System for assisting right turn of vehicle based on uwb communication and v2x communication at intersection, and operation method thereof

A method of operating a right-turn assisting system for preventing a collision between a vehicle and a pedestrian at an intersection, the method comprising:

• estimating, by first communication devices, positions of candidate terminals among terminals around an intersection through a first communication protocol;
• receiving, by a second communication device, the positions of the candidate terminals from the first communication devices;
• transmitting, by the second communication device, a message including the positions of the candidate terminals, map information, and signal information;
• receiving, by a vehicle-mounted device, the message;
• determining, by the vehicle-mounted device, a risk of collision between a terminal of interest among the candidate terminals and the vehicle based on candidate terminal information including the positions of the candidate terminals, the map information, and the signal information in response to determination of at least one of an intersection approach of the vehicle or a turning intention;
• and
• warning, by the vehicle-mounted device, of the risk of collision with the terminal of interest.