US Patent 10149132 Pedestrial crash prevention system and operation method thereof

An autonomous vehicle may provide bidirectional communication with mobile terminals of pedestrians. The autonomous vehicle may include a short range communication module for providing a communication interface, and a controller for, when a specific driving condition occurs, activating wireless communication through the short range communication module, periodically broadcasting a beacon signal including vehicle location and speed information, and calculating a danger level for each pedestrian based on pedestrian information included in a response signal corresponding to the beacon signal.