Information exchange system for cooperative driving between infrastructure and autonomous vehicle and method using same

Abstract

The present invention relates to an information exchange system for cooperative driving between an infrastructure and an autonomous vehicle. The information exchange system comprises: an infrastructure installed on a roadside to recognize road conditions and traffic information; and an autonomous vehicle that performs cooperative driving by fusing information recognized by the infrastructure and information recognized by the autonomous vehicle. The information exchange system determines in advance whether to fuse information recognized by the infrastructure in consideration of a communication delay time between the infrastructure and the autonomous vehicle, and performs cooperative driving.

Description

Information exchange system for cooperative driving between infrastructure and autonomous vehicle and method using the same

[0001] This application claims the benefit of priority based on Korean Patent Application No. 2024-0151917 dated October 31, 2024, and all contents disclosed in the document of said Korean patent application are incorporated herein as part of this specification.

[0002] The present invention relates to an information exchange system for cooperative driving between an infrastructure for safe driving of an autonomous vehicle and an autonomous vehicle, and a method using the same, by fusing road conditions and traffic information recognized from edge infrastructure installed along a roadside with information independently recognized by the autonomous vehicle.

[0003] An autonomous vehicle (hereinafter referred to as "autonomous vehicle") has the function of autonomous driving by using various sensors such as cameras, radar, and lidar to recognize environmental information necessary for driving, such as the types and locations of objects around the vehicle, and making decisions based on this information to control the vehicle.

[0004] However, along the route where autonomous vehicles intend to travel, there are always situations where they cannot respond in real time due to road conditions, unexpected emergencies, and blind spots in the sensors.

[0005] As such, an edge infrastructure system (hereinafter referred to as "infrastructure") equipped with various sensors installed along the roadside is required to recognize the autonomous driving environment of the autonomous vehicle in advance.

[0006] Infrastructure is gradually shifting toward a cooperative autonomous driving method in which it recognizes dynamic objects around the road (e.g., people, cars, bicycles, etc.), information on unexpected situations, road surface conditions, traffic accidents, and road construction, transmits this information to nearby autonomous vehicles via C-V2X communication, and the autonomous vehicles utilize this information from the infrastructure and their own data for decision-making and control.

[0007] As such, cooperative autonomous driving is a technology that utilizes not only information recognized by the autonomous vehicle's own sensors but also road environment and traffic information received from infrastructure installed around the road or traffic centers for driving.

[0008] For example, if current traffic light information at an intersection is provided to an autonomous vehicle via wireless communication from the infrastructure, the autonomous vehicle can safely pass through the intersection without recognizing the traffic lights.

[0009] In addition, providing autonomous vehicles with information on various unexpected situations occurring in their blind spots (such as the appearance of dynamic objects, accident data, construction information, and jaywalking) enables safer and accident-free operation.

[0010] However, problems may arise where autonomous vehicles cannot respond in real time due to time delays in the process of transmitting road information recognized by the infrastructure. In particular, errors in information fusion with autonomous vehicles can occur due to delays in wireless signal transmission caused by interference or distortion from urban buildings and increased traffic; therefore, it is essential to verify the reliability of information transmitted from the infrastructure in advance regarding time delays.

[0011] The patent document below relates to a system and method for transmitting and receiving current location-based infrastructure information of an autonomous vehicle, which periodically transmits vehicle location and heading information and controls the autonomous vehicle according to driving path conditions such as traffic lights.

[0012] However, Patent Document 1 is characterized by the fact that an autonomous vehicle extracts SPAT (Signal Phase and Timing) data of a traffic light from a server rather than a direct means of communication with the infrastructure, and generates an autonomous vehicle control signal based on the extracted SPAT data, but does not disclose means for considering the delay time of information transmitted from the infrastructure or means for vehicle control through fusion with the infrastructure information.

[0013] (Prior Art Literature)

[0014] Korean Published Patent Application No. 10-2024-0106932

[0015] The purpose of the present invention is to provide an information exchange system for cooperative driving between an infrastructure and an autonomous vehicle, and a method using the same, which analyzes whether information is valid by considering the timing of road conditions and traffic information recognized from the infrastructure and the driving speed of the autonomous vehicle, and performs information fusion for cooperative autonomous driving based on this analysis.

[0016] An information exchange system for cooperative driving between an infrastructure and an autonomous vehicle according to the present invention for achieving the above-mentioned purpose comprises an information exchange system that is installed along a roadside and recognizes surrounding road conditions and traffic information, and an autonomous vehicle that performs cooperative driving by fusing the information recognized by the infrastructure and the information recognized by the autonomous vehicle, wherein the infrastructure includes an information collection unit that collects information from sensors, a situation recognition unit that recognizes road conditions and traffic information occurring on the surrounding road based on the collected information, a coordinate conversion unit that converts the location of the occurring situation into global coordinates, and a V2X communication unit that generates and transmits a service information message including the recognized road conditions and traffic information, and the autonomous vehicle performs cooperative driving by predetermining whether to fuse the information considering the communication delay time with the infrastructure.

[0017] In addition, in the information exchange system for cooperative driving between infrastructure and autonomous vehicles according to the present invention, the situation recognition unit is characterized by detecting a dynamic object and predicting the movement of the dynamic object, and then recognizing whether there is an accident or construction, and recognizing the accident occurrence area and the construction area.

[0018] In addition, in the information exchange system for cooperative driving between infrastructure and autonomous vehicle according to the present invention, the service information message includes an edge infrastructure ID, a situation type, a type of dynamic object, and location coordinates.

[0019] In addition, in the information exchange system for cooperative driving between infrastructure and an autonomous vehicle according to the present invention, the infrastructure further includes a map information transmission unit for reflecting the road conditions and traffic information in a dedicated map for autonomous driving, and the dedicated map is characterized by being stored in a cloud-based map server capable of internet access.

[0020] In addition, in an information exchange system for cooperative driving between infrastructure and an autonomous vehicle according to the present invention, the autonomous vehicle comprises: a message transmission / reception unit for transmitting and receiving V2X messages; an infrastructure detection unit for detecting the service information message or beacon signal transmitted from the infrastructure; a delay time calculation unit for calculating the communication delay time between the infrastructure and the autonomous vehicle; a threshold determination unit for determining whether the time required to recognize the road conditions and traffic information in the infrastructure and the communication delay time are within a predetermined threshold time; an information fusion unit for recognizing the road conditions and traffic information using a sensor provided in the autonomous vehicle and fusing the information recognized by the infrastructure; and an autonomous driving control unit for controlling the driving of the autonomous vehicle using the fused information.

[0021] In addition, in an information exchange system for cooperative driving between an infrastructure and an autonomous vehicle according to the present invention, the delay time calculation unit transmits a service request message to the infrastructure and receives a service response message from the infrastructure, wherein the service request message includes an autonomous vehicle ID and the current time of the autonomous vehicle, and the service response message includes the autonomous vehicle ID, an edge infrastructure ID, and the current time of the infrastructure, and calculates the delay time by V2X communication using the difference between the current time of the autonomous vehicle and the current time of the infrastructure.

[0022] In addition, in an information exchange system for cooperative driving between infrastructure and an autonomous vehicle according to the present invention, the cognitive information fusion unit is characterized by not fusing information received from the infrastructure when the delay time is greater than the threshold time.

[0023] In addition, the information exchange system for cooperative driving between infrastructure and an autonomous vehicle according to the present invention further includes determining whether to fuse information received from the infrastructure by considering at least one of the driving speed of the autonomous vehicle or the distance from the infrastructure when the critical time is exceeded.

[0024] In addition, in the information exchange system for cooperative driving between infrastructure and an autonomous vehicle according to the present invention, the cognitive information fusion unit is characterized by not considering the delay time when the information received from the infrastructure is a construction area or a traffic accident.

[0025] In addition, an information exchange method using an information exchange system for cooperative driving between an infrastructure and an autonomous vehicle according to the present invention is characterized by comprising: a first step in which an autonomous vehicle receives a beacon signal transmitted from the infrastructure; a second step in which an autonomous vehicle transmits a service request message to the infrastructure; a third step in which a service response message is received from the infrastructure; a fourth step in which a V2X communication delay time is calculated; a fifth step in which a service information message including road conditions and traffic information recognized from the infrastructure is received; a sixth step in which information recognized by the autonomous vehicle is fused with the information transmitted from the infrastructure; and a seventh step in which the autonomous vehicle is controlled based on the fused information.

[0026] In addition, an information exchange method using an information exchange system for cooperative driving between an infrastructure and an autonomous vehicle according to the present invention is characterized by comprising: a first step in which the infrastructure periodically transmits a service information message including a beacon signal or recognized road conditions and traffic information; a second step in which the infrastructure receives a service request message from the autonomous vehicle; a third step in which the infrastructure transmits a service response message from the autonomous vehicle; and a fourth step in which the location coordinates of the recognized information are converted into global coordinates and transmitted to a map server.

[0027] As explained above, the information exchange system for cooperative driving between infrastructure and autonomous vehicles and the method using the same have the advantage of enabling safer cooperative autonomous driving by allowing information recognized from the infrastructure to be collected and analyzed in advance.

[0028] In addition, according to the information exchange system for cooperative driving between infrastructure and autonomous vehicles and the method using the same, there is an advantage in preventing traffic accidents, improving traffic flow, and reducing congestion by planning an optimal driving route considering traffic signals and road conditions.

[0029] Furthermore, according to the information exchange system for cooperative driving between infrastructure and autonomous vehicles and the method using the same, there is an advantage in that the reliability of information recognized from the infrastructure can be verified by checking the time delay between the infrastructure and the autonomous vehicle in advance.

[0030] FIG. 1 is a diagram showing the overall configuration of a system for autonomous cooperative driving between an autonomous vehicle and infrastructure according to an embodiment of the present invention.

[0031] FIG. 2 is a diagram illustrating recognized information between an autonomous vehicle and infrastructure according to an embodiment of the present invention.

[0032] FIG. 3 is a functional block diagram showing functions operated in an infrastructure according to an embodiment of the present invention.

[0033] FIG. 4 is a diagram showing an example of recognizing a pedestrian in a position conversion unit according to an embodiment of the present invention.

[0034] FIG. 5 is a functional block diagram showing a function operated in an autonomous vehicle according to an embodiment of the present invention.

[0035] FIG. 6 is a diagram of road conditions and traffic information transmitted from an infrastructure according to an embodiment of the present invention.

[0036] FIGS. 7 and 8 are diagrams showing the time flow of the fusion procedure between infrastructure and autonomous vehicle according to an embodiment of the present invention.

[0037] FIG. 9 is a diagram showing a message flow diagram for calculating the delay time between an autonomous vehicle and infrastructure according to an embodiment of the present invention.

[0038] Figure 10 is an example diagram for setting the delay time and critical time between an autonomous vehicle and infrastructure.

[0039] FIGS. 11 and 12 are flowcharts illustrating a method for exchanging information for cooperative driving between infrastructure and an autonomous vehicle according to an embodiment of the present invention.

[0040] Embodiments that enable a person skilled in the art to easily implement the present invention are described in detail below with reference to the attached drawings. However, in describing the operating principles of preferred embodiments of the present invention in detail, if it is determined that a detailed description of related known functions or configurations may unnecessarily obscure the essence of the present invention, such detailed description is omitted.

[0041] In addition, the same reference numerals are used for parts having similar functions and operations throughout the drawings. Throughout the specification, when a part is described as being connected to another part, this includes not only cases where they are directly connected, but also cases where they are indirectly connected with other elements in between. Furthermore, the inclusion of a certain component means that, unless specifically stated otherwise, it does not exclude other components but may include additional components. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

[0042] FIG. 1 is a diagram showing the overall configuration of a system for autonomous cooperative driving between an autonomous vehicle and infrastructure according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating recognized information between an autonomous vehicle and infrastructure according to an embodiment of the present invention.

[0043] Referring to FIG. 1, an infrastructure (100) installed along a roadside to recognize surrounding road conditions and traffic information and moving objects such as people or vehicles (hereinafter referred to as ‘dynamic objects’) basically consists of a pole (110) supported from the ground and an arm (120) vertically connected to the upper part of the pole (110).

[0044] The arm (120) may be equipped with a camera (121), a radar (122), and a communication antenna module (123), and the pole (110) may be equipped with a lidar (111), an edge computer, and a communication device (112). In addition, various sensing devices may be added, and the mounting location may be varied depending on the surrounding environment, so there are no specific restrictions on the form of the infrastructure (100).

[0045] Here, sensors equipped in the infrastructure are used to recognize dynamic objects such as surrounding vehicles and pedestrians, and road conditions such as road construction and traffic accidents, and the recognized results are transmitted in real time to the autonomous vehicle (200) and utilized for autonomous cooperative driving.

[0046] The edge computer and communication device (112) is a conventional computer and is embedded within an enclosure provided in the pole (110), and operates artificial intelligence-based software for detecting or predicting dynamic objects and road conditions, and supports wired or wireless communication for C-V2X communication or external internet access.

[0047] Additionally, the autonomous vehicle (200) can receive road conditions and traffic information through a V2X-based communication protocol from an infrastructure (100) located in the direction of travel and within a communication coverage area, and can perform autonomous cooperative driving by fusing these information with information recognized by the autonomous vehicle (200).

[0048] For example, referring to FIG. 2, the information that the autonomous vehicle (200) can recognize in FIG. 2(a) may be a vehicle (a1) ahead and a vehicle (a2) coming from the opposite direction. However, the autonomous vehicle (200) cannot recognize a vehicle (a3) ​​approaching from the road on the right and a person (a4) standing in front of a crosswalk as shown in FIG. 2(b). In this case, the infrastructure (100) recognizes the vehicle (a3) ​​and the person (a4) and transmits this information to the autonomous vehicle (200) in real time so that the autonomous vehicle (200) can drive autonomously by taking this into consideration in advance.

[0049] In this process, additional information recognized in the infrastructure (100) can be displayed on a precision map installed and operated in the autonomous vehicle (200).

[0050] To this end, the recognized information can be transmitted to a map server (300) capable of cloud-based real-time map services.

[0051] FIG. 3 is a functional block diagram showing a function operating in an infrastructure according to an embodiment of the present invention, and FIG. 4 is a diagram showing an example of recognizing a pedestrian in a position conversion unit according to an embodiment of the present invention.

[0052] Referring to FIG. 3, the infrastructure (100) may comprise an information collection unit (130) that collects information through infrastructure sensors, a situation recognition unit (140) that recognizes dynamic objects and traffic information located on surrounding roads based on the collected information, a coordinate conversion unit (150) that converts the location of the recognized situation into global coordinates, a V2X communication unit (160) that generates and transmits packets to transmit the recognized results to an autonomous vehicle, and a map information transmission unit (170) that transmits the recognized information to a map server (300) to share it with a dedicated map provided in the autonomous vehicle.

[0053] The information collection unit (130) can collect images from multiple cameras (121) installed in the infrastructure and collect location and distance information of moving dynamic objects through lidar or radar.

[0054] The situation recognition unit (140) uses deep learning-based artificial intelligence to separate objects (dynamic objects and static objects such as backgrounds, roads, trees, and buildings) within the collected image, and in particular, performs the function of displaying dynamic objects as a single box.

[0055] In addition, it can recognize whether dynamic objects marked with a box are people, vehicles, bicycles, motorcycles, etc., and track and analyze the number and location of the recognized dynamic objects to analyze traffic traffic and detect traffic accidents through an artificial intelligence module. Additionally, it can track the movement of dynamic objects to set the area where traffic accidents occur.

[0056] In addition, it can recognize various traffic facilities located on the road to determine whether road construction is in progress, and additionally set the area where construction is in progress.

[0057] For this series of recognition processes, the present invention used YOLOv5, which is one of the object detection algorithms that divides images into a grid system and is executed in a PyTorch-based deep learning framework.

[0058] YOLOv5 can process a single image through a Convolutional Neural Network (CNN) without a separate preprocessing step, and unlike other classifier-based approaches, it trains by directly responding to the loss function, enabling real-time object detection in terms of processing time. Since YOLOv5 is open source, detailed operation and explanation are omitted.

[0059] Furthermore, traffic conditions and information can be recognized after collecting and learning from various real-world scenarios in advance; since this can be easily applied to artificial intelligence models by a standard technician, a detailed explanation is omitted.

[0060] Again, the coordinate conversion unit (150) can convert local location information measured in the infrastructure (100) into global coordinates for cooperative driving with the autonomous vehicle.

[0061] That is, for autonomous vehicle (200) to drive autonomously cooperatively, it must fuse the recognition information of the infrastructure (100) and the recognition information of the autonomous vehicle (200) on a global coordinate system (World Coordinate System) such as the TM (Transverse Mercator) coordinate system, and use this for decision-making during autonomous driving.

[0062] For example, referring to FIG. 4, the location of a pedestrian can be displayed in a local coordinate system that measures the coordinates where the infrastructure (100) is located and the distance between the infrastructure (100) and the pedestrian, and this must be converted into a global coordinate system to be reflected in the map information used by the autonomous vehicle.

[0063] Here, a global coordinate system is a coordinate system designed to represent the geographical location of the entire Earth. It is designed to account for the curvature of the Earth, allowing it to accurately represent any point on the planet. Currently, the most widely used global coordinate system is the latitude and longitude-based latitude and longitude coordinate system (WGS84).

[0064] Meanwhile, the coordinate system collected by default from the infrastructure uses a Local Coordinate System, which represents geographic information within a relatively small geographical scope, such as a specific region or city.

[0065] The V2X communication unit (160) performs V2X-based wireless communication between the infrastructure (100) and the autonomous vehicle (200).

[0066] Here, X corresponds to a vehicle, infrastructure, pedestrians, network, etc., and preferably refers to communication with vehicles and infrastructure based on V2I and I2V.

[0067] V2X is divided into IEEE 802-based standards, Cellular-based C-V2X standards, and LTE / 5G-based V2X standards, but the present invention is not limited thereto and communication between the infrastructure (100) and the autonomous vehicle (100) can be made possible through various standards.

[0068] The map information transmission unit (170) can perform the function of transmitting the locations of dynamic objects, road construction areas, or traffic accident areas recognized by the infrastructure (100) to the map server (300), and can mutually share the information recognized from the infrastructure (100) by utilizing the map information in real time in the autonomous vehicle (200).

[0069] FIG. 5 is a functional block diagram showing functions operated in an autonomous vehicle according to an embodiment of the present invention, and FIG. 6 is a diagram showing road conditions and traffic information transmitted from an infrastructure according to an embodiment of the present invention.

[0070] Referring to FIG. 5, the autonomous vehicle (200) may comprise a message transmission and reception unit (210) for V2X communication with surrounding vehicles or infrastructure (100), an infrastructure detection unit (220) for detecting infrastructure (100) located on the path where the autonomous vehicle (100) travels, a delay time calculation unit (230) for calculating the communication delay time with the detected infrastructure (100), a vehicle state unit (240) for determining the state of the vehicle, such as the driving speed of the autonomous vehicle (200), a threshold determination unit (250) for determining whether information received from the infrastructure (100) is temporally valid, an object recognition unit (260) for recognizing surrounding vehicles and road conditions necessary for autonomous driving using various sensors for autonomous driving mounted on the autonomous vehicle (200), a cognitive information fusion unit (270) for fusing information recognized from the autonomous vehicle (200) and recognition information received from the infrastructure (100), and an autonomous driving control unit (280) for determining the situation using the fused information and controlling the autonomous vehicle (200) based thereon. there is.

[0071] As shown in FIG. 6, the message transmission / reception unit (210) receives a service information message that displays various information recognized by the infrastructure (100) (e.g., infrastructure ID, situation type, object type, risk level location coordinates and object movement time).

[0072] Situation types may include recognized dynamic objects, traffic accidents, and road construction, and types of dynamic objects may include pedestrians, cars, bicycles, motorcycles, kickboards, etc. In particular, dynamic objects may include initial recognized GPS coordinates (global coordinate system) and location information (x, y, z) changed due to movement.

[0073] The infrastructure detection unit (220) can recognize a specific beacon signal transmitted from the infrastructure (100) located in the driving direction of the autonomous vehicle (200) among the beacon signals received from the message transmission and reception unit (210), and this can serve to reduce the load by excluding cases where the beacon signal is not located in the driving direction.

[0074] The cognitive information fusion unit (270) may not fuse the information received from the infrastructure if the information received from the infrastructure is a construction area or a traffic accident, or if the delay time is greater than the threshold time.

[0075] Beacon signals can be generated at regular intervals or according to specific events (e.g., changes in road conditions), and the transmission method can utilize C-V2X (Cellular Vehicle-to-Everything) based on LTE or 5G networks or IEEE 802.11p (DSRC, Dedicated Short-Range Communications), which is for short-range transmission in the 5.9 GHz band.

[0076] Here, the wireless transmission method between the infrastructure (100) and the autonomous vehicle (200) can be varied according to international standards, so no specific restrictions are placed on it.

[0077] FIGS. 7 and 8 are diagrams showing the time flow of a fusion procedure between infrastructure and an autonomous vehicle according to an embodiment of the present invention, FIG. 9 is a diagram showing a message flow diagram for calculating a delay time between an autonomous vehicle and infrastructure according to an embodiment of the present invention, and FIG. 10 is an example diagram for setting a delay time and a threshold time between an autonomous vehicle and infrastructure.

[0078] The delay between the infrastructure (100) and the autonomous vehicle (200) can significantly affect the performance and reliability of the system. In urban areas, the wireless signal strength and quality may be lowered due to signal interference from buildings or increased traffic, which can slow down the transmission speed and cause delays.

[0079] Referring to FIG. 7, the total operation time A(t) from the time of first recognition in the infrastructure (100) to the time when the autonomous vehicle (100) generates a control signal to the vehicle for autonomous driving is the sum of the information processing delay time (Ed) in the infrastructure (100) and the information processing delay time (Cd) in the autonomous vehicle (200).

[0080] The information processing delay time (Ed) in the infrastructure (100) consists of the infrastructure recognition time (Er) required to recognize the situation based on the information sensed in the infrastructure (100) and the transmission delay time (Nd) for V2X communication to the autonomous vehicle (200), and the information processing delay time (Cd) in the autonomous vehicle (200) consists of the time (Ci) for fusing the information recognized by the autonomous vehicle (200) itself and the recognition information received from the infrastructure (100), and the time (Ca) for making a judgment based on the fused result and instructing the autonomous vehicle (200) to control.

[0081] Referring to FIG. 8 (a) and (b), if the time between the infrastructure (100) and the autonomous vehicle (200) is not synchronized, a time difference (Diff Time) may occur. It is necessary to recognize this time difference and synchronize them.

[0082] Generally, as a means of time synchronization between the infrastructure (100) and the autonomous vehicle (200), time synchronization may be maintained by equipping the autonomous vehicle (200) and the infrastructure (100) with GPS receivers, or the autonomous vehicle (200) and the infrastructure (100) may be connected to a network and time may be synchronized using NTP. In the present invention, preferably, synchronization may be maintained by periodically exchanging messages including timestamps between the autonomous vehicle (200) and the infrastructure (100). The means of synchronization will be described in detail below with reference to FIG. 9.

[0083] As shown in Fig. 8 (c), if the infrastructure recognition time (Er) is assumed to be constant in the information processing delay time (Ed) in the infrastructure (100), a delay occurs in the transmission delay time (Nd). As previously mentioned, real-time transmission of information is very important, especially since the recognition information of a dynamic object transmitted from the infrastructure (100) becomes information corresponding to a past location that has already passed if the time delay is large from the perspective of the autonomous vehicle (200).

[0084] For example, assuming that an autonomous vehicle (200) is driving at a speed of 60 km / h, it is known that a typical autonomous vehicle (200) must perform perception, judgment, and control in units of at least 100 msec to ensure safe operation.

[0085] Of course, if it is faster, safer operation is possible, but considering the amount of sensor data and computing resources, it must be performed at least at that frequency. Based on this, there must be a delay of about 80 msec from the collection of sensor data from the infrastructure (100) to the arrival of the autonomous vehicle (200) so that the autonomous vehicle (200) can utilize it for judgment / control after undergoing a cognitive fusion process of about 20 msec. If a delay longer than 80 msec is required, it cannot be utilized because the information is recognition information from a location that the autonomous vehicle (200) has already passed.

[0086] Referring to FIG. 9, a method for calculating the communication delay time in the infrastructure (100) can be explained by first receiving a beacon signal transmitted from the infrastructure (100) adjacent to the autonomous vehicle (200).

[0087] Additionally, the transmission delay in the present invention is similar to a PING that measures Round-Trip Time (RTT). When the autonomous vehicle (200) receives a beacon message, it transmits a service request message (Srv_Req) ​​containing the autonomous vehicle ID and the current time of the autonomous vehicle (time at the time of message creation as a timestamp) to the receiving infrastructure (100).

[0088] The infrastructure (100) that receives the service request message (Srv_Req) ​​transmits a service response message (Srv_Rep) containing the received autonomous vehicle ID, infrastructure ID, and the current time (timestamp) of the infrastructure.

[0089] In the autonomous vehicle (200), the time until a service response message is received after a service request message is sent is set as the transmission delay time (Nd) by dividing the time by two. Subsequently, the service information message (Srv_Info) received from the infrastructure (100) can be viewed as the time when the surrounding situation of the infrastructure (100) occurs, excluding the transmission delay time (Nd) and the infrastructure recognition time (Er) during which the infrastructure (100) recognizes surrounding objects.

[0090] Referring to FIG. 10 (a), an example is shown in which a moving vehicle (a1) in the infrastructure (100) is detected and notified to the autonomous vehicle (200). However, by the time the autonomous vehicle (a2) detects it, the vehicle (a1) has already approached the intersection and a collision may occur.

[0091] That is, as can be seen in FIG. 10 (b), if there is a delay after the threshold time has elapsed, a collision cannot be avoided even if the autonomous vehicle (a2) fuses the recognition information, so the information transmitted from the infrastructure (100) is not useful and it is appropriate to discard it immediately.

[0092] However, this critical time may vary depending on the driving speed of the autonomous vehicle (100) or road conditions transmitted from the infrastructure.

[0093] FIGS. 11 and 12 are flowcharts illustrating a method for exchanging information for cooperative driving between infrastructure and an autonomous vehicle according to an embodiment of the present invention.

[0094] Referring to FIG. 11, in a method for exchanging information for cooperative driving between an infrastructure (100) and an autonomous vehicle (200), the method may comprise a first step (S100) in which the autonomous vehicle (200) receives a beacon signal transmitted from the infrastructure (100), a second step (S110) in which the autonomous vehicle (200) transmits a service request message to the infrastructure (100), a third step (S120) in which a service response message is received from the infrastructure (100), a fourth step (S130) in which a V2X communication delay time is calculated, a fifth step (S140) in which a service information message including road conditions and traffic information recognized from the infrastructure (100) is received, a sixth step (S150) in which information recognized by the autonomous vehicle (200) and information transmitted from the infrastructure (100) are fused, and a seventh step (S160) in which the autonomous vehicle (200) is controlled based on the fused information.

[0095] Referring to FIG. 12, in a method for exchanging information for cooperative driving between an infrastructure (100) and an autonomous vehicle (200), the method may comprise a first step (S200) in which the infrastructure (100) periodically transmits a service information message including a beacon signal or recognized road conditions and traffic information, a second step (S210) in which the infrastructure (100) receives a service request message from the autonomous vehicle (200), a third step (S220) in which the autonomous vehicle (200) transmits a service response message, and a fourth step (S230) in which the location coordinates of the recognized information are converted into global coordinates and transmitted to a map server.

[0096] Here, the road conditions and traffic information recognized by the infrastructure (100) are at least one of dynamic objects around the road where the infrastructure is located, road construction information, or traffic accident information, and the service request message may include the autonomous vehicle ID and the current time of the autonomous vehicle, and the service response message may include the infrastructure ID, the autonomous vehicle ID, and the current time of the infrastructure.

[0097] The present invention has been described above with reference to specific embodiments. However, those skilled in the art will be able to make various applications and modifications within the scope of the present invention based on the above description.

[0098]

[0099] (Explanation of symbols)

[0100] 100: Infrastructure

[0101] 110: Pole

[0102] 111: Lida

[0103] 112: Edge computers and communication devices

[0104] 120: Am

[0105] 121: Camera

[0106] 122: Radar

[0107] 123: Communication antenna module

[0108] 130: Information Gathering Department

[0109] 140: Situation Awareness

[0110] 150: Coordinate transformation section

[0111] 160: V2X Communication Unit

[0112] 170: Map Information Transmission Unit

[0113] 200: Autonomous vehicles

[0114] 210: Message Transmitter / Receiver

[0115] 220: Infrastructure sensing unit

[0116] 230: Natural Time Output

[0117] 240: Vehicle Status Section

[0118] 250: Threshold determination unit

[0119] 260: Object recognition unit

[0120] 270: Cognitive Information Fusion Division

[0121] 280: Autonomous driving control unit

[0122] 300: Map Server

Claims

1. In an information exchange system for cooperative driving between infrastructure and autonomous vehicles, The above information exchange system comprises an infrastructure installed along the roadside that recognizes surrounding road conditions and traffic information, and an autonomous vehicle that drives cooperatively by fusing the information recognized by the infrastructure and the information recognized by the autonomous vehicle. The above infrastructure includes an information collection unit that collects information from sensors; A situation recognition unit that recognizes road conditions and traffic information occurring on the surrounding roads based on collected information; A coordinate transformation unit that converts the location of the above-mentioned situation into global coordinates; and It includes a V2X communication unit that generates and transmits a service information message including the above-mentioned recognized road conditions and traffic information, and An information exchange system for cooperative driving between an infrastructure and an autonomous vehicle, characterized in that the autonomous vehicle determines in advance whether to fuse the information by considering the communication delay time with the infrastructure and performs cooperative driving.

2. In Paragraph 1, An information exchange system for cooperative driving between infrastructure and an autonomous vehicle, characterized by the above-mentioned situation recognition unit detecting a dynamic object and predicting the movement of the dynamic object, and then recognizing whether there is an accident or construction, and recognizing the accident occurrence area and the construction area.

3. In Paragraph 1, An information exchange system for cooperative driving between infrastructure and an autonomous vehicle, characterized in that the above service information message includes an edge infrastructure ID, a situation type, a type of dynamic object, and location coordinates.

4. In Paragraph 1, The above infrastructure further includes a map information transmission unit for reflecting the road conditions and traffic information on a dedicated map for autonomous driving, and An information exchange system for cooperative driving between an infrastructure and an autonomous vehicle, characterized in that the above-mentioned dedicated map is stored on a cloud-based map server capable of internet access.

5. In Paragraph 1, The above-mentioned autonomous vehicle includes a message transmission and reception unit that transmits and receives V2X messages; An infrastructure detection unit that detects the service information message or beacon signal transmitted from the above infrastructure; A delay time calculation unit that calculates the communication delay time between the above infrastructure and the above autonomous vehicle; A threshold determination unit that determines whether the time required to recognize the road conditions and traffic information in the above infrastructure and the communication delay time are within a predetermined threshold time; A cognitive information fusion unit that recognizes road conditions and traffic information using sensors provided in the autonomous vehicle and fuses with the information recognized by the infrastructure; and Information exchange system for cooperative driving between infrastructure and an autonomous vehicle, characterized by including an autonomous driving control unit that controls the driving of the autonomous vehicle using the above-mentioned fused information.

6. In Paragraph 5, The above delay time calculation unit transmits a service request message to the infrastructure and receives a service response message from the infrastructure, The above service request message includes the autonomous vehicle ID and the current time of the autonomous vehicle, and The above service response message includes the autonomous vehicle ID, edge infrastructure ID, and the current time of the infrastructure, and Information exchange system for cooperative driving between infrastructure and autonomous vehicle, characterized by calculating the delay time by V2X communication using the difference between the current time of the autonomous vehicle and the current time of the infrastructure.

7. In Paragraph 6, An information exchange system for cooperative driving between an infrastructure and an autonomous vehicle, characterized in that the above cognitive information fusion unit does not fuse information received from the infrastructure when the above delay time is greater than the above threshold time.

8. In Paragraph 7, An information exchange system for cooperative driving between an infrastructure and an autonomous vehicle, further comprising determining whether to fuse information received from the infrastructure by considering at least one of the driving speed of the autonomous vehicle or the distance from the infrastructure when the above threshold time is exceeded.

9. In Paragraph 6, An information exchange system for cooperative driving between infrastructure and an autonomous vehicle, characterized in that the above cognitive information fusion unit does not consider delay time when the information received from the infrastructure is a construction area or a traffic accident.

10. In a method for exchanging information for cooperative driving between infrastructure and autonomous vehicles, A first step in which the autonomous vehicle receives a beacon signal transmitted from the infrastructure; A second step in which the autonomous vehicle transmits a service request message to the infrastructure; A third step of receiving a service response message from the above infrastructure; Step 4 for calculating V2X communication delay time; Step 5: Receiving a service information message including road conditions and traffic information recognized from the above infrastructure; A sixth step of fusing the information recognized by the autonomous vehicle and the information transmitted from the infrastructure; and A method for information exchange for cooperative driving between an infrastructure and an autonomous vehicle, characterized by comprising a seventh step of controlling the autonomous vehicle based on the fused information.

11. In a method for exchanging information for cooperative driving between infrastructure and autonomous vehicles, The above infrastructure has a first step of periodically transmitting service information messages including beacon signals or recognized road conditions and traffic information; A second step in which the above infrastructure receives a service request message from the autonomous vehicle; A third step of transmitting a service response message to the autonomous vehicle; and A method for exchanging information for cooperative driving between an infrastructure and an autonomous vehicle, characterized by comprising a fourth step of converting the location coordinates of the above-mentioned recognized information into global coordinates and transmitting them to a map server.

12. In Paragraph 10 or 11, The road conditions and traffic information recognized by the above infrastructure are dynamic objects, road construction information, and traffic accident information around the road where the above infrastructure is located, and A method for exchanging information for cooperative driving between an infrastructure and an autonomous vehicle, characterized in that the service request message includes the autonomous vehicle ID and the current time of the autonomous vehicle, and the service response message includes the infrastructure ID, the autonomous vehicle ID, and the current time of the infrastructure.

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