Method and system for travel negotiation with vehicle by cooperation between CCTV and roadside base station

Abstract

To provide means for allowing a device comprising photographing means to participate in travel negotiation in a specific area on a road as infrastructure around the road.SOLUTION: A method according to one embodiment of the present invention comprises the steps of: receiving a first message including a first temporary identifier of a vehicle from a first RSU on a path through which the vehicle passes when the vehicle under travel negotiation moves; receiving, by the RSU, a second message including a second changed temporary identifier of the vehicle to be identified by a CCTV in an area which can communicate with the RSU from the CCTV; checking, by the RSU, the second changed temporary identifier of the vehicle on the basis of the second message received from the CCTV; and identifying, by the RSU, the vehicle as an object for prolonging the travel negotiation to implement the travel negotiation with the identified vehicle.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a driving negotiation method with a vehicle in motion by a roadside base station (RSU, Road Side Unit), and to a driving negotiation technology in which the safety of driving negotiation is enhanced by the surrounding infrastructure assisting with information necessary for driving negotiation.

Background Art

[0002] The content described in this part merely provides background information for this embodiment and does not constitute prior art.

[0003] With the development of Advanced Driver Assistance Systems (ADAS), the safety and convenience of driving have gradually improved. The level of autonomous driving provided by autonomous driving systems has also gradually increased, and recently, commercial vehicles corresponding to the 2.5th level of autonomous driving have been put on the market. In the country, many industries, universities, and research institutions are developing related core technologies with the goal of achieving the 4th level or higher of autonomous driving by 2027.

[0004] In order to improve the safety and reliability of autonomous driving, vehicle communication technologies are combined and utilized together. Initially, due to the low performance of communication technology in terms of delay time and communication speed, it was limited to the level of warning services for notifying dangers during driving situations, but the services have gradually expanded as communication performance has improved.

[0005] Recently, as the development and standardization of 5G NR V2X progress, real-time data transmission and high-capacity information transmission between both objects have become possible. Along with this, the expansion of the sensing range necessary for autonomous driving and the transmission and reception of LDM information have become possible. Previously, it only provided services limited to one-way data transmission or broadcasting to many moving objects, but with the development of communication technology, it has evolved to the stage where vehicles can be controlled while exchanging real-time data with the corresponding moving objects.

[0006] Most of the research to date has been conducted in a way that one moving object or a specific vehicle controller receives surrounding communication information, determines the priority for passage at intersections, merging roads, etc., and unidirectionally distributes it. For example, in the case of remote parking, a method has been studied where the position information of the approaching vehicle is recognized, a route to the destination is generated by a server, and control information is sent to the vehicle. However, for more efficient and safe driving between vehicles, there is still a need for research that can continuously exchange intensive information among multiple vehicles in motion.

Summary of the Invention

Problems to be Solved by the Invention

[0007] In the above-mentioned prior art, driving negotiation is possible through the message standard defined by SAE J2735. Message standards for V2V communication and V2I communication are proposed.

[0008] In the prior art, a roadside base station (RSU, Road Side Unit) has limitations in covering all areas within a road and performing driving negotiation. The smoother the surrounding infrastructure supports more information, the smoother the driving negotiation can be performed, and the safety of driving negotiation can be enhanced.

[0009] However, in the prior art, even if a major infrastructure such as a CCTV wants to participate in driving negotiation, there is a problem that it cannot participate in driving negotiation because it does not support the message standard.

[0010] The present invention has been derived to solve the problems of the prior art, and an object thereof is to provide a means for a device having a photographing means in a specific area on a road as an infrastructure around the road, such as a CCTV, to participate in driving negotiation.

[0011] Another object of the present invention is to propose a message standard for an infrastructure around a road that can accurately grasp the driving state of a vehicle.

[0012] Another object of the present invention is to propose a vehicle driving negotiation method with enhanced safety through cooperation and role sharing between RSU and CCTV.

Means for Solving the Problems

[0013] A driving negotiation method with a vehicle in motion according to an embodiment of the present invention for achieving the above object includes: when a vehicle in driving negotiation moves, a roadside base station (RSU, Road Side Unit) receives a first message including a first temporary identifier (Temporary ID) of the vehicle from a first roadside base station on the route passed by the vehicle; the roadside base station receives a second message including a changed second temporary identifier of the vehicle identified by a CCTV within a region communicable with the roadside base station from the CCTV; the roadside base station checks the changed second temporary identifier of the vehicle based on the second message received from the CCTV; and the roadside base station can include identifying the vehicle as an object for extending the driving negotiation and performing a driving negotiation with the identified vehicle.

[0014] The step in which the roadside base station checks the changed second temporary identifier of the vehicle based on the second message received from the CCTV can include identifying the changed second temporary identifier of the vehicle based on the second message; and identifying an encrypted value of the vehicle's unique identifier based on the second message.

[0015] The step in which the roadside base station identifies the vehicle as an object for extending the driving negotiation and performs a driving negotiation with the identified vehicle can include identifying the vehicle as an object for extending the driving negotiation based on the encrypted value of the vehicle's unique identifier; and performing a driving negotiation with the vehicle based on the changed second temporary identifier of the vehicle.

[0016] In a driving negotiation method according to an embodiment of the present invention, the first message can include an encrypted value of the vehicle's unique identifier and a CCTV identifier, a CCTV identifier, an encrypted value of the vehicle's unique identifier, and a first temporary identifier of the vehicle.

[0017] The driving negotiation method according to an embodiment of the present invention may further include: a stage where a CCTV captures a vehicle number plate to obtain a unique identifier of the vehicle; a stage where the CCTV updates a first temporary identifier of the vehicle in a first message received from a roadside base station to a changed second temporary identifier of the vehicle; and a stage where the CCTV generates a second message including the changed second temporary identifier of the vehicle.

[0018] The driving negotiation method according to an embodiment of the present invention may further include a stage where a roadside base station transmits a first message to a CCTV.

[0019] The stage where the CCTV updates the first temporary identifier of the vehicle in the first message to the changed second temporary identifier of the vehicle may include: a stage where the CCTV uses the unique identifier of the vehicle obtained by shooting to identify the correspondence between the first message and the vehicle; and a stage where the CCTV generates a second message by updating the first temporary identifier of the vehicle in the first message to the changed second temporary identifier of the vehicle received from the vehicle.

[0020] The stage where the CCTV identifies the correspondence between the first message and the unique identifier of the vehicle may include: a stage where the CCTV uses the unique identifier of the vehicle obtained by shooting to extract the unique identifier of the vehicle in the first message including the encrypted value of the unique identifier of the vehicle and the first CCTV identifier, the first CCTV identifier, and the encrypted value of the unique identifier of the vehicle; and a stage where the CCTV compares the unique identifier of the vehicle in the first message with the unique identifier of the vehicle obtained by shooting to identify the correspondence between the first message and the vehicle.

[0021] The driving negotiation method according to an embodiment of the present invention may further include: a stage where a first CCTV within a region communicable with a first roadside base station captures a vehicle number plate to obtain a unique identifier of the vehicle; and a stage where the first CCTV generates a first message including the encrypted value of the unique identifier of the vehicle and the first CCTV identifier, the first CCTV identifier, the encrypted value of the unique identifier of the vehicle, and the first temporary identifier of the vehicle.

[0022] The driving negotiation method according to an embodiment of the present invention may further include a step in which a first CCTV transmits a first message to a first roadside base station; and a step in which the first roadside base station transmits the first message to roadside base stations on the moving route of the vehicle due to the movement of the vehicle.

[0023] A system for performing driving negotiation with a moving vehicle according to an embodiment of the present invention may include a roadside base station (RSU, Road Side Unit); and a CCTV within a region communicable with the roadside base station.

[0024] In a system according to an embodiment of the present invention, when a roadside base station moves a vehicle during driving negotiation, the vehicle can receive a first message including a first temporary identifier (Temporary ID) of the vehicle from a first roadside base station on the route passed by the vehicle, and can receive a second message including a changed second temporary identifier of the vehicle identified by the CCTV from the CCTV, and can check the changed second temporary identifier of the vehicle based on the second message received from the CCTV, identify the vehicle as an object for extending the driving negotiation, and perform driving negotiation with the identified vehicle.

[0025] When the roadside base station checks the changed second temporary identifier of the vehicle based on the second message received from the CCTV, the changed second temporary identifier of the vehicle can be identified based on the second message, and the encrypted value of the unique identifier of the vehicle can be identified based on the second message.

[0026] When the roadside base station identifies the vehicle as an object for extending the driving negotiation and performs driving negotiation with the identified vehicle, the vehicle can be identified as an object for extending the driving negotiation based on the encrypted value of the unique identifier of the vehicle, and driving negotiation can be performed with the vehicle based on the changed second temporary identifier of the vehicle.

[0027] In a system according to an embodiment of the present invention, the first message may include an encrypted value of a vehicle identifier and a CCTV identifier, the CCTV identifier, an encrypted value of the vehicle identifier, and a first temporary identifier of the vehicle.

[0028] In a system according to an embodiment of the present invention, the CCTV can capture the vehicle number plate to obtain the vehicle identifier, update the first temporary identifier of the vehicle in the first message received from the roadside base station to the changed second temporary identifier of the vehicle, and generate a second message including the changed second temporary identifier of the vehicle.

[0029] In a system according to an embodiment of the present invention, the roadside base station can transmit the first message to the CCTV.

[0030] In a system according to an embodiment of the present invention, when the CCTV updates the first temporary identifier of the vehicle in the first message to the changed second temporary identifier of the vehicle, the CCTV can use the vehicle identifier obtained by shooting to identify the correspondence between the first message and the vehicle, and generate a second message by updating the first temporary identifier of the vehicle in the first message to the changed second temporary identifier of the vehicle received from the vehicle.

[0031] In a system according to an embodiment of the present invention, when the CCTV identifies the correspondence between the first message and the vehicle identifier, the CCTV can use the vehicle identifier obtained by shooting to extract the vehicle identifier in the first message including the encrypted value of the vehicle identifier and the first CCTV identifier, the first CCTV identifier, and the encrypted value of the vehicle identifier, and compare the vehicle identifier in the first message with the vehicle identifier obtained by shooting to identify the correspondence between the first message and the vehicle.

[0032] A system according to an embodiment of the present invention may further include a first roadside base station; and a first CCTV within a region communicable with the first roadside base station.

[0033] In a system according to an embodiment of the present invention, a first CCTV can capture the license plate of a vehicle to obtain a unique identifier of the vehicle, and generate a first message including an encrypted value of the unique identifier of the vehicle and the first CCTV identifier, the first CCTV identifier, the encrypted value of the unique identifier of the vehicle, and a first temporary identifier of the vehicle.

[0034] In a system according to an embodiment of the present invention, the first CCTV can transmit the first message to a first roadside base station, and the first roadside base station can transmit the first message to roadside base stations on the moving path of the vehicle due to the movement of the vehicle.

Advantages of the Invention

[0035] According to an embodiment of the present invention, according to the proposed message standard, a device having a photographing means within a specific area as an infrastructure device around a road, such as a CCTV, can participate in the driving negotiation of a vehicle.

[0036] According to an embodiment of the present invention, the RSU can smoothly perform driving negotiation by providing information necessary for driving negotiation to the RSU, and the safety of driving negotiation can be enhanced.

[0037] According to an embodiment of the present invention, since only the encrypted value of the unique ID of the vehicle is provided to the RSU without directly providing the unique ID of the vehicle to the RSU, driving negotiation can be performed without exposing the privacy of the vehicle to the RSU.

[0038] According to an embodiment of the present invention, since a temporary ID is used in the driving negotiation between the RSU and the vehicle, a new driving negotiation is performed each time, so that the unique ID cannot be directly exposed to the RSU.

[0039] According to an embodiment of the present invention, it is possible to easily discriminate a vehicle that falsely requests cooperative driving. For example, a vehicle that sends a message by pretending to be an emergency vehicle (such as an ambulance, a fire truck, a police car, etc.) can be discriminated. At this time, the authenticity of the message of the pretending vehicle can be verified by using a pre-defined CIM message generated by a CCTV.

Brief Description of the Drawings

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Best Mode for Carrying Out the Invention

[0041] Other objects and features of the present invention other than the above objects will be clearly shown through the description of the embodiments with reference to the accompanying drawings.

[0042] While the present invention can be subjected to various modifications and can have various embodiments, specific embodiments will be illustrated in the drawings and described in detail. However, this is not intended to limit the present invention to specific embodiments, and it should be understood to include all modifications, equivalents, and alternatives included within the spirit and technical scope of the present invention.

[0043] Terms such as first, second, A, B, etc. can be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the rights of the present invention, the first component can be named the second component, and similarly, the second component can also be named the first component. The term "and / or" includes a combination of a plurality of related described items or any one of a plurality of related described items.

[0044] In the embodiments of the present application, "at least one of A and B" can mean "at least one of A or B" or "at least one of one or more combinations of A and B". Also, in the embodiments of the present application, "one or more of A and B" can mean "one or more of A or B" or "one or more of one or more combinations of A and B".

[0045] When it is mentioned that a certain component is "connected to" or "attached to" another component, it should be understood that it may be directly connected or attached to the other component, or there may be other components in between. On the contrary, when it is mentioned that a certain component is "directly connected to" or "directly attached to" another component, it should be understood that there are no other components in between.

[0046] The terms used in this application are merely used to describe specific embodiments and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "including" or "having" are intended to specify the presence of the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and should not be construed as precluding the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0047] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the technical field to which the present invention belongs. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an idealized or overly formal sense unless clearly defined in this application.

[0048] On the other hand, even technologies that were publicly known before the filing date of this application may be included as part of the configuration of the invention of this application as needed, and these will be described in this specification within the scope that does not obscure the gist of the present invention. However, when explaining the configuration of the invention of this application, since a detailed description of technologies that were publicly known before the filing date of this application and that are obvious to those skilled in the art may obscure the gist of the present invention, a detailed description of overly detailed matters regarding publicly known technologies will be omitted.

[0049] For example, technologies that perform driving negotiations between vehicles or between a vehicle and infrastructure using V2V communication and V2I communication can utilize publicly known technologies prior to the filing of the present invention, and at least some of these publicly known technologies can be applied as essential technologies necessary for the implementation of the present invention. For example, the essential technologies necessary to implement a part of the configuration of the present invention can be explained by informing those skilled in the art that they are publicly known through Korean Patent Publication KR10-2023-0027265 "Cooperative Driving Method Based on Driving Negotiation and Apparatus Therefor", Korean Patent Publication KR10-2023-0024664 "V2V Communication-Based Autonomous Driving Vehicle Negotiation Method and Apparatus", etc., and can be substituted for the explanation.

[0050] However, the gist of the present invention is not to claim rights against these publicly known technologies, and the content of the publicly known technologies can be included as a part of the present invention within the scope not departing from the gist of the present invention.

[0051] Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings. In describing the present invention, the same reference numerals are used for the same components in the drawings to facilitate overall understanding, and duplicate descriptions of the same components are omitted.

[0052] In the following specification, CCTV is not a concept limited by its name, and can be understood as a concept referring to a device that can be included in the infrastructure around the road and provides a photographing means corresponding to a specific area.

[0053] FIG. 1 is a conceptual diagram illustrating a driving negotiation process between a vehicle in motion using a temporary ID according to an embodiment of the present invention and an RSU.

[0054] When the vehicle (cooperative vehicle) 110 enters the driving negotiation section, the first roadside base station (RSU1, Road Side Unit) 210 can conduct driving negotiation with the vehicle 110 using the first temporary identifier (Temporary ID) (for example, A). For this purpose, the vehicle 110 can transmit a message (for example, MsgID: 1) including the first temporary identifier of the vehicle 110 to the first roadside base station 210.

[0055] At this time, the temporary identifier can be a value that is changed every hour so that the vehicle does not expose its unique number when the vehicle and the roadside base station conduct driving negotiation (that is, for privacy protection). That is, the temporary identifier can be continuously changed every time a certain distance and a certain time elapse for privacy protection. Therefore, every time the temporary identifier is changed, a new driving negotiation must be conducted. At this time, the unique number of the vehicle is a fixed ID value that can identify the vehicle, and can mean, for example, the value of the vehicle number plate.

[0056] For example, the first temporary identifier (for example, A) can be changed to a second temporary identifier (for example, B) when a certain distance and a certain time have elapsed during the driving of the vehicle 110. When the vehicle 110 enters the driving negotiation section, the second roadside base station (RSU2) 220 can conduct driving negotiation with the vehicle 110 using the second temporary identifier (for example, B). For this purpose, the vehicle 110 can transmit a message (for example, MsgID: 2) including the second temporary identifier of the vehicle 110 to the second roadside base station 220.

[0057] As described above, the vehicle conducts driving negotiation by utilizing the temporary identifier of the vehicle. However, when the temporary identifier fluctuates, there may be a problem that the existing driving negotiation cannot be extended and a new driving negotiation must be conducted. In addition, when there are a plurality of vehicles within the communicable area of the roadside base station, there is a problem that the driving negotiation of the vehicles is not smooth.

[0058] FIG. 2 is a conceptual diagram illustrating the running negotiation process and message format between a vehicle in motion and an RSU based on the cooperation of peripheral infrastructure such as a CCTV according to an embodiment of the present invention.

[0059] CCTVs 310 and 320 may be installed at any point within the area communicable with the roadside base stations 210 and 220 detailed in FIG. 1.

[0060] When the vehicle 110 in motion enters the area communicable with the first roadside base station 210, the vehicle 110 can transmit a message (e.g., MsgID: 1) including the first temporary identifier (e.g., A) of the vehicle 110 to the first roadside base station 210.

[0061] At this time, if the vehicle 110 in motion moves and exits the area communicable with the first roadside base station 210 before completing the running negotiation with the first roadside base station 210, the running negotiation of the vehicle 110 can be continued by the following method.

[0062] For example, the vehicle 110 can transmit the first temporary identifier to the first CCTV 310 within the area communicable with the first roadside base station 210. The first CCTV 310 can capture the license plate of the vehicle 110 and obtain the unique identifier (DE_CarNum, hereinafter referred to as CarNum) of the vehicle 110. The first CCTV 310 can transmit a first message including the encrypted value of the obtained unique identifier of the vehicle 110 and the identifier of the first CCTV 310 (DE_CameraID, hereinafter referred to as CameraID) (HASH(CarNum, CameraID)), the identifier of the first CCTV 310 (e.g., 1), the encrypted value of the unique identifier of the vehicle 110 (HASH(CarNum)), and the first temporary identifier (TemporaryID) of the vehicle 110 to the first roadside base station 210 in the MSG_CCIM format.

[0063] At this time, as the types of message frames, MSG_CCIM (CCTV Information Message), MSG_Map Data, MSG_SPAT, etc. can be used. As an embodiment of the present invention, a MSG_CCIM frame or its modified format can be proposed. The MSG_CCIM format can have a Data Frame (DF). The DF can have sub-formats such as DF_CIM, DF_BSNCoreData, DF_Part II, etc. The DF_CIM can have a Data Element (DE). As the DE, there can be sub-formats such as DE_CameraID, DE_CarNum, DE_CCTV_VehicleType, etc.

[0064] At this time, the MSG_CCIM can be a new message field for CCTV to communicate with the infrastructure in the message frame. At this time, the DF_CIM (CCTV Information Message), which is a new message field for CCTV to provide vehicle information, can be defined in the DF. At this time, the DF_CIM can obtain the information necessary for driving negotiation from the DE field.

[0065] At this time, the DE_CameraID can mean the unique ID value of the CCTV.

[0066] At this time, the DE_CarNum can mean the unique identification number (identifier, number of the vehicle number plate) of the vehicle photographed by the CCTV.

[0067] At this time, the DE_CCTV_VehicleType can mean the type of the vehicle photographed by the CCTV (for example, passenger car, truck, bus, police car, etc.).

[0068] At this time, while the CCTV transmits MSG_CCIM to the roadside base station (RSU), the driving negotiation can be started. At this time, when the CCTV transmits MSG_CCIM to the roadside base station, it can be transmitted including DF_CIM. At this time, the necessary information in the DE may be included in the DF_CIM.

[0069] As described above, when the first CCTV 310 transmits including the DE_CarNum value to the roadside base station, for vehicle privacy protection, the CarNum value and the CameraID value can be hashed (with the HASH(CameraID, CarNum) value) and transmitted.

[0070] For example, when the same message is hashed using a hash algorithm, it is encrypted with the same value. For example, it can be assumed that when the message ABCD is hashed with the SHA256 algorithm, a value of BBBB is obtained. When hashing using the same algorithm, ABCD will always have the value of BBBB. However, the original message AAAA cannot be derived through the value of BBBB.

[0071] As described above, the first CCTV 310 can take a picture of the vehicle license plate and hash it together with its own ID value, CameraID. Specifically, the first CCTV 310 can take a picture of the license plate of vehicle A. When the value obtained by adding the license plate of vehicle A and the Camera ID value is hashed, HASH(CarNum + CameraID 1) can be generated. Assuming HASH(CarNum + CameraID) = ABCDEF, if CarNum and CameraID are the same, ABCDEF cannot change.

[0072] As described above, the CCTV can take a picture of the vehicle and know the CarNum value, and the roadside base station receiving the transmission only receives the hash value, so the unique identification number of the vehicle (the license plate information of the vehicle) cannot be inferred.

[0073] Even if another infrastructure (e.g., the second CCTV) receives the transmission of HASH(CameraID, CarNum), without the CameraID value, HASH(CameraID, CarNum) cannot be verified. Therefore, the MSG_CCIM may include the CameraID value. That is, the first CCTV 310 can transmit both the HASH(CameraID, CarNum) value and the CameraID value to the first roadside base station 210.

[0074] When the traveling vehicle 110 travels a certain distance or more and enters the area where it can communicate with the second roadside base station 220, the vehicle 110 can transmit a message (e.g., MsgID: 1) containing the changed second temporary identifier (e.g., B) of the vehicle 110 to the second roadside base station 220. At this time, in FIG. 2, the message ID (MsgID) containing the second temporary identifier was shown as 1. However, the idea of the present invention is not limited to such an embodiment, and the message ID and the like can be changed as needed regardless of the embodiment of FIG. 2.

[0075] At this time, the vehicle 110 can transmit the second temporary identifier of the vehicle 110 to the second CCTV 320 within the area where it can communicate with the second roadside base station 220. The second CCTV 320 can photograph the license plate of the vehicle 110 and obtain the unique identifier (CarNum) of the vehicle 110. The second CCTV 320 can transmit a second message including the encrypted value of the obtained unique identifier of the vehicle 110 and the identifier (CameraID) of the second CCTV 320 (HASH(CarNum, CameraID)), the identifier of the second CCTV 320 (e.g., 2), the encrypted value of the unique identifier of the vehicle 110 (HASH(CarNum)), and the second temporary identifier (TemporaryID) of the vehicle 110 to the second roadside base station 220 in the MSG_CCIM format.

[0076] The second roadside base station 220 can receive the first message and the second message, identify the encrypted value of the unique identifier of the vehicle 110, and the second temporary identifier, and continue to perform the driving negotiation.

[0077] FIG. 3 is a conceptual diagram showing in detail the running negotiation process between a vehicle in motion and an RSU based on the cooperation of peripheral infrastructure such as a CCTV according to an embodiment of the present invention.

[0078] A system for performing a running negotiation between a vehicle in motion and an RSU according to an embodiment of the present invention can include a roadside base station (RSU, Road Side Unit) 220; and a CCTV 320 within a region communicable with the roadside base station.

[0079] For example, it can be assumed that in FIG. 3, two or more vehicles (for example, 110, 120) are running in a region communicable with a specific roadside base station. When there are multiple vehicles, the roadside base station cannot identify the vehicle with which the running negotiation is to proceed without the unique identifier of the vehicle. Therefore, a system that can perform a running negotiation while not leaking privacy while using the unique identifier of the vehicle will be described below.

[0080] In a system according to an embodiment of the present invention, when the roadside base station 220 moves a vehicle (for example, 110 or 120) during a running negotiation, the vehicle 110 can receive a first message including a first temporary identifier (Temporary ID) of the vehicle 110 from the first roadside base station 210 on the route through which the vehicle 110 passed, and can receive a second message including the changed second temporary identifier of the vehicle 110 identified by the CCTV 320 from the CCTV 320. Based on the second message received from the CCTV 320, the changed second temporary identifier of the vehicle 110 can be checked, the vehicle 110 can be identified as an object for extending the running negotiation, and a running negotiation can be performed with the identified vehicle 110.

[0081] When the roadside base station 220 checks the changed second temporary identifier of the vehicle 110 based on the second message received from the CCTV 320, the changed second temporary identifier of the vehicle 110 can be identified based on the second message, and the encrypted value of the unique identifier of the vehicle 110 can be identified based on the second message.

[0082] The roadside base station 220 identifies the vehicle 110 as an object for which to extend a driving negotiation, and when conducting a driving negotiation with the identified vehicle 110, it can identify the vehicle 110 as an object for which to extend the driving negotiation based on the encrypted value of the unique identifier of the vehicle 110, and can conduct a driving negotiation with the vehicle 110 based on the changed second temporary identifier of the vehicle 110.

[0083] In a system according to an embodiment of the present invention, the first message may include the encrypted value of the unique identifier of the vehicle 110 and the CCTV identifier (i.e., the identifier of the second CCTV), the CCTV identifier, the encrypted value of the unique identifier of the vehicle, and the first temporary identifier of the vehicle 110.

[0084] Therefore, when the roadside base station 220 receives the first message and the second message for two vehicles 110 and 120, the roadside base station 220 can conduct a driving negotiation by comparing the unique identifier of the vehicle included in the first message with the unique identifier of the vehicle included in the second message to identify the vehicle.

[0085] In a system according to an embodiment of the present invention, the CCTV 320 can photograph the license plate of the vehicle 110 to obtain the unique identifier of the vehicle 110, update the first temporary identifier of the vehicle 110 in the first message received from the roadside base station 220 to the changed second temporary identifier of the vehicle 110, and generate a second message including the changed second temporary identifier of the vehicle 110.

[0086] In a system according to an embodiment of the present invention, the roadside base station 220 can transmit the first message to the CCTV 320.

[0087] In a system according to an embodiment of the present invention, when the CCTV 320 updates the first temporary identifier of the vehicle (i.e., the temporary identifier before the change) in the first message to the changed second temporary identifier of the vehicle 110, the CCTV 320 can use the unique identifier of the vehicle 110 obtained by shooting to identify the correspondence between the first message and the vehicle 110, and can generate a second message by updating the first temporary identifier of the vehicle 110 in the first message to the changed second temporary identifier of the vehicle 110 received from the vehicle 110.

[0088] In a system according to an embodiment of the present invention, when the CCTV 320 identifies the correspondence between the first message and the unique identifier of the vehicle 110, the CCTV 320 can use the unique identifier of the vehicle 110 obtained by shooting to extract the unique identifier of the vehicle 110 in the first message including the encrypted value of the unique identifier of the vehicle 110 and the first CCTV identifier, the first CCTV identifier, and the encrypted value of the unique identifier of the vehicle 110, and can identify the correspondence between the first message and the vehicle 110 by comparing the unique identifier of the vehicle 110 in the first message with the unique identifier of the vehicle 110 obtained by shooting.

[0089] A system according to an embodiment of the present invention may further include a first roadside base station 210; and a first CCTV 310 within a region communicable with the first roadside base station.

[0090] In a system according to an embodiment of the present invention, the first CCTV 310 can shoot the license plate of the vehicle 110 to obtain the unique identifier of the vehicle 110, and can generate a first message including the encrypted value of the unique identifier of the vehicle 110 and the first CCTV identifier, the first CCTV identifier, the encrypted value of the unique identifier of the vehicle 110, and the first temporary identifier of the vehicle 110.

[0091] In a system according to an embodiment of the present invention, the first CCTV 310 can transmit a first message to the first roadside base station 210, and the first roadside base station 210 can transmit the first message to a roadside base station 220 on the moving path of the vehicle due to the movement of the vehicle.

[0092] According to the above, even when two or more vehicles are traveling in an area communicable with a specific roadside base station, the vehicle can be identified by checking the unique identifier of the vehicle and the driving negotiation can be performed. When performing driving negotiation using the unique identifier of the vehicle, privacy may be exposed. However, according to the present invention, without exposing the unique identifier of the vehicle, that is, by hashing the unique identifier of the vehicle and transmitting it to the roadside base station, the roadside base station can continue the driving negotiation without leaking privacy.

[0093] The above-described content can be equally applied to the second vehicle 120.

[0094] Figures 4 to 6 are conceptual diagrams specifically illustrating the driving negotiation process between a traveling vehicle and an RSU according to an embodiment of the present invention.

[0095] Hereinafter, with reference to FIGS. 3 to 6, the driving negotiation process between a traveling vehicle and an RSU will be described.

[0096] In step (S420), the first CCTV 310 can capture the license plate of the vehicle in the road. At this time, the first CCTV 310 can obtain the unique identifier (CarNum 1) of the first vehicle (Vehicle 1) 110 in the road. And the first CCTV 310 can obtain the unique identifier (CarNum 2) of the second vehicle (Vehicle 2) 120 in the road.

[0097] In step (S430), the first CCTV 310 can generate the first message MSG_CCIM and transmit it to the first roadside base station (RSU1) 210. At this time, MSG_CCIM can be generated corresponding to each vehicle. For example, the first message MSG_CCIM 1 for the first vehicle 110 can include HASH(CarNum 1, Camera ID 1), CameraID 1, HASH(CarNum 1), and TemporaryID. For example, the second message MSG_CCIM 2 for the second vehicle 120 can include HASH(CarNum 2, Camera ID 1), CameraID 1, HASH(CarNum 2), and TemporaryID.

[0098] In step (S440), the first roadside base station (RSU1) 210 can transmit the moving vehicle information to the second roadside base station (RSU2) 220 when the vehicle is moving during the driving negotiation.

[0099] In step (S450), the second roadside base station (RSU2) 220 can transmit the MSG_CCIM value to the second CCTV (CCTV 2) 320. For example, when both the first vehicle 110 and the second vehicle 120 are moving during the driving negotiation, the second roadside base station 220 can transmit the MSG_CCIM 1 value for the first vehicle 110 and the MSG_CCIM 2 value for the second vehicle 120 to the second CCTV 320.

[0100] In step (S452), the second CCTV 320 can capture the license plate of the vehicle in the road and obtain the unique identifier (CarNum) of the vehicle. For example, the second CCTV 320 can obtain the unique identifier (CarNum 1) of the first vehicle 110 and the unique identifier (CarNum 2) of the second vehicle 120. At this time, the second CCTV 320 can obtain HASH(CarNum 1, CameraID 1) from the received MSG_CCM 1 value. And the second CCTV 320 can obtain HASH(CarNum 2, CameraID 1) from the received MSG_CCIM 2 value.

[0101] At this time, the second CCTV 320 can generate a HASH value obtained by encrypting the unique identifier of the vehicle captured from the license plate. For example, the second CCTV 320 can generate HASH(CarNum 1) by encrypting the unique identifier (CarNum 1) of the first vehicle 110, and can generate HASH(CarNum 2) by encrypting the unique identifier (CarNum 2) of the second vehicle 120.

[0102] In step (S454), the second CCTV 320 can receive the changed temporary identifier (Temporary ID) from the vehicle in motion.

[0103] In step (S460), the second CCTV 320 can transmit the MSG_CCIM to the second roadside base station 220. Specifically, the second CCTV 320 can identify the correspondence between vehicles by comparing the unique identifier of the vehicle (or its HASH value) obtained through the MSG_CCIM received from the second roadside base station 220 with the unique identifier of the vehicle obtained by the said photographing. For example, it can be determined whether HASH(CarNum 1) included in the MSG_CCIM 1 value matches HASH(CarNum1) generated by the second CCTV 320. At this time, if the unique identifiers of the vehicles match each other, the temporary identifier (Temporary ID) of the vehicle included in the MSG_CCIM can be updated to the temporary identifier received in step (S454). For example, the temporary identifier of the vehicle may be updated in the MSG_CCIM transmitted by the second CCTV 320 to the second roadside base station 220. For example, the content of the MSG_CCIM transmitted by the second CCTV 320 to the second roadside base station 220 may be {HASH(CarNum 1, Camera ID 1), Camera ID 1, HASH(CarNum 1), the updated Temporary ID of the first vehicle}. And / or when the vehicle photographed by the second CCTV 320 is the second vehicle 120 and the obtained temporary identifier belongs to the second vehicle 120, the content of the MSG_CCIM may be {HASH(CarNum 2, Camera ID 1), Camera ID 1, HASH(CarNum 2), the updated Temporary ID of the second vehicle}.

[0104] In other embodiments of the present invention, it may be possible to identify that a message is an updated message for the same vehicle based on the message ID (MsgID) included in the message. At this time, the RSU can identify that a message is for the same vehicle based on the message ID without knowing the unique identifier (CarNum) of the vehicle. On the other hand, since the CCTV can photograph and identify the vehicle number, in addition to the message ID, the HASH value of the vehicle unique identifier can be used to identify which vehicle the corresponding message is for.

[0105] In step (S470), the second roadside base station 220 can check the MSG_CCIM value received from the second CCTV 320. That is, the second roadside base station 220 can determine whether the HASH(CarNum, Camera ID) value of the MSG_CCIM value it sent matches the HASH(CarNum, Camera ID) value of the MSG_CCIM value received from the second CCTV 320.

[0106] At this time, the MSG_CCIM received from the second CCTV may be a value with an updated temporary identifier.

[0107] In step (S472), when it is determined in the above step (S470) that they match, the second roadside base station 220 can identify the vehicle that extends the driving negotiation and proceed with the driving negotiation.

[0108] According to the present invention described above, although the vehicle moves and the temporary identifier is changed, the driving negotiation can be continued through the message standard newly defined in the present invention.

[0109] FIG. 7 is an operation flowchart illustrating the process in which the first CCTV according to an embodiment of the present invention supports a driving negotiation.

[0110] Hereinafter, a description will be given with reference to both FIGS. 3 and 7.

[0111] The driving negotiation method according to an embodiment of the present invention may include the following steps (S410) to (S430).

[0112] In step (S410), the first CCTV 310 within the area communicable with the first roadside base station (the first RSU) 210 can receive a temporary identifier from the traveling vehicles 110 and 120.

[0113] In step (S420), the first CCTV 310 can photograph the license plate of the vehicle to obtain the unique identifier of the vehicle.

[0114] In step (S430), the first CCTV 310 can transmit a message including information of the vehicle whose license plate has been photographed to the first roadside base station. Specifically, the first CCTV 310 can generate a first message including the encrypted value of the vehicle's unique identifier and the first CCTV identifier, the first CCTV identifier, the encrypted value of the vehicle's unique identifier, and the first temporary identifier of the vehicle, and transmit it to the first roadside base station.

[0115] FIG. 8 is an operation flowchart illustrating the process in which the first RSU according to an embodiment of the present invention supports driving negotiation.

[0116] Hereinafter, description will be made with reference to both FIG. 3 and FIG. 8.

[0117] The driving negotiation method according to an embodiment of the present invention can include the following steps (S410), step (S430), and step (S440).

[0118] In step (S410), the first roadside base station 210 can receive temporary identifiers from the traveling vehicles 110 and 120.

[0119] In step (S430), the first roadside base station 210 can receive a message (first message) including information of the vehicle whose license plate has been photographed from the first CCTV 310.

[0120] In step (S440), when the traveling vehicle moves, the first roadside base station 210 can transmit information of the moving vehicle to the second roadside base station (second RSU) 220. That is, the first roadside base station 210 can transmit the first message to the roadside base station 220 on the moving route of the vehicle due to the movement of the vehicle.

[0121] FIG. 9 is an operation flowchart illustrating the process in which the second RSU according to an embodiment of the present invention performs driving negotiation with a traveling vehicle based on the cooperation of the second CCTVs in the vicinity.

[0122] The following will be described with reference to both FIG. 3 and FIG. 9.

[0123] The method for negotiating driving with a vehicle in motion according to an embodiment of the present invention may include the following steps (S440), step (S460), step (S470), and step (S472).

[0124] In step (S440), when the roadside base station (second RSU) 220 detects that a vehicle (first vehicle 110 and / or second vehicle 120) in driving negotiation is moving, the roadside base station 220 can receive a first message including a first temporary identifier (Temporary ID) of the vehicle (e.g., the first vehicle 110) from the first roadside base station 210 on the route passed by the vehicle (e.g., the first vehicle 110).

[0125] In step (S460), the roadside base station 220 can receive a second message including an updated second temporary identifier (e.g., B) of the vehicle (e.g., the first vehicle 110) identified by the CCTV (second CCTV) 320 within the area where the roadside base station 220 can communicate from the CCTV 320.

[0126] In step (S470), the roadside base station 220 can check the updated second temporary identifier (e.g., B) of the vehicle based on the second message received from the CCTV 320.

[0127] In step (S472), the roadside base station 220 can identify the vehicle (e.g., the first vehicle 110) as the target for extending the driving negotiation and can conduct the driving negotiation with the identified vehicle (e.g., the first vehicle 110).

[0128] At this time, the step of the roadside base station 220 checking the updated second temporary identifier of the vehicle based on the second message received from the CCTV 320 in step (S470) described above may include the step of identifying the updated second temporary identifier (e.g., B) of the vehicle based on the second message; and the step of identifying the encrypted value of the unique identifier of the vehicle (e.g., CarNum 1) based on the second message.

[0129] At this time, in the above-described step (S472), the step of the roadside base station 220 identifying a vehicle as an object for extending the travel negotiation and performing the travel negotiation with the identified vehicle includes: identifying a vehicle (e.g., the first vehicle 110) as an object for extending the travel negotiation based on the encrypted value of the vehicle's unique identifier (e.g., CarNum 1); and performing the travel negotiation with the vehicle based on the changed second temporary identifier (e.g., B) of the vehicle (e.g., the first vehicle 110).

[0130] At this time, in the travel negotiation method according to an embodiment of the present invention, the first message may include the encrypted values of the vehicle's unique identifier (e.g., CarNum 1 of the first vehicle 110) and the CCTV identifier (e.g., the first CCTV310 identifier), the CCTV identifier (e.g., the first CCTV310 identifier), the encrypted value of the vehicle's unique identifier (e.g., CarNum 1 of the first vehicle 110), and the first temporary identifier (e.g., A) of the vehicle (e.g., CarNum 1 of the first vehicle 110).

[0131] The travel negotiation method according to an embodiment of the present invention may further include: a step in which the CCTV320 photographs the vehicle's license plate to obtain the unique identifier (CarNum 1) of the vehicle (e.g., the first vehicle 110); a step in which the CCTV320 updates the first temporary identifier (e.g., A) of the vehicle (e.g., the first vehicle 110) in the first message received from the roadside base station 220 to the changed second temporary identifier (e.g., B) of the vehicle; and a step in which the CCTV320 generates a second message including the changed second temporary identifier (e.g., B) of the vehicle.

[0132] The travel negotiation method according to an embodiment of the present invention may further include a step in which the roadside base station 220 transmits the first message to the CCTV320.

[0133] At this time, the step in which the CCTV320 updates the first temporary identifier (e.g., A) of the vehicle (e.g., the first vehicle 110) in the first message to the changed second temporary identifier (e.g., B) of the vehicle may include: the step in which the CCTV320 uses the unique identifier of the vehicle (e.g., CarNum 1) obtained by shooting to identify the correspondence between the first message and the vehicle; and the step in which the CCTV320 generates a second message by updating the first temporary identifier (e.g., A) of the vehicle (e.g., the first vehicle 110) in the first message to the changed second temporary identifier (e.g., B) of the vehicle received from the vehicle (e.g., the first vehicle 110).

[0134] At this time, the step in which the CCTV320 identifies the correspondence between the first message and the unique identifier of the vehicle may include: the step of extracting the unique identifier of the vehicle (e.g., CarNum 1) in the first message including the unique identifier of the vehicle (e.g., CarNum 1), the encrypted value of the first CCTV identifier (i.e., the identifier of the first CCTV310) (e.g., HASH(CarNum 1, CameraID 1)), the first CCTV identifier (i.e., the identifier of the first CCTV310) (e.g., CameraID:1), and the encrypted value of the unique identifier of the vehicle (e.g., HASH(CarNum 1)) by using the unique identifier of the vehicle (e.g., CarNum 1) obtained by shooting; and the step of comparing the unique identifier of the vehicle (e.g., CarNum 1) in the first message with the unique identifier of the vehicle (e.g., CarNum 1) obtained by shooting to identify the correspondence between the first message and the vehicle.

[0135] In the prior art, driving negotiation is possible through the message standard defined by SAE J2735. That is, the SAE J2735 message set for cooperative driving can be extended. Standards for V2V communication and V2I communication are proposed for the message standard.

[0136] For example, the BSM (Basic Safety Message) standard can be used for V2V communication, and the PVD (Probe Vehicle Data) standard can be used for V2I communication.

[0137] In the present invention, a message set specialized for CCTV is designed, and Message Frame / Data Frame / Data Element elements for cooperative driving using CCTV are defined. At this time, the data is defined at the Message Frame stage in consideration of the case where a future driving negotiation scenario is added.

[0138] In the present invention, elements for identifying a counterfeit vehicle can be defined by DE_CTV. In the present invention, elements necessary for extending driving negotiation can be defined by DE_CameraID and DE_CarNum values. According to the present invention, there is an effect that it is easy to expand data by defining information necessary for future cooperative driving through CCTV in a new DataFrame.

[0139] In the prior art, a roadside base station (RSU, Road Side Unit) has limitations in covering all areas within a road and performing driving negotiation. The smoother the surrounding infrastructure supports more information, the smoother the driving negotiation can be performed, and the safety of driving negotiation can be enhanced.

[0140] However, in the prior art, even if a major infrastructure such as CCTV wants to participate in driving negotiation, there is a problem that it cannot participate in driving negotiation because it does not support the message standard.

[0141] The present invention has been derived to solve the problems of the prior art, and an object thereof is to provide a means for a device having a photographing means in a specific area on a road as an infrastructure around the road, such as CCTV, to participate in driving negotiation.

[0142] Another object of the present invention is to propose a message standard for an infrastructure (for example, CCTV) around a road that can accurately grasp the driving state of a vehicle.

[0143] Another object of the present invention is to propose a vehicle driving negotiation method with enhanced safety through cooperation and role sharing between RSU and CCTV.

[0144] According to an embodiment of the present invention, a device having a photographing means within a specific area as an infrastructure device around a road, such as CCTV, can participate in vehicle driving negotiation according to the proposed message standard.

[0145] According to an embodiment of the present invention, the RSU can smoothly perform driving negotiation by providing information necessary for driving negotiation to the RSU, and the safety of driving negotiation can be enhanced.

[0146] According to an embodiment of the present invention, only the encrypted value of the vehicle's unique ID is provided to the RSU without directly providing the vehicle's unique ID to the RSU, so that driving negotiation can be performed without exposing the vehicle's privacy to the RSU.

[0147] According to an embodiment of the present invention, in the driving negotiation between the RSU and the vehicle, since the temporary ID temporarily generated by the vehicle is used without directly exposing the unique ID to the RSU, a new driving negotiation can be performed each time. At this time, by updating the temporary ID in the message using the encrypted vehicle unique ID (identifier) or its encrypted value (HASH value) through CCTV, the RSU can maintain the driving negotiation while recognizing that it is a driving negotiation for the same vehicle even without knowing the vehicle's unique ID.

[0148] According to an embodiment of the present invention, the standard of the CCTV - dedicated driving negotiation message can be defined so that CCTV can provide information to the RSU. Also, according to an embodiment of the present invention, a method for maintaining driving negotiation even when the temporary ID is changed can be provided.

[0149] According to an embodiment of the present invention, it is possible to easily discriminate a vehicle that falsely requests cooperative driving. For example, a vehicle that sends a message by pretending to be an emergency vehicle (such as an ambulance, a fire truck, a police car, etc.) can be discriminated. At this time, the authenticity of the message of the pretending vehicle can be verified by using a pre-defined CIM message generated by a CCTV.

[0150] FIG. 10 is a conceptual diagram illustrating an example of a generalized roadside base station (RSU), surrounding infrastructure, and / or a computing system capable of performing electronic communication and signal / information processing within a CCTV that can perform at least a part of the processes of FIGS. 1-9.

[0151] For example, the RSU or CCTV of FIGS. 1-9 can be implemented like the computing system of FIG. 10.

[0152] At least a part of the process of a method for driving negotiation with a vehicle in motion and / or a method for assisting driving negotiation according to an embodiment of the present invention can be executed by the computing system 1000 of FIG. 10.

[0153] Referring to FIG. 10, a computing system 1000 according to an embodiment of the present invention may include a processor 1100, a memory 1200, a communication interface 1300, a storage device 1400, an input interface 1500, an output interface 1600, and a bus 1700.

[0154] A computing system 1000 according to an embodiment of the present invention may include at least one processor 1100 and a memory 1200 that stores instructions for instructing the at least one processor 1100 to perform at least one step. At least a part of the steps of a method according to an embodiment of the present invention may be performed by the at least one processor 1100 loading and executing instructions from the memory 1200.

[0155] The processor 1100 may mean a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor on which the method according to an embodiment of the present invention is performed.

[0156] Each of the memory 1200 and the storage device 1400 may be composed of at least one of a volatile storage medium and a non-volatile storage medium. For example, the memory 1200 may be composed of at least one of a read only memory (ROM) and a random access memory (RAM).

[0157] Also, the computing system 1000 may include a communication interface 1300 that performs communication through a wireless network.

[0158] Also, the computing system 1000 may further include a storage device 1400, an input interface 1500, an output interface 1600, and the like.

[0159] Also, each component included in the computing system 1000 can be connected by a bus 1700 to perform communication.

[0160] As an example of the computing system 1000 of the present invention, it can be a communicable desktop computer, laptop computer, notebook, smart phone, tablet PC, mobile phone, smart watch, smart glass, e-book reader, PMP (portable multimedia player), portable game console, navigation device, digital camera, DMB (digital multimedia broadcasting) player, digital audio recorder, digital audio player, digital video recorder, digital video player, PDA (Personal Digital Assistant), etc.

[0161] The operations of the method according to an embodiment of the present invention can be embodied as a computer-readable program or code on a computer-readable recording medium. The computer-readable recording medium includes all kinds of recording devices in which information readable by a computer system is stored. Also, the computer-readable recording medium can be distributed in a computer system connected by a network and a computer-readable program or code can be stored and executed in a distributed manner.

[0162] Also, a computer-readable recording medium can include a hardware device specially configured to store and execute program instructions, such as a read-only memory (ROM), a random-access memory (RAM), a flash memory, etc. The program instructions can include not only machine language code generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like.

[0163] Although some aspects of the present invention have been described in the context of an apparatus, they can also be represented by a corresponding method, where a block or apparatus corresponds to a method step or a feature of a method step. Similarly, aspects described in the context of a method can also be represented by corresponding blocks or items or features of a corresponding apparatus. Some or all of the method steps can be performed (or utilized) by a hardware device, such as a microprocessor, a programmable computer, or an electronic circuit. In some embodiments, at least one or more of the most important method steps can be performed by such a device.

[0164] In an embodiment, a programmable logic device (e.g., a field-programmable gate array) can be used to perform some or all of the functions of the method described herein. In an embodiment, a field-programmable gate array can operate with a microprocessor to perform one of the methods described herein. Generally, it is preferred that the method be performed by some hardware device.

[0165] As described above with reference to the preferred embodiments of the present invention, those skilled in the relevant art will understand that the present invention can be variously modified and changed without departing from the spirit and scope of the present invention described in the following claims.

Claims

1. In a method for negotiating with a moving vehicle, when a roadside base station (RSU, Road Side Unit) determines that a vehicle in negotiation is moving, the step of receiving, from a first roadside base station on the route through which the vehicle has passed, a first message including the first temporary identifier (Temporary ID) of the vehicle; the step of receiving, from the CCTV, a second message including the changed second temporary identifier of the vehicle identified by the CCTV within a region where the roadside base station can communicate with the CCTV; the step of checking the changed second temporary identifier of the vehicle based on the second message received from the CCTV; and the step of identifying the vehicle as an object for extending the negotiation and conducting the negotiation with the identified vehicle; A method for negotiating with a moving vehicle, including.

2. The step of checking the changed second temporary identifier of the vehicle based on the second message received by the roadside base station from the CCTV includes: the step of identifying the changed second temporary identifier of the vehicle based on the second message; and the step of identifying the encrypted value of the unique identifier of the vehicle based on the second message; A method for negotiating with a moving vehicle according to claim 1, including.

3. The step of identifying the vehicle as an object for extending the negotiation and conducting the negotiation with the identified vehicle by the roadside base station includes: the step of identifying the vehicle as an object for extending the negotiation based on the encrypted value of the unique identifier of the vehicle; and the step of conducting the negotiation with the vehicle based on the changed second temporary identifier of the vehicle; A method for negotiating with a moving vehicle according to claim 1, including.

4. The first message is A method for negotiating with a moving vehicle according to claim 1, including the encrypted value of the unique identifier and the CCTV identifier of the vehicle, the CCTV identifier, the encrypted value of the unique identifier of the vehicle, and the first temporary identifier of the vehicle.

5. The step of the CCTV capturing the license plate of the vehicle to obtain the unique identifier of the vehicle; the step of the CCTV updating the first temporary identifier of the vehicle in the first message received from the roadside base station to the changed second temporary identifier of the vehicle; and The step in which the CCTV generates the second message including the changed second temporary identifier of the vehicle; The method for negotiating driving with a moving vehicle according to claim 1, further comprising.

6. The step in which the roadside base station transmits the first message to the CCTV; The method for negotiating driving with a moving vehicle according to claim 5, further comprising.

7. The step in which the CCTV updates the first temporary identifier of the vehicle in the first message to the changed second temporary identifier of the vehicle is The step in which the CCTV uses the unique identifier of the vehicle obtained by the photographing to identify the correspondence between the first message and the vehicle; and The step in which the CCTV generates the second message by updating the first temporary identifier of the vehicle in the first message to the changed second temporary identifier of the vehicle received from the vehicle; The method for negotiating driving with a moving vehicle according to claim 5, comprising.

8. The step in which the CCTV identifies the correspondence between the first message and the unique identifier of the vehicle is The step of extracting the unique identifier of the vehicle in the first message including the encrypted value of the unique identifier of the vehicle and the first CCTV identifier, the first CCTV identifier, and the encrypted value of the unique identifier of the vehicle using the unique identifier of the vehicle obtained by the photographing; and The step of comparing the unique identifier of the vehicle in the first message with the unique identifier of the vehicle obtained by the photographing to identify the correspondence between the first message and the vehicle; The method for negotiating driving with a moving vehicle according to claim 7, comprising.

9. The step in which a first CCTV within a region communicable with the first roadside base station photographs the license plate of the vehicle to obtain the unique identifier of the vehicle; and The step in which the first CCTV generates the first message including the encrypted value of the unique identifier of the vehicle and the first CCTV identifier, the first CCTV identifier, the encrypted value of the unique identifier of the vehicle, and the first temporary identifier of the vehicle; The method for negotiating driving with a moving vehicle according to claim 1, further comprising.

10. The step in which the first CCTV transmits the first message to the first roadside base station; and The step in which the first roadside base station transmits the first message to the roadside base station on the moving path of the vehicle due to the movement of the vehicle; The method for negotiating travel with a moving vehicle according to claim 9, further comprising:

11. In a system for performing travel negotiation with a moving vehicle, A roadside base station (RSU, Road Side Unit); and A CCTV within a region communicable with the roadside base station; including When the roadside base station moves a vehicle during travel negotiation, the roadside base station receives, from a first roadside base station on the path through which the vehicle has passed, a first message including a first temporary identifier (Temporary ID) of the vehicle, The roadside base station receives, from the CCTV, a second message including a changed second temporary identifier of the vehicle identified by the CCTV, The roadside base station checks the changed second temporary identifier of the vehicle based on the second message received from the CCTV, The roadside base station identifies the vehicle as an object for extending travel negotiation, and performs travel negotiation with the identified vehicle. A system for performing travel negotiation with a moving vehicle.

12. When the roadside base station checks the changed second temporary identifier of the vehicle based on the second message received from the CCTV, Identifying the changed second temporary identifier of the vehicle based on the second message, The system for performing travel negotiation with a moving vehicle according to claim 11, wherein an encrypted value of a unique identifier of the vehicle is identified based on the second message.

13. When the roadside base station identifies the vehicle as an object for extending travel negotiation and performs travel negotiation with the identified vehicle, Identifying the vehicle as an object for extending travel negotiation based on an encrypted value of a unique identifier of the vehicle, The system for performing travel negotiation with a moving vehicle according to claim 11, wherein travel negotiation is performed with the vehicle based on the changed second temporary identifier of the vehicle.

14. The first message is The system for performing travel negotiation with a moving vehicle according to claim 11, including an encrypted value of a unique identifier of the vehicle and a CCTV identifier, the CCTV identifier, an encrypted value of a unique identifier of the vehicle, and a first temporary identifier of the vehicle.

15. The CCTV captures the license plate of the vehicle to obtain a unique identifier of the vehicle, The CCTV updates the first temporary identifier of the vehicle in the first message received from the roadside base station to the changed second temporary identifier of the vehicle, The CCTV generates the second message including the changed second temporary identifier of the vehicle, and the system for performing driving negotiation with a moving vehicle according to claim 11. **Claim 16** The roadside base station transmits the first message to the CCTV, and the system for performing driving negotiation with a moving vehicle according to claim 15. **Claim 17** When the CCTV updates the first temporary identifier of the vehicle in the first message to the changed second temporary identifier of the vehicle, The CCTV uses the unique identifier of the vehicle obtained by the photographing to identify the correspondence between the first message and the vehicle, The CCTV generates the second message by updating the first temporary identifier of the vehicle in the first message to the changed second temporary identifier of the vehicle received from the vehicle, and the system for performing driving negotiation with a moving vehicle according to claim 15. **Claim 18** When the CCTV identifies the correspondence between the first message and the unique identifier of the vehicle, Using the unique identifier of the vehicle obtained by the photographing, the unique identifier of the vehicle in the first message including the encrypted values of the unique identifier of the vehicle and the first CCTV identifier, the first CCTV identifier, and the encrypted value of the unique identifier of the vehicle is extracted, The unique identifier of the vehicle in the first message is compared with the unique identifier of the vehicle obtained by the photographing to identify the correspondence between the first message and the vehicle, and the system for performing driving negotiation with a moving vehicle according to claim 17. **Claim 19** The first roadside base station; and A first CCTV within a region communicable with the first roadside base station; further included, The first CCTV photographs the license plate of the vehicle to obtain the unique identifier of the vehicle, The first CCTV generates the first message including the encrypted values of the unique identifier of the vehicle and the first CCTV identifier, the first CCTV identifier, the encrypted value of the unique identifier of the vehicle, and the first temporary identifier of the vehicle, and the system for performing driving negotiation with a moving vehicle according to claim 11. **Claim 20** The first CCTV transmits the first message to the first roadside base station, The system for performing a driving negotiation with a moving vehicle according to claim 19, wherein the first roadside base station transmits the first message to the roadside base stations on the moving route of the vehicle due to the movement of the vehicle.

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