KR101745156B1

KR101745156B1 - Apparatus for controlling vehicle interval and method thereof

Info

Publication number: KR101745156B1
Application number: KR1020150147438A
Authority: KR
Inventors: 오영철; 신기철; 유병용; 허명선
Original assignee: 현대자동차주식회사
Priority date: 2015-10-22
Filing date: 2015-10-22
Publication date: 2017-06-20
Also published as: KR20170047043A

Abstract

The present invention relates to an inter-vehicle distance control apparatus and method, and more particularly, it relates to an apparatus and method for controlling an inter-vehicle distance by adjusting a separation distance from a preceding vehicle in consideration of a reception delay time of a message due to a V2X (Vehicle to Everything) The present invention is to provide an inter-vehicle distance control apparatus and method thereof that enables a cluster to travel.
To this end, the present invention provides an inter-vehicle distance control apparatus for a cluster traveling system, comprising: a message receiving unit for receiving a message; A time measuring unit for measuring the message reception time based on the time synchronized with the GPS signal; A delay time detector for detecting a delay time based on a reception time measured by the time measuring unit and a time stamp of a message received by the message receiver; And an inter-vehicle distance adjusting unit for adjusting a reference distance from the preceding vehicle using the delay time detected by the delay time detecting unit.

Description

[0001] APPARATUS FOR CONTROLLING VEHICLE INTERVAL AND METHOD THEREOF [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to an inter-vehicle distance control apparatus and method, and more particularly, to a technique for adjusting a distance between a preceding vehicle and a preceding vehicle in consideration of a V2X (Vehicle to Everything) communication delay.

If a large amount of cargo is divided into several vehicles and transported at the same time, or if a large number of vehicles participating in the event must be moved in line with each other, a plurality of vehicles are allowed to travel together while maintaining a minimum safety distance. Such autonomous driving can reduce the air resistance of the following vehicles, thereby improving the fuel economy, reducing the risk of accidents, and improving the convenience for the driver of each vehicle.

On the other hand, in order to maintain the string stability that does not increase as the distance between the front vehicles increases when several vehicles travel in a cluster, the altitude at which the relative position between the vehicles is precisely controlled using inter- In this case, due to the road surface condition of the road or the error of the sensor, it is necessary to accurately measure the preceding vehicle. In this case, It is impossible to measure the speed, and there is a problem that it can seriously affect the stable running of the crowd.

Korean Patent Publication No. 2013-0058362

In order to solve the problems of the related art as described above, the present invention adjusts the separation distance from a preceding vehicle in consideration of a reception delay time of a message due to a communication delay of V2X (Vehicle to Everything) And an object of the present invention is to provide an inter-vehicle distance control apparatus and a method thereof capable of stable cluster travel.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention which are not mentioned can be understood by the following description, and will be more clearly understood by the embodiments of the present invention. It will also be readily apparent that the objects and advantages of the invention may be realized and attained by means of the instrumentalities and combinations particularly pointed out in the appended claims.

In order to achieve the above object, the present invention provides an apparatus for controlling an inter-vehicle distance in a cluster traveling, comprising: a message receiving unit for receiving a message; A time measuring unit for measuring the message reception time based on the time synchronized with the GPS signal; A delay time detector for detecting a delay time based on a reception time measured by the time measuring unit and a time stamp of a message received by the message receiver; And an inter-vehicle distance adjusting unit for adjusting a reference distance from the preceding vehicle using the delay time detected by the delay time detecting unit.

According to another aspect of the present invention, there is provided a method of adjusting an inter-vehicle distance in a cluster traveling, the method comprising: receiving a message by a message receiver; Measuring a reception time of receiving the message based on a time when the time measurement unit is synchronized with the GPS signal; Detecting a delay time based on the reception time and a time stamp of the message; And the headway distance adjustment unit adjusting the reference distance from the preceding vehicle using the delay time.

According to another aspect of the present invention, there is provided a method of adjusting an inter-vehicle distance in a cluster traveling, comprising: monitoring a message receiving unit by a control unit; Calculating a delay time of a message by a predetermined time unit from a message reception scheduled time; And the control unit increases the reference separation distance according to the delay time.

As described above, the present invention controls the distance from the preceding vehicle in consideration of the delay time of the message due to the communication delay of V2X (Vehicle to Everything) in the case of traveling in a cluster, thereby enabling stable cluster travel even when communication is unstable .

Brief Description of Drawings FIG. 1 is a block diagram of an apparatus for controlling an inter-vehicle distance in a cluster traveling according to an embodiment of the present invention.
FIG. 2 is a flowchart illustrating a method of controlling the inter-vehicle distance in a cluster traveling according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, It can be easily carried out. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of an apparatus for controlling an inter-vehicle distance in a cluster traveling according to an embodiment of the present invention.

1, the inter-vehicle distance control apparatus according to the present invention includes a message reception unit 10, a time measurement unit 20, a control unit 30, an inter-vehicle distance control unit 40, (50).

First, the message receiving unit 10 receives a message containing various kinds of information necessary for traveling the cluster from the head vehicle at the time of traveling the cluster. At this time, the message receiving unit 10 receives a message using V2X communication, V2V (Vehicle to Vehicle) communication, or the like.

On the other hand, the message includes a timestamp inserted by the community driving system mounted on the head vehicle. At this time, the time stamp is preferably inserted at the application layer of the cluster drive system.

Next, the time measuring unit 20 measures the reference time based on the GPS signal.

In particular, the time measurement unit 20 measures the reception time of the message reception unit 10 based on the reference time. The time measuring unit 20 is commonly mounted on all the vehicles that are running in a cluster, and provides each vehicle with a synchronized absolute time for running the cluster.

Next, the control unit 30 detects the delay time based on the message reception time measured by the time measurement unit 20 and the time stamp of the message received by the message reception unit 10. [

For example, if the time stamp recorded in the message is 10 ms and the time at which the message receiving unit 10 receives the message is 20 ms, the delay time becomes 10 ms. At this time, since the traveling time of the group traveling vehicle is within the range of 3m to 7m, the time for transmitting the message during normal communication is very short, so that the time can be ignored.

The control unit 30 monitors the message receiving unit 10 in real time to calculate a delay time of a message in a predetermined time unit (for example, 10 ms) from a scheduled message reception time, and to increase the reference distance in accordance with the delay time Further perform the function.

For example, when the message reception period is 50 ms, the second message is received at a time of 50 ms after the first message is received, and the third message is received at a time of 100 ms.

That is, if the second message is received at 50 ms, then the delay time is 0 ms. However, if the second message is not received even after 60 ms after 60 ms, the control unit 30 controls the headway distance control unit 40 to increase the reference distance (for example, 4 m) to 5 m.

If the second message is not received at the time of 70 ms, the control unit 30 further controls the headway distance control unit 40 to increase the reference headway distance to 6 m.

If the second message is received at the time of 80 ms, the controller 30 controls the headway distance controller 40 to further increase the reference headway distance to 7 m.

Adjusting the reference distance in such a short period is to ensure the safety of the crowd driving.

Next, the headway distance adjustment unit 40 adjusts the reference headway distance with respect to the preceding vehicle using the delay time detected by the control unit 30.

For example, if the reference separation distance is 4m, the reference separation distance is increased to 5m when the delay time is 10ms, the reference separation distance is increased to 6m when the delay time is 20ms, and the reference separation distance is 7m . At this time, the transmission interval between the first message and the second message is preferably 50 ms, for example, but it can be changed according to the designer's intention.

In addition, the speed information collecting unit 50 collects two pieces of speed information from the head vehicle. Here, the two speed information means a first speed measured based on the GPS signal and a second speed obtained from the cluster. That is, the cluster driving system of the head vehicle calculates the first speed based on the GPS signal and acquires the second speed from the cluster.

Here, when the difference between the first speed and the second speed collected by the speed information collecting unit 50 exceeds a threshold value, the control unit 30 determines that a large error has occurred in the data measured by the sensor, And controls the inter-vehicle distance adjusting section 40 to further increase the distance. This is to carry out the cluster driving more stably.

For example, if the reference separation distance is 4 m and there is no delay time, if the difference between the first and second rates exceeds the threshold, the reference separation distance is increased to 4.5 m.

As another example, when the reference separation distance is 4 m and the delay time is 10 ms, the reference separation distance is increased to 5 m, and when the difference between the first and second speeds exceeds the threshold, the reference separation distance is increased to 5.5 m. At this time, the degree (numerical value) for increasing the reference separation distance differs according to the degree of exceeding the threshold value.

FIG. 2 is a flowchart illustrating a method of controlling the inter-vehicle distance in a cluster traveling according to an embodiment of the present invention.

First, the message receiving unit 10 receives a message (201).

Then, the time measurement unit 20 measures a reception time of receiving the message (202).

Thereafter, the control unit 30 detects the delay time based on the reception time measured by the time measurement unit 20 and the time stamp of the message (step 203).

Then, the inter-vehicle distance adjusting unit 40 adjusts the reference distance from the preceding vehicle using the delay time detected by the controller 30 (204).

Through this process, it is possible to make stable cluster travel even when communication is unstable.

In another embodiment, the control unit 30 monitors the message receiving unit 10, calculates a delay time of a message on a predetermined time basis from a message reception scheduled time, increases the reference separation distance according to the delay time, have.

Meanwhile, the method of the present invention as described above can be written in a computer program. And the code and code segments constituting the program can be easily deduced by a computer programmer in the field. In addition, the created program is stored in a computer-readable recording medium (information storage medium), and is read and executed by a computer to implement the method of the present invention. And the recording medium includes all types of recording media readable by a computer.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. The present invention is not limited to the drawings.

10:
20: time measuring unit
30:
40: Inter-vehicle distance control unit
50: speed information collecting section

Claims

A message receiving unit for receiving the message;
A time measuring unit measuring a reception time of the message;
A speed information collecting unit for collecting a first speed based on the GPS signal and a second speed based on the cluster from the head vehicle;
A control unit for detecting a delay time based on a reception time measured by the time measurement unit and a time stamp of a message received by the message reception unit; And
An inter-vehicle distance adjusting unit for adjusting a reference distance from the preceding vehicle by using the delay time detected by the controller,
And a control unit for controlling the inter-vehicle distance when the vehicle is traveling.

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The method according to claim 1,
The vehicle-to-
Wherein the reference distance further increases when the difference between the first speed and the second speed collected by the speed information collecting unit exceeds a threshold value.

The method according to claim 1,
Wherein,
Wherein the controller monitors the message receiver in real time to calculate a delay time of a message in a predetermined time unit from a scheduled message reception time and increases a reference distance in accordance with the delay time.

The method according to claim 1,
Wherein the message receiver comprises:
And a message is received based on V2X (Vehicle to Everything) communication.

Receiving a message by a message receiving unit;
Measuring a reception time of the message by a time measurement unit;
Collecting a first rate based on the GPS signal and a second rate based on the cluster from the speed information collector's head vehicle;
The control unit detecting a delay time based on the reception time and the time stamp of the message; And
The headway distance adjustment unit adjusting the reference distance from the preceding vehicle using the delay time
The method comprising the steps of:

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The method according to claim 6,
The step of adjusting the headway distance includes:
If the difference between the first speed and the second speed exceeds a threshold value, further increases the reference distance.

The method according to claim 6,
Wherein the message receiving step comprises:
And a message is received based on V2X (Vehicle to Everything) communication.

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