Apparatus for maneuver sharing coordination, and method therefor

Abstract

An apparatus for maneuver sharing coordination is presented. The apparatus comprises: a transmission / reception device for transmitting a maneuver sharing coordinating message to a moving object in the vicinity of a road, or receiving information related to maneuver sharing on and in the vicinity of the road; and a processor for processing the information related to maneuver sharing, wherein the processor can acquire the information related to maneuver sharing, generate maneuvering information for the moving object on the basis of the acquired information related to maneuver sharing, and transmit, to the moving object in the vicinity of the road, the maneuver sharing coordinating message including the generated maneuvering information for the moving object.

Description

Device for traffic flow mediation and method therefor

[0001] The present invention relates to a device for traffic flow mediation and a method therefor, and more specifically, to a device, method or system therefor that enables roadside infrastructure such as a road side unit (RSU) to guide the maneuver of a vehicle or moving object on a road.

[0002] Vehicles can use the Maneuver Sharing Coordinating Service to share their intention to change their status with surrounding vehicles, perform negotiation and coordination, and share their current execution status, contributing to improving road safety and traffic efficiency.

[0003] For this purpose, scenarios utilizing Maneuver Sharing Coordinating Messages (MSCM) are defined into two categories.

[0004] - Inter-vehicle cooperative lane changing

[0005] - Inter-vehicle cooperative lane merging

[0006] The MSCM transmitted by the vehicle consists of several sub-maneuver information and includes the following information:

[0007] ManeuverSharingandCoordinatingMessage ::= SEQUENCE {

[0008] mSCMTimestamp MsgTimeStamp,

[0009] hVPos Position3D, - HV's reference position

[0010] hVPosXYConf PositionalAccuracy,

[0011] mSCMType MSCMType,

[0012] sourceID TemporaryID,

[0013] destinationIDs TemporaryIDList OPTIONAL,

[0014] maneuverID ManeuverID OPTIONAL,

[0015] maneuver Maneuver OPTIONAL,

[0016] reasonCode ReasonCode OPTIONAL,

[0017] maneuverExecutionStatus ManeuverExecutionStatus OPTIONAL,

[0018] ...

[0019] }

[0020]

[0021] Maneuver ::= SEQUENCE {

[0022] maneuverType ManeuverType,

[0023] subManeuverList SubManeuverList,

[0024] ...

[0025] }

[0026]

[0027] MSCMType ::= ENUMERATED {

[0028] maneuverIntent (0),

[0029] maneuverRequest (1),

[0030] maneuverResponse (2),

[0031] maneuverReservation (3),

[0032] hVManeuverCancellation (4),

[0033] rVManeuverCancellation (5),

[0034] emergencyManeuverReservation (6),

[0035] maneuverExecutionStatus (7),

[0036] }

[0037]

[0038] SubManeuverList ::= SEQUENCE OF SubManeuver

[0039]

[0040] SubManeuver ::= SEQUENCE {

[0041] executantID TemporaryID,

[0042] affectedCVIDs TemporaryIDList,

[0043] currentStatus CurrentStatus,

[0044] targetRoadResource TargetRoadResource, OPTIONAL,

[0045] StartTime MsgTimeStamp, -- Temporal characteristics

[0046] EndTime MsgTimeStamp,

[0047] minSpeed Speed OPTIONAL,-- Kinematic characteristics

[0048] maxSpeed Speed OPTIONAL,

[0049] ...

[0050] }

[0051]

[0052] CurrentStatus ::= SEQUENCE {

[0053] executantPos PositionOffsetXYZ OPTIONAL,

[0054] executantPosConfidence PositionConfidenceSet OPTIONAL,

[0055] speed Speed,

[0056] heading Heading,

[0057] accel4way AccelerationSet4Way OPTIONAL,

[0058] size VehicleSize,

[0059] ...

[0060] }

[0061]

[0062] PositionOffsetXYZ ::= SEQUENCE {

[0063] offsetX ObjectDistance,

[0064] offsetY ObjectDistance,

[0065] offsetZ ObjectDistance OPTIONAL

[0066] }

[0067]

[0068] ObjectDistance ::= INTEGER(-32767..32767) -- LSB units of 0.1 meters

[0069]

[0070] TRRType ::= ENUMERATED {

[0071] TRRType1 (0),

[0072] TRRType2 (1),

[0073] TRRType3 (2),

[0074] ...

[0075] }

[0076]

[0077] TargetRoadResource ::= SEQUENCE {

[0078] tRRType TRRType,

[0079] tRRLocation TRRLocation,

[0080] ...

[0081] }

[0082] The executantID of the SubManeuver may contain identification information for a vehicle that must perform a maneuver based on traffic flow arbitration information, and the affectedCVID(s) may contain identification information for a vehicle that is affected by the maneuver based on traffic flow arbitration information.

[0083] In this specification, traffic flow mediation information includes maneuver information for a vehicle (or moving object), and maneuver means an operation of the movement of the vehicle (or moving object) including acceleration, deceleration, braking, or steering control, and may include lane change, turn, reverse, parking, U-turn, overtaking, emergency avoidance, etc.

[0084]

[0085] Figure 1 illustrates the basic procedure for using MSCM.

[0086] 1. Pre-Awareness

[0087] HV (host vehicle) and RV (remote vehicle) enter the maneuver negotiation state (Maneuver Negotiation Status) through BSM (basic safety message), SDSM (Standard Dynamic Spatial Map), and Maneuver Intent exchange (S10).

[0088] 2. Maneuver negotiation

[0089] The HV transmits a Maneuver Request to all RVs (S20), and the RVs respond with a Maneuver Response, either accepting (S30) or rejecting the request. No new Maneuver Requests are made until the state of Pre-Awareness is reached through termination, cancellation, or execution. Upon receiving an acceptance response from an RV, the HV transmits a Maneuver Reservation (S40) to reserve a time to perform the Maneuver.

[0090] 3. Maneuver Execution

[0091] HV and RV move appropriately according to Maneuver Reservation (S50).

[0092]

[0093] However, simply changing lanes using MSCM between vehicles cannot improve traffic flow, which can lead to accidents or inefficient traffic flow if negotiation between vehicles fails, especially when vehicles that do not support autonomous driving are included.

[0094] While autonomous vehicles ("autonomous vehicles") can negotiate a specific location at a specific time, non-autonomous vehicles cannot guarantee this, and non-autonomous vehicles cannot even negotiate a specific location at a specific time. Therefore, traffic flow mediation by a third party is necessary to prevent accidents and ensure efficient use of roads. Furthermore, because negotiation conditions may vary between autonomous vehicles depending on the implementation algorithm, traffic flow mediation by a third party is also necessary.

[0095] The present invention proposes a device for traffic flow mediation and a method therefor.

[0096] Additionally, the present invention seeks to present new information to be included in messages for traffic flow mediation.

[0097] In addition, the present invention proposes a method for determining the entry priority of vehicles (moving objects) in a road section where multiple lanes merge and conveying this to the vehicles (moving objects).

[0098] In addition, the present invention proposes a method for providing a maneuvering guide for a vehicle (mobile object) that has entered or is likely to enter an area where passage is restricted.

[0099] In addition, the present invention proposes a method for providing a maneuvering guide for a vehicle (moving object) that is entering or is likely to enter an area where a temporary obstacle is placed on a road while the vehicle is driving.

[0100] The problems to be solved by the present invention are not limited to the problems to be solved above, and other problems not mentioned can be clearly understood by a person having ordinary skill in the technical field to which the present invention belongs from the description below.

[0101] A device for traffic flow mediation is proposed, comprising: a transceiver configured to transmit a traffic flow mediation message to a vehicle along a road, or to receive traffic flow-related information on a road and its surroundings; and a processor configured to process the traffic flow-related information, wherein the processor is configured to obtain the traffic flow-related information, generate maneuvering information for a vehicle based on the obtained traffic flow-related information, and transmit a traffic flow mediation message including the generated maneuvering information for the vehicle to the vehicle along the road.

[0102] Additionally or alternatively, the traffic flow arbitration message may include identification information about a vehicle that must maneuver based on the maneuver information and identification information about a vehicle that is affected by the maneuver based on the maneuver information.

[0103] Additionally or alternatively, the traffic flow arbitration message may include indication information indicating that it contains maneuvering information for the vehicle.

[0104] Additionally or alternatively, the traffic flow arbitration message may include information indicating the cause or reason for generating the maneuver information for the vehicle.

[0105] Additionally or alternatively, the cause or reason for generating the maneuvering information for the vehicle may include any one of an entry priority guide for a target road segment, an avoidance guide for a road with restricted travel, or an obstacle avoidance guide.

[0106] Additionally or alternatively, the traffic flow arbitration message may include location information about the area that caused or led to the generation of maneuver information for the vehicle.

[0107] Additionally or alternatively, the processor may be configured to detect vehicles requiring intervention based on maneuver information for the vehicles based on the acquired traffic flow-related information.

[0108] Additionally or alternatively, the processor may be configured to determine, based on the acquired traffic flow-related information, whether any one of entry priority guidance for a target road segment, avoidance guidance for a road with restricted travel, or obstacle avoidance guidance is required.

[0109] Additionally or alternatively, the processor may be configured to arrange maneuvering information for each vehicle in the traffic flow arbitration message in order of entry priority to the target road segment.

[0110] Additionally or alternatively, the entry priority may be determined by the processor or by the application server.

[0111] Additionally or alternatively, the entry priority may be determined based on at least one of whether the vehicle is an emergency vehicle, whether the lane or road the vehicle is traveling on before entering the target road segment is a priority lane or road, the average driving speed of the lane or road the vehicle is traveling on, and the expected remaining time of arrival at the target road segment.

[0112] Additionally or alternatively, the processor may be configured to obtain location information about the area that caused or caused the generation of said motion information.

[0113] Additionally or alternatively, the processor may be configured to obtain information about vehicles that are likely to enter a target road segment, or that have entered or are likely to enter an area where a roadway or obstacle exists, and to generate a traffic flow intervention message that includes identification information about the vehicles.

[0114] A method for traffic flow mediation is proposed, the method being performed by a device comprising a transceiver configured to transmit a traffic flow mediation message to a vehicle along a road or to receive traffic flow-related information on a road and its surroundings; and a processor configured to process the traffic flow-related information, the method comprising: obtaining the traffic flow-related information; generating maneuvering information for a vehicle based on the obtained traffic flow-related information; and transmitting a traffic flow mediation message including the generated maneuvering information for the vehicle to a vehicle along the road.

[0115] The above problem solving methods are only some of the embodiments of the present invention, and various embodiments reflecting the technical features of the present invention can be derived and understood by a person having ordinary knowledge in the relevant technical field based on the detailed description of the present invention described below.

[0116] The present invention has the following effects.

[0117] The present invention can provide a device for traffic flow mediation and a method therefor.

[0118] In addition, the present invention provides new information included in a message for traffic flow mediation, thereby enabling control or management of traffic flow while omitting negotiation between vehicles (moving objects).

[0119] In addition, the present invention can determine the entry priority of vehicles (moving objects) in a road section where multiple lanes merge with each other and transmit this to the vehicles (moving objects), thereby expecting a smooth traffic flow.

[0120] In addition, the present invention provides a maneuvering guide for a vehicle (mobile object) that has entered or is likely to enter a restricted area, thereby preventing the vehicle (mobile object) from driving in a restricted area.

[0121] In addition, the present invention provides a maneuvering guide for a vehicle (moving object) that is entering or is likely to enter an area where a temporary obstacle is placed on a road while the vehicle is driving, thereby enabling smooth traffic flow.

[0122] The effects according to the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art to which the present invention pertains from the detailed description of the invention below.

[0123] The accompanying drawings, which are included as part of the detailed description to aid in understanding the present invention, provide embodiments of the present invention and, together with the detailed description, explain the technical idea of ​​the present invention.

[0124] Figure 1 illustrates a conventional procedure for mediating traffic flow between vehicles.

[0125] Figure 2 shows a block diagram of a system according to the present invention.

[0126] Figure 3 illustrates a situation in which arbitration of entry priority into a target area according to the present invention is required.

[0127] Figures 4 and 5 illustrate a flowchart of a procedure for traffic flow arbitration related to Figure 3.

[0128] Figure 6 illustrates a situation in which guidance is required for a restricted passage area according to the present invention.

[0129] Figure 7 illustrates a flowchart of a procedure for traffic flow arbitration related to Figure 6.

[0130] Figure 8 illustrates a situation in which an avoidance guide for an obstacle area according to the present invention is required.

[0131] Figure 9 illustrates a flowchart of a procedure for traffic flow arbitration related to Figure 8.

[0132] Figure 10 illustrates a block diagram of a device for traffic flow mediation according to the present invention.

[0133] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Regardless of the drawing numbers, identical or similar components will be given the same reference numbers, and redundant descriptions thereof will be omitted. The suffixes "module" and "part" used for components in the following description are assigned or used interchangeably only for the convenience of writing the specification, and do not in themselves have distinct meanings or roles. In addition, when describing the embodiments disclosed in this specification, if it is determined that a specific description of a related known technology may obscure the gist of the embodiments disclosed in this specification, a detailed description thereof will be omitted. In addition, the attached drawings are only intended to facilitate easy understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and technical scope of the present invention.

[0134] Terms that include ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by these terms. These terms are used solely to distinguish one component from another.

[0135] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components intervening. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it should be understood that there are no other components intervening.

[0136] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0137] In this application, terms such as “include” or “have” are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but should be understood not to exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0138]

[0139] Figure 2 shows a block diagram of a system according to the present invention.

[0140] According to the present invention, the RSU (100) can receive information related to traffic flow around itself or a specific area from the C-ITS (Cooperative-Intelligent Transport System) (200), the application server (300), and the sensor server (400), process the received information, and transmit a traffic flow mediation message to the vehicle (1000).

[0141] In this specification, the term "vehicle (1000)" includes not only automobiles equipped with autonomous driving functions, but also automobiles without such functions, robots, and devices capable of moving, such as UAM (Unmanned Aerial Mobility). In this specification, such devices capable of moving may be referred to as "mobile entities."

[0142] Meanwhile, the RSU (100) may receive a traffic flow mediation message or its contents generated based on the traffic flow-related information from the application server (300), etc., without receiving traffic flow-related information from the C-ITS (200), the application server (300), the sensor server (400), etc. In this case, the RSU (100) may simply transmit the traffic flow mediation message to the mobile unit (1000), or may generate a traffic flow mediation message based on the received content and transmit it to the mobile unit (1000). In other words, processing, calculations, etc. for actual traffic flow mediation may be performed in the application server (300), etc.

[0143] That is, RSU (100), C-ITS (200), application server (300), sensor server (400), etc. operate as a single system to process and calculate traffic flow-related information for traffic flow mediation, and accordingly, generate messages for traffic flow mediation.

[0144] However, for simplicity, in this specification, the RSU is described as performing processing or calculations of traffic flow-related information and transmitting messages.

[0145]

[0146] In the present invention, a method is proposed in which an RSU receives location information, road condition information, map information, etc. from surrounding mobile devices, a C-ITS center, and intelligent sensors, and determines the priority of entering a road at a highway entrance or an intersection without traffic lights, or determines the content of the mediation, generates an MSCM, and then transmits it to the mobile device when traffic flow mediation is required, such as prohibiting (avoiding) the entry of a vehicle (or mobile device) not permitted to drive on a restricted road, by detouring or departing, or changing lanes due to road obstacles and obstructing mobile devices.

[0147] The information that RSU can collect is as follows:

[0148] - Collect V2X messages (BSM, PSM (personal safety message), etc.) from surrounding objects using V2X communication

[0149] - Collect location information (latitude, longitude, altitude, speed, heading, lane) of detected objects (moving objects, VRUs, obstacles, etc.) from sensors to create SDSM.

[0150] - In conjunction with the C-ITS center, collects MAP, SPAT (Single Phase And Timing), TIM (Traveler Information Message), RSA (Road Side Alert), EVA (Emergency Vehicle Alert), traffic laws (priority lane, special road, etc.), and road conditions (weather, construction information, etc.) through V2X messages or specific interfaces.

[0151] - Collect road condition and moving object condition information (emergency light and turn signal light lighting information) using intelligent sensors such as road CCTV and lidar sensors.

[0152]

[0153] MAP data refers to detailed information about roads and transportation infrastructure. MAP data can primarily include information about vehicles (mobile objects), traffic lights, road signs, intersections, lane layouts, and road geometry.

[0154] Based on its own location information (latitude, longitude, altitude), the RSU can primarily determine situations requiring traffic flow mediation by using the traffic flow-related information (static or dynamic information) below by matching it with the information of the surrounding objects mentioned above and the location information of the V2X messages it directly receives.

[0155] A. Determining traffic flow intervention situations using static information

[0156] A.1. Detecting entrance points to highways using MAP data (exchange information defined in V2X messages or similar formats).

[0157] A.2. Detection of intersections but no traffic lights using MAP data (V2X message or similarly defined exchange information) and SPAT (V2X message or similarly defined exchange information).

[0158] A.3. Lane Decreased Detection Using MAP Data (V2X Messages or Exchange Information Defined in a Similar Form)

[0159] A.4. Detecting special roads (such as shoulder roads, pedestrian-only roads, and vehicle-only roads) using MAP data (V2X messages or similarly defined exchange information) and traffic law information (C-ITS center or similarly defined exchange information).

[0160] B. Determining traffic flow intervention situations using dynamic information

[0161] B.1. Acquiring the location of road obstacles (such as fallen objects) using SDSM (Standard Dynamic Spatial Map) or intelligent sensors.

[0162] B.2. Obtaining the location of construction and hazardous areas using road condition information from RSA (roadside alert) or C-ITS centers.

[0163] B.3. Using intelligent sensors to recognize emergency light information of a moving object and determine whether there is danger.

[0164] B.4. Using intelligent sensors to recognize the direction indicators of a moving object and determine whether there is danger.

[0165]

[0166] When a situation requiring traffic flow mediation corresponding to A and B is determined, the RSU can perform traffic flow mediation as follows.

[0167] 1. Entry priority notification

[0168] A.1. A.2. A.3. You can indicate the entry priority in the situation.

[0169] 2. Guide to moving vehicles that violate traffic laws

[0170] A.4. It can guide the movement of vehicles that violate traffic laws in certain situations.

[0171] 3. Lane change guidance

[0172] B.1. B2. B3. B.4. It can guide lane movement in these situations.

[0173]

[0174] To this end, we propose adding the following fields to MSCM:

[0175] If the RSU is arbitrating traffic, add rsuManeuverGuidance to MSCMType.

[0176] MSCMType ::= ENUMERATED {

[0177] maneuverIntent (0),

[0178] maneuverRequest (1),

[0179] maneuverResponse (2),

[0180] maneuverReservation (3),

[0181] hVManeuverCancellation (4),

[0182] rVManeuverCancellation (5),

[0183] emergencyManeuverReservation (6),

[0184] maneuverExecutionStatus (7),

[0185] rsuManueverGuidance(8),

[0186] ...

[0187] }

[0188] rsuManeuverGuidance can be referred to as guidance information indicating traffic flow intervention information or information indicating that it contains maneuver information for a mobile vehicle. A mobile vehicle receiving an MSCM with MSCM Type=8 can recognize that the message contains traffic flow intervention information by the RSU.

[0189] Additionally, the RSU can add TRRType4 to represent the location where the corresponding vehicle will move when mediating traffic flow. TRRType4 includes length and location information, but may not include lane offset information.

[0190] TRRType ::= ENUMERATED {

[0191] TRRType1 (0),

[0192] TRRType2 (1),

[0193] TRRType3 (2),

[0194] TRRType4(3),

[0195] ...

[0196] }

[0197]

[0198] TRRLocationType4 ::= SEQUENCE {

[0199] tRRLengthTRRLength,

[0200] targetPositionPosition3D,

[0201] laneOffsetLaneOffset OPTIONAL

[0202] }

[0203] Lane offset information refers to the relative value of the lane in which a vehicle will move compared to the current lane.

[0204] In this way, by providing a new resource type, such as TTRType4, we can indicate cases where traffic flow arbitration is performed by RSUs or other equivalent entities.

[0205] Additionally, we propose adding rsuGuidanceCode to indicate the cause or reason for the traffic intervention. The rsuGuidanceCode value can be included if the MSCM's MSCMType = 8. rsuGuidanceCode can contain any of the following, and additional causes or reasons for the traffic intervention can be added.

[0206] Entry priority guidance for traffic intervention areas (or target road segments): entry priority guidance (0)

[0207] Avoidance Guide for Restricted Roads (Special Roads): Restricted Road Guidance (1)

[0208] Obstacle Avoidance Guide: Obstacle Guidance (2)

[0209]

[0210] rsuGuidanceCode ::= ENUMERATED {

[0211] entry priority guidance (0),

[0212] restricted road guidance (1),

[0213] obstacle guidance (2)

[0214] }

[0215]

[0216] When the RSU performs traffic flow mediation and sends a traffic flow mediation message (MSCM) to inform the vehicle of its entry priority into the traffic mediation area (or target road section), the message consists of a list of one or more SubManeuvers, and the order of the SubManeuvers written in the list can be set as the entry priority.

[0217] Each terminal can reference the SubManeuver containing the executantID that is identical to its temporaryID when it receives the MSCM transmitted by the RSU.

[0218] In addition, in the method proposed in this specification, the recommended movement (maneuvering) location of a mobile device can be indicated using targetRoadResource of subMaenuver information in the MSCM transmitted by the RSU, and the location of an intersection, special road, or obstacle that provided a cause for the movement (maneuvering) can be included using affectedRoadResource.

[0219] When communicating entry priorities for two vehicles using MSCM, the message can be structured as follows:

[0220] SubManeuverList ::= SEQUENCE OF SubManeuver

[0221] SubManeuver ::= SEQUENCE {

[0222] executantID TemporaryID,

[0223] affectedCVIDs TemporaryIDList,,

[0224] currentStatus CurrentStatus,

[0225] targetRoadResource TargetRoadResource, OPTIONAL,

[0226] affectedRoadResourceTargetRoadResource,OPTIONAL,

[0227] StartTime MsgTimeStamp, -- Temporal characteristics

[0228] EndTime MsgTimeStamp,

[0229] minSpeed Speed OPTIONAL,-- Kinematic characteristics

[0230] maxSpeed Speed OPTIONAL,

[0231] ...

[0232] }

[0233]

[0234] SubManeuver ::= SEQUENCE {

[0235] executantID TemporaryID,

[0236] affectedCVIDs TemporaryIDList,

[0237] currentStatus CurrentStatus,

[0238] targetRoadResource TargetRoadResource, OPTIONAL,

[0239] affectedRoadResourceTargetRoadResource,OPTIONAL,

[0240] StartTime MsgTimeStamp, -- Temporal characteristics

[0241] EndTime MsgTimeStamp,

[0242] minSpeed ​​Speed ​​OPTIONAL,-- Kinematic characteristics

[0243] maxSpeed ​​Speed ​​OPTIONAL,

[0244] ...

[0245] }

[0246]

[0247] Above, it indicates that the executantID of the first SubManeuver is set to a higher entry priority than the executantID of the second SubManeuver, and the affectedRoadResource can indicate the area that caused the traffic flow arbitration.

[0248]

[0249] Referring to A.1, A.2, A.3, A.4, B.1, B.2, B.3, and B.4 described above, RSUs can transmit traffic flow mediation messages to mobile units in three main cases. Below, each case is explained in more detail.

[0250] The following description describes an embodiment in which an RSU determines a traffic flow mediation situation, determines the content of traffic flow mediation (entry priority determination, lane movement, etc.) based on the determination, and then generates an MSCM and transmits it to a mobile vehicle or a V2X terminal of the mobile vehicle. Meanwhile, as previously described, some of the procedures or operations may be performed by at least one of the infrastructure, i.e., C-ITS (200), application server (300), or sensor server (400), and it is noted that this falls within the scope of the present invention.

[0251]

[0252] Figure 3 illustrates a situation in which arbitration of entry priority into a target area (or target road section) according to the present invention is required.

[0253] Figure 3 illustrates situations corresponding to A.1, A.2, and A.3 mentioned above.

[0254] Referring to Figure 3, a situation is illustrated where a decision on the entry priority between vehicles and guidance therefor is required for a point (T) where Road 2 (Road2) merges with Road 1 (Road1).

[0255] The RSU uses road information acquired from MAP data or road information acquired by itself to construct a list of lane-specific intervention-required areas and intervention target areas composed of intervention points (entry, intersection, etc.). The intervention target areas may include road information associated with each intervention-required area (or intervention point). That is, in the example of FIG. 3, the intervention target areas may include information on Road 1 and Road 2. In this description, the intervention-required area refers to an area excluding the area where Road 1 and Road 2 of FIG. 3 merge (i.e., excluding the intervention point (T)), and the intervention point (T) refers to an area where Road 1 and Road 2 merge and overlap.

[0256] If it is determined that a vehicle enters an area requiring arbitration or approaches an arbitration point (T) within a critical distance using the location information of a vehicle with a V2X terminal installed from the received BSM and the location information of a vehicle without a V2X terminal installed from the SDSM, the RSU can group the list of vehicles for each lane, sort them in order, and then perform the following procedure.

[0257] (1) If the distance between mobile bodies 1 (1001) and 2 (1002) is less than the minimum distance difference based on the expected entry time to the arbitration point (T), the procedure described below can be continued. In other words, a procedure for determining entry priorities for mobile bodies expected to be located to a certain extent close to the arbitration point (T) can be performed.

[0258] (2) Higher priority is given to special vehicles such as emergency vehicles, which can be identified by receiving EVA (emergency vehicle alert) messages.

[0259] (3) If the vehicles subject to arbitration do not include special vehicles such as emergency vehicles, and if the area requiring arbitration or the arbitration point (T) includes a priority lane under traffic laws, a higher priority may be given to vehicles driving in that lane.

[0260] (4) If there is no priority lane, the average driving speed of the road (lane) on which vehicle 1 is driving and the average driving speed of the road (lane) on which vehicle 2 is driving are calculated, and if the difference in the average driving speed before a preset time based on the judgment time exceeds the preset speed difference, a higher priority can be given to the vehicle on the road (lane) with a slower average speed.

[0261] (5) If the average speed of the road (lane) on which vehicle 1 is driving and the road (lane) on which vehicle 2 is driving are calculated and the difference in average speed before a preset time based on the judgment time is within the preset speed difference, a higher priority can be given to the vehicle that is expected to arrive at the arbitration point (T) first.

[0262]

[0263] Figures 4 and 5 illustrate a flowchart of a procedure for traffic flow mediation related to Figure 3. The procedure of Figures 4 and 5 may be performed by infrastructure surrounding a road, such as an RSU (100), and will be simply described below as being performed by a “traffic flow mediation device (100).” In addition, as previously described, the operations, functions, or procedures described herein may be performed in cooperation between the RSU (100) or at least one of the RSU (100) and an application server (300), a C-ITS (200), or a sensor server (400).

[0264] The traffic flow mediation device (100) can obtain information on surrounding road types and lanes (S401). The traffic flow mediation device (100) can obtain information on surrounding road types and lanes by receiving MAP data from the C-ITS (200), or can independently obtain information on surrounding road types and lanes.

[0265] The traffic flow mediation device (100) can determine whether an area requiring mediation exists based on acquired surrounding road or lane information (S402). For example, if there is a merging or intersecting road nearby, the area requiring mediation may be determined to exist. Alternatively, if an obstacle is placed on a surrounding road, the area requiring mediation may be determined to exist. If it is determined that an area requiring mediation does not exist, the traffic flow mediation device (100) can determine whether an area requiring mediation exists based on acquired surrounding road or lane information (S402). S402 may be performed at preset intervals.

[0266] The traffic flow mediation device (100) can configure a mediation target area or acquire road information associated with the mediation target area (S403). The mediation target area can be composed of a list of areas requiring mediation and mediation points for each lane. For example, if the cause of the mediation requirement is a case where two roads merge, the areas requiring mediation are the two roads, and the mediation point (T) can be composed of the point where the two roads merge and a certain road area thereafter (in the driving direction). Furthermore, the areas requiring mediation and the mediation points can be expressed as two-dimensional or three-dimensional coordinate values.

[0267] The traffic flow mediation device (100) can determine whether a moving object has entered the mediation target area or whether there is a possibility that the moving object will enter the mediation target area (S404).

[0268] Vehicles that are likely to enter the arbitration target area may be, for example, vehicles driving in the same lane as the arbitration target area, vehicles driving in a lane adjacent to the arbitration target area but with their turn signals turned toward the arbitration target area, etc. In addition, if the distance to the arbitration target area is within a threshold distance, and of course, the driving speed of the vehicle may be taken into account, it may be determined that the vehicle is likely to enter the arbitration target area.

[0269] The traffic flow mediation device (100) can list or group information on moving objects by mediation-required area or by lane / road (S405).

[0270] For example, the traffic flow mediation device (100) can list the vehicles (1001) driving on Road 1 (Road 1) within the mediation-required area of ​​FIG. 3 as being driven on Road 1, and can list the vehicles (1002) driving on Road 2 within the mediation-required area of ​​FIG. 3 and sort them. Although not shown, assuming that there is a vehicle (1003) following Road 1 and a vehicle (1004) following Road 2, the following list can be generated.

[0271] Area requiring intervention Area requiring intervention (or lane / road)Mobile informationMobile coordinate informationID1Road 11001(x1, y1)1003(x2, y2)ID2Road 21002(x3, y3)1004(x3, y3)

[0272] Table 1 includes vehicle coordinate information, but may additionally or alternatively include information about the vehicle's driving speed, the average driving speed on the road or lane, etc.

[0273] The traffic flow mediation device (100) can obtain the expected entry time to the mediation point (T) for the mobile object obtained in S405. In addition, the traffic flow mediation device (100) can compare the expected separation distance between the two mobile objects based on the obtained expected entry time and determine whether the expected separation distance is less than the minimum distance (S406). If the expected separation distance between the two mobile objects is less than the minimum distance, traffic flow mediation may be required. If the expected separation distance between the two mobile objects is equal to or greater than the minimum distance, traffic flow mediation may not be required.

[0274] Since Figures 4 and 5 are guides for entry priorities, S406 can be compared for both combinable vehicles located in the intervention-required area, lane or road.

[0275] The traffic flow mediation device (100) can determine whether the two vehicles include a special vehicle, such as an emergency vehicle, based on the information about the two vehicles acquired in step S405 (S407). Special vehicles, such as emergency vehicles, can be given a higher priority (S411). This is to allow emergency vehicles to quickly pass through the mediation target area. Accordingly, the traffic flow mediation device (100) can transmit a traffic flow mediation message that sets the entry priority of special vehicles, such as emergency vehicles, to first priority and the entry priority of the remaining vehicles to second priority.

[0276] If the traffic flow intervention target does not include special vehicles such as emergency vehicles, proceed with the procedure in S408.

[0277] The traffic flow mediation device (100) can check whether the mediation-required area or mediation point (T) includes a priority lane or priority road under traffic laws (S408). If the mediation-required area or mediation point (T) includes a priority lane or priority road under traffic laws, the traffic flow mediation device (100) can give a higher priority to a vehicle driving on the corresponding lane / road (S412). Accordingly, the traffic flow mediation device (100) can transmit a traffic flow mediation message that sets the entry priority of a vehicle driving on the priority lane or priority road to 1st and the entry priority of the remaining vehicles to 2nd.

[0278] If the area requiring arbitration or the arbitration point (T) does not include a priority lane or priority road under traffic laws, proceed to the procedure in S409.

[0279] The traffic flow mediation device (100) can obtain the average driving speed of the road or lane on which each of the two moving objects is driving, and compare the difference in the average driving speed with a preset speed difference (S409).

[0280] If the difference in average driving speeds between two roads or lanes is greater than or equal to a preset speed difference, a higher priority may be given to a vehicle traveling on the road or lane with a slower average driving speed (S413). This is intended to improve traffic flow by giving a higher priority to the lane with a slower average driving speed, thereby increasing the average driving speed of that lane. Accordingly, the traffic flow mediation device (100) may transmit a traffic flow mediation message that sets the entry priority of a vehicle traveling on the road or lane with a slower average driving speed as first, and the entry priority of the remaining vehicles as second.

[0281] If the difference in the average driving speeds of the two roads or lanes is not greater than or equal to the preset speed difference, proceed to procedure S410.

[0282] The traffic flow mediation device (100) can obtain the remaining arrival times of two vehicles at the mediation point (T) and compare the remaining arrival times of the two vehicles (S410). A higher priority can be given to a vehicle with a shorter remaining arrival time (S414, S415). Accordingly, the traffic flow mediation device (100) can transmit a traffic flow mediation message that sets the entry priority of the vehicle with a shorter remaining arrival time as first, and the entry priority of the remaining vehicles as second.

[0283]

[0284] S406 to S415 may be performed for all two combinable mobile objects among the mobile objects obtained in S405. That is, if the expected separation distance between any two mobile objects is less than the minimum distance, the procedures below S407 may be performed.

[0285]

[0286] Figure 6 illustrates a situation in which guidance for a driving restriction area according to the present invention is required.

[0287] Figure 6 illustrates a situation corresponding to A.4 mentioned above.

[0288] Referring to Figure 6, Road 3 is set as a special road, and a situation is illustrated where guidance is required for a vehicle that cannot drive on the special road.

[0289] RSU can designate roads such as shoulders, pedestrian-only roads, and bicycle-only roads as special roads (or special areas) using road information obtained from MAP data, traffic law information obtained from the C-ITS center, or road and traffic law information obtained independently.

[0290] The RSU can determine situations requiring guidance by using location information, object information, or mobile type information included in BSM, PSM, SDSM, and EVA messages.

[0291] (1) Using the heading information of BSM / PSM, if a vehicle (1005) that is not suitable for the purpose of the road is driving in the area, or a vehicle (1006) that is entering or is likely to enter a vulnerable road user (VRU) is detected, the vehicle can be selected as a guide target. That is, the guide target can be selected as follows.

[0292] i. A moving vehicle driving on the lane or road in question;

[0293] ii. Vehicles attempting to change lanes or enter the road using BSM's heading information.

[0294] iii. A moving vehicle that has turned on its turn signal to indicate the lane or road through an intelligent detector.

[0295] (2) Based on the road information held by the RSU, it can guide movement to a movable lane (right or left lane or road) along with the cause or reason for traffic flow intervention.

[0296]

[0297] FIG. 7 illustrates a flowchart of a procedure for traffic flow mediation related to FIG. 6. The procedure of FIG. 7 may be performed by infrastructure surrounding a road, such as an RSU (100), and will hereinafter be simply described as being performed by a “traffic flow mediation device (100).” Furthermore, as previously described, the operations, functions, or procedures described herein may be performed in cooperation between the RSU (100) or at least one of the RSU (100) and an application server (300), a C-ITS (200), or a sensor server (400).

[0298] The traffic flow mediation device (100) can obtain information on surrounding road types and lanes (S601). The traffic flow mediation device (100) can obtain information on surrounding road types and lanes by receiving MAP data from the C-ITS (200), or can independently obtain information on surrounding road types and lanes.

[0299]

[0300] The traffic flow mediation device (100) can determine whether a special road exists in the vicinity (S602). If it is determined that no special road exists in the vicinity, the traffic flow mediation device (100) can stop the monitoring process.

[0301] S602 can be performed at preset cycles.

[0302] If the traffic flow intervention device (100) determines that a special road exists in the vicinity, it can set guidance-required area information corresponding to the special road or type information of the area related thereto (S603). The guidance-required area information can be expressed as two-dimensional or three-dimensional coordinate information. Referring to FIG. 6, the guidance-required area can correspond to Road 3. The area type information corresponds to the “rsuGuidanceCode” described above and can indicate the cause or reason for traffic intervention. For example, the area type information can indicate any one of an entry priority notification for a traffic intervention area (or target road section), an avoidance guide for a road with a driving (or passage) restriction (special road), or an obstacle avoidance guide. According to the example of FIG. 6, an entry priority notification for a traffic intervention area can be indicated.

[0303] The traffic flow mediation device (100) can obtain any one of location information (or lane information), object information, or vehicle type information included in any one of the BSM, PSM, SDSM, or EVA messages. The traffic flow mediation device (100) can determine whether the vehicle has entered or is likely to enter a guidance-requiring area from the obtained information (S604).

[0304] The traffic flow mediation device (100) can determine whether a vehicle has entered or is likely to enter a guidance-required area (S605). More specifically, if the vehicle is driving on the same lane or road as the guidance-required area, if the vehicle is changing lanes or attempting to enter a lane corresponding to the guidance-required area, or if the vehicle has turned on its turn signal in the lane corresponding to the guidance-required area, the vehicle can be determined to have entered or is likely to enter the guidance-required area.

[0305] In addition, the traffic flow mediation device (100) can determine whether a vehicle that has entered or is likely to enter the guidance-required area, as determined in S605, is a vehicle permitted to drive in the guidance-required area (S606).

[0306] The traffic flow mediation device (100) does not transmit a traffic flow mediation message including guidance to a moving object permitted to drive in a guidance-required area (S607).

[0307] The traffic flow mediation device (100) can transmit a traffic flow mediation message including guidance instructions for lane movement to a vehicle not permitted to drive in a guidance-required area (S608). At this time, the traffic flow mediation message can include information on movable lanes, their location information, or information indicating the cause or reason for traffic flow mediation (i.e., guidance).

[0308]

[0309] Figure 8 illustrates a situation in which an avoidance guide for an obstacle area according to the present invention is required.

[0310] Figure 8 illustrates situations corresponding to B.1, B.2, B.3, and B.4 mentioned above.

[0311] Referring to Figure 8, a case is illustrated where an obstacle (OB) is located in one lane of a road.

[0312] The RSU can detect the location of obstacles or objects on the road by receiving incident detection information, RSA messages, or SDSM messages, or can detect slow-moving or stopped vehicles with emergency lights on through intelligent sensors. In such cases, the RSU can collect location information on obstacles or objects on the road, or slow-moving or stopped vehicles with emergency lights on, and designate these locations as danger zones. Furthermore, information indicating obstacles, delays, or congestion can be set as the danger zone type.

[0313] The RSU can perform the following procedures for a mobile object approaching within a preset threshold distance to a set danger zone:

[0314] (1) RSU can distinguish lanes using road information acquired from MAP data or road information acquired by itself, and can select a moving object on the road as a target moving object for guidance if it falls under the following categories.

[0315] i. A moving vehicle approaching a set danger zone in the same lane as the set danger zone;

[0316] ii. A moving vehicle attempting to change lanes to the corresponding lane using BSM's heading information.

[0317] iii. A moving vehicle with its turn signal turned on in a danger zone set by an intelligent detector.

[0318] (2) The RSU can transmit information about the adjacent lane (right or left lane) that can be moved to the guided vehicle. At this time, information indicating the cause or reason for the guidance may also be transmitted.

[0319]

[0320] FIG. 9 illustrates a flowchart of a procedure for traffic flow mediation related to FIG. 8. The procedure of FIG. 9 may be performed by infrastructure surrounding a road, such as an RSU (100), and will hereinafter be simply described as being performed by a “traffic flow mediation device (100).” Furthermore, as previously described, the operations, functions, or procedures described herein may be performed in cooperation between the RSU (100) or at least one of the RSU (100) and an application server (300), a C-ITS (200), or a sensor server (400).

[0321] The traffic flow intervention device (100) can detect slow or stationary vehicles by turning on obstacles or emergency lights on the surrounding road, and obtain location information about them (S801). To this end, the traffic flow intervention device (100) can utilize information obtained from unexpected detection information, RSA messages, or SDSM messages.

[0322] The traffic flow intervention device (100) can set a risk area corresponding to the location information acquired in S801, or can set area type information (S802). Area type information corresponds to the "rsuGuidanceCode" described above and can indicate the cause or reason for traffic intervention. For example, the area type information can indicate one of the following: entry priority notification for a traffic intervention area (or target road section), avoidance guidance for a road (or a special road) with restricted driving (or passage), or obstacle avoidance guidance. According to the example of FIG. 8, obstacle avoidance guidance can be indicated.

[0323] The traffic flow intervention device (100) can detect a vehicle approaching a designated risk area (S803). To this end, the traffic flow intervention device (100) can utilize information obtained from the BSM received from the vehicle. More specifically, location information or lane information of the vehicle can be utilized. The traffic flow intervention device (100) can detect a vehicle located within a threshold distance from the designated risk area.

[0324] The traffic flow intervention device (100) can determine whether a guided vehicle exists among vehicles approaching a set risk area (S804). More specifically, if a vehicle approaching a risk area approaches the set risk area from the same lane as the set risk area, attempts to change lanes to the corresponding lane using BSM heading information, or is determined to have turned on its turn signal toward the set risk area using an intelligent detector, the vehicle can be selected as a guided vehicle.

[0325] The traffic flow mediation device (100) may not transmit a traffic flow mediation message if there is no guided target vehicle (S805).

[0326] A traffic flow mediation device (100) can transmit a traffic flow mediation message including guidance to a guided vehicle (S806). At this time, the traffic flow mediation message can include information on movable lanes, their location information, or information indicating the cause or reason for traffic flow mediation (i.e., guidance).

[0327]

[0328] Figure 10 illustrates a block diagram of a device for traffic flow mediation according to the present invention.

[0329] A traffic flow mediation device (100) may include a transmitter / receiver (110) configured to transmit a traffic flow mediation message to a moving object around the road or to receive information related to traffic flow on the road and its surroundings.

[0330] The traffic flow mediation device (100) may include a processor (120) configured to process traffic flow-related information.

[0331] The processor (120) can acquire traffic flow-related information. Furthermore, the processor (120) can be configured to generate maneuvering information for a vehicle based on the acquired traffic flow-related information and transmit a message including the generated traffic flow mediation information to vehicles along the road. The maneuvering information for the vehicle can include information for guiding the vehicle's driving around the road. For example, the maneuvering information for the vehicle can include entry priority for a merging road or intersection, lane change instructions, etc.

[0332] Traffic flow-related information can be divided into static and dynamic information. Static information refers to road information such as MAP data or traffic regulations, while dynamic data refers to information about unexpected events on the road acquired through intelligent sensors.

[0333] A message containing maneuver information for a mobile entity may include identification information about a mobile entity that must perform a maneuver based on the maneuver information and identification information about a mobile entity affected by the maneuver based on the maneuver information. Additionally, a message containing maneuver information for a mobile entity may include indication information indicating that the message contains maneuver information for a mobile entity.

[0334] Additionally, a message containing maneuver information for a mobile vehicle may include information indicating the cause or reason for generating the maneuver information for the mobile vehicle. That is, a message containing maneuver information for a mobile vehicle may include information indicating the cause or reason for traffic flow intervention.

[0335] The cause or reason for generating maneuver information for a mobile vehicle or mediating traffic flow may include any of the following: entry priority guidance for a target road segment, avoidance guidance for a road with restricted travel, or obstacle avoidance guidance.

[0336] Additionally, a message containing maneuvering information for a mobile vehicle may include location information for an area (e.g., a road or lane) that generated the maneuvering information for the mobile vehicle or caused or contributed to traffic flow intervention. The location information may include road identification information or two-dimensional or three-dimensional position coordinate information for the road.

[0337] The processor (120) may be configured to detect a mobile vehicle requiring intervention based on maneuver information for the mobile vehicle based on the acquired traffic flow-related information.

[0338] The processor (120) may be configured to determine whether any one of an entry priority guide for a target road section (i.e., an intervention point (T) of FIG. 3), an avoidance guide for a road with a restricted driving path (i.e., Road3 of FIG. 6), or an obstacle avoidance guide is required based on the acquired traffic flow-related information.

[0339] As a method for conveying the entry priority for a target road section, the processor (120) may be configured to arrange maneuvering information for each vehicle in the message in order of the entry priority for the target road section. That is, the message may include maneuvering information for multiple vehicles, and each maneuvering information corresponds to information for an individual vehicle. Furthermore, each vehicle may control its own driving by referencing the maneuvering information for itself.

[0340] The entry priority for the target road section may be determined by the processor or by the application server.

[0341] Here, the entry priority may be determined based on at least one of the following: whether there is an emergency vehicle in the lane or road on which the vehicle is driving, whether the lane or road on which the vehicle is driving is a priority lane or road before entering the target road section, the average driving speed of the lane or road on which the vehicle is driving, and the expected remaining time to arrive at the target road section.

[0342]

[0343] The processor (120) may be configured to obtain location information for an area (e.g., a road or lane) that is the cause or reason for generating the movement information. The location information may be expressed as two-dimensional or three-dimensional coordinate information.

[0344] The processor (120) may be configured to acquire information about a vehicle that is likely to enter a target road section, or a vehicle that has entered or is likely to enter a restricted road or an area containing obstacles. Furthermore, the processor (120) may be configured to generate a message containing identification information about the vehicle.

[0345] Although not described with reference to FIG. 10, the operations, functions or procedures of the present invention described with reference to FIGS. 2 to 9 can be performed by the device for traffic flow mediation of FIG. 10.

[0346]

[0347] In addition, as another aspect of the present invention, the operation of the proposal or invention described above may be implemented, performed or executed by a “computer” (a comprehensive concept including a system on chip (SoC) or a (micro) processor, etc.), or may be provided as a code or a computer-readable storage medium storing or including the code or a computer program product, and the scope of the present invention may be extended to the code or the computer-readable storage medium storing or including the code or the computer program product.

[0348]

[0349] The detailed description of the preferred embodiments of the present invention disclosed above has been provided to enable those skilled in the art to implement and practice the present invention. While the above description has been made with reference to preferred embodiments of the present invention, those skilled in the art will appreciate that various modifications and variations of the present invention, as defined by the following claims, are possible. Accordingly, the present invention is not intended to be limited to the embodiments disclosed herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. As a device for mediating traffic flow, A transmitter / receiver configured to transmit a traffic flow mediation message to a moving object around the road or to receive information related to the traffic flow on the road and its surroundings; and A processor configured to process the above traffic flow related information, The above processor: Obtain the above traffic flow related information, Generate maneuvering information for a mobile device based on the acquired traffic flow-related information, A device configured to transmit a traffic flow mediation message including maneuvering information for the generated mobile object to a mobile object around the road.

2. A device according to claim 1, wherein the traffic flow mediation message includes identification information for a moving object that must maneuver according to the maneuver information and identification information for a moving object affected by the maneuver according to the maneuver information.

3. A device according to claim 1, wherein the traffic flow mediation message includes indication information indicating that the traffic flow mediation message includes maneuvering information for the mobile device.

4. In the first paragraph, the traffic flow mediation message includes information indicating the cause or reason for generating the maneuvering information for the mobile device.

5. In paragraph 4, the cause or reason is: A device comprising any one of an entry priority guide for a target road section, an avoidance guide for a restricted road, or an obstacle avoidance guide.

6. In the first paragraph, the traffic flow mediation message includes location information for an area that is the cause or reason for generating the maneuvering information for the mobile device.

7. In the first paragraph, the processor, A device configured to detect a mobile object requiring intervention according to maneuver information for the mobile object based on the acquired traffic flow-related information.

8. In the first paragraph, the processor, A device configured to determine whether any one of an entry priority guide for a target road section, an avoidance guide for a road with restricted driving, or an obstacle avoidance guide is required based on the traffic flow-related information obtained above.

9. In paragraph 8, the processor: A device configured to arrange maneuvering information for each vehicle in the order of priority for entering the target road section in the traffic flow mediation message.

10. In the 8th paragraph, the device, wherein the entry priority is determined by the processor or by the application server.

11. In the 8th paragraph, the device, wherein the entry priority is determined based on at least one of whether the mobile vehicle is an emergency mobile vehicle, whether the lane or road on which the mobile vehicle is driving before entering the target road section is a priority lane or road, the average driving speed of the lane or road on which the mobile vehicle is driving, and the expected remaining time of arrival at the target road section.

12. In paragraph 8, the processor: A device configured to obtain location information for an area that is the cause or reason for generating the above-mentioned movement information.

13. In paragraph 8, the processor: Obtain information about a vehicle that is likely to enter the target road section, or a vehicle that has entered or is likely to enter the restricted road or the area where the obstacle exists, A device configured to generate a traffic flow mediation message including identification information for the above-mentioned mobile object.

14. A method for traffic flow mediation, the method being performed by a device including a transmitter / receiver configured to transmit a traffic flow mediation message to a moving object around a road or to receive information related to traffic flow on the road and its surroundings; and a processor configured to process the traffic flow related information. A step of obtaining the above traffic flow related information; A step of generating maneuvering information for a mobile vehicle based on the acquired traffic flow-related information; and A method comprising the step of transmitting a traffic flow mediation message including maneuvering information for the generated mobile object to the mobile object around the road.

15. A computer-readable medium storing a computer program configured to perform a method for traffic flow mediation, comprising: a step of obtaining traffic flow-related information; a step of generating maneuvering information for a mobile vehicle based on the obtained traffic flow-related information; and a step of transmitting a traffic flow mediation message including the generated maneuvering information for the mobile vehicle to a mobile vehicle around the road.

Images