System for providing stepwise forward collision warning by using v2x

Abstract

A system for providing a stepwise forward collision warning by using V2X, according to the present invention, is a vehicle safety system for detecting a forward hazardous situation in real time and providing a customized warning in consideration of characteristics of an individual driver. The system utilizes V2X communication so as to detect risk factors such as a rapidly decelerating vehicle or an obstacle ahead and transmits same as a warning message to a following vehicle. The warning message is provided with different contents corresponding to a preset lane change zone and speed reduction zone, and each zone can be set according to the severity of a hazardous situation and the distance between vehicles. The present invention can increase road safety through real-time inter-vehicle communication and driver-customized stepwise warning messages and contribute to preventing collision accidents by means of stepwise warnings reflecting characteristics of an individual driver.

Description

Phased forward collision warning system utilizing V2X

[0001] The present invention relates to a vehicle safety system that enables safe driving by recognizing risk factors in real time via V2X communication and providing customized warnings tailored to the individual characteristics of the driver. In particular, the present invention relates to a technology that utilizes V2X (Vehicle-to-Everything) technology to detect vehicles rapidly decelerating or obstacles located ahead in real time and provides warnings to vehicles behind in stages, while maximizing accident prevention effects by providing customized warnings that take into account the individual driver's age, cognitive reaction speed, and driving habits.

[0002]

[0003] Generally, a V2X-based forward collision warning system provides warning messages to all drivers of vehicles proceeding behind when a danger occurs ahead of the driving path.

[0004] However, conventional V2X-based forward collision warning systems had a problem in that they could not reflect the driver's characteristics or driving habits because they generated and transmitted the same warning message to all vehicles within the communication range.

[0005] In particular, drivers' reaction times vary depending on age, physical condition, and driving experience. Generally, older drivers have slower cognitive reaction times, and drivers with physical disabilities may find it difficult to react quickly. Conventional systems provide warnings based on the assumption that all drivers have the same reaction speed; therefore, there was a limitation in that drivers with slower reaction times could fail to respond to warnings in a timely manner, potentially increasing the risk of accidents.

[0006] In addition, drivers have different driving habits, differing in aspects such as the frequency of sudden braking and whether or not turn signals are used when changing lanes. While these habits can influence a driver's reaction to dangerous situations, existing systems apply the same warning standards without reflecting these differences. Consequently, there was a limitation in that the effectiveness of warnings could be reduced, as some drivers were more likely to overreact or ignore the warnings.

[0007] Therefore, the development of technology to solve this is required.

[0008] As one of the vehicle-to-vehicle risk warning technologies using a conventional V2X communication module,

[0009] Korean Registered Patent 10-1830399 "Device and Method for Warning Collision Risk Using V2V Communication" describes a technology in which a device and method for warning collision risk using V2V communication transmits and receives collision risk objects collected through a sensor unit installed on one's own vehicle or another vehicle via V2V communication, and

[0010] Korean Registered Patent 10-2111907 "Device and Method for Warning Overtaking Risk of Vehicle" describes a technology for transmitting and receiving vehicle information and lane change signals collected through a vehicle information collection unit to and from other vehicles, and

[0011] Korean registered patent 10-1117168 "In-vehicle telematics device and method for providing vehicle surrounding information using V2V communication" describes a technology that provides information such as lane changes, vehicle accidents, and dangerous vehicles through short-range wireless communication with a telematics device of another vehicle.

[0012] However, the aforementioned technologies provide warnings using V2X communication, but they still have the problem of failing to reflect differences in physical reaction speeds and habits among drivers.

[0013]

[0014] The present invention was devised to solve the aforementioned problems and aims to improve road safety by detecting hazardous elements occurring in front of a moving vehicle in real time and providing stepwise warning messages tailored to the characteristics of individual drivers. The specific objectives are as follows.

[0015] 1) Providing customized warnings corresponding to the reaction speed and characteristics of individual drivers: By optimizing warnings based on the driver's age, cognitive reaction speed, driving habits, etc., the aim is to enable even drivers with slow reaction times to sufficiently recognize and respond to danger.

[0016] 2) Providing warnings adjusted according to driving habits: The purpose is to maximize the warning effect and prevent excessive reaction or ignoring of warnings by adjusting the intensity and timing of the warning to reflect the driver's habits, such as the frequency of sudden braking and whether or not to use turn signals when changing lanes.

[0017] 3) Providing optimized warnings through real-time learning: The purpose is to maximize the timeliness and effectiveness of warnings by learning the driver's reaction speed in real time through the vehicle's HMI device and V2X communication module, and adjusting the timing and intensity of the warnings based on this.

[0018]

[0019] The present invention for achieving the above-mentioned purpose is,

[0020] A forward collision warning providing system that detects a risk factor in front and provides a step-by-step warning message to a rear vehicle comprises: a risk detection module including one or more forward detection sensors and collecting a risk factor in front of the vehicle using said forward detection sensors; a data processing module that analyzes the location, speed, and shape of the risk factor by analyzing the data collected by said risk detection module; a warning step setting module that sets a warning indicator based on the data analyzed by said data processing module and sets a customized warning through this; a V2X communication module that transmits and receives real-time warning messages between vehicles using V2X communication; and a warning personalization module that generates a personalized warning message by assigning weights according to the driver's characteristics to the received warning message, wherein the warning step setting module sets a first zone (Zone 1) and a second zone (Zone 2) at a pre-set location according to the risk factor in front of the vehicle and generates different step-by-step warning messages corresponding to each zone, and the V2X communication module provides the step-by-step warning message generated by said warning step setting module to a rear vehicle located in said first zone and second zone.

[0021] In addition, in one embodiment, the warning personalization module generates a personalized warning message by applying a pre-set weight according to the driver's age characteristics to a warning message received through the V2X communication module.

[0022] In addition, in one embodiment, the warning personalization module accumulates and analyzes the time of warning message display and the time of the driver's actual reaction to pre-acquire the average reaction time of the target driver, and generates a personalized warning message by applying a pre-set weight according to the driver's average reaction time to the warning message received through the V2X communication module.

[0023] In addition, in one embodiment, the warning personalization module pre-acquires a pre-set driving habit score based on the driver's driving habits through cumulative analysis, and generates a personalized warning message by applying a pre-set weight according to the driver's driving habit score to a warning message received through the V2X communication module.

[0024] In addition, in one embodiment, the risk detection module further includes a forward monitoring sensor comprising one or more of a radar, a LiDAR, and a camera mounted on the front of the vehicle, and detects risk factors in front of the vehicle in real time through the forward monitoring sensor.

[0025] In addition, in one embodiment, the warning level setting module sets the level of the warning message based on one or more of the Time-to-Collision (TTC), a time-to-collision index with respect to a vehicle ahead; the Stopping Distance Index (SDI), a stopping distance index; and the Deceleration Rate to Avoid Crash (DRAC), a deceleration rate index for collision avoidance.

[0026] In addition, in one embodiment, the V2X communication module includes a V2X On-Board Equipment (OBE) installed in a vehicle, and transmits and receives warning messages in the form of V2V messages to and from one or more vehicles within a communication range through the V2X OBE.

[0027]

[0028] Through the above configuration, the present invention provides the following advantages.

[0029] The present invention is effective in preventing road accidents and helping to maintain a safe distance from the vehicle ahead by sharing risk information between vehicles in real time via V2X communication and providing warning messages tailored to the individual characteristics of the driver.

[0030] In particular, by adjusting the timing and intensity of warnings in response to the driver's physical reactions and habits, fatigue caused by unnecessary warning displays can be reduced, and road driving safety can be significantly improved through warnings that are adjusted to complement the driver's reaction speed.

[0031]

[0032] FIG. 1 is a block diagram showing a stepwise forward collision warning providing system utilizing V2X according to a preferred embodiment of the present invention.

[0033] FIG. 2 is a block diagram showing an embodiment of a stepwise forward collision warning providing system utilizing V2X according to a preferred embodiment of the present invention.

[0034] FIG. 3 is a conceptual diagram showing the first and second regions of a stepwise forward collision warning providing system utilizing V2X according to a preferred embodiment of the present invention.

[0035]

[0036] Preferred embodiments that can be easily practiced by those skilled in the art to which the present invention pertains are described in detail below with reference to the attached drawings. However, in describing the operating principles of the preferred embodiments of the present invention in detail, if it is determined that a specific description of related known functions or configurations may unnecessarily obscure the essence of the present invention, such detailed description is omitted. This is intended to convey the core of the present invention more clearly without obscuring it by omitting unnecessary descriptions. Furthermore, since the present invention is susceptible to various modifications and may have various embodiments, specific embodiments are illustrated in the drawings and described in detail in the detailed description; however, this is not intended to limit the present invention to specific embodiments, and it should be understood that it includes all modifications, equivalents, and substitutions that fall within the spirit and technical scope of the present invention.

[0037]

[0038] In the following, "dangerous vehicle" refers to a vehicle that may obstruct the movement of vehicles traveling on the road due to a dangerous situation, and "rear vehicle" should be understood to refer to a vehicle whose progress may be obstructed by the said dangerous vehicle while traveling, as the said dangerous vehicle is positioned in front of the direction of travel.

[0039]

[0040] The present invention relates to a vehicle safety system that enables safe driving by recognizing risk factors in real time via V2X communication and providing customized warnings tailored to the individual characteristics of the driver. In particular, the present invention relates to a technology that utilizes V2X (Vehicle-to-Everything) technology to detect vehicles rapidly decelerating or obstacles located ahead in real time and provides warnings to vehicles behind in stages, while maximizing accident prevention effects by providing customized warnings that take into account the individual driver's age, cognitive reaction speed, and driving habits.

[0041] In this case, key warning indicators used include Time-to-Collision (TTC), Stopping Distance Index (SDI), and Deceleration Rate to Avoid Crash (DRAC), which dynamically adjust the warning intensity and timing. In particular, by assigning weights to warnings based on the driver's age, cognitive reaction time, and driving habits, the present invention provides customized warnings that enable even elderly drivers with slow reaction times or drivers with specific driving habits to effectively respond to dangerous situations. Furthermore, the present invention delivers visual and auditory warnings through an HMI device, and enables warning optimization tailored to each driver's actual reaction time through a learning function.

[0042]

[0043] Hereinafter, a preferred embodiment of the present invention having the above-described features will be described in detail with reference to the drawings.

[0044] FIG. 1 is a block diagram showing a stepwise forward collision warning providing system utilizing V2X according to a preferred embodiment of the present invention, FIG. 2 is a block diagram showing one embodiment of a stepwise forward collision warning providing system utilizing V2X according to a preferred embodiment of the present invention, and FIG. 3 is a conceptual diagram showing a first region and a second region of a stepwise forward collision warning providing system utilizing V2X according to a preferred embodiment of the present invention.

[0045]

[0046] The stepwise forward collision warning providing system (100) of the present invention detects risk factors, such as a vehicle rapidly decelerating or an obstacle occurring in front, through real-time communication between vehicles, and prevents accidents by transmitting this information as a customized stepwise warning to a vehicle proceeding behind. In a preferred embodiment of the present invention, the stepwise forward collision warning providing system (100) includes a risk detection module, a data processing module (20), a warning level setting module (30), a V2X communication module (40), and a warning personalization module (50), and each component includes the following configurations.

[0047]

[0048] 1. Risk detection module

[0049] The risk detection module (10) plays a key role in detecting risk factors occurring in front of the vehicle in real time, analyzing them, and issuing a warning to the vehicle behind. The risk detection module (10) is composed of various front detection sensors (11) located in front of the vehicle and a data integration device, and based on the collected data, it analyzes information such as the location, speed, and acceleration of a dangerous vehicle (e.g., a vehicle decelerating rapidly) or an obstacle (including various objects present on the road that obstruct the vehicle's progress or cause a risk of collision) to set a zone for issuing a warning.

[0050] In describing the present invention below, the danger factor in front of the vehicle is based on an embodiment in which a dangerous vehicle has occurred in a dangerous situation; however, it should be noted that the danger factor targeted by the present invention is not limited to a dangerous vehicle.

[0051]

[0052] 1) Front detection sensor (11)

[0053] The above-mentioned risk detection module (10) may be composed of a multi-sensor system including one or more of a radar, LiDAR, and a camera located in front of the vehicle. Each of the above devices can detect various risk factors according to their respective characteristics, thereby enabling precise identification of the situation in front of the vehicle.

[0054] a) Radar: A radar is a device that detects the distance, relative speed, and angle to an object in front to determine the movement status of the object in real time. The radar has high accuracy even over long distances, so it can detect danger even when a vehicle decelerating rapidly is located at a distance greater than a certain distance. For example, if a vehicle decelerating rapidly is located within 150 meters in front, the radar can detect this and transmit it to the vehicle control unit to warn the vehicle behind.

[0055] b) LiDAR: LiDAR is a device that uses lasers to measure the distance and shape of objects in three dimensions, and can precisely recognize the shape and location of obstacles ahead. The LiDAR is primarily used to specifically distinguish whether an object detected by radar is an obstacle, a pedestrian, or a vehicle, and plays a role in classifying dangers ahead. Through this, vehicles behind can receive warnings tailored to the characteristics of the obstacle.

[0056] c) Camera: The camera recognizes visual elements of the road to collect information such as traffic signs, lanes, traffic lights, and pedestrians, and can determine the road conditions where the vehicle is located. By identifying special road conditions such as construction zones and crosswalks, the camera can guide rear vehicles to slow down or change lanes in advance when there is a high probability of danger.

[0057]

[0058] 2. Data processing module (20)

[0059] In this way, sensor data collected from the front detection sensors (11) installed at the front of the vehicle is transmitted to the data processing module (20). The data processing module (20) performs the role of integrating and analyzing the data collected through each sensor of the risk detection module (10).

[0060] To this end, the data processing module (20) may include a known data processing means (e.g., a processor) for analyzing and processing received data. In other words, the data processing module (20) comprehensively analyzes data collected from radar, lidar, and cameras of the danger detection module (10) to determine the location and speed of the danger vehicle, the shape and location of the obstacle, etc., and thereby sets a warning zone to be provided to the rear vehicle. In particular, the data processing module (20) analyzes the data in accordance with real-time changing road conditions and transmits the analyzed data to the warning level setting module (30), which will be described later, in order to set the intensity and zone of the danger warning.

[0061]

[0062] 3. Warning level setting module (30)

[0063] The warning level setting module (30) performs the function of setting warning indicators based on data collected from the risk detection module (10) and providing customized warning levels through this.

[0064] In a preferred embodiment of the present invention, the warning stage setting module (30) sets the warning stage through the following steps using indicators such as TTC (Time-to-Collision), SDI (Stopping Distance Index), and DRAC (Deceleration Rate to Avoid Crash).

[0065]

[0066] 1) Risk assessment stage based on warning indicators

[0067] The above warning level setting module (30) uses data obtained through the above risk detection module (10) to analyze the severity of the risk situation through the following various indicators and appropriately levels the warning.

[0068] a) Time-to-Collision (TTC): An indicator that predicts the time remaining until a collision between vehicles, calculated based on the current speed and the distance to the vehicle ahead. In a preferred embodiment of the present invention, a lane change warning may be provided if the TTC is 1.3 seconds or less, and a speed reduction warning may be provided if the TTC is between 1.3 seconds and 2.0 seconds or less. Such a TTC indicator may be applied variably as needed, thereby providing stepwise warnings according to the urgency of the danger.

[0069] b) Stopping Distance Index (SDI): An indicator that determines whether safe braking is possible at the current speed. It analyzes the likelihood of braking in dangerous situations by calculating the distance at which the vehicle can stop safely. If the SDI exceeds the safe distance, it alerts the vehicle behind that braking is required and can induce a lane change if necessary.

[0070] c) Deceleration Rate to Avoid Crash (DRAC): An indicator that calculates the deceleration rate required to avoid a collision. It evaluates whether safe deceleration is possible based on current speed and acceleration, and can provide additional deceleration warnings to rear vehicles if necessary.

[0071]

[0072] 2) Multi-level alert setup step through interaction between indicators

[0073] The warning stage setting module (30) sets a customized warning stage through the interaction between the various indicators described above. For example, in one embodiment, if the TTC indicator is very short but rapid deceleration is not required in the DRAC indicator, a speed deceleration warning may be provided first. Conversely, in another embodiment, if the TTC is relatively long but braking is difficult in the SDI indicator, a lane change warning may be provided first. Through the interaction between these indicators, an optimal warning is provided to the rear vehicle.

[0074]

[0075] 3) Warning Zone Setting Step

[0076] The above warning level setting module (30) sets two warning zones, a first zone (lane change zone, Zone 1) and a second zone (speed reduction zone, Zone 2), according to a risk factor in front of the vehicle.

[0077] a) Lane Change Zone (Zone 1): An area located within a first distance (e.g., 100 meters) of a vehicle rapidly decelerating ahead (RV). It is advantageous for a rear vehicle (HV1) located in this zone to change lanes quickly to avoid the risk of a collision. Therefore, a lane change warning is provided preferentially to the rear vehicle located in Zone 1.

[0078] b) Speed ​​Reduction Zone (Zone 2): A zone located within a second distance (e.g., 200 meters) from a vehicle rapidly decelerating ahead, which is further than the first distance, where there is relatively sufficient time to ensure safety simply by reducing speed. A speed reduction warning is provided to rear vehicles (HV2) located in this zone.

[0079] In one embodiment, the warning level setting module (30) can dynamically switch between the warning between the lane change zone and the speed deceleration zone set as above according to changes in the situation in front of the vehicle, thereby providing a warning suitable for each situation. For example, if a vehicle rapidly decelerating accelerates deceleration, the zone can be switched from the speed deceleration zone to the lane change zone to provide a faster warning to the vehicle behind.

[0080]

[0081] 4. V2X communication module (40)

[0082] The V2X communication module (40) performs the role of exchanging information between vehicles in real time and delivering warning messages. In a preferred embodiment of the present invention, the V2X communication module (40) enables real-time information transmission between vehicles through C-V2X (Cellular Vehicle-to-Everything) and NR-V2X (New Radio Vehicle-to-Everything) communication methods.

[0083] In a preferred embodiment of the present invention, the V2X communication module (40) transmits and receives danger information through the V2X OBE (On-Board Equipment) of the vehicle, and can transmit the danger situation to a rear vehicle through the V2X OBE from a vehicle in which a dangerous situation, such as sudden deceleration, has occurred.

[0084] At this time, the V2X OBE of the vehicle in which the above-mentioned dangerous situation occurred (hereinafter collectively referred to as the 'dangerous vehicle') transmits the dangerous situation ahead to the rear vehicle in the form of a V2V message, and the message may include information such as the dangerous situation including the dangerous vehicle's current location, speed, acceleration, warning zone, and whether the hazard lights are operated.

[0085] Upon receiving a V2V message from the aforementioned dangerous vehicle, the V2X OBE of the rear vehicle transmits the received message to the driver visually and audibly through the Human-Machine Interface (HMI) device, thereby notifying the driver of the rear vehicle of the dangerous situation involving the dangerous vehicle. In this case, visual warnings are conveyed via the HMI device, while auditory warnings are conveyed via a warning sound.

[0086]

[0087] 5. Warning personalization module (50)

[0088] The warning personalization module (50) provides customized warnings by reflecting characteristics such as the driver's age, cognitive reaction time, and driving habits, thereby minimizing potential risks that may occur while driving on the road and enabling the driver to drive safely. This system includes a function to adjust the timing and intensity of the warning, reflecting that each driver has unique reaction characteristics.

[0089] The criteria adjusted through the above warning personalization module (50) are as follows.

[0090]

[0091] 1) Warning adjustment based on driver age

[0092] The above warning personalization module (50) reflects the difference in reaction speed according to the driver's age and applies an age-based weight to set the warning timing early. The vehicle control unit receives the driver's age information and adjusts the warning timing according to a preset standard for each age group.

[0093] In one embodiment, since drivers under the age of 40 are likely to show a quick reaction, a warning is provided based on the default standard; for drivers aged 40 to 60, the warning timing is set 0.2 seconds earlier considering the possibility that the reaction speed may be somewhat slower; and for drivers aged 60 or older, a warning is provided 0.4 seconds earlier because the reaction time may be slower.

[0094] Therefore, if the Time-to-Collision (TTC) with a vehicle rapidly decelerating ahead is calculated to be 2.0 seconds, a warning can be activated at 2.4 seconds for drivers aged 60 or older to ensure sufficient response time.

[0095]

[0096] 2) Adjustment of driver's cognitive reaction time through learning

[0097] The warning personalization module (50) learns the time it takes for the driver to react to an actual warning and optimizes the timing of warning provision. The warning personalization module (50) records the time of the initial warning occurrence and the time when the driver actually reacts to accumulate data, and calculates the average cognitive reaction time through iterative learning. The reaction time learned in this way is reflected in adjusting the timing of future warning provision.

[0098] In one embodiment, if a record of the driver applying the brakes an average of 1.5 seconds after the warning occurs is accumulated, the system learns that the driver's average reaction time is 1.5 seconds. Based on this, even if the default warning time is set to TTC 2.0 seconds, the driver can be provided with a warning 2.5 seconds in advance to ensure sufficient response time.

[0099]

[0100] 3) Adjustment of warnings based on driving habits

[0101] The above warning personalization module (50) records and evaluates driving habits such as the frequency of sudden braking, whether or not the driver uses turn signals, and reaction time when changing lanes, and customizes the warning. The above warning personalization module (50) can provide a warning that is optimized for the driver's habits by providing a warning that matches the driver's driving characteristics based on the driver's driving habit score.

[0102] In one embodiment, the warning personalization module (50) determines that a driver who frequently uses sudden braking is accustomed to sudden braking and delays the warning timing slightly to prevent an overreaction caused by frequent warnings. Conversely, for a driver who frequently uses turn signals, the lane change warning may be emphasized more to allow the driver to recognize the signal when changing lanes. Additionally, for a driver who frequently accelerates rapidly, the speed reduction warning may be provided early to increase the warning intensity so that the driver reduces acceleration in dangerous situations.

[0103]

[0104] 4) Adjustment of driver-customized warning output via HMI (Human-Machine Interface) device

[0105] The above warning personalization module (50) can provide visual and auditory warnings through an HMI device so that the driver can easily recognize the warning. Visual warnings display warning messages or icons on the screen, and auditory warnings are conveyed through warning sounds. By adjusting the intensity and frequency of warnings to suit the driver's characteristics, unnecessary warnings are reduced, and driver fatigue is minimized by providing necessary warnings at appropriate times.

[0106] In one embodiment, the warning personalization module (50) can be adjusted to provide a louder and clearer warning sound to elderly drivers so that the warning can be easily recognized, and to emphasize the color of the visual warning to drivers who frequently accelerate rapidly so that dangerous situations are more clearly indicated.

[0107] In this way, the warning personalization module (50) can create an optimal warning environment tailored to the characteristics of the driver and improve road safety by providing a customized warning to each driver by taking into account the driver's age, cognitive reaction time, driving habits, etc.

[0108]

[0109] As described above, the present invention is effective in preventing road accidents and helping to maintain a safe distance from the vehicle ahead by sharing risk information between vehicles in real time via V2X communication and providing customized warnings tailored to the individual characteristics of the driver. Furthermore, by adjusting the timing and intensity of the warnings to suit the driver, it is possible to reduce fatigue caused by unnecessary warnings and achieve the effect of improving road safety.

[0110]

[0111] The embodiments of the invention described in this specification and the configurations illustrated in the drawings relate to preferred embodiments of the invention and do not encompass all technical concepts of the invention; it should be understood that various equivalents and modifications that can replace them may exist at the time of filing. Accordingly, the invention is not limited to the embodiments described above, and any person skilled in the art to which the invention belongs can make various modifications without departing from the gist of the invention claimed in the claims, and such modifications fall within the scope of rights described in the claims of the invention.

Claims

1. A forward collision warning providing system that detects hazards ahead and provides stepwise warning messages to a rear vehicle, A risk detection module comprising one or more forward detection sensors and collecting risk factors in front of the vehicle using the forward detection sensors; A data processing module that analyzes the location, speed, and shape of risk factors by analyzing data collected from the above-mentioned risk detection module; A warning level setting module that sets warning indicators based on data analyzed by the above data processing module and sets customized warnings through this; A V2X communication module that transmits and receives real-time warning messages between vehicles using V2X communication; and A warning personalization module that generates a personalized warning message by assigning weights based on driver characteristics to a received warning message; Includes, The above warning level setting module sets a first zone (Zone 1) and a second zone (Zone 2) at preset locations according to a risk factor in front of the vehicle, and generates different preset level warning messages corresponding to each zone, and The above V2X communication module provides a stepwise warning message generated by the above warning step setting module to rear vehicles located in the first and second areas, Phased forward collision warning system utilizing V2X.

2. In Paragraph 1, The above warning personalization module is, Generating a personalized warning message by applying a pre-set weight based on the driver's age characteristics to a warning message received through the above V2X communication module, Phased forward collision warning system utilizing V2X.

3. In Paragraph 1, The above warning personalization module is, By cumulatively analyzing the timing of warning message display and the driver's actual reaction, the average reaction time of the target driver is obtained in advance, and Generating a personalized warning message by applying a preset weight based on the driver's average reaction time to a warning message received through the above V2X communication module. Phased forward collision warning system utilizing V2X.

4. In Paragraph 1, The above warning personalization module is, Pre-acquired by cumulatively analyzing a pre-set driving habit score based on the driver's driving habits, and Generating a personalized warning message by applying a pre-set weight according to the driver's driving habit score to a warning message received through the above V2X communication module. Phased forward collision warning system utilizing V2X.

5. In Paragraph 1, The above-mentioned risk detection module is, It further includes a forward monitoring sensor comprising one or more of a radar, LiDAR, and camera mounted on the front of the vehicle, and Detecting risk factors in front of the vehicle in real time through the aforementioned front monitoring sensor, Phased forward collision warning system utilizing V2X.

6. In Paragraph 1, The above warning level setting module is, Setting the level of the warning message based on one or more of the Time-to-Collision (TTC) indicator, which is the time distance to the vehicle ahead; the Stopping Distance Index (SDI) indicator, which is the stopping distance; and the Deceleration Rate to Avoid Crash (DRAC) indicator, which is the deceleration rate for collision avoidance. Phased forward collision warning system utilizing V2X.

7. In Paragraph 1, The above V2X communication module is, Includes V2X OBE (On-Board Equipment) installed in the vehicle, Transmitting and receiving warning messages in the form of V2V messages to and from one or more vehicles within the communication range via the above V2X OBE, Phased forward collision warning system utilizing V2X.

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