Inter-object communication system, inter-object communication method, and computer program for making vehicle participate in infrastructure guidance service

Abstract

According to an embodiment of the present invention, an inter-object communication system for making an autonomous vehicle participate in an infrastructure guidance service in which a target road side unit (RSU) supports driving of the vehicle through cooperation with the vehicle comprises: a memory for storing a program that makes a vehicle participate in the infrastructure guidance service provided by the target RSU, and a list of objects participating in the infrastructure guidance service provided by the target RSU; a processor which executes the program so as to generate a service participation request message corresponding to a target vehicle when the target vehicle entering a guidance service section, in which the infrastructure guidance service provided by the target RSU is provided, is detected, and which determines whether to register the target vehicle in the object list on the basis of a message received from the target vehicle; and a communication unit for transmitting the service participation request message to the target vehicle.

Description

Inter-object communication system, inter-object communication method, and computer program for involving vehicles in infrastructure guidance services

[0001] The present invention relates to an object-to-object communication system, an object-to-object communication method, and a computer program for involving a vehicle in an infrastructure guidance service.

[0002] Autonomous vehicles use various sensors to recognize surrounding objects, fuse with precise road map information to generate dynamic information, and drive based on this.

[0003] Current Intelligent Transport Systems (ITS) and Cooperative-Intelligent Transport Systems (C-ITS), designed to optimize road traffic conditions through cooperation between autonomous vehicles and road infrastructure such as Edge RSUs, are limited to broadcasting traffic flow information or road hazard information to unspecified road users. These services targeting unspecified road users, such as I2X (including I2V - Infra to Vehicle, I2P - Infra to People, etc.) and V2X (including V2V - Vehicle to Vehicle, V2P - Vehicle to People, etc.), are implemented through broadcasting based on communication messages.

[0004] However, in order to provide customized I2X services (including I2V - Infra to Vehicle, I2P - Infra to People, etc.) for users utilizing specific roads, there is a need for service participation procedures, such as the road infrastructure identifying specific service recipients and the service recipients identifying the content of the provided services and service coverage.

[0005] The objective of the present invention is to solve the above-mentioned problems by providing an object-to-object communication system, an object-to-object communication method, and a computer program for involving vehicles that are not participating in an infrastructure guidance service.

[0006] According to an embodiment of the present invention, to achieve the above-mentioned purpose, an object-to-object communication system comprises: a program for involving a vehicle in an infrastructure guidance service that supports the driving of a vehicle through cooperation between a target road infrastructure (Road Side Unit, RSU) and an autonomous vehicle; a memory storing a list of objects participating in the infrastructure guidance service provided by the target RSU; a processor that, when a target vehicle is detected entering a guidance service section where the infrastructure guidance service provided by the target RSU is provided by executing the program, generates a service participation request message corresponding to the target vehicle and determines whether to register the target vehicle in the list of objects based on a message received from the target vehicle; and a communication unit that transmits the service participation request message to the target vehicle.

[0007] The above service participation request message may include an identifier of the target RSU, type information of the infrastructure guidance service provided by the target RSU, and map information regarding the guidance service segment.

[0008] The communication unit receives a cooperation recognition message from the target vehicle, and if the processor determines that the cooperation recognition message does not contain a temporary identifier assigned by the target RSU, it can identify the sender of the cooperation recognition message based on the result of comparing the self-vehicle location information of the target vehicle extracted from the cooperation recognition message with the self-object recognition information recognized by the target RSU regarding the target vehicle.

[0009] The self-object recognition information includes location information for each of at least one object recognized by the processor within the guidance service interval, and the processor can identify the sending object of the cooperation recognition message as the target vehicle if the extracted self-vehicle location information of the target vehicle is within a predetermined range based on one of the at least one object.

[0010] When the processor identifies the sending object of the cooperation recognition message as the target vehicle, it assigns a temporary identifier to the target vehicle to be used within the guidance service interval, generates a temporary identifier assignment message including the temporary identifier, and the communication unit can transmit the temporary identifier assignment message to the target vehicle.

[0011] The above temporary identifier assignment message may include the identifier of the guidance service section, the temporary identifier, and the self-vehicle location information of the target vehicle extracted by the processor.

[0012] The communication unit receives a guidance response message from the target vehicle as a reply to the temporary identifier assignment message, and if the processor determines that the guidance response message includes an intention to participate in the infrastructure guidance service provided by the target RSU, it may register the target vehicle in the object list.

[0013] The above target vehicle can participate in the infrastructure guidance service provided by the target RSU using the above temporary identifier.

[0014] According to another embodiment of the present invention, an object-to-object communication method comprises: a processor of a target road infrastructure (Road Side Unit, RSU) executing a program stored in memory to participate in an infrastructure guidance service that supports the driving of a vehicle through cooperation with an autonomous driving vehicle, wherein the method comprises: determining whether a vehicle enters a guidance service section in which the infrastructure guidance service is provided; generating a service participation request message corresponding to the target vehicle when a target vehicle that has entered the guidance service section is detected; transmitting the service participation request message to the target vehicle; and determining whether to register the target vehicle in the object list based on a message received from the target vehicle.

[0015] The above service participation request message may include an identifier of the target RSU, type information of the infrastructure guidance service provided by the target RSU, and map information regarding the guidance service segment.

[0016] The method may further include the steps of: receiving a cooperation recognition message from the target vehicle; if it is determined that the cooperation recognition message does not contain a temporary identifier assigned by the target RSU, comparing the self-vehicle location information of the target vehicle extracted from the cooperation recognition message with the self-object recognition information recognized by the target RSU regarding the target vehicle; and identifying the sending object of the cooperation recognition message based on the result of comparing the self-vehicle location information of the target vehicle with the self-object recognition information.

[0017] The self-object recognition information includes location information of each of at least one object recognized by the processor within the guidance service interval, and the method may further include the step of identifying the sending object of the cooperation recognition message as the target vehicle if the extracted self-vehicle location information of the target vehicle is within a predetermined range based on one of the at least one object.

[0018] When the sending object of the above cooperation recognition message is identified as the above target vehicle, the method may further include the steps of assigning a temporary identifier to be used within the guidance service interval for the above target vehicle, generating a temporary identifier assignment message including the temporary identifier, and transmitting the temporary identifier assignment message to the above target vehicle.

[0019] The above temporary identifier assignment message may include the identifier of the guidance service section, the temporary identifier, and the self-vehicle location information of the target vehicle extracted by the processor.

[0020] The method may further include the step of receiving a guidance response message from the target vehicle as a reply to the temporary identifier assignment message, and the step of registering the target vehicle in the object list if it is determined that the guidance response message includes an intention to participate in the infrastructure guidance service provided by the target RSU.

[0021] The above target vehicle may further include a step of participating in the infrastructure guidance service provided by the target RSU using the above temporary identifier.

[0022] According to another embodiment of the present invention, a computer program is a computer program stored on a computer-readable storage medium, wherein, when executed on one or more processors, the computer program performs the following operations for performing an object-to-object communication method for involving a vehicle in an infrastructure guidance service that supports the driving of a vehicle through cooperation between a target road infrastructure (Road Side Unit, RSU) and an autonomous vehicle, the operations include: determining whether a vehicle enters a guidance service section in which the infrastructure guidance service is provided; when a target vehicle that has entered the guidance service section is detected, generating a service participation request message corresponding to the target vehicle; transmitting the service participation request message to the target vehicle; and determining whether to register the target vehicle in the object list based on a message received from the target vehicle.

[0023] According to the present invention, in order to provide a customized I2X service to an object using a specific road, an RSU may provide a service participation procedure in which the RSU identifies a specific object and allows the object to participate in the service.

[0024] According to the present invention, the RSU can distinguish and identify service targets by comparing user object information on the road acquired through its own sensor information with information sent by the object.

[0025] According to the present invention, traffic conditions can be optimized through cooperation between an RSU and a vehicle in cooperative autonomous driving by assigning a temporary identifier to an object participating in the infrastructure guidance service segment of an RSU and allowing the object to participate in the service using the temporary identifier. In particular, the safety, mobility, and environmental aspects of driving can be improved by increasing the number of cooperating objects in autonomous driving.

[0026] Figure 1 is a conceptual diagram of cooperation awareness to explain infrastructure guidance services through cooperation between RSU and vehicles.

[0027] FIG. 2 is a block diagram of an inter-object communication system for involving a vehicle in an infrastructure guidance service according to an embodiment of the present invention.

[0028] FIG. 3 is an illustrative diagram for explaining the configuration of a message in one embodiment of the present invention.

[0029] FIG. 4 is a flowchart of a communication method between objects according to an embodiment of the present invention.

[0030] The present invention may be implemented with various modifications without departing from the spirit, and may have one or more embodiments. Furthermore, the embodiments described in the "specific details for implementing the invention" and "drawings," etc., in the present invention are examples for specifically explaining the present invention and do not limit or restrict the scope of the rights of the present invention.

[0031] Accordingly, anything that a person skilled in the art to which the present invention pertains can easily deduce from the “specific details for carrying out the invention” and “drawings,” etc., of the present invention may be interpreted as falling within the scope of the present invention.

[0032] In addition, the size and shape of each component shown in the drawings may be exaggerated for the purpose of explaining the embodiments and do not limit the actual size and shape of the invention.

[0033] Unless specifically defined otherwise in the specification of the present invention, terms used therein may have the same meaning as generally understood by those skilled in the art to which the present invention pertains.

[0034] In one embodiment of the present invention, a Road Side Unit (RSU) can involve a vehicle in an infrastructure guidance service through communication with a vehicle within a guidance service section that provides infrastructure guidance services. In the specification of the present invention, the RSU may be an Edge-RSU that recognizes road conditions. The RSU recognizes objects located on the road in real time from the road infrastructure installed along the roadside and can support status sharing, intent sharing, agreement seeking, and prescriptive communication between the RSU and the vehicle.

[0035] In one embodiment of the present invention, the RSU is equipped with various sensors, such as a camera (vision), LiDAR, radar, and ultrasound, to recognize an object within a predetermined guidance service range. For example, the RSU can determine whether a vehicle enters the predetermined guidance service range.

[0036] For convenience of explanation in the specification of the present invention, an object located on a road is referred to as a "vehicle." Accordingly, the description of a "vehicle" in the specification of the present invention may be applied to all road users, such as Connected Autonomous Vehicles (CAV), Autonomous Vehicles (AV), Connected Vehicles (CV), Conventional Human-Driven Vehicles (CHV), Vulnerable Road Users (VRU), pedestrians, bicycles, motorcycles, Personal Mobility (PM), Segways, electric scooters, etc.

[0037] Autonomous vehicles can recognize surrounding objects using various sensors such as cameras (vision), LiDAR, radar, and ultrasound, generate dynamic information by fusing it with precise road map information, and drive based on this.

[0038] In one embodiment of the present invention, the RSU can provide infrastructure guidance services that support the driving of a vehicle through cooperation with an autonomous vehicle. In order to provide customized I2X services for users utilizing a specific road, there is a need for service participation procedures, such as the RSU identifying a specific service target and the service target identifying the content of the provided service, service coverage, etc.

[0039] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0040] Figure 1 is a conceptual diagram of cooperation awareness to explain infrastructure guidance services through cooperation between RSU and vehicles.

[0041] Referring to FIG. 1, an RSU (e.g., RSU1) can generate guidance for optimizing traffic within a predetermined infrastructure guidance service section through communication with a vehicle (e.g., VE1). The vehicle (e.g., VE1) can optimize driving based on the guidance received from the RSU (e.g., RSU1). This can be referred to as an infrastructure guidance service.

[0042] In one embodiment of the present invention, a system and a method for performing a procedure to involve a vehicle in such an infrastructure guidance service may be provided.

[0043] FIG. 2 is a block diagram of an inter-object communication system for involving a vehicle in an infrastructure guidance service according to an embodiment of the present invention.

[0044] Referring to FIG. 2, the inter-object communication system (1) may include a plurality of RSUs (100, 100_1, 100_2) and a vehicle (200). Each of the plurality of RSUs (100, 100_1, 100_2) (e.g., 100) may provide infrastructure guidance services to a corresponding guidance service section (e.g., IG_AREA) among a plurality of guidance service sections (IG_AREA, IG_AREA_1, IG_AREA_2).

[0045] Each of the plurality of guidance service intervals (IG_AREA, IG_AREA_1, IG_AREA_2) (e.g., IG_AREA) may represent a predetermined range based on the location of a corresponding RSU (e.g., 100) among the plurality of RSUs (100, 100_1, 100_2). Each of the plurality of RSUs (100, 100_1, 100_2) (e.g., 100) may detect a vehicle in a corresponding guidance service interval (e.g., IG_AREA) among the plurality of guidance service intervals (IG_AREA, IG_AREA_1, IG_AREA_2) and perform communication between the detected vehicle and the object.

[0046] The following description of the RSU (100) may be applied to each of the multiple RSUs (100, 100_1, 100_2). Hereinafter, the RSU (100) is referred to as "Target RSU (100)" for convenience of explanation.

[0047] The target RSU (100) may include memory (110), a processor (120), and a communication unit (130).

[0048] The memory (110) may include volatile memory and / or non-volatile memory. The memory (110) may store, for example, commands or data related to the processor (200), communication unit (130), and vehicle (200), one or more programs and / or software, operating systems, etc., in order to implement and / or provide operations, functions, etc. provided by the object-to-object communication system (1).

[0049] The program stored in memory (110) may include a program that enables a vehicle to participate in an infrastructure guidance service provided by the target RSU (100) (hereinafter, "infrastructure guidance service participation program"). The infrastructure guidance service participation program enables the vehicle to participate in the infrastructure guidance service provided by the target RSU (100).

[0050] Memory (110) may store a list of objects (hereinafter, "object list") that participated in the infrastructure guidance service provided by the target RSU (100).

[0051] The processor (120) can control the operation of the memory (110) and the communication unit (130). The processor (120) can execute an infrastructure guidance service participation program to generate a service participation request message to be transmitted to a vehicle (200) that is detected to have entered a predetermined guidance service range (IG_AREA) where the infrastructure guidance service provided by the target RSU (100) is provided, and can determine whether to register the vehicle (200) in the object list based on the message received from the vehicle (200).

[0052] The communication unit (130) can wirelessly communicate with the target vehicle (200) to send and receive messages from the target vehicle (200). The communication unit (130) can transmit the messages sent and received from the target vehicle (200) to the processor (120). The communication unit (130) can transmit a service participation request message generated by the processor (120) to the target vehicle (200). The method by which the communication unit (130) transmits the service participation request message may be broadcasting.

[0053] In the following, for convenience of explanation, a vehicle (200) detected as having entered a predetermined guidance service area (IG_AREA) is referred to as a "target vehicle." In the specification of the present invention, the target vehicle is described as being one, but this is for convenience of explanation and the invention is not limited thereto. If there are two or more vehicles detected by the processor (120) as having entered the guidance service area (IG_AREA), the description of the target vehicle in one embodiment of the present invention may be applied to each of the two or more detected vehicles.

[0054] In the specification of the present invention, participating in the target vehicle (200) in the infrastructure guidance service may include the operation of the processor (120) registering the target vehicle (200) in the object list.

[0055] The processor (120) can determine whether there is a vehicle that has entered the guidance service area (IG_AREA) where the infrastructure guidance service provided by the target RSU (100) is provided. If a target vehicle (200) that has entered the guidance service area (IG_AREA) is detected, the processor (120) can generate a service participation request message to be sent to the target vehicle (200).

[0056] The service participation request message generated by the processor (120) may include an identifier (ID) of the target RSU (100), information on the type of infrastructure guidance service provided by the target RSU (100), map information for the guidance service range (IG_AREA), etc.

[0057] When a service participation request message is received from a target RSU (100), the target vehicle (200) can compare map information regarding the guidance service section (IG_AREA) included in the service participation request message with the target vehicle's (200) dynamic information system (Local Dynamic Map, LDM) to determine whether the guidance service section (IG_AREA) is included in the target vehicle's (200) driving path. If the guidance service section (IG_AREA) is included in the target vehicle's (200) driving path, the target vehicle (200) can determine that it has the intention to participate in the infrastructure guidance service provided by the target RSU (100). If it is determined that the target vehicle has the intention to participate in the infrastructure guidance service provided by the target RSU (100), the target vehicle (200) can generate a cooperation acknowledgment message and send it to the target RSU (100) to reply to the target RSU (100) with the intention to participate in the service. Here, the cooperative recognition message may include the identifier (rsuID) of the target RSU (100) identified by the target vehicle (200), the target vehicle (200)'s self-location information (hoPos), and object-specific information (obInfo) of surrounding objects recognized in the vicinity of the target vehicle (200). Here, the object-specific information (obInfo) may include the time of recognition of the object, the object's identifier, location, size, speed of movement, etc. Here, the target vehicle (200)'s self-location information may represent the target vehicle (200)'s location information as a sequence of movement trajectories.

[0058] The cooperation recognition message may include a temporary identifier item representing a previously assigned temporary identifier. If the cooperation recognition message has a previously assigned temporary identifier from the RSU that sent the service participation request message (e.g., the target RSU (100)), it may include it. Here, the temporary identifier (TemporaryID) included in the cooperation recognition message may be 0 until the temporary identifier is assigned from the RSU that sent the service participation request message (e.g., the target RSU (100)). Therefore, if the target vehicle (200) has not yet participated in the infrastructure guidance service provided by the target RSU (100), the temporary identifier (TemporaryID) included in the cooperation recognition message may be 0.

[0059] The communication unit (130) can receive a cooperation recognition message from the target vehicle (200). The processor (120) can determine whether the cooperation recognition message includes a temporary identifier assigned by the target RSU (100). If the value of the temporary identifier (TemporaryID) item included in the cooperation recognition message is 0, the processor (120) can determine that the target vehicle (200) does not have a temporary identifier assigned by the target RSU (100). Additionally, the processor (120) can extract self-vehicle location information of the target vehicle (200) from the cooperation recognition message. If it is determined that the cooperation recognition message received from the target vehicle (200) does not have a temporary identifier assigned by the target RSU (100), the processor (120) can compare the self-vehicle location information of the target vehicle (200) extracted from the cooperation recognition message with the self-object recognition information recognized by the target RSU (100) regarding the target vehicle (200), and identify the sending object of the cooperation recognition message based on the result of the comparison. Self-object recognition information is information acquired by the target RSU (100) through its own sensor information, and may include location information of each of at least one object recognized within the guidance service interval (IG_AREA). If the self-vehicle location information of the target vehicle (200) extracted from the cooperative recognition message is within a predetermined range based on the location information of at least one object represented by the self-object recognition information, the processor (120) can identify the sending object of the cooperative recognition message as the target vehicle (200). According to one embodiment of the present invention, the target RSU (100) can distinguish and identify the target of the infrastructure guidance service based on the result of comparing the self-object recognition information acquired through its own sensor information with the self-vehicle location information of the target vehicle (200) extracted from the cooperative recognition message.

[0060] When the sending object of the cooperation recognition message is identified as the target vehicle (200), the processor (120) may assign a temporary identifier to the target vehicle and generate a temporary identifier assignment message containing the assigned temporary identifier. Here, the temporary identifier may be an identifier that the target vehicle (200) will use within the guidance service interval (IG_AREA). The communication unit (130) may transmit the temporary identifier assignment message generated by the processor (120) to the target vehicle (200).

[0061] The temporary identifier assignment message may include an identifier of the guidance service interval (IG_AREA), a temporary identifier assigned by the processor (120), and the self-vehicle location information of the target vehicle (200). Here, the self-vehicle location information of the target vehicle (200) may be the self-vehicle location information of the vehicle included in the cooperation recognition message received by the target RSU (100).

[0062] When the target vehicle (200) receives a temporary identifier assignment message from the target RSU (100), if the target vehicle (200) determines that the vehicle location information of the target vehicle (200) included in the temporary identifier assignment message is identical to the vehicle location information transmitted by the vehicle, it recognizes that a temporary identifier has been assigned to the vehicle and can send a guidance response message using the temporary identifier included in the temporary identifier assignment message. Here, the guidance response message may include a message confirming receipt of the temporary identifier and an intention to participate in the infrastructure guidance service provided by the target RSU (100).

[0063] When the communication unit (130) receives a guidance response message from the target vehicle (200) as a reply to the temporary identifier assignment message, the processor (120) can determine whether the guidance response message includes an intention to participate in the infrastructure guidance service provided by the target RSU (100). The guidance response message may include a response item indicating the content of the response. If the value of the response item is a value indicating acceptance of participation in the infrastructure guidance service, the processor (120) can determine that the target vehicle (200) includes an intention to participate in the infrastructure guidance service provided by the target RSU (100).

[0064] If the guidance response message is determined to include an intention to participate in the infrastructure guidance service provided by the target RSU (100), the processor (120) can register the target vehicle (200) in the list of objects stored in memory (110).

[0065] Subsequently, the target vehicle (200) can participate in the infrastructure guidance service provided by the target RSU (100) using a temporary identifier received from the target RSU (100). By participating in the infrastructure guidance service provided by the target RSU (100), the target vehicle (200) receives driving guidance (driving recommendation or driving instruction) regarding the driving of the target vehicle (200) from the target RSU (100), and can drive cooperatively based on the guidance.

[0066] FIG. 3 is an illustrative diagram for explaining the configuration of a message in one embodiment of the present invention.

[0067] Referring to FIG. 3, in one embodiment of the present invention, each of the plurality of communication messages exchanged between the target RSU (100) and the target vehicle (200) consists of a data frame and a data element, and the data frame may include other data frames or data elements. Among the messages according to one embodiment, the message generated by the target vehicle (200) may comply with the SAE J2735 standard.

[0068] In the example of FIG. 3, the message includes "data frame 1", "data frame 2", and "data elements 2 to 4". "Data frame 1" includes "data element 1" and "data element 2", and "data frame 2" may include "data frame 1" and "data element 3". In one embodiment of the present invention, a data frame is a set of two or more different data elements or data frames gathered according to a predetermined rule, and a data element is an entity comprising a single element for specific information that is not divided.

[0069] Hereinafter, data frames and data elements used in messages in an infrastructure guidance service participation procedure according to one embodiment of the present invention are described by way of example.

[0070] DF_IGRSUReferenceID is a data frame representing the unique number of the RSU transmitting the guidance, and may include a region item representing the RSU's regional unique number and an id item representing the RSU's unique identification number. DF_IGRSUReferenceID may be included in each of the service participation request message, cooperation acknowledgment message, temporary identifier grant message, and guidance response message. In the service participation request message, DF_IGRSUReferenceID may represent the unique number of the target RSU (100) transmitting the guidance participation request. In the cooperation acknowledgment message, DF_IGRSUReferenceID may represent the identifier of the target RSU (100) that is the sender of the received service participation request message. In the temporary identifier grant message, DF_IGRSUReferenceID may represent the unique number of the target RSU (100) itself. In the guidance response message, DF_IGRSUReferenceID may represent the identifier of the target RSU (100) that is the sender of the temporary identifier grant message received by the target vehicle (200).

[0071] DE_IGServiceType is a data element representing the type of service provided by a service group and may include a Service Type item indicating the service type. DE_IGServiceType may be included in a service participation request message.

[0072] DE_IGResponseType is a data element representing the response of an object that has received a service participation request or guidance, and may include a response Type item indicating the type of response to the guidance. DE_IGResponseType may be included in the guidance response message.

[0073] DF_IGObjectInfoList is a data frame representing a list of information about objects and may include object Info items representing information about objects. DF_IGObjectInfoList may be included in a cooperation awareness message.

[0074] DF_IGObjectInfo is a data frame containing information about an object, and may include a secMark item indicating the time at which the object was perceived, an id item indicating the identifier of the object (e.g., a vehicle), a type item indicating the type of the perceived object, a pos item indicating the distance to the object, a speedX item indicating the lateral speed of the object, a speedY item indicating the longitudinal speed of the object, a heading item indicating the azimuth relative to the true north direction of the object's movement direction, an accelSet item indicating the acceleration of the object, a landID item indicating the number of the lane where the object is located, a size item indicating the plane size of the object, a height item indicating the height of the object, and a pathHistory item indicating the object's past path history. DF_IGObjectInfo may be included in a cooperative perception message. DF_IGObjectInfo may represent object-specific information of surrounding object(s) perceived by the target vehicle (200).

[0075] DE_ObjectType is a data element representing the type of a recognized object and can include an Object Type item representing the type of the object.

[0076] FIG. 4 is a flowchart of a communication method between objects according to an embodiment of the present invention.

[0077] Below, descriptions of each component of the inter-object communication system (1) that overlap with the descriptions above may be omitted.

[0078] Referring to FIG. 4, the target RSU (100) can determine whether a vehicle enters the guidance service area (IG_AREA) (S101).

[0079] When a target vehicle (200) enters the guidance service area (IG_AREA), the target RSU (100) can broadcast a service participation request message to the target vehicle (200) (S102).

[0080] The target vehicle (200) that receives the service participation request message can send a cooperation recognition message to the target RSU (100) (S103).

[0081] When it is determined that there is no temporary identifier assigned by the target RSU (100) in the cooperation recognition message received from the target vehicle (200), and the target vehicle (200) is identified as the sending object of the cooperation recognition message based on the result of comparing the self-vehicle location information of the target vehicle (200) extracted from the cooperation recognition message with the self-object recognition information, the target RSU (100) can send a temporary identifier assignment message to the target vehicle (200) (S104).

[0082] The target RSU (100) can receive a guidance response message from the target vehicle (200) (S105).

[0083] If it is determined that the guidance response message received from the target vehicle (200) includes an intention to participate in the infrastructure guidance service provided by the target RSU (100), the target RSU (100) can register the target vehicle (200) in the list of objects stored in memory (110) (S106).

[0084] After step S106, the target vehicle (200) can participate in the infrastructure guidance service provided by the target RSU (100) using a temporary identifier received from the target RSU (100).

[0085] In some embodiments, when a computer program stored on a computer-readable storage medium is executed on one or more processors, it may perform operations identical to those of the processor (120) described above for performing a method of inter-object communication in which the RSU engages the vehicle in an infrastructure guidance service that supports the driving of the vehicle through cooperation with the autonomous vehicle.

[0086] Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium that stores instructions executable by a computer. The instructions may be stored in the form of program code and, when executed by a processor, may generate a program module to perform the operation of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

[0087] Computer-readable recording media include all types of recording media that store instructions that can be decoded by a computer. Examples include ROM (Read Only Memory), RAM (Random Access Memory), magnetic tape, magnetic disk, flash memory, optical data storage devices, etc.

[0088] Although embodiments of the present invention have been described above, the present invention is not limited to the above embodiments. Various modifications may be made within the scope of the detailed description of the invention and the attached drawings, provided that such modifications do not depart from the spirit of the invention and do not impair its effects. Furthermore, it is obvious that such embodiments fall within the scope of the present invention.

Claims

1. In an inter-object communication system for involving a vehicle in an infrastructure guidance service that supports the driving of a vehicle through cooperation between the target road infrastructure (Road Side Unit, RSU) and the autonomous vehicle, A program that involves a vehicle in an infrastructure guidance service provided by the aforementioned target RSU, and a memory storing a list of objects that have participated in the infrastructure guidance service provided by the aforementioned target RSU; A processor that executes the above program to repeatedly generate service participation request messages within a guidance service section where infrastructure guidance services provided by the target RSU are provided, and determines whether to register the target vehicle in the object list based on a message received from a target vehicle that has entered the service section and received the service participation request messages; and A communication unit that transmits the above service participation request message to the above target vehicle, Inter-object communication system.

2. In Paragraph 1, The above service participation request message is, Includes an identifier of the target RSU, type information of the infrastructure guidance service provided by the target RSU, and map information for the guidance service segment. Inter-object communication system.

3. In Paragraph 1, The above service participation request message is, Characterized by RSU transmitting information via a broadcasting method, Inter-object communication system.

4. In Paragraph 1, The target vehicle that received the above service participation request message further includes a process of determining whether to participate in the service based on whether the vehicle's planned route is included in the service area and whether the service is necessary, based on map information regarding the guidance service section included in the service participation request message provided by the RSU. Inter-object communication system.

5. In Paragraph 1, The above communication unit is, Receive a cooperation recognition message from the above target vehicle, and The above processor is, If it is determined that the above cooperation recognition message does not contain a temporary identifier assigned by the above target RSU, the sending object of the above cooperation recognition message is identified based on the result of comparing the self-vehicle location information of the above target vehicle extracted from the above cooperation recognition message with the self-object recognition information recognized by the above target RSU regarding the above target vehicle. Inter-object communication system.

6. In Paragraph 5, The above self-object recognition information is, Includes location information of each of at least one object recognized by the processor within the above guidance service interval, The above processor is, If the self-vehicle location information of the target vehicle extracted above is within a predetermined range based on one of the at least one object, the sending object of the cooperation recognition message is identified as the target vehicle. Inter-object communication system.

7. In Paragraph 5, The above processor is, When the sending object of the above cooperation recognition message is identified as the above target vehicle, a temporary identifier to be used within the above guidance service interval is assigned to the above target vehicle, and a temporary identifier assignment message including the temporary identifier is generated. The above communication unit is, Transmitting the above temporary identifier assignment message to the above target vehicle, Inter-object communication system.

8. In Paragraph 7, The above temporary identifier assignment message is, including the identifier of the guidance service section, the temporary identifier, and the self-vehicle location information of the target vehicle extracted by the processor, Inter-object communication system.

9. In Paragraph 7, The above communication unit is, Receive a guidance response message from the above target vehicle as a reply to the above temporary identifier assignment message, and The above processor is, If it is determined that the guidance response message above includes an intention to participate in the infrastructure guidance service provided by the target RSU, the target vehicle is registered in the object list. Inter-object communication system.

10. In Paragraph 9, The above-mentioned target vehicle is, Participating in the infrastructure guidance service provided by the target RSU using the above temporary identifier, Inter-object communication system.

11. A method of inter-object communication in which a processor of a target road infrastructure (Road Side Unit, RSU) executes a program stored in memory to involve a vehicle in an infrastructure guidance service that supports the driving of a vehicle through cooperation with an autonomous driving vehicle, wherein A step of determining whether a vehicle enters a guidance service section where the above infrastructure guidance service is provided; When a target vehicle that has entered the guidance service section is detected, a step of generating a service participation request message corresponding to the target vehicle; The step of transmitting the above service participation request message to the above target vehicle; and A step including determining whether to register the target vehicle in the object list based on a message received from the target vehicle. method.

12. In Paragraph 11, The above service participation request message is, Includes an identifier of the target RSU, type information of the infrastructure guidance service provided by the target RSU, and map information for the guidance service segment. method.

13. In Paragraph 11, The above service participation request message is, Characterized by RSU transmitting information via a broadcasting method, Inter-object communication system.

14. In Paragraph 11, The target vehicle that received the above service participation request message further includes the step of determining whether to participate in the service based on map information regarding the guidance service section included in the service participation request message provided by the RSU, depending on whether the vehicle's planned route of operation is included in the service area and whether there is a need for the service. Inter-object communication system.

15. In Paragraph 11, A step of receiving a cooperation recognition message from the above target vehicle; If it is determined that the cooperation recognition message does not contain a temporary identifier assigned by the target RSU, the step of comparing the self-vehicle location information of the target vehicle extracted from the cooperation recognition message with the self-object recognition information recognized by the target RSU for the target vehicle; and The method further includes the step of identifying the sending object of the cooperation recognition message based on the result of comparing the self-vehicle location information of the target vehicle with the self-object recognition information. method.

16. In Paragraph 15, The above self-object recognition information is, Includes location information of each of at least one object recognized by the processor within the above guidance service interval, The above method is, If the self-vehicle location information of the target vehicle extracted above is within a predetermined range based on one of the at least one object, the method further includes the step of identifying the sending object of the cooperation recognition message as the target vehicle. method.

17. In Paragraph 15, If the sending object of the above cooperation recognition message is identified as the above target vehicle, A step of assigning a temporary identifier to be used within the guidance service interval for the above target vehicle; A step of generating a temporary identifier granting message including the above temporary identifier; and The method further comprises the step of transmitting the above temporary identifier assignment message to the target vehicle. method.

18. In Paragraph 17, The above temporary identifier assignment message is, including the identifier of the guidance service section, the temporary identifier, and the self-vehicle location information of the target vehicle extracted by the processor, method.

19. In Paragraph 17, A step of receiving a guidance response message from the above target vehicle as a reply to the above temporary identifier assignment message; and If it is determined that the guidance response message includes an intention to participate in the infrastructure guidance service provided by the target RSU, the method further includes the step of registering the target vehicle in the object list. method.

20. In Paragraph 19, The above target vehicle further includes the step of participating in an infrastructure guidance service provided by the target RSU using the above temporary identifier, method.

21. A computer program stored on a computer-readable storage medium, wherein, when executed on one or more processors, the computer program performs the following operations to perform a method of communication between objects for involving a vehicle in an infrastructure guidance service that supports the driving of a vehicle through cooperation between a target road infrastructure (Road Side Unit, RSU) and an autonomous vehicle. The above operations are, A step of determining whether a vehicle enters a guidance service section where the above infrastructure guidance service is provided; When a target vehicle that has entered the guidance service section is detected, a step of generating a service participation request message corresponding to the target vehicle; The step of transmitting the above service participation request message to the above target vehicle; and A step including determining whether to register the target vehicle in the object list based on a message received from the target vehicle. Computer program.

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