KR20210052157A - Real-time system for warning rear-end collision - Google Patents

Abstract

According to an embodiment of the present invention, a system for warning of a rear-end collision in real-time comprises: a vehicle module installed in a vehicle and measuring vehicle driving information of the vehicle; a roadside device installed in a section of a road, receiving the vehicle driving information from the vehicle module when the vehicle module moves in the section, and calculating a representative value for each section by using the received vehicle driving information; and a control server calculating the accident risk for each section by using the vehicle driving information and the representative value for each section and transmitting the accident risk for each section to the roadside device. The roadside device transmits the accident risk for each section to the vehicle module and the vehicle module outputs the accident risk for each section of the section. According to the present invention, the system can warn of the risk of an accident to vehicles in the entire road section except for one preceding vehicle. Moreover, the accident risk for each vehicle for each section and the accident risk for each section of the road are calculated, thereby reducing accidents occurring on the road.

Description

Real-time collision warning system {REAL-TIME SYSTEM FOR WARNING REAR-END COLLISION}

The present invention relates to a collision warning system, and more particularly, to a collision warning system that warns a driver of a collision risk by calculating an accident risk and outputting the calculated accident risk.

Conventional accident warning systems are generally based on in-vehicle sensors. For example, a conventional accident warning system measures a distance to a vehicle in front using a distance sensor installed in a vehicle. If the measured distance is within a certain distance, a warning sound is generated or a warning screen is output through a speaker or display device provided in the vehicle.

However, since the conventional accident warning system relies on a sensor in the vehicle, it can recognize only the immediately adjacent vehicle. Therefore, the conventional accident warning system cannot recognize the overall traffic flow on the road, and thus there is a limit in preventing accident prevention. In addition, the conventional accident warning system has a problem in that several expensive sensors must be installed in order to extend the detection distance and increase the accuracy of accident risk identification.

The present invention is to solve the above problems, and an object of the present invention is a real-time collision warning system and method capable of warning of an accident risk for a road section other than only one preceding vehicle and providing an optimized service for each vehicle It is to provide.

In addition, an object of the present invention is to provide a real-time collision warning system and method capable of monitoring the entire road section to which the present system is applied by calculating the accident risk for each vehicle and the accident risk for each section of the road.

A real-time collision warning system according to an embodiment of the present invention includes a vehicle module installed in a vehicle and measuring vehicle driving information of the vehicle; A roadside device installed in a section section of a road, receiving vehicle operation information from the vehicle module when the vehicle module operates in the section section, and calculating a representative value for each section using the received vehicle operation information; And a control server that calculates an accident risk for each section by using the vehicle operation information and the representative value for each section, and transmits the accident risk for each section to the roadside device. The roadside device transmits the accident risk for each section to the vehicle module, and the vehicle module outputs the accident risk for each section of the partition section.

In an embodiment, the roadside device transmits the representative value for each section to the vehicle module. The vehicle module calculates the risk of an own vehicle accident using the vehicle operation information and the representative value for each section, and outputs the calculated risk of the own vehicle accident. The control server includes a server storage unit for storing the risk of accidents for each section.

The present invention relates to a method of warning a collision risk in a real-time collision warning system in real time, wherein a vehicle module installed in a vehicle measures the driving information of the vehicle, and the measured driving information is converted to a roadside corresponding to the section in which the vehicle is running Measuring operation information transmitted to the device; The roadside device uses the driving information of each vehicle received in the driving information measuring step from the vehicle module installed in the vehicle running on the corresponding section of the road, and calculates a representative value of some of the collected driving information for the section. A representative value calculation step of calculating and transmitting the driving information and the representative value to a control server; An accident in which the control server calculates the accident risk by section for each section by using the operation information and the representative value received in the representative value calculation step, and transmits the calculated accident risk by section to the roadside device of the corresponding section Risk calculation step; An accident risk transmission step in which the roadside device transmits the accident risk for each section calculated in the accident risk calculation step to the vehicle module; And an accident risk output step of outputting, by the vehicle module, an accident risk for each section received in the accident risk transmission step.

As an embodiment, in the representative value calculation step, the roadside device transmits the calculated representative value to the vehicle module of the vehicle in which a corresponding section is being operated, and in the accident risk calculation step, the driving information and the The own vehicle accident risk of the vehicle in which the vehicle module is installed is calculated using the representative value received in the representative value calculation step, and in the accident risk output step, the vehicle module outputs the own vehicle accident risk calculated in the accident risk calculation step. do.

According to the present invention, the real-time collision warning system can warn of an accident risk to vehicles in the entire road section in addition to the one preceding vehicle. The present invention can reduce accidents occurring on the road by calculating the accident risk for each vehicle and the accident risk for each section of the road.

1 is a block diagram schematically showing a real-time collision warning system according to an embodiment of the present invention.
FIG. 2 is a block diagram illustrating the vehicle module illustrated in FIG. 1 by way of example.
3 is a block diagram illustrating the roadside apparatus shown in FIG. 1 by way of example.
FIG. 4 is a flowchart illustrating an exemplary operation method of the RSU control unit of the roadside apparatus shown in FIG. 3.
5 is a block diagram illustrating the control server illustrated in FIG. 1 by way of example.

Hereinafter, embodiments of the present invention will be described clearly and in detail to the extent that a person having ordinary knowledge in the technical field of the present invention can easily implement the present invention.

1 is a block diagram schematically showing a real-time collision warning system according to an embodiment of the present invention. Referring to FIG. 1, a real-time collision warning system 1000 includes a vehicle module 1100, a roadside device 1200, and a control server 1300.

The vehicle module 1100 is installed in a vehicle. Vehicles may include all types of vehicles such as passenger cars and trucks capable of driving on the road. The vehicle module 1100 measures driving information of an installed vehicle. Here, the vehicle operation information (PVD; probe vehicle data) may be, for example, a value necessary when calculating the risk of an own vehicle accident and the risk of an accident for each section. The vehicle module 1100 may calculate the risk of an own vehicle accident of the installed vehicle using driving information measured by the installed vehicle and a representative value received from the roadside device 1200. In addition, the vehicle module 1100 may calculate an accident risk for each section of a section in which the installed vehicle is running.

The roadside device 1200 may be installed on a road to which the real-time collision warning system 1000 is applied. The road may be divided into a plurality of divisional sections, and the roadside device 1200 may be installed in each divisional section. The roadside device 1200 may communicate with the vehicle module 1100 within each segment of a road. The roadside device may receive driving information of each vehicle from the vehicle module 1100 in the division section. For example, the roadside apparatus 1200 may calculate a representative value of some of vehicle operation information in each section. The roadside apparatus 1200 may transmit the calculated representative value to the vehicle module 1100 of a vehicle running in the divided section.

Meanwhile, the roadside apparatus 1200 may transmit the received driving information and the calculated representative value to the control server 1300. The roadside device 1200 may transmit the risk of an accident for each section received from the control server 1300 to the vehicle module 1100 in operation within the section section. According to the present invention, the roadside apparatus 1200 calculates a representative value of a part of the vehicle operation, thereby reducing the data processing burden of the control server 1300.

The control server 1300 calculates an accident risk for each section using vehicle operation information received from the roadside devices 1200 corresponding to each section and a representative value for each section. The control server 1300 transmits the calculated risk of an accident for each section to the roadside device 1200.

The real-time collision warning system shown in FIG. 1 may warn a vehicle of an entire road section of the danger of an accident in addition to the one preceding vehicle. The present invention can reduce accidents occurring on the road by calculating the accident risk for each vehicle and the accident risk for each section of the road.

FIG. 2 is a block diagram illustrating the vehicle module illustrated in FIG. 1 by way of example. The vehicle module 1100 is installed in the vehicle and may measure driving information of the installed vehicle. For example, the driving information may be information necessary when calculating the risk of an own vehicle accident and the risk of an accident for each section. Referring to FIG. 2, the vehicle module 1100 may include a vehicle communication unit 1110, a vehicle sensor unit 1120, a vehicle control unit 1130, and a vehicle display unit 1140.

The vehicle communication unit 1110 may transmit and receive data such as driving information, representative values, and accident risk for each section with the roadside device (refer to FIG. 1, 1200). The vehicle communication unit 1110 may communicate with the roadside device 1200 through a communication interface. For example, the vehicle communication unit 1110 may transmit a vehicle position, a distance to a vehicle in front, an own vehicle speed or acceleration, and the like. In addition, the vehicle communication unit 1110 may receive a section representative value or section risk. The section representative value may be section speed, acceleration, distance between vehicles, and the like.

The vehicle communication unit 1110 includes wireless wide area network (WWAN) communication (eg, RF wireless communication, IEEE 802.20), wireless metropolitan area network (WMAN) communication (eg, IEEE 802.16, WiMAX), and wireless local area network (WLAN). area network) communication (e.g., NFC, BLE, WiFi, Ad-Hoc, etc.), and wireless personal area network (WPAN) communication (e.g., IEEE 802.15, Zigbee, Bluetooth, UWB, RFID, Wireless USB, Z -Wave, Body Area Network) may be implemented to perform wireless communication in at least one method.

The vehicle sensor unit 1120 may include sensors for measuring necessary driving information. The vehicle sensor unit 1120 may measure the location of the vehicle based on GPS. For example, the vehicle sensor unit 1120 may extract the location of the own vehicle longitude and latitude using GPS. The vehicle sensor unit 1120 may measure the distance to the vehicle in the front or rear through image analysis based on the camera sensor. Through this, the vehicle sensor unit 1120 may extract a distance between vehicles. In addition, the vehicle sensor unit 1120 may extract a vehicle speed or acceleration based on the vehicle information collecting device. To this end, the vehicle sensor unit 1120 may include a separate sensor capable of measuring the speed or acceleration of the vehicle. Alternatively, the vehicle's speed and acceleration can be measured using GPS.

The vehicle control unit 1130 may control the operation of the vehicle communication unit 1110 and the vehicle sensor unit 1120 described above. In addition, the vehicle control unit 1130 may calculate the risk of an own vehicle accident using driving information or a section representative value based on the processing device and the computing device.

For example, the vehicle control unit 1130 may calculate the risk of an own vehicle accident using Time-to-Collision (TTC). Equation 1 below shows an example of obtaining a calculated TTC value. The smaller the calculated TTC value, the higher the risk of an accident.

Here, TTC _e ^j (t) is the estimated time of an own vehicle collision passing through section j of the road at time t. v _e ^j (t) is the travel speed of the own vehicle through section j of the road at time t. h _e ^j (t) is the head distance between the host vehicle passing through section j of the road and the vehicle preceding it at time t. v _s ^j (t) is a representative value of the speed of the preceding vehicle in the j section of the road at time t. a _s ^j (t) is a representative value of the acceleration of the preceding vehicle in the j section of the road at time t.

Meanwhile, the vehicle controller 1130 may calculate the risk of an own vehicle accident using a Deceleration-based Surrogate Safety Measure (DSSM). Equations 2 to 4 below show an example of calculating the DSSM calculation value. The greater the DSSM calculation value, the higher the risk of an accident.

In Equation 2, b _e ^j (t) is shown in Equation 3 below.

In Equation 3, K is the same as Equation 4 below.

In Equations 2 to 4, DSSM _e ^j (t) is the DSSM value of the host vehicle passing through the j section of the road at time t. b _max,e ^j denotes the maximum deceleration capacity of the host vehicle passing through the j section of the road. b _e ^j (t) is the amount of deceleration required to avoid an accident by the own vehicle passing through section j of the road at time t. b _max,s ^j is the average maximum deceleration capacity of vehicles passing through the j section of the road. τ is the average response time of drivers. X _e ^j (t) is the position of the own vehicle passing through the j section of the road at time t. X _s ^j (t) is a representative value of the position of the preceding vehicle passing through the j section of the road at time t. L _s ^j is a representative value of the length of the preceding vehicle in the j section of the road. J _s ^j is a representative value of the maximum possible change in acceleration of the preceding vehicle in the j section of the road. J _e ^j is the maximum changeable amount of acceleration of the host vehicle passing through the j section of the road. The vehicle control unit 1130 may calculate the risk of an own vehicle accident using various methods different from the above-described method.

Vehicle display unit 1140 through a navigation mounted in the vehicle, a mobile device connected to the vehicle (e.g., a smartphone), or a device (e.g., HUD) for displaying on the vehicle glass The risk of accidents and other information necessary for the driver can be output as images or sounds. For example, the vehicle display unit 1140 may directly output a value of a risk of an own vehicle accident and a value of the risk of an accident for each section as a voice.

In addition, the vehicle display unit 1140 divides the area of the screen into parts representing the risk of own vehicle accidents and the risk of accidents by section, and outputs the color of each part differently according to the value of the own vehicle accident risk and the accident risk by section. I can. Alternatively, the vehicle display unit 1140 may output the value of the own vehicle accident risk and the value of the accident risk for each section on the screen. The vehicle display unit 1140 may notify the driver and/or the occupant of the risk of an own vehicle accident and the risk of an accident for each section through various methods other than the above-described method.

3 is a block diagram illustrating the roadside apparatus shown in FIG. 1 by way of example. Referring to FIG. 3, the road surface device 1200 includes an input/output unit 1210, a road side unit (RSU) storage unit 1220, and an RSU control unit 1230.

The input/output unit 1210 includes an RSU input unit 1211 and an RSU output unit 1212. The RSU　 input unit 1211 may receive vehicle operation information, etc. from a vehicle module (see FIG. 1, 1100). For example, the RSU input unit 1211 may receive information on a section passing vehicle. In addition, the RSU input unit 1211 may receive an accident risk level for each section from the control server (see FIG. 1, 1300). The RSU　 input unit 1211 may provide vehicle operation information or an accident risk level for each section to the RSU storage unit 1220 or the RSU control unit 1230. The RSU output unit 1212 may provide a representative value for each section to the vehicle module 1100 or the control server 1300.

The RSU storage unit 1220 may store information received through the input/output unit 1210. The RSU storage unit 1220 may include a vehicle operation information storage unit 1221, a representative value storage unit 1222 for each section, and an accident risk storage unit 1223 for each section. The vehicle operation information storage unit 1221 may store vehicle operation information required when calculating the own vehicle accident risk and the accident risk for each section. The section-specific value storage unit 1222 may store a section-specific value calculated from vehicle operation information within each section of a road. For example, the representative value storage unit 1222 for each section may store a speed or acceleration of a vehicle, and a distance between vehicles. The accident risk storage unit 1223 for each section may store the accident risk for each section calculated by the 　 control server (see FIG. 1, 1300).

The RSU control unit 1230 may include a processor or a program management unit. The RSU controller 1230 may sample traffic data for each section through such hardware or software, calculate a representative value related to vehicle operation for each section, and calculate an accident risk for each vehicle or section.

FIG. 4 is a flowchart illustrating an exemplary operation method of the RSU control unit of the roadside apparatus shown in FIG. 3. 4, the RSU control unit 1230 of the roadside device 1200 receives vehicle operation information (PVD) from the vehicle module 1100, calculates a representative value for each section, and calculates a representative value for each section. The obtained risk of accidents for each section is transmitted to the vehicle module 1100.

In step S110, the RSU controller 1230 receives vehicle driving information (PVD) from the vehicle module 1100. Vehicle operation information may be provided from the vehicle module 1100 and may be stored in the RSU storage unit 1220 through the RSU input unit 1210 (eg, an antenna). At this time, the RSU control unit 1230 may receive vehicle operation information from the vehicle operation information storage unit 1221.

In step S120, the RSU controller 1230 samples traffic data for each section. The RSU control unit 1230 may sample traffic data for each section by using vehicle operation information input from the vehicle module 1100 or the vehicle operation information storage unit 1221.

In step S130, the RSU controller 1230 may calculate a representative value for each section by using the sampled traffic data for each section. For example, the representative value for each section may be a vehicle speed or acceleration, or an inter-vehicle distance. The RSU control unit 1230 may store the calculated representative value for each section in the representative value storage unit 1222 for each section.

In step S140, the RSU controller 1230 may transmit a representative value for each section. The RSU control unit 1230 may transmit a representative value for each section to the control server 1300 through the RSU output unit 1212 (for example, an antenna). At this time, the RSU　 controller 1230 may transmit a representative value for each section to the vehicle module 1100.

In step S150, the RSU control unit 1230 may receive an accident risk for each section from the control server 1300. Alternatively, the RSU control unit 1230 may receive an input of the accident risk for each section through the accident risk storage unit 1223 for each section. The RSU controller 1230 may calculate an accident risk for each vehicle or time by using the accident risk for each section.

In step S160, the RSU control unit 1230 may provide the vehicle module 1100 with an accident risk level for each section. Here, the accident risk for each section provided to the vehicle module 1100 may be finally updated information.

5 is a block diagram illustrating the control server illustrated in FIG. 1 by way of example. The control server 1300 may calculate an accident risk for each section by using vehicle operation information received from the roadside devices 1200 corresponding to each section and a representative value for each section. The control server 1300 may provide the calculated accident risk for each section to the vehicle module 1100 or the roadside device 1200.

Referring to FIG. 5, the control server 1300 includes a server communication unit 1310, a server storage unit 1320, and a server control unit 1330. The server communication unit 1310 includes a server input unit 1311 and a server output unit 1312. The server input unit 1311 receives a representative value for each section from the roadside device (refer to FIG. 1, 1200). Here, the representative value for each section may be a speed or acceleration, or a distance between cars. The server output unit 1312 provides the risk of accidents for each section to the roadside device 1200. According to an embodiment, the server output unit 1312 may directly provide the vehicle module 1100 with the risk of an accident for each section.

The server storage unit 1320 may include a representative value DB 1321 for each section and an accident risk DB 1322 for each section. Data stored in the section-specific value storage unit 1222 of the roadside apparatus 1200 described above may be stored in the section-specific value DB 1321. According to an embodiment, the server storage unit 1320 may not separately operate the representative value DB 1321 for each section because the data stored in the representative value storage unit 1222 for each section is provided. In this case, since the server storage unit 1320 does not separately operate the representative value DB 1321 for each section, it is possible to operate the storage space more leisurely without being burdened by the server storage capacity. In the accident risk DB 1322 for each section, the accident risk for each section calculated by the server control unit 1322 is stored.

The server controller 1330 may calculate an accident risk for each section using vehicle operation information or a representative value for each section. In order to calculate the accident risk for each section, the server control unit 1330 includes a processing unit 1331, a program management unit 1332, and an accident risk calculation unit 1333 for each section.

The processing unit 1331 may control the overall operation of the control server 1300. For example, the processing unit 1331 accesses the representative value DB 1321 for each section or the accident risk DB 1322 for each section of the server storage unit 1320, and the accident risk calculation unit 1333 for each section The server control unit 1330 can be driven by executing an algorithm or a program command constituting a. In addition, the processing unit 1331 may include a controller, an interface, a graphic engine, etc. that control various components of the control server 1300. The processing unit 1331 may be implemented in the form of a system-on-chip (SoC), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or the like.

The program management unit 1332 may provide or support installation of a program (hereinafter referred to as a collision warning program) for using a real-time collision warning system to the vehicle module 1100 or the roadside apparatus 1200. The program management unit 1332 may enable a real-time collision warning system to be used through the roadside device 1200 installed with a collision warning program. For example, the program management unit 1332 may notify the vehicle driver of accident risk information for each section in real time through a collision warning program installed in the roadside device 9200.

The accident risk calculation unit 1333 for each section may calculate the accident risk for each section using, for example, TTC (Time-to-Collision) and DSSM (Deceleration-based Surrogate Safety Measure). Here, the smaller the calculated value of TTC is, the higher the risk of an accident. And the greater the DSSM calculated value, the higher the risk of an accident. For example, the accident risk calculation unit 1333 for each section may calculate the accident risk for each section using Equation 5 below and obtain a calculated TTC value.

,

,

이다.From here,

,

,

to be.

는　시간 t일 때 적용되는 도로 j구간의 TTC 값이다.　

는　시간 t일 때 도로 j구간 통행차량들 중 TTC 값이 하위 10 백분위수(Percentile)에 해당 차량 수이다.　

는　시간 t일 때 도로 j구간 통행차량들의 TTC 값이다.　

는　시간 t일 때 도로 j구간의 선행 차량 속도 대표값이다.　

는　시간 t일 때 도로 j구간의 i번째 통행 차량의 속도이다.　

는　시간 t일 때 도로 j구간의 통행 차량의 수이다.　

는　시간 t일 때 도로 j구간의 선행 차량 가속도 대표값이다.　

는　시간 t일 때 도로 j구간의 i번째 통행 차량의 가속도이다.　

는　시간 t일 때 도로 j구간의 선행 차량 차두거리 대표값이다.　

는　시간 t일 때 도로 j구간의 i번째 통행 차량의 차두거리이다.And

Is the TTC value of section j of the road applied at time t.

Is the number of vehicles in which the TTC value is in the lower 10th percentile among vehicles traveling on section j of the road at time t.

Is the TTC value of vehicles passing through the j section of the road at time t.

Is a representative value of the speed of the preceding vehicle in the j section of the road at time t.

Is the speed of the ith passing vehicle on the j section of the road at time t.

Is the number of vehicles passing on section j of the road at time t.

Is a representative value of the acceleration of the preceding vehicle in the j section of the road at time t.

Is the acceleration of the ith passing vehicle in the j section of the road at time t.

Is a representative value of the headway distance of the preceding vehicle in the j section of the road at time t.

Is the head distance of the ith passing vehicle in the j section of the road at time t.

Meanwhile, the accident risk calculation unit 1333 for each section may calculate the accident risk for each section using Equation 6 below and obtain a DSSM calculation value.

는　시간 t일 때 적용되는 도로 j구간의 DSSM 값이다.　

는　시간 t일 때 도로 j구간 통행차량들 중 DSSM 값이 상위 10 백분위수(Percentile)에 해당 차량 수이다. 그리고　

는　시간 t일 때 도로 j구간 통행차량들의 DSSM 값이다.　서버 제어부(1330)는 상술한 방식과는 다른 다양한 방식을 이용하여 구간별 사고 위험도를 산출할 수 있다.From here,

Is the DSSM value of the j section of the road applied at time t.

Is the number of vehicles in which the DSSM value is in the upper 10 percentile among vehicles traveling on section j of the road at time t. And

Is the DSSM value of vehicles passing through the j section of the road at time t. The server controller 1330 may calculate an accident risk for each section using various methods different from the above-described method.

As described above, the real-time collision warning system 1000 according to an embodiment of the present invention measures vehicle operation information, calculates a representative value for each section, calculates an accident risk for each section, and transmits the accident risk for each section. And perform the process of outputting the risk of accidents. These processes can be performed in real time.

The vehicle module 1100 measures vehicle driving information. That is, the vehicle module 1100 measures values necessary to calculate the risk of an own vehicle accident and the risk of an accident for each section. In addition, the vehicle module 1100 transmits the measured vehicle operation information to the roadside apparatus 1200 corresponding to the driving section. The roadside device 1200 calculates a representative value for each section by using vehicle operation information of a vehicle running on a divided section of a road. The roadside apparatus 1200 transmits the driving information of each vehicle and the calculated representative value for each section to the control server 1300, and transmits the calculated representative value to the vehicle module 1100 of the vehicle in which the corresponding section is being operated.

The control server 1300 calculates an accident risk for each section using the received driving information and a representative value. The control server 1300 transmits the calculated accident risk for each section to the roadside device 1200 of a corresponding section. In this case, the calculated accident risk for each section may be stored in the server storage unit 1320 of the control server 1300.

Meanwhile, the vehicle module 1100 may calculate an own vehicle accident risk, which is a vehicle accident risk, using vehicle operation information and a representative value for each section. The roadside apparatus 1200 transmits the calculated risk of an accident for each section to the vehicle module 1100 of a vehicle running in the corresponding section. The vehicle module 1100 may output an accident risk for each section received from the roadside apparatus 1200. In addition, the vehicle module 1100 may output a risk of an own vehicle accident of the vehicle.

The above-described contents are specific examples for carrying out the present invention. In addition to the above-described embodiments, the present invention will include simple design changes or embodiments that can be easily changed. In addition, the present invention will also include techniques that can be easily modified and implemented using the embodiments. Therefore, the scope of the present invention is limited to the above-described embodiments and should not be determined, and should be determined by the claims and equivalents of the present invention as well as the claims to be described later.

1000: real-time collision warning system
1100: vehicle module
1200: roadside device
1300: control server

Claims (2)

A vehicle module installed in a vehicle and measuring vehicle driving information of the vehicle;
A roadside device installed in a section section of a road, receiving vehicle operation information from the vehicle module when the vehicle module operates in the section section, and calculating a representative value for each section using the received vehicle operation information; And
Using the vehicle operation information and the representative value for each section, an accident risk for each section is calculated through Time-to-Collision (TTC) or a Deceleration-based Surrogate Safety Measure (DSSM), and the accident risk for each section is calculated as the roadside device. Including a control server that transmits to,
The roadside device is a real-time collision warning system for transmitting the representative value for each section and the risk of accident for each section to the vehicle module. The method of claim 1,
The vehicle module outputs the risk of accidents for each section of the division section, and uses the vehicle operation information and the representative value for each section through Time-to-Collision (TTC) or Deceleration-based Surrogate Safety Measure (DSSM). A real-time collision warning system that calculates the risk of an own vehicle accident of the vehicle.

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