Method and device for providing driving guidance through nomadic device users

Abstract

The present invention aims to provide a real-time driving map service targeting all traffic objects, including non-autonomous vehicles (Non-CAVs) and pedestrians or bicycles (VRUs), which was previously only possible for autonomous vehicles (CAVs); to accurately collect and process the location and driving intention of non-autonomous vehicles using a Nomadic Device; to analyze conflict risks in real-time in complex traffic situations such as intersections and merging points and to generate an optimal driving map, thereby securing technology that can flexibly respond to changes in traffic conditions to update or cancel the driving map; and to visually provide driving information on the Nomadic Device screen in a user-friendly manner so that non-autonomous vehicles (Non-CAVs), pedestrians, bicycles, etc., can also receive necessary information or utilize traffic conditions through a Road-Side Unit (RSU), and presents protocols related to this for various cases.

Description

Technology Field

[0001] The present invention relates to a technology aimed at recommending an optimized driving map (guidance) through the fusion, analysis, and judgment of dynamic situation awareness information via sensor detection and cooperative perception in traffic situations where general vehicles (Non-CAV) and pedestrians or bicycles (VRU) are mixed. Background Technology

[0002] Technologies for optimizing traffic networks are focused on providing various information to Connected Users (including general vehicles and pedestrians), including Autonomous Vehicles (CAVs). Existing technologies have been limited to providing information necessary for autonomous vehicles via Road-Side Units (RSUs) or simply conveying traffic conditions to drivers.

[0003] However, in environments where autonomous vehicles, non-autonomous vehicles (Non-CAVs), pedestrians, and bicycles coexist, there is a lack of technology to analyze conflict risks between various entities and provide real-time driving maps to all users. Furthermore, the absence of methods for service participation and data integration targeting non-autonomous vehicles and pedestrians using nomadic devices (smartphones, tablets, etc.) has limited the optimization of traffic networks.

[0004] In conventional technology, the RSU collects vehicle location and driving intention information of autonomous vehicles to provide driving maps (guidance) to surrounding vehicles for traffic optimization; however, there is no method for collecting location and driving intention information of non-CAV vehicles, nor is there a method to provide driving maps (guidance) to non-CAV vehicles or nomadic devices.

[0005] In order to provide driving guidance services for non-CAV vehicles, information collection and processing technologies for non-CAV vehicles, as well as information provision technologies, are required. Conventional C-ITS technology provides drivers with information on traffic conditions and road hazards, leaving the decision-making to the driver. This results in limitations in optimizing the entire traffic system and can lead to negative effects due to the maximization of individual benefits; therefore, a method for providing guidance to optimize the traffic network system is needed to overcome these limitations. Prior art literature

[0006] Korean Registered Patent No. 10-2556445 (July 12, 2023) Korean Registered Patent No. 10-2631777 (February 1, 2024) Korean Registered Patent No. 10-2638064 (February 14, 2024) Korean Registered Patent No. 10-2721015 (October 18, 2024) The problem to be solved

[0007] The present invention provides a driving map provision service, previously available only to autonomous vehicles (CAVs), to all traffic objects including drivers of non-autonomous vehicles (Non-CAVs) equipped with a Nomadic Device, as well as pedestrians and bicycles (VRUs). It utilizes the Nomadic Device to accurately collect and process the location and driving intent of non-autonomous vehicles, generates an optimal driving map based on real-time conflict risk information in complex traffic situations such as intersections and merging points, and secures technology capable of updating or canceling the driving map to flexibly respond to changes in traffic conditions. Furthermore, it visually provides driving information on the Nomadic Device screen in a user-friendly manner, enabling non-autonomous vehicles (Non-CAVs), pedestrians, and bicycles to access necessary information or utilize traffic conditions through a Road-Side Unit (RSU).

[0008] The problems solved by the present invention are not limited to those mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below. means of solving the problem

[0009] According to an embodiment of the present invention as a means to solve the aforementioned technical problem, a method for providing a driving map to a nomadic device comprises: a step in which a Road-Side Unit (RSU) requests a user of the nomadic device to participate in a service; a step in which the nomadic device transmits its own vehicle location and user ID identification number to the RSU, and the RSU assigns a temporary identifier to the nomadic device; and a step in which the nomadic device participates in the driving map service as a Host Object (HO) using the assigned temporary identifier.

[0010] Additionally, the method further includes the step of the service target (Host Object, HO) transmitting its own vehicle location and driving intention to the RSU; the step of the RSU transmitting a driving map to the service target (Host Object, HO) participating in the driving map service; the step of the service target (Host Object, HO) continuously transmitting response information regarding the start of the driving map mission and information regarding the own vehicle location and driving intention during the driving map execution; and the step of the service target (Host Object, HO) transmitting response information regarding the completion of the driving map mission.

[0011] The system comprises: a Road-Side Unit (RSU) device that identifies road conditions, communicates with the autonomous vehicle and the nomadic device to exchange vehicle-road information, and performs driving maps; an autonomous vehicle that identifies driving conditions and controls the vehicle without driver intervention, and receives driving maps by communicating with the RSU; and a nomadic device that includes an On-Board Unit (OBU) capable of communicating with the RSU device or includes a module capable of communicating with the OBU. The RSU includes a V2X RSU and a local dynamic map, and the nomadic device includes a V2X Library. Effects of the invention

[0012] The present invention improves traffic safety by reducing accident risk through real-time analysis of conflict risks at intersections, merging points, etc., and increases traffic efficiency by maintaining smooth traffic flow even in environments where autonomous vehicles, non-autonomous vehicles, and pedestrians are mixed. Furthermore, the driving map service can expand the scope of service to include non-autonomous vehicles and pedestrians by utilizing nomadic devices such as smartphones and tablets.

[0013] In addition, by providing driving maps in an intuitive and easy-to-understand manner, user satisfaction can be improved, and by enabling a user experience with driving maps in autonomous driving, it can also contribute to the expansion of autonomous driving services. Brief explanation of the drawing

[0014] Figure 1 is a configuration diagram of a driving map service for a nomadic device. Figure 2 shows the procedure in which a service recipient participates in a service in the prior art. Figure 3 shows the procedure for a nomadic device to participate in the service. Figure 4 shows the procedure for a nomadic device to request a driving map from the RSU. Figure 5 is an example of displaying recommended driving speed within a driving map section. FIG. 6 is an example showing the current recommended speed, remaining distance to the mission point, and remaining time to the user of a nomadic device. Fig. 7 is an example of a driving map when a user of a nomadic device enters a roundabout alone. FIG. 8 is an example of a driving map when a user of a nomadic device enters a roundabout first. FIG. 9 is an example of a driving map when a user of a nomadic device makes a left turn at an unsignalized intersection alone. FIG. 10 is an example of a driving map when a user of a nomadic device prioritizes a left turn at an unsignalized intersection. FIG. 11 is an example of a driving map when a user of a nomadic device makes an unprotected left turn of a vehicle. FIG. 12 is an example of a driving map when a user of a nomadic device makes an unprotected left turn between oncoming vehicles. FIG. 13 is an example of a driving map when a user of a nomadic device makes a right turn alone. FIG. 14 is an example of a driving map when a user of a nomadic device turns right after yielding the right of way at a signalized intersection. FIG. 15 is an example of a driving map when a user of a nomadic device immediately turns right after receiving the driving intention of the other vehicle. FIG. 16 is an example of a driving map for a user of a nomadic device to avoid a conflict with an approaching main line vehicle when merging at a ramp. FIG. 17 is an example of a driving map when a user of a nomadic type device changes lanes for a merging vehicle while driving on the main line. FIG. 18 is an example of a driving map when a user of a nomadic type device decelerates for merging vehicles while driving on the main line. FIG. 19 is an example of a driving map for the case where a user of a nomadic device overtakes the center line when the driving lane is closed on a two-lane road. FIG. 20 is an example of a driving map when a user of a nomadic device changes to a higher lane to overtake a slow / stopped vehicle. FIG. 21 is an example of a driving map when a user of a nomadic device exits a classification section congestion situation. FIG. 22 is an example of a driving map when a user of a nomadic device is driving on a multi-lane road in adverse weather conditions. FIG. 23 is an example of a driving map when a user of a nomadic device experiences a conflicting intersection in a conflicting section. FIG. 24 is an example of a driving map when a user of a nomadic device enters a section controlled by the entire lane of a signalized intersection exit. Specific details for implementing the invention

[0015] Further objects, features, and advantages of the present invention can be more clearly understood from the following detailed description and the accompanying drawings.

[0016] Before providing a detailed description of the present invention, it should be understood that the present invention is capable of various modifications and may have various embodiments, and that the examples described below and illustrated in the drawings are not intended to limit the present invention to specific embodiments, but include all modifications, equivalents, and substitutions that fall within the spirit and scope of the present invention.

[0017] This invention aims to provide driving maps for 'Connected Users' (including ordinary vehicles, pedestrians, bicycles, motorized vehicles, motorcycles, PMs: Personal Mobility, VRUs, Segways, electric scooters, strollers, wheelchairs, animal propulsion systems, etc.) who use nomadic devices such as smartphone navigation systems and tablet PCs. Through this invention, a Connected User transmits their location and driving intention to an RSU, and based on this, the RSU enables the provision of driving maps (guidance) to both CAV vehicles and Connected Users. Through this invention, guidance that optimizes traffic conditions can be provided in traffic situations where CAV vehicles and Connected Users are mixed.

[0018] In the following description, the target of the driving map (guidance) service (Host Object, HO) is a Connected User capable of communicating with the RSU through a Nomadic Device. The present invention can provide various driving missions (deceleration, acceleration, constant speed, temporary stop, passing a specific point by a specific point in time, passing a specific point after a specific point in time, etc.) to the HO.

[0019] In the prior art, a vehicle that receives a request to participate in a service transmits its own vehicle location information to the RSU corresponding to the I2X service provider RSU identifier. Considering that GPS positioning errors occur when the Nomadic Device utilized in the present invention is not equipped with high-precision positioning equipment such as GNSS, the HO transmits location information to the RSU that includes the approaching intersection, the direction of approach, and the distance to the intersection. That is, when the HO receives a request to participate in a service from the RSU, it transmits the HO's own vehicle location and Nomadic Device user ID identification information to the RSU. In the present invention, the RSU verifies whether the HO's location is within the RSU service area, and if the HO is driving within the service area, it assigns a temporary identifier to the HO vehicle based on the received Nomadic Device user ID identification information. At this time, the HO notifies the RSU of its intention to participate in the service using the assigned temporary identifier.

[0020] This process can be understood as follows: a step in which the HO and the RSU decide to provide services; an information collection step in which the HO's location, traffic speed, and driving intention (e.g., intention to pass through an intersection) are transmitted to the RSU via the Nomadic Device, and the RSU integrates surrounding RO vehicle information to analyze conflict risks; a step in which a driving map is generated including data such as recommended driving speed, trajectory information, and time to pass a specific point, and is displayed on the Nomadic Device screen in an easy-to-understand manner; and an update and cancellation step in which the RSU provides a new driving map or cancels the existing map when traffic conditions change.

[0021] The main technical elements of the present invention include a technology that provides a driving map (guidance) to Connected Users, such as Non-Autonomous Vehicles (Non-CAV) and pedestrians, by utilizing Nomadic Devices such as smartphones and tablets, and collects data such as traffic speed and intention to pass through intersections from Nomadic Devices in addition to GPS information, processes it with an RSU, and provides the driving map to an HO that generates and provides information such as recommended driving speed, route, and time of passing through specific points based on the data collected by the RSU; a technology that performs a conflict risk analysis based on data collected by the RSU from Nomadic Device users and autonomous vehicles (CAVs), calculates the conflict risk between vehicles and pedestrians at intersections, roundabouts, and merging points according to the situation, and generates a driving map including recommended driving speed, lane change, and time of passing through specific points to reduce the conflict risk based on this, and an interface technology that provides information visualization and voice guidance in a manner easy for the user to understand by intuitively displaying the current driving speed, recommended driving speed, remaining distance and time to the mission point to Nomadic Device users.

[0022] In addition, when calculating the conflict between objects, for example, when analyzing the risk of an RSU conflicting with other objects such as HO, other autonomous vehicles, or pedestrians at an intersection or merging point, it can be calculated by utilizing SSM indicators such as TTC (Time to Collision) and PET (Post Encroachment Time) based on the estimated driving trajectory of each traffic object.

[0023] Hereinafter, specific technical details to be implemented in the present invention will be described in detail with reference to the attached drawings.

[0024] FIG. 1 is a configuration diagram of a driving map service for a nomadic type device. It indicates that the nomadic type device may have a structure including a V2X OBU (On-Board Unit) within the device, or may provide the service even if it is equipped only with a communication modem without including the OBU.

[0025] Figure 2 illustrates a protocol for the procedure of a service recipient (Host Object, HO) participating in a service in the prior art.

[0026] FIG. 3 illustrates a protocol for a nomadic device to participate in a service according to the present invention. Here, the process involves the RSU requesting the nomadic device to participate in the service, and the transmission of the user's ID identification number to the RSU is a part that differs from the prior art. Specifically, when the RSU requests the nomadic device to participate in the service, the nomadic device transmits its vehicle location and user ID identification number to the RSU, the RSU assigns a temporary identifier to the nomadic device, and the nomadic device proceeds to the step of participating in the service using the assigned temporary identifier.

[0027] Figure 4 illustrates the protocol in the process where a nomadic device requests a driving map from an RSU. The nomadic device transmits its vehicle location and driving intention to the RSU, and the RSU transmits guidance to the nomadic device. The vehicle location and driving intention are continuously transmitted to the RSU at the start and during the execution of the guidance mission, and the service is terminated by responding that the mission is completed when the guidance mission is finished.

[0028] Figure 5 is an example of displaying a driving speed recommendation within a driving map (guidance) section. Mission point information regarding the recommendation to pass a specific point (passing before t seconds, passing after t seconds) can be provided to a Connected User using a nomadic device, along with information such as the recommended driving speed, distance to the mission point, and remaining time to pass.

[0029] Figure 6 is an example of displaying the current recommended speed, remaining distance to the mission point, and remaining time to a user of a nomadic device. Mission point information regarding lane changes can provide lane change recommendation section information and lane change direction information to a connected user using a nomadic device, as shown in Figure 6.

[0030] Figure 7 illustrates a case where a user of a nomadic device enters a roundabout alone. It involves identifying the absence of a moving object in the roundabout via the RSU and providing a driving map so that the nomadic device can enter the roundabout immediately.

[0031] To explain this in detail, the process consists of the following steps: a step of entering a driving map (guidance) service section and participating in the service at a vehicle roundabout; a step in which the HO vehicle transmits its own vehicle location and intention to enter the roundabout to the RSU; a step in which the RSU confirms the absence of vehicles in the roundabout; a step in which the vehicle transmits a driving map (guidance) for entering the roundabout to the vehicle; and a step in which the vehicle enters the roundabout while repeatedly transmitting its location, intention to enter the roundabout, etc., to the RSU.

[0032] Figure 8 is a use case in which a user of a nomadic type device enters a roundabout first, where an HO vehicle and an RO vehicle each enter the roundabout, and if it is determined that the risk of collision with the vehicle rotating through the RSU is very low, a driving map (guidance) for the HO vehicle to enter first is provided.

[0033] To explain this in detail, the method comprises the following steps: a step of the vehicle entering the roundabout driving map (guidance) service section and participating in the service; a step in which the HO vehicle transmits its own vehicle location and intention to enter the roundabout to the RSU; a step in which the RSU calculates the time until the HO vehicle approaches the roundabout by collecting information on the distance from the vehicle to the roundabout and traffic speed; a step in which, if the risk of conflict is low, the RSU transmits the roundabout entry driving map (guidance) to the HO vehicle; and a step of repeatedly transmitting the location and intention to pass through the intersection to the RSU.

[0034] FIG. 9 is a use case in which a user of a nomadic type device makes a left turn at a non-signaled intersection alone, and an HO vehicle enters the non-signaled intersection alone. It is a case in which the RSU identifies the absence of a moving object at the roundabout and provides a driving map (guidance) so that the HO can enter the non-signaled intersection immediately.

[0035] To explain this in detail, it consists of the following steps: entering a service section for a vehicle non-signaled intersection driving map (guidance) and participating in the service; the HO vehicle transmitting its own vehicle location and intention to turn left at the non-signaled intersection to the RSU; the RSU confirming the absence of approaching vehicles; the RSU transmitting a left-turn driving map (guidance) to the HO vehicle; and the vehicle turning left at the non-signaled intersection while repeatedly transmitting its location and intention to turn left at the non-signaled intersection to the RSU.

[0036] Figure 10 is a use case in which a user of a nomadic type device makes a priority left turn at an unsignalized intersection, and an HO vehicle and an RO vehicle each enter the unsignalized intersection. In this case, if the risk of collision with the RO vehicle is analyzed through the RSU and it is determined that the risk of collision is very low, a priority entry driving map (guidance) for the HO vehicle is provided.

[0037] To explain this in detail, the method comprises the following steps: entering a service section for a vehicle non-signaled intersection driving map (guidance) and participating in the service; the vehicle transmitting its location and intention to turn left at the non-signaled intersection to the RSU; the RSU calculating the estimated time required for the HO vehicle to approach the non-signaled intersection by collecting information on the distance and traffic speed from the vehicle to the non-signaled intersection; if the risk of conflict is low, the RSU transmitting a left-turn driving map (guidance) to the HO vehicle; and the vehicle turning left at the non-signaled intersection while repeatedly transmitting its location and intention to turn left at the non-signaled intersection to the RSU.

[0038] Figure 11 shows a case where a user of a nomadic type device makes an unprotected left turn. It is a use case where an HO vehicle and an RO vehicle each enter a signalized intersection, and the RSU provides an unprotected left turn driving map (guidance) through an analysis of the risk of conflict between vehicles.

[0039] To explain this in detail, it consists of the following steps: a step in which the HO vehicle enters the service section of the signal intersection driving map (guidance) and participates in the service; a step in which the HO vehicle transmits its own vehicle location and intention to make an unprotected left turn at the signal intersection to the RSU; a step in which the RSU calculates the time until the HO vehicle approaches the signal intersection by collecting information on the distance and traffic speed from the HO vehicle to the signal intersection; a step in which, if the risk of conflict is low, the RSU transmits the unprotected left turn driving map (guidance) to the HO vehicle; a step in which the recommended driving speed, remaining time for driving map (guidance) execution, and remaining distance are displayed by considering the distance from the HO vehicle's location to the expected conflict point; and a step in which the HO vehicle performs an unprotected left turn at the signal intersection while repeatedly transmitting its location and intention to make an unprotected left turn at the signal intersection to the RSU.

[0040] Figure 12 shows a case where a user of a nomadic type device makes an unprotected left turn between oncoming vehicles. This is a use case where two vehicles, an HO vehicle and an RO vehicle, enter a signalized intersection, and the RSU analyzes the risk of conflict between the vehicles to allow one RO vehicle to pass first, and then provides unprotected left turn guidance to the HO vehicle.

[0041] To explain this in detail, it consists of the following steps: a step in which the HO vehicle enters the service section of the signal intersection driving map (guidance) and participates in the service; a step in which the HO vehicle transmits its own vehicle location and intention to make an unprotected left turn at the signal intersection to the RSU; a step in which the RSU recognizes the approaching vehicle (RO1) in the opposing lane and analyzes the conflict risk; a step in which the recommended driving speed, remaining time for driving map (guidance) execution, and remaining distance are displayed considering the distance from the HO vehicle's location to the expected conflict point; a step in which the opposing vehicle (RO1) passes; a step in which, if the conflict risk is low, the RSU transmits the unprotected left turn driving map (guidance) to the HO vehicle; a step in which the HO vehicle performs an unprotected left turn at the signal intersection while repeatedly transmitting its location and intention to make an unprotected left turn at the signal intersection to the RSU; and a step in which the opposing vehicle (RO2) passes.

[0042] Figure 13 shows a case where a user of a nomadic type device makes a right turn alone. It is a use case where the HO vehicle makes a right turn alone at a signalized intersection, and the absence of approaching vehicles at the signalized intersection is identified through the RSU to provide a right-turn driving map (guidance) to the HO.

[0043] To explain this in detail, it consists of the following steps: a step in which the HO vehicle enters the service section of the signal intersection driving map (guidance) and participates in the service; a step in which the HO vehicle transmits its own vehicle location and intention to turn right at the signal intersection to the RSU; a step in which the RSU confirms the absence of approaching vehicles and transmits the right-turn driving map (guidance) to the HO vehicle; and a step in which the HO vehicle performs a right turn at the signal intersection while repeatedly transmitting its location and intention to turn right at the signal intersection to the RSU.

[0044] FIG. 14 is a use case in which a user of a nomadic type device yields the right of way at a signal intersection and then makes a right turn with an HO vehicle, where an HO vehicle and an RO vehicle each approach the signal intersection, and then provides a right turn driving guide (guidance) to the HO vehicle after yielding to the vehicle passing according to the signal through the RSU.

[0045] To explain this in detail, it consists of the following steps: a step in which the HO vehicle enters the service section of the signal intersection driving map (guidance) and participates in the service; a step in which the HO vehicle transmits its own vehicle location and intention to turn right at the signal intersection to the RSU; a step in which the RSU calculates the time until the HO vehicle approaches the signal intersection by collecting information on the distance and traffic speed from the HO vehicle to the signal intersection; a step in which the RO vehicle displays the recommended driving speed for the approach direction, the remaining time for driving map (guidance) execution, and the remaining distance, taking into account the distance from the HO vehicle's location to the expected conflict point; a step in which the RO vehicle passes by due to the signal; a step in which the right-turn driving map (guidance) is transmitted to the HO vehicle; and a step in which the HO vehicle performs a right turn at the signal intersection while repeatedly transmitting its location and intention to turn right at the signal intersection to the RSU.

[0046] FIG. 15 is a use case in which the HO vehicle immediately turns right through the sharing of the RO vehicle's driving intention, and the HO vehicle and the RO vehicle each approach a signalized intersection. It is a case in which the RO vehicle's driving intention is identified through the RSU and a right-turn driving map (guidance) is provided to the HO vehicle.

[0047] To explain this in detail, it consists of the following steps: the HO vehicle entering the signal intersection driving map (guidance) service section and participating in the service, and transmitting a message to the HO vehicle saying 'Entering IG section'; the HO vehicle transmitting its own vehicle location and intention to turn right at the signal intersection to the RSU; the RSU recognizing the approaching vehicle (RO) and receiving the RO's intention to turn left or go straight; if the direction of travel does not involve a conflict, transmitting a right-turn driving map (guidance) to the HO vehicle; and the HO vehicle performing a right turn at the signal intersection while repeatedly transmitting its location and intention to turn right at the signal intersection to the RSU.

[0048] FIG. 16 is a use case in which a user of a nomadic type device recognizes a vehicle approaching the main line when merging, where the HO vehicle enters the entrance connecting road and the RO vehicle approaches from the main line at the merging section, and after confirming the RO vehicle's approach to the main line through the RSU, a driving trajectory and speed driving map (guidance) that enables safe and fast merging is provided to the HO vehicle.

[0049] To explain this in detail, the method comprises the following steps: a step of entering the service section of the HO vehicle merging section driving map (guidance) and participating in the service to transmit a 'enter IG section' message to the HO vehicle; a step in which the HO vehicle transmits its own vehicle location and intention to merge onto the main line to the RSU; a step in which the RSU calculates the time until the HO vehicle approaches the merging section by collecting information on the distance and traffic speed from the HO vehicle to the merging section; a step of transmitting a driving map (guidance) with a merging trajectory and recommended speed that does not conflict with a vehicle approaching the far right lane of the main line, and displaying the type and execution section of the driving map (guidance), recommended driving speed, remaining time for executing the driving map (guidance), and remaining distance by considering the distance from the HO vehicle's location to the expected conflict point; and a step in which the HO vehicle performs a lane change while repeatedly transmitting its location and intention to merge onto the main line to the RSU.

[0050] FIG. 17 is a use case in which a user of a nomadic type device changes lanes for a merging vehicle while driving on the main line, where the HO vehicle approaches from the main line and the RO vehicle enters the connecting road at the merging section, and after confirming the RO vehicle's entry into the merging section through the RSU, a lane change driving trajectory and speed driving map (guidance) for safe driving is provided to the HO vehicle.

[0051] To explain this in detail, it consists of the following steps: a step of entering the HO vehicle merging section driving map (guidance) service section and participating in the service to transmit a 'IG section entry' message to the HO vehicle; a step of the HO vehicle transmitting its own vehicle location and intention to pass through the merging section to the RSU; a step of confirming the merging vehicle (RO) of the RSU; a step of displaying the type and execution section of the driving map (guidance), recommended driving speed, remaining time and remaining distance for driving map (guidance) execution, taking into account the distance from the HO vehicle's location to the expected conflict point; and a step of the HO vehicle performing a lane change to the upper lane while repeatedly transmitting its location and intention to pass through the merging section to the RSU.

[0052] FIG. 18 is a case where a user of a nomadic type device decelerates for a merging vehicle while driving on the main line, and at the merging section, the HO vehicle approaches from the main line and the RO vehicle enters the access road. After confirming the RO vehicle's entry into the merging section through the RSU, a speed driving guide (guidance) for safe driving is provided to the HO vehicle.

[0053] To explain this in detail, it consists of the following steps: a step of entering the HO vehicle merging section driving map (guidance) service section and participating in the service to transmit a 'entering IG section' message to the HO vehicle; a step of the HO vehicle transmitting its own vehicle location and intention to pass through the merging section to the RSU; a step of confirming the merging vehicle (RO) of the RSU; a step of recommending deceleration to the HO when a conflict is expected by displaying the recommended driving speed, remaining time for driving map execution, and remaining distance considering the distance from the HO vehicle's location to the expected conflict point; and a step of the HO vehicle repeatedly transmitting its location and intention to pass through the merging section to the RSU while performing a lane change to the upper lane.

[0054] FIG. 19 is a use case in which a user of a nomadic type device overtakes an HO vehicle on the center line when the driving lane is closed on a two-lane road, where an HO vehicle and an RO vehicle approach from different directions on a two-lane road, and after confirming the driving lane obstacle and determining whether a conflict with an oncoming vehicle occurs through the RSU, a driving map (guidance) of a safe center line overtaking driving trajectory is provided to the HO vehicle.

[0055] To explain this in detail, it consists of: a step in which the HO vehicle enters the service section of the two-lane road driving map (guidance) and participates in the service; a step in which the HO vehicle transmits its own vehicle location and intention to pass through the two-lane road to the RSU; a step in which the RSU identifies obstacles in the two-lane road driving lane, whereby the RSU calculates the time until the HO vehicle approaches the obstacle through the collection of information on the distance and traffic speed from the HO vehicle to the obstacle; a step in which the HO vehicle is notified that normal driving is impossible due to an obstacle ahead and is advised to approach slowly; a step in which the type and execution section of the driving map (guidance), recommended driving speed, remaining time for driving map (guidance) execution, and remaining distance are displayed by considering the distance from the HO vehicle's location to the expected conflict point; and a step in which the HO vehicle repeatedly transmits its location and intention to pass through the two-lane road to the RSU while crossing the center line to perform an overtake and returning to the driving lane.

[0056] FIG. 20 is a use case in which a user of a nomadic device changes lanes to the HO upper lane to overtake a slow / stopped vehicle on a multi-lane road, and the HO vehicle drives behind a slow / stopped vehicle, and after confirming the slow / stopped vehicle ahead through the RSU, a safe lane change driving trajectory driving map (guidance) is provided to the HO vehicle.

[0057] To explain this in detail, it consists of the following steps: a step of the HO vehicle entering a multi-lane road driving map (guidance) service section and participating in the service; a step of the HO vehicle transmitting its own vehicle location and intention to pass through the multi-lane road to the RSU; a step of detecting a slow / stopped vehicle by the RSU; a step of the RSU instructing the HO vehicle on the presence of a slow / stopped vehicle ahead if the HO vehicle is driving in the same lane as the slow / stopped vehicle; a step of displaying the type and execution section of the driving map (guidance), recommended driving speed, remaining time for driving map (guidance) execution, and remaining distance, taking into account the distance from the HO vehicle's location to the expected conflict point; and a step of the HO vehicle overtaking the slow / stopped vehicle while repeatedly transmitting its location and intention to pass through the multi-lane road to the RSU.

[0058] FIG. 21 is a use case in which a user of a nomadic type device exits from a classification section where a queue has formed on the exit connecting road, and after checking the length of the queue and the headway distance through the RSU, a driving map (guidance) of a lane change driving trajectory and a detour driving trajectory for exiting the classification section is provided to the HO vehicle.

[0059] To explain this in detail, the steps include: entering the HO vehicle classification unit driving map (guidance) service section and participating in the service; the HO vehicle transmitting its own vehicle location and intention to exit the classification unit to the RSU; detecting the queue at the RSU's classification unit exit ramp; determining whether a lane change on the exit ramp is possible before the queue, considering the HO vehicle's location and traffic speed; if a lane change is possible, displaying the type and execution section of the driving map (guidance), recommended driving speed, remaining time for driving map (guidance) execution, and remaining distance, considering the distance from the HO vehicle's location to the expected conflict point, in order to provide a merging trajectory that recommends merging (lane change) within a specific section; and if a lane change is not possible, analyzing the headway distance in the queue and recommending merging (lane change) within a specific section, or if a lane change is not possible within the section where it is possible, providing an alternative route via the driving map (guidance). It consists of a stage in which the HO vehicle repeatedly transmits its location and intention to enter the classification unit to the RSU while entering the classification unit.

[0060] FIG. 22 is a use case in which a user of a nomadic type device provides driving guidance on a road in bad weather conditions, and a HO vehicle is driving on a multi-lane road in bad weather conditions. After confirming bad weather information through the RSU, speed driving guidance for safe driving is provided to the HO vehicle.

[0061] To explain this in detail, it consists of the following steps: a step of the HO vehicle entering a multi-lane road driving map (guidance) service section and participating in the service; a step of the HO vehicle transmitting its own vehicle location and intention to pass through the basic section to the RSU; a step of collecting weather condition information of the basic section (multi-lane road) from the RSU; a step of providing the HO vehicle with a deceleration driving map (guidance) due to deteriorating weather; and a step of the HO vehicle performing deceleration while repeatedly transmitting its location and intention to pass through the multi-lane road to the RSU.

[0062] FIG. 23 is a use case in which a user of a nomadic type device experiences a conflict in a conflicting section, where the HO vehicle enters the main line and the RO vehicle exits the main line in the conflicting section, and after confirming the RO vehicle's approach to the main line through the RSU, a lane change driving trajectory and speed driving map (guidance) for safe entry into the main line is provided to the HO vehicle.

[0063] To explain this in detail, it consists of the following steps: a step of entering the HO vehicle's conflicting section driving map (guidance) service section and participating in the service to transmit a 'IG section entry' message to the HO vehicle; a step of the HO vehicle transmitting its own vehicle location and intention to enter the main line to the RSU; a step of the RSU recognizing the main line approaching vehicle (RO); a step of displaying the type and execution section of the driving map (guidance), recommended driving speed, remaining time for driving map (guidance) execution, and remaining distance, taking into account the distance from the HO vehicle's location to the expected conflict point; and a step of the HO vehicle performing deceleration while repeatedly transmitting its location and intention to enter (exit) the conflicting section to the RSU.

[0064] FIG. 24 is a case where a user of a nomadic type device enters a section where the exit ramp is controlled by the RSU, and after confirming the exit ramp control by the RSU, a detour route driving trajectory driving map (guidance) is provided to the HO vehicle.

[0065] To explain this in detail, it consists of the following steps: a step of entering the service section of the HO vehicle signal intersection driving map (guidance) and participating in the service to transmit a 'IG section entry' message to the HO vehicle; a step of the HO vehicle transmitting its own vehicle location and intention to proceed straight at the signal intersection to the RSU; a step of receiving road control information from the RSU; a step of providing the HO vehicle with a detour route (route information for the signal intersection right turn area) driving map (guidance); and a step of the HO vehicle performing a right turn at the signal intersection while repeatedly transmitting its location and intention to turn right at the signal intersection (withdrawal of the existing intention to proceed straight at the signal intersection) to the RSU.

Claims

Claim 1 A method for providing a driving map to a nomadic device comprises: a step in which a Road-Side Unit (RSU) requests service participation from a user of the nomadic device; a step in which the nomadic device transmits its own vehicle location and user ID identification number to the RSU, and the RSU assigns a temporary identifier to the nomadic device; a step in which the nomadic device participates in the driving map service as a Host Object (HO) using the assigned temporary identifier; and a step in which the Host Object (HO) transmits its own vehicle location and driving intention to the RSU. A method for providing a driving map comprising: a step of calculating Time to Collision (TTC) and Post Encroachment Time (PET) values ​​based on the estimated driving trajectory of each traffic object to analyze the risk of collision with other objects, such as HO, other autonomous vehicles, and pedestrians, at intersections or merging points, and generating a driving map including recommended driving speed, lane change, and time to pass a specific point to reduce the risk of collision; a step in which the RSU transmits a driving map including one or more of recommended driving speed information, remaining distance to a mission point, and remaining time information to a service target (Host Object, HO) participating in the driving map service; a step in which the service target (Host Object, HO) continuously transmits response information regarding the start of driving map mission execution and information regarding the vehicle's location and driving intention during driving map execution to the RSU; and a step in which the service target (Host Object, HO) transmits response information regarding the completion of driving map mission execution. Claim 2 delete Claim 3 A method for providing a driving map according to claim 1, characterized by the following steps: entering a service section of a vehicle roundabout driving map (guidance) and participating in the service when the driving intention of a service target (Host Object, HO) enters a roundabout alone; the step of the HO vehicle transmitting its own vehicle location and intention to enter the roundabout to the RSU; the step of the RSU confirming the absence of a vehicle in the roundabout; the step of transmitting a driving map (guidance) for entering the roundabout to the vehicle; and the step of the vehicle entering the roundabout while repeatedly transmitting its location, intention to enter the roundabout, etc. to the RSU. Claim 4 A method for providing a driving map according to claim 1, wherein, in the case where a service target (Host Object, HO) enters the roundabout first, the HO vehicle and the RO vehicle each enter the roundabout, and if the collision risk with the roundabout vehicle is determined to be lower than a specific threshold value after analyzing the collision risk through the RSU, the vehicle enters the roundabout driving map (guidance) service section and participates in the service; the HO vehicle transmits its own vehicle location and intention to enter the roundabout to the RSU; the RSU calculates the time until the HO vehicle approaches the roundabout by collecting information on the distance from the vehicle to the roundabout and traffic speed; if the collision risk is lower than a specific threshold value, the RSU transmits the roundabout entry driving map (guidance) to the HO vehicle; and the location and intention to pass through the intersection are repeatedly transmitted to the RSU; characterized by the above steps. Claim 5 A method for providing a driving map according to claim 1, wherein in the case where a service target (Host Object, HO) makes a left turn at a non-signaled intersection alone, the HO vehicle enters the non-signaled intersection alone, confirms the absence of a moving object in the turning lane through the RSU, and provides a driving map (guidance) so that the HO can immediately enter the non-signaled intersection, the method comprises: a step of the vehicle entering the service section of the non-signaled intersection driving map (guidance) and participating in the service; a step in which the HO vehicle transmits its own vehicle location and intention to turn left at the non-signaled intersection to the RSU; a step in which the RSU confirms the absence of an approaching vehicle; a step in which the RSU transmits a left-turn driving map (guidance) to the HO vehicle; and a step in which the vehicle makes a left turn at the non-signaled intersection while repeatedly transmitting its location and intention to turn left at the non-signaled intersection to the RSU. Claim 6 A method for providing a driving map according to claim 1, wherein when a service target (Host Object, HO) makes a priority left turn at an unsignalized intersection, the HO vehicle and the RO vehicle each enter the unsignalized intersection, and when the collision risk with the RO vehicle is analyzed through the RSU and it is determined that the collision risk is lower than a specific threshold value, a driving map (guidance) for the priority entry of the HO vehicle is provided; a step of the vehicle entering the service section of the unsignalized intersection driving map (guidance) and participating in the service; a step in which the vehicle transmits its own vehicle location and intention to turn left at the unsignalized intersection to the RSU; a step in which the RSU calculates the estimated time required for the HO vehicle to approach the unsignalized intersection by collecting information on the distance and traffic speed from the vehicle to the unsignalized intersection; a step in which, if the collision risk is lower than a specific threshold value, the RSU transmits a left-turn driving map (guidance) to the HO vehicle; and a step in which the vehicle turns left at the unsignalized intersection while repeatedly transmitting its location and intention to turn left at the unsignalized intersection to the RSU. Claim 7 In paragraph 1, when a service subject (Host Object, HO) makes an unprotected left turn and the HO vehicle and RO vehicle each enter a signalized intersection, and the RSU provides an unprotected left turn driving map (guidance) through a conflict risk analysis between vehicles, the method comprises: a step in which the HO vehicle enters the signalized intersection driving map (guidance) service section and participates in the service; a step in which the HO vehicle transmits its own vehicle location and intention to make an unprotected left turn at the signalized intersection to the RSU; a step in which the RSU calculates the time until the HO vehicle approaches the signalized intersection by collecting information on the distance from the HO vehicle to the signalized intersection and traffic speed; a step in which, if the conflict risk is lower than a specific threshold, the RSU transmits the unprotected left turn driving map (guidance) to the HO vehicle; and a step in which the recommended driving speed, remaining time for driving map (guidance) execution, and remaining distance are displayed considering the distance from the location of the HO vehicle to the expected conflict point. A driving map providing method characterized by the step of performing an unprotected left turn at a signal intersection while the HO vehicle repeatedly transmits its location and intention to make an unprotected left turn at a signal intersection to the RSU. Claim 8 A method for providing a driving map according to claim 1, wherein when a service target (Host Object, HO) intends to make a right turn alone, the absence of approaching vehicles at a signal intersection is identified through an RSU and a right-turn driving map (guidance) is provided to the HO; the step of the HO vehicle entering a signal intersection driving map (guidance) service section and participating in the service; the step of the HO vehicle transmitting its own vehicle location and intention to make a right turn at the signal intersection to the RSU; the step of the RSU confirming the absence of approaching vehicles and transmitting a right-turn driving map (guidance) to the HO vehicle; and the step of the HO vehicle performing a right turn at a signal intersection while repeatedly transmitting its location and intention to make a right turn at the signal intersection to the RSU. Claim 9 In paragraph 1, when a Host Object (HO) yields right of way at a signalized intersection and the HO vehicle turns right, and the HO vehicle and the RO vehicle each approach the signalized intersection, and the RSU provides a right-turn driving map (guidance) to the HO vehicle after yielding to the vehicle passing according to the signal, the method comprises: a step of the HO vehicle entering the signalized intersection driving map (guidance) service section and participating in the service; a step of the HO vehicle transmitting its own vehicle location and intention to turn right at the signalized intersection to the RSU; a step in which the RSU calculates the time until the HO vehicle approaches the signalized intersection by collecting information on the distance from the HO vehicle to the signalized intersection and the traffic speed; a step of displaying the recommended driving speed for the RO vehicle's approach direction, the remaining time for driving map (guidance) execution, and the remaining distance, considering the distance from the HO vehicle's location to the expected conflict point; a step of the RO vehicle passing by according to the signal; and a step of transmitting the right-turn driving map (guidance) to the HO vehicle. A driving map providing method characterized by the step of performing a right turn at a signal intersection while the HO vehicle repeatedly transmits its location and intention to turn right at the signal intersection to the RSU. Claim 10 A method for providing a driving map according to claim 1, wherein when a service target (Host Object, HO) and an RO vehicle each approach a signal intersection, the method identifies the traffic intention of the RO vehicle through an RSU and provides a right-turn driving map (guidance) to the HO vehicle, the method comprises the steps of: the HO vehicle entering the signal intersection driving map (guidance) service section and participating in the service, and transmitting a message of 'entering IG section' to the HO vehicle; the HO vehicle transmitting its own vehicle location and right-turn intention at the signal intersection to the RSU; the RSU recognizing the vehicle approaching the intersection (RO) and receiving the traffic intention of the RO, such as a left turn or going straight; if the traffic direction does not cause a conflict, transmitting a right-turn driving map (guidance) to the HO vehicle; and the HO vehicle performing a right turn at the signal intersection while repeatedly transmitting its location and right-turn intention at the signal intersection to the RSU. Claim 11 In paragraph 1, when a Host Object (HO) vehicle enters the entrance connecting road and an RO vehicle approaches from the main line at a merging section, and after confirming the RO vehicle's approach to the main line via the RSU, a driving trajectory and speed driving map (guidance) enabling safe and fast merging is provided to the HO vehicle, the method comprises the steps of: transmitting an 'IG section entry' message to the HO vehicle by entering the merging section driving map (guidance) service section and participating in the service; the HO vehicle transmitting its vehicle location and intention to merge to the main line to the RSU; and the RSU calculating the time until the HO vehicle approaches the merging section by collecting information on the distance and traffic speed from the HO vehicle to the merging section. A method for providing a driving map characterized by: transmitting a driving map (guidance) with a merging trajectory and recommended speed that does not conflict with a vehicle approaching the far right lane of the main road, and displaying the type and execution section of the driving map (guidance), recommended driving speed, remaining time for executing the driving map (guidance), and remaining distance, taking into account the distance from the location of the HO vehicle to the expected conflict point; and the step of the HO vehicle performing a lane change while repeatedly transmitting its location and intention to merge into the main road to the RSU. Claim 12 A method for providing a driving map according to claim 1, wherein, when a service target (Host Object, HO) changes lanes for a merging vehicle while driving on the main road, and at a merging section the HO vehicle approaches from the main road and the RO vehicle enters the connecting road, and after confirming the RO vehicle's entry into the merging section through the RSU, a driving map (guidance) for safe driving is provided to the HO vehicle regarding lane change driving trajectory and speed; a step of transmitting a 'Entering IG Section' message to the HO vehicle by having the HO vehicle enter the merging section driving map (guidance) service section and participate in the service; a step of the HO vehicle transmitting its own vehicle location and intention to pass the merging section to the RSU; a step of confirming the merging vehicle (RO) by the RSU; a step of displaying the type and execution section of the driving map (guidance), recommended driving speed, remaining time for executing the driving map (guidance), and remaining distance, considering the distance from the HO vehicle's location to the expected conflict point; and a step of the HO vehicle performing a lane change to the upper lane while repeatedly transmitting its location and intention to pass the merging section to the RSU. Claim 13 A method for providing a driving map according to claim 1, wherein when a service target (Host Object, HO) is driving on a main line and decelerating for a merging vehicle, at a merging section where the HO vehicle approaches from the main line and the RO vehicle enters the entrance connecting road, the method provides a speed driving map (guidance) for safe driving to the HO vehicle after confirming the RO vehicle's entry into the merging section via the RSU; the step of the HO vehicle entering the merging section driving map (guidance) service section and participating in the service to transmit a 'IG section entry' message to the HO vehicle; the step of the HO vehicle transmitting its own vehicle location and intention to pass the merging section to the RSU; the step of the RSU confirming the merging vehicle (RO); the step of recommending deceleration to the HO when a conflict is expected by displaying a recommended driving speed, remaining time for driving map execution, and remaining distance considering the distance from the HO vehicle's location to the expected conflict point; and the step of the HO vehicle repeatedly transmitting its location and intention to pass the merging section to the RSU while performing a lane change to the upper lane. Claim 14 In paragraph 1, when a Host Object (HO) closes a driving lane on a two-lane road and the HO vehicle overtakes the center line, and the HO vehicle and RO vehicle approach from different directions on the two-lane road, the method involves confirming obstacles in the driving lane and determining whether a conflict with an oncoming vehicle has occurred via the RSU, and then providing the HO vehicle with a driving map (guidance) of a safe center line overtaking trajectory; the step of the HO vehicle entering the two-lane road driving map (guidance) service section and participating in the service; the step of the HO vehicle transmitting its own vehicle location and intention to pass through the two-lane road to the RSU; the step of the RSU confirming obstacles in the two-lane road driving lane, in which the RSU calculates the time until the HO vehicle approaches the obstacle by collecting information on the distance and traffic speed from the HO vehicle to the obstacle; and the step of notifying the HO vehicle that normal driving is impossible due to an obstacle ahead and recommending a slow approach. A method for providing a driving map characterized by: a step of displaying the type and execution section of the driving map (guidance), the recommended driving speed, the remaining time and remaining distance for executing the driving map (guidance), taking into account the distance from the location of the HO vehicle to the expected conflict point; and a step in which the HO vehicle repeatedly transmits its location and intention to pass through the second lane road to the RSU, crosses the center line to perform an overtake, and returns to the driving lane. Claim 15 In claim 1, when a Host Object (HO) changes lanes to a higher lane to overtake a slow / stopped vehicle on a multi-lane road, and the HO vehicle is driving behind a slow / stopped vehicle, the method comprises the steps of: confirming the slow / stopped vehicle ahead via the RSU and providing a safe lane change driving trajectory driving map (guidance) to the HO vehicle; the step of the HO vehicle entering the multi-lane road driving map (guidance) service section and participating in the service; the step of the HO vehicle transmitting its own vehicle location and intention to pass through the multi-lane road to the RSU; the step of the RSU detecting the slow / stopped vehicle; the step of the RSU instructing the HO vehicle on the presence of the slow / stopped vehicle ahead if the HO vehicle is driving in the same lane as the slow / stopped vehicle; and the step of displaying the type and execution section of the driving map (guidance), the recommended driving speed, the remaining time for executing the driving map (guidance), and the remaining distance, taking into account the distance from the HO vehicle's location to the expected conflict point. A driving map providing method characterized by the step of overtaking a low-speed / stopped vehicle while the HO vehicle repeatedly transmits its location and intention to pass through a multi-lane road to the RSU. Claim 16 In paragraph 1, when a Host Object (HO) exits a classification section where a queue has formed on the exit ramp during a classification section congestion situation, and the HO vehicle exits from the classification section, the method involves confirming the length of the queue and the headway spacing via the RSU, and then providing the HO vehicle with a lane change driving trajectory and a detour driving trajectory driving map (guidance) for exiting the classification section; the step of the HO vehicle entering the classification section driving map (guidance) service section and participating in the service; the step of the HO vehicle transmitting its own vehicle location and intention to exit the classification section to the RSU; and the step of the RSU detecting the queue on the classification section exit ramp. A method for providing a driving map characterized by: a step of determining whether a lane change on an exit ramp is possible before a queue by considering the location and traffic speed of an HO vehicle; a step of displaying the type and execution section of a driving map (guidance), recommended driving speed, remaining time for executing the driving map (guidance), and remaining distance by considering the distance from the location of the HO vehicle to an expected conflict point in order to provide a merging trajectory that recommends merging (lane change) within a specific section when a lane change is not possible; a step of recommending merging (lane change) within a specific section after analyzing the headway interval in the queue when a lane change is not possible, or providing a detour route as a driving map (guidance) when a lane change is not possible within a section where a lane change is possible; and a step of the HO vehicle exiting the classification section while repeatedly transmitting its location and intention to exit the classification section to the RSU. Claim 17 A driving map provision method according to claim 1, wherein when a service recipient (Host Object, HO) is driving on a road in a state of deteriorating weather, and the HO vehicle is driving on a multi-lane road in a state of deteriorating weather, the method confirms the deteriorating weather information through the RSU and provides the HO vehicle with a speed driving map for safe driving, comprising: a step of the HO vehicle entering the multi-lane road driving map (guidance) service section and participating in the service; a step of the HO vehicle transmitting its own vehicle location and intention to pass through the basic section to the RSU; a step of collecting weather condition information of the basic section (multi-lane road) from the RSU; a step of providing the HO vehicle with a deceleration driving map (guidance) due to deteriorating weather; and a step of the HO vehicle performing deceleration while repeatedly transmitting its location and intention to pass through the multi-lane road to the RSU. Claim 18 In claim 1, when a user causes a conflict in a conflicting section and the HO vehicle enters the main road while the RO vehicle exits the main road, the service recipient (Host Object, HO) confirms the RO vehicle's approach to the main road via the RSU and provides the HO vehicle with a lane change driving trajectory and speed driving map (guidance) for safe entry into the main road; the method comprises the steps of: the HO vehicle entering the conflicting section driving map (guidance) service section and participating in the service to transmit an 'IG section entry' message to the HO vehicle; the HO vehicle transmitting its own vehicle location and intention to enter the main road to the RSU; the RSU recognizing the vehicle approaching the main road (RO); and displaying the type and execution section of the driving map (guidance), recommended driving speed, remaining time for driving map (guidance) execution, and remaining distance, taking into account the distance from the HO vehicle's location to the expected conflict point. A driving map providing method characterized by the step of the HO vehicle performing deceleration while repeatedly transmitting its position and intention to enter (exit) a dividing section to the RSU. Claim 19 A method for providing a driving map according to claim 1, wherein, when a service target (Host Object, HO) enters a section where all lanes of an exit lane at a signal intersection are controlled, and after confirming through an RSU that all lanes of the exit lane are controlled, a driving map (guidance) of a detour route is provided to the HO vehicle, the HO vehicle enters the service section of the signal intersection driving map (guidance) and participates in the service, and transmits a message to the HO vehicle saying 'Entering IG Section'; the HO vehicle transmits its own vehicle location and intention to proceed straight at the signal intersection to the RSU; the HO vehicle receives road control information from the RSU; the HO vehicle is provided with a driving map (guidance) of a detour route (path information for the signal intersection right turn area); and the HO vehicle performs a right turn at the signal intersection while repeatedly transmitting its location and intention to turn right at the signal intersection (withdrawal of the existing intention to proceed straight at the signal intersection) to the RSU. Claim 20 delete

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