KR102645048B1 - Apparatus for controlling platooning driving of vehicle, system having the same and method thereof - Google Patents

Abstract

The present invention relates to a platooning control device, a system including the same, and a method thereof. The platooning control device according to an embodiment of the present invention determines the cut-in intention or whether the surrounding vehicles driving around the platooning vehicle are cut-in, a processor that performs platooning control for each warning level according to the model of the surrounding vehicle; and a storage unit that stores information for determining the cut-in intention or whether the cut-in is performed by the processor.

Description

Platoon driving control device, system including the same, and method thereof {Apparatus for controlling platooning driving of vehicle, system having the same and method thereof}

The present invention relates to a platooning control device, a system including the same, and a method thereof, and more specifically, to a platooning control technology for medium-to-large commercial vehicles in platooning.

As intelligent vehicle technology becomes more advanced, platoon driving technology, in which multiple vehicles form a group and drive autonomously, is being researched. Platoon driving has the advantage of reducing fuel use due to air resistance by keeping vehicles in a group, and has the advantage of maintaining a closer distance between vehicles than when a driver drives, which has the effect of increasing road use. It is becoming more and more popular.

In particular, considering aspects such as reduced fuel consumption and accident rate, realistically, mid-to-large commercial vehicles such as buses and trucks utilize platooning. In the case of these mid- to large-sized commercial vehicles, due to the heavy vehicle weight and loading of heavy objects, etc., when a small vehicle suddenly enters the platoon line, the commercial vehicle in the platoon may not be able to recognize the small vehicle, and quickly responds to unexpected situations. It is difficult to deal with, and accidents are likely to occur.

An embodiment of the present invention seeks to provide a platooning control device, a system including the same, and a method that can prevent accidents by providing advance warning of vehicles cutting into the space between platooning vehicles.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

A platooning control device according to an embodiment of the present invention includes a processor that determines the cut-in intention or cut-in status of surrounding vehicles driving around a vehicle in platooning and performs platooning control for each warning level according to the vehicle type of the surrounding vehicles; and a storage unit that stores information for determining the cut-in intention or whether the cut-in is performed by the processor.

In one embodiment, the processor sets the space in the next lane between the front and rear vehicles in the platoon driving zone as a warning area, and determines whether the surrounding vehicle has entered the warning area. .

In one embodiment, the processor sets the distance of the space between the front vehicle and the rear vehicle to the longitudinal width of the warning area, and uses the lane width of the road and the overall width of the vehicle to determine the lateral width of the warning area. This may include setting the direction width.

In one embodiment, when the surrounding vehicle cuts into the warning area by a predetermined distance, the processor determines that the surrounding vehicle has entered the warning area and determines the vehicle type and location of the surrounding vehicle. , It may include performing a first warning level control according to the vehicle type and location.

In one embodiment, the processor, for the first warning level, irradiates the guideline light source at a different height depending on the model of the vehicle and irradiates the guideline light source in a predetermined color toward the location of the surrounding vehicle. It may include:

In one embodiment, the processor determines whether the surrounding vehicles within the warning area have the intention of cutting into the danger area, which is the space between the front and rear vehicles in the platoon, and if there is the intention to cut into the It may include performing second warning level control depending on vehicle type and location.

In one embodiment, the processor may include determining that there is an intention to cut in when the surrounding vehicle cuts in within a predetermined area within the danger area.

In one embodiment, the processor may determine that there is an intention to cut in when the left and right corner areas of the front end of the surrounding vehicle are cut into the danger area.

In one embodiment, the processor irradiates the guideline light source at different heights depending on the model of the vehicle, changes the guideline light source to a color different from the color used when controlling the first warning level, flashes the guideline light source, and turns on the headlamp. It may include controlling it to blink.

In one embodiment, the processor may blink the guideline light source or the headlamp for a predetermined number of times or for a predetermined period of time and then turn it off.

In one embodiment, the processor determines whether the surrounding vehicles in the warning area have cut into the danger area, which is the space between the front and rear vehicles in the platoon, and when it is determined that they have cut in, the vehicle type and It may include performing third warning level control regardless of location.

In one embodiment, the processor may include determining that the surrounding vehicle has been cut in when it exceeds a predetermined area within the danger area.

In one embodiment, the processor is configured to cut in when the rear left and right corner areas of the surrounding vehicle are cut in within the risk area within a predetermined time after the front left and right corner areas of the surrounding vehicle are cut in the risk area. It may include judging that

In one embodiment, the processor may perform the third warning level control by performing self-vehicle deceleration control, safety distance securing control, and headlamp blinking control.

In one embodiment, in order to control platooning for each warning level, the processor sets the color or pattern of the guideline light source differently for each warning level, or illuminates a guidance text together with the guideline light source illuminated on the road surface. may include

A vehicle system according to an embodiment of the present invention is a platooning control device that determines the cut-in intention or presence of cut-in of surrounding vehicles driving around a vehicle in platooning and performs platooning control according to warning level according to the vehicle type of the surrounding vehicles. ; And it may include a light source irradiation module that is controlled by the platooning control device to change the color or pattern of the light source to irradiate or blink.

In one embodiment, the light source irradiation module includes: a first light source irradiation module mounted at a first height in front of the vehicle traveling in the platoon; a second light source irradiation module mounted at a second height higher than the first height; and a third light source irradiation module mounted at a third height higher than the second height.

A platooning control method according to an embodiment of the present invention includes the steps of determining the cut-in intention or presence of cut-in of surrounding vehicles driving around a vehicle in platooning; and performing platooning control for each warning level according to the model of the surrounding vehicle.

In one embodiment, the step of determining whether or not the surrounding vehicle intends to cut in includes determining whether the surrounding vehicle has entered a warning area, which is a space in a side lane of the space between the front and rear vehicles in the platoon. steps; determining the cut-in intention by determining whether the surrounding vehicle has entered a risk area, which is a space between the front vehicle and the rear vehicle in the group driving, within a predetermined distance; And it may include the step of determining whether the cut-in is performed by determining whether the surrounding vehicle has entered the risk area by exceeding a predetermined distance.

In one embodiment, the performing of the platooning control according to the warning level includes, when the surrounding vehicle enters the warning level, performing a first warning level control according to the vehicle type and vehicle location of the surrounding vehicle. ; If a surrounding vehicle that has entered the warning level intends to cut into the danger area, performing a second warning level control according to the vehicle type and vehicle location of the surrounding vehicle; and performing third warning level control when a surrounding vehicle that has entered the warning level cuts into the danger area.

This technology can prevent accidents by providing advance warning of vehicles cutting into the space between vehicles in a platoon.

In addition, various effects that can be directly or indirectly identified through this document may be provided.

1 is a block diagram showing the configuration of a vehicle system including a platooning control device according to an embodiment of the present invention.
Figure 2 is an exemplary diagram of platoon driving according to an embodiment of the present invention.
Figure 3 is an exemplary diagram showing a cut-in situation of a small car during platoon driving according to an embodiment of the present invention.
FIG. 4 is a diagram illustrating an exemplary operation of determining vehicle entry into a warning area of a platooning control device according to an embodiment of the present invention.
FIG. 5 is a diagram illustrating an exemplary operation of performing first warning level control on a vehicle within a warning area of a platooning control device according to an embodiment of the present invention.
FIG. 6 is a diagram illustrating an exemplary operation of determining a vehicle's intention to enter and whether to enter a risk area of a platooning control device according to an embodiment of the present invention.
FIG. 7 is a diagram illustrating an exemplary operation of determining a vehicle's intention to enter a dangerous area and whether to cut in on a straight road or a curved road according to an embodiment of the present invention.
FIG. 8 is a diagram illustrating an exemplary operation of determining priorities for each target vehicle location according to a radar detection area and a camera detection area of a platooning control device according to another embodiment of the present invention.
Figure 9 is a flowchart for explaining a platooning control method according to an embodiment of the present invention.
FIG. 10 is a diagram illustrating an exemplary operation of a warning when cutting in the right (RH) direction of a platooning control device according to an embodiment of the present invention.
FIG. 11 is a diagram illustrating an exemplary operation of a warning when cutting in the left (LH) direction of a platooning control device according to an embodiment of the present invention.
FIG. 12 is a diagram illustrating an exemplary operation of a warning upon bidirectional cut-in of a platooning control device according to an embodiment of the present invention.
Figure 13 is a diagram showing an example of mounting a light source irradiation module for each height of a vehicle and an example of a pattern irradiated on a road surface according to an embodiment of the present invention.
Figure 14 is an example of guidance text irradiated on the road surface when irradiating a guideline light source according to an embodiment of the present invention.
Figure 15 shows a computing system according to one embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through illustrative drawings. When adding reference numerals to components in each drawing, it should be noted that identical components are given the same reference numerals as much as possible even if they are shown in different drawings. Additionally, when describing embodiments of the present invention, if detailed descriptions of related known configurations or functions are judged to impede understanding of the embodiments of the present invention, the detailed descriptions will be omitted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, sequence, or order of the component is not limited by the term. Additionally, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted in an ideal or excessively formal sense unless explicitly defined in the present application. No.

The present invention is a technology that recognizes when a small vehicle suddenly cuts in between the platoon lines during platooning and warns the small vehicle that it is platooning, thereby inducing the small vehicle to stop cutting in. Begin.

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 15.

1 is a block diagram showing the configuration of a vehicle system including a platooning control device according to an embodiment of the present invention. Figure 2 is an exemplary diagram of platoon driving according to an embodiment of the present invention, and Figure 3 is an exemplary diagram showing a cut-in situation of a small car during platoon driving according to an embodiment of the present invention.

Referring to FIG. 1, the vehicle system according to an embodiment of the present invention includes a platooning control device 100, a sensing module 200, a light source irradiation module 300, a steering control device 400, and a braking control device 500. ), may include an engine control device 600.

As shown in FIG. 2, when mid- to large-sized commercial vehicles are platooned and a small car cuts in between medium- and large-sized commercial vehicles as shown in FIG. 3, the platooning control device 100 detects this in advance and performs warning and vehicle control for safe driving. You can.

The platooning control device 100 may include a communication unit 110, a storage unit 120, and a processor 130.

The communication unit 110 is a hardware device implemented with various electronic circuits to transmit and receive signals through wireless or wired connections. In the present invention, in-vehicle communication is performed through CAN communication, LIN communication, etc. In addition, platooning information can be transmitted and received by performing vehicle communication (V2X) with other vehicles in platooning.

The storage unit 120 includes information received from other vehicles in the platoon, sensing results of the sensing module 200, information for determining whether the processor 130 intends to cut in or whether to cut in, and information obtained by the processor 130. Warning level judgment results, etc. can be saved. The storage unit 120 has a flash memory type, a hard disk type, a micro type, and a card type (e.g., a Secure Digital Card (SD Card) or an eXtream Digital Card (XD Card). Memory such as RAM (Random Access Memory), SRAM (Static RAM), ROM (Read-Only Memory), PROM (Programmable ROM), EEPROM (Electrically Erasable PROM), and magnetic memory (MRAM) , Magnetic RAM, magnetic disk, and optical disk type memory.

The processor 130 may be electrically connected to the communication unit 110 and the storage unit 120, may electrically control each component, and may be an electrical circuit that executes software instructions, which will be described later. A variety of data processing and calculations can be performed.

The processor 130 can determine the cut-in intention or whether the surrounding vehicles driving around the vehicle in platooning are cut-in and perform platooning control for each warning level according to the vehicle type of the surrounding vehicles.

The processor 130 may set the space in the lane next to the space between the front and rear vehicles in platoon driving as a warning area and determine whether the surrounding vehicle has entered the warning area.

The processor 130 may set the distance of the space between the front vehicle and the rear vehicle as the longitudinal width of the warning area, and set the horizontal width of the warning area using the lane width of the road and the overall width of the vehicle. .

When a surrounding vehicle cuts into the warning area by a predetermined distance, the processor 130 determines that the surrounding vehicle has entered the warning area, determines the vehicle type and location of the surrounding vehicle, and determines the first vehicle type and location according to the vehicle type and location. Warning level control can be performed. At this time, the first warning level may be irradiated at a different height of the guideline light source depending on the vehicle type, and the guideline light source may be irradiated in a predetermined color (e.g., green) toward the location of the surrounding vehicle.

The processor 130 determines whether the surrounding vehicles in the warning area have an intention to cut into the danger area, which is the space between the front and rear vehicles in platooning, and if there is an intention to cut in, sets a second warning level according to the vehicle type and location. Control can be performed.

The processor 130 may determine that there is an intention to cut in when a surrounding vehicle cuts in within a predetermined area within the danger area. The processor 130 may determine that there is an intention to cut in when the left and right corner areas of the front end of the surrounding vehicle are cut into the danger area.

The processor 130 irradiates the guideline light source at a different height depending on the model of the surrounding vehicle, changes the guideline light source to a color different from the color used when controlling the first warning level (e.g., red), blinks, and turns on the headlamp. It can be controlled to blink.

The processor 130 may turn off the guide light source or headlamp after blinking a predetermined number of times (e.g., 5 times) or for a period of time (e.g., 5 seconds).

The processor 130 determines whether the surrounding vehicles in the warning area have cut into the danger area, which is the space between the front and rear vehicles in the platoon, and if it is determined that they have cut in, sets the third warning level regardless of the vehicle type and location. Control can be performed. The processor 130 may perform third warning level control by performing self-vehicle deceleration control, safety distance securing control, and headlamp flashing control.

The processor 130 may determine that the surrounding vehicle has cut in when it exceeds a predetermined area within the danger area. The processor 130 may determine that the rear left and right corner areas of the surrounding vehicle are cut in within the danger area within a predetermined time after the front left and right corner areas of the surrounding vehicle are cut in the danger area.

In order to control platooning for each warning level, the processor 130 may set the color or pattern of the guideline light source differently for each warning level, or may irradiate a guideline light source illuminated on the road surface with a guidance message.

In this way, the present invention performs real-time monitoring of the presence of vehicles in the left/right side lane warning area based on the vehicle front/side sensing module 200, and detects the presence of vehicles in the warning area more than a certain percentage (3.6 meters in the longitudinal direction). When cutting in, a green guideline light source is illuminated on the road surface in the forward driving direction according to the vehicle height based on the total height of the cut-in vehicle.

In addition, the present invention monitors in real time whether the vehicles in the warning area are cut into the danger area (the area between the vehicles in front of the group driving), and when the vehicles in the danger area are cut in at a certain rate (0 to 20%), the guideline is set. After changing the light source color to red, it blinks and the headlamps blink simultaneously, and when the number of vehicles in the danger area exceeds 20% and cuts in, it controls the vehicle's deceleration, controls to secure a safe distance, and controls the blinking of the headlamps. At this time, if the guideline light source and headlamp continue to blink, it may interfere with safe driving, so the guideline light source and headlamp can be controlled to blink 5 times and then turn off.

In addition, when a failure of vehicle-to-vehicle communication (V2V) occurs during platooning, the platooning control (first warning level control, second warning level control, and third warning level control) method of the present invention described above can be an instantaneous backup solution. You can.

The sensing module 200 may be equipped with a plurality of sensors to detect vehicles around the vehicle, and may detect the location of the surrounding vehicles, the speed of the surrounding vehicles, the direction of movement of the surrounding vehicles, and/or the type of surrounding vehicles (e.g., passenger cars, You can obtain information about small cars, medium-sized cars, large cars, etc.). To this end, the sensing module 200 may include an ultrasonic sensor, radar, camera, laser scanner and/or corner radar, lidar, acceleration sensor, yaw rate sensor, torque measurement sensor and/or wheel speed sensor, steering angle sensor, etc. You can. In the present invention, through the sensing module 200, it is possible to detect and determine whether nearby vehicles are cut into the warning area and the danger area, and the extent of the cut-in.

The light source irradiation module 300 is a laser irradiation module that radiates light sources of different colors, such as green and red, onto the road surface in front of the vehicle (including the front and sides). Additionally, the light source irradiation module 300 can irradiate in various desired colors by combining a green light source and a red light source, and can irradiate in various irradiation patterns. The laser irradiation pattern will be described in detail later with reference to FIGS. 13 and 14.

The steering control device 400 may be configured to control the steering angle of the vehicle and may include a steering wheel, an actuator linked to the steering wheel, and a controller that controls the actuator.

The braking control device 500 may be configured to control braking of a vehicle and may include a controller that controls the brakes.

The engine control device 600 may be configured to control engine operation of the vehicle and may include a controller that controls the speed of the vehicle.

In this way, the present invention can prevent accidents by providing advance warning of vehicles cutting into the space between medium and large commercial vehicles in platooning.

FIG. 4 is a diagram illustrating an exemplary operation of determining vehicle entry into a warning area of a platooning control device according to an embodiment of the present invention.

Referring to FIG. 4, when the platooning control device 100 defines the distance between a leading vehicle (LV) and a following vehicle (FV) in platooning as D1 (longitudinal width), The areas of the right lane and left lane corresponding to D1 can be set as warning areas (401, 402).

The platooning control device 100 may set the value obtained by subtracting the overall width of a large commercial vehicle from the lane width divided by 2 and adding the value of one lane width to the lateral width D2 of the warning areas 401 and 402. there is. For example, at this time, when the lane width is 3.5m and the overall width of a large commercial vehicle is 2.5m, (3.5 - 2.5)/2 + 3.5, so the lateral width (D2) can be set to 4m. The longitudinal width D1 of the warning areas 401 and 402 can be set in various ways according to various situations.

The platooning control device 100 allows the vehicles 11 and 12 traveling in the left and right lanes to cut into the warning areas 401 and 402 of the left and right side lanes of the space between the lead vehicle (LV) and the following vehicle (FV), respectively. In this case, it may be determined that the surrounding vehicle has cut into the warning areas 401 and 402.

FIG. 5 is a diagram illustrating an exemplary operation of performing first warning level control on a vehicle within a warning area of a platooning control device according to an embodiment of the present invention. If the vehicle type is a passenger car or SUV, the first warning level control may include irradiating a green guideline light source at one level height for each direction of the vehicle.

Referring to FIG. 5, the platooning control device 100 is based on the fact that in order for a vehicle to cut into the adjacent lane, the rear of the vehicle must be in front of the vehicle in the adjacent lane, and when the surrounding vehicle cuts into the warning area by D3 or more, the warning area It can be judged that it was cut in. At this time, D3 can be set to the minimum value of the vehicle's overall length, for example, 3.6m, and the platooning control device 100 controls the surrounding vehicles 11 and 12 to cut in as much as D3 in the warning areas 401 and 402. In this case, it is determined that the warning area has been cut in and the first warning level control is performed.

FIG. 6 is a diagram illustrating an exemplary operation of determining whether a vehicle enters a danger area and whether to cut in or not by a platooning control device according to an embodiment of the present invention.

Referring to 601 in FIG. 6, the platooning control device 100 may define the space between the lead vehicle (LV) and the following vehicle (FV) as a risk area 611. That is, the platooning control device 100 may define the distance between the lead vehicle (LV) and the following vehicle (FV) as the longitudinal width D4 of the risk area 611. At this time, the longitudinal width D4 of the risk area 611 can be set differently depending on various situations.

Additionally, the platooning control device 100 may set the lateral width D5 of the danger area 611 to be the same as the lane width of a road and set to 3.5 m, which is a typical lane width of a highway lane.

As shown in 602, when the surrounding vehicles 12 driving in the warning area try to cut into the danger area 611, that is, when the surrounding vehicles 12 are between 0 and 20% of the danger area 611, platooning occurs. The control device 100 determines that there is an intention to cut into the danger area and performs second warning level control. At this time, the platooning control device 100 changes the guideline light source from green to red for each vehicle height according to the vehicle type of the surrounding vehicle 12 and then flashes the headlamp together, but the guideline light source and the headlamp are The second warning level control is performed by blinking for a certain period of time or a certain number of times.

As shown in 603, when the surrounding vehicle 12 driving in the warning area completely enters or exceeds 20% of the danger area 611, the platooning control device 100 performs third warning level control. The platooning control device 100 can control the third warning level to continuously flash the own vehicle deceleration control, safety distance securing control, road guideline light source, and headlamp regardless of the vehicle type of the surrounding vehicle 12.

FIG. 7 is a diagram illustrating an exemplary operation of determining a vehicle's intention to enter a dangerous area and whether to cut in on a straight road or a curved road according to an embodiment of the present invention.

Referring to 701, the platooning control device 100 divides the cut-in vehicle cut-in judgment reference position into a primary position and a secondary position. The primary location refers to the left/right corner area at the front of the vehicle (e.g., FR fender LH/RH, FR Bumper, etc.), and the secondary location refers to the left/right corner area at the rear of the vehicle (e.g., RR fender LH/RH, RR Bumper). etc.).

Referring to 702 and 703, when a vehicle (peripheral vehicle) is cut in between the leading vehicle (LV) and the following vehicle (FV), the front part of the cut-in vehicle, i.e. the primary position (e.g., FR Fender/Bumper part), must be cut in. You have no choice but to be the first to go in the direction you want to go.

When a vehicle first enters, the primary position (FR corner) enters the lane it wants to enter first, but after a certain entry time (T), it inevitably moves side by side with the lead vehicle (LV) and the following vehicle (FV). Since it is a driving situation, the rear left and right corners of the vehicle should be used as a criterion for judgment. At this time, since the entry time is different for each entering vehicle, it is necessary to separately define the entry time (T).

The platooning control device 100 determines whether the primary location of the cut-in vehicle enters the lane in which the own vehicle is traveling and, after a certain cut-in time, whether the secondary location of the entering vehicle enters the lane in which the own vehicle is traveling, and determines whether the secondary location of the entering vehicle enters the lane in which the own vehicle is traveling, It is possible to determine whether a vehicle has entered.

FIG. 8 is a diagram illustrating an exemplary operation of priority determination for each target vehicle location according to a radar detection area and a camera detection area of a platooning control device according to another embodiment of the present invention. Figure 8 discloses an example of recognizing the presence of a cut-in vehicle based on a smart cruise control system (SCC) and an autonomous emergency braking system (AEB). At this time, the smart cruise control system is a technology that detects the distance to the vehicle in front on the road, automatically adjusts the driving speed based on the speed set by the driver, and performs convenient and safe driving. When a frontal collision is expected, the emergency braking system automatically recognizes objects or pedestrians ahead and actively applies the brakes.

In other words, the platooning control device 100 detects cut-in vehicles among the vehicles ahead through radar sensors and cameras in conjunction with the smart cruise control system and emergency braking system, and detects vehicles within the own lane among target vehicles present within the detection area for each sensor. The highest priority control target can be determined.

In addition, as shown in FIG. 8, the platooning control device 100 makes vehicles 2 and 3 the next high priority targets when high priority vehicles 0 and 1 do not exist, but since they do not exist within the own lane, SCC and AEB operation is not performed, and can naturally become the target of control when vehicles 2 and 3 cut into the own lane.

Figure 8 illustrates an example of detecting a cut-in vehicle as another embodiment, and control is performed by determining only whether a target vehicle in the own lane exists within the sensor detection area, and when multiple vehicles exist, only priority is given and control is performed. begins.

In this way, it is possible to recognize the surrounding situation in advance through radar sensors and cameras mounted on the vehicle and secure a safe distance through braking when necessary. However, when an unexpected situation that is difficult to predict occurs while driving on the actual road, the present invention By allowing surrounding vehicles to recognize in advance that they are in a platooning situation, dangerous situations such as sudden cutting in can be prevented in advance.

Accordingly, as in one embodiment of the present invention, the warning level can be varied by determining how far the cut-in vehicle has entered the warning area or danger area.

Hereinafter, a platooning control method according to an embodiment of the present invention will be described in detail with reference to Table 1 and FIG. 9. Figure 9 is a flowchart for explaining a platooning control method according to an embodiment of the present invention.

Hereinafter, it is assumed that the platooning control device 100 of FIG. 1 performs the process of FIG. 9. Additionally, in the description of FIG. 9, operations described as being performed by the device may be understood as being controlled by the processor 130 of the platooning control device 100.

Warning level/vehicle model Passenger cars and SUVs Small and medium-sized commercial vehicles large commercial vehicle 1st warning level control 1st level height green guideline light source irradiation for each vehicle direction 2-level height green guideline light source irradiation for each vehicle direction Green guideline light source irradiation for each vehicle direction and 3 levels of height Second warning level control Red guideline light source flashes and headlamp flashes at level 1 height. Red guide light source flashes and headlamp flashes at 2 levels of height. Red guide light source and headlamp blink at 3 levels of height. Third warning level control Own vehicle deceleration control, ensuring safe distance, and continuous headlamp flashing Own vehicle deceleration control, ensuring safe distance, and continuous headlamp flashing Own vehicle deceleration control, ensuring safe distance, and continuous headlamp flashing

Referring to FIG. 9, the platooning control device 100 can determine whether a vehicle is cut in within the warning area (S110). The platooning control device 100 may determine that the surrounding vehicle has entered the warning area when the surrounding vehicle enters the warning area by exceeding a predetermined standard distance (eg, 4 m) based on the longitudinal direction.

The platooning control device 100 can determine the vehicle type and vehicle location (S120). At this time, vehicle types may include passenger cars, SUVs, small and medium-sized vehicles, large vehicles, etc., and the vehicle location determines whether surrounding vehicles are entering the warning area on the right, the left, or both lanes. do.

The platooning control device 100 applies different warning levels depending on the vehicle type and performs first warning level control on vehicles entering the corresponding warning area (S130).

In the case of medium to large commercial vehicles, especially large trucks, the ground clearance at the driver's eye level is approximately 2.5m. And because the truck cab itself is very large, an obscured blind area may occur around the truck cab when the driver is seated. In particular, the area immediately to the right of the cap becomes difficult to see. As a result, many accidents occur due to blind spots across all vehicle speed ranges, and in actual platooning situations between large trucks where the distance between vehicles is less than 10m, when a passenger vehicle with a relatively low overall height suddenly cuts in between the vehicles. Truck drivers may encounter situations where it is very difficult to recognize a vehicle in advance and take follow-up actions such as braking.

Accordingly, the platooning control device 100 may distinguish the vehicle type of the vehicle making the cut-in and perform different warning levels depending on the vehicle type.

At this time, the vehicle height of passenger cars and SUVs is less than 1900, the height of small and medium-sized commercial vehicles is between 1900 and less than 2400, and the height of large commercial vehicles is more than 2400. For example, vehicles such as refrigerated trucks can be classified as large because their overall height is high compared to the vehicle.

Accordingly, the warning level can be set differently depending on the type of vehicle depending on the garage. Referring to Table 1, when controlling the first warning level, if the vehicle type cut into the warning area is a passenger car or SUV, the warning level is changed by vehicle direction (cut-in). (towards the vehicle), the green guideline light source is irradiated at 1 level height, if the vehicle type is a small commercial vehicle, the green guideline light source is irradiated at 2 levels height for each direction of the vehicle, and for large commercial vehicles, the green guideline light source is irradiated at 3 levels height for each direction of the vehicle. investigate. In other words, the higher the vehicle ride height, the higher the irradiation height of the green guideline light source so that surrounding vehicles that are cutting in can recognize the warning.

The platooning control device 100 determines whether the vehicle is intended to be cut into the risk area (S140). The platooning control device 100 may determine that there is an intention to cut vehicles in the risk area when surrounding vehicles are cut in by 0 to 20% within the risk area based on the lateral direction.

The platooning control device 100 may apply different warning levels depending on the vehicle type and perform second warning level control on the vehicle being cut in (S150).

Referring to Table 1, when controlling the second warning level, if the vehicle type that started cutting into the danger area is a passenger car or SUV, the red guideline light source flashes and the headlamp flashes at one level height for each direction of the vehicle. If the vehicle type is a small commercial vehicle, the red guideline light source flashes and the headlamp flashes at 2 levels of height for each direction of the vehicle. In the case of a large commercial vehicle, the red guideline light source flashes and the headlamp flashes at 3 levels of height for each direction of the vehicle. . In other words, the higher the vehicle ride height, the higher the irradiation height of the green guideline light source so that surrounding vehicles that are cutting in can recognize the warning.

The platooning control device 100 determines whether a vehicle is cut in within the risk area (S160). That is, the platooning control device 100 may determine that the vehicle within the risk area has been cut in when more than 20% of surrounding vehicles have been cut into the risk area based on the lateral direction.

The platooning control device 100 may apply different warning levels depending on the vehicle type and perform third warning level control on the corresponding vehicle (S170).

Referring to Table 1, the platooning control device 100 performs self-vehicle deceleration control, secures a safe distance, and continues flashing of headlamps regardless of the vehicle type to control the third warning level.

FIG. 10 is a diagram illustrating an exemplary operation of a warning when cutting in the right (RH) direction of a platooning control device according to an embodiment of the present invention, and FIG. 11 is a diagram illustrating an exemplary operation of a platooning control device according to an embodiment of the present invention. This is a diagram to explain an example warning operation when cutting in the left (LH) direction. FIG. 12 is a diagram illustrating an exemplary operation of a warning upon bidirectional cut-in of a platooning control device according to an embodiment of the present invention.

In Figure 10, when surrounding vehicles control the first warning level to the right (RH), a green guideline light source is illuminated at different heights for each vehicle type to the right, and when the second warning level is controlled, a red guideline light source is illuminated to the right at different heights for each vehicle type. It can be seen that the . That is, it can be seen that the heights of the light source irradiation modules 1001, 1002, and 1003 are different.

In Figure 11, when surrounding vehicles control the first warning level to the left (LH), a green guideline light source is illuminated at different heights for each vehicle type to the left, and when the second warning level is controlled, a red guideline light source is illuminated to the left at different heights for each vehicle type. It can be seen that the .

In Figure 12, it can be seen that when surrounding vehicles control the first warning level in both directions, the green guideline light source is illuminated at different heights for each vehicle type in both directions, and when the second warning level is controlled, the red guide line is illuminated in both directions at different heights for each vehicle type. You can.

Figure 13 is a diagram showing an example of mounting a light source irradiation module for each height of a vehicle and an example of a pattern irradiated on a road surface according to an embodiment of the present invention. The present invention discloses an example in which the light source irradiation module 300 is equipped with three laser irradiation modules for each vehicle height.

Referring to FIG. 13, it can be seen that the mounting positions of the light source irradiation module 1300 at 1301, 1302, and 1303 are different depending on the height. At this time, the light source irradiation module 1300 includes a green light source and a red light source, and can irradiate light sources of various colors as a guideline light source by combining the green light source and the red light source. 1311 indicates the case where a green guideline light source is irradiated to the road surface, and 1312 indicates the pattern that appears on the road surface when green, red, and blue light sources are irradiated to the road surface.

Figure 14 is an example of guidance text irradiated on the road surface when irradiating a guideline light source according to an embodiment of the present invention. Referring to FIG. 14, when a light source is irradiated as shown in 1401, the light source may be irradiated so that letters are visible on the road surface as shown in 1402.

In this way, the present invention can ensure driving safety through advance notification and warning of vehicles cutting into the lane warning area next to medium-to-large commercial vehicles in platooning.

In addition, the present invention can provide an accident prevention effect through visual warning and automatic braking/securing a safe distance in emergency situations for vehicles that suddenly cut into the area between medium and large commercial vehicles in platooning.

In addition, the present invention can determine the driving situation of surrounding vehicles based on the vehicle's sensors (ADAS sensor, radar, camera, etc.) when a temporary error/problem occurs in V2X communication during platoon driving and warn in case of danger, and V2X communication Even if there are no problems, it can help with platoon driving.

Figure 15 shows a computing system according to one embodiment of the present invention.

Referring to FIG. 15, the computing system 1000 includes at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, and storage connected through a bus 1200. It may include (1600), and a network interface (1700).

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and/or storage 1600. Memory 1300 and storage 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include read only memory (ROM) and random access memory (RAM).

Accordingly, steps of a method or algorithm described in connection with the embodiments disclosed herein may be implemented directly in hardware, software modules, or a combination of the two executed by processor 1100. Software modules reside in a storage medium (i.e., memory 1300 and/or storage 1600), such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, or CD-ROM. You may.

An exemplary storage medium is coupled to processor 1100, which can read information from and write information to the storage medium. Alternatively, the storage medium may be integrated with processor 1100. The processor and storage medium may reside within an application specific integrated circuit (ASIC). The ASIC may reside within the user terminal. Alternatively, the processor and storage medium may reside as separate components within the user terminal.

The above description is merely an illustrative explanation of the technical idea of the present invention, and various modifications and variations will be possible to those skilled in the art without departing from the essential characteristics of the present invention.

Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but are for illustrative purposes, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

Claims (20)

A processor that detects the cut-in intention or presence of cut-in of surrounding vehicles driving around a vehicle in platooning and performs platooning control for each warning level according to the vehicle type of the surrounding vehicles; and
A storage unit that stores information for determining the cut-in intention or whether the cut-in is performed by the processor,
The processor,
Set the space in the next lane between the front and rear vehicles in the platooning as a warning area, and when the surrounding vehicle enters the warning area, perform first warning level control according to the vehicle type and location; ,
Determine whether surrounding vehicles within the warning area have the intention of cutting into the danger area, which is the space between the front and rear vehicles in the group driving, and if there is the intention to cut in, control the second warning level according to the vehicle type and location Do this,
When it is determined that the surrounding vehicle has cut into the danger area, the platooning control device performs a third warning level control regardless of the vehicle type and location. In claim 1,
The processor,
A platooning control device characterized in that it determines whether the surrounding vehicle has entered the warning area. In claim 1,
The processor,
Set the distance between the front vehicle and the rear vehicle as the longitudinal width of the warning area,
A platooning control device characterized in that the lateral width of the warning area is set using the lane width of the road and the overall width of the vehicle. In claim 1,
The processor,
A platooning control device characterized in that, when the surrounding vehicle cuts into the warning area by a predetermined distance, it is determined that the surrounding vehicle has entered the warning area. In claim 4,
The processor,
The first warning level is,
A platoon driving control device characterized in that the guideline light source is irradiated at a different height depending on the vehicle model and the guideline light source is irradiated in a predetermined color toward the location of the surrounding vehicles. delete In claim 1,
The processor,
A platooning control device characterized in that it is determined that there is an intention to cut in when the surrounding vehicle cuts in within a predetermined area within the danger area. In claim 1,
The processor,
A platooning control device characterized in that it is determined that there is an intention to cut in when the left and right corner areas of the front end of the surrounding vehicle are cut into the danger area. In claim 1,
The processor,
Group driving, characterized in that the guideline light source is irradiated at a different height depending on the vehicle type, the guideline light source is changed to a color different from the color used when controlling the first warning level, and the headlamp is controlled to blink. controller. In claim 9,
The processor,
A platooning control device characterized in that the guide light source or the headlamp blinks for a predetermined number or time and then turns off. In claim 1,
The processor,
Determine whether surrounding vehicles in the warning area cut into the danger area, which is the space between the front and rear vehicles in the platoon driving,
A platooning control device characterized in that, when it is determined that the cut-in has occurred, a third warning level control is performed regardless of the vehicle type and location. In claim 11,
The processor,
A platooning control device characterized in that when the surrounding vehicle cuts in beyond a predetermined area within the danger area, it is determined that the surrounding vehicle has cut in. In claim 11,
The processor,
Group driving control, characterized in that it is determined that the rear left and right corner areas of the surrounding vehicles are cut in within the risk area within a predetermined time after the front left and right corner areas of the surrounding vehicles are cut in the risk area. Device. In claim 11,
The processor,
A platooning control device characterized in that the third warning level control is performed by performing own vehicle deceleration control, safety distance securing control, and headlamp flashing control. In claim 1,
The processor,
For platooning control for each warning level,
A platoon driving control device that sets the color or pattern of the guideline light source differently for each warning level, or illuminates a guidance text together with the guideline light source illuminated on the road surface. A platooning control device that detects the cut-in intention or presence of cut-in of surrounding vehicles driving around a vehicle in platooning and performs platooning control for each warning level according to the vehicle type of the surrounding vehicles; and
A light source irradiation module controlled by the platooning control device to change the color or pattern of the light source to irradiate or blink,
The platooning control device,
Set the space in the next lane between the front and rear vehicles in the platooning as a warning area, and when the surrounding vehicle enters the warning area, perform first warning level control according to the vehicle type and location;
Determine whether surrounding vehicles within the warning area have the intention of cutting into the danger area, which is the space between the front and rear vehicles in the group driving, and if there is the intention to cut in, control the second warning level according to the vehicle type and location Do this,
A vehicle system characterized in that, when it is determined that the surrounding vehicle has cut into the danger area, a third warning level control is performed regardless of the vehicle type and location. In claim 16,
The light source irradiation module,
a first light source irradiation module mounted at a first height in front of the vehicle traveling in the platoon;
a second light source irradiation module mounted at a second height higher than the first height; and
a third light source irradiation module mounted at a third height higher than the second height;
A vehicle system comprising: A step of determining whether or not the surrounding vehicles driving in a platoon have cut-in intentions or have been cut-in; and
Comprising the step of performing platooning control for each warning level according to the model of the surrounding vehicle,
The step of performing platooning control for each warning level is:
When the surrounding vehicle enters a warning area, which is a space in a side lane of the space between the front vehicle and the rear vehicle in the group driving, performing a first warning level control according to the vehicle type and vehicle location of the surrounding vehicle;
If a surrounding vehicle entering the warning area has the intention of cutting into the danger area, which is the space between the front and rear vehicles in the platoon, a second warning level control is performed according to the vehicle type and vehicle location of the surrounding vehicle. steps; and
If a surrounding vehicle entering the warning area cuts into the danger area, performing third warning level control
A platooning control method comprising: In claim 18,
The step of determining the cut-in intention or whether the surrounding vehicle is cut-in is,
determining whether the surrounding vehicle has entered the warning area;
determining the cut-in intention by determining whether the surrounding vehicle has entered the risk area within a predetermined distance; and
A step of determining whether the cut-in is performed by determining whether the surrounding vehicle has entered the risk area by exceeding a predetermined distance.
A platooning control method comprising:
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