Recognition area extension system for surrounding environment information-based vehicles

Abstract

To provide a recognition area expansion system for surrounding environment information-based vehicles.SOLUTION: Expanding a recognition area of an own vehicle through the transmission of recognition information from surrounding vehicles and surrounding infrastructures enables safer and more efficient autonomous traveling. Through this system, a recognition area of autonomous travel vehicles is expanded by providing safe traveling information necessary for autonomous traveling in real time using diverse information collected by each passenger body of an autonomous traveling system. In addition, since a synchronization signal area is smaller than a signal area for transmitting data, the system can support smooth communication in out-of-synchronization areas that may occur between base stations.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a cognitive area expansion system for a vehicle with a surrounding environment information infrastructure, and relates to a cognitive area expansion system for a vehicle with a surrounding environment information infrastructure that enables safer and more efficient autonomous driving by receiving transmission of cognitive information of surrounding vehicles and surrounding infrastructure and expanding the cognitive area of the host vehicle.

Background Art

[0002] C-ITS is an abbreviation for Cooperative-Intelligent Transport Systems, which is also called a cooperative intelligent transportation system and a next-generation intelligent transportation system. C-ITS means a system in which vehicles cooperate through communication with infrastructure or other vehicles. In the Automated Vehicle Symposium, the world's largest autonomous driving expert event in 2016, the US DOT (Department of Transportation) announced that autonomous driving is evolving from Stand-Alone (Automated Vehicle) to CAV (Connected Automated Vehicle).

[0003] With the development of high-level autonomous driving systems, research is underway to naturally determine driving priorities through mutual negotiation between autonomous driving vehicles or major traffic entities in terms of traffic. For example, when there is a lane restriction due to construction ahead, the priority of yielding or issuing preferred stocks is determined considering the mutual position and speed between the autonomous driving vehicle traveling in the main stream and the autonomous driving vehicle that has to change lanes and merge, and the speed and trajectory for this can be determined. In the implementation of such related technologies, the exchange of cognitive information between autonomous driving vehicles is a core technical prerequisite.

[0004] When driving autonomously on highways, arterial roads, or in urban areas, when passing through sections with entrances and exits configured in multiple directions such as merges, diverging roads, and intersections, or when facing emergencies such as jaywalking pedestrians or emergency vehicles, there are limitations in the perception range of the surrounding environment with only the sensors of individual vehicles, and there is a risk of injury and vehicle damage due to collisions with other vehicles and pedestrians. An autonomous driving vehicle combines the sensor information installed on the vehicle and the three-dimensional road map (precision road map) information in centimeters to accurately grasp its position in terms of lanes during driving and determine its driving intention. Under harsh driving conditions caused by bad weather and various sudden variables, individual autonomous driving vehicles have a reduced sensor perception range and a decrease in the accuracy and reliability of measurements. There is a need for a cooperative control technology for autonomous driving that can expand the environmental information recognition range around the driving space, cross-verify the perceived objects, and jointly respond to sudden situations ahead through the sharing of perception information with other autonomous driving vehicles. Consequently, in next-generation autonomous driving technology, since the vehicle must be responsible for driving safety without a transfer of control authority, there is a need to expand the cognitive area of autonomous driving vehicles through the construction of precision maps and the provision of data from the V2V communication infrastructure to overcome the limitations of sensor information.

[0005] On the one hand, in order to gain an advantage in the autonomous driving vehicle market as the V2X technology market grows, major companies and research institutions in various countries are conducting research on technology development and technology standardization. As communication standard technologies for V2X, there are the DSRC-based WAVE (Wireless Access in Vehicular Environment) and the cellular V2X (C-V2X)-based LTE V2X. Since the protocol stacks of WAVE and C-V2X are different and there are differences in data modulation methods, a WAVE terminal cannot process a C-V2X signal, and a C-V2X terminal cannot process a WAVE signal. On the other hand, in LTE-A, the interface between terminals is called a sidelink, and it is necessary to transmit a sidelink synchronization signal (SLSS) and a physical sidelink broadcast channel (PSBCH) for synchronization between terminals.

[0006] Existing C-V2X communication connections have difficulties in establishing connections because sidelink synchronization signals cannot be used in places where GNSS signals cannot be used, such as long tunnels and underground parking structures. Also, there are difficulties in smooth communication in out-of-range areas of sidelink synchronization signals generated between base stations.

Prior Art Documents

Patent Documents

[0007]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0008] The technical problem related to one disclosure aims to expand the cognitive area of an autonomous driving vehicle by providing real-time safety driving information necessary for autonomous driving by using various information collected by each object of the autonomous driving system.

[0009] The technical problem related to one disclosure aims to provide an apparatus and a method for complementing vehicle-to-vehicle communication in an area outside the coverage of a synchronization signal by providing a sidelink synchronization signal between base stations.

Means for Solving the Problem

[0010] The cognitive area expansion system for a vehicle with a surrounding environment information infrastructure according to the present invention is a cognitive area expansion system for a vehicle with a surrounding environment information infrastructure including a first vehicle 5000 and a second vehicle 5500, wherein the first vehicle 5000 includes a sensor unit 5010 for sensing surrounding environment information; a communication unit 5020 for communicating with the second vehicle 5500; a memory for storing at least one instruction; and a processor for executing the at least one instruction.

[0011] Preferably, the cognitive area expansion system for a vehicle with a surrounding environment information infrastructure further includes a roadside base station 50, and the communication unit 5020 of the first vehicle 5000 can receive safety driving information from the roadside base station 50.

[0012] Preferably, the cognitive area expansion system for a vehicle with a surrounding environment information infrastructure further includes a synchronization signal complementing device 10, and the synchronization signal complementing device 10 can complement a synchronization signal between base stations through the steps of receiving a first sync signal from a surrounding base station; grasping sync timing from the first sync signal; and generating and transmitting a first - 1 sync signal based on the sync timing.

[0013] Preferably, the synchronization signal complementing device 10 further includes steps of sensing a sync signal within a communication coverage area at predetermined intervals; determining the priority order of the different sync signals when different sync signals are simultaneously sensed within the communication coverage area; and generating and transmitting a synchronization signal of the sync signal determined according to the priority order, thereby complementing the synchronization signal between base stations.

Advantages of the Invention

[0014] According to one disclosure, by providing in real time the safety driving information necessary for autonomous driving using various information collected by each object of the autonomous driving system, the cognitive area of the autonomous driving vehicle can be extended. According to one disclosure, since the area of the synchronization signal region is smaller than the signal region for transmitting data, smooth communication can be supported in an out-of-synchronization area that may occur between base stations.

Brief Description of the Drawings

[0015]

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Embodiments for Carrying Out the Invention

[0016] Hereinafter, the present disclosure will be described in detail with reference to the accompanying drawings. The terms used in this specification will be briefly explained, and the present disclosure will be specifically described.

[0017] The terms used in the embodiments of the present disclosure are selected as general terms that are currently widely used as much as possible while considering the functions in the present disclosure. However, this may change due to the intentions or precedents of those skilled in the art, the emergence of new technologies, etc. In addition, there are also terms arbitrarily selected by the applicant in specific cases, and in this case, the meaning will be described in detail in the corresponding description part of the disclosure. Therefore, the terms used in the present disclosure should be defined based on the meaning of the terms and the overall content of the present disclosure, rather than simply the names of the terms.

[0018] In this specification, expressions such as "have", "be able to have", "include", or "be able to include" indicate the presence of the corresponding features (e.g., components such as numerical values, functions, operations, or parts), and do not exclude the presence of additional features. The expression "at least one of A or / and B" should be understood to indicate any one of "A" or "B" or "A and B".

[0019] Expressions such as "first", "second", "initially", or "secondly" used in this specification can represent various components regardless of order and / or importance, and are only used to distinguish one component from another, without limiting the corresponding component.

[0020] When it is mentioned that a certain component (e.g., the first component) is "(operatively or communicatively) coupled with / to" or "connected to" another component (e.g., the second component), it should be understood that a certain component can be directly coupled to another component or can be coupled through another component (e.g., the third component).

[0021] Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, terms such as "including" or "composed of" are intended to specify the existence of the features, numbers, steps, operations, components, parts described in the specification or combinations thereof, and should not be construed as precluding the possibility of the existence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0022] In this disclosure, a "module" or a "unit" performs at least one function or operation and can be implemented in hardware or software or in a combination of hardware and software. Also, except for the "module" or "unit" that needs to be implemented in specific hardware, a plurality of "modules" or a plurality of "units" can be integrated into at least one module and implemented by at least one processor (not shown).

[0023] In addition, when specifically describing embodiments of the present invention, the New Radio (NR) system and the Long Term Evolution (LTE) / LTE-Advanced (LTE-A) system are the main targets. However, the main gist of the present disclosure can be applied with some modifications without significantly departing from the scope of the present disclosure to other communication systems having a similar technical background (for example, cellular communication systems such as Wireless Broadband (WiBro), Global System for Mobile Communication (GSM), or short-range communication systems such as wireless fidelity (WiFi), Bluetooth (registered trademark), Near Field Communication (NFC)), and other communication systems using licensed and unlicensed bands. This will be possible by the judgment of those with proficient technical knowledge in the technical field of the present disclosure.

[0024] In various embodiments of the present disclosure described below, a hardware-based approach to proximity is exemplified. However, since various embodiments of the present disclosure include technologies that use both hardware and software, various embodiments of the present disclosure do not exclude software-based approaches to proximity.

[0025] In addition, terms referring to control information, terms referring to an entry, terms referring to a network entity, terms referring to components of a device, etc., used in the description to be described later are used exemplarily for convenience of explanation. Therefore, the present disclosure is not limited by the terms to be described later, and other terms having equivalent technical meanings may be used. For convenience of explanation, abbreviations used in the present invention will be described.

[0026] The PSBCH (Physical Sidelink Broadcast CHannel) is the physical sidelink broadcast channel. The PSCCH (Physical Sidelink Control CHannel) is the physical sidelink control channel. The PSDCH (Physical Sidelink Discovery CHannel) is the physical sidelink discovery channel. The PSSCH (Physical Sidelink Shared CHannel) is the physical sidelink shared channel. The SLSS (Sidelink Synchronization Signal) is the sidelink synchronization signal. The SLSS may include the PSSS (Primary Sidelink Synchronization Signal) and the SSSS (Secondary Sidelink Synchronization Signal). The SLSS and the PSBCH can be transmitted together.

[0027] Here, the sidelink may mean an interface between terminals. The sidelink can correspond to the PC5 interface. D2D communication can be referred to as sidelink communication or simply communication, and D2D discovery can be referred to as sidelink discovery or simply discovery. A D2D terminal means a terminal that performs D2D operations, and D2D operations can include at least one of D2D communication and D2D discovery.

[0028] V2X (vehicle-to-everything) means communication between a terminal installed in a vehicle and any device. When any device corresponding to X in V2X is a vehicle, a pedestrian, or infrastructure, it can be denoted as V2V, V2P, V2I, etc. in order. A V2X terminal can be a terminal that supports V2X communication.

[0029] FIG. 1 is a drawing showing the configuration of a cognitive area expansion system for a vehicle with a surrounding environment information infrastructure according to one disclosure, and FIG. 2 is a drawing for explaining the detailed configuration inside a first vehicle 5000 and a second vehicle 5500 according to one disclosure.

[0030] The cognitive area expansion system for a vehicle with a surrounding environment information infrastructure according to this embodiment can include a first vehicle 5000, a second vehicle 5500, and / or a roadside base station (50, hereinafter having the same meaning as a C-ITS smart edge roadside base station or a smart edge roadside base station).

[0031] The first vehicle 5000 can receive information from the roadside base station 50 through I2V and can transmit information to the second vehicle 5500 through V2V. The second vehicle 5500 can receive information from the first vehicle 5000 through V2V and can transmit information to the roadside base station 50 through V2I.

[0032] The first vehicle 5000 can include a sensor unit 5010 for sensing surrounding environment information, a communication unit 5020 for communicating with the second vehicle 5500, a memory 5030 for storing at least one instruction, a processor 5040 for executing the at least one instruction, and / or a power supply unit 5050.

[0033] The second vehicle 5500 means a remotely located vehicle that receives surrounding environment information from the first vehicle 5000 in this specification. However, the second vehicle 5500 can also transmit surrounding environment information to other vehicles. Therefore, the second vehicle 5500 can also include a sensor unit 5510 for sensing surrounding environment information, a communication unit 5520 for communicating with the first vehicle 5000, a memory 5530 for storing at least one instruction, a processor 5540 for executing the at least one instruction, and / or a power supply unit 5550, which are the same as the configuration of the first vehicle 5000. At this time, the sensor units 5010 and 5510 can include a radar sensor (RADAR), a lidar sensor (LiDAR), a camera, an infrared sensor, etc. The communication units 5020 and 5520 can transmit and receive data based on wireless communication using the V2X communication standard, which can be a known one. The V2X communication standard described in this specification can be a known one. As an example, it can be WAVE (Wireless Access for Vehicular Environment) consisting of IEEE 802.11p and IEEE 1609.x standards, but is not limited thereto. For example, it can be C-V2X.

[0034] The first vehicle 5000 senses information (surrounding environment information) about objects and / or situations that cannot be recognized at the position of the second vehicle 5500, and transmits this to the second vehicle 5500, thereby expanding the recognition range of the second vehicle 5500. At this time, the surrounding environment information is the information collected through the sensor unit 5010 of the first vehicle 5000. For example, the position information of pedestrians, the position information of potholes, the position information of construction sites, the speed information / movement direction information of pedestrians, and the area information / depth information of potholes and construction sites can be included in the surrounding environment information.

[0035] Furthermore, the vehicle perception area expansion system in this vicinity environment information infrastructure can further include a roadside base station 50. At this time, the communication unit 5020 of the first vehicle 5000 can receive safety driving information from the roadside base station 50, process it, and utilize it for autonomous driving. A detailed description of the safety driving information will be provided later. At this time, the safety driving information received from the roadside base station 50 is not only utilized for the autonomous driving of the first vehicle 5000, but may also be transmitted to the second vehicle 5500 and utilized for the autonomous driving of the second vehicle 5500.

[0036] According to one disclosure, the communication unit 5020 of the first vehicle 5000 can receive authentication information from the second vehicle 5500, and can calculate a security score based on the authentication information of the second vehicle 5500 using the following mathematical formula 1. The authentication information can include the signal strength received by the second vehicle 5500, the moving distance of the second vehicle 5500, and the current position coordinates.

[0037]

Equation

[0038] In Mathematical Formula 1, S is the security score, dav is the average of the signal strength (dbm) received by the second vehicle 5500 during a predetermined period, ds is the signal strength (dbm) currently received by the second vehicle 5500, T is a period set by the user and can be set in time units (seconds or milliseconds), P1 is the number of times belonging to a preset authentication position range during the period T, p2 is the number of times deviating from the preset authentication position range during the period T, p3 is 1 if the current position corresponds to the preset authentication position range and 0 if it does not, and wn means the moving distance (m) at the nth time during the period T. At this time, the signal strength received by the second vehicle 5500 can mean the strength of the communication signal received by the antenna of the second vehicle 5500 through the V2X protocol (it can be limited to the communication signal received from the first vehicle 5000, but it may be calculated including the strength of communication signals received not only from the first vehicle 5000 but also from other vehicles).

[0039] For example, when dav is 60 dbm, ds is 70 dbm, T is 7 ms, P1 is 3, p2 is 4, p3 is 0, and wn are 3 m, 0 m, 1 m, 4 m, 10 m, 10 m, 15 m respectively, the security score can be calculated by substituting these values into Mathematical Formula 1. In this case, the security score is 5.8.

[0040] According to Mathematical Formula 1, it is possible to calculate a security score that deviates from simple linear calculations and reflects the driving pattern of the second vehicle 5500 through the intensity (decibels) of the communication signal and the moving distance, etc.

[0041] When the security score of the first vehicle 5000 according to one disclosure is calculated to be equal to or higher than a predetermined score, the first vehicle 5000 can transmit the surrounding environment information and / or safe driving information to the second vehicle 5500. When the security score is calculated to be less than the predetermined score, after requesting additional authentication from the second vehicle 5500, the surrounding environment information and / or safe driving information can be transmitted to the second vehicle 5500 only when the additional authentication is approved, thereby enhancing the security. At this time, the processor 5040 of the first vehicle 5000 calculates the security score, and the information required for calculating the security score can be received from the second vehicle 5500 through the communication unit 5020. FIG. 3 is a drawing for schematically explaining the operation of a C-ITS smart edge roadside base station for expanding the recognition range of an autonomous driving vehicle according to one disclosure.

[0042] The smart edge roadside base station 50 according to one disclosure can sense vehicle information based on the driving route and driving speed of the vehicle 5000 as the vehicle 5000 enters the V2X communication range, generate safe driving information based on the vehicle information, and transmit it to the vehicle 5000.

[0043] The safety driving information according to one disclosure includes pedestrian collision prevention warnings based on the driving direction and speed of the vehicle, collision prevention warnings with surrounding vehicles, emergency vehicle warnings, and surrounding vehicle emergency situation warnings, and includes traffic information based on the position of the vehicle, speed control information for school zones, and school bus operation information, and can include information on road danger sections according to the driving route of the vehicle, road surface weather information, road work sections, and intersection signal violation danger warnings.

[0044] According to one disclosure, the smart edge roadside base station 50 can obtain images of the vehicle 5000, surrounding vehicles 5500, and road conditions by using a plurality of CCTVs. In addition, the smart edge roadside base station 50 includes at least one RADAR 120 and at least one LiDAR 130, and can sense the surroundings of the vehicle 5000 and surrounding vehicles 5000. In particular, at least one radar sensor (RADAR, 120) and at least one lidar sensor (LiDAR, 130) can help expand the recognition range of the vehicle 5000 by sensing parts that cannot be obtained by the CCTV 110.

[0045] The smart edge roadside base station 50 according to the present invention can be installed on the roadside and is a hybrid V2X RSU for supporting all of the WAVE method and the C-V2X method, which are V2X communication methods.

[0046] The smart edge roadside base station 50 according to one disclosure preferentially attempts to communicate with the vehicle through V2X communication, and when the V2X communication with the vehicle is not smooth, it can communicate with the vehicle using the mobile communication network.

[0047] The communication unit 200 according to the present invention can transmit and receive data based on wireless communication using the V2X communication standard, and can be a known one. The V2X communication standard described in this specification can be a known one. In one embodiment, it can be WAVE (Wireless Access for Vehicular Environment) consisting of IEEE 802.11p and IEEE 1609.x standards, but is not limited thereto. For example, it may be C-V2X.

[0048] The communication unit 200 according to the present invention includes a C-V2X module and a WAVE module. The C-V2X module according to the present invention communicates with a C-V2X terminal installed in a vehicle to transmit and receive data, and the WAVE module included in the hybrid V2X RSU according to the present invention communicates with a WAVE terminal installed in a vehicle to transmit and receive data. The hybrid V2X RSU according to the present invention can communicate with a C-V2X terminal and a WAVE terminal installed in a vehicle simultaneously.

[0049] The C-V2X module according to the present invention includes an LTE-V2X module and / or a 5G-V2X module. The C-V2X module includes an LTE-V2X antenna and / or a 5G-V2X antenna that transmits and receives a C-V2X signal including an LTE-V2X signal and / or a 5G-V2X signal. The C-V2X module demodulates the LTE-V2X signal and / or the 5G-V2X signal received by the LTE-V2X antenna and / or the 5G-V2X antenna to obtain LTE-V2X communication information and / or 5G-V2X communication information, and includes a C-V2X modem that modulates the obtained LTE-V2X communication information and / or 5G-V2X communication information to generate an LTE-V2X signal and / or a 5G-V2X signal.

[0050] The WAVE module according to the present invention includes a WAVE antenna that transmits and receives a WAVE-V2X signal. The WAVE module includes a WAVE modem that demodulates the WAVE-V2X signal received by the WAVE antenna to obtain WAVE communication information, and modulates the WAVE communication information to generate a WAVE signal.

[0051] As described above, WAVE and C-V2X have different protocol stacks and different data modulation methods. If the operating frequencies of C-V2X terminals and WAVE terminals are different from each other, they will not affect each other even if used simultaneously. Therefore, the hybrid V2X RSU according to the present invention includes a C-V2X module and a WAVE module, and C-V2X and WAVE can use different operating frequencies simultaneously to enable all V2X communications in C-V2X mode and WAVE mode with vehicles and communication boxes.

[0052] According to one disclosure, the smart edge roadside base station 50 can collect information of the vehicle 5000 using V2I communication from the vehicle 5000 through the V2X RSU250. Here, the information of the vehicle 5000 can include hardware information, software information, autonomous driving information, information around the vehicle, etc. inside the vehicle.

[0053] The V2X RSU250 is a base station created to represent various communication processes such as V2V (Vehicle to Vehicle), V2I (Vehicle to Infrastructure), V2P (Vehicle to Pedestrian), etc., and is particularly a base station on the road, which is a roadside base station that collects various information such as vehicles, pedestrians, and road conditions.

[0054] The vehicle 5000 can include an antenna, a communication device, an operation device, a vehicle information collection device, and display devices including navigation and HUD. According to one disclosure, the smart edge roadside base station 50 can provide vehicle safety information, traffic information, etc. to the running vehicle through GPS, WAVE, OBD, etc.

[0055] The vehicle 5000 and other vehicles 5500 can communicate with each other through V2V communication. The vehicle 5000 and other vehicles 5500 can perform two-way communication in real time and share traffic hazard information, road object information, obstacle information, road condition information, etc.

[0056] The smart edge roadside base station 50 according to one disclosure can utilize traffic information collected by other vehicles 5500 to warn of dangerous situations that may occur during the driving process of vehicle 5000, generate collision prevention information, and supplement information for areas outside the coverage of information collected by vehicle 5000.

[0057] The smart edge roadside base station 50 according to one disclosure can communicate with the C-ITS center server 6000 to obtain information such as traffic information and GPS information, and transmit information regarding events occurring on the current road, road surface conditions, road traffic conditions, vehicle conditions, etc. After sharing information with related institutions such as the C-ITS center server 6000 and the national traffic information center, the smart edge roadside base station 50 according to one disclosure processes the data and transmits it to the site including the roadside base station. The information transmitted to the site is sent back to the vehicle again, and then safety information will be exchanged between vehicles. C-ITS has the characteristic that many institutions, facilities, and devices communicate bidirectionally.

[0058] Additionally, for the implementation of C-ITS, a suitable road infrastructure is important. That is, the smart edge roadside base station 50 that communicates with vehicles to collect and provide information can communicate with a signal controller that provides signals to vehicles in conjunction with real-time signal information, road weather information that collects and provides road surface conditions and weather information, a pedestrian detector, a toll collector, an emergency situation detector that provides sudden situations such as falling objects to vehicles, etc., to obtain information regarding the road conditions in real time.

[0059] The smart edge roadside base station 50 according to one disclosure can recognize dynamic objects in the image frames obtained by CCTV images and confirm their positions. Here, artificial intelligence can be utilized for the recognition of dynamic objects. When identifying vehicles, people, bicycles, etc., which are dynamic objects included in the video frames, it is possible to recognize many objects in one image at a speed close to real time. At this time, after learning the object to be recognized using artificial intelligence, a model for tracking the corresponding object in the frames of the CCTV image is applied. On the other hand, even in artificial intelligence technology, technologies for analyzing video information may be incorporated. As the artificial intelligence technology for video analysis in the present invention, any one of Faster RCNN, YOLO, and SSD can be used, and the present invention is not limited thereto. Faster RCNN is a model improved with the goal of real-time processing speed through the initial RCNN and Fast RCNN. This is similar in structure to Fast RCNN, but it utilizes a very small region proposal network regression network in selective search, showing a processing speed performance 250 times that of RCNN and 25 times that of Fast RCNN. YOLO is a method of tracking objects by dividing them into grid units corresponding to n boxes instead of pixel units of the image, and it is a model suitable for a real-time detection system with distance performance close to real time. SSD is a model that shows balanced accuracy and processing speed by taking a method of tracking various target objects in one image based on feature maps of various sizes.

[0060] The smart edge roadside base station 50 according to one disclosure can convert the position of the recognized dynamic object into a global coordinate system. The CCTV video used as input information in the embodiments of the present invention has a resolution of 1920 horizontally (X) and 1080 vertically (Y), while in the visualization using precise, aerial, and general maps, the WGS84 coordinate system with a latitude range of -19 to 90 and a longitude range of -180 to 180 is used. Therefore, for the fixed-position mapping of the object tracked in the input video, a transformation matrix that can explain the differences (translate, rotation, scale) between coordinate systems is required. The present invention utilizes the H calculation method in terms of usefulness verification, assuming that the dimensions of the CCTV video and the visualization are such that the position defined in the video coordinate system is converted into the map coordinate system through a transformation matrix establishing the coordinate transformation relationship between the CCTV coordinate system and the map. H is a method mainly utilized for coordinate system transformation between 2D-2D and 2D-3D.

[0061] More specifically, when the same point x is viewed by cameras in two different directions, coordinate transformation is possible through the definition of the transformation relationship of a 3*3 matrix that defines the movement, rotation, etc. between the point x (121) connected to the video of each camera and x' (122) in the WGS84 coordinate system.

[0062] For example, by utilizing the corresponding points in the WGS coordinate system for the invariant feature points in the CCTV video that do not change, invariant feature points (such as lane lines, road surface markings, crosswalks, etc.) that do not change in the CCTV video can be defined, and the road information can be measured and produced in the WGS84 coordinates to define the points corresponding to the video feature points in the precise road map, and the position of the object can be transformed through the manual method. The following mathematical formula 2 is for transforming the position of the object, and 25 invariant feature points for each video can be defined for calculating the transformation relationship between coordinate systems.

[0063]

Equation

[0064] Then, it can be output so that the dynamic object information converted into the coordinate system can be utilized. At this time, the dynamic object information is output in terms of object type, position, ID, etc., and a process of bundling in one dataset is required as an attribute for an easy transfer and utilization for one dynamic object, and thus the applicable formats can be diverse. For example, an encoding and decoding can adopt a fast and stable json format to define the attribute information output as the identification and tracking result of the dynamic object.

[0065] The dynamic object information defined in this way can be provided by being visualized on a wave basis after the visualization module receives the dynamic object information and performs decoding and then maps the dynamic object information to a high-definition map (HD MAP).

[0066] The smart edge roadside base station 50 according to one disclosure performs location-based data collection. More specifically, it utilizes positioning technology to collect location information, and uses the location information to search for the location of a person in need of rescue in emergency rescue agencies such as the National Security Office and the Police Agency, and to provide services such as logistics and vehicle control. The location information can also be actively utilized in the construction of the social safety net.

[0067] The smart edge roadside base station 50 according to one disclosure can provide location-based traffic information. More specifically, it utilizes the location information to represent the actual location of the user on the traffic map, and through this, provides surrounding CCTV and service area information. In particular, it can automatically transmit a traffic alert notification message for a traffic accident or a traffic jam ahead during driving to be prepared for emergencies.

[0068] The smart edge roadside base station 50 according to one disclosure provides a toll collection system. More specifically, the toll collection system refers to equipment that automates, mechanizes, and computerizes various materials and toll processing operations related to vehicles passing through highways and collects tolls. It is mainly divided into three categories: entrance lane equipment, booth equipment, and office equipment for operation. It is a system that is operated by connecting with various vehicle-road devices including office computers, and a system that requires rapid processing and thorough reliability of a large amount of various materials related to vehicles passing through highways.

[0069] The smart edge roadside base station 50 according to one disclosure provides road danger section information and road surface weather information. In the road information sharing system, real-time section average passing speed, weather forecast information, and road geometric structure information are processed to share road section-by-section danger information, and the road danger levels such as road damage, icing, and fog in the road danger occurrence sections can be grasped in real time. In addition, statistical services for providing materials by type, road and region, period, and danger level due to road dangers can also be provided.

[0070] The smart edge roadside base station 50 according to one disclosure can provide a driving support service for road work sections. Road operators can provide vehicle drivers with information that may be useful to know in advance, such as upcoming construction sections, fallen objects on the road, and vehicles stopped due to traffic accidents or breakdowns.

[0071] The smart edge roadside base station 50 according to one disclosure can provide a dangerous warning service for intersection signal violations. It provides warning information about intersection signal violation vehicle (non-compliant vehicle) events to vehicles (compliant vehicles) attempting to pass through intersections to prevent signal violation accidents.

[0072] The smart edge roadside base station 50 according to one disclosure can provide a right-turn safe driving support service. At intersections, a warning sound is made for the green light priority warning for pedestrians and when a vehicle attempts to turn right, so that the vehicle can recognize the danger of collision because another vehicle is making a U-turn on the road it is about to enter.

[0073] The smart edge roadside base station 50 according to one disclosure can provide a bus operation management service. It transmits bus position and operation status information to the control center, analyzes attention driving notifications such as opening the door and starting, and bus operation and vehicle status, and utilizes them for operation information and policy establishment.

[0074] The smart edge roadside base station 50 according to one disclosure can provide a yellow bus operation management service. It transmits bus operation and vehicle status information, transmits forward yellow bus running and forward attention driving messages during running, and provides yellow bus boarding / alighting and emergency situation attention driving notification services.

[0075] The smart edge roadside base station 50 according to one disclosure provides a school zone speed control service. More specifically, it provides pedestrian crossing information through school zone entry, speed limit notification, and pedestrian detection information to prevent safety accidents.

[0076] The smart edge roadside base station 50 according to one disclosure provides a pedestrian collision prevention warning service. More specifically, it can provide a service that detects pedestrian and bicycle information even when the view is blocked by road obstacles and notifies to prevent collisions with pedestrians in advance.

[0077] The smart edge roadside base station 50 according to one disclosure provides a vehicle collision prevention support service. More specifically, it notifies drivers of sudden situations such as sudden stops of the vehicle ahead, traffic accidents, and falling objects within a radius of 500m between vehicles or between a vehicle and the road while communicating signals.

[0078] The smart edge roadside base station 50 according to one disclosure can provide an emergency vehicle approach warning service. It provides a service that notifies the approaching fact of emergency vehicles such as ambulances in advance before the sound of the siren can be heard to ensure the passageway.

[0079] The smart edge roadside base station 50 according to one disclosure can provide a vehicle emergency warning service. For example, it can provide a service that can transmit accident information such as a broken - down vehicle stopped at an invisible bend or a vehicle accident ahead to ensure safety so that a secondary accident does not occur.

[0080] FIG. 4 is a drawing for explaining the configuration of a C - ITS smart edge roadside base station for extending the perception range of a self - driving vehicle according to one disclosure, and FIG. 5 is a drawing for explaining the detailed configuration of a sensor unit according to one disclosure.

[0081] The smart edge roadside base station 50 according to one disclosure can include a sensor unit 100, a communication unit 200, a memory 300, a processor 400, and / or a power supply unit 500.

[0082] The sensor unit 100 according to one disclosure can include a CCTV 110, a radar sensor 120, and / or a lidar sensor 130, and in addition, it can include a GPS sensor, road weather sensors (rain gauge, snow gauge, wind direction and speed meter, handover sensor), pedestrian detection sensors, falling object detection sensors, etc. The sensor unit 100 can include at least one or more of the CCTV 110, the radar sensor 120, and the lidar sensor 130.

[0083] The CCTV 110 can be installed on one side of the smart edge roadside base station 50, and a plurality of cameras can be installed at various angles so as to capture images of vehicles and road conditions.

[0084] The radar sensor (Radar Sensor, 120) is a technology that uses electromagnetic waves to grasp the position, speed, and direction of an object. It sends electromagnetic waves through a transceiver antenna, hits the object, analyzes the reflected electromagnetic waves, and can sense the distance, direction, speed, etc. to the object through the consumption time of the reflected radio wave.

[0085] The rider sensor 130 can sense in real time objects such as pedestrians and vehicles existing on the road. The rider sensor can irradiate pulse lasers in all directions around the traveling vehicle while rotating in a preset direction. The rider can obtain information about the surroundings of the vehicle by receiving the pulse lasers reflected from all directions around the autonomous driving vehicle. The rider sensor can be installed to sense information about areas corresponding to azimuth angles in different ranges within the 360-degree azimuth angle around the smart edge roadside base station 50.

[0086] The sensor unit 100 according to one disclosure can include at least one CCTV 110 having a first sensing area, at least one radar sensor 120 having a second sensing area, and at least one rider sensor 130 having a third sensing area.

[0087] The processor 400 according to one disclosure can preferentially detect at least one first object located in the first sensing area, the second sensing area, and the third sensing area, determine a second object located in the moving direction of the vehicle among the first objects, and generate driving information regarding the moving direction and speed of the vehicle based on the possibility of collision between the vehicle and the second object and transmit it to the vehicle.

[0088] The artificial intelligence learning model 140 included in the processor according to one disclosure usually controls the overall operation of the smart edge roadside base station 50. For example, the artificial intelligence learning model 140 included in the processor can generally control other components included in the smart edge roadside base station 50 by executing a program stored in the memory 30. Also, the artificial intelligence learning model 140 included in the processor can perform the functions of the smart edge roadside base station 50 by executing a program stored in the memory 30. The artificial intelligence learning model 140 included in the processor can comprise at least one processor. The artificial intelligence learning model 140 included in the processor can include a plurality of processors or can include one integrated processor according to its functions and roles. In one embodiment, the artificial intelligence learning model 140 included in the processor can include at least one processor that provides a notification message by executing at least one program stored in the memory 30.

[0089] The memory 300 can store programs for the processing and control of the processor 400 and can also store data input to or output from the smart edge roadside base station 50.

[0090] The memory 30 can include at least one type of storage medium such as a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (e.g., SD or XD memory, etc.), a RAM (Random Access Memory), an SRAM (Static Random Access Memory), a ROM (Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a PROM (Programmable Read-Only Memory), a magnetic memory, a magnetic disk, and an optical disk.

[0091] The programs stored in the memory 300 can be classified into a plurality of modules according to their functions. Here, the plurality of modules are software rather than hardware, meaning modules that operate functionally.

[0092] The memory 300 can store programs for the processing and control of the processor 400, and can also store images input to the smart edge roadside base station 50 or guidance information output from the smart edge roadside base station 50. In addition, the memory 300 can store specific information for determining whether to output guidance information.

[0093] Also, the artificial intelligence learning model 140 included in the processor can communicate with other devices and other servers using the communication unit 200. The communication unit can include one or more components that enable the smart edge roadside base station 50 to communicate with other devices (not shown) and servers (not shown). The other devices (not shown) can be computing devices such as the smart edge roadside base station 50 or sensing devices, but are not limited thereto. For example, the communication unit can include a short-range communication unit, a mobile communication unit, and a broadcast receiving unit.

[0094] The short-range wireless communication unit may include, but is not limited to, a Bluetooth (registered trademark) communication unit, a BLE (Bluetooth Low Energy) communication unit, a Near Field Communication unit, a WLAN (Wi-Fi) communication unit, a Zigbee communication unit, an infrared (IrDA, infrared Data Association) communication unit, a WFD (Wi-Fi Direct) communication unit, a UWB (ultra_wideband) communication unit, an Ant+ communication unit, etc.

[0095] The mobile communication unit transmits and receives wireless signals with at least one of a base station, an external terminal, and a server over a mobile communication network. Here, the wireless signals can include various forms of data such as voice call signals, video call signals, or data transmitted and received by text / multimedia messages.

[0096] According to one disclosure, the processor 400 can receive information about an area that can be sensed by the vehicle, generate information about an out-of-range area that the vehicle cannot sense, and transmit the information about the out-of-range area to the vehicle.

[0097] According to one disclosure, the processor 400 receives information about an event occurring around the vehicle from another vehicle through the communication unit, calculates the possibility of collision between the event occurring around the vehicle and the vehicle, generates safety information of the vehicle, and transmits the safe driving information of the vehicle to the vehicle through the communication unit.

[0098] It can include a driving monitoring unit that monitors the driving operation of the vehicle, a hardware monitoring unit that monitors the presence or absence of abnormalities in in-vehicle hardware, a software monitoring unit that monitors the presence or absence of abnormalities in in-vehicle software, a communication monitoring unit that monitors the presence or absence of abnormalities in the communication state of the vehicle, a road monitoring unit that monitors the road conditions around the vehicle, and a surrounding vehicle monitoring unit that monitors the state of surrounding vehicles of the vehicle.

[0099] The smart edge roadside base station 50 according to one disclosure can effectively provide autonomous driving guidance according to the state of the vehicle together with the road conditions around the vehicle by directly monitoring the state of the vehicle and the state of surrounding vehicles.

[0100] The communication unit 200 according to one disclosure can include a V2X communication module. The communication technologies in the V2X field are roughly divided into V2X wave (WAVE: Wireless Access Vehicular Environment, Wi-Fi-based vehicle communication) and C-V2X. The common point is that nearby vehicles can communicate with each other, but there are differences in communication methods. C-V2X uses the base stations of existing mobile communication operators. On the contrary, for V2X wave based on Wi-Fi, communication is impossible without building a dedicated roadside unit (RSU: Roadside Unit). The V2X wave technology is advantageous for smooth real-time communication in an environment with a large amount of information processing.

[0101] Therefore, when there is no V2X RSU210 or it is not a V2X communication service area, the smart edge roadside base station 50 can use the mobile communication network to transmit information about the vehicle and the movement route information to the C-ITS center server 6000 through the mobile communication server.

[0102] The smart edge roadside base station 50 can collect, in real time, message information including the current location and time information and traffic information from the smart edge roadside base station 50 through PVD communication via the mobile communication network, and transmit it to the C-ITS center server 6000, and can provide the control information and the surrounding traffic information transmitted from the C-ITS center server 6000 to other vehicles in the corresponding area. The communication unit 200 of the smart edge roadside base station 50 can be included in an external server or an external device, or can be included in a V2X RSU.

[0103] Here, the external server and the external device can include communicable devices. For example, they can be a communicable desktop computer, a laptop computer, a notebook, a smart phone, a tablet PC, a mobile phone, a smart watch, a smart glass, an e-book reader, a PMP (portable multimedia player), a portable game console, a navigation device, a digital camera, a DMB (digital multimedia broadcasting) player, a digital audio recorder, a digital audio player, a digital video recorder, a digital video player, a PDA (Personal Digital Assistant), etc. In particular, the external server can include a harbor control server that controls a harbor control system.

[0104] The power supply unit 500 according to one disclosure can supply power to the smart edge roadside base station 50. The processor 400 can stably supply the necessary power to the constituent units of the smart edge roadside base station 50 through a PoE switch controller.

[0105] According to one disclosure, when the vehicle is located in the V2X communication service area within the destination, the smart edge roadside base station 50 can transmit vehicle information by using the V2X receiver of the vehicle. At this time, when the vehicle is not located in the V2X communication service area, the channel switch of the vehicle can be controlled to receive vehicle information from an external server by using the mobile communication device of the vehicle.

[0106] According to one disclosure, the processor 400 can determine whether a vehicle including a hybrid V2X communication system is located in the V2X communication service area.

[0107] For example, when the smart edge roadside base station 50 can continuously receive V2I through the V2X receiver, it can be determined that the vehicle including the hybrid V2X communication system is located in the V2X communication service area. When the V2I signal cannot be received through the V2X receiver, it can be determined that the vehicle including the hybrid V2X communication system is not located in the V2X communication service area.

[0108] According to one disclosure, the smart edge roadside base station 50 can obtain the location information of the V2X base station installed on the road leading to the vehicle's destination and the communication service area of the V2X base station in order to determine whether the vehicle is located in the V2X communication service area. A plurality of V2X base stations can be installed to provide V2X communication services in the surrounding area.

[0109] According to one disclosure, the smart edge roadside base station 50 can determine in real time whether the current location of the vehicle corresponds to the V2X communication service area based on road information, vehicle location information, and vehicle speed information.

[0110] After the smart edge roadside base station 50 generates vehicle state information based on vehicle control information, it determines whether the vehicle is located in the V2X communication service area. If the vehicle is located in the V2X communication service area, the vehicle parking information can be transmitted to an external server using the vehicle's V2X transmitter.

[0111] According to one disclosure, when the vehicle deviates from the V2X communication service area, the smart edge roadside base station 50 can transmit the vehicle parking information to an external server using a mobile communication device instead of the V2X transmitter.

[0112] The mobile communication device 110 according to one disclosure is a communication network for the purpose of performing communication between mobile bodies or between a mobile body and the outside of the mobile body, and can include specific functions for mobile bodies such as tracking of the mobile body position, base station setting, route setting, etc., and can include communication methods such as LTE, 5G, 6G, etc. The type of communication method is not limited.

[0113] According to one disclosure, the smart edge roadside base station 50 can obtain video information and sensor data information about the vehicle's surroundings from cameras, lidar sensors, radar sensors, etc. included in the vehicle. According to one disclosure, the smart edge roadside base station 50 can generate a high-precision map of the location where the vehicle is currently located using the obtained materials, and thereby generate a safe route for the vehicle to travel.

[0114] A high-definition map for vehicles (High Definition Map) is a map that contains information of various levels with high precision, mainly for the purpose of autonomous driving, and can generally be produced from data collected by vehicles equipped with specialized equipment through actual driving. The existing map contains geographical information in the dimension of road units, while the difference of the HD Map is that it contains detailed information in three dimensions up to the lane unit. That is, the high-precision map for autonomous driving functions not simply as a map to indicate roads but as a sensor to expand the cognitive range.

[0115] The high-precision map has a three-layer hierarchical structure, namely the road model, lane model, and localization model. The road layer is composed of information such as topology, driving direction, altitude, and slope, and is used for route guidance. The lane layer (Lane Model) is composed of information such as road type width, stop area, and speed, and is used for real-time autonomous driving decision-making. The localization layer (Localization Model) is composed of information such as traffic signal display boards and is used to quickly and accurately determine the position of the vehicle on the map.

[0116] According to one disclosure, in order to generate a high-precision map based on the position of the vehicle, the smart edge roadside base station 50 identifies the objects around the vehicle from the camera images acquired by the vehicle, calculates the first relative position information of the objects, and identifies the objects around the vehicle from the images of the Lidar sensor and Radar sensor acquired by the vehicle to calculate the second relative position information of the objects. Based on the GPS coordinates of the vehicle, the absolute position information of the objects can be calculated by using the correspondence relationship between the first relative position information and the second relative position information.

[0117] According to one disclosure, the smart edge roadside base station 50 can determine the respective object information from the images and sensor data. According to one disclosure, the smart edge roadside base station 50 can calculate the relative position information of each object information. According to one disclosure, in order to reduce the error existing in the relative position information, the smart edge roadside base station 50 can obtain the mean and covariance of the relative position information of the surrounding vehicles by the following mathematical formula 3.

[0118]

Equation

[0119] According to one disclosure, the smart edge roadside base station 50 can obtain the absolute position information of other vehicles based on the absolute position information of the vehicle. Here, the absolute position information can mean position information based on an absolute coordinate system.

[0120] According to one disclosure, the smart edge roadside base station 50 can obtain the GPS base position information as an absolute position. As described above, since the satellite signal received from the GPS satellite includes the three-dimensional position coordinates of the GPS module based on the absolute coordinate system, the smart edge roadside base station 50 can obtain the absolute position information from the satellite signal.

[0121] Also, considering the error of the satellite signal, the smart edge roadside base station 50 may also use a high-precision map together. The high-precision map can include information such as road facilities like display boards, traffic lights, and guardrails.

[0122] For this reason, the smart edge roadside base station 50 can extract feature points from the surrounding video. When the feature points are extracted, the smart edge roadside base station 50 can obtain more accurate absolute position information by matching the landmarks in the precision map area corresponding to the GPS base position information with the feature points of the extracted surrounding video. The smart edge roadside base station 50 can calculate the absolute position information of the surrounding vehicles obtained through the method described above by Equation 4.

[0123]

Equation

[0124] Here, P W、S means the absolute position coordinates among the absolute position information of the information-providing vehicle Vs, and C W、S can mean the absolute covariance among the absolute position information of the information-providing vehicle Vs.

[0125] The smart edge roadside base station 50 according to one disclosure can obtain the absolute position information of other vehicles based on the position information of a vehicle. At this time, since there are errors in the absolute position information of other vehicles and the relative position information of other vehicles, the smart edge roadside base station 50 can model the absolute position information of other vehicles with Gaussian Distribution. Specifically, the smart edge roadside base station 50 can obtain the mean and covariance of the absolute position information of other vehicles according to Mathematical Formula 5.

[0126]

Number

[0127] TIFF2025102687000007.tif58166

[0128] After the smart edge roadside base station 50 obtains the absolute position information of other vehicles, it can extract the attribute information about other vehicles from the surrounding video. Here, the attribute information can mean all information that can be extracted from the surrounding video so as to be used for identifying other vehicles. The attribute information according to one embodiment can include first attribute information about the license plate of other vehicles and second attribute information about attributes other than the license plate, such as the size, vehicle type, and hue of other vehicles. Specifically, the information providing vehicle can extract the attribute information from the regions of interest set in the surrounding video at each of a plurality of time points.

[0129] After that, the smart edge roadside base station 50 can accumulate the attribute information extracted at each of a plurality of time points to obtain identification information including probability information about the attribute information. After that, the smart edge roadside base station 50 can obtain the absolute position information of other vehicles based on the absolute position information of the vehicle. According to one disclosure, the smart edge roadside base station 50 can generate a high-precision map by using the absolute position information of the object.

[0130] According to one disclosure, the smart edge roadside base station 50 uses sensors such as cameras, lidar, radar, GPS&IMU for autonomous driving vehicles for perception. However, in a complex environment such as a downtown road, blind spots where sensors cannot perceive due to buildings and obstacles are generated. Therefore, it can travel according to the intersection signal information by using the SPaT (Signal Phase and Timing) message, which is the signal display operation information of infrastructure-vehicle communication (I2V, Infra to Vehicle) among V2X communication technologies, and can grasp the vehicle's position information and the surrounding environment information of the vehicle by using the BSM (Basic Safety Message) data, which is the adjacent vehicle information of vehicle-vehicle communication (V2V, Vehicle to Vehicle).

[0131] According to one disclosure, the smart edge roadside base station 50 can assign a unique number for each object based on the relative position information based on the GPS coordinates (x, y, z) of the vehicle for the position of the object identified from the video and sensor data. Also, according to one disclosure, the smart edge roadside base station 50 is included in the BSM message part 2 area of the V2X OBU of other vehicles, decodes the V2V-transmitted information, analyzes the information for the video object, synchronizes the unique identification number assigned to each video object, and maps it to one coordinate, thereby expanding the vehicle's perception area.

[0132] According to one disclosure, the smart edge roadside base station 50 can align respective lidar data with video data acquired by a vehicle and convert them into the same coordinate system. The relative positional relationship between the camera and the lidar sensor can be represented by a geometric relationship matrix for the position and moving direction of the lidar sensor with respect to the camera. According to one disclosure, the smart edge roadside base station 50 can calculate the position and moving direction of the lidar sensor at the same time as the acquisition time of the camera's video data by multiplying the geometric relationship matrix with respect to the position and moving direction acquired from the video data. According to one disclosure, the smart edge roadside base station 50 can use this geometric relationship matrix to convert the lidar data acquired in the local coordinates with respect to the position of each lidar sensor into the measured 3D coordinates. And, according to one disclosure, in the case of the position and moving direction of the lidar sensor acquired at a time not synchronized with the camera, the smart edge roadside base station 50 can calculate by interpolating the position and moving direction of the synchronized lidar sensor in the closest time zone.

[0133] According to one disclosure, the smart edge roadside base station 50 can set the 3D coordinates of a vehicle in the generated high-precision map to generate an autonomous driving map for the safe driving of the vehicle.

[0134] According to one disclosure, the C-ITS center server can receive vehicle state information from a vehicle and peripheral environment information from other vehicles and devices located at the destination. According to one disclosure, the smart edge roadside base station 50 can generate an optimal moving route of the vehicle according to the current surrounding environment of the vehicle. Here, the optimal moving route is generated based on the operation mode (such as a safety mode, a high-speed mode, etc.) according to the operation purpose of the vehicle, and can be changed in real time according to the environment of the vehicle, the state of the vehicle, the size of the vehicle, the surrounding environment of the destination, the presence or absence of obstacles, the presence of other vehicles, etc.

[0135] FIG. 6 is a drawing for explaining a process of generating safe driving information on a road of a C-ITS smart edge roadside base station for expanding the recognition range of an autonomous driving vehicle according to one disclosure.

[0136] According to one disclosure, the smart edge roadside base station 50 can set the first sensing area 1100 by using a CCTV. The first sensing area 1100 can be set with different ranges according to the angle and the number of cameras installed in the smart edge roadside base station 50.

[0137] According to one disclosure, the smart edge roadside base station 50 can set the second sensing area 1200 by using a radar sensor. The second sensing area 1200 can be set with different ranges according to the angle, performance and number of radar sensors installed in the smart edge roadside base station 50.

[0138] According to one disclosure, the smart edge roadside base station 50 can set the third sensing area 1300 by using a lidar sensor. The third sensing area 1300 can be set with different ranges according to the type, angle, performance and number of lidar sensors installed in the smart edge roadside base station 50.

[0139] There are overlapping parts and non-overlapping parts among the first sensing area 1100, the second sensing area 1200 and the third sensing area 1300. That is, the first sensing area 1100, the second sensing area 1200 and the third sensing area 1300 complement each other in the out-of-range areas that do not overlap.

[0140] According to one disclosure, the smart edge roadside base station 50 can recognize the vehicle 5000 located in the V2X communication range 2000. According to one disclosure, the smart edge roadside base station 50 can sense information about other vehicles 5500 and pedestrians 3000 based on the driving route of the vehicle 5000.

[0141] Particularly in the case of pedestrian 3000, it is an object that cannot be detected within the obstacle recognition range 5010 that can be recognized by the sensors of vehicle 5000. Also, since it cannot be detected within the obstacle recognition range by the sensors of other vehicles 5500 either, pedestrian 3000 cannot be recognized only by the vehicle sensors or vehicle-to-vehicle communication, and there is a possibility of collision during the driving of vehicle 5000.

[0142] However, pedestrian 3000 can be recognized through the sensor unit of smart edge roadside base station 50, and the possibility of collision between pedestrian 3000 and vehicle 5000 can be calculated based on the movement path and speed of pedestrian 3000 and the driving path and driving speed of vehicle 5000.

[0143] Based on the map data based on the current position of the vehicle, smart edge roadside base station 50 can calculate, by a respectively set calculation method, the degree of danger with respect to the possibility of collision with the own vehicle and the degree of caution with respect to the possibility of collision with other obstacles for obstacles including pedestrians.

[0144] As an example of the danger degree calculation, there is a method of calculating by the probability that an obstacle can enter the driving path on which the own vehicle should currently drive. More specifically, when the driving path is set in the precise map data, the positions of each obstacle are continuously recognized for a certain period of time to recognize the position, speed, distance from the own vehicle, etc. of the obstacle, and using this, the probability of interrupting or colliding with (or the possibility of obstructing driving) the current driving path of the own vehicle can be calculated to represent the danger degree of the obstacle.

[0145] Also, as an example of the caution degree calculation, when there is a person crossing a railroad crossing, when there are parked vehicles or objects on the road, or when there are vehicles driving at excessive speed on the road, etc., the caution degree can be calculated based on the distance from the corresponding obstacle. That is, when calculating the caution degree, the caution degree can be calculated based on abnormal situations on the road regardless of collision with the own vehicle.

[0146] To explain the relationship between the risk level and the attention level according to one disclosure by way of example, in the case of a position and an obstacle where there is a possibility of collision with one's own vehicle (i.e., the host vehicle) based on the current own vehicle, both the risk level and the attention level become high. In the case of a position and an obstacle that should be noted by a surrounding vehicle regardless of the traveling direction of one's own vehicle, the risk level is low but the attention level becomes high.

[0147] After calculating the precise position information of the vehicle and the precise position information of the obstacle, by mapping the obstacle information on the map and calculating the risk level and the attention level, there is an advantage that errors such as an incorrect risk level can be reduced.

[0148] Subsequently, the smart edge roadside base station 50 can be controlled to perform an avoidance operation on a corresponding obstacle according to the risk level calculated by the risk level and attention level calculation unit. More specifically, the avoidance operation can be controlled to perform at least one preset operation among decelerating the traveling speed, autonomous avoidance driving, sounding a horn, or turning on a hazard lamp.

[0149] To perform the avoidance operation, for example, it can be done by connecting a vehicle safety driving support terminal device to a vehicle control system installed inside the vehicle and transmitting a control signal for a preset avoidance operation to the vehicle control system.

[0150] For this purpose, the smart edge roadside base station 50 can generate attention information including position information and speed information (additionally, it can further include movement direction information, size information, etc.) for an obstacle whose calculated attention level is equal to or higher than a set reference value (additionally, it can further include position information and speed information with respect to the host vehicle, etc.), and broadcast it through the V2X communication device. Along with this, there is an effect that the data transmission amount can be minimized by transmitting only the information on the obstacle with a high calculated attention level instead of transmitting all the sensed information.

[0151] In addition, for areas outside the coverage of the sensor unit of the smart edge roadside base station 50, it can use the information sensed by the sensor units of other vehicles and other smart edge roadside base stations to generate a driving route and speed of the vehicle 5000 and a safe driving route according to the surrounding environment, and transmit it to the vehicle 5000.

[0152] The smart edge roadside base station 50 can preferentially detect at least one first object located in the first sensing area 1100, the second sensing area 1200, and the third sensing area 1300. Here, at least one first object can include all objects located within the sensing range of the smart edge roadside base station 50. Here, the object can include vehicles, bicycles, motorcycles, pedestrians, falling objects, etc., and can include dynamic objects and static objects.

[0153] According to one disclosure, the smart edge roadside base station 50 can determine a second object located in the moving direction of the vehicle 5000 among the first objects. Here, the second object means an object that may collide with the vehicle 5000 based on the current moving route, current moving speed, planned driving route, etc. of the vehicle.

[0154] The smart edge roadside base station 50 can generate operation information for the moving direction and speed of the vehicle based on the collision possibility between the vehicle and the second object, and can generate a safe driving route. The safe driving route can include control information such as changing the current speed of the vehicle or changing the driving route. The smart edge roadside base station 50 can transmit the safe driving route to the vehicle 5000 in various ways. For example, it can include visual notification and auditory notification.

[0155] The smart edge roadside base station 50 according to one disclosure can use CCTV1 to CCTV3 to obtain images around the smart edge roadside base station 50 and analyze the images to obtain recognition information. In addition, recognition information can be obtained by analyzing the images and signals obtained from the lidar sensor and the radar sensor.

[0156] The smart edge roadside base station 50 can store and manage the video and signal information obtained from CCTV1 to CCTV3, the rider sensor, and the radar sensor in each server as object recognition information.

[0157] The smart edge roadside base station 50 can integrate all the recognition information obtained through the local edge computer, and simulate the integrated recognition information to generate safe driving route information. Here, the local edge computer is a part of the processor of the smart edge roadside base station 50.

[0158] The smart edge roadside base station 50 according to one disclosure can transmit the generated safe driving route information to the security server using V2X communication. The security server can transmit the safe driving route information to the V2X RSU by receiving the RSA message generation request from the V2X RSU.

[0159] The V2X RSU can generate a V2X RSU message and transmit it to the OBU of the vehicle. According to one disclosure, the V2X RSU can simultaneously transmit the V2X RSU message to the OBUs of multiple vehicles. Also, the V2X RSU can transmit the V2X RSU message to the V2X DB server to update the V2X DB SERVER.

[0160] The V2X OBU of the vehicle that receives the V2X RSA message can transmit the PVD data including the vehicle's status information to the V2X RSU through V2X communication. The V2X RSU can transmit this to the security server again, and the security server can transmit the received PVD data to the local edge computer.

[0161] The local edge computer can analyze the PVD information using the PVD data received from multiple vehicles and then update the server. Also, the local edge computer can analyze the PVD information of each vehicle to update the recognition information.

[0162] In addition, the V2X OBU device of the vehicle transmits the BSM message information of the vehicle to the V2X RSU through V2X communication, the V2X RSU transmits this to the security server again, and the security server can transmit the received BSM message information to the local edge computer. The BSM message is the most basically used message among the messages defined by the SAE J2735 standard and is message information that provides vehicle safety-related information. The local edge computer can analyze the BSM information using the BSM message information received from multiple vehicles and then update the server.

[0163] In addition, the V2X RSU can transmit the BSM message information obtained from multiple vehicles to the V2X DB server to update the V2X DB server. FIG. 7 is a drawing for explaining the detailed configuration of a processor including an artificial intelligence learning model according to one disclosure.

[0164] A processor according to one disclosure can include an artificial intelligence learning model 140. The artificial intelligence learning model 140 can include a data learning unit 141 and a control information generation unit 142.

[0165] According to one disclosure, the smart edge roadside base station 50 can acquire noise data, vibration data, and combustion pressure measurement data acquired by using sensors included in the vehicle.

[0166] According to one disclosure, the smart edge roadside base station 50 can use the first artificial intelligence learning model to learn the noise data, vibration data, combustion pressure measurement data, and information regarding the vehicle operation purpose, and diagnose the driving state of the vehicle.

[0167] According to one disclosure, the smart edge roadside base station 50 can determine the driving mode of a vehicle in real time based on the driving state of the vehicle. Further, vehicle control information can be generated based on the determined driving mode of the vehicle and transmitted to the vehicle.

[0168] The second artificial intelligence learning model refers to a deep learning model trained to analyze pre-processed sensor data to generate control data and a driving route for autonomous driving, or a processor that executes the same.

[0169] The data learning unit 141 according to one disclosure can learn noise data, vibration data, combustion pressure measurement data, and information regarding the purpose of vehicle operation. Specifically, the data learning unit 141 can learn criteria for diagnosing the driving state of the vehicle from the noise data, vibration data, combustion pressure measurement data, and information regarding the purpose of vehicle operation. Further, the data learning unit 141 can learn control information according to the driving state of the vehicle based on the aspect of the driving state of the vehicle. That is, the data learning unit 141 can generate, learn, or update new vehicle control information based on the accumulated driving state of the vehicle.

[0170] The artificial intelligence learning model 140 included in the processor can analyze the driving state of the vehicle according to the learned criteria to determine the driving mode of the vehicle. And the artificial intelligence learning model 140 included in the processor can extract data necessary for learning from the driving information, state information, and road surrounding environment information of the vehicle. From this, the data learning unit 141 can generate and update a vehicle control information generation model.

[0171] The control information generation unit 142 can recognize a situation from predetermined data by using the learned vehicle control generation model. The control information generation unit 142 can acquire predetermined data according to a preset standard by learning, and use the acquired data as an input value to utilize a data recognition model. For example, by using a learned context model or the like, data for generating a driving route can be extracted by analyzing vehicle state information, driving history, destination information, vehicle operation purpose information, traffic information, pre-stored map information, vehicle surrounding environment information, etc. Further, by using the learned model, the control information generation unit 142 can acquire information on the current surrounding situation from an external server and generate the driving mode most suitable for the vehicle. Here, the driving mode can include a driving time shortening mode, a stable driving mode, an obstacle discovery mode, a driving mode due to vehicle defects, etc., and there is no limit on the number of modes.

[0172] At least a part of the data learning unit 141 and at least a part of the control information generation unit 142 can be embodied as software modules or manufactured in the form of at least one hardware chip and installed in an electronic device. For example, at least one of the data learning unit 141 and the control information generation unit 142 may be manufactured in the form of a dedicated hardware chip for artificial intelligence (AI), or may be manufactured as a part of an existing general-purpose processor (e.g., CPU or application processor) or a dedicated graphics processor (e.g., GPU) and installed in the various electronic devices or content data playback devices described above. At this time, the dedicated hardware chip for artificial intelligence is a dedicated processor specialized for probability calculation, and since it has higher parallel processing performance than existing general-purpose processors, it can quickly process arithmetic operations in the field of artificial intelligence such as machine learning. When the data learning unit 141 and the control information generation unit 142 are embodied as software modules (or program modules including instructions), the software modules can be stored in a non-transitory computer readable medium readable by a computer. In this case, the software modules can be provided by an operating system (OS) or by a predetermined application. Or a part of the software modules can be provided by an operating system (OS), and the remaining part can be provided by a predetermined application. Hereinafter, the apparatus 10 for complementing synchronization signals between base stations will be described by abbreviating it as the synchronization signal complementing apparatus 10. FIG. 8 is a drawing for explaining the features of complementing synchronization signals between base stations according to one disclosure.

[0173] The synchronization signal complementary device 10 of the surrounding environment information infrastructure vehicle's cognitive area expansion system provides a separate synchronization signal in an out-of-range area where the synchronization signal does not reach, thereby enabling smooth communication between vehicles and / or between vehicle-infrastructure. Through this, the surrounding environment information can be smoothly transmitted and received, and more complete cooperative vehicle control can be achieved.

[0174] Referring to FIG. 8, a network environment where a plurality of base stations, a plurality of terminals, and the synchronization signal complementary device 10 exist can be assumed. Only two terminals, terminal 1 (30) and terminal 2 (31), are exemplarily assumed, and it can include n terminals. Although n means a natural number of 1 or more, it is not interpreted as being limited to a specific number. Also, the value of n can change over time.

[0175] In one embodiment of the present disclosure, the sidelink communication between the plurality of terminals can be scheduled through the base station's RRC signaling (Radio Resource Control Signaling), and each terminal can perform all V2X communications (for example, unicast, groupcast, and PSFCH (Physical Sidelink Feedback Channel transmission)). Therefore, it can be understood that the plurality of terminals illustrated in FIG. 1 communicate with each other through unicast, and it can also be understood that some of the terminals in the group performing groupcast communication are illustrated.

[0176] On the one hand, the wireless communication system described in the present disclosure may be a wireless communication system that uses the same cellular network as an NR (New Radio) communication system, an LTE (Long Term Evolution) communication system, an LTE-Advanced communication system, a CDMA (Code Division Multiple Access) communication system, or a GSM (Global System for Mobile Communications) communication system, and may be a WLAN (Wireless Local Area Network) communication system or any other arbitrary wireless communication system.

[0177] The wireless communication network used in the wireless communication system can support the communication of a large number of wireless communication devices including multiple terminals by sharing available network resources.

[0178] For example, in a wireless communication network, information can be transmitted in various multiple access methods such as CDMA (Code Division Multiple Access), FDMA (Frequency Division Multiple Access), TDMA (Time Division Multiple Access), OFDMA (Orthogonal Frequency Division Multiple Access), SC-FDMA (Single Carrier Frequency Division Multiple Access), OFDM-FDMA, OFDM-TDMA, and OFDM-CDMA. The following physical channels may be defined for sidelink.

[0179] The PSBCH (Physical Sidelink Broadcast CHannel) is the physical sidelink broadcast channel. The PSCCH (Physical Sidelink Control CHannel) is the physical sidelink control channel. The PSDCH (Physical Sidelink Discovery CHannel) is the physical sidelink discovery channel. The PSSCH (Physical Sidelink Shared CHannel) is the physical sidelink shared channel. The SLSS (Sidelink Synchronization Signal) is the sidelink synchronization signal. The SLSS may include the PSSS (Primary Sidelink Synchronization Signal) and the SSSS (Secondary Sidelink Synchronization Signal). The SLSS and the PSBCH can be transmitted together.

[0180] The base stations 20 and 22 can communicate with their respective terminals. The terminals illustrated in FIG. 8 can be understood as terminals that are connected to and communicate with the base stations by wire or wirelessly at a specific point in time. Also, some of the terminals may be in a state where they can communicate with other base stations that are not the base stations in question. The base station can exchange data and control information by communicating with the n terminals and / or other base stations. In one embodiment of the present disclosure, the base station may be interpreted in a comprehensive sense that covers a partial area or function covered by a BSC (Base Station Controller) in CDMA, a Node B of WCDMA (registered trademark), an eNB in LTE, a gNB in NR, or a sector.

[0181] On the other hand, each terminal and the base station include at least two antennas, which is for the purpose of explaining the C-V2X communication environment, and the number of antennas may vary in other forms of communication environments.

[0182] Each terminal illustrated in FIG. 8 may mean each vehicle existing on the road or a communication terminal mounted on a vehicle. On the other hand, the term OBU (On-Board Unit) may be used as a general term for auxiliary devices mounted on a vehicle in Vehicle to Everything Communication, and it can be understood that the term "Terminal" throughout this specification means OBU.

[0183] The base station is connected to a plurality of terminals through radio channels and can provide various communication services to each of the plurality of terminals through the connected radio channels. And all user traffic of the base station can be served through a shared channel. Also, the base station can collect state information such as the buffer state, available transmission power state, and channel state of the plurality of terminals and schedule the corresponding terminals.

[0184] The wireless communication system can support beamforming technology through Orthogonal Frequency Division Multiplexing (OFDM). Also, the wireless communication system can support an Adaptive Modulation & Coding (AMC) scheme that determines a modulation scheme and a channel coding rate based on the channel states of a plurality of terminals.

[0185] On the other hand, base stations 20 and 22 can provide communication coverage for their respective geographical coverage areas 21 and 24. There may be overlapping geographical coverage areas. That is, since the PSSCH communication range overlaps the range provided by the base station, the range for transmitting communication data is stable.

[0186] On one hand, the base stations 20 and 22 autonomously provide the geographical coverage areas 23 and 26 of the synchronization signal SLSS. However, the geographical coverage areas 23 and 26 of the SLSS are narrower than the PSSCH geographical coverage areas 21 and 24, and there will be communication areas outside the coverage where PSSCH communication is possible between the base stations but SLSS communication is not possible.

[0187] The base station can also be referred to as a gNB, Node B, eNB (evolved Node B), access point, base transceiver station, radio base station, radio transceiver, transceiver function unit, BSS (basic service set), ESS (extended service set) or some other appropriate term. The base stations 20 and 22 provide an access point to the EPC for the terminals (30, 31).

[0188] The terminal includes a cellular phone, smartphone, SIP (Session Initiation Protocol) phone, laptop, PDA (personal digital assistant), satellite radio, global positioning system, multimedia device, video device, digital audio player (e.g., MP3 player), camera, game console, tablet, smart device, wearable device, vehicle, electric meter, gas pump, large or small kitchen appliance, healthcare device, implant, display or any other similar functional device. Some of the terminals can be referred to as IoT devices (e.g., parking fee collector, gas pump, toaster, vehicle, heart monitor, etc.). The terminal can also be referred to as a station, mobile station, subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, access terminal, mobile terminal, wireless terminal, remote terminal, handset, user agent, mobile client, client, or some other compatible term.

[0189] The synchronization signal completion device 10 of the present application serves to generate and relay an SLSS signal for complementing an out-of-communication range area between base stations 20 and 22. The synchronization signal completion device 10 can be understood as a device that performs functions not generally provided by an RSU, and in particular, can provide an SLSS that can complement the timing synchronization of a terminal among all communication data provided by the base station 20. FIG. 9 is a flowchart for explaining a method of complementing a synchronization signal between base stations according to one disclosure.

[0190] A method of complementing a synchronization signal between base stations can be provided, including the steps of receiving a first sync signal from a peripheral base station (2001), grasping sync timing from the first sync signal (2002), and generating and relaying a first - 1 sync signal based on the sync timing (2003).

[0191] The step of the synchronization signal completion device 10 receiving the first sync signal in block 2001 is performed through communication with a base station. Communication between one base station and multiple terminals is performed by constructing multiple communication channels. That is, one base station can be connected and communicate with multiple terminals by wire or wirelessly. The channels for communication can be constructed in proportion to the number of antennas constituting the terminal and the base station. That is, it can be understood that one channel is constructed between terminal 1 and the base station, and another channel is constructed between terminal 2 and the base station.

[0192] According to one disclosure, the first sync signal is a sidelink synchronization signal generated by the first base station as a synchronization reference source, and the first - 1 sync signal can be a sidelink synchronization signal generated by the first base station as a synchronization reference source.

[0193] The synchronization signal completion device 10 can receive the first sync signal in order to expand the physical area of the first sync signal transmitted for communicating with the terminal at the base station.

[0194] In block 2002, the synchronization signal completion device 10 can grasp the sync timing from the first sync signal. The sync timing is synchronization information provided for V2X communication between the base station and the terminal, and the base station and the terminal can realize a normal communication state based on timing and frequency synchronization. The sync timing is the sync time included in the signal transmitted from the base station to the terminal, and only when the sync times match can the base station and the terminal perform smooth communication.

[0195] According to one disclosure, the step of grasping the sync timing may be to decode the PSSS (Primary Sidelink Synchronization Signal) included in the first sync signal by a correlator, and decode the SSSS (Secondary Sidelink Synchronization Signal) by a matched filter to determine the sync time.

[0196] According to one disclosure, the PSSS has three patterns. All three PSSSs are decoded using a correlator, and a PSSS symbol is generated based on the PSSS with the largest magnitude. The SSSS has 168 patterns, and an SSSS symbol is generated based on the result value obtained by decoding 168 SSSSs using a matched filter, which is a digital filter, to generate a first - 1 sync signal.

[0197] In block 2003, the first-level sync signal can be generated and relayed based on the sink timing. The first-level sync signal can be provided to a terminal that performs synchronization using the first sync signal. That is, it is to provide a synchronization environment for seamless communication of the terminal. The first sync signal and the first-level sync signal use the same synchronization source and include the same sink timing.

[0198] By generating and relaying a new sync signal that includes the same sink timing as the original sync signal, the synchronization signal complementing device 10 can extend the communication range of the sync signal generated by the existing base station and enable smooth communication of the terminal.

[0199] Among the synchronization sources, the source that transmits the synchronization signal generated based on the autonomous reference synchronization without being synchronized by other synchronization sources to the terminal to be synchronized can be separately expressed by terms such as the original synchronization source or the active synchronization source. Among the synchronization sources, the synchronization sources excluding the active synchronization source (that is, the synchronization sources synchronized by other synchronization sources) may be expressed by the term passive synchronization source. That is, at least one passive synchronization source can transmit the synchronization signal to the terminal to be synchronized after being synchronized by one active synchronization source.

[0200] For example, the base station can be an active synchronization source because it transmits a synchronization signal generated based on autonomous reference synchronization without being synchronized by other terminals or base stations. Also, among the terminals, a terminal that is not synchronized by other terminals or base stations and operates as an active synchronization source can be expressed by the term ISS (independent synchronization source).

[0201] The base station of the present application is an active synchronization source. The synchronization signal complementing device 10 receives PSSS (Primary Synchronization Signal) / SSSS (Secondary Synchronization Signal) from the base station, determines the synchronization timing signal, that is, the sink time, from the PSSS and SSSS, and uses the sink time to generate a new sink signal and transmits it to the terminal. FIG. 10 is a drawing exemplarily showing the positions of synchronization signals according to one disclosure.

[0202] Referring to FIG. 10, the positions of the reference signal and the synchronization signal in the PSBCH (Physical Sidelink Broadcasting Channel) in the wireless communication system are illustrated.

[0203] In a general cellular OFDM wireless packet communication system, the uplink / downlink data packet transmission is in units of subframes. One subframe is defined as a certain time interval including a number of OFDM symbols. The 3GPP (registered trademark) LTE standard supports a type 1 radio frame structure applicable to FDD (Frequency Division Duplex) and a type 2 radio frame structure applicable to TDD (Time Division Duplex).

[0204] In the type 1 radio frame structure, the radio frame is composed of 10 subframes, and one subframe is composed of 2 slots in the time domain. The time taken for one subframe to be transmitted is defined as TTI (Transmission Time Interval). For example, the length of one subframe may be 1 ms, and the length of one slot may be 0.5 ms. One slot includes a plurality of OFDM symbols in the time domain and a number of resource blocks (Resource Block, RB) in the frequency domain.

[0205] However, the structure of the radio frame is merely illustrative, and the number of sub-frames included in the radio frame, the number of slots included in the sub-frame, or the number of symbols included in the slot can be variously changed.

[0206] In the case of normal CP (normal Cyclic Prefix), as shown in FIG. 3, DMRS (DeModulation Reference Signal) is mapped. Since the last OFDM symbol is used as a guard period, it is transmitted empty. Also, Rx / Tx switching is performed using the last OFDM symbol.

[0207] PSSS (Primary Sidelink Sychronization Signal) is used to obtain time domain synchronization such as OFDM symbol synchronization and slot synchronization and / or frequency domain synchronization, and SSSS (Secondary Sidelink Sychronization Signal) is used to obtain frame synchronization, cell group ID, and / or cell CP configuration (i.e., information on the use of normal CP or extended CP).

[0208] On the other hand, since packets are transmitted through a radio channel in a wireless communication system, signal distortion may occur. Also, in order to correct the distorted signal on the receiving side, the receiving side must know the channel information. Therefore, mainly, the transmitting side transmits a signal known to both the transmitting side and the receiving side to search for channel information, and the receiving side searches for channel information based on the degree of distortion of the received signal. In this case, the signal known to both the transmitting side and the receiving side is called a pilot signal or a reference signal. Also, in wireless communication to which MIMO (Multiple Input Multiple Output) technology is applied, there is a separate reference signal for each transmitting antenna.

[0209] In a wireless communication system, reference signals can be classified into a reference signal for channel information acquisition and a reference signal for data demodulation. Since the reference signal for channel information acquisition is intended for the terminal to acquire downlink channel information, it is transmitted over a wide bandwidth, and terminals that do not receive downlink data in a specific subframe must also receive and be able to measure the corresponding reference signal. Also, the reference signal for channel information acquisition can be used for channel state measurement for handover. The reference signal for data demodulation is a reference signal that is transmitted together with downlink resources when the base station transmits downlink data, and the terminal can perform channel estimation and demodulate data by receiving the reference signal. The reference signal for demodulation is transmitted in the area where data is transmitted.

[0210] The Demodulation Reference Signal (DMRS) is a reference signal for channel measurement purposes for the selection of MCS (Modulation and Coding Scheme), PMI (Precoding Matrix Indicator), etc., and is used for data demodulation. On the other hand, the DMRS is transmitted only in the scheduled area of the corresponding terminal, that is, in the time-frequency domain where a specific terminal receives data.

[0211] Referring to FIG. 10, in an embodiment of the present invention, the first subframe (subframe 0) functions as a synchronization subframe, the PSSS is mapped to the 1st and 2nd symbols of the OFDM, the SSSS can be mapped to the 11th and 12th symbols of the OFDM, and the DMRS can be mapped to the 3rd and 10th symbols of the OFDM.

[0212] The base station can know the symbols mapped to each subframe through the LTE Resource Grid information, but since the processor according to an embodiment of the present invention does not have the corresponding information, position information in the time domain of the PSSS, SSSS, and DMRS as shown in FIG. 3 is required for synchronization and channel estimation.

[0213] For this purpose, the subframe decodes PSSS and SSSS from the first subframe (subframe 0), and in one embodiment, a correlator can be used for decoding PSSS, and a matched filter can be used for decoding SSSS.

[0214] When PSSS and SSSS are decoded, the synchronization of the processor is completed, and the sub-processor can detect DMRS for channel estimation. FIG. 11 is a drawing exemplarily showing the positions of reference signals according to one disclosure.

[0215] Referring to FIG. 11, the reference signal (DMRS) is mapped and transmitted at the 3rd (2), 6th (5), 9th (8), and 12th (11) positions of the remaining subframes except the first subframe (subframe 0), and 4 are mapped per one TTI (Transmission Time Interval).

[0216] As described with reference to FIG. 10, when synchronized by decoding PSSS and SSSS from the first subframe (subframe 0), the sub-processor can detect the reference signal (DMRS) from the remaining subframes (subframes 1 to 9) and perform channel estimation.

[0217] The sub-processor can perform channel estimation on signals received from a plurality of terminals, and sequentially transmit to the base station from the signal corresponding to the largest channel value based on the magnitude of the channel values. FIG. 12 is a configuration diagram of an apparatus for complementing synchronization signals between base stations according to one disclosure.

[0218] According to one disclosure, there is provided at least one transceiver 111, at least one processor 121, and at least one memory 131 connected to be operable with at least one processor 121 and storing instructions that, when executed, cause the at least one processor to perform a specific operation. The specific operation is to receive a first sync signal from a peripheral base station, obtain sync timing from the first sync signal, generate and relay a first - 1 sync signal based on the sync timing, and provide a device for complementing a synchronization signal between base stations.

[0219] On the other hand, in another embodiment of the present invention, when the largest value among a plurality of estimated channel values is A and the second - largest value is B, if the value of A - B is less than or equal to a predetermined threshold Th, the processor can transmit the channel signal corresponding to the A value and the channel signal corresponding to the B value to the base station simultaneously.

[0220] Alternatively, regardless of the estimated channel value, the channel signal can be transmitted. That is, the channel signal corresponding to the B value can be transmitted to the base station first.

[0221] The threshold Th can be determined in advance considering the channel estimation error. If the difference between channel values is less than or equal to the threshold Th, it may be determined that the difference between channel values is small enough to be ignored when considering the estimation error.

[0222] The synchronization signal complementing device 10 can perform the steps of sensing a sync signal within a communication coverage area at a predetermined period; determining the priority order of the different sync signals when different sync signals are simultaneously sensed within the communication coverage area; and generating and relaying the synchronization signal of the sync signal determined by the priority order.

[0223] The priority of the sync signal can be the signal strength. The synchronization signal completion device 10 can determine the sync timing from a sync signal with high strength and generate a sync signal.

[0224] Similar to in the LTE system, the synchronization signal completion device 10 can obtain information regarding the PCID (physical cell identity) of the base station based on PSS / SSS and generate a sync signal based on this information.

[0225] When the sensed sync signal signals are from different sources, the synchronization signal completion device 10 can determine to operate by predefining priorities.

[0226] It includes the synchronization signal directly received from the base station as the first priority, the synchronization signal received from a terminal directly synchronized with the base station as the second priority, the synchronization signal received from a terminal indirectly synchronized with the base station as the third priority, the synchronization signal received from GNSS as the fourth priority, the synchronization signal received from a terminal directly synchronized with GNSS as the fifth priority, and the synchronization signal received from a terminal indirectly synchronized with GNSS as the sixth priority.

[0227] On the other hand, when receiving sync signal signals from two terminals with the same priority, the sync signal can be selected based on the DM-RS of the S-SSB received only from the two terminals. FIG. 13 is a drawing for explaining the feature of determining the sync time using a correlator and a matched filter according to one disclosure.

[0228] The base station can know the symbols mapped to each subframe through the LTE resource grid (Resource Grid) information. However, according to one embodiment of the present invention, since it does not have the corresponding information, the position information in the time domain of PSSS, SSSS, and DMRS is required for synchronization and channel estimation.

[0229] For this purpose, the subframe decodes PSSS and SSSS from the first subframe (subframe 0). In one embodiment, a correlator can be used for decoding PSSS, and a matched filter can be used for decoding SSSS.

[0230] PSSS and SSSS may be included in a block format that supports periodic transmission (e.g., SL SS (Synchronization Signal) / PSBCH block, hereinafter S-SSB (Sidelink-Synchronization Signal Block)). S-SSB can have the same numerology (i.e., SCS and CP length) as PSCCH (Physical Sidelink Control Channel) / PSSCH (Physical Sidelink Shared Channel) within a carrier, and the transmission bandwidth can be within a pre-set SL BWP (Sidelink BWP). For example, the bandwidth of S-SSB can be 11 RBs (Resource Blocks). For example, PSBCH may span 11 RBs. And the frequency position of S-SSB can be pre-set. Therefore, the terminal does not need to perform hypothesis detection in frequency to discover S-SSB in a carrier.

[0231] FIG. 13(A) is a correlator and is used for decoding PSSS. Since the PSSS transmitted by the base station includes three patterns, all three patterns of PSSS can be substituted into the correlator, and the PSSS of the pattern with the largest result value can be obtained according to the following mathematical formula 6.

[0232]

Equation

[0233] When determining the PSSS having the largest value according to the mathematical formula 6, the determined PSSS can be included in the symbol. That is, after searching for the sidelink identifier included in the determined PSSS and estimating the integer multiple frequency error, the SSSS sidelink identifier can be searched by the matching filter in (B).

[0234] Although SSSS has at least 100 or more patterns, since a quick judgment can be made by performing a binary determination using a matching filter, the SSSS symbol can be determined.

[0235] The synchronization signal completion device 10 can generate a frame including the determined PSSS symbol and SSSS symbol, and generate a sync signal including the frame and transmit it to the terminal. <Synchronization problems occurring in a communication coverage area other than the network formed by the base station>

[0236] To set up a communication link outside the communication network area of the base station, the terminal must be connected to the network. In the initial connection process, the synchronization signal completion device 10 transmits the PSSS (Primary Sidelink Synchronization Signal) and SSSS (Secondary SSS) synchronization signals. Looking at the order of the synchronization process, in a series of processes to obtain initial timing and frequency synchronization in the priority time domain, the timing and integer multiple frequency error are estimated and compensated, and the time domain signal is converted into a frequency domain signal through FFT (Fast Fourier Transform). After being converted into a frequency domain signal, the sidelink identifier included in the PSSS is searched, and after estimating the integer multiple frequency error, the sidelink group identifier included in the SSSS is estimated. In the next stage, the remaining residual time, frequency error, and sampling frequency error are estimated in detail.

[0237] In the following, differential correlation operation is applied to the PSSS sequence in the process of simultaneously estimating the sidelink identifier and the integer multiple frequency error included in the PSSS signal. Here, in order to reduce the complexity, the symmetric characteristics of the differential PSSS subcarriers are utilized to group the differential PSSS subcarriers included within the same category based on a specific critical value for the phase value, and a high-performance PSSS with low complexity and an integer multiple frequency error detection technique applicable to the LTE-A sidelink-based C-V2X communication system are presented.

[0238] The synchronization signal completion device 10 can group the differential PSSS subcarriers having a phase difference within the allowable angle range for the phase value of the differential PSSS sequence through the following mathematical formula 7.

[0239]

Equation

[0240] (Here, ∠ means the angle of the phase difference, is the representative subcarrier in the group, n ∈ {0, 1, 2, 3}, and θ means the phase critical value for the grouping of the differential PSSS subcarriers)

[0241] Ultimately, the phase tolerance range between the representative subcarrier and the differential PSSS subcarrier within the same group is [nπ / 2 - θ, nπ / 2 + θ]. The number of differential PSSS subcarriers in the q-th group is N q , and the number of the total groups is N Gq If expressed, the number of differential PSSS subcarriers in all groups is N p -2. The integer multiple frequency error and sidelink identifier estimation method using the differential PSSS grouped through the conditions of mathematical formula 7 follows the following mathematical formula 8.

[0242]

Equation

[0243] TIFF2025102687000011.tif39166

[0244] As in Mathematical Formula 8, T is set so that the differential PSSS subcarriers representing each group have the same phase. b (k) performs a correlation operation on the sum of all in-group differential PSSS subcarriers to which it is applied. Thereafter, a correlation operation is performed with the differential PSSS sequence of the PSSS sequence generated by the transmitter for each group. The following Mathematical Formula 9 is used to estimate the integer multiple frequency error and the sidelink identifier.

[0245] [Equation]

[0246] a and b that make the value of Φ(a, b) have the maximum value can be detected by the above mathematical formula, which respectively means the estimated integer multiple frequency error and the sidelink identifier. This means that the complexity of the estimation technique changes depending on the range of the user threshold θ, and the performance of the synchronization signal complementing device 10 can be improved by selecting an appropriate θ. Preferably, θ is preferably around 5°.

[0247] By using the integer multiple frequency error and sidelink identifier estimation techniques, the synchronization signal complementing device 10 can reduce the calculation amount by up to 50% compared to the existing one.

[0248] The synchronization signal complementing device 10 plays a role of expanding the transmission range of the sink signal of the base station. Therefore, the synchronization signal complementing device 10 provides an environment that enables a moving terminal to smoothly maintain communication with the base station. Therefore, from the perspective of the terminal, a signal including a subframe generated from the same synchronization source can be acquired.

[0249] Obtaining, from a terminal that has received a first sink signal from the peripheral base station, a first identifier display included in the first sink signal; transmitting the first identifier display to a cellular base station to obtain parameter information for terminal communication; and including a step of complementing the first-1 sink signal based on the parameter information and transmitting it to the terminal.

[0250] Receiving a first sink signal from a terminal that is in communication with a first base station; grasping a first sink timing from the first sink signal; generating a first-1 sink signal based on the first sink timing and transmitting it to the terminal; receiving a second sink signal from a terminal that has changed communication to a second base station due to the movement of the terminal; grasping a second sink timing from the second sink signal; generating a second-1 sink signal based on the second sink timing and transmitting it to the terminal; and including a step of receiving the first sink signal and the second sink signal from at least one peripheral base station.

[0251] Including a step of selecting a larger value between the first sink signal and the second sink signal according to one disclosure to grasp the sink timing, and generating and transmitting a sink signal using the grasped sink timing.

[0252] When the value of the first sink signal - the second sink signal is less than or equal to a predetermined critical value according to one disclosure, obtaining a first sink timing and a second sink timing from the first sink signal and the second sink signal respectively, selecting one of the first sink timing and the second sink timing based on the sink signal obtained from the terminal; and including a step of generating and retransmitting a sink signal based on the selected sink timing.

[0253] Unless the steps constituting the method according to the present invention are clearly described in a specific order or there is a description to the contrary, the steps may be performed in any appropriate order. The present invention is not necessarily limited by the order of description of the steps. In addition, a computer program can provide a computer program stored in a recording medium that performs all the method steps provided by the invention of the present application.

[0254] The steps of the method or algorithm described in connection with the embodiments of the present invention may be implemented directly in hardware, implemented by software modules executed by hardware, or implemented by a combination thereof. The software modules may reside in a RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), flash memory, hard disk, removable disk, CD-ROM, or any other form of computer-readable recording medium well known in the technical field to which the present invention belongs.

[0255] Since the components of the present invention are combined with a computer that is hardware and executed, they can be implemented as a program (or application) and stored in a medium. The components of the present invention can be executed by software programming or software elements. Similarly, the embodiments include various algorithms implemented as a combination of data structures, processes, routines, or other programming configurations, and can be implemented in programming or scripting languages such as C, C++, Java, assembler, etc. The functional aspects can be implemented by algorithms executed by one or more processors.

[0256] Although the embodiments of the present invention have been described above with reference to the attached drawings, those of ordinary skill in the technical field to which the present invention pertains will understand that the present invention can be implemented in other specific forms without changing its technical idea and essential features. Therefore, it should be understood that the embodiments described above are illustrative in all aspects and not restrictive.

Claims

1. A cognitive area expansion system for a peripheral environment information infrastructure vehicle including a first vehicle (5000) and a second vehicle (5500), wherein the first vehicle (5000) includes: A sensor unit (5010) for sensing peripheral environment information; A communication unit (5020) for communicating with the second vehicle (5500); A memory (5030) for storing at least one instruction; and A cognitive area expansion system for a peripheral environment information infrastructure vehicle including a processor (5040) for executing the at least one instruction.

2. In Claim 1, The cognitive area expansion system for the peripheral environment information infrastructure vehicle further includes a roadside base station (50), and the communication unit (5020) of the first vehicle (5000) receives safety driving information from the roadside base station (50).

3. In Claim 2, The roadside base station (50) includes: A sensor unit (100) for sensing an object within the V2X communication range; A communication unit (200) for communicating with the first vehicle (5000) located within the V2X communication range; A memory (300) for storing at least one instruction; and A processor (400) for executing the at least one instruction, As the first vehicle (5000) enters the V2X communication range, the processor (400) obtains vehicle information based on the driving route and driving speed of the vehicle (5000), generates safety driving information based on the vehicle information and information on an object around the first vehicle (5000), and transmits the information to the first vehicle (5000).

4. In Claim 3, The sensor unit (100) includes: At least one CCTV (110) having a first sensing area; At least one radar sensor (120) having a second sensing area; and At least one lidar sensor (130) having a third sensing area.

5. In Claim 4, The processor: Prioritizes the detection of at least one first object located in the first sensing area, the second sensing area, and the third sensing area; Determines a second object located in the moving direction of the first vehicle (5000) among the first objects; A cognitive area expansion system for a vehicle with a surrounding environment information infrastructure that generates safety driving information for the moving direction and speed of the first vehicle (5000) based on the possibility of collision between the first vehicle (5000) and a second object and transmits the information to the first vehicle (5000).

6. In claim 3, the safety driving information includes a pedestrian collision prevention warning based on the driving direction and speed of the first vehicle (5000), a rear-end collision prevention warning with surrounding vehicles, an emergency vehicle warning, and a surrounding vehicle emergency situation warning, traffic information based on the position of the first vehicle (5000), speed control information for a school zone, and school bus operation information, a cognitive area expansion system for a vehicle with a surrounding environment information infrastructure, including information on a road danger section based on the driving route of the first vehicle (5000), road surface weather information, a road work section, and a traffic signal violation danger warning for an intersection.

7. In claim 3, the processor generates information on an out-of-range area that the first vehicle (5000) cannot sense by receiving information on an area that can be sensed by the first vehicle (5000), and transmits the information on the out-of-range area to the first vehicle (5000). A cognitive area expansion system for a vehicle with a surrounding environment information infrastructure.

8. In claim 1, the cognitive area expansion system for a vehicle with a surrounding environment information infrastructure further includes a synchronization signal complementing device (10), and the synchronization signal complementing device (10) includes a step of receiving a first sync signal from a surrounding base station; a step of grasping sync timing from the first sync signal; and A cognitive area expansion system for a vehicle with a surrounding environment information infrastructure that complements a synchronization signal between base stations through a step of generating and transmitting a first - 1 sync signal based on the sync timing.

9. In claim 8, the first sync signal is a sidelink synchronization signal generated by a first base station as a synchronization reference source (Synchronization reference source), and the first - 1 sync signal is a sidelink synchronization signal generated by a first base station as a synchronization reference source. A cognitive area expansion system for a vehicle with a surrounding environment information infrastructure.

10. In claim 8, the step of grasping the sync timing is A cognitive area expansion system for a vehicle with a peripheral environment information infrastructure that decodes a PSSS (Primary Sidelink Synchronization Signal) included in the first sink signal by a correlator, decodes an SSSS (Secondary Sidelink Synchronization Signal) by a matched filter, and determines a sink time.

11. In claim 10, the PSSS has three patterns, all three PSSSs are decoded using a correlator, and a PSSS symbol is generated based on the PSSS with the largest magnitude. the SSSS has 168 patterns, and an SSSS symbol is generated based on a result value obtained by decoding the 168 SSSSs using a matched filter which is a digital filter, and a subframe of the first - 1 sink signal is generated. A cognitive area expansion system for a vehicle with a peripheral environment information infrastructure.

12. In claim 8, the synchronization signal complementing device (10) senses a sink signal within a communication coverage area at predetermined intervals; when different sink signals are simultaneously sensed within the communication coverage area, determines the priority order of the different sink signals; and further includes a step of generating and transmitting a synchronization signal of the sink signal determined by the priority order to complement the synchronization signal between base stations. A cognitive area expansion system for a vehicle with a peripheral environment information infrastructure.

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