KR20110097091A - Apparatus and method for intelligent autonomous vehicle for preventing collision at rottery - Google Patents

Apparatus and method for intelligent autonomous vehicle for preventing collision at rottery Download PDF

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Publication number
KR20110097091A
KR20110097091A KR1020100016737A KR20100016737A KR20110097091A KR 20110097091 A KR20110097091 A KR 20110097091A KR 1020100016737 A KR1020100016737 A KR 1020100016737A KR 20100016737 A KR20100016737 A KR 20100016737A KR 20110097091 A KR20110097091 A KR 20110097091A
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South Korea
Prior art keywords
vehicle
intersection
collision
warning
autonomous
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KR1020100016737A
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Korean (ko)
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나혁민
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주식회사 만도
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Publication of KR20110097091A publication Critical patent/KR20110097091A/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)

Abstract

A communication module configured to receive vehicle entry information of a counterpart vehicle that is scheduled to enter a broadcasted intersection from a communication device installed at the intersection; And analyzing the vehicle entry information received by the communication module to determine the risk of collision between the own vehicle and the counterpart vehicle when the own vehicle passes through the intersection by autonomous driving, thereby driving or stopping the own vehicle for avoiding the intersection collision. Provided is an intersection collision avoidance apparatus of an autonomous vehicle, including an electronic control unit for determining.
According to the present invention, when an autonomous vehicle scheduled to pass through an intersection approaches the intersection, for example, a communication device installed at the intersection receives information of the other vehicle scheduled to pass through the intersection, By comparing the estimated time to reach the intersection with the own vehicle, the risk of collision is determined and the driving speed is controlled accordingly, so that the autonomous vehicle driving the planned route can effectively avoid the danger situation such as the collision between the vehicles at the intersection.

Description

Intersection collision avoidance device of autonomous vehicle and collision avoidance method {APPARATUS AND METHOD FOR INTELLIGENT AUTONOMOUS VEHICLE FOR PREVENTING COLLISION AT ROTTERY}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an intersection collision avoidance apparatus of an autonomous vehicle and a collision avoidance method thereof, and more particularly, when an autonomous vehicle that is scheduled to pass through an intersection approaches a intersection, for example, a communication device installed at an intersection, for example, another intersection planned to pass through an intersection. The present invention relates to an intersection collision avoidance apparatus for an autonomous vehicle and a collision avoidance method for receiving and analyzing information about a vehicle so as to avoid collision with the vehicle.

An intelligent autonomous vehicle is a vehicle equipped with a technology for recognizing a lane and performing automatic steering using a camera or a front object sensor. The autonomous vehicle measures lane width, transverse position of the vehicle on the lane, distance to both lanes and the shape of the lane, and radius of curvature of the road based on image processing or front object sensing sensing of the camera. The driving trajectory of the vehicle is estimated using the location and the road information, and the lane is changed along the estimated driving trajectory.

In addition, the intelligent autonomous vehicle performs appropriate acceleration and deceleration by automatically controlling the throttle valve, the brake, and the transmission of the vehicle through the position and distance of the preceding vehicle detected by a camera mounted in front of the vehicle or a front object sensor. By doing so, it is possible to maintain a proper distance with the preceding vehicle.

Such autonomous vehicles (Intelligent Autonomous Vehicle) is an important vehicle control technology in the field of Intelligent Transportation System (ITS) is currently in practical use. Intelligent Autonomous Vehicles can be thought of as an extension of the Cruise Control System.The steering wheel, like the Constant Speed Control System, is left to the driver or pedal-controlled engine throttle valves and brakes. Is automatically operated by the actuator according to the command of the electronic control unit, so that the driver's convenience (the driver only handles the steering wheel) and stability (accidental accident prevention by the driver's carelessness) and the efficiency of the road use (the narrowing of the car in the city) Gives.

The above-described autonomous vehicle employs an inter-vehicle distance / speed measurement sensor to control driving while maintaining a distance between the preceding vehicle and the vehicle, for example, within 100 meters in a high-speed driving situation such as a highway. You can also do

In addition, an intelligent autonomous vehicle (TJA: Traffic Jam Assist, hereinafter referred to as 'TJA') is used to maintain a narrow space between the vehicle and the preceding vehicle when the vehicle traveling speed is slow as in the city center. In conjunction with the system, the driver's fatigue can be reduced by automatically accelerating and decelerating when traffic is congested. The TJA system may control driving while maintaining a proper distance, such as 50 meters, with a preceding vehicle when driving in an urban or congested section.

However, when such an intelligent autonomous vehicle passes through the intersection, there is a risk of collision with other vehicles passing through the intersection due to the limitation of the performance of the front object sensor or the camera.

The problem to be solved by the present invention is when the autonomous vehicle that is scheduled to pass through the intersection approaches the intersection, for example, by receiving and analyzing information of another vehicle that is scheduled to pass through the intersection from a communication device installed at the intersection. It is an object of the present invention to provide an intersection collision avoidance device and an collision avoidance method of an autonomous vehicle capable of avoiding a collision.

According to an aspect of the present invention, a communication module for receiving vehicle entry information of a counterpart vehicle to enter the broadcasted intersection from a communication device installed at the intersection; And analyzing the vehicle entry information received by the communication module to determine the risk of collision between the own vehicle and the counterpart vehicle when the own vehicle passes through the intersection by autonomous driving, thereby driving or stopping the own vehicle for avoiding the intersection collision. Provided is an intersection collision avoidance apparatus of an autonomous vehicle, including an electronic control unit for determining.

Preferably, the collision avoidance device of the autonomous vehicle may further include a GPS receiver for receiving coordinate information for calculating the position information of the own vehicle.

Preferably, the electronic control unit includes a route processor for performing route analysis and route control for autonomous driving of a planned route based on communication with the intersection communication device and coordinate information received from the GPS receiver; A warning processor configured to generate a corresponding warning by determining a risk of collision with an opponent vehicle at an intersection based on the vehicle entry information based on the analyzed route; And a speed controller configured to perform deceleration control to avoid collision when the warning occurs.

Preferably, the warning processing unit may calculate a difference between the estimated time of arrival of the relative vehicle to the intersection and the estimated time of arrival of the host vehicle to the intersection, and may generate a warning when the warning value is less than an allowable threshold.

Preferably, the vehicle entry information may include the position, speed, and direction of travel of the opponent vehicle.

According to another aspect of the present invention, as a method for avoiding intersection collision of an autonomous vehicle, when approaching an intersection by autonomous driving, receiving vehicle entry information of an opponent vehicle that is to enter a broadcasted intersection from a communication device installed at the intersection; ; And analyzing the received vehicle entry information to determine a risk of collision between the host vehicle and the counterpart vehicle when the host vehicle passes through the intersection by autonomous driving to determine the driving or stopping of the host vehicle for avoiding an intersection collision. Provided is an intersection collision avoidance method of an autonomous vehicle including a.

Preferably, the determining may include analyzing a route for autonomous driving of a planned route based on communication with the intersection communication device and coordinate information received from a GPS receiver; Generating a corresponding warning by determining a risk of collision with an opponent vehicle at an intersection based on the vehicle entry information based on the analyzed route; And performing deceleration control to avoid collision when the warning occurs.

Preferably, the step of generating the warning may generate a warning if the difference between the estimated time of arrival of the relative vehicle to the intersection and the estimated time of arrival of the host vehicle to the intersection is less than an allowable threshold.

According to an embodiment of the present invention, when an autonomous vehicle scheduled to pass through an intersection approaches the intersection, for example, a communication device installed at the intersection receives information of the other vehicle scheduled to pass through the intersection to reach the intersection with the opponent vehicle. By comparing the estimated time and the estimated time to reach the intersection with the own vehicle, the risk of collision between the own vehicle and the counterpart vehicle is judged and the driving speed of the own vehicle is controlled accordingly. It can effectively avoid danger situations.

1 is a view for explaining the intersection collision avoidance apparatus of an autonomous vehicle according to an embodiment of the present invention.
FIG. 2 is a block diagram of an intersection collision avoidance apparatus of the autonomous vehicle shown in FIG. 1.
3 is a view for explaining that the relative vehicle calculates the arrival time to the intersection in the intersection collision avoidance apparatus of the autonomous vehicle according to the present invention.
4 is a flowchart illustrating a collision avoidance method of an autonomous vehicle according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a view for explaining the intersection collision avoidance apparatus of the autonomous vehicle according to an embodiment of the present invention, Figure 2 is a block diagram of the intersection collision avoidance apparatus of the autonomous vehicle shown in FIG.

Referring to FIG. 1, at an intersection, an intersection communication device 10 receiving location information of each vehicle 20 and 30 entering or exiting an intersection from each vehicle and broadcasting location information of each vehicle 10. ) Is installed. In an embodiment of the present invention, the intersection communication apparatus 10 will be described as broadcasting the vehicle entry information of the vehicle entering the intersection as the location information of each vehicle, but the present invention is not limited to this, and passes through the intersection. The location information of the vehicle may be broadcast. The vehicle entry information may include the position, speed, and direction of travel of the opponent vehicle 20.

An intersection collision avoidance device 30 of an intelligent autonomous vehicle according to an embodiment of the present invention is a planned route using car to car communication or car to infrastructure communication. The autonomous vehicle driving the vehicle recognizes a dangerous situation such as a collision between vehicles at an intersection and performs speed adjustment to prevent a collision.

The intersection collision avoidance apparatus 30 of such an autonomous vehicle includes a communication module 31, a GPS receiver 32, and an electronic control unit 33 as shown in FIG. 2.

The communication module 31 receives vehicle entry information of the counterpart vehicle 20 to enter the broadcasted intersection from the intersection communication device 10 installed at the intersection. The vehicle entry information may include the position, speed, and direction of travel of the opponent vehicle 20. Meanwhile, the communication module 31 may periodically transmit vehicle information of the own vehicle to the intersection communication device 10. Similarly, the vehicle information of the own vehicle transmitted to the intersection communication device 10 may include the position, speed, and direction of travel of the own vehicle.

The GPS receiver 32 receives coordinate information periodically provided from GPS satellites to calculate position information of the host vehicle.

The electronic control unit 33 analyzes the vehicle entry information received by the communication module 31 and risks collision between the host vehicle and the counterpart vehicle 20 when the host vehicle passes through the intersection by autonomous driving. Determine the driving or stopping of the own vehicle to avoid the intersection collision.

Furthermore, the electronic control unit 33 can extract the position information of the vehicles running around the host vehicle.

In this embodiment, the communication module 31 is described as receiving vehicle information broadcast from the intersection communication device 10 installed at the intersection, but the intersection communication device 10 is close to the intersection and is suitable for any position. It can also be installed.

The electronic control unit 33 may include a path processor 33a, a warning processor 33b, and a speed controller 33c.

The route processing unit 33a performs route analysis and route control for autonomous driving of a planned route based on communication with the intersection communication device 10 and coordinate information received from the GPS receiver 32.

The path processor 33a may measure a lane width, a transverse position of a vehicle on a lane, a distance to both lanes and a shape of a lane, and a radius of curvature of a road based on image processing of a camera or a front object sensor recognition. .

In addition, the route processing unit 33a may estimate the driving trajectory of the vehicle using the vehicle position and the road information thus obtained, and change the lane according to the estimated driving trajectory.

The warning processing unit 33b may generate a corresponding warning by determining a risk of collision with the other vehicle at the intersection of the vehicle based on the analyzed route entry information.

The warning processing unit 33b may calculate a difference between the estimated time of arrival of the relative vehicle to the intersection and the estimated time of arrival of the host vehicle to the intersection, and generate a warning when the warning value is less than the allowed threshold.

The warning processor 33b may extract the position, speed, and direction of the counterpart vehicle 20 from the vehicle entry information. The warning processor 33b determines whether the other vehicle is entering an intersection according to the extracted driving information of the other vehicle 20, and the risk of collision between the own vehicle and the other vehicle in consideration of the time when the corresponding vehicle reaches the intersection. In the event that there is a risk of collision, a warning is issued.

To this end, the warning processor 33b may calculate a time to crossing arrival time to the intersection from the extracted driving information of the counterpart vehicle 20.

The estimated time of arrival (Time To Crossing) may be calculated by dividing the distance from the counterpart vehicle 20 to the center of the intersection by the traveling speed of the counterpart vehicle 20 as shown in FIG. 3.

The warning processor 33b may calculate a difference between the estimated time to arrive at the intersection of the relative vehicle 20 and the estimated time to arrive at the intersection of the host vehicle and generate a warning when the warning value is less than the allowed threshold (or warning level). .

One threshold level may be set or the plurality of threshold levels may be set.

In addition, the warning processing unit 33b receives coordinate information corresponding to the position of the intersection communication device 10 or the position of the intersection and the position of the vehicle from the GPS receiver 33 and uses the received coordinate information to the vehicle and the intersection. It is also possible to calculate the actual distance and the actual distance to the intersection with the counterpart vehicle 20.

In the present exemplary embodiment, the actual distance between the own vehicle and the intersection is calculated based on the coordinate information corresponding to the position of the own vehicle and the position of the intersection through the GPS receiver 32, but the present invention is not necessarily limited thereto. If the range of signals broadcast from the intersection communication device 10 can be strictly suggested, the actual distance may be estimated based on the point of time when the vehicle detects the information of the intersection communication device 10.

On the other hand, the warning processing unit 33b determines whether the vehicle can pass without collision with the other vehicle at the intersection by using the calculated travel distance and the actual distance in this way to determine the driving or stopping of the vehicle.

The speed controller 33c may perform deceleration control to avoid collision when the warning occurs. On the other hand, the speed controller 33c determines that the warning level is the difference between the estimated time to reach the intersection of the relative vehicle 20 and the estimated time to reach the intersection of the host vehicle as a result of the collision risk determination by the warning processor 33b. If exceeded, control to maintain current speed.

The speed controller 33c adjusts the driving speed appropriately based on the number of warning levels or the degree of danger in controlling the driving speed of the autonomous vehicle, thereby allowing the autonomous vehicle to pass through the intersection safely.

For example, the speed controller 33c increases the deceleration rate when it is determined that the collision risk of the relative vehicle 20 is very large as a result of the collision risk determination by the warning processor 33b. By adjusting the magnitude of the acceleration accordingly it can be adjusted in a plurality of steps.

4 is a flowchart illustrating a collision avoidance method of an autonomous vehicle according to an embodiment of the present invention.

Referring to FIG. 4, the route processing unit 33a performs route analysis and route control for autonomous driving of a planned route based on communication with the intersection communication device 10 and coordinate information received from the GPS receiver 32. To perform.

When the distance from the intersection falls within a predetermined range, the warning processor 33b periodically calculates a time to cross (TTC) of the counterpart vehicle 20 entering the intersection with the time to crossing (TCT) of the own vehicle ( S10).

The warning processing unit 33b receives the driving information of the own vehicle analyzed by the route processing unit 33a and divides the distance between the own vehicle and the intersection by the traveling speed of the own vehicle and calculates the TTC which is the estimated time to reach the own vehicle and the intersection.

Similarly, the warning processing unit 33b extracts the position, speed, and direction of the counterpart vehicle 20 from the vehicle entry information received from the intersection communication device 10. The warning processor 33b determines whether the opponent vehicle is entering the intersection based on the extracted driving information of the opponent vehicle 20. The distance between the relative vehicle 20 and the intersection is divided by the traveling speed of the relative vehicle 20 based on the vehicle entry information received from the intersection communication device 10 to calculate the TTC of the relative vehicle 20.

The warning processing unit 33b calculates a difference between the estimated arrival time TTC of the relative vehicle 20 to the intersection and the estimated arrival time TTC to the intersection of the own vehicle to determine whether the warning level is less than or equal to the preset warning level ( S20). As a result of the determination, when the difference between the TTC of the own vehicle and the TTC of the relative vehicle is less than or equal to the warning level, the warning processing unit 33b generates a warning.

Accordingly, the speed controller 33c performs deceleration control to avoid collision (S30).

As a result of the determination, when the difference between the TTC of the own vehicle and the TTC of the relative vehicle exceeds the warning level, the speed controller 33c controls to maintain the current speed (S40).

The invention being thus described, it will be obvious that the same way may be varied in many ways. Such modifications are intended to be within the spirit and scope of the invention as defined by the appended claims.

In one embodiment of the present invention, when calculating the estimated time of arrival (TTC) of the relative vehicle to the intersection, the calculation by the autonomous vehicle collision avoidance apparatus according to an embodiment of the present invention has been described, but the other In an embodiment, the intersection communication apparatus calculates the estimated time of arrival (TTC) of the relative vehicle to the intersection, and the autonomous vehicle collision avoidance apparatus receives the TTC of the opponent vehicle from the intersection communication apparatus to The risk of collision can also be determined.

In addition, although one embodiment of the present invention has been described with respect to the installation of one intersection communication device at the intersection, the present invention is not limited thereto, and wireless communication with a vehicle passing through the intersection by installing a plurality of intersection communication devices at the intersection. It can also increase the reliability of the system.

10: intersection communication device 20: opponent vehicle
30: autonomous vehicle collision avoidance device 31: communication module
32: GPS receiver 33: electronic control unit
33a: path processor 33b: warning processor
33c: speed control unit

Claims (8)

A communication module configured to receive vehicle entry information of a counterpart vehicle that is scheduled to enter a broadcasted intersection from a communication device installed at the intersection; And
Analyzing the vehicle entry information received by the communication module to determine the risk of collision between the host vehicle and the counterpart vehicle when autonomous vehicle passes through the intersection by autonomous driving, driving or stopping the vehicle for avoiding the intersection collision. Intersection collision avoidance device of an autonomous vehicle comprising an electronic control unit for determining. The method according to claim 1,
And a GPS receiver for receiving coordinate information for calculating position information of the own vehicle. The method according to claim 2,
The electronic control unit
A route processor configured to perform route analysis and route control for autonomous driving of a planned route based on communication with the intersection communication device and coordinate information received from the GPS receiver;
A warning processor configured to generate a corresponding warning by determining a risk of collision with an opponent vehicle at an intersection based on the vehicle entry information based on the analyzed route; And
And a speed controller configured to perform deceleration control for collision avoidance when the warning occurs. The method according to claim 3,
And the warning processing unit calculates a difference between the estimated time of arrival of the relative vehicle to the intersection and the estimated time of arrival of the own vehicle to the intersection, and generates a warning when the warning processing unit is lower than an allowable threshold. The collision avoidance apparatus of claim 1, wherein the vehicle entry information includes a position, a speed, and a heading of the opponent vehicle. As an intersection collision avoidance method of an autonomous vehicle,
Receiving vehicle entry information of a counterpart vehicle scheduled to enter the broadcasted intersection from a communication device installed at the intersection when approaching the intersection by autonomous driving; And
Analyzing the received vehicle entry information and determining a risk of collision between the host vehicle and the counterpart vehicle when the host vehicle passes through the intersection by autonomous driving, and determining driving or stopping of the host vehicle for avoiding an intersection collision. Intersection collision avoidance method of an autonomous vehicle, including. The method of claim 6,
The step of determining
Analyzing a route for autonomous driving of a planned route based on communication with the intersection communication device and coordinate information received from a GPS receiver;
Generating a corresponding warning by determining a risk of collision with an opponent vehicle at an intersection based on the vehicle entry information based on the analyzed route; And
And performing deceleration control for collision avoidance when the warning occurs. The method according to claim 7,
The generating of the warning may include calculating a difference between the estimated time of arrival of the relative vehicle to the intersection and the estimated time of arrival of the own vehicle to the intersection, and the warning of the intersection collision of the autonomous vehicle generating the warning if the warning is less than the allowed threshold. .
KR1020100016737A 2010-02-24 2010-02-24 Apparatus and method for intelligent autonomous vehicle for preventing collision at rottery KR20110097091A (en)

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101382656B1 (en) * 2012-09-20 2014-04-07 현대자동차주식회사 Apparatus and method for warning vehicle access using V2X communication at crossroad
WO2014058263A1 (en) * 2012-10-11 2014-04-17 Jo Min Sung Collision warning apparatus and collision warning method
KR101414571B1 (en) * 2013-02-18 2014-08-06 주식회사 만도 Apparatus of preventing collision in vehicle, control method of thereof
KR101843095B1 (en) * 2017-10-11 2018-03-28 세종신호(주) Road sign wireless guidance system
US9952054B2 (en) 2013-11-08 2018-04-24 Electronics And Telecommunications Research Institute Autonomous driving control apparatus and method using navigation technology
CN109062222A (en) * 2018-09-04 2018-12-21 盐城骏拔汽车零部件有限公司 Automatic driving vehicle managing and control system and method
US10220844B2 (en) 2016-11-24 2019-03-05 Huyndai Motor Company Vehicle and control method thereof
KR20190042873A (en) * 2017-10-17 2019-04-25 한국철도기술연구원 Driving assistance system in intersection for autonomous vehicle using vision sensor
KR20190078775A (en) * 2017-12-27 2019-07-05 동국대학교 산학협력단 Apparatus and method for notifying collision risk on the road
WO2019245124A1 (en) * 2018-06-21 2019-12-26 주식회사 켐트로닉스 Intersection collision prevention method and system performing same
KR20230124836A (en) 2022-02-18 2023-08-28 경북대학교 산학협력단 Safe driving support device and safe driving support method for autonomous vehicles in the intersection dilemma zone
US11915591B2 (en) 2018-06-21 2024-02-27 Chemtronics Co., Ltd. Method of avoiding collision of vehicles at intersection and system performing the same

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101382656B1 (en) * 2012-09-20 2014-04-07 현대자동차주식회사 Apparatus and method for warning vehicle access using V2X communication at crossroad
WO2014058263A1 (en) * 2012-10-11 2014-04-17 Jo Min Sung Collision warning apparatus and collision warning method
KR101414571B1 (en) * 2013-02-18 2014-08-06 주식회사 만도 Apparatus of preventing collision in vehicle, control method of thereof
US9952054B2 (en) 2013-11-08 2018-04-24 Electronics And Telecommunications Research Institute Autonomous driving control apparatus and method using navigation technology
US10220844B2 (en) 2016-11-24 2019-03-05 Huyndai Motor Company Vehicle and control method thereof
KR101843095B1 (en) * 2017-10-11 2018-03-28 세종신호(주) Road sign wireless guidance system
KR20190042873A (en) * 2017-10-17 2019-04-25 한국철도기술연구원 Driving assistance system in intersection for autonomous vehicle using vision sensor
KR20190078775A (en) * 2017-12-27 2019-07-05 동국대학교 산학협력단 Apparatus and method for notifying collision risk on the road
WO2019245124A1 (en) * 2018-06-21 2019-12-26 주식회사 켐트로닉스 Intersection collision prevention method and system performing same
US11915591B2 (en) 2018-06-21 2024-02-27 Chemtronics Co., Ltd. Method of avoiding collision of vehicles at intersection and system performing the same
CN109062222A (en) * 2018-09-04 2018-12-21 盐城骏拔汽车零部件有限公司 Automatic driving vehicle managing and control system and method
KR20230124836A (en) 2022-02-18 2023-08-28 경북대학교 산학협력단 Safe driving support device and safe driving support method for autonomous vehicles in the intersection dilemma zone

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