Signal control system and method for reducing crossroad accidents on roads with mixed autonomous vehicles

Abstract

To disclose a signal control system and a method for reducing accidents at a crossroad on a road where autonomous vehicles are also present.SOLUTION: The present invention provides a signal control system for reducing accidents at a crossroad on a road where autonomous vehicles are also present. The signal control system includes: an autonomous vehicle 100 that determines whether or not it is in a situation in which collision is likely to occur on the basis of information on automobiles around it; a signal device 200 that is installed on a road in a specific region and changes a signal indication upon receiving a collision possibility notification message from the autonomous vehicle 100; a road-side device 300 that is installed near the road in the specific region and transmits and receives data to and from the autonomous vehicle 100 and the signal device 200; and an integrated management server 400 which transmits and receives data to and from the road-side device 300.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a signal control system and method for reducing crossroad accidents on roads with a mix of autonomous vehicles. [Background technology]

[0002] An autonomous vehicle is a vehicle that can drive automatically without human intervention. Driverless vehicles can recognize their surroundings and drive autonomously by simply specifying a destination.

[0003] Examples of unmanned vehicles that are already in practical use include unmanned vehicles that patrol pre-set routes used by the Israeli military, and unmanned driving systems for dump trucks and other vehicles used in mines and construction sites overseas.

[0004] In addition, autonomous vehicles have recently been released as general passenger cars, and demand for them is expected to explode due to their convenience.

[0005] Therefore, with the influx of autonomous vehicles onto public roads, new road traffic structures and system changes are needed.

[0006] However, until now, there has been no avoidance technology that can immediately respond to atypical emergencies or disasters on roads where autonomous vehicles and regular vehicles coexist, especially on intersections.

[0007] Therefore, technology is needed that can immediately respond to atypical emergencies or disasters on roads where autonomous vehicles and regular vehicles coexist. Summary of the Invention [Problem to be solved by the invention]

[0008] The technical problem to be solved by the present invention is to provide a signal control system and method for reducing intersection accidents on roads where autonomous vehicles and general automobiles are mixed, which can immediately respond when an atypical unexpected situation or disaster occurs on the road where autonomous vehicles and general automobiles are mixed. [Means for solving the problem]

[0009] According to one embodiment, a traffic light control system for reducing cross-road accidents on a road where autonomous vehicles are mixed is provided. The traffic light control system for reducing cross-road accidents on a road where autonomous vehicles are mixed is configured to detect collisions based on information on surrounding vehicles. of Possible There is The autonomous vehicle is installed on roads in specific areas to determine whether a collision is occurring or not, and the autonomous vehicle is installed on roads in specific areas to prevent collisions. of Possible Sexual The system includes a signal device that changes the signal aspect when a notification message is received, roadside devices that are installed around roads in a specific area and transmit and receive data with the autonomous vehicle and the signal device, and an integrated control server that transmits and receives data with the roadside device.

[0010] Traffic lights are protected from collisions by autonomous vehicles of Possible Sexual Upon receiving the notification message, the signal aspect can be changed and the changed signal aspect information can be transmitted to the autonomous vehicle.

[0011] The signal device can transmit the changed signal aspect information to the roadside device, and the roadside device can transmit the changed signal aspect information to the integrated control server.

[0012] According to one embodiment, a traffic light control method for reducing crossroad accidents on a road where autonomous vehicles are mixed is provided. The traffic light control method for reducing crossroad accidents on a road where autonomous vehicles are mixed is a method for controlling a traffic light by an autonomous vehicle based on information on surrounding vehicles. of Possible There is A step of determining whether the autonomous vehicle is in a collision situation. of Possible There isWhen it is determined that the situation is appropriate, the autonomous vehicle crashes into a traffic light. of Possible Sexual A step of transmitting a notification message and a signaling device detecting a collision from the autonomous vehicle. of Possible Sexual and upon receiving the notification message, modifying the signal aspect and transmitting the modified signal aspect information to the autonomous vehicle. Effect of the Invention

[0013] The present invention can immediately respond to atypical emergencies or disasters occurring on roads where autonomous vehicles and general vehicles coexist.

[0014] In addition, the present invention is a method for predicting collisions of autonomous vehicles based on information on surrounding vehicles. of Possible There is When it is determined that a collision is occurring, a collision can be avoided by changing the signal aspect of the signal device.

[0015] In addition, the present invention can prevent traffic congestion in other areas by transmitting the changed signal status information to roadside devices in other areas. [Brief description of the drawings]

[0016] [Figure 1] 1 is a representative block diagram of a signal control system for reducing intersection accidents on a road where autonomous vehicles coexist according to the present invention; [Diagram 2] 1 is a diagram illustrating a signal control system for reducing intersection accidents on a road where autonomous vehicles are present according to an embodiment. FIG. [Diagram 3] FIG. 1 is a block diagram of a signal control system for reducing crossroad accidents on roads with mixed autonomous vehicles according to one embodiment. [Figure 4] 1 is a flowchart of a signal control method for reducing crossroad accidents on a road with mixed autonomous vehicles according to one embodiment. [Diagram 5] FIG. 13 is an exemplary diagram for explaining another embodiment. [Figure 6] FIG. 11 is a block diagram of another embodiment. [Figure 7] 11 is a flowchart of another embodiment. [Figure 8] FIG. 13 is a block diagram of yet another embodiment. [Figure 9] 13 is a flowchart of yet another embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, with reference to the accompanying drawings, an embodiment of the present invention will be described in detail so that a person having ordinary skill in the art to which the present invention belongs can easily carry out the embodiment. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein. In addition, in the drawings, in order to clearly explain the present invention, parts that are not related to the description are omitted, and similar parts are designated by similar reference numerals throughout the specification.

[0018] Throughout the specification, when a part is described as "comprising" a certain element, this means that it may further include other elements, not excluding other elements, unless specifically stated to the contrary.

[0019] The terms used in the embodiments of the present invention are selected as general terms that are currently widely used as much as possible while taking into consideration the functions of the present invention, but this may change depending on the intentions or precedents of engineers working in the field, the emergence of new technologies, etc. In addition, in certain cases, there are terms arbitrarily selected by the applicant, and in this case, the meanings are described in detail in the description of the corresponding embodiments. Therefore, the terms used in the present embodiment should be defined based on the meanings that the terms have and the overall content of the present embodiment, rather than simply the names of the terms.

[0020] In the embodiments of the present invention, terms including ordinal numbers such as first, second, etc. may be used to describe various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from another component. For example, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component, without departing from the scope of the present invention. The term and / or includes a combination of multiple related listed items or any item of multiple related listed items.

[0021] Furthermore, in the embodiments of the present invention, a singular expression includes a plural expression unless the context clearly indicates a different meaning.

[0022] In addition, in the embodiments of the present invention, terms such as "comprise" or "have" specify the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and should be understood not to preclude the presence or additional possibility of one or more different features, numbers, steps, operations, components, parts, or combinations thereof.

[0023] In addition, in the embodiments of the present invention, a "module" or "unit" performs at least one function or operation and can be realized by hardware or software, or a combination of hardware and software. Furthermore, multiple "modules" or multiple "units" can be integrated into at least one module and realized as at least one processor, except for "modules" or "units" that need to be realized by specific hardware.

[0024] FIG. 1 is a block diagram of a signal control system for reducing intersection accidents on roads where autonomous vehicles are mixed according to one embodiment, and FIG. 2 is a diagram for explaining a signal control system for reducing intersection accidents on roads where autonomous vehicles are mixed according to one embodiment.

[0025] 1 and 2, a traffic light control system for reducing intersection accidents on a road where autonomous vehicles are mixed according to one embodiment includes an autonomous vehicle 100, a traffic light device 200, a roadside device 300, an integrated control server 400, and an emergency detection device 500.

[0026] In one embodiment, autonomous vehicle 100 may be a vehicle that drives on roads by itself without the assistance of a driver, based on information from various sensors (e.g., an ego car).

[0027] In one embodiment, the autonomous vehicle 100 can transmit and receive data with surrounding automobiles 21, can transmit and receive data with a signaling device 200 (I2V), and can transmit and receive data with a roadside device 300 (V2I). In one embodiment, the surrounding automobiles 21 can be general automobiles or the autonomous vehicle 100 including a communication module.

[0028] In one embodiment, the autonomous vehicle 100 may include a communication module that transmits and receives data to and from nearby vehicles 21, signaling devices 200, and roadside devices 300 using wireless communication.

[0029] In one embodiment, autonomous vehicle 100 can calculate information (e.g., speed, relative distance, etc.) about surrounding automobiles via various sensors (e.g., lidar, radar, ultrasonic sensor, GPS, image sensor, etc.).

[0030] In one embodiment, the autonomous vehicle 100 uses pre-stored artificial intelligence algorithms to predict collisions based on information about surrounding vehicles. of Possible There is It is possible to determine whether or not this is the situation.

[0031] In one embodiment, the pre-stored artificial intelligence algorithm may be a machine learning algorithm or a deep learning algorithm.

[0032] In one embodiment, the signal device 200 may be installed on a road in a particular area and may include indicator lights of different colors (e.g., red, orange, and green).

[0033] In one embodiment, the signaling device 200 can transmit and receive data to and from the autonomous vehicle 100 (I2V) and can transmit and receive data to and from the roadside device 300 (I2I).

[0034] In one embodiment, the signaling device 200 may include a communication module that transmits and receives data to and from the autonomous vehicle 100 and the roadside device 300 using wireless communication.

[0035] In one embodiment, the signaling device 200 detects a collision from the autonomous vehicle 100. of Possible Sexual Upon receiving the notification message, the signal phase can be changed (e.g., a red indicator light can be changed to a green indicator light, or the duration of an amber indicator light can be changed). In one embodiment, the signal device 200 notifies the autonomous vehicle 100 of a collision risk when the autonomous vehicle 100 approaches a stop line. of Possible Sexual Upon receiving the notification message, the signaling device 200 can change the signal aspect from an amber indicator light to a green indicator light, or can keep the amber indicator light on for a longer period of time.

[0036] In one embodiment, the signal device 200 can transmit the changed signal current information to the autonomous vehicle 100. In one embodiment, the autonomous vehicle 100 can set the driving speed and driving direction based on the changed signal current information. For example, when the autonomous vehicle 100 enters an intersection, the signal device 200 turns on the orange indicator light, and the autonomous vehicle 100 determines whether or not a collision is occurring based on information from surrounding vehicles. of Possible There is When it is determined that such a situation exists, the signal aspect of the signal device 200 is changed to allow the vehicle to continue traveling without stopping, thereby avoiding a collision.

[0037] In one embodiment, the signal device 200 can transmit changed signal state information to the roadside device 300 .

[0038] In addition, as another embodiment, the signal device 200 may further include a display device that outputs a collision warning message from the integrated control server 400 .

[0039] In one embodiment, the roadside device 300 may be a Road Side Unit (RSU) that may be installed around roads in a particular area (or at intersections, road work sections, etc.) and transmits and receives data to and from all moving vehicles.

[0040] In one embodiment, the roadside device 300 may include a communication module that transmits and receives data to and from the autonomous vehicle 100, the signal device 200, and the integrated control server 400 using wireless communication.

[0041] In one embodiment, the roadside device 300 may transmit the changed signal state information received from the signal device 200 to the integrated control server 400 .

[0042] The sudden incident detection device 500 can be at least one of a video monitor, radar, and lidar sensor, and can predict a collision between the autonomous vehicle 100 on the road and surrounding vehicles, and transmit the prediction result to the traffic light device 200 and / or the integrated control server 400.

[0043] When the integrated control server 400 receives the changed signal current information from the roadside device 300, it can transmit the information to the roadside device 300 in other areas. This can prevent traffic congestion in other areas.

[0044] In one embodiment, the integrated control server 400 may include a communication module that transmits and receives data to and from the roadside device 300 using wireless communication.

[0045] In another embodiment, the integrated control server 400 detects a collision between the autonomous vehicle 100 and a surrounding vehicle by using a sudden collision detection device 500. of It is possible to predict the possibility and output a warning message on the display device.

[0046] In another embodiment, the integrated control server 400 detects a collision between the autonomous vehicle 100 and a surrounding vehicle. of The possibilities can be predicted and the information can be sent to the autonomous vehicle 100.

[0047] In another embodiment, the integrated control server 400 detects a collision between the autonomous vehicle 100 and a surrounding vehicle. of The possibility can be predicted and the signal device 200 can be controlled to adjust the signal situation information.

[0048] With the above-described configuration, the present invention provides a method for predicting a collision of the autonomous vehicle 100 from the viewpoint of the autonomous vehicle 100, the viewpoint of the infrastructure, and the viewpoint of the integrated control server 400, respectively. of Various embodiments can be included that provide control and information to autonomous vehicle 100 so that potential problems can be predicted and avoided.

[0049] One embodiment capable of avoiding collisions from the perspective of autonomous vehicle 100 will be described with reference to FIGS. 3 and 4. FIG.

[0050] FIG. 3 is a block diagram of a signal control system for reducing crossroad accidents on roads with mixed autonomous vehicles according to one embodiment.

[0051] Referring to FIG. 3, a traffic light control system for reducing intersection accidents on a road where autonomous vehicles are mixed according to one embodiment may include an autonomous vehicle 100, a first signal device 210, a first roadside device 310, a second signal device 220, a second roadside device 320, and an integrated control server 400.

[0052] In one embodiment, the autonomous vehicle 100 can be a car that autonomously drives on a road based on information from various sensors.

[0053] In one embodiment, the first signal device 210 is installed on a road in one area (eg, a first intersection) and can display a traffic signal.

[0054] In one embodiment, the first roadside device 310 is installed near a road in one area (e.g., a first intersection) and can transmit and receive data with the autonomous vehicle 100, the first signaling device 210, and the integrated control server 400.

[0055] In one embodiment, the second signal device 220 is installed on a road in another area (eg, a second intersection) and can display a traffic signal.

[0056] In one embodiment, the second roadside device 320 is installed near a road in another area (eg, a second intersection) and can transmit and receive data to and from the second signaling device 220 and the integrated control server 400 .

[0057] In one embodiment, the integrated control server 400 can transmit and receive data to and from the first roadside device 310 .

[0058] In one embodiment, the autonomous vehicle 100 is configured to predict collisions based on information about surrounding vehicles. of Possible There is Determine whether the situation is a collision of Possible There is If it is determined that the collision is occurring, the first signaling device 210 of Possible Sexual Notification messages can be sent.

[0059] In one embodiment, the first signaling device 210 detects a collision from the autonomous vehicle 100. of Possible Sexual Upon receiving the notification message, the signal aspect may be changed and the changed signal aspect information may be transmitted to autonomous vehicle 100.

[0060] In one embodiment, the first signaling device 210 may transmit the changed signal state information to the first roadside device 310 .

[0061] In one embodiment, the first roadside device 310 may transmit the changed signal status information to the integrated control server 400 .

[0062] In one embodiment, the integrated control server 400 may transmit the changed signal state information to the second roadside device 320 .

[0063] In one embodiment, the second roadside device 320 may transmit the changed signal state information to the second signal device 220 .

[0064] In one embodiment, the second signal device 220 can change the signal aspect based on the changed signal aspect information, thereby preventing traffic congestion in other areas.

[0065] FIG. 4 is a flowchart of a signal control method for reducing crossroad accidents on a road with a mix of autonomous vehicles according to one embodiment.

[0066] Referring to FIG. 4, a method for controlling traffic lights for reducing intersection accidents on a road where autonomous vehicles are mixed according to an embodiment of the present invention is a method for controlling traffic lights for reducing intersection accidents on a road where autonomous vehicles are mixed according to an embodiment of the present invention. of Possible There is A step of determining whether the autonomous vehicle 100 is in a collision situation (S110); of Possible There is When it is determined that the autonomous vehicle 100 is in a situation where it collides with the signal device 200, of Possible Sexual A step of transmitting a notification message (S120), and a step of detecting a collision from the autonomous vehicle 100 when the signaling device 200 detects a collision from the autonomous vehicle 100 of Possible Sexual Upon receiving the notification message, the method may include a step (S130) of changing the signal aspect and transmitting the changed signal aspect information to the autonomous vehicle 100, a step (S140) of the signal device 200 transmitting the changed signal aspect information to the roadside device 300, and a step (S150) of the roadside device 300 transmitting the changed signal aspect information to the integrated control server 400.

[0067] Steps S110 to S150 are the same as the operation of the signal control system for reducing intersection accidents on roads where autonomous vehicles are present, described above, and therefore a detailed description thereof will be omitted.

[0068] The present invention also includes other embodiments for controlling avoidance of autonomous vehicle 100 from an infrastructure perspective, which will be described with reference to FIGS.

[0069] FIG. 5 is an example for explaining a signal control system for reducing crossroad accidents on a road where autonomous vehicles are mixed according to another embodiment, and FIG. 6 is a block diagram illustrating a signal control system for reducing crossroad accidents on a road where autonomous vehicles are mixed according to another embodiment.

[0070] Referring to Figures 5 and 6, another embodiment of the present invention may include an autonomous vehicle 100, a first signaling device 210, a first roadside device 310, a second signaling device 220, a second roadside device 320, a sudden detection device 500 and an integrated control server 400.

[0071] Among these, the sudden detection device 500 includes at least one of an image sensor, a radar sensor, and a lidar sensor, and detects vehicles on the road. The sudden detection device 500 transmits information to the autonomous vehicle 100, the signal device 200, and the integrated control server 400 via the roadside device 300.

[0072] For example, the sudden collision detection device 500 detects the road in real time, and when the autonomous vehicle 100 approaches from one direction, and when a surrounding vehicle approaches the autonomous vehicle 100 from behind, the sudden collision detection device 500 detects information of the surrounding vehicles, such as their speed and relative distance, and detects a collision. of and predicting the possibility of a collision with the first signaling device 210 and / or the autonomous vehicle 100. of Transmits likely vehicle information (e.g., direction and speed).

[0073] In one embodiment, the autonomous vehicle 100 is an automobile that autonomously drives on a road based on information from various sensors. of Possible Sexual Avoidance control is carried out based on the information.

[0074] Here, the avoidance control of the autonomous vehicle can be selectively applied depending on the situation. For example, in the case of a collision with a rear vehicle at an intersection, of Possible There is When this happens, you may need to change lanes, accelerate, turn right or left, or collide with a vehicle ahead. of Possible There is When the situation requires it, the vehicle can be selectively decelerated or stopped, or suddenly accelerated depending on the situation.

[0075] The first signal device 210 may be installed on a road and display a traffic signal. For example, when the first signal device 210 at an intersection receives information from the suddenness detection device 500, the first signal device 210 adjusts the signal aspect information to maintain an orange signal light for a longer period of time so that the target autonomous vehicle 100 can pass.

[0076] The first roadside device 310 is installed near the road and can transmit and receive data with the autonomous vehicle 100, the first signal device 210, the sudden detection device 500, and the integrated control server 400. That is, the first roadside device 310 transmits information from the sudden detection device 500 to the first signal device 210 and / or the autonomous vehicle 100, and transmits signal aspect adjustment information from the first signal device 210 to the integrated control server 400.

[0077] The second signal device 220 is installed on a road in another area (eg, a second intersection) and can display a traffic signal.

[0078] The second roadside device 320 is installed around a road in another area (eg, a second intersection) and can transmit and receive data to and from the second signaling device 220 and the integrated control server 400 .

[0079] The integrated control server 400 can transmit and receive data to and from the first roadside device 310 and the second roadside device 320. For example, the integrated control server 400 controls the second signaling device 220 installed in another area according to the signal aspect information of the first signaling device 210 to adjust the signal aspect.

[0080] That is, the integrated control server 400 can adjust the signal aspect of the second signal device 220 installed in another area to prevent traffic congestion caused by adjusting the signal aspect of the first signal device 210.

[0081] The configuration of the other embodiment as described above is a configuration in which the suddenness detection device 500 belonging to the infrastructure detects a collision between the autonomous vehicle 100 and a surrounding vehicle. of A avoidance technique is proposed from the viewpoint of infrastructure that allows for determining the possibility, and can be combined with one embodiment described above or applied alone.

[0082] The present invention includes another embodiment of a signal control method for reducing intersection accidents on a road where autonomous vehicles are mixed, which is achieved by the above configuration, and this will be described with reference to FIG. 7.

[0083] FIG. 7 is a flowchart of a signal control method for reducing crossroad accidents on a road where autonomous vehicles are mixed according to another embodiment.

[0084] Referring to FIG. 7, another embodiment of the traffic light control method for reducing intersection accidents on a road where autonomous vehicles are mixed according to the present invention is a collision detection method using a sudden collision detection device 500. of The method includes a step S210 of determining whether or not a collision is possible, a step S220 of transmitting information to the signal device 200 and / or the autonomous vehicle 100 via the roadside device 300 if a collision situation is predicted by the sudden collision detection device 500, a step S230 of adjusting the signal aspect at the signal device 200 and / or the autonomous vehicle 100 performing avoidance control, a step S240 of transmitting the signal aspect information to the integrated control server 400, and a step S250 of controlling the signal aspect of the signal devices 200 in other areas by the integrated control server 400.

[0085] Step S210 is a step in which the suddenness detection device 500 predicts whether or not there will be a collision between the autonomous vehicle 100 and a nearby vehicle. For example, when the autonomous vehicle 100 approaches an intersection, the suddenness detection device 500 detects the lane, direction, and / or speed of the nearby vehicle and predicts whether or not there will be a collision with the autonomous vehicle 100. of Predict possibilities.

[0086] In step S220, the collision detection device 500 detects a collision between the autonomous vehicle 100 and a surrounding vehicle. of A step of determining that there is a possibility and transmitting information to the first signaling device 210 and / or the autonomous vehicle 100.

[0087] For example, the suddenness detection device 500 detects the speed and direction of surrounding vehicles approaching from behind before the autonomous vehicle 100 enters an intersection. Here, the signal of the first signal device 210 is about to change from a green signal to an orange signal.

[0088] Therefore, the sudden collision detection device 500 detects a collision with a rear vehicle when the autonomous vehicle 100 stops at a traffic light. of Possible sex If it is determined that there is a collision, the first roadside device 310 notifies the first traffic light device 210 of the collision. of Send information about the possibility.

[0089] Alternatively, the suddenness detection device 500 may detect a collision with an autonomous vehicle. of Possible Sexual Send information.

[0090] Step S230 is a step in which the first signaling device 210 adjusts the signal aspect. of Possible sex When the system receives this information, it adjusts the signal phase of the traffic lights (e.g., maintaining a yellow light or changing from a red light to a green light) to allow the autonomous vehicle to pass through without stopping.

[0091] Here, when the autonomous vehicle receives a signal from the sudden collision detection device 500, it changes lanes to avoid the vehicle approaching from behind.

[0092] In such an autonomous vehicle, lane changes and signal aspect adjustments of the first signaling device 210 can be performed simultaneously or separately.

[0093] Step S240 is a step in which the sudden detection device 500 and / or the first signal device 210 transmits information to the integrated control server 400. For example, the first signal device 210 adjusts a signal aspect and transmits related information to the integrated control server 400 via the first roadside device 310.

[0094] Step S250 is a step in which the integrated control server 400 transmits a signal aspect command to the second signal device 220. The second signal device 220 is installed at the next intersection following the intersection where the first signal device 210 is located, and changes the signal aspect according to the change in the signal aspect of the first signal device 210.

[0095] The present invention also enables avoidance control of an autonomous vehicle from the perspective of the integrated control server 400. This will be described with reference to FIGS.

[0096] FIG. 8 is a block diagram of yet another embodiment.

[0097] Referring to FIG. 8, yet another embodiment of the present invention may include an autonomous vehicle 100, a first signaling device 210, a first roadside device 310, a second signaling device 220, a second roadside device 320, a sudden detection device 500 and an integrated control server 400.

[0098] Here, the first signaling device 210 includes a first display device 230 that outputs information of the integrated control server 400 .

[0099] In addition, the second signaling device 220 further includes a second display device 240 that outputs information of the integrated control server 400 .

[0100] At least one of the sudden detection device 500, a lidar sensor, a radar sensor, and an image sensor collects information in real time and transmits it to the integrated control server 400.

[0101] The integrated control server 400 collects real-time information from the sudden collision detection device 500 and detects a collision of the autonomous vehicle 100. of Calculate the probability of collision of If there is a possibility, the first display device 230 is controlled to prevent a collision between the autonomous vehicle 100 and surrounding vehicles. of Possible Sexual The information is announced, and the traffic information of the first signaling device 210 is output to the second display device 240 in real time.

[0102] For this purpose, in yet another embodiment, the first signaling device 210 and the second signaling device 220 further include a first display device 230 and a second display device 240 for outputting information of the integrated control server 400 .

[0103] In addition, the integrated control server 400 of If so, the information is sent to the first signaling device 210 and the autonomous vehicle 100 to enable the autonomous vehicle to change lanes and the signal phase of the first signaling device 210 to be changed in the embodiments described above.

[0104] That is, in yet another embodiment of the present invention, the integrated control server 400 collects information in real time and detects a collision of the autonomous vehicle 100. of Detects the possibility of a collision and displays it via the first display device 230 of Possible Sexual The device is characterized in that it outputs information or transmits relevant information to the autonomous vehicle 100 and / or the first signaling device 210 to prevent the autonomous vehicle 100 from colliding in advance.

[0105] The present invention further includes a signal control method for reducing intersection accidents on a road where autonomous vehicles are mixed, according to another embodiment, which will be described with reference to FIG.

[0106] FIG. 9 is a flowchart of a signal control method for reducing intersection accidents on a road where autonomous vehicles are mixed according to yet another embodiment.

[0107] Referring to FIG. 9, another embodiment of the present invention includes a step S310 of collecting information in real time by the integrated control server 400, and a step S320 of detecting a collision of the autonomous vehicle 100 by the integrated control server 400. of Possible sex The method includes step S320 of determining whether or not to allow the autonomous vehicle 100 to avoid a traffic jam, step S330 of transmitting information by the integrated control server 400, step S340 of at least one of the signal device 200 and the display device and / or the autonomous vehicle 100 performing avoidance control in accordance with the signal from the integrated control server 400, and step S350 of controlling the signal device 200 in other areas by the integrated control server 400 to prevent traffic congestion.

[0108] Step S310 is a step in which the integrated control server 400 collects information in real time. The sudden detection device 500, which includes at least one of an image sensor, a lidar sensor, and a radar sensor, detects information such as the position, speed, and direction of a vehicle on a road, and transmits the information to the integrated control server 400 via the first roadside device 310.

[0109] In addition, the first signal device 210 transmits signal status information, such as signal changes and / or maintenance, to the integrated control server 400 in real time via the first roadside device 310 .

[0110] Therefore, the integrated control server 400 can collect information from the sudden incident detection device 500 and the first signal device 210 in real time.

[0111] In step S320, the integrated control server 400 analyzes the information collected in real time and determines whether the autonomous vehicle 100 is in a collision state. of The integrated control server 400 detects the possibility of a collision between the autonomous vehicle 100 and a surrounding vehicle through information collected in real time from the sudden collision detection device 500 and / or the first signal device 210. of Possible sex Sense whether or not.

[0112] In step S330, the integrated control server 400 detects a collision of an autonomous vehicle. of Possible sex Upon detecting a collision, the signal device 200, the autonomous vehicle 100, and / or the display device are controlled to notify the driver of the collision. of Possible Sexual This is a step of transmitting information to the integrated control server 400. of The system notifies autonomous vehicle 100 of the possibility of an accident and guides the autonomous vehicle 100 in taking avoidance control (e.g., changing lanes, decelerating, accelerating, stopping) under conditions set according to the situation.

[0113] In addition, the integrated control server 400 detects a collision with the first signaling device 210. of Possible Sexual Transmit information to change signal aspects.

[0114] In addition, the integrated control server 400 displays, by the first display device 230, a collision with a surrounding vehicle. of It can warn of the possibility.

[0115] Information transmission from the integrated control server 400 to the autonomous vehicle 100, the first signaling device 210, and the first display device 230 can be performed collectively or selectively.

[0116] Step S340 is a step in which the first signaling device 210 receives a signal from the integrated control server 400 and adjusts (modifies) the signal aspect.

[0117] Alternatively, step S340 is a step in which the autonomous vehicle 100 receives a signal from the integrated control server 400 via the first roadside device 310 and performs avoidance control (for example, lane change or acceleration) of surrounding vehicles.

[0118] Alternatively, step S340 is a step in which first display device 230 receives a signal from integrated control server 400 and outputs a message to warn autonomous vehicle 100 and / or surrounding vehicles of a collision.

[0119] That is, step S340 is a step in which at least one of the autonomous vehicle 100, the first signaling device 210, and the first display device 230, which have received a signal from the integrated control server 400, performs avoidance control to avoid a collision.

[0120] Step S350 is a step in which the integrated control server 400 corrects the traffic signal or outputs a message using at least one of the second signal device 220 and the second display device 240 installed at the next intersection connected to the site in order to prevent traffic congestion in other areas connected to the site.

[0121] In this way, the present invention proposes technology for preventing collisions at intersections where autonomous vehicles are mixed, from the perspective of autonomous vehicles, infrastructure, and an integrated control server.

[0122] In addition, the present invention has no difficulty in applying at least one of the aspects of the autonomous vehicle, infrastructure, and integrated control server 400 to a real-world situation, thereby making it possible to reliably prevent collision accidents in areas where congested road conditions such as intersections are prevalent.

[0123] Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concept of the present invention defined in the following claims also fall within the scope of the present invention.

[0124] Those skilled in the art who are familiar with the technical field related to the present embodiment can understand that the present invention can be realized in modified forms without departing from the essential characteristics of the above description. Therefore, the disclosed method should be considered in an explanatory rather than a limiting sense. The scope of the present invention is shown in the claims, not in the above description, and all differences within the scope equivalent thereto should be interpreted as being included in the present invention. [Explanation of symbols]

[0125] 100 Autonomous Vehicles 200 Signaling Device 300 Roadside equipment 400 Integrated Control Server 500 Sudden incident detection device

Claims

1. An autonomous vehicle (100) that determines whether or not a collision is possible based on information about surrounding automobiles; A signal device (200) is installed on a road in a specific area and located on a driving lane of the autonomous vehicle (100), and when the signal device (200) receives a notification message from the autonomous vehicle (100) indicating that a collision is possible, the signal device (200) changes the color or lighting time of a signal aspect so that the autonomous vehicle (100) can pass without stopping; A roadside device (300) installed around roads in the specific area and transmitting and receiving data to and from the autonomous vehicle (100) and the signal device (200); A signal control system for reducing intersection accidents on a road where autonomous vehicles are mixed, comprising the roadside device (300) and an integrated control server (400) for transmitting and receiving data.

2. The signaling device (200) 2. A signal control system for reducing intersection accidents on roads where autonomous vehicles are mixed, as described in claim 1, which, upon receiving a notification message of the possibility of a collision from the autonomous vehicle (100), changes the color or lighting time of the signal aspect so that the autonomous vehicle (100) can pass without stopping, and transmits the changed signal aspect information to the autonomous vehicle (100).

3. The signaling device (200) Transmitting the changed signal status information to the roadside device (300); The roadside device (300) 3. The signal control system for reducing intersection accidents on a road where autonomous vehicles are mixed, according to claim 2, further comprising: transmitting the changed signal current information to the integrated control server (400).

4. An autonomous vehicle (100); A sudden-onset detection device (500) that is installed on a road in a specific area and predicts the possibility of a collision between surrounding automobiles; A signal device (200) is installed on a road in the specific area and located on a driving lane of the autonomous vehicle (100), and when the signal device (200) receives information from the suddenness detection device (500) that there is a possibility of a collision of the autonomous vehicle (100), the signal device (200) changes the color or lighting time of a signal aspect so that the autonomous vehicle (100) can pass without stopping; A roadside device (300) that is installed around a road in the specific area and transmits and receives data to at least one of the sudden detection device (500), the autonomous vehicle (100), and the signal device (200); A signal control system for reducing intersection accidents on a road where autonomous vehicles are mixed, comprising the roadside device (300) and an integrated control server (400) for transmitting and receiving data.

5. The signaling device (200) 5. A signal control system for reducing intersection accidents on roads where autonomous vehicles are mixed, as described in claim 4, which, when receiving information from the sudden collision detection device (500) that there is a possibility of a collision, changes the color or lighting time of the signal aspect so that the autonomous vehicle (100) can pass without stopping, and transmits the changed signal aspect information to at least one of the autonomous vehicle (100) and the integrated control server (400).

6. The signaling device (200) 6. A signal control system for reducing intersection accidents on roads where autonomous vehicles are mixed, as described in claim 5, wherein the changed signal status information by the roadside device (300) is transmitted to the integrated control server (400).

7. An autonomous vehicle (100); A sudden detection device (500) that collects road conditions in a specific area in real time; A signal device (200) installed on a road in the specific area; A roadside device (300) that is installed around a road in the specific area and transmits and receives data to at least one of the sudden detection device (500), the autonomous vehicle (100), and the signal device (200); and an integrated control server (400) that detects the possibility of a collision by collecting information on the road in the specific area in real time using the roadside device (300) and transmits information on the possibility of a collision to at least one of the signal device (200) and the autonomous vehicle (100), The signal device (200) located on a driving lane of the autonomous vehicle (100) When receiving information indicating the possibility of a collision from the integrated control server (400), the color or lighting time of a traffic signal is changed so that the autonomous vehicle (100) can pass without stopping, and the changed traffic signal information is transmitted to at least one of the autonomous vehicle (100) and the integrated control server (400). A signal control system for reducing cross-road accidents on roads with autonomous vehicles.

8. The autonomous vehicle (100) 8. The signal control system for reducing intersection accidents on roads where autonomous vehicles are mixed, as described in claim 7, characterized in that when the integrated control server (400) receives information indicating a possibility of a collision, the system changes lanes or accelerates.

9. 8. The signal control system for reducing intersection accidents on roads where autonomous vehicles are mixed, as described in claim 7, further comprising a display device that is installed around the road in the specific area, receives information about the possibility of a collision from the integrated control server (400), and outputs a warning message.

10. A step in which the autonomous vehicle (100) determines whether a collision situation is likely based on information about surrounding automobiles; When the autonomous vehicle (100) determines that the collision is likely, the autonomous vehicle (100) transmits a notification message of a possible collision to a signal device (200) located on a driving lane of the autonomous vehicle (100); When the signal device (200) receives the notification message of the possibility of collision from the autonomous vehicle (100), the signal device (200) changes the color or lighting time of a signal aspect so that the autonomous vehicle (100) can pass without stopping, and transmits the changed signal aspect information to the autonomous vehicle (100); A step in which the signal device (200) transmits the changed signal current information to a roadside device (300); The roadside device (300) transmits the changed signal current information to an integrated control server (400); A signal control method for reducing intersection accidents on roads where autonomous vehicles are mixed, comprising a step in which the integrated control server (400) controls signal devices (200) in other areas to change the color or lighting time of their signal aspects.

11. A step of predicting a possibility of a collision between the autonomous vehicle (100) and a surrounding vehicle on a road in a specific area using a sudden detection device (500) having at least one of a lidar sensor, a radar sensor, and an image sensor; determining that there is a possibility of a collision by the suddenness detection device (500) and transmitting information on the possibility of a collision to a signal device (200) located on the driving lane of the autonomous vehicle (100); When the signal device (200) receives information on a possibility of a collision from the suddenness detection device (500), the signal device (200) changes a color or a lighting time of a signal aspect so that the autonomous vehicle (100) can pass without stopping; The signal device (200) transmits changed signal current information to a roadside device (300); The roadside device (300) transmits the changed signal current information to an integrated control server (400); A signal control method for reducing intersection accidents on roads where autonomous vehicles are mixed, comprising a step in which the integrated control server (400) controls signal devices (200) in other areas to change the color or lighting time of their signal aspects.

12. Collecting information detected on roads in a specific area in real time in an integrated control server (400); Detecting whether there is a possibility of a collision between surrounding vehicles based on information collected in real time by the integrated control server (400); When detecting a possibility of a collision between the autonomous vehicle (100) and a surrounding vehicle based on the information collected by the integrated control server (400), transmitting information on the possibility of a collision to at least one of a signal device (200), the autonomous vehicle (100), and a display device located on the driving lane of the autonomous vehicle (100) in the area; At least one of the signal device (200), the autonomous vehicle (100) and the display device receives the collision possibility information from the integrated control server (400) and performs a collision avoidance process; The integrated control server (400) outputs signal aspects and traffic information to at least one of the signal devices (200) and display devices of other areas, In the step of performing the collision avoidance process, The signal device (200) changes the color or lighting time of the signal aspect so that the autonomous vehicle (100) can pass without stopping, The autonomous vehicle (100) operates with a vehicle avoidance action set to one of lane change, acceleration, or deceleration, The display device outputs a notification message of a possibility of a collision to surrounding vehicles, the signal control method for reducing intersection accidents on a road where autonomous vehicles are mixed.

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