KR20170119842A - Apparatus and method for controlling autonomous driving vehicle - Google Patents

Abstract

An autonomous vehicle control apparatus and method are provided. A method of controlling an autonomous vehicle according to an embodiment of the present invention includes identifying an automobile traveling in the vicinity using an image photographed by at least one camera photographing the outside of the vehicle, Autonomous vehicle running in the vicinity of the vehicle, receiving the identification information of the autonomous vehicle traveling in the vicinity of the vehicle, comparing the generated identification information with the received identification information, Autonomous vehicle identification information of the non-autonomous driving vehicle to a server storing identification information and at least one dangerous driving history information of the at least one dangerous driving vehicle, Receiving the dangerous driving history information corresponding to the information and the received dangerous driving history And controlling the vehicle to avoid the non-autonomous vehicle based on the information.

Description

[0001] APPARATUS AND METHOD FOR CONTROLLING AUTONOMOUS DRIVING VEHICLE [0002]

Embodiments of the present invention relate to techniques for controlling autonomous vehicles.

An autonomous driving vehicle generally refers to a vehicle that recognizes the driving environment itself without operating the driver and travels to the destination.

Operation between autonomous vehicles communicates with each other, safe operation is possible, and driving situation prediction is possible. However, when the vehicle is operated in a mixed state with the non-autonomous vehicle, communication with the non-autonomous vehicle can not be performed, so that an unexpected situation may occur in the safe operation of the autonomous vehicle.

In particular, when a driver having a habit of driving poorly drives a non-autonomous vehicle, it poses a threat to the safe driving of the autonomous vehicle, and therefore, there is a need to avoid or defend it.

Korean Registered Patent No. 10-1610544 (issued on June 4, 2016)

Embodiments of the present invention are intended to provide an apparatus and method for controlling an autonomous vehicle.

The apparatus for controlling an autonomous vehicle according to an embodiment of the present invention identifies a vehicle running in the vicinity by using an image photographed by at least one camera photographing the outside of the vehicle, A first communication interface unit for receiving the identification information of the autonomous vehicle traveling from the autonomous vehicle traveling in the vicinity of the vehicle, a second communication interface for comparing the generated identification information with the received identification information, An identification unit for identifying a non-autonomous driving vehicle in the vehicle, a vehicle inquiry request including identification information of the non-autonomous driving vehicle to a server storing identification information of at least one dangerous driving vehicle and dangerous driving history information A second server for receiving the dangerous driving history information corresponding to the transmitted identification information from the server, And a avoidance control unit for controlling the vehicle to avoid the non-autonomous vehicle on the basis of the communication interface unit and the received dangerous driving history information.

The identification information may include at least one of a vehicle type, a car number, a color, and a size.

The dangerous driving history information may include at least one of the driving pattern data of the dangerous driving vehicle, the dangerous driving type, the number of occurrences by the dangerous driving type, and the dangerous driving avoiding plan.

The dangerous driving history information may be generated based on dangerous driving information provided to the server by at least one autonomous driving vehicle.

An autonomous vehicle control apparatus according to another embodiment of the present invention may identify a vehicle that is running in the vicinity by using an image photographed by at least one camera that photographs the outside of the vehicle and generates identification information about the identified vehicle A first communication interface for receiving the identification information of the autonomous vehicle traveling from the autonomous vehicle traveling in the vicinity of the vehicle, a second communication interface for comparing the generated identification information with the received identification information, Autonomous driving vehicle; a driving unit that collects driving pattern data of the non-autonomous driving vehicle based on at least one of the photographed image and a value measured by at least one sensor provided in the vehicle; An operation pattern of the non-autonomous vehicle based on the collected operation pattern data, A dangerous operation information generating unit for generating dangerous operation information for the non-autonomous driving vehicle when the dangerous driving pattern is determined, and a non-autonomous driving information generating unit for generating the dangerous driving information based on the non- And a second communication interface unit for transmitting the identification information of the vehicle to the server.

The identification information may include at least one of a vehicle type, a car number, a color, and a size.

The operation pattern data may include data on at least one of a speed, a course, a position, and a warning light operation of the non-autonomous driving vehicle.

The judging unit may judge whether the operation pattern of the non-autonomous driving vehicle is the dangerous driving pattern by comparing the judgment condition for each predetermined risk driving type and the collected driving pattern data.

The determination condition may include a condition for at least one of an inter-vehicle distance, an excess speed relative to a road speed limit, an operation pattern for a specific operation of the vehicle, a lane change pattern, and a speed change.

The dangerous driving information may include at least one of the collected driving pattern data and the dangerous driving type.

A method of controlling an autonomous vehicle according to an embodiment of the present invention includes identifying an automobile traveling in the vicinity using an image photographed by at least one camera photographing the outside of the vehicle, Autonomous vehicle running in the vicinity of the vehicle, receiving the identification information of the autonomous vehicle traveling in the vicinity of the vehicle, comparing the generated identification information with the received identification information, Autonomous vehicle identification information of the non-autonomous driving vehicle to a server storing identification information and at least one dangerous driving history information of the at least one dangerous driving vehicle, Receiving the dangerous driving history information corresponding to the information and the received dangerous driving history And controlling the vehicle to avoid the non-autonomous vehicle based on the information.

The identification information may include at least one of a vehicle type, a car number, a color, and a size.

The dangerous driving history information may include at least one of the driving pattern data of the dangerous driving vehicle, the dangerous driving type, the number of occurrences by the dangerous driving type, and the dangerous driving avoiding plan.

The dangerous driving history information may be generated based on dangerous driving information provided to the server by at least one autonomous driving vehicle.

A method for controlling an autonomous vehicle according to another embodiment of the present invention includes the steps of: identifying a vehicle running in the vicinity by using an image photographed by at least one camera photographing the outside of the vehicle; generating identification information about the identified vehicle; , The method comprising the steps of: receiving identification information of an autonomous vehicle traveling from the autonomous vehicle traveling around the vehicle; comparing the generated identification information with the received identification information to identify the autonomous vehicle in the identified vehicle Autonomous driving vehicle based on at least one of the photographed image and a value measured by at least one sensor provided in the vehicle, the step of collecting the driving pattern data of the non-autonomous driving vehicle based on the collected driving pattern data, Determining whether the operation pattern of the non-autonomous driving vehicle is a dangerous driving pattern, Generating dangerous driving information for the non-autonomous driving vehicle when it is determined to be a dangerous driving pattern, and transmitting the generated dangerous driving information to the server together with the identification information of the non-autonomous driving vehicle.

The identification information may include at least one of a vehicle type, a car number, a color, and a size.

The operation pattern data may include data on at least one of a speed, a course, a position, and a warning light operation of the non-autonomous driving vehicle.

The determining step may determine whether the operation pattern of the non-autonomous driving vehicle is the dangerous driving pattern by comparing the judgment condition for each predetermined risk driving type with the collected driving pattern data.

The determination condition may include a condition for at least one of an inter-vehicle distance, an excess speed relative to a road speed limit, an operation pattern for a specific operation of the vehicle, a lane change pattern, and a speed change.

The dangerous driving information may include at least one of the collected driving pattern data and the dangerous driving type.

According to the embodiments of the present invention, the autonomous vehicle can grasp and avoid the abnormal driving pattern of the autonomous driving vehicle in a situation where the autonomous driving vehicle and the non-autonomous driving vehicle are mixed, And at the same time, it is possible to prevent the risk of accidents due to abrupt driving.

Further, according to the embodiments of the present invention, an abnormal operating pattern of a non-autonomous driving vehicle is collected and provided to a server in a situation where an autonomous driving vehicle and a non-autonomous driving vehicle are mixed, Information about the autonomous vehicle can be easily collected.

1 is a block diagram of an apparatus for controlling an autonomous vehicle according to an embodiment of the present invention.
2 is a block diagram of an autonomous vehicle control apparatus according to another embodiment of the present invention
3 and 4 are illustrations for explaining non-autonomous driving vehicle identification and avoidance of dangerous vehicles according to an embodiment of the present invention
5 is a flowchart of a method for controlling an autonomous vehicle according to an embodiment of the present invention.
6 is a flow chart of a method for controlling an autonomous vehicle according to another embodiment of the present invention

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. The following detailed description is provided to provide a comprehensive understanding of the methods, apparatus, and / or systems described herein. However, this is merely an example and the present invention is not limited thereto.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. The following terms are defined in consideration of the functions of the present invention, and may be changed according to the intention or custom of the user, the operator, and the like. Therefore, the definition should be based on the contents throughout this specification. The terms used in the detailed description are intended only to describe embodiments of the invention and should in no way be limiting. Unless specifically stated otherwise, the singular form of a term includes plural forms of meaning. In this description, the expressions "comprising" or "comprising" are intended to indicate certain features, numbers, steps, operations, elements, parts or combinations thereof, Should not be construed to preclude the presence or possibility of other features, numbers, steps, operations, elements, portions or combinations thereof.

1 is a configuration diagram of an autonomous vehicle control apparatus 100 according to an embodiment of the present invention.

1, an autonomous vehicle control apparatus 100 according to an embodiment of the present invention includes an identification information generation unit 110, a first communication interface unit 120, a vehicle identification unit 130, An interface unit 140, and an avoidance control unit 150.

The autonomous vehicle control apparatus 100 shown in FIG. 1 is for controlling a self-driving vehicle so as to identify a dangerous driving vehicle among non-autonomous driving vehicles running in the vicinity of the autonomous driving vehicle and to avoid an identified dangerous driving vehicle , And a configuration included in the autonomous vehicle.

The identification information generating unit 110 generates identification information about a vehicle running in the vicinity using an image photographed by at least one camera that is provided in the autonomous vehicle and photographs the outside of the vehicle. At this time, the identification information may include, for example, at least one of a car type and a car number.

For example, the identification information generating unit 110 may identify the license plate of the vehicle from the image photographed by the camera and generate the vehicle number of the vehicle as the identification information.

As another example, the identification information generating unit 110 may identify an emblem of the vehicle or a character indicating the type of the vehicle in the image photographed by the camera, and generate the vehicle type of the vehicle as the identification information.

On the other hand, various known image analysis techniques may be utilized to identify the vehicle from the photographed image and generate identification information of the identified vehicle.

The first communication interface unit 120 receives the identification information from another autonomous vehicle traveling in the vicinity of the autonomous vehicle.

For example, each autonomous vehicle in operation can broadcast a message including its own identification information periodically or non-periodically, and the first communication interface unit 120 can broadcast a message from each autonomous vehicle traveling in the vicinity It is possible to receive the casting message and obtain the identification information of each autonomous vehicle traveling in the vicinity. At this time, the obtained identification information may include at least one of, for example, a car number, a car type, a color, and a size.

The vehicle identification unit 130 compares the identification information of the surrounding vehicle generated by the identification information generation unit 110 with the identification information of the autonomous vehicle received through the first communication interface unit 120, Identify non-autonomous vehicles.

Specifically, when the identification information of the neighboring vehicle generated by the identification information generating unit 110 is identical to the identification information received through the first communication interface unit 120, the vehicle identification unit 130 identifies the neighboring vehicle as an autonomous vehicle It can be judged as a traveling vehicle.

When the identification information matching the identification information of the neighboring vehicle generated by the identification information generation unit 110 among the identification information received through the first communication interface unit 120 does not exist, It can be determined that the peripheral vehicle is a non-autonomous vehicle.

The second communication interface unit 140 transmits a vehicle inquiry request including the identification information of the non-autonomous vehicle identified in the vehicle identification unit 130 to the server and transmits a dangerous driving history corresponding to the identification information transmitted from the server Information is received.

At this time, the server receives the identification information and the dangerous driving information of the dangerous vehicle collected by each autonomous vehicle from the at least one autonomous vehicle, and generates the dangerous driving history information from the received identification information and the dangerous driving information .

At this time, the dangerous driving history information may include at least one of the driving pattern data of the dangerous driving vehicle, the dangerous driving type, the number of occurrences by the dangerous driving type, and the avoidance plan for dangerous driving.

Meanwhile, when receiving the vehicle inquiry request from the autonomous vehicle, the server extracts the dangerous driving history information corresponding to the identification information included in the received vehicle inquiry request from the stored dangerous driving history information, It can be transmitted to the vehicle.

When the dangerous driving history information is received from the server, the avoidance control unit 150 controls the autonomous driving vehicle to avoid the non-autonomous driving vehicle identified by the vehicle identification unit 130 based on the received dangerous driving history information have.

More specifically, the avoidance control unit 150 determines a dangerous operation pattern of the non-autonomous driving vehicle identified by the vehicle identification unit 130 based on the received dangerous driving history information, The speed of the vehicle, the traveling direction, the lane, and the like can be controlled to be changed.

For example, the avoidance control unit 150 may control the autonomous vehicle so that the dangerous operation pattern of the identified non-autonomous driving vehicle is interfering with the lane change, so as to maintain the present driving lane.

As another example, the avoidance control unit 150 can control the autonomous vehicle so that the distance from the identified non-autonomous driving vehicle to a certain distance or more is maintained when the dangerous driving pattern of the identified non-autonomous driving vehicle is suddenly stopped.

The identification information generating unit 110, the first communication interface unit 120, the vehicle identification unit 130, the second communication interface unit 140, and the avoidance control unit 150 may be one Or a computer-readable recording medium coupled to the processor. The computer readable recording medium may be internal or external to the processor, and may be coupled to the processor by any of a variety of well known means. A processor in the computing device may cause each computing device to operate in accordance with the exemplary embodiment described herein. For example, a processor may execute instructions stored on a computer-readable recording medium, and instructions stored on the computer readable recording medium may cause a computing device to perform operations in accordance with the exemplary embodiments described herein For example.

2 is a configuration diagram of an autonomous vehicle control apparatus 200 according to another embodiment of the present invention.

2, an autonomous vehicle control apparatus 200 according to an embodiment of the present invention includes an identification information generating unit 210, a first communication interface unit 220, a vehicle identification unit 230, An interface unit 240, an operation pattern collecting unit 250, a determining unit 260, and a dangerous operation information providing unit 270. [

The autonomous vehicle control apparatus 200 shown in FIG. 2 identifies the non-autonomous driving vehicle among the non-autonomous driving vehicles running in the vicinity of the autonomous driving vehicle, collects the dangerous driving patterns of the identified non-autonomous driving vehicle, For example, in a configuration included in an autonomous vehicle.

The identification information generation unit 210, the first communication interface unit 220, the vehicle identification unit 230, and the second communication interface unit 240 in the configuration of the autonomous vehicle control device 200 shown in FIG. Are the same as those shown in FIG. 1, so that a duplicate description thereof will be omitted.

The driving pattern collecting unit 250 collects the driving pattern by the vehicle identification unit 230 based on at least one of the image captured by the camera provided in the autonomous vehicle and the value measured by at least one sensor provided in the autonomous vehicle And collects the operation pattern data of the identified non-autonomous driving vehicle.

At this time, the at least one sensor may include various types of sensors capable of measuring distance, position, speed, etc., for example, a GPS receiver, a LIDAR sensor, an ultrasonic sensor, .

On the other hand, the operation pattern data collected by the operation pattern collecting unit 250 may include, for example, data on at least one of the speed, the course, the position, the distance, and the warning light operation of the identified non-autonomous driving vehicle.

The determination unit 260 can determine whether the operation pattern of the non-autonomous vehicle identified by the vehicle identification unit 130 is a dangerous operation pattern based on the operation pattern data collected by the operation pattern collection unit 250 have.

For example, the determination unit 260 compares the predetermined risk driving type determination condition with the operation pattern data collected by the operation pattern collection unit 250 to determine whether the non-autonomous driving vehicle identified by the vehicle identification unit 130 It is possible to judge whether or not the operation pattern of FIG.

At this time, the predetermined dangerous driving type may include, for example, speeding, threatening driving, changing of danger lane, obstruction of lane change, sudden stop, warning light failure,

The determination condition for each type of risk may include, for example, a condition for at least one of an inter-vehicle distance, an excess speed relative to a road speed limit, an operation pattern for a specific operation of an autonomous vehicle, a lane change pattern, and a speed change.

As a specific example, the determination unit 260 can determine that the speed of the identified non-autonomous traveling vehicle is overspeed when the speed limit of the road on which the vehicle is currently traveling exceeds a predetermined range or more.

As another example, the determination unit 260 can determine that the identified non-autonomous driving vehicle changes the lane without blinking the turn signal lamp or changes the lane abruptly, as an abnormal lane change.

As another example, the determination unit 260 may determine that the identified non-autonomous driving vehicle, which is running in the rear of the corresponding lane, attempts to change the lane on the next lane by increasing the speed and approaching the lane by more than a certain distance.

As another example, the determination unit 260 may determine that the non-autonomous traveling vehicle is suddenly stopped when the identified non-autonomous traveling vehicle suddenly brakes more than a preset number of times during traveling.

As another example, when the non-autonomous traveling vehicle traveling from the rear is approaching within a certain distance and travels for a predetermined time or longer, the judging unit 260 can judge that the driving operation is a threat operation.

As another example, when the identified non-autonomous driving vehicle has decreased in speed at a certain rate or more during traveling from the front but the brake blinker is not blinking, it can be determined that the brake blinker is broken.

On the other hand, the above-described dangerous driving type and judgment condition are exemplary and not necessarily limited thereto, and can be set in various ways other than the above-mentioned examples.

When the operation pattern of the non-autonomous driving vehicle identified by the vehicle identification unit 230 is determined to be a dangerous driving pattern, the dangerous driving information providing unit 270 transmits the dangerous driving information for the non-autonomous driving vehicle to the corresponding non- It can be transmitted to the server through the second communication interface 240 together with the identification information of the traveling vehicle.

At this time, the dangerous driving information may include at least one of, for example, the driving pattern data collected by the driving pattern collecting unit 250 and the dangerous driving type.

In an embodiment of the present invention, the identification information generating unit 210, the first communication interface unit 220, the vehicle identification unit 230, the second communication interface unit 240, the operation pattern collecting unit 250, The determination unit 260, and the travel information providing unit 270 may be implemented on a computing device including at least one processor and a computer-readable recording medium coupled to the processor. The computer readable recording medium may be internal or external to the processor, and may be coupled to the processor by any of a variety of well known means. A processor in the computing device may cause each computing device to operate in accordance with the exemplary embodiment described herein. For example, a processor may execute instructions stored on a computer-readable recording medium, and instructions stored on the computer readable recording medium may cause a computing device to perform operations in accordance with the exemplary embodiments described herein For example.

FIGS. 3 and 4 are illustrations for explaining non-autonomous driving vehicle identification and dangerous vehicle avoidance according to an embodiment of the present invention.

3, two autonomous vehicles 320 and 330 are running in a side lane of the autonomous vehicle 310 and one non-autonomous vehicle (not shown) in the same lane behind the autonomous vehicle 310 340) are running.

At this time, the autonomous driving vehicle 310 can acquire the identification information of the autonomous driving vehicles 320 and 330 and the non-autonomous driving vehicle 340 from the photographed image by photographing the surroundings through one or more cameras.

In addition, the autonomous vehicle 310 can receive the identification information of the corresponding vehicle from the two autonomous vehicles 320 and 330 operating in the side lane.

On the other hand, the autonomous vehicle 310, which has received the identification information from the autonomous vehicles 320 and 330 operating in the next lane, compares the received identification information with the identification information obtained from the photographed image, The vehicle 320, 330 can be identified as an autonomous vehicle, and the vehicle 340 running in the rear can be identified as a non-autonomous vehicle.

On the other hand, the autonomous driving vehicle 310 identifying the non-autonomous driving vehicle 340 transmits a vehicle inquiry request including the identification information of the identified non-autonomous driving vehicle 340 to the server, 340 in response to a request from the user.

The autonomous driving vehicle 310 receiving the dangerous driving history information analyzes the received dangerous driving history information to grasp the dangerous driving pattern of the non-autonomous driving vehicle 340 and avoid the identified dangerous driving pattern.

When the dangerous driving pattern of the non-autonomous driving vehicle 340, which is determined based on the received dangerous driving history information, is a threat operation, the autonomous driving vehicle 310 moves to the next lane Autonomous driving vehicle 340 can be avoided in advance.

5 is a flowchart of an autonomous vehicle control method according to an embodiment of the present invention.

The method shown in Fig. 5 can be performed, for example, by the autonomous vehicle control apparatus 100 shown in Fig.

Referring to FIG. 5, the autonomous vehicle control apparatus 100 generates identification information about a vehicle running in the vicinity using an image photographed by at least one camera that is provided in an autonomous vehicle and photographs the outside of the vehicle (510).

After that, the autonomous vehicle control apparatus 100 receives the identification information of the autonomous vehicle from the autonomous vehicle traveling in the vicinity (520).

After that, the autonomous vehicle control apparatus 100 compares the generated identification information with the received identification information to identify non-autonomous driving vehicles in the vicinity of the vehicle (operation 530).

After that, the autonomous vehicle control apparatus 100 transmits a vehicle inquiry request including identification information on the identified non-autonomous driving vehicle to the server that stores the identification information of at least one dangerous driving vehicle and the dangerous driving history information (540).

Thereafter, the autonomous vehicle control apparatus 100 receives the dangerous driving history information corresponding to the identification information transmitted from the server (550).

Subsequently, the autonomous vehicle control apparatus 100 controls the autonomous vehicle so as to avoid the identified non-autonomous vehicle based on the received dangerous driving history information (560).

6 is a flowchart of an autonomous vehicle control method according to another embodiment of the present invention.

The method shown in Fig. 6 can be performed, for example, by the autonomous vehicle control apparatus 200 shown in Fig.

6, steps 610 to 630 are the same as steps 510 to 530 shown in FIG. 5, and thus a repetitive description thereof will be omitted.

Referring to FIG. 6, when the non-autonomous vehicle is identified in step 630, the autonomous vehicle control apparatus 200 includes an image taken by at least one camera that is provided in the autonomous vehicle and photographs the outside of the vehicle, (640) the driving pattern data of the identified non-autonomous driving vehicle based on at least one of the values measured by at least one sensor provided in the vehicle.

Thereafter, the autonomous vehicle control apparatus 200 determines whether the operation pattern of the identified non-autonomous vehicle based on the collected operation pattern data is a dangerous operation pattern (650).

At this time, if it is determined as the dangerous driving pattern, the autonomous vehicle control apparatus 200 transmits the dangerous driving information for the identified non-autonomous driving vehicle together with the identification information of the non-autonomous driving vehicle to the server (660).

In the flowcharts shown in FIGS. 5 and 6, the method is described by dividing the method into a plurality of steps. However, at least some of the steps may be performed in reverse order, or may be performed in combination with other steps, omitted, Embodiments of the present invention include a computer readable recording medium including a program for performing the methods described herein on a computer. can do. The computer-readable recording medium may include a program command, a local data file, a local data structure, or the like, alone or in combination. The media may be those specially designed and constructed for the present invention, or may be those that are commonly used in the field of computer software. Examples of computer readable media include magnetic media such as hard disks, floppy disks and magnetic tape, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floppy disks, and magnetic media such as ROMs, And hardware devices specifically configured to store and execute program instructions. Examples of program instructions may include machine language code such as those generated by a compiler, as well as high-level language code that may be executed by a computer using an interpreter or the like.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, . Therefore, the scope of the present invention should not be limited to the above-described embodiments, but should be determined by equivalents to the appended claims, as well as the appended claims.

100, 200: autonomous vehicle control device
110, 210: Identification information generating section
120 and 220: a first communication interface unit
130, and 230:
140, 240: a second communication interface unit
150: Avoidance control section
250: Operation pattern collecting unit
260:
270: Dangerous Driving Information Offering
310, 320, 330: an autonomous vehicle
340: Non-autonomous vehicle

Claims (10)

Identifying an oncoming vehicle using an image photographed by at least one camera photographing the outside of the vehicle and generating identification information for the identified vehicle;
Receiving identification information of the self-running vehicle from the autonomous vehicle traveling in the vicinity of the vehicle;
Identifying the non-autonomous driving vehicle among the identified vehicles by comparing the generated identification information with the received identification information;
The method comprising: transmitting a vehicle inquiry request including identification information of the non-autonomous driving vehicle to a server storing identification information of at least one dangerous driving vehicle and dangerous driving history information;
Receiving dangerous driving history information corresponding to the transmitted identification information from the server; And
And controlling the vehicle to avoid the non-autonomous vehicle based on the received dangerous driving history information. The method according to claim 1,
Wherein the identification information includes at least one of a vehicle type, a vehicle number, a color, and a size. The method according to claim 1,
Wherein the dangerous driving history information includes at least one of the driving pattern data of the dangerous driving vehicle, the dangerous driving type, the occurrence frequency of the dangerous driving type, and the dangerous driving avoidance plan. The method according to claim 1,
Wherein the dangerous driving history information is generated based on dangerous driving information provided to the server by at least one autonomous driving vehicle. Identifying an oncoming vehicle using an image photographed by at least one camera that photographs the outside of the vehicle, and generating identification information for the identified vehicle;
Receiving identification information of the self-running vehicle from the autonomous vehicle traveling in the vicinity of the vehicle;
Identifying the non-autonomous driving vehicle among the identified vehicles by comparing the generated identification information with the received identification information;
Collecting operation pattern data of the non-autonomous driving vehicle based on at least one of the photographed image and a value measured by at least one sensor provided in the vehicle;
Determining whether the operation pattern of the non-autonomous driving vehicle is a dangerous driving pattern based on the collected driving pattern data;
Generating dangerous driving information for the non-autonomous driving vehicle when the dangerous driving pattern is determined; And
And transmitting the generated dangerous driving information to the server together with the identification information of the non-autonomous driving vehicle. The method of claim 5,
Wherein the identification information includes at least one of a car type, a car number, a color, and a size. The method of claim 5,
Wherein the operation pattern data includes at least one of a speed, a course, a position, and a warning light operation of the non-autonomous driving vehicle. The method of claim 5,
Wherein the determining step determines whether the operation pattern of the non-autonomous driving vehicle is the dangerous driving pattern by comparing the judgment condition for each predetermined risk driving type and the collected driving pattern data. The method of claim 8,
Wherein the determination condition includes at least one of an inter-vehicle distance, an excess speed relative to a road speed limit, an operation pattern for a specific operation of the vehicle, a lane change pattern, and a speed change. The method of claim 5,
Wherein the dangerous driving information includes at least one of the collected driving pattern data and the dangerous driving type.

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