Local server and method for controlling road traffic

Abstract

The local server that controls road traffic includes a collection unit that collects sensing information related to the sensing area of ​​the fusion sensor from at least one fusion sensor installed within the target road, and a traffic information generation unit that generates traffic information related to the target road based on the collected sensing information, and an event setting area that senses at least one lane within the target road is set in the sensing area.

Description

[Technical Field]

[0001] The present invention relates to a local server and method for controlling road traffic. [Background technology]

[0002] In recent years, in order to reduce traffic congestion and expand stable transportation services, intelligent transport systems (ITS) have been introduced into conventional road traffic control systems. These systems apply sensor technology for collecting road traffic information to the components of conventional transportation systems, allowing the components to interact organically with each other.

[0003] With the development and commercialization of autonomous vehicles, the importance of next-generation Cooperative Intelligent Transport Systems (C-ITS) that can directly provide regional and city-level traffic information using V2I communication with vehicles on the road is increasingly being emphasized.

[0004] Meanwhile, the road traffic control system installs road traffic information collecting sensors, which have been commercialized using road traffic information collecting sensor technology, on roads and analyzes sensor information through a central server connected to the road traffic information collecting sensors. Here, the road traffic information collecting sensors may include, for example, cameras, radars, and lidars.

[0005] Conventional camera sensor-based road traffic control systems are vulnerable to weather conditions (e.g., rain, snow, fog), and are significantly affected by the time of day (especially at night) and the shooting environment (e.g., shadows, lighting). Camera sensors have a relatively short detection distance for traffic objects, and their spatial context (e.g., the position, distance, and speed of traffic objects) is inaccurate in shadowed areas.

[0006] Conventional radar sensor-based road traffic control systems judge traffic conditions based on classification information and length information of traffic objects detected by the radar sensor, which results in inaccurate results. Radar sensors have difficulty detecting vehicles that are stopped due to stop signals, unexpected traffic, etc.

[0007] Conventional LiDAR sensor-based road traffic control systems have difficulty detecting traffic objects because LiDAR sensors are vulnerable to weather conditions (especially fog) and have a relatively short detection distance. Using LiDAR sensors as infrastructure sensors has limitations in terms of application due to their high purchase costs and frequent maintenance cycles.

[0008] Meanwhile, conventional road traffic control systems have a central server for each region / city that integrates and controls information sensed by road traffic information collection sensors widely installed in regions and cities.

[0009] In conventional road traffic control systems, the operating body that controls road traffic differs depending on the region or city, making it difficult to integrate the systems due to the presence or absence of local databases and physical constraints on data communication volume. Summary of the Invention [Problem to be solved by the invention]

[0010] The present invention is intended to solve the above-mentioned problems of the conventional technology, and aims to generate traffic information for a target road based on sensing information regarding the sensing area of ​​a fusion sensor collected from at least one fusion sensor installed within the target road.

[0011] However, the technical problems that this embodiment aims to solve are not limited to the above-mentioned technical problems, and other technical problems may exist. [Means for solving the problem]

[0012] As a technical means for solving the above-mentioned technical problem, a local server for controlling road traffic according to a first aspect of the present invention includes a collection unit that collects sensing information relating to a sensing area of ​​at least one fusion sensor installed within a target road from the fusion sensor, and a traffic information generation unit that generates traffic information relating to the target road based on the collected sensing information, wherein an event setting area that senses at least one lane within the target road is set in the sensing area.

[0013] A method for controlling road traffic executed by a local server according to a second aspect of the present invention includes the steps of collecting sensing information from at least one fusion sensor installed within a target road regarding a sensing area of ​​the fusion sensor, and generating traffic information regarding the target road based on the collected sensing information, wherein an event setting area is set in the sensing area to sense at least one lane within the target road.

[0014] The above-described summary of the invention is merely illustrative and should not be construed as limiting the present invention. In addition to the exemplary embodiments described above, there may be additional embodiments described in the drawings and detailed description of the invention. [Effects of the Invention]

[0015] According to any one of the above-mentioned means for solving the problem of the present invention, the present invention can generate traffic information for a target road based on sensing information regarding a sensing area of ​​a fusion sensor collected from at least one fusion sensor installed within the target road.

[0016] As a result, the present invention overcomes the limitations of conventional road traffic control systems and can provide advanced road traffic control services. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a configuration diagram of a road traffic control system according to an embodiment of the present invention. [Figure 2] 2 is a block diagram of a first local server shown in FIG. 1 according to one embodiment of the present invention. [Figure 3a] 1 is a diagram illustrating a method for generating traffic information about a target road using a fusion sensor according to an embodiment of the present invention. [Figure 3b] 1 is a diagram illustrating a method for generating traffic information about a target road using a fusion sensor according to an embodiment of the present invention. [Figure 3c] 1 is a diagram illustrating a method for generating traffic information about a target road using a fusion sensor according to an embodiment of the present invention. [Figure 3d] 1 is a diagram illustrating a method for generating traffic information about a target road using a fusion sensor according to an embodiment of the present invention. [Figure 3e] 1 is a diagram illustrating a method for generating traffic information about a target road using a fusion sensor according to an embodiment of the present invention. [Figure 4] 1 is a flowchart illustrating a method for controlling road traffic according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0018] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] The present invention will now be described in detail with reference to the accompanying drawings so that those skilled in the art can easily understand and practice the present invention. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein. In the drawings, parts that are not relevant to the description are omitted in order to clearly explain the present invention, and similar parts are designated by similar reference numerals throughout the specification.

[0019] Throughout the specification, when a part is said to be "connected" to another part, this includes not only "directly connected" but also "electrically connected" with another element sandwiched therebetween. Furthermore, when a part is said to "comprise" a certain component, this does not mean that it can further include other components, but does not exclude other components, unless otherwise specified.

[0020] In this specification, the term "unit" includes a unit realized by hardware, a unit realized by software, and a unit realized using both hardware and software. Also, one unit may be realized using two or more pieces of hardware, and two or more units may be realized by one piece of hardware.

[0021] In this specification, some of the operations and functions described as being performed by a terminal or device may instead be performed by a server connected to the terminal or device, and similarly, some of the operations and functions described as being performed by a server may instead be performed by a terminal or device connected to the server.

[0022] Hereinafter, specific details for carrying out the present invention will be described with reference to the attached block diagrams and flowcharts.

[0023] FIG. 1 is a diagram showing the configuration of a road traffic control system according to an embodiment of the present invention.

[0024] 1, a road traffic control system may include a central server 100, multiple local servers 110-1, 110-2, and 110-N, and multiple fusion sensors 120, 130, and 140. However, the road traffic control system of FIG. 1 is merely one embodiment of the present invention, and the present invention should not be construed as being limited by FIG. 1. The road traffic control system may be configured differently from FIG. 1 according to various embodiments of the present invention.

[0025] The multiple fusion sensors 120, 130, 140 are traffic sensing and measuring sensors, and each fusion sensor 120, 130, 140 may include a camera sensor, a radar sensor, a GPU, and a GPS sensor.

[0026] The fusion sensors 120, 130, and 140 are each provided with a detection area to be detected by the fusion sensor, a lane to be detected within the detection area, and a separate event setting area within the detection area.

[0027] Each of the fusion sensors 120, 130, and 140 is a sensor that utilizes a camera sensor and a GPU sensor to improve upon the problem of conventional radars being unable to accurately distinguish the type of traffic object within a sensing area. That is, each of the fusion sensors 120, 130, and 140 may utilize a camera sensor and a GPU sensor to distinguish the type of traffic object (e.g., car, truck, bus, motorcycle, bicycle, etc.) within a sensing area.

[0028] The radar sensor included in each fusion sensor 120, 130, 140 may continuously detect the occurrence of basic traffic even when the camera sensor is degraded. The radar sensor may detect the position information and movement speed of traffic objects moving within the detection area and continuously track and detect the past and current positions of the traffic objects to generate a movement trajectory of the objects accumulated within the detection area.

[0029] Each fusion sensor 120, 130, 140 may use the fusion sensor's GPS information to generate collection time information for the sensed traffic object and location information for the sensing area in which the sensed traffic object is located.

[0030] Each fusion sensor 120, 130, 140 compensates for the problem of conventional radar (i.e., the limitation of not being able to detect stationary objects) by using a camera sensor, and can accurately detect stopped objects even when a traffic object stops due to a traffic situation (e.g., waiting at a traffic light, an accident, etc.).

[0031] Each fusion sensor 120, 130, 140 may provide not only fusion-processed traffic situation sensing information but also information acquired as separate sensors, such as a camera sensor and a radar sensor, to a local server that manages each fusion sensor 120, 130, 140.

[0032] The multiple local servers 110-1, 110-2, and 110-N may integrate and collect sensing information from multiple fusion sensors managed by each local server 110-1, 110-2, and 110-N. For example, the first local server 110-1 may collect sensing information related to sensing areas of multiple fusion sensors 120 installed within a first target road managed by the first local server 110-1.

[0033] The local servers 110-1, 110-2, and 110-N may process basic information such as the sensing area, lane information, and traffic object identification information set in each fusion sensor, and may also generate additional traffic information corresponding to the entire sensing area in real time.

[0034] For example, assume that the first local server 110-1 manages a first fusion sensor for sensing a first sensing area and a second fusion sensor for sensing a second sensing area, and the first and second sensing areas are connected to each other. In this case, if a specific vehicle passes through a specific lane 1-1 in the first sensing area and then uses a specific lane 2-1 in the subsequent second sensing area, the first local server 110-1 may not only collect sensing information about each sensing area from the first and second fusion sensors, but may also generate additional traffic information about a local lane, which is a separately set lane formed by connecting the specific lane 1-1 and the specific lane 2-1.

[0035] The multiple local servers 110-1, 110-2, 110-N may collect sensing information regarding the sensing area of ​​the fusion sensor from at least one fusion sensor installed within the target road managed by each local server 110-1, 110-2, 110-N, and generate traffic information regarding each corresponding target road based on the collected sensing information.

[0036] For example, the first local server 110-1 may generate real-time traffic information regarding the traffic conditions within the detection range, such as the number of all traffic objects operating within the detection area, the current driving speed of each traffic object, the average speed by lane, the number of lane changes, and information regarding the detection area, based on detection information regarding the detection area of ​​multiple fusion sensors 120 installed within the target road managed by the first local server 110-1.

[0037] The local servers 110-1, 110-2, and 110-N may transmit and receive data in real time to and from the fusion sensors 120, 130, and 140 that they manage, and may supply power to the fusion sensors that they manage.

[0038] Each of the local servers 110-1, 110-2, and 110-N may further generate traffic statistical information about sections that cannot be realistically detected due to the performance limitations of the unit sensors.

[0039] The local servers 110-1, 110-2, and 110-N may store the sensing information about the sensing areas of the fusion sensors collected from the fusion sensors 120, 130, and 140 that they manage in their respective local databases.

[0040] As a result, the present invention can solve the problems of conventional traffic control technology (i.e., data concentration and excessive communication traffic within the traffic control center, equipment management and maintenance caused by the amount of data stored, slowdown of the operation system, etc.) by distributing the data collection and storage function of the central server 100 using the local databases of each local server 110-1, 110-2, 110-N.

[0041] The central server 100 may be mainly provided in a server room inside a road traffic control center.

[0042] The central server 100 may be connected to a plurality of local servers 110-1, 110-2, 110-N through various communication methods and receive traffic information on the roads under its management from the plurality of local servers 110-1, 110-2, 110-N.

[0043] The central server 100 may perform interlocking calculations of multiple local controllers that interlock traffic conditions in a region or city beyond the sensing range for each of the local servers 110-1, 110-2, and 110-N.

[0044] The central server 100 processes operation and control command information from the controller who manages road traffic control, and may display current traffic volume information for each city / region on the operator's control screen by zooming in / out on an overall map.

[0045] The central server 100 may calculate inter-city / inter-regional cooperative operation information using traffic information relating to the roads under its management received from the local servers 110-1, 110-2, and 110-N.

[0046] As a result, the present invention overcomes the limitations of conventional traffic control systems (i.e., separate management of traffic volume classified into intermittent flow, continuous flow, and mixed flow depending on the type of road use, such as urban / non-urban / national highway / expressway, etc.), and can provide real-time traffic volume on a national basis regardless of road type.

[0047] Furthermore, the present invention can realize a national road traffic control system that utilizes a national backbone network beyond the local field control system and city / regional control systems.

[0048] In addition, the present invention can distribute / compress road traffic condition information, and can always adjust the unit data communication volume to a constant unit level even if the amount of sensing information collected from each site increases.

[0049] The operation of each component of the road traffic control system of FIG. 1 will now be described in more detail.

[0050] FIG. 2 is a block diagram of the first local server 110-1 shown in FIG. 1 according to one embodiment of the present invention.

[0051] 2, the first local server 110-1 may include a collection unit 200, a traffic information generation unit 210, and a transmission unit 220. However, the first local server 110-1 shown in FIG. 2 is merely an embodiment of the present invention, and various modifications are possible based on the components shown in FIG. 2.

[0052] In the following, FIG. 2 will be described together with FIGS. 3a to 3e.

[0053] The collection unit 200 may collect sensing information about a sensing area of ​​at least one fusion sensor installed within a target road. Here, the fusion sensor may include a camera sensor and a radar sensor. Here, the sensing information may include at least one of location information and type information of traffic objects located within the sensing area, the number of all traffic objects moving within the sensing area, the driving speed of each traffic object, the average speed of each lane in the sensing area, and the number of lane changes.

[0054] 3a, for example, the first fusion sensor 120-1 managed by the first local server 110-1 may sense traffic objects present within a first sensing area 300 sensed by the first fusion sensor 120-1 and generate sensing information related to the sensed traffic objects. Here, the sensing information related to the traffic objects may include, for example, position information of the traffic objects within the first sensing area including lane information of the lane in which the traffic objects are located, moving speed information including a stopped state (i.e., speed 0) of the traffic objects, and type information of the traffic objects (e.g., pedestrian, passenger car, bus, truck (large), truck (small), van (SUV), motorcycle, bicycle, etc.).

[0055] In the first sensing area of ​​the first fusion sensor 120-1, event setting areas 301, 303, and 305 for sensing at least one lane in the target road are set.

[0056] The event setting areas 301, 303, and 305 are areas for detecting whether or not a preset event has occurred within a lane. The preset event may include at least one of a speeding event, a lane change event, a dedicated lane driving violation event, an event indicating whether or not a specific traffic object is operating, an event indicating whether or not a traffic signal has been ignored, and an event indicating whether or not a wrong-way driving event has occurred.

[0057] The first fusion sensor 120-1 may sense the traffic volume for each lane, the average moving speed for each lane, type information of traffic objects, etc., and generate the sensing information. The first fusion sensor 120-1 may also sense the traffic volume, the average moving speed, type information of moving traffic objects, etc., in the event setting areas 301, 303, and 305, and generate the sensing information.

[0058] The first fusion sensor 120-1 may generate sensing information including event information such as the entry / exit time and average movement speed of traffic objects passing through the event setting areas 301, 303, 305, the occupancy length (queue) of stopped traffic objects within the event setting areas 301, 303, 305, the traveling direction of the traffic objects, and lane change operations.

[0059] For example, if an administrator sets the first fusion sensor 120-1 to an area for detecting speeding traffic conditions in the first event setting area 301, the first fusion sensor 120-1 may generate additional event information for a specific traffic object traveling at or above a predetermined reference speed in the first event setting area 301.

[0060] This allows the administrator who operates the traffic control system to check from the event information what type of traffic object was traveling at what time, at what location, and at what speed.

[0061] Here, differences between the present invention and the prior art regarding queue detection function will be described. For example, when an excessive queue is detected in a left-turn lane area and an attempt is made to implement a conventional traffic signal system operation plan by making an exception and providing a priority signal when an overcrowded event occurs, a conventional radar-based traffic control system has a problem in that radar sensors have performance limitations in tracking stopped vehicles and the spatial location of traffic objects cannot be accurately determined using cameras and video analysis.

[0062] However, the fusion sensor of the present invention can accurately detect a stopped traffic object by additionally checking whether the traffic object is actually on the road based on the spatial position information of the traffic object being tracked by the radar sensor and, when the traffic object stops and becomes undetectable on the radar, based on the camera image information. Furthermore, the fusion sensor of the present invention may derive spatial position information when the traffic object at the front of the queue is a large bus or truck, or when it cannot be detected due to image errors caused by lighting or the time of day, by using the position information of the point where the traffic object being tracked by the radar sensor was lost in the situation.

[0063] In this case, when a situation occurs in which the queue exceeds the length of the event setting area using the queue detection function, the present invention can provide an optimal signal system that changes the operation plan of the conventional signal system (not giving a traffic signal to the lane where the queue exceeds the limit) and generates a signal that gives priority to traffic.

[0064] Referring again to FIG. 3a, the first event setting area 301 and the second event setting area 303 may be set to overlap, and the first fusion sensor 120-1 may sense separate event situations in each of the first event setting area 301 and the second event setting area 303.

[0065] For example, if the first event setting area 301 and the second event setting area 303 are set to overlap a specific lane, "Lane-1," and the first fusion sensor 120-1 is set to detect and count the operation of "buses" and "large trucks" in the first event setting area 301, and is set to detect and count "passenger cars," "small trucks," and "motorcycles" in the second event setting area 303, the first fusion sensor 120-1 may detect event information occurring in the first event setting area 301 according to the classification of traffic objects operating in the "Lane-1" area as the traffic volume of large vehicles, and may detect event information occurring in the second event setting area 303 as the traffic volume of small vehicles.

[0066] The traffic volume of large vehicles detected in the first event setting area 301 and the traffic volume of small vehicles detected in the second event setting area 303 may be used to calculate statistics of the operation ratio of large vehicles and small vehicles in the "Lane-1" area. In this case, if a large number of large vehicles pass through, the road's advance maintenance cycle can be scheduled to be shorter than if a large number of small vehicles pass through, thereby achieving optimization of road operation.

[0067] In another example, the first event setting area 301 and the second event setting area 303 are set to overlap the “Lane-1” area, which is a specific lane, and the first fusion sensor 120-1 detects whether a specific reference speed set in advance has been violated in the first event setting area 301, and is set to detect a “large truck” in the second event setting area 303. In this case, the first fusion sensor 120-1 may additionally generate event information in the event overlap setting area 307 indicating that a speeding violation has occurred by a vehicle of the “large truck” type.

[0068] In yet another example, if the first event setting area 301 and the second event setting area 303 are set to overlap the “Lane-1” area, which is a specific lane, and the first fusion sensor 120-1 is set to detect the presence or absence of stopped vehicles in the first event setting area 301 and to detect a “bus” in the second event setting area 303, the first fusion sensor 120-1 may identify only when a “bus” stops within the event overlap setting area 307 and generate separate bus stop event information.

[0069] In this way, the present invention makes it possible to set multiple event superimposition sensing areas in addition to the types of event information that have been set up for conventional use, and to generate different types of event information, so that various cases that can be combined according to the administrator's purpose and intention can be designed and operated by the administrator's settings.

[0070] 2, the traffic information generator 210 may generate traffic information for a target road based on sensing information collected from at least one fusion sensor installed within the target road. Here, the traffic information may include at least one of time-specific traffic information, lane-specific traffic information, traffic object type-specific traffic information, and traffic event-specific traffic information. Here, the traffic event may include, for example, a lane change event, a queue length exceeding event, a speeding event, etc.

[0071] Meanwhile, when measuring traffic volume in an area beyond the sensing area of ​​the unit fusion sensors, the first sensing area 309 sensed by the first fusion sensor 120-1 and the second sensing area 311 sensed by the second fusion sensor 120-2 may be configured to include an overlapping sensing area 313, as shown in Fig. 3b. Also, in order to smoothly measure traffic conditions in an area beyond the sensing area of ​​the unit fusion sensors, a third fusion sensor 120-3 may be installed at a point that minimizes the overlapping sensing area 313.

[0072] In this case, if a traffic object located in the overlapping detection area 313 is overlappingly detected by each fusion sensor 120-1, 120-2, the traffic information generation unit 210 may analyze the similarity between the information about the traffic object collected from each of the first fusion sensor 120-1 and the second fusion sensor 120-2.

[0073] The traffic information generation unit 210 may analyze the similarity in the position, speed, and traffic object type of the traffic object detected by the first fusion sensor 120-1 and the traffic object detected by the second fusion sensor 120-2, and convert the sensing information collected from each fusion sensor 120-1, 120-2 to prevent erroneous sensing due to overlapping sensing of traffic objects in the overlap sensing area 313.

[0074] If a shaded section exists near the location of each of the first fusion sensor 120-1 and the second fusion sensor 120-2 installed within the target road, the traffic information generation unit 210 may track the movement of the traffic object based on the similarity between the distance information of the shaded section and the information about the traffic object entering / exiting the shaded section.

[0075] The traffic information generation unit 210 may analyze the distance information between each fusion sensor 120-1, 120-2 and the shaded section, and the similarity in the position, speed, and type of traffic objects entering / exiting the shaded section, and track the movement of traffic objects.

[0076] In an environment where multiple fusion sensors are installed as shown in Figure 3b, if there are no pedestrians in the crossing area and the average speed of the moving traffic object is significantly lower than the road's specified speed, an optimal signal system can be constructed by changing the period of the road traffic signal.

[0077] Referring to both Figures 3b and 3c, when multiple fusion sensors are installed to form an overlapping sensing area 313, an extended sensing area 315 may be generated, which is an area that can be extended depending on the number of fusion sensors installed by the administrator, regardless of the sensing distance limit of each individual fusion sensor.

[0078] The traffic information generator 210 may further generate traffic information regarding an expanded sensing area 315 including the sensing area of ​​each fusion sensor. Here, the traffic information may include at least one of traffic information by time point, traffic information by lane, traffic information by traffic object type, and traffic information by traffic event.

[0079] In the expanded sensing area 315, the traffic information generating unit 210 may track vehicle object information (ID) detected within each sensing area without any limitation on the range of detection by the unit fusion sensor, and may also classify the information by lane or by type of traffic object. In addition, when building urban infrastructure including the expanded sensing area 315, the traffic information generating unit 210 may track the entry / exit points, types of traffic objects, and entry / exit information of traffic objects that have entered major roads, and the collecting unit 200 may collect detailed information on the speed and lane traveled at specific driving points within the entire driving route.

[0080] The traffic information generator 210 may re-arrange the traffic information for the expanded sensing area 315 based on the GPS location or time information.

[0081] The traffic information generating unit 210 may store the sensing information regarding the sensing area of ​​each fusion sensor, the traffic information regarding the target road including the sensing area, and the traffic information regarding the expanded sensing area in a local database.

[0082] The traffic information generator 210 may further generate traffic statistical information according to a user-defined range of statistics using the information stored in the local database, where the user-defined range of statistics may include, for example, a specific time range, a section range, a traffic event range, a traffic object type range, etc.

[0083] The expanded sensing area 315 may be divided into blocks of a predetermined size as shown in Fig. 3d. Separate occupied blocks may be generated on each lane in the expanded sensing area 315. Each occupied block may be expanded to the entire area of ​​a city or country, and information on the number, type, stopped status, speed, block occupancy rate, and traffic volume of traffic objects entering / exiting the block may be generated for each occupied block.

[0084] The information generated in each occupied block may be classified based on the occupied block identification information. Thus, when communication is possible between the traffic object 317 operating on the road and the V2X communication device 319, information on the traffic flow situation in the entire city area may be provided to the traffic object 317.

[0085] For example, if a traffic object 317 of a specific vehicle type located in the first occupied block 321 is capable of on-board wireless communication, which is typically defined as V2X communication in the field of autonomous driving technology, the traffic object 317 may use V2X communication to transmit destination information and GPS information (or location information from other self-positioning systems) to the central server 100 in order to obtain the optimal driving route and situation information for the road ahead.

[0086] The central server 100 may generate predicted route information using the current location information and destination information of the traffic object 317, and determine the suitability of the predicted route based on the predicted route information and traffic condition information sensed from the area where the traffic object 317 is moving. The central server 100 may also transmit suggested driving lane information 331 derived from the traffic condition information to the traffic object 317.

[0087] When a traffic object 317 is traveling in the first lane 327 and is located in the expanded detection area 315, and a situation that causes traffic congestion (e.g., an accident, continuous buses stopping at a bus stop, etc.) occurs in the second occupied block 323 or the third occupied block 325, which is the preceding traffic information based on the traffic object 317, the central server 100 senses information that can determine congestion indicators such as the number of vehicles and average speed in the second occupied block 323 or the third occupied block 325, and if it determines that a congestion situation exists, it may generate suggested driving lane information 331 that suggests traveling in the second lane 329, which may be the optimal road operating lane, and transmit the suggested driving lane information 331 to the traffic object 317 using V2X communication.

[0088] Referring to FIG. 3e, when multiple fusion sensors 120-1, 120-2, 120-3, and 120-4 are installed in an intersection section, the multiple fusion sensors 120-1, 120-2, 120-3, and 120-4 may generate sensing information including information about traffic objects entering / exiting the intersection overlap sensing area 333 formed by the first to fourth sensing areas sensed by each of the multiple fusion sensors 120-1, 120-2, 120-3, and 120-4.

[0089] For example, the multiple fusion sensors 120-1, 120-2, 120-3, and 120-4 may detect the movement of traffic objects, such as the lane number in which the traffic object entering / exiting the intersection overlap detection area 333 is traveling, the speed of the traffic object, type information of the traffic object, the movement path of the traffic object in the intersection overlap detection area 333, the number of vehicles in the intersection overlap detection area 333, the average traveling speed, changes in the traveling direction of the traffic object (straight ahead / left turn / right turn / U-turn), and whether or not a traffic event has occurred within the intersection overlap detection area 333.

[0090] The sensory information sensed by the multiple fusion sensors 120-1, 120-2, 120-3, and 120-4 may be stored in a local database of the first local server 110-1.

[0091] The traffic information generator 210 may rearrange or reproduce information by traffic object, lane, driving direction (straight ahead / left turn / right turn / U-turn), and event that occurs at a specific time, period, or time period using information stored in a local database.

[0092] The transmitting unit 220 may transmit traffic information about the target road to a central server 100 that cooperates with multiple local servers.

[0093] Meanwhile, conventional traffic signal systems at intersections issue traffic signals (e.g., green / red / left / right) for each direction of traffic axis according to a preset signal cycle. Generally, traffic signals only allow signals for a limited number of traffic axes among multiple traffic axes. However, if the signal cycle cannot reflect the actual traffic situation in real time, traffic congestion will worsen.

[0094] To solve this problem, the traffic information generator 210 may analyze at least one of the congestion level of the intersection overlap sensing area 333 and the congestion level of the traffic axis in the direction of each intersection based on sensing information collected from multiple fusion sensors 120-1, 120-2, 120-3, and 120-4.

[0095] The traffic information generating unit 210 may determine suitability of the intersection section for the intersection signal change period based on the analyzed congestion level.

[0096] The transmitting unit 220 may transmit the result of the compatibility of the intersection section with the intersection signal change period to the central server 100 .

[0097] For example, when traffic permitting and prohibiting signals are operated according to a traffic signal system schedule set by a traffic manager, such as going straight, making a U-turn, turning left, or turning right for each traffic axis, the traffic information generating unit 210 may analyze and generate congestion level information of the intersection overlapping detection area 333 according to the period of the traffic signal system schedule, based on detection information including the vehicle driving speed in the intersection overlapping detection area 333, the road occupancy rate according to the size of the traffic object, and the amount of traffic entering and exiting the intersection overlapping detection area 333 according to the signal system status.

[0098] In addition, the traffic information generation unit 210 may measure traffic volume for each direction (north / south / east / west / northeast / northwest / southeast / southwest) relative to the intersection overlap detection area 333 based on the departing and arriving traffic volume for each lane, based on the intersection overlap detection area 333 and the tangent between each lane constituting each traffic axis, and thereby may analyze and generate traffic volume information for going straight, making a U-turn, turning left, and turning right for each traffic axis based on the intersection overlap detection area 333.

[0099] In addition, the traffic information generation unit 210 may determine the suitability of the section for the intersection signal change period by comparing the congestion level information of the intersection overlap detection area 333 and the traffic arrival and departure traffic volume information for each traffic axis based on the intersection overlap detection area 333 with the traffic signal system schedule information.

[0100] In addition, if the congestion level of the intersection overlap detection area 333 for each signal cycle is uniform, the traffic information generation unit 210 may determine that the optimal signal system status information, which is information for judging the rationality of the signal system status, is at a “good” level.

[0101] If the accumulated statistical analysis result on the congestion degree of the intersection overlap detection area 333 for each signal cycle shows that the deviation of the congestion degree value within the intersection overlap detection area 333 for each signal cycle exceeds a preset threshold or is not uniform, the traffic information generating unit 210 may determine that the optimal signal system status information is at a “bad” level.

[0102] Alternatively, the traffic information generating unit 210 may generate relative intersection signal system status information in which the degree of no deviation and the degree of the greatest deviation are set as maximum and minimum values.

[0103] When the optimal signal system status information is at a “bad” level, the traffic information generating unit 210 may check whether the allowable travel time is exceeded or is insufficient for a specific signal cycle that is the cause of the “bad” level status value, and calculate an alternative allowable travel time.

[0104] The transmitting unit 220 may transmit the alternative signal period information of the calculated permissible travel time to the central server 100. The central server 100 may operate an optimal signal system by displaying signals based on the received alternative signal period information.

[0105] The present invention not only prevents worsening of traffic congestion at intersection sections in real time but also optimizes traffic flow over a wide area by providing alternative optimal traffic signal system information based on the compatibility results of the intersection section with the intersection signal change period.

[0106] In addition, the present invention can provide users with defensive signal system information to detect and prevent events such as ignoring traffic signals, lane change violations, and speeding violations that may cause accidents at intersections with a high probability of traffic accidents.

[0107] Meanwhile, those skilled in the art will be able to fully understand that the collection unit 200, the traffic information generation unit 210, and the transmission unit 220 may be implemented separately, or one or more of them may be implemented in an integrated manner.

[0108] FIG. 4 is a flow chart illustrating a method for controlling road traffic according to one embodiment of the present invention.

[0109] 4, in step S401, the first local server 110-1 may collect sensing information about a sensing area of ​​at least one fusion sensor installed on a target road, where an event setting area for sensing at least one lane on the target road is set in the sensing area.

[0110] In step S403, the first local server 110-1 may generate traffic information for the target road based on the collected sensory information.

[0111] In step S405, the first local server 110-1 may send traffic information to a central server 100 that interfaces with multiple local servers.

[0112] In the above description, steps S401 to S405 may be further divided into additional steps or combined into fewer steps depending on the embodiment of the present invention. Also, some steps may be omitted as necessary, and the order of steps may be changed.

[0113] An embodiment of the present invention may be embodied in the form of a recording medium containing computer-executable instructions, such as program modules, that are executed by a computer. A computer-readable medium may be any available medium that can be accessed by a computer, including both volatile and nonvolatile media, and both detachable and non-detachable media. Furthermore, a computer-readable medium may include all computer storage media. A computer storage medium includes all volatile and nonvolatile, detachable and non-detachable media embodied in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data.

[0114] The above description of the present invention is for illustrative purposes only, and those skilled in the art will understand that the present invention can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. Therefore, it should be understood that the above-described embodiments are illustrative in all respects and not limiting. For example, each component described as a single component may be implemented in a distributed form, and similarly, each component described as a distributed component may be implemented in a combined form.

[0115] The scope of the present invention is indicated by the claims that follow rather than by the detailed description, and all modifications and variations that fall within the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

Claims

1. In the local server that controls road traffic, a collection unit that collects sensing information related to a sensing area of ​​at least one fusion sensor installed within a target road from the fusion sensor; a traffic information generating unit that generates traffic information about the target road based on the collected sensing information; Including, The local server sets an event setting area in the sensing area for sensing at least one lane in the target road.

2. The local server of claim 1 , wherein the fusion sensor includes a camera sensor and a radar sensor.

3. 2. The local server of claim 1, wherein the sensing information includes at least one of location information and type information of traffic objects located within the sensing area, the number of all traffic objects moving within the sensing area, the moving speed of each traffic object, the average speed of each lane in the sensing area, and the number of lane changes.

4. the traffic information generating unit further generates traffic information regarding an expanded sensing area including the sensing area of ​​each fusion sensor; The local server of claim 1 , wherein the traffic information includes at least one of time-specific traffic information, lane-specific traffic information, traffic object type-specific traffic information, and traffic event-specific traffic information.

5. The event setting area is an area for detecting whether a predetermined event occurs within the lane, The local server of claim 1 , wherein the predetermined event includes at least one of a speeding event, a lane change event, a reserved lane driving violation event, and a wrong-way driving event.

6. a first fusion sensor and a second fusion sensor are installed within the target road; When a traffic object is located in an overlapping sensing area where a first sensing area sensed by the first fusion sensor and a second sensing area sensed by the second fusion sensor overlap, The local server according to claim 1 , wherein the traffic information generating unit analyzes similarities between information about the traffic object collected from each of the first fusion sensor and the second fusion sensor.

7. If a shadow section exists near a point where each of the first fusion sensor and the second fusion sensor installed in the target road is located, The local server according to claim 1 , wherein the traffic information generating unit tracks the movement of the traffic object based on a similarity between distance information of the shaded section and information about traffic objects entering / exiting the shaded section.

8. 2. The local server according to claim 1, wherein when a plurality of fusion sensors are installed in an intersection section, the plurality of fusion sensors generate sensing information including information about traffic objects entering / exiting an intersection overlap sensing area formed by sensing areas sensed by each of the plurality of fusion sensors.

9. 9. The local server according to claim 8, wherein the traffic information generating unit analyzes at least one of a congestion degree of the intersection overlap sensing area and a congestion degree of a traffic axis in a direction toward each intersection based on the sensing information collected from the plurality of fusion sensors.

10. The local server according to claim 9 , wherein the traffic information generating unit determines suitability of the intersection section for an intersection signal change period based on the analyzed congestion degree.

11. The local server according to claim 1 , further comprising a transmitter for transmitting the traffic information to a central server that interfaces with a plurality of local servers.

12. 1. A method for controlling road traffic executed by a local server, comprising: collecting sensing information from at least one fusion sensor installed within a target road, the sensing information relating to a sensing area of ​​the fusion sensor; generating traffic information for the target road based on the collected sensory information; A road traffic control method, wherein an event setting area for detecting at least one lane within the target road is set in the detection area.

13. The road traffic control method of claim 12 , wherein the fusion sensor includes a camera sensor and a radar sensor.

14. 13. The road traffic control method of claim 12, wherein the detection information includes at least one of location information and type information of traffic objects located within the detection area, the number of all traffic objects operating within the detection area, the operating speed of each traffic object, the average speed of each lane in the detection area, and the number of lane changes.

15. generating traffic information about the target road further includes generating traffic information about an expanded sensing area including the sensing area of ​​each fusion sensor; The road traffic control method according to claim 12, wherein the traffic information includes at least one of time-specific traffic information, lane-specific traffic information, traffic object type-specific traffic information, and traffic event-specific traffic information.

16. The step of generating traffic information about the target road includes: a first fusion sensor and a second fusion sensor are installed within the target road; When a traffic object is located in an overlapping sensing area where a first sensing area sensed by the first fusion sensor and a second sensing area sensed by the second fusion sensor overlap, The road traffic control method according to claim 12 , further comprising analyzing similarities between information about the traffic object collected from each of the first fusion sensor and the second fusion sensor.

17. The step of generating traffic information about the target road includes: If a shadow section exists near a point where each of the first fusion sensor and the second fusion sensor installed in the target road is located, The road traffic control method according to claim 12, further comprising the step of tracking the movement of the traffic object based on similarity between distance information of the shaded section and information about traffic objects entering / exiting the shaded section.

18. 13. The road traffic control method according to claim 12, wherein, when a plurality of fusion sensors are installed in an intersection section, the plurality of fusion sensors generate sensing information including information about traffic objects entering / exiting an intersection overlap sensing area formed by sensing areas sensed by each of the plurality of fusion sensors.

19. 20. The road traffic control method according to claim 18, further comprising: analyzing at least one of a congestion degree of the intersection overlap sensing area and a congestion degree of a traffic axis in each intersection direction based on the sensing information collected from the plurality of fusion sensors.

20. The road traffic control method according to claim 19, further comprising the step of determining suitability of the intersection section for an intersection signal change period based on the analyzed congestion degree.

21. The road traffic control method according to claim 12, further comprising the step of transmitting the traffic information to a central server that interfaces with a plurality of local servers.

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