KR20210130877A - Control system and method of platoon driving - Google Patents

Abstract

Introduced is a platoon driving control system comprising: a communication confirmation unit checking a vehicle in which a problem in communication with another vehicle has occurred among vehicles included in a platoon; and a driving control unit. When the platoon moves in the lateral direction, the driving control unit horizontally moves a vehicle preceding or following the vehicle in which the problem identified by the communication confirmation unit has occurred, and then moves the vehicle in which the identified problem has occurred in the lateral direction for the vehicle to follow the preceding vehicle or the following vehicle. An objective of the present invention is to provide a technology for controlling to drive while maintaining the platoon when the vehicle incapable of communication with another vehicle occurs.

Description

platoon driving control system and method {CONTROL SYSTEM AND METHOD OF PLATOON DRIVING}

The present invention relates to a platoon driving control system and method, and more particularly, to the driving of a platoon in which a communication disabled vehicle occurs.

In order to increase the safety and convenience of users using the vehicle, the development of technologies for incorporating various sensors and electronic devices into the vehicle is accelerating. In particular, a system that provides various functions (eg, smart cruise control, lane keeping assistance) developed for user's driving convenience is mounted on a vehicle. Accordingly, so-called autonomous driving in which a vehicle travels on a road by taking the external environment into consideration without a driver's operation is being developed step by step.

Cluster driving included as a part of autonomous driving means that a plurality of vehicles grouped into a group drives autonomously in consideration of the external environment, respectively, and drives on a road while sharing driving information with each other.

In particular, one cluster includes a leader vehicle and a follower vehicle. The leader vehicle is a vehicle that leads the group at the top of the group, and the follower vehicle is a vehicle that follows the leader vehicle.

The follower vehicle in the group may maintain tracking of the leader vehicle using driving information of the leader vehicle (eg, GPS coordinates, speed, route, direction, and braking information) transmitted through vehicle-to-vehicle communication method or the like.

However, according to the platoon driving according to the prior art, there is a problem that there is no countermeasure when communication with a leader vehicle or another follower vehicle occurs among the follower vehicles.

The matters described as the above background art are only for improving the understanding of the background of the present invention, and should not be taken as acknowledging that they correspond to the prior art already known to those of ordinary skill in the art.

KR 10-0957137 B

The present invention has been proposed to solve this problem, and it is an object of the present invention to provide a technology for controlling driving while maintaining a group when a vehicle incapable of communication with another vehicle occurs.

The platoon driving control system according to the present invention for achieving the above object includes: a communication check unit for identifying a vehicle having a problem in communication with another vehicle among the vehicles included in the group; and a vehicle in which a problem confirmed to follow a preceding vehicle or a following vehicle after moving a vehicle preceding or following a vehicle in the lateral direction rather than the vehicle in which the problem identified by the communication confirmation unit occurred during the lateral movement of the group It includes; a traveling control unit for moving in the lateral direction.

In the communication confirmation unit, the leader vehicle may periodically or continuously check the communication state of the follower vehicle.

The driving control unit may control the preceding vehicle or the following vehicle to move in the lateral direction while securing a space for lateral movement of the vehicle in which the identified problem occurs.

In the driving control unit, the vehicle in which the problem has occurred can move to the space secured by following the preceding vehicle moving in the lateral direction.

It may further include; a position estimator for estimating the location of the vehicle in which the identified problem occurs using sensor information of a vehicle preceding or following the vehicle in which the identified problem occurs.

The driving control unit may control the vehicle having the identified problem to follow the closest vehicle among preceding vehicles.

The driving control unit may horizontally move a vehicle excluding the nearest vehicle and a following vehicle among vehicles preceding the vehicle in which the identified problem occurs.

The driving control unit may move a vehicle closest to the vehicle preceding the vehicle in which the identified problem occurs to a space between the preceding vehicle and the following vehicle moving in the lateral direction.

In accordance with an aspect of the present invention for achieving the above object, there is provided a platoon driving control method comprising: identifying a vehicle having a problem in communication with another vehicle among vehicles included in the platoon; transversely moving a vehicle preceding or following a vehicle in which the identified problem occurs when the platoon is moved in the lateral direction; and laterally moving the vehicle having the identified problem to follow the preceding vehicle or the following vehicle.

In the checking step, the leader vehicle may periodically or continuously check the communication state of the follower vehicle.

In the step of moving the preceding vehicle or the following vehicle in the lateral direction, it is possible to control the preceding vehicle or the following vehicle to move in the lateral direction while securing a space for the lateral movement of the vehicle in which the identified problem occurs. have.

In the step of moving the vehicle having the problem in the lateral direction, the vehicle having the communication problem may move to the space secured by following the preceding vehicle moving in the lateral direction.

After the step of identifying the vehicle in which the problem has occurred, the method may further include estimating the location of the identified vehicle using sensor information of a vehicle preceding or following the vehicle in which the identified problem occurred.

The method may further include, after the step of identifying the vehicle in which the problem occurs, controlling the vehicle in which the identified problem occurs to follow the closest vehicle among preceding vehicles.

In the step of moving the preceding vehicle or the following vehicle in the lateral direction, the vehicle excluding the nearest vehicle among the vehicles preceding the identified vehicle and the following vehicle may be moved in the lateral direction.

In the step of moving the vehicle having the problem in the lateral direction, the most adjacent vehicle among the vehicles preceding the vehicle identified as a space between the preceding vehicle and the following vehicle moving in the lateral direction may be moved in the lateral direction.

According to the platoon driving control system and method of the present invention, even if a problem occurs in communication with other vehicles of vehicles included in the platoon, platoon driving is possible without dismantling the platoon.

In addition, it has the effect that it is possible to safely change lanes of a group including a vehicle having a communication problem with another vehicle.

1 is a block diagram of a group driving control system according to an embodiment of the present invention.
2 is a diagram illustrating a lane change process of group driving according to an embodiment of the present invention.
3 is a flowchart of a group driving control method according to an embodiment of the present invention.

Specific structural or functional descriptions of the embodiments of the present invention disclosed in the present specification or application are only exemplified for the purpose of describing the embodiments according to the present invention, and the embodiments according to the present invention may be implemented in various forms. and should not be construed as being limited to the embodiments described in the present specification or application.

Since the embodiment according to the present invention can have various changes and can have various forms, specific embodiments are illustrated in the drawings and described in detail in the present specification or application. However, this is not intended to limit the embodiment according to the concept of the present invention with respect to a specific disclosed form, and should be understood to include all changes, equivalents or substitutes included in the spirit and scope of the present invention.

Terms such as first and/or second may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another, for example, without departing from the scope of rights according to the inventive concept, a first component may be termed a second component, and similarly The second component may also be referred to as the first component.

When a component is referred to as being “connected” or “connected” to another component, it is understood that the other component may be directly connected or connected to the other component, but other components may exist in between. it should be On the other hand, when it is mentioned that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle. Other expressions describing the relationship between elements, such as "between" and "immediately between" or "neighboring to" and "directly adjacent to", should be interpreted similarly.

The terms used herein are used only to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In this specification, terms such as "comprises" or "have" are intended to designate that the described features, numbers, steps, operations, components, parts, or combinations thereof exist, and include one or more other features or numbers. , it should be understood that it does not preclude the existence or addition of steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as meanings consistent with the context of the related art, and unless explicitly defined in the present specification, they are not to be interpreted in an ideal or excessively formal meaning. .

Hereinafter, the present invention will be described in detail by describing preferred embodiments of the present invention with reference to the accompanying drawings. Like reference numerals in each figure denote like elements.

1 is a block diagram of a platoon driving control system according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating a lane change process for platoon driving according to an embodiment of the present invention.

1 to 2, the platoon driving control system according to an embodiment of the present invention includes a communication check unit 10 for identifying a vehicle (A) having a problem in communication with another vehicle among the vehicles included in the group; And, when the group moves in the lateral direction, after the vehicle (B, C1, C2) preceding or following the vehicle (A) in which the problem identified in the communication confirmation unit 10 occurs is moved in the lateral direction, the vehicle preceding or a driving control unit 20 for laterally moving the vehicle A in which the problem identified to follow the following vehicle is generated.

Group driving refers to autonomous driving in which a plurality of vehicles form a cluster, and a leader vehicle selected from among the plurality of vehicles drives while searching for a driving route of the vehicle based on the sensor 50 and navigation, and follows the leader vehicle. The vehicle can be driven under the command of the leader vehicle. In particular, the leader vehicle and the follower vehicle may transmit or receive commands through the communication device 40 .

In the platoon driving, vehicles having the same destination or a part or all of the route to the destination may form a platoon. The leader vehicle of the platoon driving may be selected in various ways.

As an embodiment, the autonomous driving performance of the vehicles included in the group may be collected and the arrangement of the group driving may be set based on the autonomous driving performance of the vehicle.

Specifically, the autonomous driving performance of the vehicle may be calculated by adding up preset scores according to the types of sensors 50 provided in the vehicle. For example, a score may be preset according to the type of the sensor 50 as shown in the table below.

LiDAR 5 points front camera 5 points front radar 4 points ultrasonic sensor 2 points rear camera 3 points

As shown in the table above, a score for each sensor may be preset according to the sensing performance of the sensor 50 according to the type of the sensor 50 provided in the vehicle, and the total score is obtained by summing the scores of the sensors 50 provided in the vehicle. can be transmitted to each vehicle. The sensor 50 of the vehicle may include LiDAR, a front camera, a front radar, an ultrasonic sensor 50, and a rear camera for autonomous driving of the vehicle, and to increase the autonomous driving ability. A high score may be preset according to the available sensors 50 , and the autonomous driving performance of the vehicle may be calculated by summing the scores of the sensors 50 .

In addition, the autonomous driving performance of the vehicle may be calculated based on a ratio between the detection range of the sensor 50 provided in the vehicle and a preset detection range.

The detection range of the sensor 50 of the vehicle is input, the detection range detected by the sensor 50 is preset, and the capability of the sensor 50 is determined according to the ratio of the detection range of the sensor 50 to the preset detection range. can be evaluated.

In one embodiment, the capability of the sensor 50 may be evaluated by the ratio (area E/area A) between the detection range (area E) of the sensor 50 mounted on the vehicle and the preset detection range (area A). have.

In addition, if the capabilities of the sensors 50 are summed, the autonomous driving capability of the vehicle may be calculated, and based on this, the group driving arrangement of the vehicle 100 may be set.

The preset detection range may be preset based on a direction in which the sensor 50 detects the vehicle as a center. The preset detection range may be preset according to the front, rear, and side.

For example, the preset detection range can be set to an angle to fit the maximum range of the detection range of each sensor 50, the front can be set to 120 degrees, the rear can be set to 100 degrees, and both sides can be set to 70 degrees, The angle of the preset detection range may be changed.

Also, a score may be preset according to the importance according to the detection area of the sensor 50 .

Front sensor (50) 4 points Side sensor (50) 2 points Rear sensor (50) 3 points

Taken together, the autonomous driving capability of the vehicle can be calculated by summing the factors for evaluating the autonomous driving capability. Autonomous driving capability of the vehicle is calculated through a preset formula as follows. Autonomous driving capability of vehicle = n sensor type score * n sensor capability score * n sensor position score

The autonomous driving capability of the vehicle can be calculated by summing the scores for each sensor calculated by the above formula.

When a new vehicle joins the cluster, the autonomous driving performance of the new vehicle is transmitted to the vehicles in the cluster, and the vehicle in the cluster can rearrange the new vehicle by joining the cluster based on the autonomous driving performance of the new vehicle. This allows for more effective platooning.

The platoon driving arrangement may be arranged in the leader vehicle, and when the autonomous driving performance of the new vehicle is higher than that of the leader vehicle, the new vehicle is changed to the leader vehicle, and the platoon driving arrangement may be rearranged in the new vehicle.

Accordingly, it is possible to minimize damage that may occur in an emergency situation.

The communication check unit 10 may check whether communication is possible with the vehicle included in the group. In particular, the communication check unit 10 may check whether the communication device 40 mounted on each vehicle and transmitting and receiving data to and from another vehicle operates normally.

Here, the problem occurring in communication with other vehicles is a temporary error of the communication device 40 or includes both permanent or semi-permanent communication inability.

As an embodiment, a designated vehicle among the leader vehicle or the follower vehicle attempts to communicate with the remaining vehicles included in the group, so that the vehicle A having a communication problem may be identified.

The driving control unit 20 is mounted on each vehicle and may control the driving of each vehicle. Also, during group driving, the driving control unit 20 of the leader vehicle may control the driving of the leader vehicle and the follower vehicle.

The driving control unit 20 may determine the lateral movement of the group. In an embodiment, obstacles may be recognized through various sensors 50 such as lidar, radar, camera sensor 50 , and ultrasonic sensor 50 , or lateral movement according to a driving path of a group may be determined. Here, the lateral movement of the group may be a lane change in which the driving lane is moved to the next lane.

After moving the vehicle preceding or following the vehicle (B, C1, C2) in the lateral direction rather than the vehicle (A) in which the problem occurs, the driving control unit 20 is configured to move the preceding vehicle or the following vehicle (B, C1, C2) in the lateral direction. ), it is possible to move the vehicle (A) having a problem identified to follow it in the lateral direction.

Here, the preceding vehicles B and C1 may include all vehicles located in front as well as the vehicle immediately in front of the corresponding vehicle, and the following vehicle may also include all vehicles located in the rear as well as vehicles immediately behind the corresponding vehicle. can

That is, after the preceding vehicle and the following vehicles B, C1, and C2 of the vehicle A in which the problem occurred are moved in the lateral direction, the driving control unit 20 may move the vehicle A in the problematic direction in the lateral direction. have.

Accordingly, even if the vehicle included in the group has a problem in communication with other vehicles, it has the effect that the group can be driven without dismantling the group, and a safe lane change is possible.

The communication confirmation unit 10 and the driving control unit 20 according to an exemplary embodiment of the present invention are configured to store data related to an algorithm configured to control the operation of various components of the vehicle or a software command for reproducing the algorithm. It may be implemented through a volatile memory (not shown) and a processor (not shown) configured to perform operations described below using data stored in the memory. Here, the memory and the processor may be implemented as separate chips. Alternatively, the memory and processor may be implemented as a single chip integrated with each other. A processor may take the form of one or more processors.

The group driving control system according to an embodiment of the present invention may be a system controlled by a leader vehicle included in the group or a system controlled by each of a leader vehicle and a follower vehicle included in the group.

In the communication check unit 10 , the leader vehicle may periodically or continuously check the communication state of the follower vehicle.

In one embodiment, the leader vehicle may periodically attempt to communicate with the follower vehicles. For example, the communication check unit 10 may check the communication state at a preset time interval or a preset distance interval.

In addition, the communication check unit 10 may continuously check the communication state during group driving.

In another embodiment, each vehicle may determine whether a communication problem of the own vehicle has occurred by attempting to communicate with another vehicle, for example, a vehicle traveling in the front or a vehicle traveling in the rear.

The driving control unit 20 may check whether a space for the vehicle to enter is secured prior to the lateral movement of the vehicle. In particular, it is possible to check whether a space to move in the lateral direction is secured using the sensor 50 mounted on each vehicle, or to transmit/receive space data from another vehicle through the communication device 40 .

However, there is a problem in that the vehicle A having a communication problem cannot receive the command of the lateral movement from the leader vehicle or transmit and receive data for securing space.

In the driving control unit 20, the preceding vehicle or the following vehicle (B, C1, C2) is controlled to move in the lateral direction while securing a space for the lateral movement of the vehicle A in which the identified problem occurs. can

In one embodiment, the driving control unit 20 first moves the preceding vehicle and the following vehicle B, C1, C2 in the transverse direction before moving the vehicle A having the problem in the transverse direction. The preceding vehicle and the following vehicles B, C1, and C2 may be moved in the lateral direction in a state in which a space for lateral movement of the vehicle A having a problem is secured between the following vehicle and the following vehicle.

In another embodiment, the driving control unit 20 may secure a space by first moving the following vehicle in the lateral direction, and may move the preceding vehicle in the lateral direction in a state in which the space is secured.

In particular, the driving controller 20 may set a space for lateral movement of the vehicle based on the length of the vehicle A in which the problem occurs. In addition, as will be described later, when the vehicle A in the problem follows the closest vehicle B among the preceding vehicles, the length of the vehicle A and the vehicle B closest to the preceding vehicle A space for lateral movement of the vehicle can be set based on the separation distance (d) between them.

In the travel control unit 20 , the vehicle A in which the problem occurs can move to the space secured by following the preceding vehicles B and C1 moving in the lateral direction.

The vehicle A in which the problem occurs may not receive commands related to driving including lateral movement from the leader vehicle or the follower vehicle of the platoon. To solve this, the driving control unit 20 may control the vehicle A in which the problem occurs to follow the preceding vehicles B and C1.

In one embodiment, the preceding vehicle (C1) and the following vehicle (C2) excluding the nearest vehicle (B) among the vehicles preceding the vehicle (A) in which the problem occurs move in the lateral direction, thereby securing a space in the lateral direction. have. Among the vehicles preceding the vehicle in which the problem occurred (A), the nearest vehicle (B) can move in the lateral direction to the secured space, and the vehicle (A) in which the problem occurred follows the vehicle (B) and traverses to the secured space. direction can be moved.

A position estimator for estimating the location of the vehicle A in which the identified problem has occurred using the sensor 50 information of the vehicle (B, C1, C2) preceding or following the vehicle (A) in which the identified problem occurred (30); may further include.

It is difficult for the leader vehicle or other follower vehicle of the group to receive the GPS information of the vehicle A having a communication problem. In order to solve this problem, the location information of the vehicle A in which the problem occurred is estimated using information from the sensor 50 of the vehicle B, C1, C2 that precedes or follows the vehicle A in which the problem occurs. can do.

The sensor 50 may be a lidar, a radar, a camera sensor 50 or an ultrasonic sensor 50 . Also, the sensor 50 information may be information obtained by fusion of sensing of several sensors 50 .

Accordingly, the leader vehicle or other follower vehicle in the group may estimate the real-time location of the vehicle A having a communication problem.

The driving control unit 20 may control the vehicle A having the identified problem to follow the closest vehicle B among preceding vehicles.

In one embodiment, the driving control unit 20 may select a vehicle immediately in front of the vehicle (A) in which the problem occurs as the followed vehicle (B), and the vehicle (A) in which the problem occurs may follow the followed vehicle (B). can be controlled

That is, when the communication check unit 10 confirms that a communication problem has occurred, the driving control unit 20 of the vehicle A in which the problem has occurred may control to follow the followed vehicle B traveling in front of it.

The driving control unit 20 may horizontally move the vehicle C1 and the following vehicle C2 except for the nearest vehicle B among vehicles preceding the vehicle A in which the identified problem occurs.

In one embodiment, the driving control unit 20 blocks the vehicle preceding the vehicle (C1, or the vehicle preceding the followed vehicle) excluding the vehicle (C2) and the followed vehicle (B) following the vehicle (A) in which the problem occurs. (C1, C2) can be selected. In particular, the vehicle C2 immediately behind the vehicle A and the vehicle C1 immediately in front of the followed vehicle may be selected as the blocking vehicle.

The driving control unit 20 may first move the selected blocking vehicles C1 and C2 in the lateral direction. Here, the blocking vehicles C1 and C2 may check the space to move in the lateral direction and move in the lateral direction.

In one embodiment, the preceding blocking vehicle C1 and the following blocking vehicle C2 may simultaneously move in the lateral direction. In another embodiment, after the following blocking vehicle C2 first moves in the lateral direction, when a space to move in the lateral direction is secured, the preceding blocking vehicle C1 may move in the lateral direction.

In another embodiment, after the preceding blocking vehicle C1 and the following blocking vehicle C2 move in the lateral direction, a space d between the preceding blocking vehicle C1 and the following blocking vehicle C2 ) can be formed.

Here, the space d may be preset in consideration of the length of the vehicle A and the vehicle preceding the vehicle A in which the problem occurs, and the distance therebetween.

In the driving control unit 20, the vehicle (B) closest to the vehicle preceding the vehicle (A) in which the identified problem occurs is moved to the space between the preceding vehicle and the following vehicles (C1, C2) that have moved in the lateral direction. can do it

The driving control unit 20 of the nearest vehicle B among the vehicles preceding the vehicle A in which the problem occurs checks the space between the preceding vehicle and the following vehicles C1 and C2, and when a preset space is secured, can move in the transverse direction.

The driving control unit 20 of the vehicle (B) closest to the vehicle preceding the vehicle (A) in which the problem occurs is an obstacle between the preceding blocking vehicle (C1) and the following blocking vehicle (C2) using the sensor 50 . After detecting , it can move in the lateral direction.

Except for the blocking vehicles C1 and C2 and the vehicles positioned therebetween, the remaining vehicles (a preceding vehicle and a following vehicle) may normally move in the lateral direction.

3 is a flowchart of a group driving control method according to an embodiment of the present invention.

Referring further to FIG. 3 , the method for controlling group driving according to an embodiment of the present invention includes the steps of identifying a vehicle having a problem in communication with another vehicle among vehicles included in the group ( S100 ); When the group is moved in the lateral direction, transversely moving a vehicle preceding or following a vehicle in which the identified problem occurs (S500); and transversely moving the vehicle having the identified problem to follow the preceding vehicle or the following vehicle (S600).

Prior to the step (S500) of moving the preceding vehicle or the following vehicle in the lateral direction, the step (S400) of determining whether a lane change of the group is required; may be further included.

In the checking step ( S100 ), the leader vehicle may periodically or continuously check the communication state of the follower vehicle.

In the step (S500) of moving the preceding vehicle or the following vehicle in the lateral direction, the preceding vehicle or the following vehicle moves in the lateral direction while securing a space for the lateral movement of the vehicle in which the identified problem occurs. can be controlled

In the step (S600) of moving the vehicle having the problem in the lateral direction, the vehicle having the communication problem may move to the space secured by following the preceding vehicle moving in the lateral direction.

estimating the location of the identified vehicle by using the sensor 50 information of the vehicle preceding or following the vehicle in which the identified problem occurred after the step (S100) of identifying the vehicle in which the problem occurred (S300); may further include.

After the step (S100) of confirming the vehicle in which the problem occurs, the step of controlling the vehicle in which the checked problem occurs to follow the nearest vehicle among preceding vehicles (S200) may further include.

In the step of moving the preceding vehicle or the following vehicle in the lateral direction ( S500 ), the vehicle excluding the closest vehicle among the vehicles preceding the identified vehicle and the following vehicle may be moved in the lateral direction.

In the step (S600) of moving the vehicle having the problem in the lateral direction, the most adjacent vehicle among the preceding vehicles than the vehicle identified as the space between the preceding vehicle and the following vehicle moving in the lateral direction can be moved in the lateral direction. have.

Although shown and described with respect to specific embodiments of the present invention, it is understood in the art that the present invention can be variously improved and changed without departing from the spirit of the present invention provided by the following claims. It will be obvious to those of ordinary skill in the art.

10: communication confirmation unit 20: driving control unit
30: location estimation unit 40: communication device
50: sensor

Claims (16)

a communication confirmation unit for identifying a vehicle having a communication problem with another vehicle among the vehicles included in the group; and
When the group moves in the lateral direction, after moving the vehicle preceding or following the vehicle with the problem identified by the communication confirmation unit in the lateral direction, the vehicle in which the problem identified to follow the preceding vehicle or the following vehicle A group driving control system comprising a; a driving control unit that moves in the lateral direction. The method according to claim 1,
In the communication confirmation unit, the leader vehicle periodically or continuously checks the communication state of the follower vehicle. The method according to claim 1,
The driving control system controls the preceding vehicle or the following vehicle to move in the lateral direction while securing a space for the lateral movement of the vehicle in which the identified problem occurs. 4. The method according to claim 3,
The group driving control system, characterized in that, in the driving control unit, the vehicle in which the problem occurs moves to a space secured by following the preceding vehicle moving in the lateral direction. The method according to claim 1,
The platoon driving control system further comprising a; a position estimator for estimating the location of the vehicle in which the identified problem occurs by using sensor information of a vehicle preceding or following the vehicle in which the identified problem occurs. The method according to claim 1,
The group driving control system, characterized in that the driving control unit controls the vehicle having the identified problem to follow the closest vehicle among preceding vehicles. 7. The method of claim 6,
The group driving control system, characterized in that the driving control unit horizontally moves a vehicle excluding the nearest vehicle and a following vehicle among vehicles preceding the vehicle in which the identified problem occurs. 8. The method of claim 7,
The platoon driving control system, characterized in that the driving control unit moves the closest vehicle among the vehicles preceding the vehicle in which the identified problem occurs to a space between the preceding vehicle and the following vehicle that have moved in the lateral direction. identifying a vehicle having a problem in communication with another vehicle among the vehicles included in the group;
transversely moving a vehicle preceding or following a vehicle in which the identified problem occurs when the group is moved in the lateral direction; and
A platoon driving control method comprising a; horizontally moving a vehicle having a problem identified to follow a preceding vehicle or a following vehicle. 10. The method of claim 9,
In the checking step, the leader vehicle periodically or continuously checks the communication state of the follower vehicle. 10. The method of claim 9,
In the step of moving the preceding vehicle or the following vehicle in the lateral direction, controlling the preceding vehicle or the following vehicle to move in the lateral direction while securing a space for lateral movement of the vehicle in which the identified problem occurs A platoon driving control method characterized. 12. The method of claim 11,
In the step of moving the vehicle having the problem in the lateral direction, the vehicle having the communication problem is moved to a space secured by following the preceding vehicle moving in the lateral direction. 10. The method of claim 9,
After the step of identifying the vehicle in which the problem occurred, estimating the location of the identified vehicle using sensor information of a vehicle preceding or following the vehicle in which the identified problem occurred; Driving control method. 10. The method of claim 9,
After the step of identifying the vehicle in which the problem has occurred, controlling the vehicle in which the identified problem has occurred to follow the closest vehicle among the preceding vehicles; 15. The method of claim 14,
In the step of moving the preceding vehicle or the following vehicle in the lateral direction, the vehicle excluding the nearest vehicle from among the vehicles preceding the identified vehicle and the following vehicle are laterally moved. 16. The method of claim 15,
In the step of moving the vehicle having the problem in the lateral direction, the most adjacent vehicle among the vehicles preceding the vehicle identified as the space between the preceding vehicle and the following vehicle moving in the lateral direction is moved in the lateral direction. A platoon driving control method.

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