Method and device for sharing adjacent vehicle state information
Presented is a method in which adjacent vehicles sense, while driving, the state of a vehicle having an abnormality, so as to report same to an infrastructure/network, and, further, the infrastructure/network directly senses the abnormality so that the vehicle with the abnormality can be controlled.
1. An operating method of a road side unit (RSU) in a wireless communication system, the method comprising:
sensing an abnormal vehicle which is abnormally operated, based on operation information including an average operation trajectory;
generating abnormal vehicle information including at least one of information related to the abnormal vehicle or information related to a relationship between the abnormal vehicle and a surrounding vehicle; and
transmitting the abnormal vehicle information via a signal to the surrounding vehicle of the abnormal vehicle,
wherein the average operation trajectory is obtained based on operation trajectories of one or more normal vehicles but excluding operation trajectories of one or more abnormal vehicles for a particular region and time interval,
wherein the abnormal vehicle is sensed based on having an operation trajectory that differs compared to the average operation trajectory by greater than an operation trajectory threshold,
wherein, based on a remaining time for a collision being less than a first time threshold, information for changing operation mode to an autonomous driving mode is transmitted to the abnormal vehicle,
wherein based on sensing the abnormal vehicle and the remaining time for the collision being greater than or equal to the first time threshold, information for changing operation mode to a tele-operated driving mode is transmitted to the abnormal vehicle and a network, and
wherein based on sensing the abnormal vehicle and the remaining time for the collision being greater than the first time threshold and a path difference between the abnormal vehicle and the surrounding vehicle being less than a path threshold, information for changing operation mode to an escort driving mode is transmitted to the abnormal vehicle and the surrounding vehicle.
2. The method of claim 1 , wherein the operation information includes an acceleration threshold and a deceleration threshold.
3. The method of claim 2 , wherein the abnormal vehicle is sensed based on having an acceleration greater than the acceleration threshold or a deceleration greater than the deceleration threshold.
4. The method of claim 1 , wherein the surrounding vehicle transmits abnormal vehicle discovery information to the RSU.
5. The method of claim 4 , wherein the abnormal vehicle discovery information includes at least one of a speed of the abnormal vehicle, an acceleration of the abnormal vehicle, and an operation direction of the abnormal vehicle.
6. The method of claim 4 , wherein the RSU senses the abnormal vehicle based on the abnormal vehicle discovery information and the operation information.
7. The method of claim 1 , wherein the abnormal vehicle information indicates a risk zone related to the abnormal vehicle.
8. The method of claim 7 , wherein the risk zone is determined based on a left separation distance, a right separation distance, a front separation distance, and a rear separation distance based on the abnormal vehicle.
9. The method of claim 1 , wherein the abnormal vehicle information includes an identifier (ID) of the abnormal vehicle.
10. The method of claim 1 , wherein a distance between the surrounding vehicle and the abnormal vehicle is a distance offset or less.
11. The method of claim 1 , wherein the RSU includes a base station.
12. A road side unit (RSU) comprising:
at least one transceiver;
at least one processor; and
at least one memory connected to the at least one processor and storing instructions that, based on being executed, cause the RSU to perform operations comprising:
sensing an abnormal vehicle which is abnormally operated, based on operation information including an average operation trajectory,
generating abnormal vehicle information including at least one of information related to the abnormal vehicle or information related to a relationship between the abnormal vehicle and a surrounding vehicle, and
transmitting the abnormal vehicle information via a signal to the surrounding vehicle of the abnormal vehicle,
wherein the abnormal vehicle information includes at least one of information related to the abnormal vehicle and information related to a relationship between the abnormal vehicle and the surrounding vehicle,
wherein the average operation trajectory is obtained based on operation trajectories of one or more normal vehicles but excluding operation trajectories of one or more abnormal vehicles for a particular region and time interval,
wherein the abnormal vehicle is sensed based on having an operation trajectory that differs compared to the average operation trajectory by greater than an operation trajectory threshold,
wherein, based on a remaining time for a collision being less than a first time threshold, information for changing operation mode to an autonomous driving mode is transmitted to the abnormal vehicle,
wherein based on sensing the abnormal vehicle and the remaining time for the collision being greater than or equal to the first time threshold, information for changing operation mode to a tele-operated driving mode is transmitted to the abnormal vehicle and a network, and
wherein based on sensing the abnormal vehicle and the remaining time for the collision being greater than the first time threshold and a path difference between the abnormal vehicle and the surrounding vehicle being less than a path threshold, information for changing operation mode to an escort driving mode is transmitted to the abnormal vehicle and the surrounding vehicle.
13. The RSU of claim 12 , wherein the RSU communicates with at least one of a mobile terminal, the network, and an autonomous driving vehicle other than the RSU.
14. An apparatus adapted to control a road side unit (RSU), the apparatus comprising:
at least one processor; and
at least one memory connected to the at least one processor and storing instructions that, based on being executed, cause the RSU to perform operations comprising:
sensing an abnormal vehicle which is abnormally operated, based on operation information including an average operation trajectory,
generating abnormal vehicle information including at least one of information related to the abnormal vehicle or information related to a relationship between the abnormal vehicle and a surrounding vehicle, and
transmitting the abnormal vehicle information via a signal to the surrounding vehicle of the abnormal vehicle,
wherein the average operation trajectory is obtained based on operation trajectories of one or more normal vehicles but excluding operation trajectories of one or more abnormal vehicles for a particular region and time interval,
wherein the abnormal vehicle is sensed based on having an operation trajectory that differs compared to the average operation trajectory by greater than an operation trajectory threshold,
wherein, based on a remaining time for a collision being less than a first time threshold, information for changing operation mode to an autonomous driving mode is transmitted to the abnormal vehicle,
wherein based on sensing the abnormal vehicle and the remaining time for the collision being greater than or equal to the first time threshold, information for changing operation mode to a tele-operated driving mode is transmitted to the abnormal vehicle and a network, and
wherein based on sensing the abnormal vehicle and the remaining time for the collision being greater than the first time threshold and a path difference between the abnormal vehicle and the surrounding vehicle being less than a path threshold, information for changing operation mode to an escort driving mode is transmitted to the abnormal vehicle and the surrounding vehicle.