Apparatus and method for assigning temporary identifier for guidance zone

Abstract

To provide a method for accurately sorting a vehicle that has received a message in the case of an infrastructure guidance system that needs to transmit information on specific recommendations or instructions to individual vehicles.SOLUTION: An apparatus for assigning a temporary identifier for a guidance zone includes: a vehicle detector configured to detect a vehicle in a guidance zone; and a roadside unit (RSU) module configured to, when a guidance participation request message is transmitted to a vehicle entering the guidance zone and a guidance participation response message is received from the vehicle, assign a temporary identifier to the vehicle based on vehicle detection information detected through the vehicle detector and the guidance participation response message.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an apparatus and method for assigning a temporary guidance section identifier. [Background technology]

[0002] The autonomous cooperative driving infrastructure system combines road geometric information and vehicle detection information collected in real time on the road to generate information that predicts traffic flow and the risk of accidents or congestion, and provides this information to autonomous vehicles, enabling them to drive safely and efficiently.

[0003] Vehicle detection information on the road can be collected through V2X communication from vehicle detectors 100 installed on the side of the road or from probe vehicles traveling on the road.

[0004] Vehicle detectors process images or point cloud data acquired using sensors such as cameras, lidars, and radars to recognize objects on the road, classify the object into types (vehicles, motorcycles, pedestrians, etc.), and acquire vehicle detection data such as the object's position (longitude and latitude coordinates), direction of travel, and speed.

[0005] The probe vehicle transmits probe vehicle data through V2X communication. The probe vehicle data includes the vehicle's position (longitude and latitude coordinates), direction, speed, and various status data inside and outside the vehicle.

[0006] The background technology of the present invention is disclosed in Korean Patent Publication No. 10-2303716 (September 13, 2021) entitled "Method and system for autonomous cooperative driving based on vehicle-road infrastructure information fusion." Summary of the Invention [Problem to be solved by the invention]

[0007] V2X services based on SAE J2735 messages use broadcast messages that are sent without the vehicles sending and receiving information being identified by their unique identifiers, and the V2X messages sent can be received equally by all vehicles and RSUs within a certain distance. Therefore, in the case of infrastructure guidance systems that must send individual recommendations and instruction information to individual vehicles, a method is needed to accurately distinguish the vehicles that receive messages.

[0008] The infrastructure guidance system generates a temporary identifier (Temporary ID) for a vehicle to exchange information with a specific vehicle in a V2X communication environment.

[0009] Due to privacy protection and compliance with related regulations, vehicle communication terminals may not expose permanent unique identifiers, so it is necessary to assign unique temporary IDs for message exchange between infrastructure and vehicles.

[0010] Generally, each vehicle generates its own temporary ID and uses it. In this case, it is impossible to eliminate the possibility that two or more vehicles in a guidance section may have the same value by chance. In addition, if a change period occurs while the guidance service is in progress and the value is changed, there is a problem that the vehicle identification information recognized by the infrastructure does not match and the vehicle cannot function properly.

[0011] The present invention has been devised to solve the above-mentioned problems, and an object of one aspect of the present invention is to provide an apparatus and method for assigning a temporary identifier for V2X communication to a vehicle from the infrastructure when the vehicle enters a guidance section managed by the infrastructure, the temporary identifier not overlapping with other vehicles in the guidance section. [Means for solving the problem]

[0012] A guidance section temporary identifier assigning device according to one aspect of the present invention includes a vehicle detector that detects a vehicle in a guidance section; and an RSU (Roadside Unit) module that transmits a guidance participation request message to a vehicle that has entered the guidance section, and upon receiving a guidance participation response message from the vehicle, assigns a temporary identifier to the vehicle based on vehicle detection information detected through the vehicle detector and the guidance participation response message.

[0013] The guidance participation request message of the present invention includes a spatial range of the guidance section.

[0014] The temporary identifier may be maintained while the vehicle passes through the guidance section according to a spatial extent of the guidance section.

[0015] The present invention is characterized in that the guidance participation response message includes vehicle position information.

[0016] The RSU module of the present invention is characterized in that it compares vehicle position information included in the guidance participation response message with vehicle position information detected through the vehicle detector, identifies the vehicle that sent the guidance participation response message among the vehicles detected by the vehicle detector, and assigns the temporary identifier to the identified vehicle.

[0017] The RSU module of the present invention transmits a temporary identifier assignment message to a vehicle to which the temporary identifier has been assigned, and the vehicle stores the temporary identifier through the temporary identifier assignment message.

[0018] The temporary identifier assignment message of the present invention includes the temporary identifier and vehicle position information.

[0019] The present invention is characterized in that it further includes a vehicle terminal installed in a vehicle, which compares vehicle location information included in the temporary identifier assignment message with its own vehicle location information, and stores the temporary identifier if there is a match.

[0020] A method for assigning a temporary identifier to a guidance section according to one aspect of the present invention includes a step of: an RSU (Roadside Unit) module transmitting a guidance participation request message to a vehicle that has entered a guidance section; and, if the RSU module receives a guidance participation response message from the vehicle, assigning a temporary identifier to the vehicle based on vehicle detection information detected through a vehicle detector and the guidance participation response message.

[0021] The guidance participation request message of the present invention includes a spatial range of the guidance section.

[0022] The temporary identifier may be maintained while the vehicle passes through the guidance section according to a spatial extent of the guidance section.

[0023] The present invention is characterized in that the guidance participation response message includes vehicle position information.

[0024] In the step of assigning a temporary identifier to the vehicle of the present invention, the RSU module compares vehicle position information included in the guidance participation response message with vehicle position information detected through the vehicle detector, identifies the vehicle that transmitted the guidance participation response message among the vehicles detected by the vehicle detector, and assigns the temporary identifier to the identified vehicle.

[0025] In the step of assigning a temporary identifier to the vehicle of the present invention, the RSU module transmits a temporary identifier assignment message to the vehicle to which the temporary identifier has been assigned, and the vehicle stores the temporary identifier through the temporary identifier assignment message.

[0026] The temporary identifier assignment message of the present invention includes the temporary identifier and vehicle position information.

[0027] In the step of assigning a temporary identifier to the vehicle, a vehicle terminal may compare vehicle location information included in the temporary identifier assignment message with its own vehicle location information, and store the temporary identifier depending on whether or not they match. Effect of the Invention

[0028] According to one aspect of the present invention, a guidance section temporary identifier assignment device and method assigns a temporary identifier for V2X communication that does not overlap with other vehicles in the guidance section to a vehicle entering a guidance section and maintains the identifier until the vehicle leaves the guidance section, thereby accurately classifying vehicles in the guidance section and smoothly providing various services to the vehicles. [Brief description of the drawings]

[0029] [Figure 1] 2 is a block diagram of a guidance section temporary identifier assigning device according to an embodiment of the present invention; [Diagram 2] 1 is a schematic diagram of a guidance section temporary identifier assigning device according to an embodiment of the present invention; [Diagram 3] 1 is an exemplary view of a vehicle entering a guidance section according to an embodiment of the present invention; [Figure 4] 4 is a flowchart of a method for assigning a temporary guidance section identifier according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0030] Hereinafter, a device and method for assigning a temporary guidance section identifier according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thickness of lines and the size of components illustrated in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are defined in consideration of the functions of the present invention, and may vary depending on the intention or practice of a user or operator. Therefore, the definitions of such terms should be based on the contents of this specification as a whole.

[0031] FIG. 1 is a block diagram of a guidance section temporary identifier assigning device according to one embodiment of the present invention, FIG. 2 is a schematic diagram of a guidance section temporary identifier assigning device according to one embodiment of the present invention, and FIG. 3 is an illustrative diagram of a vehicle entering a guidance section according to one embodiment of the present invention.

[0032] 1 to 3, a guidance section temporary identifier assigning device according to an embodiment of the present invention includes a vehicle detector 100, an RSU (Roadside Unit) module 200, and a vehicle terminal 300.

[0033] The vehicle detector 100 is installed at the side of the road.

[0034] The vehicle detector 100 obtains image or point cloud data of an object traveling on a road using a sensor such as a camera, a lidar, a radar, etc. The sensor installed in the vehicle detector 100 is not limited to a camera, a lidar, or a radar.

[0035] The vehicle detector 100 processes the acquired image or point cloud data to recognize objects on the road, classify the object type (vehicle, motorcycle, pedestrian, etc.), and acquire object detection information such as the vehicle's position (longitude and latitude coordinates), traveling direction, traveling speed, etc. Based on this, the vehicle detector 100 detects vehicles that have entered the guidance section.

[0036] The vehicle detector 100 transmits vehicle detection information of a vehicle that has entered the guidance section to the RSU module 200.

[0037] The vehicle terminal 300 is installed in a vehicle.

[0038] The vehicle terminal 300 provides a communication interface with the RSU module 200 .

[0039] The vehicle terminal 300 can receive a guidance participation request message from the RSU module 200.

[0040] The vehicle terminal 300 may send a guidance join response message to the RSU module 200.

[0041] The vehicular terminal 300 may receive the temporary identifier assignment message from the RSU module 200 and store the temporary identifier assigned to itself. The vehicular terminal 300 maintains the temporary identifier without changing it until it leaves the guidance section according to the spatial range of the guidance section included in the guidance participation request message.

[0042] The RSU module 200 transmits a guidance participation request message to a vehicle that has entered a guidance section, and upon receiving a guidance participation response message from the vehicle, assigns a temporary identifier to the vehicle based on the vehicle detection information detected through the vehicle detector 100 and the guidance participation response message.

[0043] It includes an RSU communicator 210 and an RSU server 220.

[0044] The RSU communication device 210 provides a communication interface with the vehicle terminal 300 that has entered the guidance section.

[0045] The RSU communication device 210 receives a guidance participation response message from the vehicle terminal 300 through V2X communication.

[0046] The guidance participation response message is a response message from the vehicle terminal 300 to the guidance participation request message sent from the RSU communication device 210.

[0047] The guidance participation request message is a message that requests a vehicle that has entered the guidance section to participate in the guidance.

[0048] The guidance participation request message is continuously transmitted from the RSU communicator 210 to the vehicles that have entered the guidance section.

[0049] The guidance participation request message may include a spatial range of the guidance section.

[0050] The guidance participation response message may be sent to the RSU module 200 when the vehicle wishes to receive guidance services when entering the guidance section.

[0051] The guidance participation response message may include the current location information of the vehicle.

[0052] Meanwhile, the RSU communication device 210 receives vehicle information from the vehicle terminal 300 through V2X communication.

[0053] The vehicle information may include data on the vehicle's position (longitude and latitude coordinates), direction, speed, and the like, status information within the vehicle, and data on the driving conditions of objects surrounding the vehicle.

[0054] The RSU communicator 210 transmits a temporary identifier assignment message and vehicle position information.

[0055] When the vehicle enters a guidance section managed by the infrastructure, the RSU server 220 assigns the vehicle a temporary identifier (Temporary ID) for V2X communication that does not overlap with other vehicles in the guidance section from the infrastructure.

[0056] More specifically, the RSU server 220 collects vehicle detection information on vehicles entering the guidance section from the vehicle detector 100 in real time.

[0057] The RSU server 220 classifies and tracks the vehicles by the object identifiers assigned by the vehicle detector 100. At this time, the RSU server 220 continuously transmits a guidance participation request message including the spatial range of the guidance section to the vehicles in the guidance section through the RSU communicator 210.

[0058] At this time, the vehicle terminal 300 may receive a guidance participation request message transmitted from the RSU server 220. When the vehicle terminal 300 wishes to receive a guidance service at the time of entering a guidance section, the vehicle terminal 300 transmits a guidance participation response message including current location information.

[0059] The RSU communicator 210 receives the guidance participation response message transmitted from the vehicle terminal 300 and transmits it to the RSU module 200.

[0060] That is, the RSU server 220 compares the vehicle position information included in the guidance participation response message with the vehicle position information of the vehicle detected by the vehicle detector 100, identifies the vehicle that sent the corresponding guidance participation response message among the vehicles detected by the vehicle detector, and forms a correspondence relationship, thereby matching the guidance participation response message with the vehicle.

[0061] The RSU server 220 assigns a temporary identifier to the vehicle that sent the guidance participation response message, and generates a temporary identifier assignment message including the temporary identifier and vehicle position information.

[0062] At this time, the RSU server 220 can assign a temporary identifier to each vehicle by adding a set value, for example 1, to the temporary identifier assigned to the previous vehicle.

[0063] The RSU server 220 transmits the generated temporary identifier assignment message to the vehicle terminal 300 of the vehicle within the guidance section via the RSU communication device 210.

[0064] The vehicle terminal 300 of the vehicle in the guidance section receives the temporary identifier assignment message and compares the vehicle location information included in the temporary identifier assignment message with its own current location information to determine whether there is a match. Among these vehicles, a vehicle whose current location information matches the vehicle location information received from the RSU communication device 210 stores the temporary identifier of the temporary identifier assignment message in its temporary identifier and transmits a temporary identifier confirmation message to the RSU module 200. The temporary identifier persists while the vehicle passes through the guidance section according to the spatial information of the guidance section included in the guidance participation request message.

[0065] The RSU communicator 210 receives the temporary identifier confirmation message and inputs it to the RSU server 220.

[0066] The RSU server 220 uses the temporary identifier confirmation message to store the correspondence between the infrastructure detection object identifier and the temporary identifier.

[0067] Thereafter, the RSU server 220 transmits a guidance providing message to the vehicle.

[0068] The guidance providing message may include a temporary identifier and guidance information.

[0069] At this time, the vehicle terminal 300 receives the guidance providing message and filters the guidance providing message using the corresponding temporary identifier, thereby being able to check messages that designate the vehicle terminal 300 as the recipient.

[0070] Hereinafter, a method for assigning a temporary guidance section identifier according to an embodiment of the present invention will be described in detail with reference to FIG.

[0071] FIG. 4 is a flowchart of a method for assigning a temporary guidance section identifier according to an embodiment of the present invention.

[0072] Referring to FIG. 3 , the vehicle detector 100 detects a vehicle entering a guidance section and transmits the acquired vehicle detection information to the RSU module 200 .

[0073] At the same time, the RSU server 220 collects vehicle detection information on vehicles entering the guidance section from the vehicle detector 100 in real time via the RSU communication device 210 (S10).

[0074] The RSU server 220 continuously transmits a guidance participation request message including the spatial range of the guidance section through the RSU communicator 210 (S20).

[0075] The vehicle terminal 300 receives a guidance participation request message sent from the RSU module 200, and at this time, if the vehicle terminal 300 wishes to receive a guidance service when entering a guidance section, the vehicle terminal 300 sends a guidance participation response message including current location information (S30).

[0076] The RSU communicator 210 inputs a guidance join response message to the RSU server 220.

[0077] The RSU server 220 compares the vehicle location information included in the guidance participation response message with the vehicle location information of the vehicle detected by the vehicle detector 100, identifies the vehicle that sent the corresponding guidance participation response message among the vehicles detected by the vehicle detector, and establishes a correspondence relationship (S40).

[0078] The RSU server 220 assigns a temporary identifier to the vehicle that has sent the guidance participation response message (S50) and generates a temporary identifier assignment message including the temporary identifier. At this time, the RSU server 220 can assign a temporary identifier to each vehicle by adding a setting value, for example, 1, to the temporary identifier assigned to the previous vehicle.

[0079] The RSU server 220 transmits the generated temporary identifier assignment message and the corresponding vehicle position information to the vehicle within the guidance section via the RSU communicator 210 (S60).

[0080] The vehicle terminal 300 of the vehicle within the guidance section receives the temporary identifier assignment message and the vehicle position information, and compares the vehicle position information with its own current position information to determine whether or not there is a match.

[0081] The vehicle terminal 300 stores the temporary identifier of the corresponding temporary identifier assignment message in its own temporary identifier depending on whether the vehicle location information received from the RSU communication device 210 matches the current location information (S70).

[0082] The vehicle terminal 300 sends a temporary identifier confirmation message to the RSU server 220 (S80), and the RSU server 220 stores the correspondence between the infrastructure detection object identifier and the temporary identifier (S90).

[0083] Thereafter, the RSU server 220 sends a guidance delivery message to the vehicle (S100), and the vehicle terminal 300 receives the guidance delivery message and filters the guidance delivery message using the corresponding temporary identifier to check the guidance delivery message that has been designated as the recipient (S110).

[0084] Furthermore, the vehicle terminal 300 continues to hold the temporary identifier until the vehicle exits the guidance section.

[0085] The implementations described herein may be embodied, for example, in a method or process, an apparatus, a software program, a data stream, or a signal. Even if discussed in the context of only one form of implementation (e.g., discussed only as a method), the implementation of the features discussed may also be embodied in other forms (e.g., an apparatus or a program). An apparatus may be embodied in appropriate hardware, software, firmware, and the like. A method may be embodied in an apparatus such as, for example, a processor, which generally refers to a processing device including a computer, a micro-RSU server, an integrated circuit, or a programmable logic device, and the like. Processors also include communication devices such as computers, cell phones, portable / personal digital assistants ("PDAs"), and other devices that facilitate communication of information between end-users.

[0086] Although the present invention has been described with reference to the embodiments shown in the drawings, these are merely illustrative, and those skilled in the art will recognize that various modifications and equivalent embodiments are possible. Therefore, the true technical scope of the present invention should be determined by the following claims. [Explanation of symbols]

[0087] 100: Vehicle detector 200: RSU module 210:RSU communication device 220: Processor 300: Vehicle terminal

Claims

1. A vehicle detector that detects vehicles in the guidance section; and A guidance section temporary identifier assigning device including an RSU (Roadside Unit) module that transmits a guidance participation request message to a vehicle that has entered the guidance section, and when a guidance participation response message is received from the vehicle, assigns a temporary identifier to the vehicle based on vehicle detection information detected through the vehicle detector and the guidance participation response message.

2. The guidance participation request message is The device of claim 1 , further comprising a spatial range of the guidance section.

3. The temporary identifier is 2. The device of claim 1, wherein the temporary identifier is maintained while the vehicle passes through the guidance section according to a spatial extent of the guidance section.

4. The guidance participation response message is 2. The guidance section temporary identifier assigning device according to claim 1, further comprising vehicle position information.

5. The RSU module The guidance section temporary identifier assigning device of claim 4, characterized in that it compares vehicle position information included in the guidance participation response message with vehicle position information detected through the vehicle detector, identifies a vehicle that has transmitted the guidance participation response message among the vehicles detected by the vehicle detector, and assigns the temporary identifier to the identified vehicle.

6. The guidance section temporary identifier assigning device of claim 1, wherein the RSU module transmits a temporary identifier assignment message to the vehicle to which the temporary identifier has been assigned, and the vehicle stores the temporary identifier through the temporary identifier assignment message.

7. The temporary identifier assignment message is 7. The guidance section temporary identifier assigning device according to claim 6, further comprising information on the temporary identifier and a vehicle position.

8. The guidance section temporary identifier assigning device according to claim 7, further comprising a vehicle terminal that is installed in a vehicle, compares the vehicle location information included in the temporary identifier assignment message with its own vehicle location information, and stores the temporary identifier based on whether or not there is a match.

9. A Roadside Unit (RSU) module transmits a guidance participation request message to a vehicle that has entered the guidance section; and A method for assigning a temporary guidance section identifier, comprising the step of, when the RSU module receives a guidance participation response message from a vehicle, assigning a temporary identifier to the vehicle based on vehicle detection information detected through a vehicle detector and the guidance participation response message.

10. The guidance participation request message is The method of claim 9, further comprising: providing a temporary identifier for the guidance section, the temporary identifier including a spatial range of the guidance section.

11. The temporary identifier is The method of claim 10, wherein the temporary identifier is maintained while the vehicle passes through the guidance section according to a spatial range of the guidance section.

12. The guidance participation response message is The method of claim 9, further comprising vehicle position information.

13. In the step of assigning a temporary identifier to the vehicle, The method of claim 12, characterized in that the RSU module compares vehicle position information included in the guidance participation response message with vehicle position information detected through the vehicle detector, identifies a vehicle that has transmitted the guidance participation response message among the vehicles detected by the vehicle detector, and assigns the temporary identifier to the identified vehicle.

14. In the step of assigning a temporary identifier to the vehicle, The method of claim 9, wherein the RSU module transmits a temporary identifier assignment message to the vehicle to which the temporary identifier has been assigned, and the vehicle stores the temporary identifier through the temporary identifier assignment message.

15. The temporary identifier assignment message is The method of claim 14, further comprising the step of: providing the temporary identifier to the guidance section;

16. In the step of assigning a temporary identifier to the vehicle, The method of claim 15, wherein the vehicle terminal compares the vehicle location information included in the temporary identifier assignment message with its own vehicle location information, and stores the temporary identifier based on whether or not they match.

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