KR102673046B1 - System and method for determining road conditions using sensor data in vehicles - Google Patents

Abstract

The present invention relates to a system and method for determining road conditions. The road condition determination system according to the present invention includes a vehicle and a road condition determination server, wherein the vehicle recognizes that a road event has occurred when sensor data collected from a built-in sensor is outside the reference range, and the sensor data determines the type of road event based on, and transmits the sensor data related to the occurrence of the road event and location information where the sensor data was collected to the server, and the server based on the sensor data and the location information By determining whether there is a risk for each road section, status information for each road section is generated.

Description

System and method for determining road conditions using vehicle sensor data {SYSTEM AND METHOD FOR DETERMINING ROAD CONDITIONS USING SENSOR DATA IN VEHICLES}

The present invention relates to a system and method for determining road conditions using sensor data from a vehicle.

Existing road event judgment methods determine road congestion or events based on the vehicle's GPS trajectory, but in this case, there were problems with not accurately determining the type of event and not detecting the exact location due to limited GPS precision. To solve this problem, when determining a road event, obtain road images of the section where multiple vehicles drove and then perform image processing to determine the road event, so that the type and location of the road event can be accurately obtained, and the road event type and location can be accurately obtained. A technology has been proposed to increase the accuracy of event detection by performing clustering on multi-frame road images collected from vehicles from before and after passing road event points to obtain road event information that occurred within a certain period of time.

However, since the above technology determines road events based on an image set obtained from a vehicle, there is a problem in that the road events that can be matched are limited.

In order to solve the above-mentioned problems, the present invention collects sensor data from various sensors (IMU, GPS, VDC, ABS and camera sensors) already installed in the vehicle, and a cloud server that can communicate directly/indirectly with the vehicle. , road conditions are judged based on collected sensor data, and if maintenance and repairs are deemed necessary due to road damage or pollution, road condition information is provided to the road management agency's road management system and driving vehicles. The purpose is to promote traffic safety.

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

A method for determining road conditions according to an embodiment of the present invention for achieving the above object includes collecting sensor data and location information from a sensor mounted on a vehicle driving on the road; determining, by the vehicle, whether the sensor data is outside a reference range; When the sensor data is outside the reference range, the vehicle recognizes that a road event has occurred and determines the type of road event based on the sensor data; transmitting, by the vehicle, the sensor data related to the occurrence of the road event and location information where the sensor data was collected to a road condition determination server; and the server determining the presence or absence of danger for each road section based on the sensor data and the location information and generating status information for each road section.

In one embodiment of the present invention, the method for determining the road condition is that, in the step of generating the condition information for each road section, the server determines that the road section that the risk exists is The method may further include transmitting a message requesting maintenance of the road to the road management system that manages the section.

In one embodiment of the present invention, the road event type may include at least one or a combination of detour, impact, lane recognition failure, and slippage.

In one embodiment of the present invention, the step of transmitting to the road condition determination server may be that the vehicle transmits the road event type to the server along with the sensor data and location information where the sensor data was collected.

In one embodiment of the present invention, the method for determining road conditions may further include the step of generating, by the server, traffic obstacle information based on the type of road event for the road section determined to be at risk. You can.

A road condition determination system according to an embodiment of the present invention includes: a vehicle; and a road condition determination server. When sensor data collected from a built-in sensor is outside the reference range, the vehicle recognizes that a road event has occurred, determines the type of road event based on the sensor data, and determines the type of road event based on the sensor data, and the sensor related to the occurrence of the road event Data and location information where the sensor data was collected are transmitted to the server. The server determines whether there is a risk for each road section based on the sensor data and the location information and generates status information for each road section.

In one embodiment of the present invention, the server may transmit a message requesting road maintenance to a road management system that manages a road section determined to be dangerous.

In one embodiment of the present invention, the road event type may include at least one or a combination of detour, impact, lane recognition failure, and slippage.

In one embodiment of the present invention, the vehicle may transmit the road event type to the server along with the sensor data and location information where the sensor data was collected.

In one embodiment of the present invention, the server may generate traffic obstacle information based on the type of road event for the road section determined to be dangerous.

Through the present invention, by determining the road condition in real time and providing road condition information to the road management system of the road management agency and the driving vehicle, rapid maintenance / repair of damaged / damaged sections and contaminated sections can be performed. Vehicles passing through the section can bypass the section, which has the effect of reducing traffic accidents.

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

1 is a block diagram showing the configuration of a road condition determination system according to an embodiment of the present invention.
2A to 2C are diagrams showing a vehicle transmitting sensor data to a road condition determination server when a road event occurs according to an embodiment of the present invention.
3A and 3B are flowcharts illustrating a method for determining road conditions according to an embodiment of the present invention.
Figure 4 is a block diagram showing the configuration of a vehicle according to an embodiment of the present invention.
Figure 5 is a block diagram showing the configuration of a road condition determination server according to an embodiment of the present invention.

The advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and will be implemented in various different forms. The present embodiments only serve to ensure that the disclosure of the present invention is complete and that common knowledge in the technical field to which the present invention pertains is not limited. It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Meanwhile, the terms used in this specification are for describing embodiments and are not intended to limit the present invention. As used herein, singular forms also include plural forms, unless specifically stated otherwise in the context. As used in the specification, “comprises” and/or “comprising” means that a referenced element, step, operation and/or element precludes the presence of one or more other elements, steps, operations and/or elements. or does not rule out addition.

In this specification, for convenience, not only data measured by sensors, but also data generated by GPS or a control device and collected by the vehicle's data collection unit are referred to as sensor data.

'Road maintenance' refers to work performed repeatedly according to a daily plan to prevent the function of the road from deteriorating, and includes road surface cleaning, watering, weeding, pruning, snow removal, and minor repairs. 'Road repair' refers to repairing heavily damaged areas on a large scale to restore the function of existing facilities to their original function at the time of construction, an action that is impossible through everyday work (https://www.seoulbeltway.co.kr/).

In this specification, 'road condition information' is information about the presence or absence of elements that interfere with vehicle driving. If there are no elements that interfere with vehicle driving, it is classified as 'normal', and if there are elements that interfere with vehicle driving, it is classified as 'abnormal (dangerous)'. do. Road sections with 'abnormal' road conditions are sections that require road maintenance or road repair.

In this specification, 'road event type information' is information about the type of event recognized based on sensor data collected while the vehicle is driving on the road. For example, road event type information may include events such as ‘detour (of an obstacle)’, ‘impact (with an obstacle)’, ‘unable to recognize lane’, and ‘slip’.

In this specification, 'traffic obstruction information' is information indicating the specific reasons for traffic obstruction for a section where road condition information is judged to be 'abnormal'. For example, traffic obstacle information may include ‘uneven sections’, ‘lane damage and polluted sections’, and ‘sliding sections’.

In describing the present invention, if it is determined that a detailed description of related known technologies may unnecessarily obscure the gist of the present invention, the detailed description will be omitted.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In order to facilitate overall understanding in describing the present invention, the same reference numbers will be used for the same means regardless of the drawing numbers.

Figure 1 is a block diagram showing the configuration of a road condition determination system according to an embodiment of the present invention.

The road condition determination system 10 according to an embodiment of the present invention determines the road condition based on sensor data collected from the vehicle, and when the road condition is determined to be 'abnormal (dangerous)', the road management system 20 It is a system that requests road maintenance or road repair and periodically updates the road condition information by checking whether road maintenance or road repair has been completed in the road management system 20. The road condition determination system 10 collects sensor data and determines whether a road event has occurred, and determines the road condition for each section based on sensor data and location data collected from one or more vehicles 100. It includes a road condition determination server 200 that determines whether there is an abnormality. There may be a plurality of vehicles 100 included in the road condition determination system 10.

In the road condition determination system 10 according to the present invention, the vehicle 100 connected to the connected service detects an impact, makes a sharp steering, or receives sensor data in situations such as when the distance to the lane is less than the standard value. Based on this, it can be determined that a road event has occurred. The vehicle 100 transmits road event type information and sensor data collected through various sensors mounted on the vehicle to the road condition determination server 200. Here, the sensor data transmitted from the vehicle 100 to the road condition determination server 200 preferably includes location information (eg, GPS information) of the vehicle 100. The road condition determination server 200 divides the sensor data collected from one or more vehicles 100 into road sections based on location information, and determines the existing sensor data for the section, the combination value of the existing sensor data, and other existing sensor data. It is determined whether the sensor data in the corresponding section corresponds to an outlier based on the probability distribution (e.g., t distribution, normal distribution) formed by the value generated based on the sensor data. If the number of times sensor data for the corresponding section corresponds to an outlier exceeds the standard number, the road condition determination server 200 determines the road condition of the corresponding road section to be 'abnormal', that is, a section requiring maintenance or repair. By transmitting a signal requesting road maintenance or road repair to the management system 20, quick road maintenance or repair can be accomplished. In addition, the road condition determination server 200 updates road condition information for each section through communication with the vehicle 100 and the road management system 20, and the vehicle about to pass the section where the road condition is determined to be 'abnormal' Road condition information is provided to (100) to help with safe driving. The road condition determination server 200 may be a cloud server.

The operation process of the road condition determination system 10 is (1) a process of transmitting sensor data to the road condition determination server 200 when a road event occurs in the vehicle 100, (2) the road condition determination server 200 It can be divided into a process of determining the road condition by analyzing sensor data collected from the vehicle 100 and (3) a process of using the road condition information generated by the vehicle 100 in the road condition determination server 200.

(1) Process of transmitting sensor data from the vehicle 100 to the road condition determination server 200 when a road event occurs

The vehicle 100 determines whether data is collected or generated outside of one of various reference ranges for each traffic obstacle factor (e.g., unevenness, lane damage and contamination, slipping, etc.) based on specific sensor data or a combination of heterogeneous sensor data. It is determined that an event has occurred. At this time, the vehicle 100 may determine the type of road event such as impact, detour, lane recognition failure, slip, etc. When a road event occurs, the vehicle 100 transmits sensor data including vehicle location information (eg, GPS information) and the type of road event to the road condition determination server 200.

An example of determining the type of road event in the vehicle 100 based on each sensor data or combination of sensor data is shown in Table 1.

Classification (road condition) sensor data Road Event Type uneven section Steering angle and angular velocity, lane and vehicle offset values, GPS information bypass Vehicle speed, IMU sensor information, GPS information Shock Damaged and polluted lanes Lane detection failure information, lane curvature change, curvature, slope, offset value, GPS information No lane recognition slip section VDC sensor information, ABS sensor information, wheel speed sensor information, GPS information slide

Road events such as 'detour' or 'impact' may occur on uneven sections (sections with obstacles, potholes, etc.). 'Detour' is a road event that can occur when the vehicle 100 operates the steering to bypass an uneven part, and whether or not it occurs is based on a combination of steering angle, angular velocity, offset value of lane and vehicle, and GPS information. can be judged. Additionally, 'impact' is a road event that may occur when the vehicle 100 passes over a bump on the road, and its occurrence can be determined based on a combination of the vehicle's speed, IMU sensor information, and GPS information. Figure 2a is a diagram showing the vehicle 100 transmitting sensor data to the road condition determination server when driving on an uneven section according to an embodiment of the present invention. In case ①, a 'detour' road event occurs. In the case of ②, the vehicle 100 transmits sensor data related to the determination of the road event type ('detour') to the road condition determination server 200, and in the case of ②, when the road event of 'impact' occurs. The vehicle 100 is shown transmitting sensor data related to the determination of the type of road event ('impact') to the road condition determination server 200.

A road event of 'no lane recognition' may occur in damaged or polluted sections of lanes. For example, a vehicle 100 driving on one lane in one direction may be classified as 'unrecognizable lane (of the right lane)' based on the detection failure information of the right lane, the amount of change in curvature of the lane, the curvature, slope, offset value, and GPS information. It is possible to determine whether an event has occurred, and the vehicle 100 driving on two one-way lanes can detect '(left lane's ) It is possible to determine whether a ‘lane recognition not possible’ road event has occurred. Figure 2b is a diagram showing the vehicle 100 according to an embodiment of the present invention transmitting sensor data to the road condition determination server when driving in a damaged lane section or a contaminated lane section. When an event occurs, the vehicle 100 transmits sensor data related to the determination of the road event type ('lane recognition not possible') to the road condition determination server 200.

A 'slip' road event may occur in slippery sections (sections with icy roads, puddles, etc.). For example, the accelerating vehicle 100 may determine whether a 'slip' road event has occurred based on VDC (Vehicle Dynamic Control) sensor information, wheel speed sensor information, and GPS information, and the decelerating vehicle 100 may determine whether a 'slip' road event has occurred. Can determine whether a 'slip' road event has occurred based on ABS (Anti-lock Brake System) sensor information, wheel speed sensor information, and GPS information. Figure 2c is a diagram showing the vehicle 100 according to an embodiment of the present invention transmitting sensor data to the road condition determination server when driving in a slip section. When the road event of 'slip' occurs, the vehicle ( 100) shows sensor data related to determination of the type of road event ('slip') being transmitted to the road condition determination server 200.

(2) A process in which the road condition determination server 200 analyzes sensor data collected from the vehicle 100 to determine the road condition.

The road condition determination server 200 divides the sensor data into road sections based on the location information included in the sensor data received from the vehicle 100. The road condition determination server 200 combines each sensor data or sensor data based on a distribution (e.g., t distribution, normal distribution) formed by sensor data collected in each section or a combination of sensor data when the road is in a normal state. A normal range of values can be calculated, and based on the normal range, it can be determined whether sensor data or a combination of sensor data corresponds to an outlier. If the number of sensor data corresponding to an outlier in the corresponding section exceeds the standard number, the road condition determination server 200 determines the road condition of the corresponding road section as 'abnormal', that is, a section requiring maintenance or repair (e.g., road damage). and contaminated section).

The road condition determination server 200 receives road condition information for each section of a designated vehicle (taxi, bus, public institution vehicle, etc.), confirms that there is no road event, and sets this as a standard value for road event determination. That is, the road condition determination server 200 receives road condition information for each section of a designated vehicle (taxi, bus, public institution vehicle, etc.), determines a section in which the road condition is normal, and selects a section in which the road condition is normal among the designated vehicles. The reference number can be set based on sensor data received from passing vehicles. The road condition determination server 200 may set the standard number of times as the number of times compared to passing vehicles in the corresponding section within a certain time range. For example, the road condition determination server 200 may set the standard number of cases to 5 per 100 vehicles in 12 hours. In this case, if 6 outliers occur per 100 vehicles, it exceeds the standard number of 5 cases, so the road condition determination server 200 may determine that the road condition of the relevant road section is 'abnormal'.

Meanwhile, the road condition determination server 200 collects road condition information and sensor data for each section from designated vehicles (taxi, bus, public institution vehicle, etc.), and sensors collected from the designated vehicle for road sections without road events. The normal range can be calculated based on data or a combination thereof.

When the road condition determination server 200 determines that the number of times a specific section is determined to be outside the normal range exceeds the standard number, the road condition determination server 200 refers to the specific section as a section requiring maintenance and repair, that is, an 'abnormal (dangerous) section.' , and quickly transmits road condition information to the road management system 20 so that maintenance and repairs can be performed on the relevant road section.

The road condition determination server 200 derives traffic obstacle information based on road event type information for the road section for which the road condition is determined to be 'abnormal (dangerous)'. For example, when 'detour' and 'impact' are received as road event types at a certain rate or more for a specific abnormal (dangerous) road section, the road condition determination server 200 generates traffic obstacle information for the relevant road section as 'detour' and 'impact'. It can be judged by the ‘uneven section’.

In addition, the road condition determination server 200 provides road condition information and traffic obstacle information (or road event type information that occurred in the section) to vehicles 100 within a preset radius from the road event occurrence location for the 'abnormal (dangerous) section'. ) to support safe driving.

(3) A process in which the vehicle 100 utilizes the road condition information generated by the road condition determination server 200

When the vehicle 100 obtains destination information from the driver before driving, the vehicle 100 can receive road condition information for each section from the current location to the destination from the road condition determination server 200. , route information or safe driving guidance for bypassing a dangerous section can be received from the road condition determination server 200.

And, even if the vehicle 100 does not obtain destination information, if it is currently driving, the vehicle 100 can receive information on the road condition ahead within a preset distance range in real time from the road condition determination server 200 for safe driving. . Of course, the vehicle 100 that has acquired the destination information can receive information on the road conditions ahead from the road condition determination server 200 in real time while driving.

3A and 3B are flowcharts illustrating a method for determining road conditions according to an embodiment of the present invention.

The method for determining road conditions according to an embodiment of the present invention may include steps S310 to S450.

Step S310 is a step in which the engine of the vehicle 100 is turned on. When the engine is turned on, the vehicle 100 receives a destination input from the driver.

Step S320 is a step to check whether the destination has been entered. If destination information is entered, step S330 proceeds, otherwise, step S350 proceeds.

Step S330 is a step in which the vehicle 100 requests road condition information for each section to the destination from the road condition determination server 200. The vehicle 100 transmits the current location information and destination information of the vehicle 100 to the road condition determination server 200, and requests the road condition determination server 200 for road condition information for each section from the current location to the destination. .

Step S340 is a step in which the road condition determination server 200 transmits road condition information for each section to the destination to the vehicle 100. At this time, if a specific section of the route to the destination is a dangerous section, the road condition determination server 200 further transmits either information on a route to bypass it or information on precautions for safe driving, or a combination of these information. can do.

Step S350 is a step in which the vehicle 100 starts driving. The vehicle 100 performs step S350 after confirming that the destination has not been entered in step S320 or after step S340 ends.

Step S360 is a step in which the vehicle 100 requests real-time road condition information from the road condition determination server 200. For example, the vehicle 100 requests road condition information within a preset distance ahead (eg, 500 m) from the road condition determination server 200. In this case, the vehicle 100 transmits location information (eg, GPS information) of the vehicle 100 to the road condition determination server 200.

Step S370 is a step in which the road condition determination server 200 transmits real-time road condition information to the vehicle 100.

Step S380 is a step in which the vehicle 100 collects sensor data in real time. The sensor data also includes location information of the vehicle 100. The sensor data collected in this step is data for the vehicle 100 to determine whether and what type of road event there is. Table 1 provides examples of sensor data collected in this step. For example, among sensor data, steering angle and angular velocity data can be collected from Electric Power Steering (EPS) to determine road events that bypass uneven sections.

Step S390 is a step in which the vehicle 100 determines whether the sensor data is outside the reference range. The vehicle 100 determines whether any of the sensor data or the combination of sensor data collected in step S380 falls outside the reference range. If there is no case outside the standard range, step S360 proceeds, and if there is a case outside the standard range, step S400 proceeds.

Step S400 is a step in which the vehicle 100 determines the type of road event based on sensor data. For example, the vehicle 100 may determine that a road event called 'detour of uneven section' has occurred based on EPS sensor data and the offset value of the lane and vehicle, and based on the vehicle's speed and IMU sensor data, ' It can be determined that a road event called ‘impact of uneven section’ has occurred. In addition, the vehicle 100 determines that a road event called 'unable to recognize lane (lane damage or lane contamination)' has occurred based on lane detection information, lane curvature/curvature change/slope, and offset value between lane and vehicle. You can. Additionally, if the vehicle 100 is accelerating, it may determine that a road event called 'slip' has occurred based on the VDC sensor information and wheel speed sensor information, and if it is decelerating, it may determine that a road event called 'slip' has occurred based on the ABS sensor information and wheel speed sensor information. It can be determined that a road event occurred.

Step S410 is a step in which the vehicle 100 transmits information on the type of road event determined in step S400 and sensor data related to the road event to the road condition determination server 200. The road condition determination server 200 may receive road event type information and sensor data from a plurality of vehicles 100 . Sensor data transmitted from the vehicle 100 to the road condition determination server 200 includes location information of the vehicle (i.e., location information where a road event occurred).

Step S420 is a step to check whether the engine of the vehicle 100 is OFF. If OFF, the information transmission/reception process by the vehicle 100 is terminated; otherwise, the process proceeds again from step S360.

In step S430, the road condition determination server 200 divides the sensor data into road sections based on the location information included in the sensor data received in step S410. The road condition determination server 200 compares the normal range of the sensor data or the sensor data combination value with each sensor data or sensor data combination value received in step S410, and determines each sensor data or sensor data combination value received in step S410. Determine whether the combination value corresponds to a value outside the normal range, that is, an outlier. The road condition determination server 200 counts the number of outlier occurrences, that is, the number of times the road condition is determined to be abnormal, during a predetermined period of time.

Step S440 is a step in which the road condition determination server 200 determines whether the number of times the road condition is determined to be abnormal exceeds the standard number. If the number of abnormality judgments exceeds the standard number, the road condition determination server 200 determines the corresponding road section to be an 'abnormal (dangerous) section', that is, a section requiring maintenance or repair (e.g., road damage and contamination section). , Step S450 is performed, and if the number of abnormal judgments does not exceed the standard number, the vehicle 100 returns to the state of waiting to receive sensor data and event type information (S410).

As another example, the road condition determination server 200 may make the decision based on the ratio. In other words, the road condition determination server 200 calculates the ratio of the number of times the road condition was judged to be abnormal (hereinafter referred to as 'abnormal judgment ratio') compared to the number of vehicles that passed through the section for a certain period of time and determines whether the ratio exceeds the standard ratio. You may. In this case as well, as described above, if the standard rate is exceeded, step S450 is performed. Otherwise, the vehicle 100 returns to the state of waiting to receive sensor data and event type information (S410).

The S450 step is the step to request road maintenance or road repair. The road condition determination server 200 derives traffic obstacle information for the road section whose road condition is determined to be 'abnormal (dangerous)' in step S440 based on road event type information. For example, when 'detour' and 'impact' are received as road event types at a certain rate or more for a specific abnormal (dangerous) road section, the road condition determination server 200 generates traffic obstacle information for the relevant road section as 'detour' and 'impact'. It can be judged by the ‘uneven section’.

The road condition determination server 200 quickly transmits road condition information, traffic obstacle information, and road event location information for the abnormal section to the road management system 20 to enable road maintenance or road repair for the relevant road section. make it possible The road condition determination server 200 may transmit the ‘abnormal judgment number’ or ‘abnormal judgment ratio’ to the road management system 20.

In step S340 or step S370 described above, the road condition determination server 200 provides road condition information, traffic obstacle information, and road event type information to vehicles within a predetermined radius from the location of the road event for the 'abnormal section (danger section)'. It supports safe driving of the vehicle by transmitting at least one or a combination of information.

Meanwhile, although not shown in FIGS. 3A and 3B, the road condition determination server 200 sends information about the maintenance or repair of the section (or the location where the road event occurs) for which road maintenance or road repair is requested in step S450 to the road management system ( By requesting and receiving 20), road condition information for the corresponding section can be updated. For example, when the road condition determination server 200 obtains information from the road management system 20 that road maintenance or road repair has been completed for a road section recently judged to be 'abnormal', the road condition for the corresponding road section Information can be updated to ‘normal’.

The road condition determination method according to an embodiment of the present invention has been described with reference to the flowchart shown in the drawing. For simplicity of illustration, the method is shown and described as a series of blocks; however, the invention is not limited to the order of the blocks, and some blocks may occur simultaneously or in a different order than shown and described herein with other blocks. Various other branches, flow paths, and sequences of blocks may be implemented that achieve the same or similar results. For example, steps S360 to S370 may be performed in parallel with steps S380 to S410. Additionally, not all blocks shown may be required for implementation of the methods described herein.

Meanwhile, in the description referring to FIGS. 3A and 3B, each step may be further divided into additional steps or combined into fewer steps, depending on the implementation of the present invention. Additionally, some steps may be omitted or the order between steps may be changed as needed. In addition, even if other omitted content, the content of FIGS. 1, 2A to 2C, 4, and 5 can be applied to the content of FIGS. 3A to 3B. Additionally, the content of FIGS. 3A to 3B may be applied to the content of FIGS. 1, 2A to 2C, 4, and 5. Additionally, the contents of FIGS. 1 and 2A to 2C may be applied to the contents of FIGS. 4 and 5.

Figure 4 is a block diagram showing the configuration of a vehicle 100 according to an embodiment of the present invention.

The vehicle 100 includes a data collection unit 110, an event determination unit 120, and a transceiver 130.

The data collection unit 110 collects data from devices installed in the vehicle, such as sensors, GPS, control devices, and navigation, and stores it in an internal storage (database). Additionally, the data collection unit 110 may also store data transmitted from the road condition determination server 200 in internal storage. Data collected by the data collection unit 110 includes sensor data and destination information. In this specification, for convenience, not only the data measured by the sensor but also the data collected by the data collection unit 110, such as data generated by GPS or a control device, are referred to as sensor data.

The data collection unit 110 collects destination information of the vehicle 100. When the destination information is collected, the current location information and destination information of the vehicle 100 are transmitted to the road condition determination server 200 through the transceiver 130. Send. When the communication unit 230 of the road condition determination server 200 transmits road condition information for each section from the current location of the vehicle 100 to the destination to the transceiver 130, the data collection unit 110 receives the road condition information. Save it to internal storage. If the communication unit 230 of the road condition determination server 200 transmits route information and safe driving precautions information for bypassing a dangerous section to the transceiver 130, the data collection unit 110 transmits the detour route information and the Caution information is stored in internal storage. The road condition information, the detour route information, and the caution information may be output through a separate display device mounted on the vehicle 100.

When the vehicle 100 starts driving, the data collection unit 110 can request real-time road condition information while transmitting the current location information of the vehicle 100 to the road condition determination server 200 through the transceiver 130. . In this case, the road condition determination server 200 transmits real-time road condition information within a certain radius range from the location of the vehicle 100 to the transceiver 130 through the communication unit 230, and if there is a dangerous section within the range, Information on a route bypassing the dangerous section and information on safe driving precautions can be further transmitted.

The data collection unit 110 collects sensor data to determine the presence and type of a road event and transmits it to the event determination unit 120. The sensor data also includes location information of the vehicle 100. Table 1 contains examples of sensor data collected by the data collection unit 110.

The event determination unit 120 determines whether a road event has occurred and the type of the road event based on sensor data. The event determination unit 120 determines whether any of the sensor data or a combination of sensor data exceeds the standard range. If it is outside the standard range, the event determination unit 120 determines the type of road event that matches the corresponding sensor data or a combination of sensor data. For example, the event determination unit 120 may determine that a road event called 'detour of uneven section' has occurred based on EPS sensor data and the offset value of the lane and vehicle, and based on the vehicle's speed and IMU sensor data. Therefore, it can be determined that a road event called ‘impact of uneven section’ has occurred. For example, if the IMU sensor data value is outside the reference range, the event determination unit 120 may determine that the IMU sensor data value corresponds to a road event type called 'impact of uneven section'. When it is determined that a road event has occurred, the event determination unit 120 sends information on the type of road event and sensor data related to the road event (including location information where the road event occurred) through the transceiver 130 to a road condition determination server. Send to (200).

The transceiver 130 transmits and receives data and information with the road condition determination server 200.

Figure 5 is a block diagram showing the configuration of the road condition determination server 200 according to an embodiment of the present invention.

The road condition determination server 200 includes a road condition determination unit 210, a road condition information management unit 220, and a communication unit 230.

The road condition determination unit 210 receives sensor data, road event type, and road event occurrence location information from the vehicle 100 through the communication unit 230. The road condition determination unit 210 divides sensor data into road sections based on road event occurrence location information included in the sensor data. The road condition determination unit 210 determines whether sensor data or a combination of sensor data corresponds to a value outside the normal range, that is, an outlier. The road condition determination unit 210 calculates the number of occurrences of outliers during a predetermined period of time, that is, the number of times (or ratio) that the road condition is determined to be abnormal. If the number (or ratio) of abnormality determinations exceeds the standard number (or standard ratio), the road condition determination unit 210 determines the corresponding road section to be an 'abnormal (dangerous) section', that is, a section requiring maintenance or repair. . Additionally, the road condition determination unit 210 generates traffic obstacle information (e.g., uneven section, lane damage and contamination section, slippery section, etc.) regarding the road section based on road event type information. The road condition determination unit 210 transmits road condition information, traffic obstacle information, road event type information, and road event occurrence location information for each road section subject to management to the road condition information management unit 220.

The road condition information management unit 220 stores the road condition information for each road section, traffic obstacle information, road event type information, and road event occurrence location information received from the road condition determination unit 210 in the internal storage, and the communication unit 230 It is transmitted to the road management system 20 through . The road condition information management unit 220 may receive the number of abnormal judgments or the abnormal judgment ratio from the road condition determination unit 210 and transmit it to the road management system 20 through the communication unit 230.

The road condition information management unit 220 periodically requests road maintenance or road repair information for road sections where the road condition is determined to be abnormal (dangerous) from the road management system 20 through the communication unit 230 to maintain or repair the road. Check whether or not the road has been repaired and its specific details, and update the road condition information for the above-mentioned road section.

The road condition information management unit 220 may transmit road condition information from the current location of the vehicle 100 to the destination to the vehicle 100 through the communication unit 230 at the request of the vehicle 100. If the route from the current location of the vehicle 100 to the destination includes a road section judged to be an abnormal (dangerous) section, the road condition information management unit 220 provides detour route information or caution information for safe driving. It can be transmitted to the vehicle 100 through the communication unit 230.

In addition, the road condition information management unit 220 may transmit road condition information within a certain radius range from the vehicle 100 to the vehicle 100 through the communication unit 230 in real time at the request of the vehicle 100.

The communication unit 230 transmits and receives data and information with the vehicle 100 and the road management system 20.

For reference, components according to embodiments of the present invention may be implemented in the form of software or hardware such as FPGA (Field Programmable Gate Array) or ASIC (Application Specific Integrated Circuit), and may perform certain roles.

However, 'components' are not limited to software or hardware, and each component may be configured to reside on an addressable storage medium or may be configured to run on one or more processors.

Thus, as an example, a component may include components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, procedures, and sub-processes. Includes routines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables.

Components and the functionality provided within them may be combined into a smaller number of components or further separated into additional components.

At this time, it will be understood that each block of the processing flow diagram diagrams and combinations of the flow diagram diagrams can be performed by computer program instructions. These computer program instructions can be mounted on a processor of a general-purpose computer, special-purpose computer, or other programmable data processing equipment, so that the instructions performed through the processor of the computer or other programmable data processing equipment are described in the flow chart block(s). It creates the means to perform functions. These computer program instructions may be stored in a computer-readable memory or may be stored in a computer-readable memory that can be directed to a computer or other programmable data processing equipment to implement a function in a particular manner. The instructions stored in memory may also produce manufactured items containing instruction means to perform the functions described in the flow diagram block(s). Computer program instructions can also be mounted on a computer or other programmable data processing equipment, so that a series of operational steps are performed on the computer or other programmable data processing equipment to create a process that is executed by the computer, thereby generating a process that is executed by the computer or other programmable data processing equipment. Instructions that perform processing equipment may also provide steps for executing the functions described in the flow diagram block(s).

Additionally, each block may represent a module, segment, or portion of code that includes one or more executable instructions for executing specified logical function(s). Additionally, it should be noted that in some alternative execution examples it is possible for the functions mentioned in the blocks to occur out of order. For example, it is possible for two blocks shown in succession to be performed substantially at the same time, or it is possible for the blocks to be performed in reverse order depending on the corresponding function.

At this time, the term '~unit' used in this embodiment refers to software or hardware components such as FPGA or ASIC, and the '~unit' performs certain roles. However, '~part' is not limited to software or hardware. The '~ part' may be configured to reside in an addressable storage medium and may be configured to reproduce on one or more processors. Therefore, as an example, '~ part' refers to components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, and procedures. , subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, and variables. The functions provided within the components and 'parts' may be combined into a smaller number of components and 'parts' or may be further separated into additional components and 'parts'. In addition, the components and 'parts' may be implemented to regenerate one or more CPUs within the device or secure multimedia card.

Above, the configuration of the present invention has been described in detail with reference to the accompanying drawings, but this is merely an example, and those skilled in the art will be able to make various modifications and changes within the scope of the technical idea of the present invention. Of course this is possible. Therefore, the scope of protection of the present invention should not be limited to the above-described embodiments, but should be determined by the description of the claims below.

10: Road condition judgment system
20: Road management system
100: vehicle
110: Data collection unit
120: Event judgment unit
130: Transceiver
200: Road condition determination server
210: Road condition determination unit
220: Road condition information management department
230: Department of Communications

Claims (10)

Collecting sensor data and location information from sensors mounted on vehicles traveling on the road;
determining, by the vehicle, whether the sensor data is outside a reference range;
When the sensor data is outside the reference range, the vehicle recognizes that a road event has occurred and determines the type of road event based on the sensor data;
transmitting, by the vehicle, the sensor data related to the occurrence of the road event and location information where the sensor data was collected to a road condition determination server; and
The server determining the presence or absence of danger for each road section based on the sensor data and the location information and generating status information for each road section;
Including,
The step of determining the type of road event is,
Including determining whether one of the road event types corresponds to 'detour' based on the steering angle, steering angular velocity, lane and vehicle offset value, and GPS information among the sensor data.
How to determine road conditions. According to paragraph 1,
For the road section determined to be at risk in the step of generating the status information for each road section, the server requests maintenance of the road from the road management system that manages the road section judged to be at risk. A method of determining road conditions further comprising: transmitting a message. The method of claim 1, wherein determining the type of road event comprises:
Further comprising determining whether one of the road event types corresponds to an 'impact' based on the vehicle speed, IMU sensor information, and GPS information among the sensor data.
How to determine road conditions. The method of claim 1, wherein determining the type of road event comprises:
Further comprising determining whether one of the road event types corresponds to 'slip' based on VDC sensor information, ABS sensor information, wheel speed sensor information, and GPS information among the sensor data.
How to determine road conditions. The method of claim 1, wherein the step of transmitting to the road condition determination server comprises:
The vehicle transmits the road event type to the server along with the sensor data and location information where the sensor data was collected,
Further comprising the step of determining, by the server, traffic obstacle information based on the type of road event for the road section determined to be at risk,
The step of determining the traffic obstacle information is,
If the road event type corresponds to either 'detour' or 'impact', the traffic obstacle information is judged to be an 'uneven section',
If the road event type is 'unable to recognize lane', the traffic obstacle information is judged as 'lane damage and polluted section',
Including determining the traffic obstacle information as a 'slip section' when the road event type is 'slip'.
How to determine road conditions. vehicle; and
Includes a road condition judgment server,
The vehicle is,
If the sensor data collected from the built-in sensor is outside the standard range, it is recognized that a road event has occurred, the type of road event is determined based on the sensor data, and the sensor data and the sensor related to the occurrence of the road event are determined. Send location information where data was collected to the server,
The server is,
Based on the sensor data and the location information, the presence or absence of danger for each road section is determined to generate status information for each road section,
The vehicle is,
Determining whether one of the road event types corresponds to 'detour' based on the steering angle, steering angular velocity, lane and vehicle offset value, and GPS information among the sensor data.
Indian road condition judgment system. The method of claim 6, wherein the server:
Sending a message requesting road maintenance to the road management system that manages road sections judged to be at risk.
Indian road condition judgment system. The method of claim 6, wherein the vehicle:
Determining whether one of the road event types corresponds to 'impact' based on the vehicle's speed, IMU sensor information, and GPS information among the sensor data.
Indian road condition judgment system. The method of claim 6, wherein the vehicle:
Determining whether one of the road event types corresponds to 'slip' based on VDC sensor information, ABS sensor information, wheel speed sensor information, and GPS information among the sensor data.
Indian road condition judgment system. According to clause 6,
The vehicle is,
Transmitting the type of road event to the server along with the sensor data and location information where the sensor data was collected,
The server is,
For road sections where the risk is determined to exist, traffic obstacle information is determined based on the type of road event,
If the road event type is one of 'detour' and 'impact', the traffic obstacle information is judged to be 'uneven section',
If the road event type is 'unable to recognize lane', the traffic obstacle information is judged as 'lane damage and polluted section',
If the road event type is 'slip', the traffic obstacle information is judged to be a 'slip section'.
Indian road condition judgment system.

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