KR102533711B1 - System for vehicle driving control at roundabout - Google Patents

Abstract

The present invention relates to a driving control system for a vehicle at a roundabout, which enables safe driving control at a roundabout by driving negotiation or driving negotiation mediation according to various scenarios. The driving control system for a vehicle at a roundabout according to the present invention includes an input unit for receiving driving information of other vehicles at a roundabout in a congested situation, a memory in which a program for controlling the driving of a vehicle at the roundabout is stored, and a processor for executing the program, wherein the processor receives a driving negotiation mediation result from an RSU which has generated a guide different from a basic driving guide for the right-of-way of a turning vehicle in a congested situation and controls a driving behavior at the roundabout according to the driving negotiation mediation result.

Description

Vehicle driving control device at roundabout {SYSTEM FOR VEHICLE DRIVING CONTROL AT ROUNDABOUT}

The present invention relates to a vehicle driving control device at a roundabout.

A roundabout is a type of level intersection that allows cars to pass through the intersection by rotating counterclockwise around a circular traffic island in the center of the intersection. do. In general, roundabouts have fewer collisions than level intersections, operate at low speeds, and reduce driver fatigue due to simple decision-making by drivers, lower maintenance costs than signalized intersections, and accessibility to adjacent roads and regions. It has advantages such as increased lag time and reduced fuel consumption and exhaust gas.

However, some drivers are not properly aware of the driving rules at roundabouts, and autonomous vehicles (cars that drive autonomously based on V2X communication and vehicle sensors), connected cars (V2X communication terminals in general vehicles) There is a problem that the risk of accidents at roundabouts is high in a driving situation in which a vehicle equipped with a vehicle that can communicate with surrounding vehicles and infrastructure) and a general vehicle (a vehicle that is not equipped with an autonomous driving function and a V2X communication terminal) are mixed. As an actual example, in the case of the roundabout in front of the Giheung tollgate on the Gyeongbu Expressway, the number of residents in nearby new towns increased and the traffic volume increased rapidly, and the traffic congestion in and around the roundabout became even more serious, and many of the drivers obeyed the roundabout rules. The roundabout is not playing its role at all, as each driver drives in a different way because he or she does not know the

In addition, the roundabout design guidelines present design specifications such as the design speed of the rotating part and the length and height of the cross section of the central traffic island, but in relation to roundabouts in downtown areas, VRU (Vulnerable Road User, traffic Abbreviation) There is a problem that the operating system considering the road crossing situation has not yet been established.

The present invention has been proposed to solve the above problems, and according to various scenarios in a roundabout traffic situation in which vehicles with V2X terminals installed and general vehicles without V2X terminals are mixed, driving negotiations are performed or driving negotiations are arbitrated. An object of the present invention is to provide a driving control device that enables safe driving control at a roundabout according to the result.

In addition, the present invention promotes smooth traffic flow by creating a driving guide at a roundabout where synergistic delay or congestion occurs, and controls driving behavior in consideration of VRU safety at a crosswalk disposed in an area near a roundabout. An object thereof is to provide a driving control device.

An apparatus for controlling vehicle travel at a roundabout according to the present invention includes an input unit for receiving travel information of other vehicles at a roundabout in a congested situation, a memory storing a drive control program at a roundabout, and a processor for executing the program, , The processor receives the driving negotiation arbitration result from the RSU that generated the guide different from the basic driving guide for the rotation vehicle priority in the congested situation, and controls the driving behavior at the roundabout according to the driving negotiation arbitration result.

The input unit receives the location and route information of the first other vehicle from the first other vehicle equipped with the V2X communication function, and transmits the location and expected route information of the second other vehicle not equipped with the V2X communication function to the preset second other vehicle. It is received from the first other vehicle located in the surrounding area of .

The processor controls the driving behavior to pause before entering the roundabout, transmits a driving negotiation arbitration request to the RSU, and the driving negotiation arbitration result is transmitted to the first other vehicle.

The driving negotiation mediation result is displayed through a notification unit disposed on the central traffic island, and is provided to the driver of the second other vehicle.

The notification unit is located in a predetermined edge area of the central traffic island, and the display surface is rotated and driven according to the position of the second other vehicle.

The input unit receives crosswalk situation information at a crosswalk around the roundabout, and the processor does not transmit a driving negotiation arbitration request to the RSU when it is determined that the congestion situation is a temporary congestion situation due to crossing using the crossing situation information. and control the driving behavior according to the basic driving guide.

The input unit of the vehicle driving control apparatus at the roundabout according to the present invention additionally receives route information of the driving vehicle at the roundabout and VRU information of a crosswalk area disposed near the roundabout, and the processor uses the VRU recognition information. Thus, the behavior of the VRU is predicted, and the driving behavior of the driving vehicle in the roundabout is controlled according to the expected result.

The input unit receives VRU information from at least one of a VRU device and an RSU recognizing the VRU, and the VRU information includes behavioral information about crossing or waiting for crossing.

The processor controls the driving behavior to pause in front of the crosswalk and transmits a notification message about the pause through V2V communication.

When the processor drives in the lane next to the driving vehicle and does not receive an ACK for the notification message from another vehicle that is expected to be traveling in the same direction, the processor controls a driving behavior to notify other vehicles of a crossing situation.

The processor controls the driving behavior to turn the heading angle toward the lane close to the direction of the other vehicle within the driving lane within a predetermined angle or controls turn signal lamp lighting.

According to the present invention, it is possible to prevent traffic accidents and support safe driving at a roundabout where autonomous vehicles, connected cars, and general vehicles are mixed.

According to the present invention, the driving direction at the roundabout is predicted, the driving situation is detected in real time, and the V2X function is used to ensure safety at the roundabout through communication between vehicles, between vehicles and RSUs, and between vehicles and devices owned by the VRU. It has the effect of supporting vehicle driving and pedestrian crossing.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

1 shows a vehicle driving control device at a roundabout according to an embodiment of the present invention.
2A to 2C illustrate a driving control situation of a vehicle entering a first lane at a spiral roundabout according to an embodiment of the present invention.
3A to 3C show a driving control situation of a vehicle entering a second lane at a spiral roundabout according to an embodiment of the present invention, and FIG. 3D shows a vehicle at a lane change suppression type roundabout according to an embodiment of the present invention. shows the driving control situation of
4A to 4C illustrate a driving control situation of a vehicle based on crosswalk area situation information at a spiral roundabout according to an embodiment of the present invention.
5A to 5E illustrate a driving control situation of a vehicle in a congestion situation at a spiral roundabout according to an embodiment of the present invention.
6A and 6B show a driving control situation of a vehicle depending on whether the other vehicle is equipped with a V2X function at a spiral roundabout according to an embodiment of the present invention.
7 illustrates a vehicle driving control method at a roundabout according to an embodiment of the present invention.
8 is a block diagram illustrating a computer system for implementing a method according to an embodiment of the present invention.

The foregoing and other objects, advantages and characteristics of the present invention, and a method of achieving them will become clear with reference to the detailed embodiments described below in conjunction with the accompanying drawings.

However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms, and only the following embodiments provide the purpose of the invention, As only provided to easily inform the configuration and effect, the scope of the present invention is defined by the description of the claims.

Meanwhile, terms used in this specification are for describing the embodiments and are not intended to limit the present invention. In this specification, singular forms also include plural forms unless specifically stated otherwise in a phrase. As used herein, “comprises” and/or “comprising” means the presence of one or more other components, steps, operations, and/or elements in which a stated component, step, operation, and/or element is present. or added.

The present invention proposes a technology for preventing traffic accidents and supporting safe driving of vehicles in a situation where autonomous vehicles, connected cars, and general vehicles (vehicles without V2X function) are mixed driving at a roundabout. . According to the present invention, V2X roadside base stations, V2X vehicle terminals, communication devices of VRUs (pedestrians, bicycles, kickboards, etc.) linked to traffic infrastructure such as cameras and lidar communicate with each other in real time to prevent traffic accidents and drive safely supports

According to an embodiment of the present invention, it is possible to support safe driving at various types of roundabouts, and it is possible to monitor the situation through real-time communication between an autonomous vehicle, a connected car and a VRU (Vulnerable Road User) to monitor a dangerous situation in real time. It is possible to send a warning about In addition, it is possible to support safe driving and prevent accidents through driving negotiation between a vehicle intending to enter the roundabout and a vehicle running in the roundabout. In addition, it is possible to mediate driving by monitoring the driving situation of a general vehicle not equipped with a V2X function.

1 shows a vehicle driving control device at a roundabout according to an embodiment of the present invention.

An apparatus for controlling vehicle travel at a roundabout according to an embodiment of the present invention includes an input unit 110 for receiving classification information and surrounding environment information about a roundabout to which a vehicle is approaching, and a program for controlling vehicle travel at a roundabout. It includes a stored memory 120 and a processor 130 that executes a program, and the processor 130 determines a driving negotiation target according to classification information about a roundabout, surrounding environment information, and driving vehicle route information, and driving negotiation Depending on the result, the vehicle driving behavior in the roundabout is controlled.

The input unit 110 recognizes classification information of the roundabout using at least one of communication information with a road side unit (RSU), map information, and camera recognition information.

The input unit 110 acquires an ID given by the RSU, and the ID is used as identification information when mediating driving negotiations with the RSU.

The processor 130 determines an access lane for the roundabout using the classification information and route information for the roundabout, and transmits a driving command signal to drive to the corresponding access lane.

The processor 130 considers the surrounding environment information about the object in the crosswalk area disposed in the direction in which the traveling vehicle leaves the roundabout, performs driving negotiation with the device of the object, or receives the driving negotiation mediation result of the RSU, , and controls the driving behavior for crossing the crosswalk.

The processor 130 controls a driving behavior by using a driving negotiation result determined according to a congestion level of an object waiting to cross or crossing a crosswalk area.

The processor 130 controls the driving behavior by using the surrounding environment information on the congestion situation in the roundabout, but performs driving negotiation with other vehicles depending on whether other vehicles having a collision risk of more than a preset value are equipped with a V2X communication function, or , Receives the driving negotiation arbitration result of the RSU, and controls the driving behavior for entering the roundabout.

The processor 130 receives information on the location and expected route of another vehicle from another vehicle or RSU, and calculates the risk of collision with another vehicle using weights that are set differently according to the classification of the roundabout. Control driving behavior.

A driving control device at a roundabout according to another embodiment of the present invention includes an input unit 110 for receiving driving information of other vehicles at a roundabout in a congested situation, and a memory 120 storing a driving control program at a roundabout. and a processor 130 executing the program, wherein the processor 130 receives a driving negotiation arbitration result from the RSU that has generated a guide different from the basic driving guide for turning vehicle priority in a congestion situation, and determines the driving negotiation arbitration result according to the driving negotiation arbitration result. It controls the driving behavior at the roundabout according to the

The input unit 110 receives the location and route information of the first other vehicle from the first other vehicle equipped with the V2X communication function, and transmits the location and estimated route information of the second other vehicle not equipped with the V2X communication function to a preset second vehicle. 2 Received from the first other vehicle located in the surrounding area of the other vehicle.

The processor 130 controls the driving behavior to pause before entering the roundabout, transmits a driving negotiation arbitration request to the RSU, and the driving negotiation arbitration result is transmitted to the first other vehicle.

The driving negotiation mediation result is displayed through a notification unit disposed on the central traffic island, and is provided to the driver of the second other vehicle.

The notification unit is located in a predetermined edge area of the central traffic island, and the display surface is rotated and driven according to the position of the second other vehicle.

When the input unit 110 receives information on a crossing situation at a crosswalk around a roundabout and the processor 130 determines that the congestion situation is a temporary congestion situation due to crossing using the crossing situation information, the processor 130 drives to the RSU. It is controlled not to send a request for negotiation mediation, and the driving behavior is controlled according to the basic driving guide.

The input unit 110 of the driving control device at the roundabout according to another embodiment of the present invention additionally receives route information at the roundabout of the driving vehicle and VRU information of a crosswalk area disposed near the roundabout, and the processor (130) predicts the behavior of the VRU using the VRU recognition information, and controls the driving behavior of the traveling vehicle at the roundabout according to the predicted result.

The input unit 110 receives VRU information from at least one of a VRU device and an RSU recognizing the VRU, and the VRU information includes behavioral information about crossing or waiting for crossing.

The processor 130 controls the driving behavior to stop temporarily in front of a crosswalk, and transmits a notification message about the temporary stop through V2V communication.

When the processor 130 drives in a lane next to the vehicle and does not receive an ACK for the notification message from another vehicle that is expected to be traveling in the same direction, the processor 130 controls a driving behavior for notifying other vehicles of a crossing situation.

The processor 130 controls the driving behavior to turn the heading angle toward the lane closer to the direction of the other vehicle within the driving lane within a predetermined angle, or controls turn signal lamp lighting.

2A to 2C illustrate a driving control situation of a vehicle entering a first lane at a spiral roundabout according to an embodiment of the present invention.

While FIGS. 2A to 2C show a case where there is no crosswalk near the roundabout, an embodiment described later shows a case where there is a crosswalk near the roundabout.

When a crosswalk exists in the vicinity of a roundabout, as in an embodiment described later, information of a VRU crossing at a crosswalk or waiting to cross at a crosswalk is recognized, and a terminal vehicle terminal possessed by the VRU communicates with it, Vehicle driving behavior control at the roundabout is performed according to the driving negotiation command of the RSU.

As another example, even when there is no crosswalk near the roundabout, a VRU may jaywalk, so there is a VRU whose location information is confirmed through image recognition near the roundabout, or If the movement path information of the terminal in possession can be checked, it is checked whether the corresponding VRU is a general legal pedestrian (that is, whether the pedestrian is not at risk of jaywalking), is jaywalking, or is a pedestrian with the possibility of jaywalking. and provides information about the corresponding VRU to a vehicle entering the roundabout or a vehicle running within the roundabout, and controls driving behavior to prevent an accident with the VRU.

The driving vehicle (HV) is a straight ahead vehicle that enters the roundabout from the 6 o'clock direction and wants to advance in the 12 o'clock direction.

The driving vehicle (HV) uses the pre-established map information to use the classification information of the roundabout to enter currently (micro roundabout, small roundabout, one-lane roundabout, two-lane roundabout, spiral roundabout, planar roundabout). Roundabouts, three-dimensional roundabouts, etc.) Alternatively, the camera can be used to recognize signs and identification codes (e.g., QR codes) around the road, and information on the roundabout can be checked. Alternatively, information on the roundabout to be entered can be checked through communication with the RSU(R).

Since the driving vehicle HV intends to drive along the driving path as described above, it must enter the roundabout by driving on the first lane considering the classification information (helical roundabout) of the roundabout. This is because when entering a roundabout by driving on a two-lane, only entry in the 3 o'clock direction is allowed. Therefore, if the driver has the right to control the driving of the vehicle (HV) and is not driving on the first lane until the time of entering the roundabout (eg, a predetermined distance from the crosswalk located before entering the roundabout, for example, 300 meters), By providing a notification to the driver of the driving vehicle (HV), it informs them that they must change lanes to the primary lane. Through this, the driver can change lanes to the first lane to pass through the roundabout of entering at 6 o'clock and exiting at 12 o'clock. Alternatively, the vehicle has the driving control right of the driving vehicle (HV), enters the first lane until entering the roundabout due to traffic congestion in the first lane or unusual circumstances (eg, vehicle breakdown or accident between vehicles in the first lane, etc.) and drives. If not, entry into the first lane is performed within the area where entry into the first lane is permitted. Alternatively, the driving control right of the driving vehicle HV is switched (from the vehicle to the driver) so that the driver can enter the first lane through manual driving behavior control.

Referring to FIG. 2A , the driving vehicle HV is still before entering the roundabout, and the first other vehicle RV1 has entered the roundabout on the first lane from the 9 o'clock direction. When the driving vehicle (HV) and the first other vehicle (RV1) are equipped with the V2X function, mutual driving information (location information, route information, It is possible to exchange driving information such as heading angle, etc., for example, the first other vehicle may notify that it wants to enter from the 9 o'clock direction and leave from the 12 o'clock direction). Alternatively, the driving vehicle HV and the first other vehicle RV1 may communicate with the RSU(R) to transmit/receive driving-related information.

If the first other vehicle RV1 is not equipped with the V2X function, the driving vehicle HV can receive information about the first other vehicle RV1 driving after entering the roundabout from the RSU(R). , At this time, the reliability level for the driving route of the first other vehicle RV1 may be lower than that when the driving route is directly received from the first other vehicle RV1 equipped with the V2X function. Because, the driving path of the first other vehicle RV1 received from the RSU(R) is information estimated through the driving behavior of the first other vehicle (entered lane, current heading angle, etc.), and the driver of the first other vehicle There may be a case where the driver ignores the driving guide in the roundabout and drives (for example, entering the first lane at 9 o'clock and changing the lane to the second lane at 6 o'clock and exiting at 3 o'clock). Therefore, the driving vehicle (HV) does not simply calculate the risk of collision by using the driving route information of other vehicles and determines its own driving behavior, but a scenario in which the driving route information of the other vehicle is received (that is, a subject transmits It is preferable to control the behavior of the traveling vehicle (HV) by setting different weights for each scenario) and applying them to the collision risk calculation.

At this time, regarding the reliability level, not only the classification information of the roundabout but also various types of traffic conditions may be considered. For example, it is assumed that a situation is received from the RSU(R) that the first other vehicle RV1 is not equipped with the V2X function and has entered the roundabout at 9 o'clock. However, vehicles entering from the 9 o'clock direction can enter the roundabout through the first lane, enter through the second lane, or enter the same way in the 3 o'clock direction. That is, it can be expected that a vehicle entering through the first lane from the 9 o'clock direction will not necessarily perform a lane change to the second lane. In addition, it can be expected that the lane change to the second lane will not be performed further in the solid line section other than the dotted line section within the roundabout. However, assuming that a large number of vehicles entering the 12 o'clock direction are creating a congestion situation on the first lane from 6 o'clock to 3 o'clock in the roundabout, there is a roundabout with one lane from the 9 o'clock direction. If you have entered and want to leave at 3 o'clock, there is a high possibility that the first other vehicle (RV1) will change lanes to the second lane, and the behavior of the lane change at this time can be predicted using the heading angle of the first other vehicle. can do. Therefore, even if it is received from the RSU(R) that the first other vehicle RV1 of the same specification entered the roundabout from the same direction (9 o'clock), the classification information of the roundabout and the traffic situation information within the roundabout It is desirable to control the driving behavior of the driving vehicle (RV) by comprehensive consideration.

Referring to FIG. 2B , the driving vehicle HV receives driving information of the first other vehicle RV1 from the first other vehicle RV1 or from the RSU(R), so that the first other vehicle RV1 enters the roundabout. You will wait until you pass by. And, as shown in FIG. 2C, when the first other vehicle RV1 passes a certain driving point in the roundabout (the certain driving point is variably set through classification information of the roundabout, route information of the driving vehicle, etc.) can), the driving vehicle (HV) enters the roundabout and travels according to the intended route. For example, in the situation of FIG. 2B, the first other vehicle RV1 informs the driving vehicle RV of its driving route (to advance in the 3 o'clock direction) through V2V communication, and received through RSU(R) According to the traffic situation information within one roundabout, if congestion does not occur within the roundabout, there is a high possibility that the first other vehicle (RV1) will suddenly brake and not change lanes to the second lane. When another vehicle RV1 passes a certain driving point, the driving vehicle HV enters the roundabout and travels along a target route. On the other hand, the first other vehicle (RV1) is not equipped with a V2X communication function, and according to the traffic situation information within the roundabout received through the RSU(R), traffic jam occurs on the first lane from 6:00 to 3:00 at the roundabout. When monitored, the driving vehicle HV changes the predetermined driving point of the first other vehicle RV1 (it will be a point that is slightly moved to the 3 o'clock direction compared to the above-mentioned case) to the lane of the first other vehicle RV1. Calculate the risk of collision in preparation for the possibility of change, and allow RVs to safely enter the roundabout.

3A to 3C show a driving control situation of a vehicle entering a second lane at a spiral roundabout according to an embodiment of the present invention, and FIG. 3D shows a vehicle at a lane change suppression type roundabout according to an embodiment of the present invention. shows the driving control situation of

The driving vehicle (HV) is a straight ahead vehicle that enters the roundabout from the 6 o'clock direction and wants to advance in the 3 o'clock direction.

The driving vehicle (HV) checks the classification information of the roundabout to be currently entered by using the previously built map information, camera recognition information, and communication result with the RSU.

Since the driving vehicle HV intends to drive along the driving path as described above, it must enter the roundabout by driving on two lanes considering the classification information (helical roundabout) of the roundabout. This is because when driving on the first lane and entering the roundabout, entry in the 12 o'clock direction or 9 o'clock direction is allowed. Therefore, the driver has the right to control the driving of the vehicle (HV) and is not driving in the second lane until the time of entering the roundabout (eg, a predetermined distance from the crosswalk located before entering the roundabout, for example, 300 meters), By providing a notification to the driver of the driving vehicle (HV), it informs them that they need to change lanes to the second lane. Through this, the driver can perform a lane change to a second lane in order to pass through the roundabout of entering at 6 o'clock and exiting at 3 o'clock. Alternatively, the vehicle has the driving control right of the driving vehicle (HV) and is not driving into the second lane until the time of entering the roundabout due to a special situation on the second lane (eg, vehicle breakdown or accident between vehicles in the second lane) In this case, entry into the second lane is performed within an area where entry into the second lane is permitted. Alternatively, the driving control right of the driving vehicle HV is switched (from the vehicle to the driver) so that the driver can enter the second lane through manual driving behavior control.

Referring to FIG. 3A , the driving vehicle HV has not yet entered the roundabout, and the first other vehicle RV1 has entered the roundabout with the first lane from the 9 o'clock direction. When the driving vehicle (HV) and the first other vehicle (RV1) are equipped with the V2X function, mutual driving information (location information, route information, It is possible to exchange driving information such as heading angle, etc., for example, the first other vehicle may notify that it wants to enter from the 9 o'clock direction and leave from the 12 o'clock direction). Alternatively, the driving vehicle HV and the first other vehicle RV1 may communicate with the RSU(R) to transmit/receive driving-related information.

If the first other vehicle RV1 is not equipped with the V2X function, the driving vehicle HV can receive information about the first other vehicle RV1 driving after entering the roundabout from the RSU(R). , At this time, the reliability level for the driving route of the first other vehicle RV1 is lower than when the driving route is directly received from the first other vehicle RV1 equipped with the V2X function. Because, the driving path of the first other vehicle RV1 received from the RSU(R) is information estimated through the driving behavior of the first other vehicle (entered lane, current heading angle, etc.), and the driver of the first other vehicle There may be a case where the driver ignores the driving guide in the roundabout and drives (for example, entering the first lane at 9 o'clock and changing the lane to the second lane at 6 o'clock and exiting at 3 o'clock). Therefore, the driving vehicle (HV) does not simply calculate the risk of collision by using the driving route information of other vehicles and determines its own driving behavior, but a scenario in which the driving route information of the other vehicle is received (that is, a subject transmits It is preferable to control the behavior of the traveling vehicle (HV) by setting different weights for each scenario) and applying them to the collision risk calculation.

At this time, regarding the reliability level, not only the classification information of the roundabout but also various types of traffic conditions may be considered. For example, it is assumed that a situation is received from the RSU(R) that the first other vehicle RV1 is not equipped with the V2X function and has entered the roundabout at 9 o'clock. However, vehicles entering from the 9 o'clock direction can enter the roundabout through the first lane, enter through the second lane, or enter the same way in the 3 o'clock direction. That is, it can be expected that a vehicle entering through the first lane from the 9 o'clock direction will not necessarily perform a lane change to the second lane. In addition, it can be expected that the lane change to the second lane will not be performed further in the solid line section other than the dotted line section within the roundabout. However, assuming that a large number of vehicles entering the 12 o'clock direction are creating a congestion situation on the first lane from 6 o'clock to 3 o'clock in the roundabout, there is a roundabout with one lane from the 9 o'clock direction. If you have entered and want to leave at 3 o'clock, there is a high possibility that the first other vehicle (RV1) will change lanes to the second lane, and the behavior of the lane change at this time can be predicted using the heading angle of the first other vehicle. can do. Therefore, even if it is received from the RSU(R) that the first other vehicle RV1 of the same specification entered the roundabout from the same direction (9 o'clock), the classification information of the roundabout and the traffic situation information within the roundabout It is desirable to control the driving behavior of the driving vehicle (RV) by comprehensive consideration.

Referring to FIG. 3B , the driving vehicle HV receives a notification from the first other vehicle RV1 that the first other vehicle will advance in the 12 o'clock direction, and smooth traffic flow in the intersection from the RSU(R). Upon receiving a notification that it is, the driving behavior for entering the roundabout and exiting in the 3 o'clock direction is controlled. As shown in FIG. 3C , driving is performed according to a mutually predicted driving path, and thus it is possible to safely drive through each lane in a state in which there is no risk of collision.

On the other hand, the first other vehicle (RV1) is not equipped with a V2X communication function, and according to the traffic situation information within the roundabout received through the RSU(R), traffic jam occurs on the first lane from 6:00 to 3:00 at the roundabout. When monitored, the driving vehicle HV changes a certain driving point of the first other vehicle RV1 (it will be a point that is slightly moved to the 3 o'clock direction compared to the above-mentioned case) to the lane of the first other vehicle RV1. Calculate the risk of collision in preparation for the possibility of change, and allow RVs to safely enter the roundabout.

Referring to FIG. 3D , the first other vehicle RV1 is a vehicle that enters through the second lane from the 9 o'clock direction, and may change lanes in the dotted line section within the roundabout. Therefore, the driving vehicle (HV) has a greater possibility of another vehicle changing lanes in the dotted line section of the lane change suppression type roundabout than the possibility of other vehicles changing lanes in the solid section of the spiral roundabout. The risk of collision is calculated by setting different weights according to each situation, and accordingly, driving is performed according to a driving behavior control scenario in which the risk of collision is less than or equal to a preset standard.

4A to 4C illustrate a driving control situation of a vehicle based on crosswalk area situation information at a spiral roundabout according to an embodiment of the present invention.

The driving vehicle (HV) considers the surrounding environment information about the object in the crosswalk area disposed in the direction of exit from the roundabout, performs driving negotiation with the device of the object, or receives the driving negotiation mediation result of the RSU to cross the road It controls the driving behavior for passing sidewalks. At this time, the driving vehicle HV controls the driving behavior by using a driving negotiation result determined according to the congestion level of objects waiting to cross or crossing the crosswalk area.

Referring to FIG. 4A , the first VRU (V1) is a single object, and the distance of the driving vehicle (HV) to the crosswalk after entering the roundabout is equal to or greater than a predetermined reference value (eg, 20 meters). At this time, the traveling vehicle HV communicates with the terminal owned by the first VRU (V1) or receives a driving negotiation result from the RSU, so that the first VRU (V1) traverses first, and itself is the first VRU ( After V1) completes the crossing, the driving behavior is controlled to advance in the 3 o'clock direction. This is a situation in which there are no other people waiting for a crosswalk other than the first VRU (V1), no congestion situation in the roundabout, and since the distance between the traveling vehicle (HV) and the crosswalk at 3 o'clock is more than a certain distance, the first Compared to the case where the VRU (V1) crosses first and then the driving vehicle (HV) advances in the 3 o'clock direction (for example, when the order of crossing and driving is reversed), the possibility of an accident is significantly lower, and the driving vehicle (HV) This is because only a difference of less than a certain standard (eg, 30 seconds) occurs in the time required to pass through the roundabout.

Referring to FIG. 4B , the congestion level of the second VRU V2 is “2”, and the congestion level is higher than that of FIG. 4A. The distance from the HV to the crosswalk after entering the roundabout is less than a certain standard value (eg, 20 meters). At this time, the driving vehicle HV communicates with the terminal possessed by the second VRU V2 or receives a driving negotiation result from the RSU so that the driving vehicle HV advances to the 3 o'clock direction first, and the second VRU (V2) is to be crossed after the passage of the driving vehicle. This means that the second VRU (V2) is not waiting in front of the crosswalk, but is walking to the crosswalk at a certain distance (eg, 10 meters) to wait for the crossing, and the driving vehicle (HV) and the crosswalk at 3 o'clock Since the distance to is less than a certain distance, the driving behavior is controlled so that the driving vehicle HV advances first in the 3 o'clock direction without stopping suddenly in front of the crosswalk.

Referring to FIG. 4C , the third VRU (V3) has a congestion level of “3” and has a higher congestion level than FIGS. 4A and 4B. Since the driving vehicle (HV) is a vehicle that has not yet entered the roundabout, it does not enter the roundabout until the third VRU (V3) has all crossed the crosswalk, and waits in a safe area such as a concession point or crosswalk It will drive slowly to the front.

The related information of the VRU includes speed and direction information of the VRU, and by using this, the behavior of the VRU is analyzed to confirm, for example, whether there is no VRU suddenly jumping into the crosswalk, and to enter the roundabout through the crosswalk. driving behavior control is performed.

5A to 5E illustrate a driving control situation of a vehicle in a congestion situation at a spiral roundabout according to an embodiment of the present invention.

Referring to FIG. 5A , congestion occurs in the roundabout due to vehicles entering the roundabout at 9 o'clock and 6 o'clock. It is assumed that the first other vehicle RV1 and the third other vehicle RV3 are vehicles equipped with a V2X communication function. According to the existing guideline, since the driving vehicle (HV) must give way to the vehicle driving in the roundabout, it is impossible to enter the roundabout until all congestion situations are resolved. Accordingly, when a driving vehicle (HV) temporarily stopped before entering a roundabout requests an arbitration of driving negotiation, or the RSU itself intervenes and transmits the result of driving negotiation arbitration, or through driving negotiation between vehicles, it is not an unconditional concession. The driving guideline at the roundabout is modified so that mutually appropriate concessions are made, and through this, the driving behavior control at the roundabout is performed.

Referring to FIG. 5B, the first other vehicle RV1 and the third other vehicle RV3 drive at a certain distance based on the rear of the preceding vehicle in each driving lane in a congested situation, then stop temporarily, and the driving vehicle (HV) enters the roundabout. At this time, the driver of the 2nd other vehicle (RV2) and 4th other vehicle (RV4) not equipped with the V2X communication function can turn on the emergency lights of the 1st other vehicle (RV1) and the 3rd other vehicle (RV3), etc. It informs the driving vehicle (HV) that it is giving way. In the case of negotiation between vehicles, the driving vehicle (HV) or in the case of mediation of driving negotiation, the RSU (R) receives the location and route information of the vehicle from the vehicle equipped with the V2X communication function, and the V2X communication function is installed. In the case of a vehicle that is not registered, it is shared according to the acquisition of the information of the vehicle from other vehicles (vehicles equipped with V2X communication function) located in the surrounding area of the vehicle. The notification unit (D) disposed on the central traffic island displays the driving negotiation arbitration result of the RSU (R), so that the driver of the vehicle (RV2, RV4) not equipped with the V2X communication function can recognize the driving negotiation arbitration result. let it be This notification unit (D) is disposed in a predetermined edge area in the central traffic island, and the display surface is rotated and driven in consideration of the location information of the vehicle (RV2, RV4) not equipped with the V2X communication function, or the notification unit ( D) It is possible to drive the display surface rotationally at the same time as it moves.

Referring to FIG. 5C , the driving vehicle HV receives cause information (a pedestrian V3 crossing at a crosswalk in the 3 o'clock direction) of a congestion situation in a roundabout from the RSU(R), and the congestion situation is a temporary congestion situation. If it is determined that the congestion situation is all resolved, the roundabout is entered as shown in FIG. 5E. The RSU(R) preemptively transmits traffic situation information within the roundabout to the driving vehicle (HV) intending to enter the roundabout, or in response to a request for mediation of driving negotiations from the driving vehicle (HV), It is possible to transmit traffic condition information.

6A and 6B show a driving control situation of a vehicle depending on whether the other vehicle is equipped with a V2X function at a spiral roundabout according to an embodiment of the present invention.

Referring to FIG. 6A , the driving vehicle HV predicts the behavior of the VRU using VRU recognition information, and controls the driving behavior of the driving vehicle HV at the roundabout according to the result. The driving vehicle (HV) receives VRU-related information from at least one of the device of the VRU (V2) and the RSU (R) recognizing the VRU (V2), and the VRU-related information includes behavioral information about crossing or waiting for crossing. is included When a pedestrian waiting to cross is recognized, the driving vehicle HV controls the driving behavior to stop in front of the crosswalk and transmits a notification message about the temporary stop to the surroundings. The third other vehicle (RV3) equipped with the V2X communication function recognizes the pause situation of the preceding vehicle (HV) through a notification message, and also pauses in front of the crosswalk.

Referring to FIG. 6B, since the ACK message for the notification message transmitted by the driving vehicle (HV) is not received from the fourth other vehicle (RV4) not equipped with the V2X communication function, the driving vehicle (HV) is the fourth other vehicle (RV4). The vehicle (RV4, a vehicle driving in the lane next to the driving vehicle and likely to advance in the direction of 3 o'clock) controls the driving behavior to notify the crossing situation. At this time, the driving vehicle HV controls the driving behavior to turn the heading angle toward the lane closer to the fourth other vehicle RV4 within the driving lane within a predetermined angle, or controls the lighting of the turn signal lamp to control the fourth other vehicle HV. Even if the driver of RV4 is not aware of the situation in the blind spot, it supports safe driving according to the driving behavior of the vehicle (HV) ahead in the next lane.

7 illustrates a vehicle driving control method at a roundabout according to an embodiment of the present invention.

In step S710, the RSU checks whether there is a vehicle approaching the roundabout within a preset distance using V2X, camera, radar, etc., and checks whether the vehicle is equipped with a V2X terminal through I2V communication. IDs are given to general vehicles not equipped with V2X terminals, and tracking and prediction of driving directions within roundabouts are performed (using cameras, LIDAR, etc.). In addition, an ID is given to a vehicle equipped with a V2X terminal.

In step S720, the roundabout information check procedure is performed, in step S730, the driving path of the first vehicle HV and the situation in the roundabout check procedure are performed, and in step S740, first vehicle driving control is performed. For example, if it is confirmed in step S720 that the right turn lane is a separately separated roundabout, in step S730 it is confirmed that a vehicle approaching the roundabout is turning right, and it is confirmed that driving to the second lane is required, step S740 is a roundabout. After entering, make a right turn. In step S720, if it is confirmed that the right turn lane is a roundabout that is not separately separated, or if it is determined that the first vehicle (HV) does not turn right at the roundabout where the right turn lane is separately separated in steps S720 and S730, step S730 turns It checks vehicles in the intersection and determines whether it is possible to enter the roundabout. When there is a driving vehicle in the roundabout, it is determined whether or not to request driving negotiation to the RSU by checking whether or not there is a congestion situation in the roundabout. When the V2X terminal is mounted on the other vehicle (RV), vehicle-to-vehicle negotiation may be performed. As the driving negotiation is completed or as the driving negotiation arbitration result is received, the vehicle enters the roundabout at the time permitted in step S740 and exits the roundabout according to the intended route. When entering the roundabout, step S730 checks whether the VRU is crossing or waiting to cross the crosswalk in the direction of entry, and if the VRU has a communication-capable device, V2P driving negotiation is performed, and the VRU-communicable device When not possessing the driving behavior of the first vehicle HV in step S740 according to the driving negotiation arbitration of the RSU, the driving behavior control is performed. In step S730, if it is confirmed that the VRU has passed the crosswalk, or if it is confirmed that the VRU is more than a certain distance away from the crosswalk, in step S740, the first vehicle HV passes through the crosswalk area and finally advances from the roundabout. do.

8 is a block diagram illustrating a computer system for implementing a method according to an embodiment of the present invention.

Referring to FIG. 8 , a computer system 1000 includes a processor 1010, a memory 1030, an input interface device 1050, an output interface device 1060, and a storage device 1040 communicating through a bus 1070. ) may include at least one of Computer system 1000 may also include a communication device 1020 coupled to a network. The processor 1010 may be a central processing unit (CPU) or a semiconductor device that executes instructions stored in the memory 1030 or the storage device 1040 . The memory 1030 and the storage device 1040 may include various types of volatile or non-volatile storage media. For example, memory can include read only memory (ROM) and random access memory (RAM). In an embodiment of the present description, the memory may be located inside or outside the processor, and the memory may be connected to the processor through various known means. Memory is a volatile or non-volatile storage medium in various forms, and may include, for example, read-only memory (ROM) or random access memory (RAM).

Accordingly, an embodiment of the present invention may be implemented as a computer-implemented method or as a non-transitory computer-readable medium in which computer-executable instructions are stored. In one embodiment, when executed by a processor, the computer readable instructions may perform a method according to at least one aspect of the present disclosure.

The communication device 1020 may transmit or receive a wired signal or a wireless signal.

In addition, the method according to the embodiment of the present invention may be implemented in the form of program instructions that can be executed by various computer means and recorded on a computer readable medium.

The computer readable medium may include program instructions, data files, data structures, etc. alone or in combination. Program instructions recorded on the computer readable medium may be specially designed and configured for the embodiments of the present invention, or may be known and usable to those skilled in the art in the field of computer software. A computer-readable recording medium may include a hardware device configured to store and execute program instructions. For example, computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, floptical disks and It may be the same magneto-optical media, ROM, RAM, flash memory, or the like. The program instructions may include high-level language codes that can be executed by a computer through an interpreter or the like as well as machine language codes generated by a compiler.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concept of the present invention defined in the following claims are also included in the scope of the present invention. that fall within the scope of the right.

Claims (11)

An input unit for receiving driving information of another vehicle at a roundabout in a congested situation;
a memory storing a driving control program at the roundabout; and
A processor for executing the program;
The processor receives a driving negotiation mediation result from an RSU that generates a guide different from the basic driving guide for turning vehicle priority in the congested situation, and controls a driving behavior at the roundabout according to the driving negotiation mediation result;
The input unit receives route information of a traveling vehicle at a roundabout and VRU information of a crosswalk area disposed in the vicinity of the roundabout, and the processor predicts the behavior of the VRU using the VRU information, and the expected result According to this, the driving behavior of the driving vehicle at the roundabout is controlled, the driving behavior is controlled to stop in front of the crosswalk, a notification message for the temporary stop is transmitted through V2V communication, and the next lane of the driving vehicle When driving and not receiving an ACK for the notification message from another vehicle that is expected to be traveling in the same direction, controlling the driving behavior to notify the other vehicle of the crossing situation
A vehicle driving control device at a roundabout.
According to claim 1,
The input unit receives the location and route information of the first other vehicle from the first other vehicle equipped with the V2X communication function, and transmits the location and expected route information of the second other vehicle not equipped with the V2X communication function to the preset second vehicle. 2 Received from the first other vehicle located within the surrounding area of the other vehicle
A vehicle driving control device at a roundabout.
According to claim 2,
The processor controls the driving behavior to temporarily stop before entering the roundabout, transmits a driving negotiation arbitration request to the RSU,
The driving negotiation mediation result is transmitted to the first other vehicle.
A vehicle driving control device at a roundabout.
According to claim 2,
The driving negotiation arbitration result is displayed through a notification unit disposed on the central traffic island and provided to the driver of the second other vehicle.
A vehicle driving control device at a roundabout.
According to claim 4,
The notification unit is located in a predetermined edge area of the central traffic island, and the display surface is rotated and driven according to the position of the second other vehicle.
A vehicle driving control device at a roundabout.
According to claim 1,
The input unit receives crossing situation information in a crosswalk around the roundabout,
When the processor determines that the congestion situation is a temporary congestion situation due to crossing using the crossing situation information, the processor controls not to transmit a driving negotiation arbitration request to the RSU, and adjusts the driving behavior according to the basic driving guide. controlling
A vehicle driving control device at a roundabout.
delete According to claim 1,
The input unit receives the VRU information from at least one of a device of the VRU and an RSU recognizing the VRU, and the VRU information includes behavior information about crossing or waiting for crossing
A vehicle driving control device at a roundabout.
delete delete According to claim 1,
The processor controls the driving behavior to turn the heading angle toward the lane closer to the direction of the other vehicle within the driving lane within a preset angle, or controls turning on the turn signal lamp.
A vehicle driving control device at a roundabout.

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