KR102592458B1 - A device that requires traffic signal status information or a device equipped with software to analyze information transmitted to an autonomous vehicle and improve accuracy - Google Patents

Abstract

The present invention is a device that requires traffic signal status information or a device that analyzes information transmitted to an autonomous vehicle and is equipped with software to improve accuracy, such as an on-vehicle terminal (OBE) or a device with the same/similar functions. is mounted on a traffic signal controller, acquires traffic signal status information (international standard SAE J2735 SPaT) through the device, compares it with the information generated by the controller (traffic light driving information), calculates the time difference, and provides it to the means of transportation, thereby This is to ensure the accuracy and reliability of the information generated as the signal controller cannot secure the reliability of the information generated, which may cause problems.

Description

A device that requires traffic signal status information or a device equipped with software to analyze information transmitted to autonomous vehicles and improve accuracy {A device that requires traffic signal status information or a device equipped with software to analyze information transmitted to an autonomous vehicle and improve accuracy}

The present invention is a device aimed at deriving time differences and error results between on-site traffic light output and traffic signal status information, and providing correction information. The present invention is a device that uses only various sensors in the autonomous driving environment. has been implemented, but currently, the traffic signal controller uses the international standard SAE J2735 SPaT message to send traffic signal information to the autonomous vehicle to encourage smooth driving. As of now, the reliability of the information generated by the traffic signal controller has not been secured. This is to ensure the accuracy and reliability of the information that has occurred, as it may cause problems.

In addition, registration output information and SPaT (traffic signal status information) are collected and compared to derive results, information can be provided upon request from the control center (signal information center), and history is saved according to defined operation settings. and decide whether to stop providing SPaT information.

Currently, autonomous driving is carried out on highways using various sensors such as video and lidar (it is still in the beginning stage of level 3, but it will be reached in the near future to a level where level 5 drivers are not needed), but in urban areas, signals from traffic signal controllers are used. You may experience difficulties in driving due to traffic lights that are controlled by your vehicle. To solve this problem, international standards such as WAVE, SAE J2735, and ISO 15784 are being implemented/used.

To be more specific, in urban areas, traffic signal controllers provide information to autonomous vehicles using the international standard SAE J2735, and one of this information is information about the remaining time of the traffic lights in the direction in which the vehicle is planning to proceed. Using this information, self-driving cars can drive smoothly even in urban areas.

Currently, the service can be provided in three forms, and some forms have already been applied.

1) WAVE (Wireless Access in Vehicular Environment): This is a mid- to short-distance wireless data communication that supports public safety and personal communication through roadside and vehicle-to-vehicle communication. This high-speed wireless communication technology for vehicles provides V2V, V2V, and It is a vehicle network technology that supports V2I (vehicle and infrastructure) and can be used to build a variety of next-generation intelligent transportation systems, such as emergency transmission of risk information on the road and vehicles ahead, safety services to prevent subsequent collisions, and multi-lane non-stop tolling services. .

2) SAE J2735: A definition of signal standards such as messages, data frames, element formats and structures for V2V/V2I communication, and is a standard for broadcasting-based messages to share safety and vehicle driving conditions.

3) ISO 15784: This is an international standard being developed by ISO TC 204 WG9 'Traffic Management' with the goal of developing an application level standard for exchanging information between centers and roadside devices for traffic management.

This will be described in detail with reference to the drawings.

Figure 1 shows the RSU (Road Side Unit) method.

In this method, traffic signal status information is provided to the traffic signal controller <-- LAN TCP/IP -->RSU <---WAVE (physical), SAE J2736 (logical)--> autonomous vehicles at every intersection. The downside is that installing an RSU is expensive.

Figure 2 shows the center method.

In this method, traffic signal status information is provided to the traffic signal controller <--CVIB+modem-->center (C-ITS).

When a traffic signal controller transmits traffic signal status information to the C-ITS center without an RSU, the center transmits this information to autonomous vehicles in each region. This cannot be reviewed in the existing LTE communication network due to signal delay issues. However, with the advent of 5G, this is a pilot method. It is being operated hostilely.

Figure 3 shows a method of transmitting information directly from the traffic signal controller CPU.

In this method, traffic signal status information is provided to the traffic signal controller <--existing modem-->center (vehicle information center) and uses the Dual-VPN method. Currently, its contents are included in the revised standards of the National Police Agency and are being operated on a pilot basis in some areas.

A comparison of the pros and cons of each method is shown in Table 1 below.

method CVIB Advantages disadvantage execution RSU O Low maintenance cost Initial installation cost is high
There are many data limitations and failure factors while going through CVIB. CVIB + RSU center O Low initial installation cost Maintenance costs (communication costs) are high
There are many data limitations and failure factors while going through CVIB. CVIB + communication modem controller
CPU X Low initial installation cost
Since information generated by the CPU is directly transmitted, there are fewer data restrictions and failure factors. Lower maintenance costs compared to the center method (∵Dual VPN)
Reliability verification is required (same for the center method above) Replace or add modem + Controller CPU FW upgrade or replacement

Traffic lights in urban areas are controlled by a traffic signal controller, and information related to traffic lights that receive vehicles or services is generated and sent from the traffic signal, but as it goes through various equipment or software that converts it into international standard data, there is a time delay or a delay in the traffic signal controller. Errors in information may occur due to problems.

In this case, it can cause rapid acceleration and sudden stopping of the driver, and in terms of autonomous driving, it can be corrected with the help of its own camera or lidar sensor, but it can also cause rapid acceleration and sudden stopping. Alternatively, slow driving may result in inefficient traffic flow.

Republic of Korea Patent Publication No. 10-2021-0127858 (2021.10.25.)

The present invention is intended to solve the above-described problem. Among the international standard SAE J2735 SPaT information currently provided in various forms for autonomous driving, when there is a time difference between signal-related information and on-site traffic light information, this cannot be known and incorrect information is provided. If it is transmitted as is to autonomous vehicles or other devices that require traffic signal status information (international standard SAE J2735 SPaT information in the field), there is a risk of accidents and it interferes with efficient and smooth traffic flow. Therefore, the purpose of the present invention is to calculate and analyze differences in on-site traffic light information and provide error information.

In order to achieve the above object, the present invention,

Compare the information between traffic signal operation information and traffic signal status information,

An on-vehicle terminal (OBE) or a device or module with the same/similar function is mounted on the traffic signal controller to obtain traffic signal status information (international standard SAE J2735 SPaT) through the device or module,

A device that requires traffic signal status information, which is characterized by comparing with traffic signal driving information, calculating delay time, and detecting errors in information, or software to analyze information transmitted to an autonomous vehicle and improve accuracy. Provides a mounted device.

The part that compares traffic signal status information and traffic signal operation information analyzes the generated traffic signal controller information and the acquired traffic signal status information to analyze defects and errors in information such as current signal status information and waiting time until the next time. It has a function.

The part of acquiring traffic signal status information (international standard SAE J2735 SPaT) through a device or module is the traffic signal status transmitted from the traffic signal controller to the comprehensive traffic control center (autonomous driving integrated control center) and to the autonomous vehicle through an external agency. It includes a part to acquire information (international standard SAE J2735 SPaT) and has the function of calculating the time delay until acquisition.

As a method of determining the time delay from the CPU of the traffic signal controller to determining the signal and starting information transmission to acquiring traffic signal status information (international standard SAE J2735 SPaT),

In order to calculate RD, the total transmission delay time required for traffic signal status information to be converted to data and delivered to autonomous vehicles and other devices through the comprehensive traffic control center, sections where delays may occur are identified and traffic signal status information is calculated. How to calculate the delay time between receiving and processing:

RD = RD1 + RD2 + RD3 + RD4,

Here, RD1: Communication delay time between CPU and MODEM

RD2: Processing delay time to the comprehensive traffic control center through MODEM modem

RD3: Data processing delay time from the traffic control center to external organizations

RD4: Communication delay time during delivery from external organization to OBE equipment

Delay time occurs in each section, and the method to calculate it is:

The CPU of the traffic signal controller determines the signal and runs a timer from the time control is started. After passing through the modem, comprehensive traffic control center, external organizations, CVRS (OBE), etc., the CPU starts the timer again at the time when the traffic signal status information is received. Finish and measure the delay time.

Another present invention is to calculate delay time and detect information errors by comparing the traffic signal controller's generated information (traffic signal driving information) and traffic signal status information (international standard SAE J2735 SPaT), and detect information errors in the comprehensive traffic control center. Provide this information to

The device used for this can be manufactured in the form of boards such as CPU and MODEM, and is a device that requires traffic signal status information, which is characterized by being manufactured and used in the form of a module that can be mounted on the CPU, an external device, etc. It provides devices equipped with software to analyze information transmitted to autonomous vehicles and improve accuracy.

The part that provides information to the comprehensive traffic control center includes the function of saving history according to defined operation settings, and provides the function to provide information such as error state propagation, information transmission interruption, and error calculation to the comprehensive traffic control center. have

Information provided to the comprehensive traffic control center includes error state propagation, interruption of information transmission, error calculation, etc. Information is provided to the comprehensive traffic control center or autonomous vehicles through wired and wireless communication.

Communication is carried out using a telecommunication company's modem equipment installed inside the CPU board or externally, or transmitted to a VPN network through the MODEM board. When an error occurs, the CPU stops transmitting information due to internal conditions.

When the results are derived by comparing the traffic signal controller's generated information (traffic signal driving information) and the traffic signal status information (international standard SAE J2735 SPaT) and defects and errors in the information are identified, the traffic signal controller provides information through this. It has the function of deciding whether to stop.

The present invention can control smooth traffic flow by preventing automobile accidents and enabling rapid maintenance, and can also have the effect of improving service quality for all services requiring this invention.

If the service is interrupted due to instability in the collection cycle, this situation is reported to the center (control center / C-ITS), so rapid maintenance is possible and accidents can be prevented in advance.

In addition, the present invention provides on-site traffic signal status information (international standard) provided by autonomous vehicles or other field devices using traffic signal status information generated by the traffic signal controller, and traffic signal status information generated by the traffic signal controller ( Domestic standards) can be compared and analyzed, and the analyzed information can be provided to the control center (signal information center). Through this, the traffic signal controller can propagate error conditions, stop transmitting information, and calculate errors, thereby providing traffic signal status information. accuracy can be improved.

1 is a diagram illustrating a general RSU (Road Side Unit) method;
Figure 2 is a diagram explaining a general center method,
Figure 3 is a diagram explaining the direct information transmission method in a general traffic signal controller CPU,
Figure 4 is a diagram explaining errors caused by an incorrect database,
Figure 5 is a diagram showing normal traffic signal status information vs. error traffic signal status information;
Figure 6 is a diagram explaining time (transmission delay) errors in the RSU method,
Figure 7 is a diagram explaining time (transmission delay) errors in the center method,
Figure 8 is a diagram explaining time (transmission delay) errors in the traffic signal controller CPU method,
Figure 9 is a diagram explaining a case where there is an error in the equipment in the information transmission process,
Figure 10 is a diagram explaining a case where there is an error in data suitability.
Figure 11 is a diagram showing the configuration of the traffic signal module of the present invention.
Figure 12 is a diagram showing a communication path when a converter is used rather than wireless communication of the traffic signal module according to the present invention.
Figure 13 is a diagram showing a communication path when using a LAN cable without using wireless communication of the traffic signal module according to the present invention.
Figure 14 is a diagram showing a communication path when using a converter and wireless communication of a traffic signal module according to the present invention.
Figure 15 is a diagram showing a communication path when using a LAN cable and wireless communication of the traffic signal module according to the present invention.

A preferred embodiment of the present invention will be described with reference to the accompanying drawings.

First, errors in the existing traffic signal controller will be explained.

1) Describes cases of errors caused by an incorrect database.

The traffic signal controller generates traffic signal status information based on an internally stored database. This database may be edited by field personnel or at the center and downloaded. In this case, a DB error may occur.

As shown in Figure 4, let's assume that the north (N) information and east (E) information are reversed. (The moment when you are directly facing north)

The actual traffic light state in this case is shown in Figure 5.

Figure 5 shows normal traffic signal status information vs. error traffic signal status information.

In this case, vehicles entering from the east think there is traffic and drive without slowing down, while vehicles traveling north stop thinking it is a red traffic light. At this time, accidents and traffic flow inefficiencies occur.

2) Describe cases of time (transmission delay) errors.

① RSU method (see Figure 6)

abs (D - D0) reference time (usually 100ms) --> error state

D (total delivery time) = Dt1 +Dt2 +Dt3 +Dt4

② Center method (see Figure 7)

abs (D - D0) reference time (usually 100ms) --> error state

D (total delivery time) = Dt1 +Dt2 +Dt3 +Dt4 +Dt5 +Dt6

③ Traffic signal controller CPU method (see Figure 8)

abs (D - D0) reference time (usually 100ms) --> error state

D (total delivery time) = Dt1 +Dt2 +Dt3 +Dt4 +Dt5 +Dt6 +Dt7

3) Describe cases of errors due to equipment failure or failure.

Equipment errors in the information transfer process will be explained with reference to FIG. 9.

If there is an equipment failure or breakdown, traffic signal status information may come in and out and then come in waves, or traffic signal status information may be completely cut off.

4) Explain cases of data suitability errors.

As shown in Figure 10, in cases where the received traffic signal status information cannot be considered a normal situation, as shown below, the green traffic light is recognized as 3 seconds remaining and then suddenly changes to a yellow traffic light, making it difficult for the autonomous vehicle to operate normally. represents.

The present invention is that when the CPU of a traffic signal controller controls traffic lights, traffic signal status information generated according to domestic standards is converted through several paths and provided to autonomous vehicles as international standard traffic signal status information, thereby providing actual information (traffic light status information) information) and provides information to calculate and correct errors in autonomous vehicle information.

More specifically, problems are identified by comparing traffic signal status information generated by domestic standards and traffic signal status information converted to international standards.

Figure 8 is a diagram showing a system for determining the time of traffic signal status information according to the present invention.

The information between traffic signal driving information and traffic signal status information is compared, and an on-vehicle terminal (OBE) or a device or module with the same/similar function is mounted on the traffic signal controller 100 to obtain traffic signal status information through the device or module. (International standard SAE J2735 SPaT) is acquired, compared with traffic signal operation information, delay time is calculated, and information errors are detected.

The part that compares traffic signal status information and traffic signal operation information analyzes the generated traffic signal controller 100 information and the acquired traffic signal status information to determine defects and errors in information such as current signal status information and waiting time until the next time. It has the function of analyzing.

The part that acquires traffic signal status information (international standard SAE J2735 SPaT) through a device or module goes from the traffic signal controller (100) to the comprehensive traffic control center (130) (autonomous driving integrated control center) and an external agency (140). It includes a part for acquiring traffic signal status information (international standard SAE J2735 SPaT) transmitted to the autonomous vehicle 160, and has a function of calculating the time delay until acquisition.

In order to determine the time delay from the time the CPU 110 of the traffic signal controller 100 determines the signal and starts transmitting information to the point of acquiring the traffic signal status information (international standard SAE J2735 SPaT), the traffic signal status information is Calculate the total transmission delay time RD required for data to be converted and delivered to the autonomous vehicle 160 and other devices through the traffic control center 130.

The formula for identifying sections where delays may occur and calculating the delay time from receiving traffic signal status information to processing is RD = RD1 + RD2 + RD3 + RD4.

Here, RD1: Communication delay time between CPU and MODEM

RD2: Processing delay time to the comprehensive traffic control center through MODEM modem

RD3: Data processing delay time from the traffic control center to external organizations

RD4: This is the communication delay time during delivery from an external organization to the OBE equipment.

Delay time occurs in each section, and the method for calculating it is to determine the signal in the CPU (110) of the traffic signal controller (100) and run a timer from the time control is started, and run the timer at the MODEM (120), the comprehensive traffic control center. At the time when the CPU 110 receives the traffic signal status information through (130), external agency 140, CVRS (OBE), etc., the timer is terminated and the delay time is measured.

Results are derived by comparing the generated information (traffic signal driving information) of the traffic signal controller 100 and the traffic signal status information (international standard SAE J2735 SPaT), and the information is provided to the comprehensive traffic control center 130 and used for this purpose. The device can be manufactured in the form of boards such as CPU and MODEM. It is manufactured and used in the form of a module that can be mounted on the CPU or as an external device.

The part that provides information to the comprehensive traffic control center (130) includes the function of storing history according to defined operation settings, and provides information such as error state propagation, information transmission interruption, and error calculation to the comprehensive traffic control center (130). It has functions that can be provided.

Information provided to the comprehensive traffic control center (130) includes error state propagation, information transmission interruption, error calculation, etc., and information is provided to the comprehensive traffic control center (130) or autonomous vehicles (160) through wired and wireless communication. .

Communication is performed using a telecommunication company's modem equipment mounted inside or external to the CPU (110) board, or transmitted to a VPN network through the MODEM (120) board. When an error occurs, the CPU (110) stops transmitting information due to internal conditions.

When the results are derived by comparing the generated information (traffic signal driving information) of the traffic signal controller 100 and the traffic signal status information (international standard SAE J2735 SPaT) and defects and errors in the information are confirmed, the traffic signal controller 100 Through this, it has the function of deciding whether to stop providing information.

Meanwhile, an embodiment of the module configuration of a traffic signal according to the present invention will be described.

Figure 11 is a diagram showing the configuration of a traffic signal module.

Figure 12 is a diagram showing a communication path when a converter is used rather than wireless communication of the traffic signal module according to the present invention.

Figure 13 is a diagram showing a communication path when using a LAN cable without using wireless communication of the traffic signal module according to the present invention.

Figure 14 is a diagram showing a communication path when using a converter and wireless communication of a traffic signal module according to the present invention.

Figure 15 is a diagram showing a communication path when using a LAN cable and wireless communication of the traffic signal module according to the present invention.

The device for transmitting the difference in information between on-site traffic light output and traffic signal status information according to the present invention to a means of transportation is not limited to the above-described embodiments and can be implemented with various modifications within the scope of the technical idea of the present invention. there is.

100: Traffic signal controller 110: CPU
120: MODEM 130: Vehicle Information Center
140: External organization 160: Self-driving vehicle

Claims (8)

Compare the information between traffic signal operation information and traffic signal status information,
An on-vehicle terminal (OBE) or a device or module with the same/similar function is mounted on the traffic signal controller to obtain traffic signal status information (international standard SAE J2735 SPaT) through the device or module,
A device that requires traffic signal status information, which is characterized by comparing with traffic signal driving information, calculating delay time, and detecting errors in information, or software to analyze information transmitted to an autonomous vehicle and improve accuracy. mounted device.
In claim 1,
The part that compares traffic signal status information and traffic signal operation information analyzes the generated traffic signal controller information and the acquired traffic signal status information to analyze defects and errors in information such as current signal status information and waiting time until the next time. A device that requires traffic signal status information or a device equipped with software to analyze information transmitted to an autonomous vehicle and improve accuracy.
In claim 1,
The part of acquiring traffic signal status information (international standard SAE J2735 SPaT) through a device or module is the traffic signal status transmitted from the traffic signal controller to the comprehensive traffic control center (autonomous driving integrated control center) and to the autonomous vehicle through an external agency. Information transmitted to a device or autonomous vehicle that requires traffic signal status information, including a part for acquiring information (international standard SAE J2735 SPaT) and having a function for calculating the time delay until acquisition. A device equipped with software to analyze and improve accuracy.
In claim 1,
As a method of determining the time delay from the CPU of the traffic signal controller to determining the signal and starting information transmission to acquiring traffic signal status information (international standard SAE J2735 SPaT),
In order to calculate RD, the total transmission delay time required for traffic signal status information to be converted to data and delivered to autonomous vehicles and other devices through the comprehensive traffic control center, sections where delays may occur are identified and traffic signal status information is calculated. How to calculate the delay time between receiving and processing:
RD = RD1 + RD2 + RD3 + RD4,
Here, RD1: Communication delay time between CPU and MODEM
RD2: Processing delay time to the comprehensive traffic control center through MODEM modem
RD3: Data processing delay time from the traffic control center to external organizations
RD4: Communication delay time during delivery from external organization to OBE equipment
Delay time occurs in each section, and the method to calculate it is:
The CPU of the traffic signal controller determines the signal and runs a timer from the time control is started. After passing through the modem, comprehensive traffic control center, external organizations, CVRS (OBE), etc., the CPU starts the timer again at the time when the traffic signal status information is received. A device that requires traffic signal status information that measures delay time or a device equipped with software to analyze information transmitted to an autonomous vehicle and improve accuracy.
By comparing the traffic signal controller's generated information (traffic signal operation information) and traffic signal status information (international standard SAE J2735 SPaT), delay time is calculated, information errors are detected, and this information is provided to the comprehensive traffic control center.
The device used for this can be manufactured in the form of boards such as CPU and MODEM, and is a device that requires traffic signal status information, which is characterized by being manufactured and used in the form of a module that can be mounted on the CPU, an external device, etc. A device equipped with software to analyze information transmitted to autonomous vehicles and improve accuracy.
In claim 5,
The part that provides information to the comprehensive traffic control center includes the function of saving history according to defined operation settings, and provides the function to provide information such as error state propagation, information transmission interruption, and error calculation to the comprehensive traffic control center. A device that requires traffic signal status information or a device equipped with software to analyze information transmitted to an autonomous vehicle and improve accuracy.
In claim 6,
Information provided to the comprehensive traffic control center includes error state propagation, interruption of information transmission, error calculation, etc. Information is provided to the comprehensive traffic control center or autonomous vehicles through wired and wireless communication.
Traffic signal status information is required for communication using a telecommunication company's modem equipment installed inside the CPU board or externally, or transmitted to a VPN network through the MODEM board, and the CPU stops transmitting information due to internal conditions when an error occurs. A device equipped with software to analyze information transmitted to a self-driving vehicle or an autonomous vehicle and improve accuracy.
In claim 6,
When the results are derived by comparing the traffic signal controller's generated information (traffic signal driving information) and the traffic signal status information (international standard SAE J2735 SPaT) and defects and errors in the information are identified, the traffic signal controller provides information through this. A device requiring traffic signal status information that has the function of determining whether to stop or a device equipped with software to analyze information transmitted to an autonomous vehicle and improve accuracy.