Location estimation and direction recognition system among objects by c-its coordination in v2x communication environment and method thereof

Abstract

To provide a location estimation and direction recognition system among objects by C-ITS coordination in V2X communication environment and a method thereof.SOLUTION: A location estimation and direction recognition system among objects by C-ITS coordination in V2X communication environment according to the present invention includes: an infrastructure information receiving unit to receive infrastructure information from the infrastructure; an object location determination unit that determines the location of a device in use; an object location and path prediction unit that predicts the future location and movement path of the device in use; an object information transmitting / receiving unit that exchanges information on the device with other objects; and an object and surrounding situation recognition and determination unit that recognizes objects and surrounding situations using information acquired through C-ITS coordination in V2X communication environment and determines whether or not they are in dangerous situations.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a system and method for estimating position and recognizing direction between objects through C-ITS cooperation in a V2X communication environment. [Background technology]

[0002] According to conventional technologies, there are technical / industrial limitations when objects estimate their relative positions and recognize their movement direction. For example, there are technical limitations to supporting M2M (Machine to Machine), so communication between devices must be via a base station, etc. Although technologies such as WAVE, LTE-V2X, and 5G Uu have been developed, there are limitations that make it difficult to provide diverse services due to issues such as a large number of terminals, delay time, and transmission capacity.

[0003] According to the prior art, a technology has been proposed in which the change rate of the object's movement and the change rate of the number of objects, which can be measured based on the change rate of the object's position and movement information, are converted into energy information, the entropy of the converted energy information is measured, and the change rate of the entropy is linked to a risk policy to recognize the situation in the space where the image was taken (Korea Patent Publication No. 10-2013-0136251), and a technology has been proposed in which, in order to share object sensing information of infrastructure sensors, an image of an area of ​​interest is obtained, an object is extracted from the image of the area of ​​interest, positioning information on the object is obtained using the absolute coordinates of the object, and then the object information is transmitted (Korea Patent Publication No. 10-2315703). Various methods of estimating and determining the position of an object have been proposed, but these have limitations such as being limited to a specific range or making it difficult to grasp the speed of the object, the type of the object, and the real-time moving path of the object. Summary of the Invention [Problem to be solved by the invention]

[0004] The present invention has been made to solve the above problems, and aims to provide a system and method for estimating position and recognizing direction between objects, which can estimate the mutual positions of objects and recognize their directions through C-ITS cooperation in a V2X (V2V, V2I, V2P, V2C, etc.) environment, thereby reducing the number of vehicle and person accidents in traffic environments, which have been increasing recently, and which can determine the exact positions of objects in advance in an environment where autonomous vehicles, general vehicles, connected vehicles, etc. are mixed, thereby creating a safe autonomous driving environment. [Means for solving the problem]

[0005] The present invention relates to a system and method for estimating position and recognizing direction between objects through C-ITS cooperation in a V2X communication environment.

[0006] The system for estimating position and recognizing direction between objects using C-ITS cooperation in a V2X communication environment according to the present invention includes an infrastructure information receiving unit that receives infrastructure information from infrastructure, an object position determination unit that determines the position of a device in use, an object position and path prediction unit that predicts the future position and movement path of the device in use, an object information transmitting and receiving unit that exchanges information about the device with other objects, and an object and surrounding situation recognition and judgment unit that recognizes objects and the surrounding situation using information obtained by C-ITS cooperation in a V2X communication environment and judges whether or not the situation corresponds to a dangerous situation.

[0007] The object position determination unit determines the position of the device in use using at least one of a GPS, an IMU, and an UWB positioning device.

[0008] The object and surrounding situation recognition and judgment unit uses the acquired information to determine whether it corresponds to a dangerous situation if the result of comparing the received information delay time with a reference time is determined to be a valid value.

[0009] The object-to-object position estimation and direction recognition system using C-ITS cooperation in a V2X communication environment according to the present invention further includes an object and infrastructure information display unit that displays object and infrastructure information using a judgment result on whether or not the situation corresponds to a dangerous situation.

[0010] The object and infrastructure information display unit displays the position, type, current separation distance, speed, predicted behavior, and separation distance after predicted behavior of surrounding objects.

[0011] The method for estimating position and recognizing direction between objects using C-ITS cooperation in a V2X communication environment according to the present invention includes the steps of (a) a first object and a second object determining their respective positions and movement routes, and generating information on future predicted positions and predicted movement routes, (b) a first object and a second object exchanging information on their respective predicted positions and predicted movement routes, (c) a step of checking the received information delay time of the first object and the second object, and if determined to be a valid value, performing surrounding situation recognition and judgment to determine whether or not the situation is dangerous, and (d) a step of displaying object and infrastructure information depending on the result of the determination as to whether or not the situation is dangerous.

[0012] The (c) step performs time synchronization between the first object and the second object, and judges whether the received information delay time is a valid value based on the result of comparing the received information delay time with a reference time set by a manufacturer or administrator of each device. Effect of the Invention

[0013] According to the present invention, it is possible to recognize and judge the mutual positions of objects, movement routes, and infrastructure information in advance, and respond to dangerous situations.

[0014] According to the present invention, safe and smooth movement is possible in an environment where autonomous vehicles, connected cars, general vehicles, pedestrians, infrastructure, etc. are mixed, while preparing for dangerous situations.

[0015] The effects of the present invention are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description. [Brief description of the drawings]

[0016] [Figure 1] 1 illustrates a system for estimating position and recognizing direction between objects through C-ITS cooperation in a V2X communication environment according to an embodiment of the present invention. [Diagram 2] 1 illustrates a method for estimating position and recognizing direction between objects through C-ITS cooperation in a V2X communication environment according to an embodiment of the present invention. [Diagram 3] 1 illustrates the representation of objects and infrastructure information according to an embodiment of the present invention. [Figure 4] FIG. 1 is a block diagram illustrating a computer system for implementing a method according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] The above and other objects, advantages and features of the present invention, as well as the manner in which they are accomplished, will become apparent from the following detailed description of the preferred embodiment taken in conjunction with the accompanying drawings.

[0018] However, the present invention is not limited to the embodiments disclosed below, but may be realized in various different forms. The embodiments are merely provided to easily inform those having ordinary skill in the art of the present invention of the purpose, configuration and effects of the invention, and the scope of the present invention is defined by the claims.

[0019] Meanwhile, the terms used in the present specification are for describing the embodiments and are not intended to limit the present invention. In the present specification, the singular form includes the plural form unless otherwise specified in the text. As used in the specification, "comprises" and / or "comprising" do not exclude the presence or addition of one or more other components, steps, operations and / or elements to a referenced component, step, operation and / or element.

[0020] FIG. 1 illustrates a system for estimating position and direction recognition between objects by C-ITS cooperation in a V2X communication environment according to an embodiment of the present invention. The V2X communication environment includes all communication environments used for V2X, including but not limited to WAVE, LTE, 5G-Uu, 5G-NR-V2X, 6G, etc. With the development of communication technologies such as 5G-NR-V2X, existing technical limitations have been continuously improved, and low-latency, high-capacity transmission data can be transmitted and received in real time. According to an embodiment of the present invention, in consideration of new technological trends, a system and method for estimating position and direction recognition between objects by C-ITS cooperation in a V2X communication environment is proposed using communication technologies between V2V (Vehicle to Vehicle), V2I (Vehicle to Infrastructure), and V2P (Vehicle to Pedestrian) in communication environments such as 5G-Uu and 5G-NR-V2X. Specifically, according to an embodiment of the present invention, we propose 1) a technology for determining the position of a communication device, 2) a technology for determining the direction of movement, predicted movement route, and time of a communication device, 3) a technology for transmitting and receiving the mutual positions, movement direction, predicted movement route, and time between communication devices, 4) a technology for estimating the mutual positions between communication devices, and receiving and recognizing direction and infrastructure information, and 5) a technology for displaying the position, movement route, and infrastructure information of a communication device.

[0021] The infrastructure information transmitting unit 100 transmits infrastructure information including traffic signal information and emergency situation information. The first object 200 includes an infrastructure information receiving unit 210, an object position determining unit 220, an object position and path predicting unit 230, an object information transmitting and receiving unit 240, an object and surrounding situation recognition and determination unit 250, and an object and infrastructure information display unit 260.

[0022] The object position determination unit 220 determines the position of the device being used by the user. The object position and path prediction unit 230 predicts the position and path of the device being used by the user. The position of the device being used is determined using a positioning device such as GPS, IMU, or UWB. A predicted path is determined taking into consideration the position, moving direction, speed, etc. of the device being used, and the determined information is transmitted and received between objects (i.e., between a first object and a second object) by C-ITS cooperation in a V2X communication environment to grasp mutual position information. The object information transmission and reception unit 240 communicates with the object information transmission and reception unit of the second object 300 to transmit information of the first object and receive information of the second object. The object and surrounding situation recognition and determination unit 250 recognizes the object and surrounding situation using infrastructure information received via the infrastructure information reception unit 210 and object position and path prediction information, and determines whether or not it is a dangerous situation. The object and infrastructure information presentation unit 260 presents information on the user, surrounding objects, and infrastructure.

[0023] FIG. 2 illustrates a method for estimating position and recognizing direction between objects through C-ITS cooperation in a V2X communication environment according to an embodiment of the present invention.

[0024] In step S210, the device's location and movement path are determined, its future location and movement path are predicted, and the prediction information is exchanged with surrounding objects.

[0025] In step S220, if it is confirmed that the peripheral object information and infrastructure information are received, time synchronization is performed between the transmitting and receiving devices.

[0026] In step S230, the reception information delay time (t r ), and in step S240, the reception information delay time (t r ) is the reference time (TimeTH r ) or not. In other words, in relation to the time delay information between the transmitting and receiving devices, the time between the devices is confirmed using NTP (Network Time Protocol) or the like, and if it is determined to be a valid value, it is used. At this time, the definition of a valid value is set for each device at the discretion of the manufacturer or administrator (user).

[0027] In step S240, the reception information delay time (t r ) is the reference time (TimeTH r ), return to step S210. In step S240, the reception information delay time (t r ) is the reference time (TimeTH r If it is confirmed that the difference is less than the threshold, the step S250 recognizes and judges the object and the surrounding situation. The step S260 displays the object and infrastructure information. Based on the object information transmitted and received between the objects, the user recognizes and judges the current position, the moving route, the surrounding objects, and the surrounding infrastructure situation.

[0028] FIG. 3 illustrates the representation of objects and infrastructure information according to an embodiment of the present invention.

[0029] According to an embodiment of the present invention, in consideration of the situation of each device, for example, in the case of a specific expensive device, there is a device that can use an NPU (Neural Processing Unit) and can perform AI processing. Also, since the TOPS that can be processed differs depending on the specifications of the NPU, differences may occur in the amount that can be determined, real-timeness, and accuracy. Therefore, in consideration of such a situation, when determining information, the manufacturer or manager (user) recognizes the presence / absence of an NPU, the TOPS performance of the NPU, etc., and finally determines the information of the object.

[0030] The display of object and infrastructure information can be configured as shown in Figure 3, allowing pedestrians to judge vehicle information in real time and to check the direction information and speed of surrounding vehicles in real time, creating a safe environment for both pedestrians and vehicles in an autonomous driving road environment.

[0031] According to an embodiment of the present invention, information on the position, type, current distance, speed, predicted behavior, and distance after predicted behavior of a surrounding object is displayed.

[0032] FIG. 4 is a block diagram illustrating a computer system for implementing a method according to an embodiment of the present invention.

[0033] Referring to FIG. 4, the computer system 1000 may include at least one of a processor 1010, a memory 1030, an input interface device 1050, an output interface device 1060, and a storage device 1040 that communicate via a bus 1070. The computer system 1000 may also include a communication device 1020 coupled to a network. The processor 1010 may be a central processing unit (CPU) or a semiconductor device that executes instructions stored in the memory 1030 or the storage device 1040. The memory 1030 and the storage device 1040 may include various forms of volatile or non-volatile storage media. For example, the memory may include a read only memory (ROM) and a random access memory (RAM). In the embodiments described herein, the memory may be located inside or outside the processor, and the memory may be coupled to the processor through various means known in the art. The memory may be various forms of volatile or non-volatile storage media, for example, the memory may include a read-only memory (ROM) or a random access memory (RAM).

[0034] Accordingly, embodiments of the present invention may be implemented as a computer-implemented method or as a non-transitory computer-readable medium having computer-executable instructions stored thereon. In one embodiment, the computer-readable instructions, when executed by a processor, may perform a method according to at least one aspect of the present disclosure.

[0035] The communications device 1020 may transmit or receive wired or wireless signals.

[0036] Furthermore, the method according to the embodiment of the present invention may be implemented in the form of program instructions that can be executed by various computer means and recorded on a computer-readable medium.

[0037] The computer readable medium may include, alone or in combination, program instructions, data files, data structures, and the like. The program instructions recorded on the computer readable medium may be specially designed and constructed for the embodiments of the present invention, or may be known and available to those of ordinary skill in the art of computer software. The computer readable recording medium may include a hardware device configured to store and execute program instructions. For example, the computer readable recording medium may be a magnetic media such as a hard disk, a floppy disk, and a magnetic tape, an optical media such as a CD-ROM or a DVD, a magneto-optical media such as a floptical disk, a ROM, a RAM, a flash memory, and the like. The program instructions may include not only a machine language code such as that produced by a compiler, but also a high-level language code that can be executed by a computer via an interpreter, etc.

[0038] Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concept of the present invention defined in the following claims also fall within the scope of the present invention.

Claims

1. an infrastructure information receiving unit for receiving infrastructure information from an infrastructure; an object position determination unit for determining the position of a device in use; an object position and path prediction unit for predicting a future position and path of movement of the device in use; an object information transmitting / receiving unit for exchanging information of the device with other objects; An object and surrounding situation recognition and judgment unit that recognizes objects and surrounding situations and judges whether or not they correspond to a dangerous situation using information acquired through C-ITS cooperation in a V2X communication environment; A system for estimating position and recognizing direction between objects through C-ITS cooperation in a V2X communication environment including the above.

2. The object position determination unit determines the position of the device in use using at least one of a GPS, an IMU, and an UWB positioning device. The system for estimating position and recognizing direction between objects through C-ITS cooperation in a V2X communication environment as described in claim 1.

3. The object and surrounding situation recognition and judgment unit judges whether the received information corresponds to a dangerous situation by using the acquired information when the received information delay time is judged to be a valid value according to the result of comparing the received information delay time with a reference time. The system for estimating position and recognizing direction between objects through C-ITS cooperation in a V2X communication environment as described in claim 1.

4. The method further includes an object and infrastructure information display unit that displays object and infrastructure information using a result of the determination as to whether the situation corresponds to a dangerous situation. The system for estimating position and recognizing direction between objects through C-ITS cooperation in a V2X communication environment as described in claim 1.

5. The object and infrastructure information display unit displays information on the position, type, current separation distance, speed, predicted behavior, and separation distance after the predicted behavior of the surrounding objects. The system for estimating position and recognizing direction between objects through C-ITS cooperation in a V2X communication environment as described in claim 4.

6. (a) a first object and a second object determining their respective positions and movement paths, and generating future predicted position and predicted movement path information; (b) the first object and the second object exchanging their respective predicted location and predicted movement path information; (c) checking the reception information delay time between the first object and the second object, and when it is determined that the delay time is a valid value, performing surrounding situation recognition and judgment to determine whether or not the surrounding situation is dangerous; (d) displaying object and infrastructure information according to the result of the determination as to whether the situation is dangerous or not; A method for estimating position and recognizing direction between objects through C-ITS cooperation in a V2X communication environment.

7. The step (c) performs time synchronization between the first object and the second object, and judges whether the received information delay time is a valid value according to a result of comparing the received information delay time with a reference time set by a manufacturer or an administrator of each device. The method for estimating position and recognizing direction between objects through C-ITS cooperation in a V2X communication environment according to claim 6.

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