KR20210036565A - Method for controlling platooning - Google Patents

Abstract

The method includes: a group arrangement setting step of setting, by a leader vehicle belonging to platooning, an arrangement of each of the platooning vehicles based on whether the presence or absence of drivers in one or more platooning vehicles belonging to the platooning; a profile prediction step of predicting a profile of a speed change which occurs during emergency braking from a current speed of each platooning vehicle in order to calculate a stopping distance for each platooning vehicle, during an emergency braking; and a platooning step in which each platooning vehicle calculates a safety distance between each platooning vehicle during the emergency braking based on the predicted profile, maintains the calculated safe distance, and performs platooning. According to the present invention, a collision can be effectively prevented in an emergency situation requiring the emergency braking by reflecting specifications such as the height, weight, and number of occupants of the vehicle to control platooning.

Description

Cluster driving control method {METHOD FOR CONTROLLING PLATOONING}

The present invention relates to a cluster driving control method, and more particularly, to a cluster driving control method reflecting the specifications of the cluster vehicle.

In general, cluster driving refers to driving on a road while a plurality of vehicles grouped into a group share driving information with each other and consider an external environment.

One cluster includes a leader vehicle and a follower vehicle. The leader vehicle is a vehicle that leads the cluster at the top of the cluster, and the follower vehicle is a vehicle that follows the leader vehicle.

The group follower vehicle may maintain tracking of the leader vehicle using driving information (eg, GPS coordinates, speed, route, direction, brake step information) of the leader vehicle transmitted through an inter-vehicle communication method. Accordingly, the driver of the follower vehicle can freely perform other actions (eg, smartphone operation, sleeping) other than driving indoors. The driver's convenience may be increased and transportation efficiency may be increased by such cluster driving.

On the other hand, there is a problem in that it is difficult to effectively cope with an emergency situation requiring emergency braking because vehicle specifications are not reflected in the cluster driving control during the conventional cluster driving. For example, if the height of the vehicle is not reflected in the cluster driving control, it may be difficult to secure the driver's vision in the cluster vehicle, and thus, it may be difficult for the driver to quickly respond in an emergency situation. In addition, when the weight of the vehicle is not reflected in the cluster driving control, there may be a problem in that a vehicle having a large weight is located at the rear of the cluster vehicle arrangement, thereby increasing the safety distance.

The background technology of the present invention is disclosed in'vehicle and its control method' of Korean Patent Laid-Open Publication No. 10-2017-0016177 (2017.02.13.).

The present invention was invented to solve the above-described problem, and an object according to an aspect of the present invention is a cluster driving control method that enables effective coping in an emergency braking situation by reflecting the specifications of a cluster driving vehicle during cluster driving control. Is to provide.

In the cluster driving control method according to an aspect of the present invention, a cluster arrangement setting step in which a leader vehicle belonging to a driving cluster sets an arrangement of each driving cluster vehicle based on the presence or absence of a driver in one or more driving cluster vehicles belonging to the driving cluster. , A profile prediction step of predicting a profile of a speed change occurring during emergency braking from a current speed of each of the driving cluster vehicles in order to calculate a stopping distance during emergency braking, and each of the driving cluster vehicles And a cluster driving step of calculating a safety distance between the driving cluster vehicles during emergency braking based on the predicted profile, maintaining the calculated safety distance and driving in clusters.

In the present invention, in the cluster arrangement setting step, when it is determined that the driver is present in the driving cluster vehicle, the leader vehicle sets the arrangement of the driving cluster vehicles in a manned cluster arrangement that is advantageous for securing the driver's visibility. It is characterized by that.

In the present invention, in the cluster arrangement setting step, the leader vehicle is manned based on the height of each driving cluster vehicle, the weight of each driving cluster vehicle including the weight of the occupant, and the braking performance of each driving cluster vehicle. It is characterized in that the order of cluster arrangement is determined.

을 계산하고, 상기 계산된 스코어가 가장 작은 주행 군집 차량부터 순서대로 전방에 배열하는 것을 특징으로 한다(상기 수학식에서 score는 스코어,

는 h에 대한 가중치,

는 w에 대한 가중치,

은 b에 대한 가중치, h는 군집 차량의 높이에 대한 랭크값, w는 군집 차량의 무게에 대한 랭크값, b는 군집 차량의 제동성능에 대한 랭크값이다).In the cluster arrangement setting step in the present invention, the leader vehicle is an equation for each driving cluster vehicle.

Is calculated, and the calculated score is arranged in order from the smallest driving cluster vehicle to the front (in the above equation, the score is the score,

Is the weight for h,

Is the weight for w,

Is the weight for b, h is the rank value for the height of the cluster vehicle, w is the rank value for the weight of the cluster vehicle, and b is the rank value for the braking performance of the cluster vehicle).

In the present invention, in the cluster arrangement setting step, when it is determined that the driver does not exist in the driving cluster vehicle, the leader vehicle is an unmanned cluster arrangement for minimizing the safety distance between the driving cluster vehicles. It is characterized in that the arrangement of the vehicle is set.

In the present invention, in the cluster arrangement setting step, the leader vehicle determines the order of the unmanned cluster arrangement based on the weight of each driving cluster vehicle including the weight of the occupant and the braking performance of each driving cluster vehicle. It is characterized.

을 계산하고, 상기 계산된 스코어가 가장 작은 주행 군집 차량부터 순서대로 전방에 배열하는 것을 특징으로 한다(상기 수학식에서 score는 스코어,

는 w에 대한 가중치,

은 b에 대한 가중치, w는 군집 차량의 무게에 대한 랭크값, b는 군집 차량의 제동성능에 대한 랭크값이다).In the cluster arrangement setting step in the present invention, the leader vehicle is an equation for each driving cluster vehicle.

Is calculated, and the calculated score is arranged in order from the smallest driving cluster vehicle to the front (in the above equation, the score is the score,

Is the weight for w,

Is the weight for b, w is the rank value for the weight of the cluster vehicle, and b is the rank value for the braking performance of the cluster vehicle).

In the profile prediction step in the present invention, each driving cluster vehicle calculates a profile for a speed change occurring during emergency braking at the current speed of each driving cluster vehicle in consideration of the weight and braking performance of each driving cluster vehicle. It is characterized by predicting.

In the profile prediction step of the present invention, each of the driving cluster vehicles may consider tire information, brake information, and wear degree information of brake pads of each of the driving cluster vehicles as the braking performance.

In the cluster driving step in the present invention, the driving cluster vehicle is an emergency vehicle calculated from a stopping distance during emergency braking of the preceding cluster vehicle calculated from a profile received from a preceding cluster vehicle and an emergency calculated from the profile of the corresponding driving cluster vehicle. It is characterized in that the safety distance during emergency braking is calculated based on the stopping distance during braking.

According to an aspect of the present invention, the present invention controls cluster driving by reflecting specifications such as height, weight, and number of passengers of a vehicle, thereby effectively preventing a collision in an emergency situation requiring emergency braking.

1 is a block diagram of a cluster driving control apparatus mounted on a cluster vehicle to perform a cluster driving control method according to an embodiment of the present invention.
2 is a block diagram of a traveling module of the cluster traveling control apparatus according to an embodiment of the present invention.
3 is a flowchart illustrating a cluster driving control method according to an embodiment of the present invention.
4 is a graph for explaining a profile in a cluster driving control method according to an embodiment of the present invention.
5 is an exemplary view illustrating a process of calculating a safety distance in a cluster driving control method according to an embodiment of the present invention.

Hereinafter, a cluster driving control method according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this process, thicknesses of lines or sizes of components shown in the drawings may be exaggerated for clarity and convenience of description. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of users or operators. Therefore, definitions of these terms should be made based on the contents throughout the present specification.

1 is a block diagram of a cluster driving control apparatus mounted on a cluster vehicle to perform a cluster driving control method according to an embodiment of the present invention, and FIG. 2 is a block diagram of a cluster driving control apparatus according to an embodiment of the present invention. It is a block diagram of the driving module.

1 and 2, a cluster driving control device mounted on a cluster vehicle in order to perform a cluster driving control 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 cluster vehicles belonging to a driving cluster or between cluster vehicles and a server. The communication unit 100 includes WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access). ), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), and Long Term Evolution-Advanced (LTE-A). Information can be transmitted and received between vehicles or between clustered vehicles and servers.

In addition, the communication unit 100 may perform short-range communication between cluster vehicles belonging to the driving cluster. That is, since the cluster vehicles in cluster driving are driven while maintaining close ranges with each other, the communication unit 100 may transmit and receive various types of information between the cluster vehicles through short-range wireless communication. In this case, the communication unit 100 includes Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, Near Field Communication (NFC), and Wireless-Fi (Wi-Fi). Fidelity), Wi-Fi Direct, Wireless USB (Wireless Universal Serial Bus), etc., allows various types of information to be transmitted and received between clustered vehicles.

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

The driving module 400 may drive a cluster vehicle based on a driver's manipulation or autonomous driving function.

Referring to FIG. 2, the driving module 400 includes an operation unit 410 that receives a driver's manipulation, a sensing unit 430 that detects a driving state of a cluster vehicle and a surrounding situation, and a driving unit 450 that drives the cluster vehicle. ) Can be included.

The manipulation unit 410 may receive a driver's manipulation for driving a cluster vehicle. The operation unit 410 includes a steering wheel that receives a steering command for steering a cluster vehicle from a driver, a gear input unit that receives a gear operation of a cluster vehicle, an accelerator pedal that receives an acceleration command from the driver, and a deceleration command from the driver. A brake pedal or the like may be included.

The sensing unit 430 may detect a driving state and a surrounding situation of the cluster vehicle. The sensing unit 430 that detects the driving state of the clustered vehicle includes a collision sensor, a steering sensor, a speed sensor, an inclination sensor, a weight detection sensor, a seat pressure sensor, a heading sensor, a yaw sensor, a gyro sensor, a position module sensor, and a vehicle advance/ Reverse sensor, battery sensor, fuel sensor, tire sensor, brake sensor, steering sensor by steering wheel rotation, vehicle interior temperature sensor, vehicle interior humidity sensor, etc. can be included.Based on these, vehicle collision information, vehicle direction information, vehicle angle information , Vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward/reverse information, battery information, fuel information, tire information, brake information, vehicle ramp information, vehicle internal temperature information, vehicle internal humidity information, vehicle occupant information, It is possible to obtain the steering wheel rotation angle, etc.

The sensing unit 430 for detecting the surrounding situation of the cluster vehicle may include at least one of a camera, an ultrasonic sensor, an infrared sensor, a radar, and a lidar. It is possible to obtain information about the surrounding situation. For example, the surrounding situation information may include information on the location of the obstacle, the number of obstacles, the distance to the obstacle, the size of the obstacle, the type of the obstacle, surrounding vehicles, surrounding facilities, traffic safety signs, and the like.

In particular, the camera is an external camera that acquires information on at least one of traffic lights, traffic signs, pedestrians, surrounding vehicles, and road surfaces by photographing images around clustered vehicles, and to determine the presence or absence of a driver by photographing the inside of each cluster vehicle. It may include an internal camera.

The driving unit 450 may control operations of various vehicle devices. The driving unit 450 includes a driving unit such as an engine or transmission for driving a cluster vehicle, a steering unit for steering a cluster vehicle, a brake unit for stopping the cluster vehicle, and a lamp driving unit for guiding the driving state or driving direction of the cluster vehicle. I can.

On the other hand, the driving module 400 is provided as an example. In addition to the operation unit 410, the sensing unit 430, and the driving unit 450, the driving module 400 includes various systems if related to the driving of a cluster vehicle. And a device may be further included.

The controller 300 may perform cluster driving of the cluster vehicle by controlling the driving module 400 according to cluster driving information input from the communication unit 100 and user input information input from the user interface unit 200. Movement of the cluster vehicle described below is performed by controlling the driving module 400 of each cluster vehicle by the controller 300 mounted on each cluster vehicle, and the control operation of the leader vehicle described below is also mounted on the leader vehicle The control unit 300 is performed in a manner that transmits a control command to each cluster vehicle.

Based on the above-described configuration, the following describes a cluster driving control method according to an embodiment of the present invention.

3 is a flowchart for explaining a cluster driving control method according to an embodiment of the present invention, FIG. 4 is a graph for explaining a profile in a cluster driving control method according to an embodiment of the present invention, and FIG. It is an exemplary diagram for explaining a process of calculating a safety distance in the cluster driving control method according to an embodiment of the present invention.

3, the cluster driving control method according to an embodiment of the present invention includes a driver presence/absence determination step (S100), a cluster arrangement setting step (S200), a profile prediction step (S300), and a cluster driving step (S400). Can include.

In the driver presence/absence determination step S100, the leader vehicle belonging to the driving cluster may determine the presence or absence of a driver in the driving cluster vehicle. For example, the leader vehicle may determine the presence or absence of a driver inside each driving cluster vehicle in such a way that the sensing unit 430 mounted on each driving cluster vehicle receives a result of sensing whether a driver exists in each driving cluster vehicle.

In the cluster arrangement setting step S200, the leader vehicle may set the arrangement of each driving cluster vehicle based on the presence or absence of drivers in one or more driving cluster vehicles belonging to the driving cluster.

For example, when it is determined that the driver exists in the driving cluster vehicle (S100), the leader vehicle may set the arrangement of the driving cluster vehicles as a manned cluster arrangement that is advantageous for securing the driver's vision (S210).

In this case, the leader vehicle may determine the order of the manned cluster arrangement based on the height of each driving cluster vehicle, the weight of each cluster vehicle including the weight of the occupant, and the braking performance of each driving cluster vehicle.

Specifically, the leader vehicle is the height, total weight (i.e., the weight of the vehicle, the weight of the occupant, and the weight including the weight of luggage) of each driving cluster vehicle through the sensing unit 430 mounted on each driving cluster vehicle. Performance information is obtained, and the scores of each driving cluster vehicle are calculated by applying the obtained information to Equation 1, and the calculated scores may be arranged in order from the smallest driving cluster vehicle to the front.

In Equation 1, h is a rank value according to the height of each driving cluster vehicle, and may be set with reference to a table set to have a larger rank value as the height of the driving cluster vehicle increases. w is a rank value according to the total weight of the driving cluster vehicle, and may be set with reference to a preset table to have a lower rank value as the total weight of the driving cluster vehicle increases. b is an index indicating the braking performance of the traveling cluster vehicle, and when the acceleration of the traveling cluster vehicle is decelerating to a target acceleration set according to the deceleration command of the controller 300, it takes from the current acceleration of the traveling cluster vehicle to reach the target acceleration. This is the rank value over time. In this case, b may be set with reference to a preset table to have a lower rank value as the time it takes for the driving cluster vehicle to reach the target acceleration increases.

는 h에 대한 가중치이고,

는 w에 대한 가중치이며,

은 b에 대한 가중치이다.

는 주행 군집 차량의 높이에 따른 운전자의 시야확보 상태를 고려하여 미리 설정될 수 있다. 또한,

및

은 주행 군집 차량의 긴급제동 시 제동거리에 영향을 주는 정도를 반영하여 미리 설정될 수 있다. 예를 들어, 군집 차량의 무게가 군집 차량의 제동성능보다 제동거리에 영향을 주는 정도가 큰 경우, 군집 차량의 무게에 대한 가중치(

)는 군집 차량의 제동성능에 대한 가중치(

)보다 높은 값으로 미리 설정될 수 있다.Meanwhile,

Is the weight for h,

Is the weight for w,

Is the weight for b.

May be set in advance in consideration of the driver's visibility state according to the height of the driving cluster vehicle. Also,

And

May be set in advance by reflecting the degree of influence on the braking distance during emergency braking of the traveling cluster vehicle. For example, if the weight of the cluster vehicle has a greater effect on the braking distance than the braking performance of the cluster vehicle, the weight for the weight of the cluster vehicle (

) Is the weight (

) Can be preset to a higher value.

)는 주행 군집 차량에 탑승한 운전자의 시야확보를 위해 다른 가중치(

,

)보다 높게 설정될 수 있다.On the other hand, the weight for the height of the driving cluster vehicle (

) Is a different weight (

,

) Can be set higher.

의 크기가

보다 큰 값으로 설정될 수 있고,

의 크기가

보다 큰 값으로 설정될 수 있다. 이에 따라, 주행 군집 차량의 높이가 스코어에 가장 큰 영향을 주게 된다. 차량의 높이가 높은 주행 군집 차량일수록 높은 스코어를 갖게 되어 후방에 배치될 가능성이 높아지고, 차량의 높이가 높은 주행 군집 차량이 후방에 배치될수록 주행 군집 차량에 탑승한 운전자의 시야확보를 효율적으로 수행할 수 있다. E.g,

The size of

Can be set to a larger value,

The size of

It can be set to a larger value. Accordingly, the height of the driving cluster vehicle has the greatest influence on the score. A driving cluster vehicle with a higher vehicle height has a higher score and is more likely to be deployed in the rear, and as a driving cluster vehicle with a higher vehicle height is placed in the rear, it is more efficient to secure the visibility of the driver in the driving cluster vehicle. I can.

가

보다 큰 값으로 설정됨에 따라, 차량의 총 무게가 무거운 주행 군집 차량일수록 낮은 스코어를 갖게 되어 전방에 배치될 가능성이 높아지게 된다. 차량의 무게가 무거울수록 제동거리가 늘어나는 점에서 비추어볼 때, 주행 군집 차량의 무게가 무거울수록 낮은 스코어를 갖게 되어 전방에 배치됨에 따라 후방에 위치한 주행 군집 차량의 제동거리는 전방에 위치한 차량의 제동거리보다 짧은 제동거리를 갖게 되어, 주행 군집 차량 간의 안전거리를 최소화할 수 있다.Meanwhile,

end

As the value is set to a larger value, the higher the total weight of the vehicle is, the lower the score, the higher the possibility that the vehicle will be placed in the front. In light of the fact that the heavier the vehicle's weight, the greater the braking distance, the heavier the vehicle's weight, the lower the score, and as it is placed in the front, the braking distance of the vehicle in the rear is the braking distance of the vehicle in the front. Since it has a shorter braking distance, it is possible to minimize the safety distance between driving cluster vehicles.

On the other hand, when it is determined that the driver does not exist in the driving cluster vehicle (S100), the leader vehicle may set the arrangement of the driving cluster vehicles as an unmanned cluster arrangement to minimize the safety distance between each driving cluster vehicle (S220).

In this case, the leader vehicle may determine the order of the unmanned cluster arrangement based on the weight of each cluster vehicle including the weight of the occupant and the braking performance of each cluster vehicle.

Specifically, the leader vehicle is the total weight of each driving cluster vehicle (i.e., weight including the weight of the vehicle, the weight of the occupant, and the weight of luggage) and braking performance information through the sensing unit 430 mounted on each driving cluster vehicle. Is obtained, and the obtained information is applied to Equation 2 to calculate the score of each driving cluster vehicle, and the calculated score may be arranged in the front from the smallest driving cluster vehicle.

Equation 2 excludes consideration of the height of the driving cluster vehicle in Equation 1. In the unmanned cluster arrangement, since the driver does not exist in each driving cluster vehicle, there is no need to consider securing the driver's field of vision, and thus the height of the driving cluster vehicle may not be considered. Accordingly, in the unmanned cluster arrangement, the weight of the driving cluster vehicle has the greatest influence on the score, and the heavier the driving cluster vehicle has a lower score than in the manned cluster arrangement, increasing the likelihood of being placed in front of the driving cluster. . Accordingly, the braking distance of the driving cluster vehicle located at the rear of the driving cluster is likely to have a shorter braking distance than the braking distance of the driving cluster vehicle located in the front, so that the safety distance between the driving cluster vehicles can be minimized.

In the profile prediction step S300, each driving cluster vehicle may predict a profile of a speed change that will occur during emergency braking at the current speed of each driving cluster vehicle in consideration of the weight and braking performance of each driving cluster vehicle. For example, the profile is the speed information, acceleration information, brake information, and braking of the driving cluster vehicle according to time acquired through the sensing unit 430 (ex: vehicle speed sensor) mounted in each driving cluster vehicle. It can be predicted based on performance. In addition, it is possible to calculate the profile of the driving cluster vehicle at the current speed by referring to a preset profile table based on the speed information of the driving cluster vehicle acquired through the sensing unit 430 mounted in the driving cluster vehicle.

Referring to FIG. 4, the profile may be expressed as a speed graph of each cluster vehicle over time.

In addition, in the profile prediction step S300, each cluster vehicle may consider the brake performance of each cluster vehicle and the degree of wear of the brake pads as the braking performance required to predict the profile.

For example, each driving cluster vehicle may sense a condition of a tire, a state of a brake, and a state of wear of a brake pad through the sensing unit 430 mounted in each vehicle. It is possible to predict the profile of the speed change that will occur during emergency braking from the current speed of the driving cluster vehicle. At this time, each driving cluster vehicle, when the brake is operated through the state of the tire, the state of the brake, and the wear state of the brake pads sensed through the sensing unit 430 mounted in each driving cluster vehicle, the speed according to time and It is possible to predict the amount of change in acceleration, and predict the profile of the change in speed that will occur during emergency braking based on the amount of change in speed and acceleration according to the predicted time and the speed and acceleration of the current driving cluster vehicle.

In the profile prediction step S300, each driving cluster vehicle may transmit the predicted profile to the rear driving cluster vehicle belonging to the driving cluster. The rear driving cluster vehicle refers to a driving cluster vehicle located immediately behind the corresponding driving cluster vehicle.

For example, each driving cluster vehicle may transmit a profile of each driving cluster vehicle as a rear driving cluster vehicle using the communication unit 100 mounted on each driving cluster vehicle.

In the cluster driving step S400, each driving cluster vehicle may calculate a safety distance between each driving cluster vehicle during emergency braking based on the predicted profile, and maintain the calculated safety distance while driving in a cluster.

For example, in the cluster driving step (S400), each driving cluster vehicle is calculated based on the profile transmitted from the preceding cluster vehicle, and the stopping distance during emergency braking of the preceding cluster vehicle is calculated and the emergency calculated from the profile of the corresponding driving cluster vehicle. The safety distance for emergency braking can be calculated based on the stopping distance during braking.

Referring to FIGS. 4 and 5, the stopping distance of the preceding cluster vehicle calculated based on the profile transmitted from the preceding cluster vehicle (hereinafter, the profile of vehicle A) is the width (S_1) in the time-speed graph describing the profile of the vehicle A. ) Corresponds to. Meanwhile, the stopping distance during emergency braking calculated from the profile of the driving cluster vehicle (hereinafter, the profile of vehicle B) corresponds to the area S_2 in the time-speed graph describing the profile of the vehicle B. At this time, since vehicle B performs emergency braking in response to emergency braking by vehicle A, there may be a time difference (t_delay) between vehicle B and vehicle A according to a braking trigger.

를 만족하는 안전거리 d를 산출할 수 있다. 이때, d는 선행 주행 군집 차량(차량A)과 해당 주행 군집 차량(차량B)과의 거리에 해당하고,

는 주행 군집 차량 간 인접가능한 최소 거리로 각 군집 차량 간의 충돌을 방지하기 위해 기 설정된 값일 수 있다.In the cluster driving step (S400), each driving cluster vehicle is

The safety distance d that satisfies the can be calculated. At this time, d corresponds to the distance between the preceding cluster vehicle (Vehicle A) and the corresponding driving cluster vehicle (Vehicle B),

Is a minimum distance between driving cluster vehicles and may be a preset value to prevent collision between cluster vehicles.

In the cluster driving step (S400), each driving cluster vehicle may run in clusters while maintaining the calculated safety distance. Alternatively, the leader vehicle receives the safety distance calculated from each driving cluster vehicle through the communication unit 100 mounted on each driving cluster vehicle, and the safety distance between each driving cluster vehicle based on the received safety distance of each driving cluster vehicle. You can control and run in groups.

As described above, the cluster driving control method according to an embodiment of the present invention is effective in an emergency situation where emergency braking is required by controlling the cluster driving by reflecting the specifications such as the height, weight, and number of passengers of the cluster vehicle. Collision can be avoided.

The implementations described herein may be implemented in, for example, a method or process, an apparatus, a software program, a data stream or a signal. Although discussed only in the context of a single form of implementation (eg, only as a method), the implementation of the discussed features may also be implemented in other forms (eg, an apparatus or program). The device may be implemented with appropriate hardware, software and firmware. The method may be implemented in an apparatus such as a processor, which generally refers to a processing device including, for example, a computer, a microprocessor, an integrated circuit or a programmable logic device, or the like. Processors also include communication devices such as computers, cell phones, personal digital assistants (“PDAs”) and other devices that facilitate communication of information between end-users.

Although the present invention has been described with reference to the embodiments shown in the drawings, this is only exemplary, and those of ordinary skill in the art to which the present technology pertains, various modifications and other equivalent embodiments are possible. I will understand. Therefore, the true technical protection scope of the present invention should be determined by the following claims.

100: communication department
200: user interface unit
300: control unit
400: drive module
410: control panel
430: sensing unit
450: drive unit

Claims (10)

A cluster arrangement setting step of setting, by a leader vehicle belonging to a driving cluster, an arrangement of each of the driving cluster vehicles based on presence or absence of a driver in one or more driving cluster vehicles belonging to the driving cluster;
A profile prediction step of predicting a profile of a speed change occurring during emergency braking from a current speed of each of the driving cluster vehicles in order to calculate a stopping distance during emergency braking, by each of the driving cluster vehicles; And
And a cluster driving step of calculating a safety distance between the driving cluster vehicles during emergency braking by each of the driving cluster vehicles based on the predicted profile, maintaining the calculated safety distance, and running in clusters; characterized in that it comprises: Cluster driving control method.
The method of claim 1,
In the cluster arrangement setting step,
When it is determined that the driver is present in the driving cluster vehicle, the leader vehicle sets the arrangement of each of the driving cluster vehicles as a manned cluster arrangement that is advantageous for securing a driver's field of vision.
The method of claim 2,
In the cluster arrangement setting step,
The leader vehicle, characterized in that the order of the manned cluster arrangement is determined based on the weight of each traveling cluster vehicle including the height of the traveling cluster vehicle, the weight of the occupant, and the braking performance of the traveling cluster vehicle. Cluster driving control method.
The method of claim 3,
In the cluster arrangement setting step,
The leader vehicle is an equation for each of the driving cluster vehicles.

And, from the driving cluster vehicle having the smallest calculated score, the cluster driving control method is arranged in order from the front (in the above equation, the score is a score,

Is the weight for h,

Is the weight for w,

Is the weight for b, h is the rank value for the height of the cluster vehicle, w is the rank value for the weight of the cluster vehicle, and b is the rank value for the braking performance of the cluster vehicle).
The method of claim 1,
In the cluster arrangement setting step,
When it is determined that the driver does not exist in the driving cluster vehicle, the leader vehicle sets the arrangement of the driving cluster vehicles as an unmanned cluster arrangement for minimizing a safety distance between the driving cluster vehicles. Driving control method.
The method of claim 5,
In the cluster arrangement setting step,
Wherein the leader vehicle determines an order of the unmanned cluster arrangement based on the weight of each traveling cluster vehicle including the weight of the occupant and the braking performance of each traveling cluster vehicle.
The method of claim 6,
In the cluster arrangement setting step,
The leader vehicle is an equation for each of the driving cluster vehicles.

And, from the driving cluster vehicle having the smallest calculated score, the cluster driving control method is arranged in order from the front (in the above equation, the score is a score,

Is the weight for w,

Is the weight for b, w is the rank value for the weight of the cluster vehicle, and b is the rank value for the braking performance of the cluster vehicle).
The method of claim 1,
In the profile prediction step, each driving cluster vehicle,
And predicting a profile of a speed change occurring during emergency braking at the current speed of each driving cluster vehicle in consideration of the weight and braking performance of each driving cluster vehicle.
The method of claim 8,
In the profile prediction step, each driving cluster vehicle,
The group driving control method, characterized in that taking into account tire information, brake information, and wear degree information of brake pads of each of the driving cluster vehicles as the braking performance.
The method of claim 1,
In the cluster driving step, the driving cluster vehicle,
Calculating the safety distance during emergency braking based on the stopping distance during emergency braking of the preceding cluster vehicle calculated from the profile received from the preceding cluster vehicle and the stopping distance during emergency braking calculated from the profile of the corresponding driving cluster vehicle. Cluster driving control method characterized by.

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