KR102629323B1 - Method for platooning of vehicles - Google Patents

Abstract

The present invention relates to a method of platooning vehicles. In a state in which a driving platoon formed by a leader vehicle and other platoon vehicles other than the leader vehicle is platooning, the area in which the leader vehicle is platooning is shaded by GPS (Global Positioning System). Step of determining whether it is an area: If the area in which platooning is being driven is determined to be a GPS shadow area, each platoon vehicle belonging to the driving platoon performs platooning based on the first positioning data according to a predefined dead-reckoning algorithm. Step: In the process of performing platooning based on positioning data according to a dead-reckoning algorithm, the leader vehicle determines whether other vehicles that do not belong to the driving platoon exist within the driving platoon; If it is determined that a vehicle exists, the second positioning data of the other vehicles acquired through each sensing device applied to the plurality of target platoon vehicles determined based on the other vehicles among the platoon vehicles is used to determine the system according to the dead-reckoning algorithm. 1 Verifying the reliability of the positioning data, and each platoon vehicle, according to the result of verifying the reliability of the first positioning data according to the dead reckoning algorithm, the first positioning data according to the dead reckoning algorithm and each platoon vehicle applied to the first positioning data according to the dead reckoning algorithm It is characterized by including the step of performing platoon driving using any one of the second positioning data according to the sensing device.

Description

Method for platooning vehicles {METHOD FOR PLATOONING OF VEHICLES}

The present invention relates to a vehicle platooning method, and more specifically, to a vehicle platooning method that enables more accurate platooning even in GPS shadow areas.

In general, platooning means that multiple vehicles grouped together share driving information with each other and drive on the road while considering the external environment.

One cluster includes a leader vehicle and a follower vehicle. A leader vehicle is a vehicle that leads the swarm at the very front of the swarm, and a follower vehicle is a vehicle that follows the leader vehicle.

Follower vehicles in a swarm can maintain tracking of the leader vehicle using the leader vehicle's driving information (e.g., GPS coordinates, speed, path, direction, brake information) transmitted through inter-vehicle communication methods. Accordingly, the driver of the follower vehicle can freely perform other actions (e.g., operating a smartphone, sleeping) other than driving indoors. Such platooning can increase driver convenience and increase transportation efficiency.

Meanwhile, conventional platoon driving control is premised on being carried out in a GPS reception area, but actual platoon driving is not performed in a GPS reception area, but in a GPS shadow area where GPS reception is impossible due to structures (buildings, forests, tunnels, etc.) in the driving area. It often happens. When platooning is performed in a GPS shadow area, it is difficult to determine the location of each vehicle in the platoon, and furthermore, if another vehicle that is not part of the driving platoon intervenes in the GPS shadow area, the platoon formation is disrupted, causing a situation in which platoon driving is canceled. It can be.

The background technology of the present invention is disclosed in Korean Patent No. 10-0957137 (2010.05.03) titled ‘Platooning Control System and Method’.

The present invention was created to solve the above-described problems, and the purpose of one aspect of the present invention is to enable stable platoon driving by enabling accurate positioning even when platoon driving occurs in a GPS shadow area, and also to enable stable platoon driving. It provides a vehicle platooning method that prevents platooning from being canceled by reconfiguring the arrangement of the driving platoon even when the platoon formation is disrupted due to vehicle intervention.

A vehicle platooning method according to an aspect of the present invention is a state in which a driving platoon formed by a leader vehicle and other platoon vehicles other than the leader vehicle is platooning, and the area in which the leader vehicle is platooning is determined by GPS (Global Positioning System) Determining whether the platoon area is a shadow area. When the platoon driving area is determined to be the GPS shadow area, each platoon vehicle belonging to the driving platoon receives first positioning data according to a predefined dead-reckoning algorithm. In the process of performing platoon driving based on positioning data according to the dead reckoning algorithm, the leader vehicle determines whether other vehicles that do not belong to the driving group exist within the driving group. Determining, when it is determined that the other vehicle exists within the driving group, the other vehicle acquired through each sensing device applied to a plurality of target vehicle clusters determined based on the other vehicle among the vehicle clusters. Verifying the reliability of the first positioning data according to the dead-reckoning algorithm using the second positioning data of the vehicle, and each platoon vehicle verifying the reliability of the first positioning data according to the dead-reckoning algorithm Accordingly, the method may include performing platoon driving using one of first positioning data according to the dead reckoning algorithm and second positioning data according to each sensing device applied to each platoon vehicle.

In the present invention, the dead reckoning algorithm is a DR (Dead Reckoning) algorithm, and the sensing device includes one or more of a camera sensor, an ultrasonic sensor, an infrared sensor, a radar sensor, and a lidar sensor.

In the verification step of the present invention, the plurality of target platoon vehicles are determined to be a first target platoon vehicle and a second target platoon vehicle located respectively in front and rear of the other vehicle among the respective platoon vehicles, and the reliability The first positioning data subject to verification is distance data (D) between the first and second target platoon vehicles obtained according to the dead reckoning algorithm, and is used to verify the reliability of the first positioning data. The second positioning data includes first distance data (Od1) between the other vehicles and the first target platoon vehicle, and second distance data (Od2) between the other vehicle and the second target platoon vehicle. do.

In the verification step of the present invention, the reliability of the first positioning data is verified using the length information (L) of the other vehicle along with the first and second distance data (Od1, Od2). do.

In the verification step of the present invention, the difference between the distance data (D) and the sum of the first distance data (Od1), the second distance data (Od2), and the length information (L) of the other vehicle If it is less than a preset tolerance, it is determined that the reliability of the first positioning data has been verified.

In the present invention, in the step of performing platoon driving using any one of the first positioning data and the second positioning data, each platoon vehicle receives the first positioning data according to the dead reckoning algorithm in the verifying step. If it is determined that reliability has been verified, platooning is performed using the first positioning data according to the dead-reckoning algorithm, and in the verification step, it is determined that the reliability of the first positioning data according to the dead-reckoning algorithm has not been verified. When it is determined, platoon driving is performed using second positioning data obtained through each of the sensing devices.

In the present invention, after the step of performing group driving using any one of the first positioning data and the second positioning data, the leader vehicle reorganizes the arrangement of the driving group so that the other vehicles are excluded from the driving group. It is characterized by further including steps to make it possible.

In the present invention, in the step of reconfiguring the arrangement of the driving platoon, the leader vehicle assigns to each platoon vehicle an identification code with a sequential value according to the distance from the leader vehicle. It is characterized in that the arrangement of the driving group is reorganized while maintaining the front-to-back order of each group of vehicles according to the assigned identification code.

In the present invention, in the step of reconfiguring the arrangement of the driving group, the first group vehicle belonging to the first driving group among the plurality of driving groups formed by being separated by the other vehicles in the driving group is assigned to the second driving group. The arrangement of the driving group is reorganized by joining, and the first group of vehicles joins the second driving group while maintaining a front-to-back order according to the assigned identification code.

In the present invention, the number of first platoon vehicles belonging to the first driving group is smaller than the number of second platoon vehicles belonging to the second driving group, and the number of the first platoon vehicles and the second platoon vehicle is When the numbers are the same, the first traveling group is characterized as a traveling group that travels ahead of the second traveling group.

In the present invention, in the step of reconfiguring the arrangement of the driving group, the last vehicle in the second group of vehicles belonging to the second driving group slows down to secure space with the vehicle in front, and the first group of vehicles belongs to the first group. The vehicle is characterized in that it joins the second driving group through the secured space.

According to one aspect of the present invention, when group driving occurs in a GPS shadow area, the positioning method is converted to the DR (Dead Reckoning) method to secure positioning accuracy for group driving, but the positioning data according to the DR method is secured. By verifying reliability and changing the positioning data used for platoon driving according to the verification results, more stable platoon driving can be achieved, and when the platoon line is disrupted by other vehicles, a process for reorganizing the platoon line can be applied to platoon. By preventing the cancellation of driving, the efficiency of platoon driving can be improved by eliminating the inconvenience of having to reconfigure and rejoin the platoon when the platoon is disbanded.

Figure 1 is a block diagram of a platooning device mounted on a platoon vehicle to perform a vehicle platooning method according to an embodiment of the present invention.
Figure 2 is a block diagram of a driving module of a platoon driving device according to an embodiment of the present invention.
Figure 3 is a flowchart for explaining a method of platooning vehicles according to an embodiment of the present invention.
Figures 4 and 5 are exemplary diagrams to explain a process for verifying the reliability of first positioning data according to a dead-reckoning algorithm in a vehicle platooning method according to an embodiment of the present invention.
6 to 10 are exemplary diagrams to explain a process in which the arrangement of a driving platoon is reorganized in a vehicle platooning method according to an embodiment of the present invention.

Hereinafter, a vehicle platooning method according to an embodiment of the present invention will be described in detail with reference to the attached drawings. In this process, the thickness of lines or sizes of components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are terms defined in consideration of functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

Figure 1 is a block diagram of a platoon driving device mounted on a platoon vehicle to perform a vehicle platooning method according to an embodiment of the present invention, and Figure 2 is a driving diagram of the platoon driving device according to an embodiment of the present invention. This is the block diagram of the module.

1 and 2, the platooning device mounted on a platoon vehicle to perform a vehicle platooning method according to an embodiment of the present invention includes a communication unit 100, a user interface unit 200, and a control unit 300. ) and a driving module 400.

The communication unit 100 may transmit and receive information through a communication network between platoon vehicles belonging to a driving platoon or between platoon vehicles and a server. The communication unit 100 is a wireless LAN (WLAN), wireless-fidelity (Wi-Fi), wireless fidelity (Wi-Fi) Direct, digital living network alliance (DLNA), wireless broadband (WiBro), and world interoperability for microwave access (WiMAX). ), a cluster belonging to a driving cluster through at least one communication method among HSDPA (High Speed Downlink Packet Access), HSUPA (High Speed Uplink Packet Access), LTE (Long Term Evolution), and LTE-A (Long Term Evolution-Advanced) Information can be transmitted and received between vehicles, or between platoon vehicles and servers.

Additionally, the communication unit 100 may perform short-distance communication between platoon vehicles belonging to a driving platoon. That is, since the platoon vehicles in a platoon drive maintain a short distance from each other, the communication unit 100 can transmit and receive various information between the platoon vehicles through short-range wireless communication. In this case, the communication unit 100 uses Bluetooth, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), UWB (Ultra Wideband), ZigBee, NFC (Near Field Communication), and Wi-Fi (Wireless- Various information can be transmitted and received between platoon vehicles through (Fidelity), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus).

The user interface unit 200 may provide a user interface to the driver. The user interface unit 200 can receive information from the driver and input it to the control unit 300, or output results according to the operation. For example, the user interface unit 200 may receive a destination input from the driver or output a route to the destination according to the operation of a navigation system (not shown) mounted on a platoon vehicle. In this case, the POI (Point Of Interest), etc., or print out various navigation menus.

The driving module 400 can drive a platoon vehicle based on the driver's operation or autonomous driving function.

Referring to FIG. 2, the driving module 400 includes a control unit 410 that receives the driver's operation, a sensing unit 430 that detects the driving state and surrounding situations of the platoon vehicle, and a drive unit 450 that drives the platoon vehicle. ) may include.

The manipulation unit 410 can receive driver's manipulation for platoon driving. The control unit 410 includes a steering wheel that receives a steering command for steering the platoon vehicle from the driver, a gear input unit that receives a gear operation of the platoon vehicle, an accelerator pedal that receives an acceleration command from the driver, and a deceleration command that is input from the driver. This may include a brake pedal, etc.

The sensing unit 430 can detect the driving state and surrounding situations of the platoon vehicle. The sensing unit 430 that detects the driving state of the platoon vehicle includes a collision sensor, steering sensor, speed sensor, tilt sensor, weight sensor, heading sensor, yaw sensor, gyro sensor, position module sensor, vehicle forward/reverse sensor, and battery. It may include sensors, fuel sensors, tire sensors, steering sensors by steering wheel rotation, vehicle interior temperature sensors, vehicle interior humidity sensors, etc., and based on these, vehicle collision information, vehicle direction information, vehicle angle information, vehicle speed information, and vehicle acceleration. Information, vehicle tilt information, vehicle forward/reverse information, battery information, fuel information, tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, steering wheel rotation angle, etc. can be obtained.

The sensing unit 430 that detects the surrounding situation of the platoon vehicle may include at least one of a camera sensor, an ultrasonic sensor, an infrared sensor, a radar sensor, and a lidar sensor, and based on these, various objects or objects located around the running platoon vehicle can be detected. Information on surrounding situations related to obstacles can be obtained. For example, surrounding situation information may include information about the location of obstacles, number of obstacles, distance to obstacles, size of obstacles, type of obstacles, surrounding vehicles, surrounding facilities, traffic safety signs, etc.

In particular, the camera sensor captures images around a group of vehicles to obtain information about at least one of traffic lights, traffic signs, pedestrians, surrounding vehicles, and the road surface.

The driving unit 450 can control the operation of various vehicle devices. The driving unit 450 includes a driving unit such as an engine or transmission that drives the platoon vehicle, a steering unit that steers the platoon vehicle, a brake unit that stops the platoon vehicle, and a lamp driver that guides the driving state or direction of the platoon vehicle. You can.

Meanwhile, the above-mentioned driving module 400 is provided as an example, and in addition to the above-described manipulation unit 410, sensing unit 430, and driving unit 450, the driving module 400 includes, if related to driving of a group vehicle, Various systems and devices may further be included.

The control unit 300 may perform platooning of platoon vehicles by controlling the driving module 400 according to platooning information received from the communication unit 100 and user input information received from the user interface unit 200. The movement and control of the platoon vehicles described below are performed by the control unit 300 mounted on each platoon vehicle controlling the driving module 400 of each platoon vehicle, that is, the control logic of the platoon driving method described below is It is assumed that it is applied to the control unit 300 mounted on each platoon vehicle.

Figure 3 is a flowchart for explaining a vehicle platooning method according to an embodiment of the present invention, and Figures 4 and 5 are a first diagram according to a dead-reckoning algorithm in the vehicle platooning method according to an embodiment of the present invention. It is an example diagram for explaining the process of verifying the reliability of positioning data, and FIGS. 6 to 10 are examples for explaining the process of reconfiguring the arrangement of the driving group in the vehicle group driving method according to an embodiment of the present invention. am.

Referring to FIG. 3, the driving platooning method of vehicles according to an embodiment of the present invention will be described. First, in a state in which a driving platoon formed by a leader vehicle and other platoon vehicles other than the leader vehicle is platooning, the leader vehicle is platooning. It is determined whether the area in question is a GPS (Global Positioning System) shadow area (S100). In step S100, if a GPS satellite signal is not received through the sensing unit 430 of the leader vehicle, the leader vehicle may determine that the current driving group is driving in the GPS shadow area. If it is determined in step S100 that the area in which the platoon is being driven is a GPS reception area, each platoon vehicle performs platoon driving based on GPS according to the usual method (S700).

If the area in which platooning is being driven is determined to be a GPS shadow area in step S100, each platoon vehicle belonging to the driving platoon performs platooning based on first positioning data according to a predefined dead-reckoning algorithm (S200). Here, the dead reckoning algorithm may be a DR (Dead Reckoning) algorithm.

That is, when platoon driving is typically performed, the driving of each platoon vehicle is controlled based on the location information of each platoon vehicle determined based on GPS signals, and when platoon driving is performed in a GPS shadow area, the positions of each platoon vehicle are monitored. Because it is difficult to identify, in this embodiment, each platoon vehicle may perform platoon driving based on the first positioning data (i.e., DR data) according to the DR algorithm when driving in a GPS shadow area.

In the process of performing cluster driving based on positioning data according to the dead reckoning algorithm through step S200, the leader vehicle determines whether other vehicles that do not belong to the driving cluster exist within the driving cluster (S300). In step S300, the leader vehicle senses vehicles driving inside the driving group through the mounted sensing unit 430, and detects other vehicles without the leader vehicle's approval (i.e., not joined to the driving group) inside the driving group. The presence of another vehicle can be determined by determining whether or not it exists.

If it is determined that other vehicles exist within the driving group in step S300, the second positioning data of the other vehicles obtained through each sensing device applied to the plurality of target vehicle platoons determined based on the other vehicles among the platoon vehicles is used. The reliability of the first positioning data according to the dead-reckoning algorithm is verified (S400). The sensing device may refer to the above-described sensing unit 430, and accordingly, the sensing device may include one or more of a camera sensor, an ultrasonic sensor, an infrared sensor, a radar sensor, and a lidar sensor.

As is well known, the DR algorithm operates to estimate the moving displacement based on direction data output from a direction sensor such as a gyro sensor and speed data output from a speed sensor such as a vehicle speed sensor, so there is a certain error in the estimated moving displacement. is inherent, and therefore, it is necessary to verify the reliability of the positioning data (i.e., first positioning data) according to the dead-reckoning algorithm (i.e., DR algorithm) before using it for platooning control, so in this embodiment, dead-reckoning is used. A configuration is adopted to verify the first positioning data according to the algorithm using the second positioning data of other vehicles obtained through each sensing device applied to the target platoon vehicle (more specifically, the first positioning data according to the dead-reckoning algorithm) is adopted. 1 The general reliability of the first positioning data according to the dead reckoning algorithm is verified by verifying the reliability of the distance data (D) included in the positioning data, which will be described later. To this end, the 'first positioning data subject to reliability verification' 'Data' is clearly described as meaning distance data (D) between the first and second target platoon vehicles obtained according to the dead-reckoning algorithm). Meanwhile, in this embodiment, the other vehicle functions as a reference vehicle used to verify the reliability of the first positioning data in step S400, and in step S600, which will be described later, it is a vehicle that must be excluded from the driving group in order to reconstruct the arrangement of the driving group. It functions as an exclusion vehicle.

To describe step S400 in more detail, the plurality of target platoon vehicles determined based on other vehicles may be the first target platoon vehicle and the second target platoon vehicle located respectively in front and rear of the other vehicle among the platoon vehicles. In addition, the first positioning data whose reliability is verified through step S400 may be distance data (D) between the first and second target platoon vehicles obtained according to a dead-reckoning algorithm (distance data (D) may be GPS It may be determined through GPS location data of the first and second target platoon vehicles just before entering the shaded area, and each DR data of the first and second target platoon vehicles estimated in the GPS shaded area). In addition, the second positioning data used to verify the reliability of the first positioning data is first distance data (Od1) between other vehicles and the first target platoon vehicle (sensing unit 430 mounted on the first target platoon vehicle) (e.g., may be acquired through a rear ultrasonic sensor)) and second distance data (Od2) between other vehicles and the second target platoon vehicle (e.g., the sensing unit 430 mounted on the second target platoon vehicle (e.g., front may be acquired through an ultrasonic sensor).

Additionally, in order to verify the reliability of the first positioning data, not only the above-described first and second distance data (Od1 and Od2) but also length information (L) of other vehicles may be considered. Considering that typical vehicles have known specification information such as the ratio between width and length depending on the model, the length information (L) of other vehicles is measured by the sensing unit 430 mounted on the second target platoon vehicle (e.g. : It can be derived from the width information of other vehicles obtained through the front camera sensor).

Accordingly, in step S400, if the difference between the sum of the first distance data (Od1), the second distance data (Od2), and the length information (L) of other vehicles and the distance data (D) is less than a preset tolerance value, the first positioning It can be judged that the reliability of the data has been verified. If this is expressed in a formula, it is as shown in Equation 1 below.

[ Equation 1 ]

α= |D - (Od1 + Od2 + L)| ≤ Tolerance Error: Verification of first positioning data (D)

α= |D - (Od1 + Od2 + L)| > Tolerance Error: 1st positioning data (D) not verified

In Equation 1, Tolerance Error refers to a tolerance value selected and preset according to the designer's intention and vehicle specifications to verify the reliability of the first positioning data.

That is, when the value of α is below the allowable value as in case ① of FIG. 4, the distance between the first and second target cluster vehicles (i.e., first positioning data) estimated according to the DR algorithm is between the first and second target clusters. Since this means that there is no significant difference from the distance between the first and second target platoon vehicles actually measured through each sensing device of the vehicle, the first positioning data can be determined to be reliable. On the other hand, when the value of α exceeds the allowable value as in case ② of FIG. 4, the distance between the first and second target platoon vehicles (i.e., first positioning data) estimated according to the DR algorithm is Since this means that the distance and difference between the first and second target platoon vehicles measured through each sensing device of the target platoon vehicle is large, the first positioning data may be determined to be unreliable. In this case, the first positioning data is not utilized for platoon driving, and the second positioning data is the second target platoon vehicle and its successor (i.e., rear platoon vehicle) in the local map constructed according to the sensing device as shown in FIG. 5. ) can be used to correct the position of

Meanwhile, the performer of step S400 may be a leader vehicle. For example, the leader vehicle may include GPS location data of the first and second target platoon vehicles just before entering the GPS shadow area, and the first platoon estimated in the GPS shadow area. And each DR data of the second target platoon vehicle is received from the first and second target platoon vehicles to determine distance data (D), and first distance data (Od1) is received from the first target platoon vehicle, and the second target platoon vehicle is received. After receiving the second distance data (Od2) and the length information (L) of other vehicles from the target platoon vehicle, the reliability of the first positioning data can be verified by applying Equation 1 above to each received data. there is.

After step S400, each platoon vehicle determines the first positioning data according to the dead reckoning algorithm and the first positioning data according to each sensing device applied to each platoon vehicle according to the results of verifying the reliability of the first positioning data according to the dead reckoning algorithm in step S400. 2 Group driving is performed using any one of the positioning data (S500).

Specifically, in step S500, if it is determined that the reliability of the first positioning data according to the dead-reckoning algorithm has been verified, each platoon vehicle performs step S200 of performing platoon driving using the first positioning data according to the dead-reckoning algorithm. If it is determined that reliability has not been verified, platoon driving is performed using the second positioning data obtained through each sensing device applied to each platoon vehicle. That is, in the GPS shadow area, platoon driving is performed based on the first positioning data according to the DR algorithm through step S200, but if the first positioning data is determined to be unreliable through step S400, platoon driving is performed in step S500. By replacing the positioning data used in the second positioning data acquired through each sensing device of each platoon vehicle, more accurate and stable platoon driving can be performed.

After step S500, the leader vehicle reorganizes the arrangement of the driving group so that other vehicles are excluded from the driving group (S600). In step S600, the leader vehicle grants each platoon vehicle (including the leader vehicle) an identification code with sequential values according to the distance from the leader vehicle, as shown in FIG. 6, so that the identification code assigned to each platoon vehicle is The arrangement of the driving platoon can be reorganized while maintaining the front-to-back order of each platoon vehicle according to . In other words, the identification code assigned to the platoon vehicle functions as information that serves as a standard for maintaining the line-up of the platoon vehicle when it moves, thereby preventing the platoon vehicle from being out of line due to movement of the platoon vehicle during line maintenance.

To specifically describe the process of reorganizing the driving group through step S600, in step S600, the first group vehicle belonging to the first driving group among a plurality of driving groups formed by being separated by other vehicles within the driving group is the first group vehicle. 2 By joining a driving group, the arrangement of the driving swarm can be reorganized. As described above, the first group of vehicles can join the second driving group while maintaining a sequential order according to the assigned identification code.

Here, the first driving group and the second driving group may be determined based on the number of platoon vehicles belonging to each driving group. Specifically, the first driving group and the second driving group are determined so that the number of first platoon vehicles belonging to the first driving group is smaller than the number of second platoon vehicles belonging to the second driving group. If the number of vehicles in the first platoon and the number of vehicles in the second platoon are the same, the first driving group is determined as the driving group driving in front of the second driving group (i.e., the number of platoon vehicles belonging to each driving group is the same) Then, the front driving group is determined as the first driving group and the rear driving group is determined as the second driving group).

In addition, in step S600, among the second platoon vehicles belonging to the second driving group, the fastest platoon vehicle slows down to secure space with the vehicle in front, and the first platoon vehicle joins the second driving group through the secured space. can do.

Step S600 will be described in detail using the example shown in FIGS. 7 to 10.

Referring to FIG. 7, the driving cluster is divided into two driving groups by other vehicles. Since the number of platoon vehicles belonging to the front driving group is 1 and the number of platoon vehicles belonging to the rear driving group is 2, the front driving group is the first driving group and the rear driving group is the second driving group. , the first platoon vehicle joins the second driving group for the efficiency of line maintenance. At this time, the last vehicle in the second platoon slows down to secure space with the vehicle in front, and the first platoon joins the second driving group through the secured space.

Referring to FIG. 8, the driving group is divided into two driving groups by other vehicles. Since the number of platoon vehicles belonging to the front driving group is 2 and the number of platoon vehicles belonging to the rear driving group is 1, the rear driving group is the first driving group and the front driving group is the second driving group. , the first platoon vehicle joins the second driving group for the efficiency of line maintenance. At this time, the last vehicle in the second platoon slows down to secure space with the vehicle in front, and the first platoon joins the second driving group through the secured space.

Referring to FIG. 9, the driving cluster is divided into two driving groups by other vehicles. Since the number of platoon vehicles belonging to the front driving group is 3 and the number of platoon vehicles belonging to the rear driving group is 2, the rear driving group is the first driving group and the front driving group is the second driving group. , the first platoon vehicle joins the second driving group for the efficiency of line maintenance. At this time, the last vehicle in the second platoon slows down to secure space with the vehicle in front, and the first platoon joins the second driving group through the secured space.

Referring to FIG. 10, the driving group is divided into two driving groups by other vehicles. Since the number of platoon vehicles belonging to each driving group in the front and rear is equal to 1, the driving group in the front becomes the first driving group and the driving group in the rear becomes the second driving group. In order not to interfere with the driving of other vehicles, the first group of vehicles joins the second driving group. At this time, the last vehicle in the second platoon slows down to secure space with the vehicle in front, and the first platoon joins the second driving group through the secured space.

The movement of each platoon vehicle made in the process of reorganizing the driving platoon arrangement in step S600 described above is made based on the first positioning data or the second positioning data according to the judgment result in step S500, for example, the first positioning data in step S500. 1 If it is determined that the reliability of the positioning data has not been verified, in step S600, the space secured by the deceleration of the last vehicle in the second platoon vehicle is determined by the sensing device (e.g., front ultrasonic sensor) of the second platoon vehicle. It can be determined based on the acquired second positioning data.

In this way, in this embodiment, when group driving occurs in a GPS shadow area, the positioning method is converted to the DR (Dead Reckoning) method to secure positioning accuracy for group driving, but the reliability of the positioning data according to the DR method is verified and the By changing the positioning data used for platooning according to the verification results, more stable platooning can be achieved, and when the platooning is disrupted by other vehicles, a process to maintain the platooning is applied to prevent platooning from being canceled. By doing so, the efficiency of platoon driving can be improved by eliminating the inconvenience of having to reconfigure and rejoin the platoon when disbanding the platoon.

The present invention has been described with reference to the embodiments shown in the drawings, but these are merely illustrative, and those skilled in the art will recognize that various modifications and other equivalent embodiments can be made therefrom. You will understand. Therefore, the true technical protection scope of the present invention should be determined by the scope of the patent claims below.

100: Department of Communications
200: User interface unit
300: Control unit
400: Driving module
410: Control panel
430: Sensing unit
450: driving unit

Claims (11)

In a state in which a driving platoon formed by a leader vehicle and other platoon vehicles other than the leader vehicle is platooning, determining whether the area in which the leader vehicle is platooning is a GPS (Global Positioning System) shadow area;
When it is determined that the area in which the platoon is being driven is the GPS shadow area, each platoon vehicle belonging to the driving platoon performs platoon driving based on first positioning data according to a predefined dead-reckoning algorithm;
In the process of performing cluster driving based on positioning data according to the dead reckoning algorithm, the leader vehicle determining whether other vehicles that do not belong to the driving cluster exist within the driving cluster;
When it is determined that the other vehicle exists within the driving platoon, a second positioning of the other vehicle is obtained through each sensing device applied to a plurality of target platoon vehicles determined based on the other vehicle among the platoon vehicles. Verifying the reliability of first positioning data according to the dead-reckoning algorithm using data; and
According to a result of each platoon vehicle verifying the reliability of the first positioning data according to the dead reckoning algorithm, first positioning data according to the dead reckoning algorithm and second positioning according to each sensing device applied to each platoon vehicle. Performing platoon driving using any one of the data;
A vehicle platoon driving method comprising:
According to paragraph 1,
The dead reckoning algorithm is a DR (Dead Reckoning) algorithm, and the sensing device includes one or more of a camera sensor, an ultrasonic sensor, an infrared sensor, a radar sensor, and a lidar sensor.
According to paragraph 2,
In the verification step,
The plurality of target platoon vehicles are determined to be a first target platoon vehicle and a second target platoon vehicle located respectively in front and rear of the other vehicle among the respective platoon vehicles,
The first positioning data subject to verifying the reliability is distance data (D) between the first and second target platoon vehicles obtained according to the dead reckoning algorithm,
The second positioning data used to verify the reliability of the first positioning data includes first distance data (Od1) between the other vehicle and the first target platoon vehicle, and between the other vehicle and the second target platoon vehicle. A vehicle platooning method comprising second distance data (Od2).
According to paragraph 3,
In the verification step,
A method of platooning vehicles, characterized in that the reliability of the first positioning data is verified using the first and second distance data (Od1, Od2) along with length information (L) of the other vehicles.
According to clause 4,
In the verification step,
When the difference between the distance data (D) and the sum of the first distance data (Od1), the second distance data (Od2), and the length information (L) of other vehicles is less than or equal to a preset tolerance value, the first positioning data A vehicle platoon driving method characterized by determining that the reliability of is verified.
According to paragraph 2,
In the step of performing platoon driving using either the first positioning data or the second positioning data, each platoon vehicle:
If it is determined in the verification step that the reliability of the first positioning data according to the dead-reckoning algorithm has been verified, platooning is performed using the first positioning data according to the dead-reckoning algorithm,
In the verification step, if it is determined that the reliability of the first positioning data according to the dead reckoning algorithm has not been verified, platoon driving is performed using the second positioning data obtained through each sensing device. Vehicle platooning method.
According to paragraph 1,
After performing cluster driving using any one of the first positioning data and the second positioning data, allowing the leader vehicle to reconfigure the arrangement of the driving cluster so that the other vehicles are excluded from the driving cluster; A vehicle platoon driving method further comprising:
In clause 7,
In the step of reconfiguring the arrangement of the driving group, the leader vehicle:
By assigning an identification code having a sequential value to each platoon vehicle according to the distance from the leader vehicle, the vehicle platoon is driven in a state in which the order of each platoon vehicle according to the identification code assigned to each platoon vehicle is maintained. A vehicle platoon driving method characterized by allowing the platoon arrangement to be reorganized.
According to clause 8,
In the step of reorganizing the arrangement of the driving group,
Among the plurality of driving groups formed by being separated by the other vehicles within the driving group, a first group of vehicles belonging to the first driving group joins the second driving group, and the arrangement of the driving group is reconfigured, wherein the first group is A vehicle platoon driving method, wherein vehicles join the second driving group while maintaining a front-to-back line according to the identification code assigned to each vehicle.
According to clause 9,
If the number of first platoon vehicles belonging to the first driving group is less than the number of second platoon vehicles belonging to the second driving group, and the number of first platoon vehicles and the number of second platoon vehicles are the same, A vehicle platooning method, wherein the first driving group is a driving group that travels in front of the second driving group.
According to clause 9,
In the step of reorganizing the arrangement of the driving group,
Among the second platoon vehicles belonging to the second driving group, the last platoon vehicle slows down to secure space with the vehicle in front, and the first platoon vehicle joins the second driving group through the secured space. A platoon driving method for vehicles, characterized in that.

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