KR20120123900A - Apparatus And Method Doing Vehicle Synchronization - Google Patents

Apparatus And Method Doing Vehicle Synchronization Download PDF

Info

Publication number
KR20120123900A
KR20120123900A KR1020110041511A KR20110041511A KR20120123900A KR 20120123900 A KR20120123900 A KR 20120123900A KR 1020110041511 A KR1020110041511 A KR 1020110041511A KR 20110041511 A KR20110041511 A KR 20110041511A KR 20120123900 A KR20120123900 A KR 20120123900A
Authority
KR
South Korea
Prior art keywords
vehicle
synchronization
packet
determination module
driving
Prior art date
Application number
KR1020110041511A
Other languages
Korean (ko)
Inventor
박수환
Original Assignee
현대모비스 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 현대모비스 주식회사 filed Critical 현대모비스 주식회사
Priority to KR1020110041511A priority Critical patent/KR20120123900A/en
Publication of KR20120123900A publication Critical patent/KR20120123900A/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/181—Preparing for stopping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/04—Vehicle stop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/14—Cruise control
    • B60Y2300/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60Y2300/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop-and-go

Abstract

PURPOSE: A vehicle synchronization device and a method are provided to reduce accumulated propagation delay. CONSTITUTION: A vehicle synchronization device is installed to a vehicle. By the transmitting and receiving the synchronizing packet, the synchronization between the vehicles is performed. The vehicle synchronizer comprises a V2V communication module, a synchronization packet judging module, and a vehicle operation actuator. The V2V communication module receives the synchronizing packet from the other vehicle. The synchronizing packet judging module analyzes the synchronizing packet of the other received vehicle. [Reference numerals] (AA) Vehicle A in stop state; (BB) A-B synchronization; (CC) Vehicle B in stop state; (DD) B-C synchronization; (EE) Vehicle C in stop state; (FF) Vehicle A start driving; (GG) Vehicle B start driving; (HH) Vehicle C start driving; (II) Vehicle A,B,C are synchronized start driving almost at the same time->minimizing the traffic jam

Description

차량 동기화 장치 및 방법{Apparatus And Method Doing Vehicle Synchronization}Apparatus And Method Doing Vehicle Synchronization

본 발명은 차량 동기화 장치 및 방법에 관한 것으로서, 보다 구체적으로는 교통 체증을 최소화하기 위해 차량을 동기화하는 장치 및 방법에 관한 것이다.The present invention relates to a vehicle synchronization apparatus and method, and more particularly to an apparatus and method for synchronizing the vehicle to minimize traffic jams.

도 1에 도시된 바와 같이 서울 주요 도심의 러시아워에 A,B,C 차량이 운행하는데 걸리는 주요지연시간은 같다. As shown in FIG. 1, the major delay time required for the A, B, and C vehicles to operate in the rush hour of the major urban centers in Seoul is the same.

주요지연시간 = X 운전자 앞 차량의 움직임 확인(T_X1) + X 운전자의 판단(T_X2) + 엑셀 밟기(T_X3)     Delay time = X Check the movement of the vehicle in front of the driver (T_X1) + X Driver's judgment (T_X2) + Step on the accelerator (T_X3)

이를 통해 교통 체증을 발생시키는 주요 원인을 다음과 같이 파악할 수 있다. 즉, 교통 체증으로 인하여 차량 수(N)가 많아 질수록 T_X1 + T_X2 + T_X3의 시간은 N의 배수만큼 교통 지연 시간을 발생시켜 교통 지연 시간은 다음과 같게 된다.This can identify the main causes of traffic jams: That is, as the number of vehicles N increases due to the traffic jam, the time of T_X1 + T_X2 + T_X3 generates a traffic delay time by multiples of N, so that the traffic delay time is as follows.

교통 지연 시간 = (T_X1 + T_X2 + T_X3) * N Traffic delay time = (T_X1 + T_X2 + T_X3) * N

이처럼 지연 시간이 차량의 수만큼 줄줄이 누적되는 현상을 Propagation Delay in Vehicle Start movement라 하며, 운전자가 통화, 졸음 등으로 인하여 앞 차량의 움직임을 미처 파악하지 못할 경우 T_X1 시간은 기하 급수적으로 늘어날 수 있고, T_X2, T_X3 시간 또한 운전자의 성향에 따라 커질 수 있다. This phenomenon is called propagation delay in vehicle start movement. The T_X1 time can increase exponentially if the driver does not know the movement of the vehicle ahead because of a call or drowsiness. T_X2 and T_X3 time can also be large according to the driver's disposition.

이와 같이 유동적이고 차량의 수만큼 누적되는 Propagation Delay는 교통 체증의 가장 큰 원인으로 작용하게 된다. This propagation delay, which is fluid and accumulates as many vehicles, is the biggest cause of traffic jams.

본 발명은 교통체증의 가장 큰 원인으로 작용하는 Propagation Delay를 최대한 줄일 수 있는 장치 및 방법을 제공하는 데 그 목적이 있다. It is an object of the present invention to provide an apparatus and method that can reduce propagation delay as a major cause of traffic jam as much as possible.

즉, 본 발명은 Propagation Delay를 구성하는 요소 중 앞 차량의 움직임을 확인하고(T_X1), 판단하며(T_X2), 엑셀을 밟는(T_X3) 시간을 최소화함으로써, 기차나 지하철의 연결 칸들이 동시에 출발해서 동시에 멈추듯, Propagation Delay가 최소화된 차량 들이 바로 앞차의 움직임에 맞추어 동시에 출발하고 동시에 멈출 수 있도록 하는 데 그 목적이 있다.That is, the present invention checks the movement of the vehicle ahead of the components constituting the propagation delay (T_X1), determines (T_X2), minimizes the time to step on the Excel (T_X3), so that the connection compartments of the train or subway start simultaneously As if stopping at the same time, the objective is to allow vehicles with minimal propagation delay to start and stop at the same time according to the movement of the vehicle ahead.

전술한 목적을 달성하기 위하여, 본 발명의 일면에 따른 차량 동기화 장치는 차량에 설치되어 다른 차량과의 패킷 송수신으로 차량 간 동기화를 수행하는 장치는 상기 다른 차량으로부터 상기 동기화 패킷을 수신하는 V2V 통신모듈; 수신된 상기 다른 차량의 동기화 패킷을 분석하여 상기 차량의 운전자에 의해 기등록된 차량의 ID와 일치하는 ID가 포함된 동기화 패킷만을 선택하고, 선택된 동기화 패킷에 포함된 운행 정보를 근거로 상기 차량이 상기 다른 차량에 동기화되어 운행되도록 할 것인지 여부를 결정하는 동기화 패킷 판단모듈; 및 상기 동기화 패킷 판단모듈의 결정에 따라 상기 차량을 운행 또는 정지시키는 차량 운행 엑츄에이터를 포함한다.In order to achieve the above object, a vehicle synchronization apparatus according to an aspect of the present invention is installed in a vehicle and the device for performing inter-vehicle synchronization by packet transmission and reception with another vehicle is a V2V communication module for receiving the synchronization packet from the other vehicle ; Analyzing the received synchronization packet of the other vehicle to select only the synchronization packet containing the ID matching the ID of the vehicle previously registered by the driver of the vehicle, the vehicle based on the driving information contained in the selected synchronization packet A synchronization packet determination module for determining whether to operate in synchronization with the other vehicle; And a vehicle driving actuator for driving or stopping the vehicle according to the determination of the synchronization packet determination module.

본 발명의 다른 면에 따른 차량 동기화 방법은 차량에 설치되어 다른 차량과의 패킷 송수신으로 차량 간 동기화를 수행하는 방법은 상기 다른 차량으로부터 상기 패킷을 수신하는 단계; 수신된 상기 다른 차량의 패킷을 분석하여 상기 차량의 운전자에 의해 기등록된 차량의 ID와 일치하는 ID가 포함된 패킷만을 선택하고, 선택된 패킷에 포함된 운행 정보를 근거로 상기 차량이 상기 다른 차량에 동기화되어 운행되도록 할 것인지 여부를 결정하는 단계; 및 상기 차량의 운행 여부 결정에 따라 상기 차량을 운행 또는 정지하는 단계를 포함한다.According to another aspect of the present invention, a method for synchronizing a vehicle is provided in a vehicle, and the method for performing inter-vehicle synchronization through packet transmission and reception with another vehicle includes: receiving the packet from the other vehicle; Analyzing the received packet of the other vehicle to select only the packet containing the ID that matches the ID of the vehicle previously registered by the driver of the vehicle, the vehicle is the other vehicle based on the driving information contained in the selected packet Determining whether to operate in synchronization with; And driving or stopping the vehicle in accordance with determining whether the vehicle is driven.

본 발명에 따르면, 차량간 송수신 되는 패킷 정보를 근거로 운전자의 차량을 바로 앞 차량에 동기화시킴으로써, 줄지어 선 차량에서 발생하고 누적되는 프로파게이션 딜레이를 줄일 수 있어서 교통 체증을 매우 효과적으로 줄일 수 있고, 교통 체증 속에서 운전자가 직접 빈번하게 차량을 출발시키거나 정지시켜야 하는 수고스러움을 덜 수 있어서 운전자의 피로감을 현저히 줄일 수 있다.According to the present invention, by synchronizing the driver's vehicle to the vehicle in front of the vehicle based on packet information transmitted and received between vehicles, it is possible to reduce the propagation delay occurring in the line-up vehicle and accumulate the traffic congestion very effectively. In addition, the fatigue of the driver can be significantly reduced by reducing the trouble of having to start or stop the vehicle frequently frequently in a traffic jam.

도 1은 종래의 교통 체증 상황을 설명하기 위한 도면.
도 2는 본 발명의 일 실시예에 따른 차량 동기화 장치를 설명하기 위한 블럭도.
도 3 내지 도 7은 차량 동기화를 설명하기 위한 예시도.
도 8은 본 발명의 일 실시예에 따른 차량 동기화 방법을 설명하기 위한 흐름도.1 is a view for explaining a conventional traffic jam situation.
2 is a block diagram illustrating a vehicle synchronization device according to an embodiment of the present invention.
3 to 7 are exemplary diagrams for explaining vehicle synchronization.
8 is a flowchart illustrating a vehicle synchronization method according to an embodiment of the present invention.

본 발명의 이점 및 특징, 그리고 그것들을 달성하는 방법은 첨부되는 도면과 함께 상세하게 후술되어 있는 실시예들을 참조하면 명확해질 것이다. 그러나 본 발명은 이하에서 개시되는 실시예들에 한정되는 것이 아니라 서로 다른 다양한 형태로 구현될 것이며, 단지 본 실시예들은 본 발명의 개시가 완전하도록 하며, 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에게 발명의 범주를 용이하게 이해할 수 있도록 제공되는 것이며, 본 발명은 청구항의 기재에 의해 정의된다. 한편, 본 명세서에서 사용된 용어는 실시예들을 설명하기 위한 것이며 본 발명을 제한하고자 하는 것은 아니다. 본 명세서에서, 단수형은 문구에서 특별히 언급하지 않는 한 복수형도 포함한다. 명세서에서 사용되는 "포함한다(comprises)" 또는 "포함하는(comprising)"은 언급된 구성요소, 단계, 동작 및/또는 소자 이외의 하나 이상의 다른 구성요소, 단계, 동작 및/또는 소자의 존재 또는 추가를 배제하지 않는다.Advantages and features of the present invention, and methods of achieving the same will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. And is intended to enable a person skilled in the art to readily understand the scope of the invention, and the invention is defined by the claims. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. It is noted that " comprises, " or "comprising," as used herein, means the presence or absence of one or more other components, steps, operations, and / Do not exclude the addition.

이하, 도 2 내지 도 7을 참조하여 본 발명의 일 실시예에 따른 교통 체증을 최소화하기 위한 차량 동기화 장치를 설명한다. 도 2는 본 발명의 일 실시예에 따른 차량 동기화 장치를 설명하기 위한 블럭도이고, 도 3 내지 도 7은 차량 동기화를 설명하기 위한 예시도이다.Hereinafter, a vehicle synchronization apparatus for minimizing a traffic jam according to an embodiment of the present invention will be described with reference to FIGS. 2 to 7. 2 is a block diagram illustrating a vehicle synchronization apparatus according to an embodiment of the present invention, and FIGS. 3 to 7 are exemplary diagrams for describing vehicle synchronization.

도 2에 도시된 바와 같이, 본 발명의 차량 동기화 장치(100)는 V2V 통신모듈(110), 동기화 패킷 판단모듈(120) 및 차량 운행 엑츄에이터(130)를 포함한다.As shown in FIG. 2, the vehicle synchronization apparatus 100 of the present invention includes a V2V communication module 110, a synchronization packet determination module 120, and a vehicle driving actuator 130.

V2V 통신 모듈(110)은 차량간 패킷을 무선 통신으로 송수신하며, 어떠한 통신 규약이 적용되느냐에 따라 그에 적합한 주파수를 사용한다.The V2V communication module 110 transmits and receives a packet between vehicles by wireless communication, and uses a frequency suitable for the communication protocol applied thereto.

한편, 여러 통신 규약 중 DSRC, WAVE, WLAN 규약 등이 현재 차량용 통신 규약으로 많이 표준화되었거나 표준화가 진행 중이다. 특히 현재 미국 IEEE에서는 802.11p와 IEEE1609을 통합한 WAVE(wireless access in vehicular environments)를 차량용 무선인프라의 표준 규격으로 정하였고, 유럽에서도 이 규격을 따른다는 방침이어서 WAVE가 세계 표준 규격으로 확립될 가능성이 높다.On the other hand, DSRC, WAVE, WLAN protocols, etc. among the various communication protocols are currently standardized as a vehicle communication protocol or is in progress. In particular, the US IEEE has defined WAVE (wireless access in vehicular environments), which integrates 802.11p and IEEE1609, as a standard for vehicle wireless infrastructure, and it is likely that WAVE will be established as a global standard because it follows this standard in Europe. high.

따라서, 본 발명은 V2V 통신 모듈(110)에 WAVE 프로토콜을 적용시켜 WAVE에서 이용되고 있는 IEEE802.11p의 주파수 대역인 5.85GHz-5.925GHz에서 8.125MHz 폭의 멀티채널을 사용한다.Accordingly, the present invention applies the WAVE protocol to the V2V communication module 110 to use 8.125 MHz wide multichannel at 5.85 GHz-5.925 GHz, which is a frequency band of IEEE802.11p used in WAVE.

여기서 DSRC(Dedicated Short Range Communication)는 노변 통신장치와 차량통신장치 간 무선 고속패킷 통신 규약이고, WAVE(Wireless access in vehicular environment)는 IEEE802.11p와 IEEE609를 합친 무선통신 표준사양이며, WLAN(Wireless local area network)은 근거리 표준규격 IEEE 802.11a/b/g, 중거리 표준규격 IEEE 802.16d이다.Here, DSRC (Dedicated Short Range Communication) is a wireless high speed packet communication protocol between a roadside communication device and a vehicle communication device.WAVE (Wireless access in vehicular environment) is a wireless communication standard specification combining IEEE802.11p and IEEE609, and WLAN (Wireless local) The area network is a short-range standard IEEE 802.11a / b / g and a mid-range standard IEEE 802.16d.

동기화 패킷 판단모듈(120)은 수신된 패킷을 분석하고 분석된 정보를 바탕으로 앞뒤 차량이 동기화되어 움직이도록 결정을 내리며, 차량 간 교환되는 동기화 패킷구조는 도 3에 도시된 바와 같다.The synchronization packet determination module 120 analyzes the received packet and makes a decision to move the front and rear vehicles in synchronization based on the analyzed information, and the synchronization packet structure exchanged between the vehicles is shown in FIG. 3.

차량 운행 엑츄에이터(130)는 동기화 패킷 판단모듈(120)에서 결정된 정보를 바탕으로 차량의 엔진 엑츄에이터를 구동시킨다.The vehicle driving actuator 130 drives the engine actuator of the vehicle based on the information determined by the synchronization packet determination module 120.

이하에서 본 발명의 구성 및 동작의 세부사항을 보다 구체적으로 설명하면, 도 4에 도시된 바와 같이 차량 A, B, C가 정지상태에 있는 경우, 운전자의 조작에 따라 차량 동기화는 도 5에 도시된 바와 같이 설정될 수 있다. Hereinafter, the configuration and operation of the present invention will be described in more detail. As shown in FIG. 4, when the vehicles A, B, and C are in a stopped state, vehicle synchronization according to the driver's operation is shown in FIG. 5. Can be set as shown.

예컨대, 본 발명의 차량 동기화 장치(100)가 차량 A, B, C에 각각 설치되고, 차량 B 운전자가 차량 A의 운행에 자신의 차량(차량 B)을 동기화시키기 위해 차량 A의 ID(차량 A의 차량번호)를 입력(차량 B에 장착된 AVN 터치 스크린 등을 통해 차량 A의 ID를 입력)하여 차량 A가 동기화 차량으로 등록되면, 차량 B에 설치된 차량 동기화 장치(100)의 V2V 통신 모듈(110)은 패킷을 수신하여 동기화 패킷 판단모듈(120)에 전달한다. 동기화 패킷 판단모듈(120)은 전달된 패킷 중에서 등록된 차량 A의 ID와 일치하는 패킷만을 분석한다. 즉, 동기화 패킷 판단모듈(120)은 전달된 다양한 패킷 중 등록된 차량 A의 ID와 일치하는 ID가 포함된 패킷만을 분석하여 선택하고 그렇지 않은 패킷은 버린다. For example, the vehicle synchronization device 100 of the present invention is installed in vehicles A, B, and C, respectively, and a vehicle B driver (vehicle A) is used to synchronize his vehicle (vehicle B) with the operation of vehicle A. Vehicle number) (if the vehicle A is registered as a synchronization vehicle by inputting the ID of the vehicle A through an AVN touch screen or the like mounted on the vehicle B), the V2V communication module of the vehicle synchronization device 100 installed in the vehicle B ( 110 receives the packet and delivers it to the synchronization packet determination module 120. The synchronization packet determination module 120 analyzes only packets that match the ID of the registered vehicle A among the transmitted packets. That is, the synchronization packet determination module 120 analyzes and selects only the packet including the ID that matches the ID of the registered vehicle A among various transmitted packets, and discards the packet that does not.

마찬가지로 차량 C 운전자가 차량 B의 ID(차량 B의 차량번호)를 입력하여 차량 B가 동기화 차량으로 등록되면, 차량 C에 설치된 차량 동기화 장치(100)의 V2V 통신 모듈(110)은 패킷을 수신하여 동기화 패킷 판단모듈(120)에 전달하고, 동기화 패킷 판단모듈(120)은 전달된 패킷 중 차량 B로부터 전송된 패킷만을 읽어들인다. Similarly, when the vehicle C driver inputs the ID of the vehicle B (the vehicle number of the vehicle B) and the vehicle B is registered as the synchronization vehicle, the V2V communication module 110 of the vehicle synchronization device 100 installed in the vehicle C receives the packet. The synchronization packet determination module 120 transmits the synchronization packet determination module 120, and the synchronization packet determination module 120 reads only the packet transmitted from the vehicle B.

신호등이 변경되어, 도 6에 도시된 바와 같이 정지 상태에 있던 차량 A가 움직이면, 차량 A에 설치된 차량 동기화 장치(100)의 동기화 패킷 판단모듈(120)은 차량 A의 동기화 패킷을 다른 차량에 전송할 것을 결정하고, V2V 통신 모듈(110)은 동기화 패킷 판단모듈(120)의 결정에 따라 차량 A의 동기화 패킷을 다른 차량에 전송한다. 예컨대, 동기화 패킷 판단모듈(120)은 신호등 변경 후 차량 A의 움직임과 동시에 차량 A의 동기화 패킷을 다른 차량, 즉 차량 A의 후방에 위치한 차량인 차량 B, 차량 C로 전송할 것을 결정하고, V2V 통신 모듈(110)은 동기화 패킷 판단모듈(120)의 결정에 따라 표 1과 같이 일정한 주기(예를 들어 50ms)로 차량 A의 동기화 패킷을 전송한다.
When the traffic light is changed and the vehicle A in the stopped state as shown in FIG. 6 moves, the synchronization packet determination module 120 of the vehicle synchronization device 100 installed in the vehicle A transmits the synchronization packet of the vehicle A to another vehicle. The V2V communication module 110 transmits the synchronization packet of the vehicle A to another vehicle according to the determination of the synchronization packet determination module 120. For example, the synchronization packet determination module 120 determines to transmit the synchronization packet of the vehicle A to another vehicle, that is, the vehicle B and the vehicle C which are located behind the vehicle A, at the same time as the movement of the vehicle A after the traffic light change, and the V2V communication. The module 110 transmits the synchronization packet of the vehicle A at a predetermined period (for example, 50 ms) as shown in Table 1 according to the determination of the synchronization packet determination module 120.

전송주기  transmission frequency 시작 헤더 Start header 차량 ID(번호)Vehicle ID (number) 운행 or 정지Run or stop 속도   speed 종료   End 0ms      0 ms 시작     start 차량 A의 IDID of vehicle A 운행    race 1m/s   1 m / s 종료   End 50ms     50 ms 시작     start 차량 A의 IDID of vehicle A 운행    race 2m/s   2 m / s 종료   End 100ms    100ms 시작     start 차량 A의 IDID of vehicle A 운행    race 3m/s   3 m / s 종료   End 150ms    150 ms 시작     start 차량 A의 IDID of vehicle A 운행    race 4m/s   4 m / s 종료   End 200ms    200 ms 시작     start 차량 A의 IDID of vehicle A 운행    race 5m/s   5 m / s 종료   End

차량 B에 설치된 차량 동기화 장치(100)의 V2V 통신 모듈(110)은 다른 차량(차량 A)의 동기화 패킷을 수신하여 동기화 패킷 판단모듈(120)에 전달하고, 동기화 패킷 판단모듈(120)은 등록된 차량 A의 ID를 근거로 패킷 중 등록된 차량 A의 ID와 일치하는 패킷만을 분석하여 차량 운행 여부를 결정한다. 예컨대, 동기화 패킷 판단모듈(120)은 전송주기가 0ms인 차량 A로부터 전송된 동기화 피캣을 분석하고, 분석된 차량 A의 운행 정보를 근거로 차량 B의 운행을 결정한다.The V2V communication module 110 of the vehicle synchronization device 100 installed in the vehicle B receives a synchronization packet of another vehicle (vehicle A) and transmits it to the synchronization packet determination module 120, and the synchronization packet determination module 120 registers. Based on the ID of the vehicle A, only the packets matching the ID of the registered vehicle A are analyzed to determine whether the vehicle is running. For example, the synchronization packet determination module 120 analyzes a synchronization pict transmitted from the vehicle A having a transmission period of 0 ms, and determines the operation of the vehicle B based on the analyzed driving information of the vehicle A.

차량 운행 엑츄에이터(130)는 동기화 패킷 판단모듈(120)의 결정에 따라 차량 B를 1m/s로 동작시킨다.The vehicle driving actuator 130 operates the vehicle B at 1 m / s according to the determination of the synchronization packet determination module 120.

차량 A와 마찬가지로 정지 상태에 있던 차량 B가 움직이기 시작하면, 동기화 패킷 판단모듈(120)은 차량 B의 동기화 패킷을 다른 차량, 즉 차량 B의 후방에 위치한 차량인 차량 C로 전송할 것을 결정하고, V2V 통신 모듈(110)은 동기화 패킷 판단모듈(120)의 결정에 따라 차량 B의 동기화 패킷을 전송한다. When the vehicle B, which is in the stopped state like the vehicle A, starts to move, the synchronization packet determination module 120 determines to transmit the synchronization packet of the vehicle B to another vehicle, that is, the vehicle C that is located behind the vehicle B, The V2V communication module 110 transmits the synchronization packet of the vehicle B according to the determination of the synchronization packet determination module 120.

차량 C에 설치된 차량 동기화 장치(100)의 V2V 통신 모듈(110)은 다른 차량(차량 B)의 동기화 패킷을 수신하여 동기화 패킷 판단모듈(120)에 전달하고, 동기화 패킷 판단모듈(120)은 등록된 차량 B의 ID를 근거로 전달된 패킷 중 등록된 차량 B의 ID와 일치하는 패킷만을 분석하여 차량 운행을 결정하며, 차량 운행 엑츄에이터(130)는 동기화 패킷 판단모듈(120)의 결정에 따라 차량 C를 동작시킨다.The V2V communication module 110 of the vehicle synchronization device 100 installed in the vehicle C receives a synchronization packet of another vehicle (vehicle B) and transmits it to the synchronization packet determination module 120, and the synchronization packet determination module 120 registers. The vehicle operation is determined by analyzing only packets that match the ID of the registered vehicle B among the packets transmitted based on the ID of the received vehicle B, and the vehicle driving actuator 130 determines the vehicle according to the determination of the synchronization packet determination module 120. Run C

전술한 바처럼 본 발명은 교통 체증 속에서 운전자가 직접 빈번하게 차량을 출발시키거나 정지시켜야 하는 수고스러움을 덜어줄 수 있고, 도 7에 도시된 바와 같이, 기차나 지하철의 연결 칸들이 동시에 출발해서 동시에 멈추듯, Propagation Delay가 최소화된 차량 A, B, C가 바로 앞차의 움직임에 따라 출발하고 멈출 수 있어서 운전자의 피로감을 현저히 줄일 수 있다.As described above, the present invention can alleviate the trouble of the driver having to start or stop the vehicle frequently in a traffic jam, and as shown in FIG. At the same time, vehicles A, B, and C, which have minimized propagation delay, can start and stop immediately following the movement of the vehicle, significantly reducing driver fatigue.

이상, 도 2 내지 도 7을 참조하여 본 발명의 일 실시예에 따른 교통 체증을 최소화하기 위한 차량 동기화 장치를 설명하였고, 이하에서는 도 8을 참조하여 본 발명의 일 실시예에 따른 차량 동기화 방법을 설명한다. 도 8은 본 발명의 일 실시예에 따른 차량 동기화 방법을 설명하기 위한 흐름도이다.The vehicle synchronization apparatus for minimizing the traffic jam according to an embodiment of the present invention has been described above with reference to FIGS. 2 to 7. Hereinafter, the vehicle synchronization method according to an embodiment of the present invention will be described with reference to FIG. 8. Explain. 8 is a flowchart illustrating a vehicle synchronization method according to an embodiment of the present invention.

도 8에 도시된 바와 같이, 패킷 수신을 대기하고(S800), 패킷이 수신되면, 수신된 패킷을 분석하여 패킷에 포함된 ID와 사용자에 의해 등록된 차량의 ID가 일치하는지 여부를 판단한다(S801).As shown in FIG. 8, when the packet is received (S800), when the packet is received, the received packet is analyzed to determine whether the ID included in the packet matches the ID of the vehicle registered by the user ( S801).

판단결과, ID가 서로 일치하지 않으면, 계속해서 패킷 수신을 대기하고, 판단결과, ID가 서로 일치하면, 패킷에 포함된 차량의 동작 정보가 운행인지 정지인지 여부를 판단한다(S802).As a result of the determination, if the IDs do not coincide with each other, the apparatus continuously waits for packet reception, and if the IDs match with each other, it is determined whether the operation information of the vehicle included in the packet is running or stopping (S802).

판단결과, 차량의 동작 정보가 정지이면, 차량이 계속 정지 상태에 머물러 있도록 결정하며(S803), 판단결과, 차량의 동작 정보가 운행이면, 패킷에 포함된 차량의 속도 정보를 확인하고(S804), 확인된 속도로 차량이 운행하도록 결정한다(S805).If it is determined that the operation information of the vehicle is stopped, the vehicle is determined to remain in the stopped state (S803). If it is determined that the operation information of the vehicle is running, the speed information of the vehicle included in the packet is checked (S804). In operation S805, the vehicle is determined to operate at the identified speed.

이상 바람직한 실시예와 첨부도면을 참조하여 본 발명의 구성에 관해 구체적으로 설명하였으나, 이는 예시에 불과한 것으로 본 발명의 기술적 사상을 벗어나지 않는 범주내에서 여러 가지 변형이 가능함은 물론이다. 그러므로 본 발명의 범위는 설명된 실시예에 국한되어 정해져서는 안되며 후술하는 특허청구의 범위뿐만 아니라 이 특허청구의 범위와 균등한 것들에 의해 정해져야 한다.
Although the configuration of the present invention has been described in detail with reference to the preferred embodiments and the accompanying drawings, this is only an example, and various modifications are possible within the scope without departing from the spirit of the present invention. Therefore, the scope of the present invention should not be limited by the illustrated embodiments, but should be determined by the scope of the appended claims and equivalents thereof.

110 : V2V 통신모듈 120 : 동기화 패킷 판단모듈
130 : 차량 운행 엑츄에이터110: V2V communication module 120: synchronization packet determination module
130: vehicle driving actuator

Claims (5)

차량에 설치되어 다른 차량과의 동기화 패킷 송수신으로 차량 간 동기화를 수행하는 장치에 있어서,
상기 다른 차량으로부터 상기 동기화 패킷을 수신하는 V2V 통신모듈;
수신된 상기 다른 차량의 동기화 패킷을 분석하여 상기 차량의 운전자에 의해 기등록된 차량의 ID와 일치하는 ID가 포함된 동기화 패킷만을 선택하고, 선택된 동기화 패킷에 포함된 운행 정보를 근거로 상기 차량이 상기 다른 차량에 동기화되어 운행되도록 할 것인지 여부를 결정하는 동기화 패킷 판단모듈; 및
상기 동기화 패킷 판단모듈의 결정에 따라 상기 차량을 운행 또는 정지시키는 차량 운행 엑츄에이터
를 포함하는 차량 동기화 장치.An apparatus installed in a vehicle and performing synchronization between vehicles by transmitting and receiving a synchronization packet with another vehicle,
A V2V communication module for receiving the synchronization packet from the other vehicle;
Analyzing the received synchronization packet of the other vehicle to select only the synchronization packet containing the ID matching the ID of the vehicle previously registered by the driver of the vehicle, the vehicle based on the driving information contained in the selected synchronization packet A synchronization packet determination module for determining whether to operate in synchronization with the other vehicle; And
Vehicle driving actuator for driving or stopping the vehicle according to the determination of the synchronization packet determination module
Vehicle synchronization device comprising a. 제1항에 있어서,
상기 동기화 패킷 판단모듈은 상기 차량이 운행할 경우, 상기 차량의 패킷을 다른 차량에 전송할 것으로 결정하고,
상기 V2V 통신모듈은 상기 동기화 패킷 판단모듈의 전송 결정에 따라 상기 차량의 패킷을 다른 차량에 전송하는 것
인 차량 동기화 장치.The method of claim 1,
The synchronization packet determination module determines that the packet of the vehicle is to be transmitted to another vehicle when the vehicle operates.
The V2V communication module transmits the packet of the vehicle to another vehicle according to the transmission decision of the synchronization packet determination module.
Vehicle synchronization device. 제1항에 있어서,
상기 차량 운행 엑츄에이터는 상기 선택된 패킷에 포함된 속도 정보를 근거로 상기 차량이 상기 속도 정보와 동일한 속도로 운행되도록 상기 차량의 엔진 엑츄에이터를 제어하는 것
인 차량 동기화 장치.The method of claim 1,
The vehicle driving actuator controls the engine actuator of the vehicle such that the vehicle runs at the same speed as the speed information based on the speed information included in the selected packet.
Vehicle synchronization device. 차량에 설치되어 다른 차량과의 패킷 송수신으로 차량 간 동기화를 수행하는 방법에 있어서,
상기 다른 차량으로부터 상기 패킷을 수신하는 단계;
수신된 상기 다른 차량의 패킷을 분석하여 상기 차량의 운전자에 의해 기등록된 차량의 ID와 일치하는 ID가 포함된 패킷만을 선택하고, 선택된 패킷에 포함된 운행 정보를 근거로 상기 차량이 상기 다른 차량에 동기화되어 운행되도록 할 것인지 여부를 결정하는 단계; 및
상기 차량의 운행 여부 결정에 따라 상기 차량을 운행 또는 정지하는 단계
를 포함하는 차량 동기화 방법.In the vehicle is installed in a vehicle to perform the transmission and reception of the packet to another vehicle to perform the synchronization between vehicles,
Receiving the packet from the other vehicle;
Analyzing the received packet of the other vehicle to select only the packet containing the ID that matches the ID of the vehicle previously registered by the driver of the vehicle, the vehicle is the other vehicle based on the driving information contained in the selected packet Determining whether to operate in synchronization with; And
Driving or stopping the vehicle in accordance with determining whether the vehicle is driven
Vehicle synchronization method comprising a. 제4항에 있어서,
상기 차량이 운행할 경우, 상기 차량의 패킷을 다른 차량에 전송할 것으로 결정하는 단계; 및
전송 결정에 따라 상기 차량의 패킷을 다른 차량에 전송하는 단계
를 더 포함하는 차량 동기화 방법.5. The method of claim 4,
When the vehicle is in operation, determining to transmit a packet of the vehicle to another vehicle; And
Transmitting the packet of the vehicle to another vehicle according to the transmission decision
Vehicle synchronization method further comprising.
KR1020110041511A 2011-05-02 2011-05-02 Apparatus And Method Doing Vehicle Synchronization KR20120123900A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020110041511A KR20120123900A (en) 2011-05-02 2011-05-02 Apparatus And Method Doing Vehicle Synchronization

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020110041511A KR20120123900A (en) 2011-05-02 2011-05-02 Apparatus And Method Doing Vehicle Synchronization

Publications (1)

Publication Number Publication Date
KR20120123900A true KR20120123900A (en) 2012-11-12

Family

ID=47509431

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020110041511A KR20120123900A (en) 2011-05-02 2011-05-02 Apparatus And Method Doing Vehicle Synchronization

Country Status (1)

Country Link
KR (1) KR20120123900A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107257757A (en) * 2015-02-26 2017-10-17 沃尔沃卡车集团 The method of spacing between control vehicle
WO2019205724A1 (en) * 2018-04-28 2019-10-31 华为技术有限公司 Method for realizing radar-communication integration of vehicle, and related device and system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107257757A (en) * 2015-02-26 2017-10-17 沃尔沃卡车集团 The method of spacing between control vehicle
WO2019205724A1 (en) * 2018-04-28 2019-10-31 华为技术有限公司 Method for realizing radar-communication integration of vehicle, and related device and system
JP2021517236A (en) * 2018-04-28 2021-07-15 ホアウェイ・テクノロジーズ・カンパニー・リミテッド How to implement vehicle radar communication integration, related devices, and systems
US11892554B2 (en) 2018-04-28 2024-02-06 Huawei Technologies Co., Ltd. Method for implementing radar-communication integration of vehicle, related device, and system

Similar Documents

Publication Publication Date Title
KR102241296B1 (en) Method and apparatus for data sharing using mec server in autonomous driving system
KR102195935B1 (en) Driving mode and path determinaion method and system of autonomous vehicle
Sommer et al. Vehicular networking
Balador et al. A survey on vehicular communication for cooperative truck platooning application
US9142124B2 (en) Vehicle-mounted communication device and navigation device equipped with this vehicle-mounted communication device, communication device for pedestrians and navigation device equipped with this communication device for pedestrians, and pedestrian-to-vehicle communication system
CN103873177B (en) Secure messaging methods based on In-vehicle networking
KR20190106847A (en) Method and apparatus for determining an error of a vehicle in autonomous driving system
JP2008205817A (en) Road-vehicle and intervehicle communication system, communication method and communication control program thereof
JP2010259089A (en) Inter-node communication method, and apparatus for the same
JP2014131236A (en) Vehicle communication system, on-vehicle apparatus, program, and communication method
CN103220814A (en) Method and equipment avoiding resource collision
US20220393810A1 (en) Resource Configuration Method and Apparatus
KR20120123900A (en) Apparatus And Method Doing Vehicle Synchronization
US10536821B2 (en) Communication device
JP5729263B2 (en) Information distribution system, distribution device, and terminal device
JP2013197831A (en) Radio communication device
US9985900B2 (en) Method and system for determining a number of vehicle-to-X messages to be discarded
Magalhães et al. Video-assisted overtaking system enabled by C-V2X mode 4 communications
KR20130048644A (en) Apparatus and method for dealing with service data using wave wsm
KR102560887B1 (en) Method for displaying ar navigation screen, and ar navigation system
CN110049466B (en) Multi-IP communication method based on traffic flow heterogeneity
Miao et al. Implementation and demonstration of WAVE networking services for intelligent transportation systems
CN108476469B (en) Data transmission method and device
KR101012858B1 (en) Apparatus for performing vehicle communication and method for performing high speed multihop transmssion in the same
CN105900507B (en) A kind of resource allocation device and method

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E601 Decision to refuse application