compared, the overlapping data is removed from the currently reproduced frame, and then filled with white, meaningful data is blocked in a certain size, and then each block is sequentially arranged from the upper left. Fill and save
Each of the blocks includes a coordinate value in front of each block so that the original location can be found,
The pedestrian detection unit, V2X performance test including a portable measurement device, characterized in that when the frame is reproduced as an image, the block is synthesized in the original position in the comparison target frame based on the coordinates of the block and reproduced system. The method according to claim 1,
The device to be measured installed in the test vehicle,
V2X performance test system including a portable measuring device, characterized in that it further comprises a first CAN module for collecting driving information of the test vehicle using a CAN protocol. 3. The method according to claim 2,
The user terminal is
It includes a map display unit for displaying the positions of the measuring device and the measured device on a map to be displayed on the display module, characterized in that real-time tracking of the measuring device and the measured device on a map is possible, portable V2X performance test system with instrumentation. 3. The method according to claim 2,
The user terminal is
It includes a graph display unit for displaying the V2X communication performance as a graph,
The graph display unit generates a V2X communication performance test result in real time according to evaluation items based on the analyzed data and displays it on the display module. A V2X performance test system including a portable measuring device. 3. The method according to claim 2,
The user terminal is
and an error comparison unit for comparing a transmission log transmitted by the measuring device and a reception log received by the measured device;
The error comparison unit, as a result of comparing the transmission log and the reception log, when the device to be measured receives data without error, an ACK (ACKnowledge) response is displayed on a display module, a portable measurement device V2X performance test system that includes.

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