WO2023158058A1

WO2023158058A1 - Safe-driving support device and method of autonomous driving vehicle in intersection dilemma zone

Info

Publication number: WO2023158058A1
Application number: PCT/KR2022/017599
Authority: WO
Inventors: 한동석; 백민진; 김지훈
Original assignee: 경북대학교 산학협력단
Priority date: 2022-02-18
Filing date: 2022-11-10
Publication date: 2023-08-24

Abstract

The present invention relates to a safe-driving support method performed in a dilemma zone of an intersection by a safe-driving support device provided in an autonomous driving vehicle interworking with an external device for autonomous driving, the method comprising the steps of: identifying whether vehicle-to-everything (V2X) communication with the external device is possible; collecting information on different driving environments of the vehicle from the external device according to whether the vehicle-to-everything (V2X) communication is possible; detecting an intersection on a driving route along which the vehicle travels, on the basis of information on a driving environment; and on the basis of the information on the driving environment, determining whether it is possible to pass through the intersection, so as to control the vehicle. Accordingly, when an autonomous driving vehicle passes an intersection, not only a time required to determine whether to pass through an intersection can be decreased and a risk of a traffic accident at the intersection can be reduced by reducing a length of an intersection dilemma zone, but also a frequency of occurrence of a dangerous situation, such as obstructing a passage of another vehicle or a pedestrian, can be reduced by preventing the vehicle from stopping within the intersection or a crossing.

Description

Safe driving support device and safe driving support method for autonomous vehicles in intersection dilemma zone

The present invention relates to an apparatus for supporting safe driving of an autonomous vehicle and a method for supporting safe driving, and more particularly, to an apparatus and method for supporting safe driving of an autonomous vehicle in an intersection dilemma zone.

An autonomous vehicle refers to a vehicle capable of self-driving to a set destination by collecting external information on its own, grasping surrounding traffic conditions, and establishing a driving plan without driver manipulation. Self-driving vehicles are a combination of state-of-the-art technologies such as state-of-the-art sensors that recognize objects through various sensors while driving, network communication that exchanges mutual information, and an artificial intelligence control system that receives, processes, and judges various collected data in real time. is a means In addition to map information, information generated on the road to the driving destination, such as traffic information, road construction, and traffic accident information, is received and processed in real time. Furthermore, a technology in the form of mutually exchanging information with surrounding vehicles has also been developed. Using this information, the driver can preemptively identify the danger of the vehicle before driving and drive safely.

Recently, as domestic and foreign companies are actively developing technologies, interest in technologies related to autonomous vehicles is increasing. These self-driving vehicles need to take appropriate actions through recognition and judgment of various driving situations. Among various driving situations, traffic lights at intersections are the most common and one of the most important driving situations directly related to driver and pedestrian safety.

In this regard, according to the traffic accident status of the Korea Road Traffic Authority, the number of traffic accidents that occurred in the intersection area in 2017 is about 47% of all traffic accidents, and the frequency of occurrence is high enough to account for the largest portion.

In particular, a section where the signal changes from green to yellow when a vehicle is approaching an intersection, or where the driver cannot easily determine whether to stop or pass an intersection, within the time when the vehicle cannot completely stop at the stop line and the yellow signal is on. The section where it is impossible to pass the intersection is called the dilemma zone.

Therefore, it is very important to implement so that safety is guaranteed when an autonomous vehicle drives through a dilemma zone at an intersection.

[Prior art literature]

[Patent Literature]

Korean Patent Publication No. 10-2011-0097091

The present invention has been made to solve the above problems, and an object of the present invention is to reduce the length of the intersection dilemma zone when an autonomous vehicle passes through an intersection, thereby reducing the time required to determine whether or not the intersection has passed and causing a traffic accident at the intersection Safe operation support device for autonomous vehicles that can reduce the frequency of dangerous situations such as preventing vehicles from stopping in intersections or crossings and interfering with the passage of other vehicles or pedestrians, as well as reducing the risk of It is to provide a safe driving support method.

In order to achieve the above object, a safe driving support method performed in a dilemma zone at an intersection by a safe driving support device provided in an autonomous vehicle interlocking with an external device for autonomous driving according to an embodiment of the present invention for achieving the above object is the external device Checking whether V2X (Vehicle to Everything) communication is possible with; Collecting information about different driving environments of the vehicle from the external device according to whether the V2X (Vehicle to Everything) communication is available; detecting an intersection on a driving route along which the vehicle travels based on information about a driving environment; Controlling the vehicle by determining whether it is possible to pass through the intersection based on the information on the driving environment, and in the step of collecting information on the different driving environments of the vehicle, V2X (Vehicle to X) with the external device to Everything) communication is impossible, first driving environment information including color information of the traffic lights located at the intersection is collected, and if V2X (Vehicle to Everything) communication with the external device is possible, the traffic lights located at the intersection Second driving environment information including a current signal currently being output and a remaining time of the current signal is collected.

The controlling of the vehicle may include determining a stopping point of the vehicle and controlling the vehicle to stop at the stopping point; and controlling the vehicle to pass through an intersection by maintaining driving of the vehicle.

In addition, in the step of controlling the vehicle, if vehicle to everything (V2X) communication with the external device is impossible, after the step of detecting the intersection, if the vehicle approaches the detected intersection within a certain distance, the section of the dilemma zone is determined. In the step of controlling the vehicle to pass through the intersection, the driving speed of the vehicle may be accelerated within a prescribed speed of the road on which it is traveling and controlled to pass through the intersection. there is.

The controlling of the vehicle further includes checking color information of the traffic light included in the first driving environment information, and in the controlling to stop at the stopping point, the color information is set to a preset color. If the information does not match, the stop point may be determined as the stop line of the intersection or the rear of the preceding vehicle.

The controlling of the vehicle may include determining whether to secure a safe distance from the following vehicle while maintaining driving of the vehicle when the color information matches preset color information; and controlling the vehicle so that a brake lamp of the vehicle flickers while maintaining the driving of the vehicle when the safety distance is not secured.

The controlling of the vehicle may include reconfirming color information of the traffic light; determining the driving mode of the preceding vehicle when the reconfirmed color information of the traffic light matches preset color information; and if the color information of the reconfirmed traffic light does not match the preset color information, determining whether or not the stop line can be stopped and preset conditions are satisfied. If stopping at the stop line is possible and meeting a predetermined condition in the step of determining, or if it is determined that the driving mode of the preceding vehicle is stopped or slowed down within the intersection in the step of determining the driving mode of the preceding vehicle, the vehicle stops The point can be determined as the stop line of the intersection.

In addition, in the step of controlling the vehicle to pass through the intersection, it is determined that the driving mode of the preceding vehicle is normal driving within the intersection in the step of determining the driving mode of the preceding vehicle, or the driving mode of the preceding vehicle is determined to be normal driving in the step of determining whether the condition is satisfied. It may be a step that is performed when at least one of stop line stopping is impossible and predetermined conditions are not satisfied.

In the step of controlling the vehicle to pass through the intersection, when the vehicle is controlled to pass through the intersection in response to at least one of the stop line not being able to stop and the predetermined condition not being satisfied, the vehicle may be controlled to turn on the emergency lights and output the horn. there is.

The controlling of the vehicle may include checking a current signal included in the second driving environment information; and comparing a time required for the vehicle to arrive at a stop line at an intersection at the current speed with a remaining time of the current signal when the current signal matches predetermined signal information. and determining the driving type of the preceding vehicle if the required time is shorter than the remaining time in the step of comparing with the remaining time.

In the step of controlling the vehicle to stop at the stop point, the current signal does not match preset signal information, the required time is greater than or equal to the remaining time, or the driving mode of the preceding vehicle within the intersection is slow or stopped. If it is determined that the stop point is the stop line of the intersection or the rear of the preceding vehicle, the stopping point may be determined.

Also, the controlling to pass through the intersection may be performed when it is determined that the driving type of the preceding vehicle is normal driving in the intersection.

On the other hand, in order to achieve the above object, the safety driving support device provided in an autonomous vehicle that interworks with an external device for autonomous driving according to an embodiment of the present invention determines whether V2X (Vehicle to Everything) communication with the external device is possible. Communication determination unit to check; an information collection unit that collects information about different driving environments of the vehicle from the external device according to whether the V2X (Vehicle to Everything) communication is available; an intersection detecting unit detecting an intersection on a driving path along which the vehicle travels based on information about a driving environment; a driving deceleration unit that reduces a driving speed of the vehicle to reduce a section of the dilemma zone when the vehicle approaches the detected intersection within a predetermined distance; and a driving determination unit configured to control the vehicle by determining whether an intersection can be passed based on the information on the driving environment, wherein the information collection unit, when vehicle to everything (V2X) communication with the external device is impossible, the If the first driving environment information including the color information of the traffic lights located at the intersection is collected and V2X (Vehicle to Everything) communication with the external device is possible, the current signal currently being output from the traffic lights located at the intersection and the current signal Second driving environment information including remaining time is collected.

According to one aspect of the present invention described above, by providing an apparatus for supporting safe driving of an autonomous vehicle and a method for supporting safe driving, when an autonomous vehicle passes through an intersection, the length of the intersection dilemma zone is reduced to determine whether the intersection passes. It can reduce the required time and reduce the risk of traffic accidents at intersections, as well as reduce the frequency of dangerous situations such as obstructing the passage of other vehicles or pedestrians by preventing vehicles from stopping in intersections or crossings.

1 is a diagram showing an intersection environment to which a safe driving support device according to an embodiment of the present invention is applied;

2 is a view showing how a safe driving support device according to an embodiment of the present invention is interlocked with an external device;

3 is a diagram showing a safe driving support device according to an embodiment of the present invention;

4 is a flowchart illustrating a safe driving support method performed by the safe driving support device of FIG. 3 in a dilemma zone of an intersection;

5 is a flowchart illustrating a safe driving support method performed by the safe driving support apparatus of FIG. 3 in a dilemma zone of an intersection when V2X (Vehicle to Everything) communication is not used; and

6 is a flowchart illustrating a safe driving support method performed by the safe driving support apparatus of FIG. 3 in a dilemma zone of an intersection when V2X (Vehicle to Everything) communication is used.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The detailed description of the present invention which follows refers to the accompanying drawings which illustrate, by way of illustration, specific embodiments in which the present invention may be practiced. These embodiments are described in sufficient detail to enable one skilled in the art to practice the present invention. It should be understood that the various embodiments of the present invention are different from each other but are not necessarily mutually exclusive. For example, specific shapes, structures, and characteristics described herein may be implemented in another embodiment without departing from the spirit and scope of the invention in connection with one embodiment. Additionally, it should be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the invention. Accordingly, the detailed description set forth below is not to be taken in a limiting sense, and the scope of the present invention, if properly described, is limited only by the appended claims, along with all equivalents as claimed by those claims. Like reference numbers in the drawings indicate the same or similar function throughout the various aspects.

Components according to the present invention are components defined not by physical division but by functional division, and may be defined by the functions each performs. Each of the components may be implemented as hardware or program codes and processing units that perform respective functions, and the functions of two or more components may be implemented by being included in one component. Therefore, the names given to the components in the following embodiments are not to physically distinguish each component, but to imply the representative function performed by each component, and the names of the components indicate the present invention. It should be noted that the technical idea of is not limited.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the drawings.

1 is a diagram showing an intersection environment to which a safe driving support device 100 according to an embodiment of the present invention is applied, and FIG. 2 is a diagram showing a safe driving support device 100 according to an embodiment of the present invention interworking with an external device. This is a drawing showing what it would look like.

A safe driving support device (100, hereinafter) according to an embodiment of the present invention is provided in the self-driving vehicle 200 that interworks with an external device for autonomous driving so that the self-driving vehicle 200 is in the dilemma zone at the intersection (I). It is provided to safely pass through the intersection (I) or stop.

To this end, the device 100 may collect information about the driving environment of the vehicle 200 from an external device, and at this time, depending on whether Vehicle to Everything (V2X) communication with the external device is possible, the device 100 may collect information about different driving environments. can be collected

Information on the driving environment may include first driving environment information collected when Vehicle to Everything (V2X) communication is impossible and second driving environment information collected when Vehicle to Everything (V2X) communication is possible.

The first driving environment information may include color information of the traffic light TR located at the intersection, and the second driving environment information may include the current signal being output at the traffic light TR located at the intersection and the remaining time of the current signal. can

The external device is a device for collecting information necessary for autonomous driving and may be provided in the self-driving vehicle 200 itself or in the device 100 including a separate sensor. As shown, a camera 10, a lidar sensor 20, a radar sensor 30, an inertial measurement unit (IMU) 40, a global positioning system (GPS) ( 50), V2X (Vehicle to Everything) terminal 60, and the like.

The device 100 may collect driving environment information from these external devices, and at this time, the V2X terminal 60 is a traffic infrastructure such as V2V (Vehicle to Vehicle) communication and traffic lights (TR) informing of forward traffic conditions and approach between vehicles. It may refer to a terminal capable of V2I (Vehicle to Infrastructure) communication, V2P (Vehicle to Pedestrian) communication that supports pedestrian information, and the like.

In addition, the device 100 transmits a Signal Phase And Timing (SPAT) message defined in the SAE J2735 standard from the V2X terminal 60 through an On-Board Unit (OBU) installed in the vehicle 200 or a RoadSide Unit (RSU) installed at an intersection. You can receive the RSA (RoadSide Alert) message defined in the SAE J2735 standard, which is traffic signal information transmitted by

Signal Phase And Timing (SPAT) message can include intersection ID, intersection status, current signal, and signal remaining time, and RSA (RoadSide Alert) message includes intersection accident, type of warning event (intersection accident, road construction, etc.), corresponding It may include road hazard warning information such as the contents of the warning event and the location where the event occurred. can

[Table 1]

[Table 2]

Accordingly, the above-described first driving environment information includes information collected from the camera 10, information collected from the lidar sensor 20, information collected from the radar sensor 30, and inertial measurement. Information collected from an Inertial Measurement Unit (IMU) 40 and information collected from a Global Positioning System (GPS) 50 may be included.

Meanwhile, the second driving environment information may include the first driving environment information and a RoadSide Alert (SPAT) message and a RoadSide Alert (RSA) message collected from the V2X terminal 60 .

In addition, the first and second driving environment information includes the driving type of the preceding vehicle located in front of the vehicle 200 (for example, stopping, slow driving, normal driving), and the vehicle distance with the following vehicle located at the rear of the vehicle 200. Distance, speed, and high-definition maps (HD Map, High-Definition Map) may be included.

And among these external devices, a camera 10, a lidar sensor 20, a radar sensor 30, an inertial measurement unit (IMU) 40, and a global positioning unit (GPS) System) 50 is illustrated as being provided outside the self-driving vehicle 200 in the drawings, but this is merely an example for convenience of description and may be a device mounted on the self-driving vehicle 200 itself.

Accordingly, the device 100 may determine passing through or stopping at an intersection based on driving environment information collected from an external device.

Meanwhile, FIG. 3 is a diagram illustrating a safe driving support apparatus 100 according to an embodiment of the present invention. The device 100 according to the present embodiment includes a communication unit 110, a storage unit 120, a communication determination unit 130, an information collection unit 140, an intersection detection unit 150, a driving deceleration unit 160, and a driving It may be provided by including the determining unit 170 . In addition, the device 100 may install and execute software (application) for performing the safe driving support method. Accordingly, the communication unit 110, the storage unit 120, the communication determination unit 130, the information collection unit 140, the intersection detection unit 150, the driving deceleration unit 160, and the driving determination unit 170 operate safely. It can be controlled by software (application) to perform the supporting method.

The communication unit 110 may be provided for the device 100 to transmit/receive information with various devices provided in the self-driving vehicle 200 or to transmit/receive information with an external device. This communication unit 110 may include a communication module for performing V2X (Vehicle to Everything) communication.

The storage unit 120 transmits and receives data through the communication unit 110 or through the communication determination unit 130, the information collection unit 140, the intersection detection unit 150, the driving deceleration unit 160, and the driving determination unit 170. It may be provided to store generated information. In addition, the storage unit 120 stores software (application) for performing the safe driving support method performed in the device 100 .

The communication determination unit 130 is provided to check whether or not V2X (Vehicle to Everything) communication with an external device is possible. The communication determining unit 130 determines whether vehicle to everything (V2X) communication is possible with a RoadSide Unit (RSU) installed on the road on which the vehicle 200 is driving and collecting road and traffic information, and collects information based on the determined result. It can be delivered to the unit 140. The communication determination unit 130 may determine whether the self-driving vehicle 200 supports V2X (Vehicle to Everything) communication.

The information collection unit 140 may collect information about different driving environments of the vehicle 200 from an external device according to whether vehicle to everything (V2X) communication is determined by the communication determination unit 130 .

Specifically, the information collection unit 140 includes color information of the traffic light (TR) located at the intersection (I) when V2X (Vehicle to Everything) communication with the external device is impossible as described above in FIGS. 1 and 2 First driving environment information may be collected. On the other hand, the information collection unit 140, if V2X (Vehicle to Everything) communication with an external device is possible, the second signal including the current signal currently being output from the traffic light TR located at the intersection I and the remaining time of the current signal Driving environment information can be collected. The information collection unit 140 may transmit the collected first or second driving environment information to the intersection detection unit 150 .

Meanwhile, the intersection detecting unit 150 may be provided to detect an intersection I located on a driving route along which the vehicle 200 travels. The intersection detecting unit 150 uses a high-precision map (HD Map) and GPS (Global Positioning System) data transmitted from the information collection unit 140.

An intersection (I) on a driving route on which the vehicle 200 is traveling based on first driving environment information or second driving environment information including information collected from an inertial measurement unit (IMU) 40 can be detected in advance.

The driving deceleration unit 160 is provided to reduce the driving speed of the vehicle 200. When the vehicle 200 approaches the detected intersection I within a certain distance, the driving reduction unit 160 moves to the intersection I The driving speed of the vehicle 200 may be reduced in order to reduce the section of the dilemma zone. Information on the reduced driving speed may be stored in advance.

Meanwhile, the driving determination unit 170 may control stopping or driving of the vehicle 200 by determining whether the intersection I is passable based on information on the first or second driving environment.

In addition, the driving determination unit 170 may control lighting of brake lamps, lighting of emergency lights, output of horns, etc. provided in the vehicle 200 when the vehicle 200 is stopped or driven.

4 is a flowchart illustrating a safe driving support method performed by the safe driving support device 100 of FIG. 3 in a dilemma zone at an intersection I. The safe driving support method according to an embodiment of the present invention is shown in FIG. 3 Since it proceeds on substantially the same configuration as the device 100, the same reference numerals are given to the same components as those of the device 100 of FIG. 3, and repeated descriptions will be omitted.

The safe driving support method of the present invention can be performed in the dilemma zone at the intersection (I) by the safe driving support device 100 provided in the self-driving vehicle 200 interlocking with an external device for autonomous driving. This safe driving support method includes a step of checking whether Vehicle to Everything (V2X) communication with an external device is possible (S110), and different driving of the vehicle 200 from an external device depending on whether or not Vehicle to Everything (V2X) communication is possible. Collecting information on the environment (S130), detecting an intersection I on the driving route along which the vehicle 200 is traveling based on the information on the driving environment (S150), and based on the information on the driving environment A step S170 of controlling the vehicle 200 by determining whether it is possible to pass the intersection I may be included.

In the step of checking whether V2X (Vehicle to Everything) communication with an external device is possible (S110), the RSU (RoadSide Unit) installed on the road on which the vehicle 200 is driving and the V2X (Vehicle to Everything) for collecting road and traffic information ) to see if communication is possible. In addition, it may be confirmed whether the vehicle 200 equipped with the device 100 is a vehicle capable of V2X (Vehicle to Everything) communication.

In the step of collecting information on different driving environments of the vehicle (S130), information about the driving environment including the state of the traffic light TR, the driving type of the preceding vehicle, the distance between the vehicle and the speed of the following vehicle, and the like from an external device is determined. information can be collected.

In addition, in the step of collecting information on the different driving environments of the vehicle (S130), in the step of checking whether or not V2X (Vehicle to Everything) communication with an external device is possible (S110), as a result of determining whether or not communication is possible, If V2X (Vehicle to Everything) communication is impossible, first driving environment information including color information of a traffic light (TR) located at an intersection (I) may be collected.

On the other hand, as a result of determining whether or not communication is possible in the step of checking whether V2X (Vehicle to Everything) communication with the external device is possible (S110), if V2X (Vehicle to Everything) communication with the external device is possible, located at the intersection (I) Second driving environment information including the current signal currently being output at the traffic light TR and the remaining time of the current signal may be collected.

In the step of detecting the intersection I ( S150 ), the intersection I on the driving path along which the vehicle 200 travels is detected based on the first or second driving environment information.

Then, in the step of controlling the vehicle ( S170 ), whether or not the intersection I can be passed is determined based on the information on the first or second driving environment, and the vehicle 200 can be controlled to stop or drive.

To this end, the step of controlling the vehicle 200 (S170) is a step of determining a stop point of the vehicle 200 and controlling the vehicle 200 to stop at the stop point, as shown in FIGS. 5 and 6 to be described later ( S260 and S350), and controlling the vehicle to pass through the intersection by maintaining the running of the vehicle (S250 and S340).

Meanwhile, in FIG. 5 , after the intersection I is detected in the step of detecting the intersection I (S150), when V2X (Vehicle to Everything) communication is not used, the safe driving support device 100 performs in the dilemma zone of the intersection. It is a flow chart showing a safe driving support method, and is a diagram specifically explaining the step of controlling the vehicle 200 (S170).

After the intersection I is detected in the step of detecting the intersection I (S150), the apparatus 100 may reduce the traveling speed (S205).

In the step of decelerating the driving speed (S205), if vehicle to everything (V2X) communication with an external device is impossible, after the step of detecting the intersection (I) (S150), the vehicle 200 is at the detected intersection (I). When approaching within a certain distance, it may be performed to reduce the section of the dilemma zone.

In addition, a certain distance for decelerating the driving speed can be set in advance. For example, when the distance between the vehicle 200 and the stop line at the intersection I reaches 20 m, the driving speed of the vehicle 200 is decelerated from then on. can be made Of course, this distance can be sufficiently changed in consideration of the length of the road, the braking distance according to the current driving speed of the vehicle 200, etc. as an example.

Thereafter, the device 100 may check the color information of the traffic light TR included in the first driving environment information (S210).

In the step of checking the color information of the traffic light TR (S210), it can be determined whether the color information of the traffic light TR matches preset color information.

Here, the color information of the traffic light (TR) included in the first driving information environment information is information included in the image information collected through the camera 10, and is a signal corresponding to the driving direction in which the vehicle 200 intends to drive. includes at least one of green, yellow, and red, which are the colors of , and the preset color information may mean green in which the vehicle 200 can drive.

If the color information of the traffic light TR does not match the preset color information (S210-No), that is, if the color information of the traffic light TR is yellow or red, the vehicle 200 can be controlled to stop at the stopping point. Yes (S260).

In the step of controlling the vehicle 200 to stop at the stopping point (S260), the stopping point may be determined to be the stop line of the intersection I or the rear of the preceding vehicle. If there is a preceding vehicle, the stopping point is determined to be the rear of the preceding vehicle. and, if there is no preceding vehicle, the stop line of the intersection I may be determined as the stop point.

On the other hand, if the color information of the traffic light (TR) matches the preset color information (S210-yes), that is, if the color information of the traffic light (TR) is green, whether to secure a safe distance from the following vehicle while maintaining the driving of the vehicle 200 It is possible to determine (S220).

If, as a result of determining whether or not to secure a safety distance (S220), if the safety distance is not secured (S220-No), the vehicle 200 keeps the vehicle 200 running so that the brake lamp of the vehicle 200 flickers. Control (S225) is performed. Through this, the vehicle 200 traveling at the reduced speed and the following vehicle can maintain a safe distance.

Meanwhile, as a result of determining whether or not to secure a safe distance (S220), after a safe distance is secured (S220-yes) or the brake light is controlled to blink (S225), the device 100 operates while the vehicle 200 continues to drive. Before the stop line, a step of reconfirming the color information of the traffic light TR (S230) may be performed.

In this reconfirming step (S230), the signal of the traffic light (TR) may be changed while driving is maintained after the step (S210) of checking the color information of the traffic light (TR) to enter the intersection (I), so additional confirmation is performed. As a step, similar to the checking step (S210), it is determined whether the color information of the traffic light TR currently being output matches the preset color information (green).

As a result of performing the step (S230) of reconfirming the color information of the traffic light (TR), if the color information reconfirmed before the stop line does not match the preset color information (S230-No), that is, the signal color of the traffic light (TR) If the color is changed to yellow and not green, the apparatus 100 may perform a step of determining whether it is possible to stop before the stop line and whether a predetermined condition is satisfied (S235).

Here, the predetermined condition is a condition for securing a safe distance for the following vehicle, and may mean a condition in which a braking distance of the following vehicle 200 at the current speed is less than the distance to the following vehicle.

In the step of determining whether the condition is satisfied (S235), if the stop line stop is possible and the predetermined condition is met (S235-Yes), the device 100 determines the stop point of the vehicle 200 as the stop line, and causes the vehicle to stop at the stop line. It can be controlled (S260).

And as a result of performing the step (S230) of reconfirming the color information of the traffic light (TR), if the color information reconfirmed before the stop line matches the preset color information (S230-yes), that is, the signal color of the traffic light (TR) is still If it is green, the device 100 can determine the driving type of the preceding vehicle (S240).

As a result of determining the driving type of the preceding vehicle (S240), if it is determined that the preceding vehicle is stopped or traveling slowly within the intersection I (S240-Yes), the device 100 sets the stopping point of the vehicle 200 to the stop line. It is determined and can be controlled to stop at the stop line (S260). At this time, the device 100 may send an intention to stop to the following vehicle by controlling the vehicle 200 so that the hazard lights are blinked in order to avoid a collision with the following vehicle.

On the other hand, in the step of determining whether the condition is met (S235), the device 100 determines whether the vehicle 200 is driving within the speed limit of the road it is driving, if at least one of stop line stopping is impossible and the preset condition is not met (S235-No). The vehicle 200 may be controlled so that the vehicle 200 can quickly pass through the intersection I by accelerating the driving speed (S250).

In the step of controlling to pass through such an intersection (S250), the device 100 corresponds to at least one of impossible to stop at a stop line and non-fulfillment of a predetermined condition (S235 - No) and controls the vehicle 200 to pass through the intersection. The vehicle 200 may be controlled so that the emergency lights are turned on and the horn is output at the same time.

In addition, after the vehicle 200 is controlled (S250) to pass through the intersection I by corresponding to at least one of impossible to stop at the stop line and non-fulfillment of the predetermined conditions (S235-No), the preceding vehicle stops or slows down within the intersection It is possible to determine whether or not (S250). As a result, when the preceding vehicle stops or slows down, an emergency light is turned on to avoid a collision with a following vehicle. Then, a step of stopping (S260) is performed, but the vehicle may be stopped before the intersection (I).

Meanwhile, as a result of determining the driving pattern of the preceding vehicle (S240), if it is determined that the driving pattern of the preceding vehicle within the intersection is normal driving (S240-No), the driving speed of the vehicle 200 is within the regulated speed of the road being driven. It is possible to control the vehicle 200 so that it can quickly pass through the intersection I by accelerating (S250).

On the other hand, FIG. 6 shows the safety operation performed by the safe driving support device 100 in the intersection dilemma zone when V2X (Vehicle to Everything) communication is used after the intersection I is detected in the intersection detection step (S150). As a flow chart showing a driving support method, it is a diagram specifically explaining the step of controlling the vehicle 200 (S170).

In the step of detecting the intersection (I) (S150), the step of controlling the vehicle after the intersection (I) is detected (S170) is the step of checking the current signal (S310). Comparing (S320), determining the driving type of the preceding vehicle (S330), passing through an intersection (S340), and stopping (S350).

In the step of checking the current signal ( S310 ), it may be determined whether the current signal included in the second driving environment information matches preset signal information.

Here, the current signal of the traffic light (TR) included in the second driving environment information is information included in signal information collected through the traffic light (TR) performing V2I (Vehicle to Infrastructure) communication, and the vehicle 200 intends to drive. A signal corresponding to the driving direction may include green, yellow, and red color information and remaining output time of the corresponding color information. Also, the preset signal information may refer to signal information corresponding to a green color in which the vehicle 200 can drive.

If it does not match the preset signal information (S310-No), a step of stopping (S350) may be performed. At this time, in the step of stopping (S350), one of the rear of the preceding vehicle or the stop line may be determined as the stopping point in consideration of the inter-vehicle distance to the preceding vehicle.

Meanwhile, the step of comparing the time required to arrive at the stop line with the remaining time of the current signal (S320) may be performed when the current signal matches preset signal information (S310-Yes). In the step of comparing the time required to arrive at the stop line with the remaining time of the current signal (S320), the vehicle 200 calculates the time required to arrive at the stop line at the intersection at the current speed, and converts the calculated time to the second driving environment information. It can be compared with the remaining time of the included current signal.

If the required time is longer than the remaining time (S320 - No), a step of stopping (S350) may be performed. One can be determined as a stopping point.

On the other hand, if the required time is shorter than the remaining time (S320 - Yes), the apparatus 100 may perform a step of determining the driving type of the preceding vehicle (S330). In the step of determining the driving type of the preceding vehicle (S330), it may be determined whether the preceding vehicle is stopped or traveling slowly within the intersection.

If it is determined that the preceding vehicle is stopped or traveling slowly within the intersection (S330 - Yes), the device 100 may determine the stopping point of the vehicle as the stop line of the intersection and control the vehicle to stop before the stop line ( S350).

In addition, when the vehicle is stopped at the determined stop point (S350), the apparatus 100 may notify the following vehicle of the intention to stop in advance and continuously monitor the following vehicle to prevent a rear-end collision.

On the other hand, if it is determined that the preceding vehicle is driving normally within the intersection rather than stopping or slowing down (S330 - No), the device 100 may control the vehicle 200 to pass through the intersection (S340).

Accordingly, the safe driving support method of the present invention reduces the length of the intersection dilemma zone when an autonomous vehicle passes through an intersection, thereby reducing the time required to determine whether or not the intersection has passed, and reducing the risk of a traffic accident at the intersection. It is possible to reduce the occurrence frequency of dangerous situations such as obstructing the passage of other vehicles or pedestrians by preventing vehicles from stopping in the crossing.

The safe driving support method of the present invention may be implemented in the form of program instructions that can be executed through various computer components and recorded on a computer readable recording medium. The computer readable recording medium may include program instructions, data files, data structures, etc. alone or in combination.

Program instructions recorded on the computer-readable recording medium may be those specially designed and configured for the present invention, or those known and usable to those skilled in the art of computer software.

Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical recording media such as CD-ROMs (Compact Disc Read Only Memory) and DVDs (Digital Video Discs), and floptical disks. Hardware devices specially configured to store and execute program instructions such as read only memory (ROM), random-access memory (RAM), flash memory, etc. is included

Examples of program instructions include high-level language codes that can be executed by a computer using an interpreter or the like as well as machine language codes such as those produced by a compiler. The hardware device may be configured to act as one or more software modules to perform processing according to the present invention and vice versa.

Although various embodiments of the present invention have been shown and described above, the present invention is not limited to the specific embodiments described above, and is commonly used in the technical field to which the present invention pertains without departing from the gist of the present invention claimed in the claims. Of course, various modifications are possible by those with knowledge of, and these modifications should not be individually understood from the technical spirit or prospect of the present invention.

[Description of code]

100: safe operation support device 110: communication department

120: storage unit 130: communication determination unit

140: information collection unit 150: intersection detection unit

160: travel reduction unit 170: travel determining unit

200: autonomous vehicle I: intersection

Claims

A safe driving support method performed in a dilemma zone at an intersection by a safety driving support device provided in an autonomous vehicle interlocking with an external device for autonomous driving, the method comprising:

Checking whether V2X (Vehicle to Everything) communication with the external device is possible;

Collecting information about different driving environments of the vehicle from the external device according to whether the V2X (Vehicle to Everything) communication is available;

detecting an intersection on a driving route along which the vehicle travels based on information about a driving environment; and

Controlling the vehicle by determining whether it is possible to pass through an intersection based on the information about the driving environment;

In the step of collecting information on different driving environments of the vehicle,

If vehicle to everything (V2X) communication with the external device is impossible, collect first driving environment information including color information of traffic lights located at the intersection;

If V2X (Vehicle to Everything) communication with the external device is possible, safe driving characterized by collecting second driving environment information including the current signal currently output from the traffic light located at the intersection and the remaining time of the current signal How to apply.
According to claim 1,

Controlling the vehicle is

determining a stopping point of the vehicle and controlling the vehicle to stop at the stopping point; and

A safe driving support method comprising the step of controlling the vehicle to pass through an intersection by maintaining the running of the vehicle.
According to claim 2,

Controlling the vehicle is

If V2X (Vehicle to Everything) communication with the external device is impossible, after the step of detecting the intersection, when the vehicle approaches the detected intersection within a certain distance, the driving speed of the vehicle is set to reduce the section of the dilemma zone. further comprising the step of slowing down;

In the step of controlling to pass through the intersection,

A method for supporting safe driving, characterized in that the driving speed of the vehicle is accelerated within a prescribed speed of the driving road and controlled to pass through the intersection.
According to claim 3,

Controlling the vehicle is

Further comprising checking color information of the traffic light included in the first driving environment information,

In the step of controlling to stop at the stop point,

And if the color information does not match the preset color information, the stopping point is determined to be the stop line of the intersection or the rear of the preceding vehicle.
According to claim 4,

Controlling the vehicle is

determining whether to secure a safe distance from a following vehicle while maintaining driving of the vehicle when the color information matches preset color information; and

The safe driving support method of claim 1 , further comprising controlling the vehicle so that a brake lamp of the vehicle flickers while maintaining the driving of the vehicle when the safety distance is not secured.
According to claim 5,

Controlling the vehicle is

Reconfirming the color information of the traffic light;

determining the driving mode of the preceding vehicle when the reconfirmed color information of the traffic light matches preset color information; and

If the color information of the reconfirmed traffic light does not match the preset color information, further comprising determining whether it is possible to stop at the stop line and whether preset conditions are satisfied,

In the step of controlling to stop at the stop point,

In the step of determining whether or not the condition is satisfied, it is determined that the stop line stop is possible and a preset condition is satisfied, or in the step of determining the driving mode of the preceding vehicle, it is determined that the driving mode of the preceding vehicle is stopped or slowed down within the intersection. , the stopping point is determined as the stop line of the intersection.
According to claim 6,

The step of controlling to pass through the intersection,

In the step of determining the driving mode of the preceding vehicle, it is determined that the driving mode of the preceding vehicle within the intersection is normal driving; A method for supporting safe driving, characterized in that it is a step performed when corresponding to.
According to claim 7,

In the step of controlling to pass through the intersection,

and controlling the vehicle to turn on an emergency light and output a horn when controlling the vehicle to pass through an intersection corresponding to at least one of the stop line not being able to stop and the predetermined condition not being satisfied.
According to claim 2,

Controlling the vehicle is

checking a current signal included in the second driving environment information; and

comparing a time required for the vehicle to arrive at a stop line at an intersection with a remaining time of the current signal when the current signal matches preset signal information; and

In the step of comparing with the remaining time, if the required time is shorter than the remaining time, determining the driving type of the preceding vehicle.
According to claim 9,

In the step of controlling to stop at the stop point,

If the current signal does not match the preset signal information, if the required time is longer than the remaining time, or if it is determined that the driving mode of the preceding vehicle is slow or stopped within the intersection, the stop point is set to the stop line or the stop line of the intersection. A safe driving support method characterized in that it is determined to be behind the preceding vehicle.
According to claim 9,

The step of controlling to pass through the intersection,

and a step performed when it is determined that the driving type of the preceding vehicle is normal driving within the intersection.
In a safety driving support device provided in an autonomous vehicle that interlocks with an external device for autonomous driving,

a communication determination unit that checks whether or not V2X (Vehicle to Everything) communication with the external device is possible;

an information collection unit that collects information about different driving environments of the vehicle from the external device according to whether the V2X (Vehicle to Everything) communication is available;

an intersection detecting unit detecting an intersection on a driving path along which the vehicle travels based on information about a driving environment;

a driving deceleration unit that reduces the traveling speed of the vehicle to reduce the section of an intersection dilemma zone when the vehicle approaches the detected intersection within a predetermined distance; and

a driving determination unit configured to control the vehicle by determining whether an intersection is passable based on the information on the driving environment;

The information collection unit,

If vehicle to everything (V2X) communication with the external device is impossible, collect first driving environment information including color information of traffic lights located at the intersection;

If V2X (Vehicle to Everything) communication with the external device is possible, safe driving, characterized in that for collecting second driving environment information including the current signal currently being output from the traffic light located at the intersection and the remaining time of the current signal support device.