KR20230037747A - Vehicle, controlling method of vehicle - Google Patents

Abstract

Provided are a vehicle, and a control method thereof. The vehicle comprises: a camera obtaining a front image of a vehicle; a display unit; and a control unit determining whether or not to switch a signal of a traffic light included in the front image based on the front image, determining whether the vehicle can pass the traffic light based on yellow light maintaining time and driving speed of the vehicle when the traffic light is changed from green to yellow, and controlling the display unit to display a warning message when the vehicle is impossible to pass the traffic light.

Description

Vehicle and vehicle control method {VEHICLE, CONTROLLING METHOD OF VEHICLE}

The disclosed invention relates to a vehicle and a vehicle control method capable of preventing an accident in an intersection by assisting a driver's judgment in a yellow signal dilemma zone of a traffic light.

A phenomenon in which a driver of a vehicle driving toward a traffic light overspeeds or hastily stops to pass an intersection just before the traffic light turns red often occurs in the dilemma zone.

The dilemma zone refers to a situation in which a driver recognizes a yellow light at an intersection with a signal but cannot stop in front of the stop line and continues and does not get out of the intersection until the yellow signal ends. indicates an existing segment.

In this way, excessive speeding or stopping in the dilemma zone may lead to an accident, so a technology capable of delivering a warning message is required to alert the driver of a vehicle driving in the dilemma zone.

One aspect of the disclosed invention is to provide a vehicle and a vehicle control method capable of preventing an intersection accident by displaying a warning signal and controlling other vehicles and signals when the traffic light does not pass the intersection for the remaining time of the yellow signal.

A vehicle according to an embodiment includes a camera for acquiring a front image of the vehicle; display unit; Based on the front image, it is determined whether or not the signal of the traffic light included in the front image is switched, and when the traffic light is switched from a green signal to a yellow signal, the traffic light passes through based on the yellow signal holding time and the driving speed of the vehicle. and a controller for controlling the display unit to determine whether it is possible and to display a warning message when the passage of the traffic light is impossible.

The control unit may differently determine the yellow signal holding time according to the width of the road corresponding to the traffic light and the traveling speed of the vehicle.

The control unit determines that a larger value of a distance that can be traveled at the speed limit of the driving road during the yellow signal holding time and a distance that can be moved at the driving speed during the yellow signal holding time is greater than the distance that must be moved to pass the traffic light. If it is small, it can be determined that the traffic light cannot pass.

The control unit may control the display unit to stop outputting a warning message when a brake is applied to the vehicle.

The vehicle according to the embodiment may further include a communication unit, and the communication unit may receive the yellow signal holding time from the traffic light.

The control unit may control the communication unit to transmit a signal informing of the deceleration of the vehicle and a control signal for controlling the deceleration to a rear vehicle when the passage of the traffic light is impossible and the speed of the vehicle is decelerated.

The control unit transmits a signal informing of the passage of the traffic light and a control signal for controlling acceleration to another vehicle in a different driving direction when the passage of the traffic light is impossible and the speed of the vehicle is not reduced. You can control it.

The control unit may control the communication unit to transmit a control signal for extending the yellow signal holding time to the traffic light when the passage of the traffic light is impossible and the speed of the vehicle is not reduced.

The control unit may control driving according to a control signal received from the traffic light through the communication unit when another vehicle does not decelerate in a state where the traffic light is impossible to pass.

The control unit may control the communication unit to transmit a control signal for switching the traffic light to a red signal when the non-passing state of the traffic light is released within the yellow signal holding time.

A method for controlling a vehicle according to an exemplary embodiment includes acquiring a front image of the vehicle using a camera; determining whether a signal of a traffic light included in the forward image is switched based on the forward image; determining whether it is possible to pass the traffic light based on a yellow signal holding time and a driving speed of the vehicle when the traffic light is converted from a green signal to a yellow light; and controlling a display unit to display a warning message when the passage of the traffic light is impossible.

The yellow signal holding time may be determined differently according to the width of the road corresponding to the traffic light and the traveling speed of the vehicle.

In the impassable state of the traffic light, the greater of the distance that can be traveled during the yellow signal holding time at the speed limit of the driving road and the distance that can be moved during the yellow light holding time at the driving speed is moved to pass the traffic light. If it is smaller than the required distance, it can be determined that the traffic light cannot pass.

The vehicle control method according to the embodiment may include controlling the display unit to stop outputting the warning message based on the operation of brakes in the vehicle; may further include.

The vehicle control method according to the embodiment may include communicating with the traffic light or another vehicle; and receiving the yellow signal holding time from the traffic light.

The method for controlling a vehicle according to the embodiment may include transmitting a signal informing of deceleration of the vehicle and a control signal for controlling deceleration to a rear vehicle when the passage of the traffic light is impossible and the speed of the vehicle is decelerated; may further include.

In the vehicle control method according to the embodiment, when the passage of the traffic light is impossible and the speed of the vehicle is not decelerated, a signal indicating passage of the traffic light and a control signal for controlling acceleration of the vehicle are transmitted in different driving directions. Transmitting to another vehicle; may further include.

The vehicle control method according to the embodiment may further include transmitting a control signal to extend the yellow signal holding time to the traffic light when it is impossible to pass the traffic light and the speed of the vehicle is not reduced. can do.

The vehicle control method according to the embodiment may further include controlling driving according to a control signal received from the traffic light when the other vehicle does not decelerate in a state where the traffic light is impossible to pass.

The vehicle control method according to the embodiment may further include transmitting a control signal for switching to a red signal to the traffic light when the non-passing state of the traffic light is released within the yellow signal holding time. .

According to an embodiment of the disclosed invention, when it is determined that a vehicle cannot pass on a yellow light, a warning is given to the driver to help determine a dilemma zone and prevent an intersection traffic accident due to an error in determining a yellow light dilemma zone.

In addition, when a vehicle enters an intersection while driving, conditions that may cause an accident at the intersection are communicated with traffic lights and surrounding vehicles to induce safe driving of the driver and prevent traffic accidents by controlling vehicle acceleration, deceleration, and traffic lights. It can be prevented.

1 is a diagram showing a control block diagram of a vehicle according to an embodiment.
2 is a diagram showing a vehicle and a dilemma zone according to an embodiment.
3 is a diagram illustrating that a vehicle detects a yellow signal of a traffic light according to an embodiment.
4 is a diagram showing that a vehicle determines the length of a yellow signal differently according to an intersection width and a vehicle speed according to an embodiment.
5 is a diagram illustrating that a vehicle receives the remaining time of a yellow signal through communication with a traffic light according to an embodiment.
6 is a diagram illustrating output of a warning signal when a vehicle drives through an intersection in a state in which the vehicle cannot pass through the intersection according to an exemplary embodiment.
FIG. 7 is a diagram illustrating communication with another vehicle in the rear when a vehicle suddenly stops in an intersection impossible state according to an embodiment.
FIG. 8 is a diagram illustrating communication with another vehicle in a different driving direction when a vehicle drives through an intersection in an intersection impossible state according to an embodiment.
FIG. 9 is a diagram for transmitting a signal extending a yellow signal to a traffic light when a vehicle drives through an intersection in an intersection impossible state according to an embodiment.
10 is a diagram for transmitting a signal for switching to a red signal to a traffic light when a state in which a vehicle cannot pass an intersection is released, according to an embodiment.
11 is a diagram illustrating communication with other vehicles and traffic lights capable of V2X communication when a vehicle drives through an intersection in an intersection impossible state according to an embodiment.
FIG. 12 is a diagram illustrating that, according to an embodiment, when a vehicle is driving through an intersection in an intersection impossible state, another vehicle unable to communicate with V2X enters and communicates with a traffic light.
13 is a flowchart illustrating a vehicle and a method for controlling the vehicle according to an embodiment.
14 is a flowchart showing a vehicle and a method for controlling the vehicle according to another embodiment.
Fig. 15 is a diagram showing parts omitted from the flowchart of Fig. 14;

The configurations shown in the embodiments and drawings described in this specification are preferred examples of the disclosed invention, and there may be various modifications that can replace the embodiments and drawings in this specification at the time of filing of the present application.

In addition, the same reference numerals or numerals presented in each drawing in this specification indicate parts or components that perform substantially the same function.

In addition, terms used in this specification are used to describe embodiments, and are not intended to limit and/or limit the disclosed invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "include", "include" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or the existence or addition of more other features, numbers, steps, operations, components, parts, or combinations thereof is not excluded in advance.

In addition, terms including ordinal numbers such as “first” and “second” used herein may be used to describe various components, but the components are not limited by the terms, and the terms It is used only for the purpose of distinguishing one component from another. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element, without departing from the scope of the present invention. The term "and/or" includes any combination of a plurality of related listed items or any of a plurality of related listed items.

In addition, terms such as "~ unit", "~ group", "~ block", "~ member", and "~ module" may mean a unit that processes at least one function or operation. For example, the terms may mean at least one hardware such as a field-programmable gate array (FPGA)/application specific integrated circuit (ASIC), at least one software stored in a memory, or at least one process processed by a processor. there is.

The codes attached to each step are used to identify each step, and these codes do not indicate the order of each step, and each step is performed in a different order from the specified order unless a specific order is clearly stated in the context. It can be.

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. Instructions may be stored in the form of program codes, and when executed by a processor, may perform operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

Computer-readable recording media include all types of recording media in which instructions that can be decoded by a computer are stored. For example, there may be read only memory (ROM), random access memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage device, and the like.

Hereinafter, an embodiment of the vehicle 100 and a control method of the vehicle 100 according to an aspect will be described in detail with reference to the accompanying drawings.

1 is a diagram showing a control block diagram of a vehicle 100 according to an embodiment.

Referring to FIG. 1, a vehicle 100 includes a camera 130 that photographs the front of the vehicle 100, a communication unit 120 that performs wired/wireless communication with external and internal devices, and a display unit 150 that displays a warning. , a memory 140 that temporarily or non-temporarily stores information necessary for vehicle 100-related control, and a control unit 110 that controls the aforementioned components.

In addition, the vehicle 100 may wirelessly communicate with another vehicle 200 or the traffic light 300 by controlling the communication unit 120 by the control unit 110 .

At least one camera 130 may be mounted at a location capable of capturing a front of the vehicle 100 inside the vehicle 100 .

Alternatively, a mobile device equipped with a camera 130 may be connected to the vehicle 100 to perform the function of the camera 130 to photograph the front of the vehicle 100 . Connection between the mobile device and the vehicle 100 may be made through wireless communication such as Bluetooth or through a wired cable.

The camera 130 may be a built-in cam (DVRS, Drive Video Record System) mounted on the vehicle 100 or a black box mounted separately inside, but is not limited thereto.

The camera 130 may include any configuration as long as it can acquire a front image by photographing the front of the vehicle 100 .

The communication unit 120 may communicate with other vehicles 200 or traffic lights 300 through a wireless communication base station, and may include a wireless communication unit 121 and a wired communication unit 122 .

For example, the communication unit 120 may use a second generation (2G) communication method such as Time Division Multiple Access (TDMA) and Code Division Multiple Access (CDMA), a broadband code 3rd generation (3G) communication methods such as Wide Code Division Multiple Access (WCDMA), Code Division Multiple Access 2000 (CDMA2000), Wireless Broadband (Wibro), and World Interoperability for Microwave Access (WiMAX); 4th generation (4G) communication schemes such as Long Term Evolution (LTE) and Wireless Broadband Evolution may be employed. The communication unit 120 may also employ a 5th generation (5G) communication method.

The communication unit 120 may include one or more components enabling communication with an external device, and may include, for example, at least one of a short-distance communication module, a wired communication unit 122, and a wireless communication unit 121.

The short-range communication module uses a wireless communication network such as a Bluetooth module, an infrared communication module, a Radio Frequency Identification (RFID) communication module, a Wireless Local Access Network (WLAN) communication module, an NFC communication module, and a Zigbee communication module to transmit signals at a short distance. It may include various short-range communication modules that transmit and receive.

The wired communication unit 122 may include a controller area network (CAN) communication module, a local area network (LAN) module, a wide area network (WAN) module, or a value added network (VAN) module. In addition to various wired communication units 122, USB (Universal Serial Bus), HDMI (High Definition Multimedia Interface), DVI (Digital Visual Interface), RS-232 (recommended standard 232), power line communication, or POTS (plain old telephone service) and various cable communication modules.

The wireless communication unit 121 includes a Radio Data System-Traffic Message Channel (RDS-TMC), Digital Multimedia Broadcasting (DMB), a Wi-Fi module, and a Wireless Broadband (GSM) module, as well as a global System for Mobile Communication), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), UMTS (universal mobile telecommunications system), TDMA (Time Division Multiple Access), LTE (Long Term Evolution), etc. It may include a wireless communication unit 121 that supports.

The wireless communication unit 121 may include a wireless communication interface including an antenna and a receiver for receiving traffic information signals. In addition, the wireless communication unit 121 may further include a traffic information signal conversion module for demodulating an analog type wireless signal received through a wireless communication interface into a digital control signal.

The communication unit 120 transmits the collected data to the control unit 110 or receives a deceleration or acceleration control signal from the control unit 110 when lane information, traffic light 300 status, and other vehicle 200 data are collected. It can be transmitted to other vehicles 200.

In addition, the communication unit 120 may receive a signal extending the yellow signal holding time of the traffic light 300 from the control unit 110 or receive a signal for converting to a red signal and transmit the signal to the traffic light 300 .

The display unit 150 may display a warning message when it is determined by the control unit 110 that the vehicle 100 cannot pass the traffic light 300 .

For example, the display unit 150 may include an AVN (Audio Video Navigation) display. However, in this embodiment, the display unit 150 displaying the warning message is not necessarily limited to the AVN display.

Even if the display unit 150 is not an AVN display, it may be a display unit 150 that displays a warning message if it is a display at a position where a user riding in the vehicle 100 can check displayed contents.

In addition to this, the display unit 150 displays information indicating the state of the vehicle 100, displays information for guiding the settings of the vehicle 100, displays a navigation screen, displays multimedia contents, and controls driving and driving. You can also display relevant information.

As another example, the display unit 150 may include a direction indicator that notifies a direction when the vehicle 100 changes lanes or turns.

Turn indicators are located inside and outside the vehicle 100, and inside the vehicle 100, the driver can check whether or not the turn indicators are working, and outside the vehicle 100, they inform other vehicles 200 of the direction. can play a role

In case of an emergency, the turn signal lamp can also act as an emergency light to indicate an emergency situation by flashing both turn indicators.

The display unit 150 may display a warning message to the driver and other vehicles 200 in a situation where the vehicle 100 cannot pass the traffic light 300 by using the turn signal lamp as an emergency light.

The memory 140 may store data for determining the length of the yellow signal according to the width of the road and the traveling speed of the vehicle 100 .

Also, the memory 140 may be used to store data for measuring the distance between the current location of the vehicle 100 and a target point, or the current speed of the vehicle 100 or the speed limit of the road.

The memory 140 includes a volatile memory 140 such as Static Random Access Memory (S-RAM) and Dynamic Random Access Memory (D-RAM), Read Only Memory (ROM), A non-volatile memory 140 such as Erasable Programmable Read Only Memory (EPROM) may be included. The memory 140 may include one memory 140 element or may include a plurality of memory 140 elements.

The controller 110 may control the camera 130, the communication unit 120, the display unit 150, and the memory 140 to output a warning message to help the driver determine in the yellow light dilemma zone.

In detail, the controller 110 may determine the state of the traffic light 300 in the forward image information obtained from the camera 130 .

The control unit 110 may distinguish and determine the type of traffic light 300 and the state of the signal, and may control the vehicle 100 differently according to the determined type of traffic light 300 and the state of the signal.

In addition, the control unit 110 may determine whether the signal of the traffic light 300 is switched, and the signal may be switched from a green signal to a yellow signal, from a yellow signal to a red signal, or from a red signal to a green signal.

The control unit 110 may determine whether or not the signal of the traffic light 300 is switched and control the vehicle 100 differently according to whether the signal is switched.

The control unit 110 may determine the duration of the yellow signal and determine whether the vehicle 100 can pass the traffic light 300 based on the duration of the yellow signal and the driving speed of the vehicle 100 .

When the controller 110 determines that the vehicle 100 cannot pass the traffic light 300 based on the holding time of the yellow signal and the driving speed of the vehicle 100, the control unit 110 controls the display unit 150 to output a warning message. You can control it.

As described above, the display unit 150 may include an AVN (Audio Video Navigation) display or turn indicators configured inside and outside the vehicle 100 .

A specific control method of the control unit 110 will be described later in detail along with drawings according to embodiments.

2 is a diagram showing a vehicle 100 and a dilemma zone according to an embodiment.

Dilemma Zone is a situation in which a driver recognizes a yellow light in a traffic lane but cannot stop in front of the stop line and continues to proceed and does not get out of the lane until the yellow light ends. It may mean a section in which the vehicle 100 exists up to the point.

Referring to FIG. 2 , the vehicle 100 may be in a state where it has not crossed the stop line while driving, and it may be necessary to determine whether or not to continue driving by switching from a green signal to a yellow signal.

The traffic light 300 controls the driving of the vehicle 100 by switching to a red signal after a yellow signal, and gives a buffer time before changing to a red signal so that the vehicle 100 continues to drive through the intersection or selects to stop. can do.

2, the driver must decide whether to drive or stop the vehicle 100 before passing the stop line. this can happen

Therefore, the vehicle 100 according to an embodiment can prevent accidents with other vehicles 200-1 and 200-2 by assisting the driver's judgment in order to prevent the driver from making a wrong decision or reversing the decision.

In addition, when it is determined that the vehicle 100 cannot pass the traffic light 300 according to an embodiment, a warning message is transmitted to assist in the determination, and other vehicles 200-1 and 200-2 or the traffic light 300 of V2X communication can directly intervene in accident prevention.

3 is a diagram showing that the vehicle 100 detects the yellow signal of the traffic light 300 according to an embodiment.

Referring to FIG. 3 , the controller 110 can determine the shape of the traffic light 300 and the state of the signal through the camera 130, and the camera 130 is a built-in cam (DVRS, Drive Video Record System) or a black box mounted separately inside, but is not limited thereto.

The camera 130 may capture a front image including the traffic light 300, and the controller 110 may determine the shape of the traffic light 300 and the state of the signal through the obtained front image, and the method has limitations. does not exist.

For example, a method of determining the state of a signal may be a method using a multi-exposure image of the camera 130 .

At least one camera 130 may be provided, and a camera 130 having a high frame rate may be used. A high frame rate means that the rate at which the camera 130 captures successive images is high, and thus the accuracy of the process of detecting what color signal the traffic light 300 is can be improved.

The controller 110 may adjust the exposure time of the camera 130 and capture multiple exposure images continuously taken according to the preset exposure time from the camera 130 .

In this case, the multi-exposure images are images having different exposure times, and it can be assumed that they are captured at the same time point even though there is a slight time difference due to continuous shooting.

For example, in the case of two images, one image captured in a normal exposure mode and the other image captured in a low exposure mode may be captured.

The controller 110 sets the exposure time of the camera 130 to a normal exposure mode and a low exposure mode darker than the normal exposure mode. Accordingly, when the operation for recognizing the traffic light 300 starts, the control unit 110 sets the exposure time of the camera 130 to a preset normal exposure mode or low exposure mode and controls the shooting.

In the low exposure mode, the exposure time may be fixed to be short, which is to use an active light source in which the traffic light 300 itself emits light.

Therefore, even if the controller 110 fixes the exposure time to be short, it is possible to capture an image of the color of the traffic light 300 because light is emitted from the traffic light 300 itself. An image captured in the low exposure mode (hereinafter referred to as a low exposure image) may have a relatively dark overall brightness compared to an image captured in a normal exposure mode (hereinafter referred to as a normal exposure image).

A normal exposure mode may be set to an exposure value for normal shooting. For example, when the exposure value can be set in the (+) and (-) directions based on the average value of 0, the normal exposure mode can be set to the average value of 0, and the low exposure mode can be set to the range in the (-) direction.

In the normal exposure mode, it may be difficult to capture a clear image due to external environments such as weather or day and night, so the exposure time can be adjusted to balance the image.

That is, the control unit 110 may measure the light intensity of the normal exposure image captured through the camera 130 to balance the image in the normal exposure mode, and adjust the exposure time according to the measured light intensity. .

When the light intensity of the normal exposure image captured by the camera 130 is higher than the average, the normal exposure image may be captured by adjusting the exposure time to lower the light intensity.

When an operation for recognizing the traffic light 300 starts, the controller 110 may control the camera 130 to continuously take pictures according to the low exposure mode or the normal exposure mode with the camera 130, and from the camera 130 Continuously photographed low-exposure images and normal-exposure images may be respectively captured.

In the low-exposure image, it can be confirmed that only the traffic light 300, which is an active light source, appears clearly, and in the case of the low-exposure image, only the part where the brightness of light such as the active light source is strong is captured, so the false detection rate for similar colors can be prevented.

The controller 110 may detect the color of the traffic light 300 by analyzing the color distribution of the low-exposure image captured by the camera 130 .

While the color range of a normal exposure image is widely distributed, the color range of a low exposure image may be very narrowly distributed compared to that of a normal exposure image. Accordingly, the controller 110 can effectively detect one color such as red, yellow, and green.

There is no limitation on how the control unit 110 determines the state of a signal using the front image acquired through the camera 130, and any method can be used as long as the signal can be distinguished.

4 is a diagram showing that the vehicle 100 determines the length of the yellow signal differently according to the intersection width and the speed of the vehicle 100 according to an embodiment.

Referring to FIG. 4 , the controller 110 may calculate a yellow signal differently according to the width of the intersection in which the vehicle 100 is driving and the traveling speed of the vehicle 100, and check the actual applied value.

The duration of the yellow signal may be determined by the yellow traffic light time operation regulations in the traffic signal installation management manual.

The yellow time is set to a maximum of 5 seconds, and the rest of the time beyond this is set to the full red time of 1 or 2 seconds.

In order to calculate the times for the yellow and all red signals, the width of the intersection, the approaching speed of the vehicle 100, the critical deceleration, and the driver's reaction time should be considered. The appropriate signal conversion time that can minimize the dilemma zone is calculated according to the following formula.

Yellow signal time (sec) = Stop recognition reaction time (sec, 1.0 sec applied) + Approaching speed (m/s)/ 2*Stop deceleration (m/s2, 5.0 m/s2 applied) + (Intersection crossing distance (m/s) )+vehicle (100) length (m))/approaching speed (m/s) - starting cognitive response and spare time (seconds, 1.5 seconds applied)

The yellow signal holding time calculated in this way can be rounded up without exceeding 5 seconds, and the rounded value can be used as the applied value of the yellow signal holding time.

The memory 140 may store the calculated holding time of the yellow signal as data and provide information about the holding time of the yellow signal to the controller 110 .

The controller 110 may determine the width of the road and the approaching speed of the vehicle 100 through navigation data and sensor data of the vehicle 100 .

When road information such as CCTV information of the road, speed camera 130, sensor data of vehicles 100, and surrounding vehicle 100 data is collected, the communication unit 120 receives the collected road information from an external server (not shown) can do.

The control unit 110 determines the width of the lane and the intersection approach of the vehicle 100 based on road information such as the collected CCTV information of the road, the speed camera 130, the sensor data of the vehicles 100, and the surrounding vehicle 100 data. speed can be determined.

Specifically, the sensor of the vehicle 100 is a sensor that detects the surrounding environment to determine the width of the road and the speed of the vehicle 100, and uses a camera 130 (camera), radar, and lidar sensor. and may include a wheel speed sensor, a yaw rate sensor, and a global positioning system (GPS) sensor as sensors for recognizing host vehicle information.

The sensors of the vehicle 100 are not limited thereto, and may include any sensors capable of sensing driving environment information around the vehicle 100 .

The controller 110 may determine a road condition and a state of the vehicle 100 based on the collected road information, and the controller 110 may map an object on a map with precision based on the collected road information.

The high-precision road map may refer to an electronic map that provides driving environment information such as road traffic, regulation, and facility information in high-precision 3D for autonomous driving of the vehicle 100 .

High-precision maps may be classified into high-resolution precision maps, high-precision electronic maps, ADAS (Advanced Driver Assistance Systems) maps, HD (High Definition) maps, and the like, depending on the field.

The control unit 110 may map objects including surrounding obstacles, surrounding terrain, lanes, and driving trajectories on a map with high precision, and based on the mapping result, the location, speed, and expected path of the vehicles 100 on the road may be mapped. can be estimated

As such, the control unit 110 can determine the width of the lane and the speed of the vehicle 100 by various methods, and accordingly, the control unit 110 determines the duration of the yellow signal differently to provide an optimal environment that can help the driver's decision. can do.

5 is a diagram showing that the vehicle 100 receives the remaining time of the yellow signal through communication with the traffic light 300 according to an embodiment.

Referring to FIG. 5 , the control unit 110 not only controls the vehicle 100 by detecting the yellow signal and determining the duration of the yellow signal as in the above embodiment, but also controls the yellow signal through V2I communication with the traffic light 300. The vehicle 100 may be controlled by receiving the holding time of the signal.

The communication unit 120 may transmit and receive necessary data by wirelessly communicating with the traffic light 300 through V2I communication.

Vehicle-to-Infrastructure (V2I) communication may refer to wireless data exchange between the vehicle 100 and road infrastructure. V2I communication is enabled by hardware, software, and firmware systems, and can generally be wireless, two-way communication. Road infrastructure components such as lanes, signs, and traffic lights 300 may provide information to the vehicle 100 wirelessly, and conversely, it is also possible to provide information from the vehicle 100 to the infrastructure.

The control unit 110 may receive and utilize the duration of the yellow signal through the communication unit 120 without separately determining the duration of the yellow signal in the traffic light 300 capable of vehicle-to-infrastructure (V2I) communication.

FIG. 6 is a diagram illustrating output of a warning message when the vehicle 100 drives through an intersection in a state in which a vehicle 100 cannot pass by a lane according to an exemplary embodiment.

Referring to FIG. 6 , the control unit 110 passes through the traffic light 300 when the vehicle 110 does not pass the end point of the opposite lane within the holding time of the yellow signal when the vehicle 100 is driving in a lane with a signal such as an intersection. It can be judged as impossible.

Specifically, the control unit 110 determines that a larger value of the distance that can be traveled during the yellow signal holding time at the speed limit of the driving road and the distance that can be moved during the yellow signal holding time at the driving speed must be moved to pass the traffic light 300. If the distance is smaller than the required distance, it can be determined that the traffic light 300 cannot pass.

The control unit 110 determines the distance that can be traveled during the yellow signal holding time and the traffic light 300 based on the collected road information on the speed limit of the driving road, the driving speed of the vehicle 100, and the distance between the end points of the intersection. You can compare the distance you have to travel to get there.

The control unit 110 may calculate a distance that can be traveled during the yellow signal holding time at the speed limit of the driving road by multiplying the yellow signal holding time by the speed limit of the driving road, and may calculate the yellow light holding time to the driving speed of the vehicle 100. By multiplying it, you can calculate the distance that can be traveled at the current speed during the yellow signal holding time.

In addition, the control unit 110 determines the distance from the end point of leaving the lane to pass the traffic light 300 to the opposite end point passing through the traffic light 300 and the larger value among the distances that can be moved during the yellow signal holding time calculated above. can be compared

The control unit 110 compares a larger value among distances that can be moved during the yellow signal holding time and the distance from the end point of leaving the lane to pass through the traffic light 300 to the opposite end point passing through the traffic light 300, ) If the distance value from the end point of leaving the lane for passage to the opposite end point passing through the traffic light 300 is greater, it can be determined that the traffic light 300 cannot pass.

If the vehicle 100 does not pass the end point of the opposite lane within the holding time of the yellow signal, the corresponding yellow signal is converted to a red signal, and other signals or walking signals in the intersection are converted to green signals.

Since the vehicle 100 is still passing through the intersection in the traffic light 300 impassable state, a risk of collision may occur when another vehicle 200 receives a green signal and drives.

Therefore, it is necessary for the vehicle 100 to inform the driver and other vehicles 200 of the fact that the vehicle 100 is passing through the lane by appropriately displaying the information and assist in the determination.

The display unit 150 can notify the driver inside the vehicle 100 that the traffic light 300 is in a non-passable state, and an AVN (Audio Video Navigation) display can be used as a method of notifying the driver of a warning message.

Even if the display unit 150 is not an AVN display, if it is a display at a position where a user riding in the vehicle 100 can check displayed contents, it can be used to display a warning message.

In order to display a warning message to other vehicles 200, the display unit 150 may utilize a direction indicator lamp that indicates a direction when the vehicle 100 changes lanes or turns.

In case of an emergency, the turn signal lamp can act as an emergency lamp to indicate an emergency situation by flashing both direction indicators.

The display unit 150 may display a warning message to the driver and other vehicles 200 in a situation where the vehicle 100 cannot pass the traffic light 300 by using the turn signal lamp as an emergency light.

As described above, the vehicle 100 according to an embodiment may display a warning message to the driver inside as well as other vehicles 200 outside when it is determined that the vehicle 100 is unable to pass the traffic light 300, so the driver's dilemma zone It can assist judgment and prevent accidents in advance.

FIG. 7 is a diagram illustrating communication with another vehicle 200 at the rear when the vehicle 100 makes an emergency stop in a state where passing through an intersection is impossible according to an embodiment.

Referring to FIG. 7, when the vehicle 100 cannot pass the traffic light 300 in which the vehicle 100 cannot pass the end point of the opposite lane within the holding time of the yellow signal, and it is determined that the vehicle 100 makes a sudden stop, an accident may occur. can

That is, if another vehicle 200 from the rear predicts the vehicle 100 to pass through the intersection and fails to reduce its speed, or if the other vehicle 200 fails to secure a safe distance, the risk of a rear-end collision may occur.

The control unit 110 may transmit a warning message to the other vehicle 200 and transmit a deceleration control signal through V2V communication with the other vehicle 200 in the rear in order to prevent the risk of the above accident.

V2V (Vehicle to Vehicle) communication means communication between vehicles 100, and data can be transmitted and received through wireless communication unique to each vehicle. Vehicle to Vehicle (V2V) communication can utilize all types of wireless components so that vehicles 100 can communicate with each other and form a Vehicle Ad Hoc Network (VANET).

The control unit 110 not only displays a warning message to the driver inside the vehicle 100 through the display unit 150 when it is impossible to pass the traffic light 300 and the speed of the vehicle 100 is reduced, but also the vehicle 100 ) and a control signal for controlling the acceleration or deceleration of the other vehicle 200 may be transmitted to the other vehicle 200 at the rear.

The signal for the controller 110 to inform the other vehicle 200 of deceleration of the vehicle 100 may be the same message as the warning message displayed on the vehicle 100, and the control signal for controlling the acceleration of the other vehicle may be an accelerator. ) may be a control signal for controlling the pedal, and the control signal for controlling deceleration may be a brake control signal.

As such, the control unit 110 may display a warning message to the driver of the vehicle 100 when the vehicle 100 is unable to pass the traffic light 300, and even if the driver decelerates based on the displayed warning message, the controller 110 may drive backwards. A collision with the vehicle 100 can be prevented.

FIG. 8 is a diagram illustrating communication with other vehicles 200-1 and 200-2 in different driving directions when the vehicle 100 drives through an intersection in an intersection impossible state according to an embodiment.

Referring to FIG. 8, unlike FIG. 7, when the vehicle 100 cannot pass the traffic light 300 in which the vehicle 100 cannot pass the end point of the opposite lane within the holding time of the yellow signal, the vehicle 100 passes without stopping. An accident may occur with other vehicles (200-1, 200-2) by judgment.

That is, when the vehicle 100 enters an intersection within the yellow signal holding time and the yellow signal is converted to a red signal, the signals of other vehicles 200 - 1 and 200 - 2 in different driving directions may be switched to green.

Since the vehicle 100 continues to drive through the intersection, its driving path overlaps with other vehicles 200-1 and 200-2 driving along the green signal, and a frontal or side collision may occur.

In order to prevent such a collision, the control unit 110 transmits a signal informing the other vehicle 200 of passing the traffic light 300 of the vehicle 100 through V2V communication with the other vehicle 200-1 or 200-2 and another vehicle A control signal for controlling acceleration or deceleration of 200-1 or 200-2) may be transmitted.

The signal that the control unit 110 informs other vehicles 200-1 and 200-2 that the vehicle 100 has passed through the traffic light 300 may be the same message as the warning message displayed on the vehicle 100, and the acceleration of the other vehicle The control signal for controlling may be an accelerator pedal control signal, and the control signal for controlling deceleration may be a brake control signal.

As such, the control unit 110 may display a warning message to the driver of the vehicle 100 when the vehicle 100 is unable to pass the traffic light 300, and even if the driver continues to drive based on the displayed warning message, the front and side directions may be displayed. It is possible to prevent a collision with the vehicle 100 running on the .

9 is a diagram for transmitting a signal extending a yellow signal to a traffic light 300 when the vehicle 100 drives through an intersection in an intersection impossible state according to an embodiment.

Referring to FIG. 9 , when the vehicle 100 continues to drive in a traffic light 300 impassable state, the vehicle 100 may transmit a signal to the traffic light 300 to extend the holding time of the yellow signal.

The control unit 110 may transmit a signal extending the holding time of the yellow signal through V2I communication with the traffic light 300, and extending the holding time of the yellow signal may be limited within a certain range that does not interfere with traffic flow. there is.

In addition, the controller 110 may control the vehicle 100 by receiving a control signal from the traffic light 300 as well as transmitting a control signal to the traffic light 300 .

That is, the control unit 110 may receive a control signal from the traffic light 300 as will be described later, and the control signal is a deceleration control signal for controlling the brake of the vehicle 100 and an accelerator pedal for controlling the vehicle 100. An acceleration control signal may be included.

The controller 110 may control the vehicle 100 by receiving a control signal from the traffic light 300, and accordingly, the vehicle 100 may further reduce the possibility of collision with another vehicle 200.

FIG. 10 is a diagram for transmitting a signal for switching to a red signal to the traffic light 300 when the vehicle 100 according to an embodiment is released from passing the traffic light 300. Referring to FIG.

Referring to FIG. 10 , after the controller 110 determines that the vehicle 100 is unable to pass the traffic light 300, when the traffic light 300 is unable to pass through the traffic light 300 during the yellow signal holding time, the traffic light A control signal can be transmitted to (300).

If the yellow signal is extended while the vehicle 100 cannot pass the traffic light 300 or the vehicle 100 is accelerated to pass the traffic light 300 during the yellow signal maintenance time, the traffic light 300 may not need to maintain the yellow signal. there is.

The control unit 110 can identify that the vehicle 100 has passed through the intersection through the collected road information, and converts the yellow signal to the red signal at the traffic light 300 based on the fact that the vehicle 100 has passed through the intersection. control signals can be transmitted.

The communication unit 120 may transmit and receive control signals through V2I communication with the traffic light 300, and the traffic light 300 is changed to a red signal and the next traffic light 300 is changed to a green signal while maintaining traffic flow. Accidents can be prevented.

11 is a diagram illustrating communication with another vehicle 200 and the traffic light 300 capable of V2X communication when the vehicle 100 drives through an intersection in a state in which the traffic light 300 cannot pass, according to an embodiment.

Referring to FIG. 11 , when the vehicle 100 continues driving in a car in a state in which traffic lights 300 cannot pass, the vehicle 100 may communicate with other vehicles 200 and the traffic lights 300 to prevent an accident.

According to an embodiment, in order to prevent the vehicle 100 from colliding with the other vehicle 200, the vehicle 100 detects the entry of another vehicle 200 into an intersection through the sensor data of the vehicle 100 and sends a control signal to the traffic light 300. A process of sending may be included.

The traffic light 300 cannot pass state is when the traffic light 300 is a yellow signal, and the traffic light 300 of another vehicle 200 in a different driving direction is a red signal, so the other vehicle 200 cannot enter the intersection. does not exist.

Even so, the control unit 110 may transmit a control signal to the traffic light 300 to control the other vehicle 200 capable of V2V communication and V2I communication when another vehicle 200 violates the signal and enters the intersection. .

In order to prevent an accident, the control unit 110 controls a signal notifying the traffic light 300 of passing through the traffic light 300 and acceleration or deceleration of another vehicle 200 through V2I communication with the traffic light 300. control signals can be transmitted.

The signal notifying the passage of the traffic light 300 of the vehicle 100 transmitted by the control unit 110 may be the same message as the warning message displayed on the vehicle 100, and the control signal for controlling the acceleration of another vehicle may be an accelerator. ) may be a pedal control signal, and the control signal for controlling deceleration may be a brake control signal.

As such, the control unit 110 may display a warning message to the driver of the vehicle 100 when the vehicle 100 is unable to pass the traffic light 300, and even if the driver continues to drive based on the displayed warning message, the front and side directions may be displayed. It is possible to prevent a collision with the vehicle 100 running on the .

According to another embodiment, in order to prevent the vehicle 100 from colliding with the other vehicle 200, the vehicle 100 detects the entry of the other vehicle 200 into an intersection through the sensor data of the vehicle 100, and sends a control signal to the other vehicle 200. A process of transmitting may be included.

In order to prevent an accident, the control unit 110 may transmit a warning message to another vehicle 200 and a signal for controlling acceleration or deceleration through V2V communication with another vehicle 200 entering an intersection by violating a signal. there is.

A signal that the control unit 110 informs the other vehicle 200 of passing the traffic light 300 of the vehicle 100 may be the same message as the warning message displayed on the vehicle 100, and a control signal controlling the acceleration of the other vehicle. may be an accelerator pedal control signal, and a control signal for controlling deceleration may be a brake control signal.

As such, the control unit 110 may display a warning message to the driver of the vehicle 100 when the vehicle 100 is unable to pass the traffic light 300, and even if the driver continues to drive, the vehicle 100 traveling in a different driving direction ) to avoid collisions.

FIG. 12 is a diagram showing that another vehicle 200 unable to communicate with V2X enters and communicates with the traffic light 300 when the vehicle 100 drives through an intersection in a state in which the vehicle 100 cannot pass the intersection according to an embodiment.

Referring to FIG. 12 , when another vehicle 200 incapable of V2X communication violates a signal and enters an intersection, the vehicle 100 may be controlled by a traffic light 300.

The other vehicle 200 in which V2X communication is impossible may be, for example, a motorcycle or a bicycle, and may mean another vehicle 200 that cannot wirelessly communicate with the vehicle 100 and the traffic light 300.

According to an embodiment, in order to prevent the vehicle 100 from colliding with the other vehicle 200, the vehicle 100 detects the entry of another vehicle 200 into an intersection through the vehicle 100 sensor data and transmits a control signal to the traffic light 300. process may be included.

The traffic light 300 cannot pass state is when the traffic light 300 is a yellow signal, and the traffic light 300 of another vehicle 200 in a different driving direction is a red signal, so the other vehicle 200 cannot enter the intersection. does not exist.

In order to prevent an accident, the control unit 110 may transmit a signal notifying the entry of the vehicle 100 into another vehicle 200 to the traffic light 300 through V2I communication with the traffic light 300 .

The control unit 110 may receive a warning message informing of a risk of collision with another vehicle 200 and a control signal controlling acceleration or deceleration from the traffic light 300 .

As such, the control unit 110 can receive a warning message and a control signal from the traffic light 300, and even if the driver continues driving after receiving the warning message, acceleration or deceleration is controlled by the control signal received from the traffic light 300. A collision with the vehicle 100 traveling from the front and side can be prevented.

13 is a flowchart illustrating a vehicle 100 and a control method of the vehicle 100 according to an embodiment.

The vehicle 100 according to an embodiment may obtain a front image by the camera 130 and detect a yellow signal (1010).

The controller 110 may determine (1020) the remaining time of the yellow signal, which is the time for which the yellow signal is maintained, based on the acquired front image. The controller 110 may determine whether the vehicle 100 can pass through the intersection within the remaining time of the yellow signal based on the collected road data and vehicle 100 data.

Thereafter, if the control unit 110 determines that the intersection is not impossible to pass through the end point of the opposite lane within the remaining time of the yellow signal (No in 1040), the control may be terminated. (300) It may correspond to an example of an impassable state.

The control unit 110 may display a warning message by outputting a warning signal when it is determined that the intersection cannot pass through the intersection where the end point of the opposite lane cannot be passed within the remaining time of the yellow signal (YES in 1040).

The control unit 110 may stop (1070) a notification composed of a warning message when it is determined that the brake is input by the user stepping on the brake while the warning message is being output (YES in 1060), and when there is no brake input (1060). No), control can be continued by determining again whether the intersection is impossible to pass.

FIG. 14 is a flowchart showing a vehicle 100 and a method for controlling the vehicle 100 according to another embodiment, and FIG. 15 is a diagram showing parts omitted from the flowchart of FIG. 14 .

Referring to FIG. 14 , the controller 110 may receive (2010) the remaining time of the yellow signal from the traffic light 300 to determine whether the vehicle 100 is unable to pass through the intersection.

The control unit 110 allows the vehicle 100 to pass through the intersection within the remaining time of the yellow signal. The control unit 110 controls the vehicle 100 within the remaining time of the yellow signal based on the collected road data and data of the vehicle 100. ) can pass through the intersection (2020).

Thereafter, the control unit 110 may terminate the control when it is determined that the intersection is not passable state in which the end point of the opposite lane cannot be passed within the remaining time of the yellow signal (No in 2030).

The controller 110 controls the speed of the vehicle 100 when the vehicle 100 has only passed through an intersection (YES in 2030) and the driving speed is decelerated (YES in 2040) and there is another vehicle 200 behind (YES in 2080). ) and a control signal for controlling the deceleration amount of the other vehicle 200 may be transmitted to the rear vehicle 200 (2090).

Thereafter, the control unit 110 may transmit (2120) a control signal for switching the traffic light 300 to a red signal when the intersection impossible state is released (YES in 2100) and the traffic light 300 is a yellow signal (YES in 2110). there is.

Referring to FIG. 15 , when the vehicle 100 is unable to pass through the intersection and the speed of the vehicle 100 is not decelerated (No in 2040), the control unit 110 determines that the vehicle 100 and the other vehicle 200 traveling in a different direction within the intersection Since there is a possibility of collision, if there is another vehicle 100 with a different driving direction in the intersection (YES in 2050), the intersection passing notification signal of the vehicle 100 and the acceleration amount control signal of the other vehicle 200 are transmitted to the other vehicle 200. and to the traffic light 300.

Thereafter, the control unit 110 may transmit a signal extending the remaining time of the yellow signal to the traffic light 300 (2070), and may continue control depending on whether the intersection impossible state is released.

A detailed description of the method for controlling the vehicle 100 is omitted because it overlaps with the above-described exemplary embodiment of the vehicle 100 .

As above, the disclosed embodiments have been described with reference to the accompanying drawings. Those skilled in the art to which the present invention pertains will understand that the present invention can be implemented in a form different from the disclosed embodiments without changing the technical spirit or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

100: vehicle
110: control unit
120: communication unit, 121: wireless communication unit, 122: wired communication unit
130: camera
140: memory
150: display unit
200, 200-1, 200-2: other vehicles
300: traffic light

Claims (20)

in the vehicle,
a camera for acquiring a front image of the vehicle;
display unit;
Based on the front image, it is determined whether or not the signal of the traffic light included in the front image is switched, and when the traffic light is switched from a green signal to a yellow signal, the traffic light passes through based on the yellow signal holding time and the driving speed of the vehicle. a control unit for controlling the display unit to determine whether it is possible and to display a warning message when the passage of the traffic light is impossible;
A vehicle that includes a. According to claim 1,
The control unit,
A vehicle that determines the yellow signal holding time differently according to the width of the lane corresponding to the traffic light and the driving speed of the vehicle. According to claim 1,
The control unit,
If the larger value of the distance that can be traveled during the yellow signal holding time at the speed limit of the driving road and the distance that can be moved during the yellow light holding time at the driving speed is smaller than the distance to be moved to pass the traffic light, the traffic light Vehicles that are judged to be impassable. According to claim 1,
The control unit,
A vehicle that controls the display unit to stop outputting the warning message when a brake is applied to the vehicle. According to claim 1,
further comprising a communication unit;
The communication department,
A vehicle that receives the yellow signal holding time from the traffic light. According to claim 5,
The control unit,
A vehicle that controls the communication unit to transmit a signal informing of the deceleration of the vehicle and a control signal for controlling the deceleration to a rear vehicle when the passage of the traffic light is impossible and the speed of the vehicle is reduced According to claim 5,
The control unit,
A vehicle that controls the communication unit to transmit a signal indicating passage of the traffic light and a control signal for controlling acceleration to another vehicle in a different driving direction when the passage of the traffic light is impossible and the speed of the vehicle is not decelerated. According to claim 5,
The control unit,
A vehicle that controls the communication unit to transmit a control signal for extending the yellow signal holding time to the traffic light when passage of the traffic light is impossible and the speed of the vehicle is not reduced. According to claim 5,
The control unit,
A vehicle that controls driving according to a control signal received from the traffic light through the communication unit when another vehicle does not decelerate in a state where the traffic light is impossible to pass. According to claim 5,
The control unit,
A vehicle that controls the communication unit to transmit a control signal for switching the traffic light to a red signal when the non-passing state of the traffic light is released within the yellow signal holding time. acquiring a front image of the vehicle by means of a camera;
determining whether a signal of a traffic light included in the forward image is switched based on the forward image;
determining whether it is possible to pass the traffic light based on a yellow signal holding time and a driving speed of the vehicle when the traffic light is converted from a green signal to a yellow light;
controlling a display unit to display a warning message when the passage of the traffic light is impossible;
Vehicle control method comprising a. According to claim 11,
The yellow signal holding time is,
A method of controlling a vehicle that differently determines a width of a lane corresponding to the traffic light and a driving speed of the vehicle. According to claim 11,
The impassable state of the traffic light,
If the larger value of the distance that can be traveled during the yellow signal holding time at the speed limit of the driving road and the distance that can be moved during the yellow light holding time at the driving speed is smaller than the distance to be moved to pass the traffic light, the traffic light A control method of a vehicle that is determined to be in an impassable state. According to claim 11,
controlling the display unit to stop outputting the warning message when the brake is applied to the vehicle; A control method of a vehicle further comprising a. According to claim 11,
communicating with the traffic lights or other vehicles; and
The vehicle control method further comprising receiving the yellow signal holding time from the traffic light. According to claim 15,
and transmitting a signal informing of the deceleration of the vehicle and a control signal for controlling the deceleration to a rear vehicle when the passage of the traffic light is impossible and the speed of the vehicle is decelerated. According to claim 15,
When the passage of the traffic light is impossible and the speed of the vehicle is not decelerated, transmitting a signal indicating passage of the traffic light and a control signal for controlling acceleration to another vehicle in a different driving direction; control method. According to claim 15,
and transmitting a control signal to extend the yellow signal holding time to the traffic light when it is impossible to pass the traffic light and the speed of the vehicle is not reduced. According to claim 15,
Controlling driving according to a control signal received from the traffic light when the other vehicle does not decelerate in the traffic light impassable state. According to claim 15,
and transmitting a control signal for switching to a red signal to the traffic light when the non-passable state of the traffic light is released within the yellow signal holding time.

Images