KR102157084B1 - Apparatus for forming group of vehicle and method thereof - Google Patents

Abstract

The present invention relates to a vehicle cluster formation apparatus and method thereof, wherein a new cluster is formed for vehicles that have deviated from the previous cluster due to a stop at a highway rest area, and different clusters are formed by dividing a high-speed vehicle and a low-speed vehicle, It is intended to provide an apparatus and method for forming a cluster of vehicles that ensure the safety of platooning services by verifying the platoon participation qualification and qualification as a leader vehicle.
To this end, the present invention provides an apparatus for forming a cluster of vehicles, comprising: a communication unit that communicates with a vehicle subscribed to the cluster driving service; A control unit for verifying vehicle communication and driving safety based on a vehicle certificate from a vehicle requesting the platooning service and a vehicle communication and driving safety verification document, and forming a cluster according to the attributes of the verified vehicle; A vehicle information storage unit for storing information on a vehicle requesting the platoon driving service; And a cluster information storage unit that stores information on clusters formed by the control unit.

Description

Vehicle cluster formation apparatus and its method {APPARATUS FOR FORMING GROUP OF VEHICLE AND METHOD THEREOF}

The present invention relates to a vehicle cluster formation apparatus and a method thereof, and more particularly, to a technology for forming a new cluster (including selection of a leader vehicle) for vehicles that have deviated from the previous cluster.

Vehicle transportation system is an intelligent transportation system that improves the efficiency and safety of transportation by developing and utilizing advanced transportation technology and traffic information in electronic, control and communication in transportation facilities. It is evolving in the form of an information transportation system (ITS). In other words, by using communication technology (communication between vehicles, communication between vehicles and roadside devices), it is developed in the direction of improving vehicle driving safety, providing convenient services to drivers, and ultimately reducing traffic accidents and increasing traffic efficiency. have.

As part of this, the proposed platoon driving service forms a group of vehicles, but divides them into a group leader vehicle and a number of member vehicles, and uses vehicle-to-vehicle communication to provide vehicle driving information (position, speed, acceleration, azimuth angle). Etc.), and a driving method in which the member vehicle follows the leading vehicle while maintaining a safe distance, thereby improving the efficiency of the road and improving the driving convenience of the driver.

In the conventional platooning service, since the leader vehicle determined at the departure point continues to serve as the leader to the destination, if there is an entry/exit route (rest area, etc.) on the route to the destination and some vehicles stop at the rest area, the above Vehicles have a problem in that they can no longer receive platoon driving services because the vehicle is distant from the leader vehicle and has been separated from the cluster.

In addition, since the conventional platooning service forms clusters without distinction of vehicles during cluster formation, high-speed vehicles (for example, passenger cars, etc.) and low-speed vehicles (for example, trucks, etc.) are grouped into a single cluster, resulting in the efficiency of platooning. There is a problem of dropping.

In addition, the conventional platoon driving service has a problem that threatens the safety of the platoon driving service because there is no process of verifying the driving safety of vehicles forming a platoon, and there is no process of verifying qualification as a leader vehicle when selecting a leader vehicle .

Registered Patent Publication No. 10-0957137 (2010.05.11.)

In order to solve the problems of the prior art as described above, the present invention forms a new cluster for vehicles that have deviated from the previous cluster due to stopping at a highway rest area, and forms different clusters by dividing high-speed vehicles and low-speed vehicles, It is an object of the present invention to provide a vehicle cluster formation apparatus and a method for ensuring the safety of a platoon driving service by verifying the cluster participation qualification and the qualification as a leader vehicle.

The objects of the present invention are not limited to the objects mentioned above, and other objects and advantages of the present invention that are not mentioned can be understood by the following description, and will be more clearly understood by examples of the present invention. In addition, it will be easily understood that the objects and advantages of the present invention can be realized by the means shown in the claims and combinations thereof.

An apparatus of the present invention for achieving the above object is an apparatus for forming a cluster of vehicles, comprising: a communication unit for communicating with a vehicle subscribed to a cluster driving service; A control unit for verifying vehicle communication and driving safety based on a vehicle certificate from a vehicle requesting the platooning service and a vehicle communication and driving safety verification document, and forming a cluster according to the attributes of the verified vehicle; A vehicle information storage unit for storing information on a vehicle requesting the platoon driving service; And a cluster information storage unit that stores information on clusters formed by the control unit.

In addition, the method of the present invention for achieving the above object, in the cluster formation method of the vehicle for the platoon driving service, the steps of notifying that the vehicle entering the communication area is scheduled to enter the cluster formation section; Verifying vehicle communication and driving safety based on a vehicle certificate from the vehicle and a vehicle communication and driving safety verification document; Forming a cluster based on the attributes of the verified vehicle; And storing the formed cluster.

According to the present invention as described above, when a vehicle that has deviated from the previous cluster occurs due to a stop at a highway rest area, a new cluster is created for vehicles that have deviated from the previous cluster, thereby providing a continuous cluster driving service.

In addition, the present invention has an effect of improving the efficiency of platooning by forming a cluster by dividing into a high-speed vehicle (for example, a passenger car, etc.) and a low-speed vehicle (for example, a truck, etc.) according to the type of vehicle during cluster formation. .

In addition, the present invention has the effect of ensuring the safety of the platoon driving service by verifying the driving safety of the vehicle forming the cluster and by verifying the qualification as the leader vehicle when selecting the leader vehicle.

1 is an exemplary view of a cluster driving environment of a vehicle to which the present invention is applied,
2 is a configuration diagram of an embodiment of an apparatus for forming a cluster of a vehicle according to the present invention;
3 is an example diagram of an information transmission process in the vehicle cluster formation apparatus according to the present invention;
4 is a flowchart of an embodiment of a method for forming a cluster of vehicles according to the present invention.

The above-described objects, features, and advantages will become more apparent through the detailed description that will be described later in detail with reference to the accompanying drawings, and accordingly, those of ordinary skill in the technical field to which the present invention pertains will understand the technical idea of the present invention. It will be easy to implement. In addition, in describing the present invention, when it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is an example diagram of a platoon driving environment of a vehicle to which the present invention is applied.

As shown in FIG. 1, in the cluster driving environment of a vehicle to which the present invention is applied, first, a road on which the vehicle is driven is divided into a general driving road, a first cluster driving road, and a second cluster driving road. At this time, the first platooning road is a road for platooning of high-speed vehicles, the second platooning road is a road for platooning of low-speed vehicles, and the general driving road is for driving a vehicle not provided with platooning service. It is the road. Here, two platooning roads have been described as an example, but the number of platooning roads may be three or more.

In addition, the clustering road is divided into a clustering section and a clustering section, and the first RSU (Road Side Unit) 10 located at the beginning of the clustering section is a vehicle clustering device according to the present invention, and a predetermined communication After notifying that the vehicle entering the area is expected to enter the cluster formation section, the vehicle certificate is verified according to the cluster driving service request from the vehicle (receiving the vehicle certificate from the vehicle), and also communicates with the vehicle and Requesting a driving safety verification document verifies the driving safety of the vehicle.

In addition, the first RSU 10 receives vehicle information (vehicle ID, subscription service (high-speed, low-speed), etc.) from the vehicle and induces the vehicle that requested the platoon driving service to enter the corresponding platooning road. For vehicles that have not requested driving service, they are guided to enter the general driving road.

Thereafter, the first RSU 10 forms a first cluster for vehicles entering the first platooning road, and a second cluster for vehicles entering the second platooning road. At this time, when selecting the leader vehicle of each cluster, the first RSU 10 may receive driver information (license information, insurance information, driving experience, traffic accident information, etc.) to the vehicle to verify qualification as the leader vehicle. .

Thereafter, when the verified leader vehicle is selected, the first RSU 10 completes the formation of the first cluster and the second cluster in the cluster formation section by transmitting information of the subsequent vehicle, and the vehicles in each cluster are the first RSU and the second cluster. 2 In conjunction with RSU, platooning service is provided in the platooning section. At this time, the number of RSUs has no effect on the platooning service.

According to the present invention, vehicles having different destinations may be formed as one cluster during cluster formation. This is possible because the cluster driving section is set as a section without access/entrance routes (for example, a rest area). For example, assuming that there are two rest areas on the route from the starting point to the destination, the number of clusters is, for example, the cluster between the departure point and the first rest area, the cluster between the first rest area and the second rest area, and the second rest area. A total of three are formed like the cluster from to the destination. At this time, since there is no entry/exit route within each section, even if the final destination is different, it is safe to group them into one cluster in the corresponding section.

2 is a block diagram of an embodiment of an apparatus for forming a cluster of a vehicle according to the present invention.

As shown in FIG. 2, the vehicle cluster forming apparatus according to the present invention includes a communication unit 11, a control unit 12, a vehicle information storage unit 13, and a cluster information storage unit 14.

Looking at each of the above components, first, the communication unit 11 performs communication with a vehicle subscribed to the platoon driving service. That is, the communication unit 11 communicates with the vehicle subscribed to the platoon driving service that has entered the communication area under the control of the control unit 12 to provide vehicle information (vehicle ID, vehicle certificate, vehicle communication and driving safety verification certificate, etc.) and qualification as a leader vehicle. Information necessary to verify the driver (driver information, driver driving experience information, driver insurance subscription information, etc.) is provided.

In addition, the communication unit 11 transmits driving information of the leader vehicle to a subsequent vehicle for platoon driving service, and transmits driving information of the subsequent vehicle to the leader vehicle. That is, as shown in FIG. 3, the communication unit 11 transmits driving information of the leader vehicle to the first subsequent vehicle, transmits driving information of the first subsequent vehicle to the leader vehicle and the second subsequent vehicle, The driving information of the vehicle is transmitted to the first subsequent vehicle. In this case, the driving order between vehicles is a situation in which the leader vehicle is at the fore, followed by the first subsequent vehicle, and the second subsequent vehicle following the first subsequent vehicle.

Next, the controller 12 authenticates the vehicle and verifies the driving safety based on the vehicle certificate obtained through the communication unit 11 and the vehicle communication and driving safety verification document.

In addition, the control unit 12 forms a cluster according to its attributes (high speed, low speed) targeting the verified vehicle, but if a leader vehicle exists, the information of the leader vehicle is transmitted to the subsequent vehicle and the information of the subsequent vehicle is the leader. It is transmitted to the vehicle, and if the leader vehicle does not exist, the process of verifying the qualification as the leader vehicle in the order of entering the communication area of the communication unit 11 is performed, and the verified vehicle is selected as the leader vehicle, and then the selected leader vehicle is selected. Delivers information of subsequent vehicles (new vehicles).

Next, the vehicle information storage unit 13 stores vehicle information under the control of the control unit 12. At this time, the vehicle information means information on a vehicle that has requested the platoon driving service.

Next, the cluster information storage unit 14 stores the cluster information under the control of the controller 12. At this time, the cluster information is divided into cluster information of a high-speed vehicle and cluster information of a low-speed vehicle, and includes various types of information necessary for a cluster driving service.

Until now, it has been looked at in terms of functionality for each component of a device for cluster formation of a vehicle, and hereinafter, a sequential process will be described with reference to FIGS. 4 and 5.

4 is a flow chart of an embodiment of a vehicle cluster formation method according to the present invention, where RSU 10 denotes a vehicle cluster formation apparatus according to the present invention, and the preceding vehicle 20 enters the cluster formation section The vehicle communication and driving function safety verification is completed, and the new vehicle 30 refers to a vehicle that has entered the cluster formation section immediately following the preceding vehicle 20.

First, the preceding vehicle 20 transmits its information to the RSU 10 (401). In this case, if the preceding vehicle is the leader vehicle, the verification process as the leader vehicle is also completed.

Thereafter, the RSU 10 notifies the new vehicle 30 that is close to the cluster formation section that the cluster formation section has started (402).

Then, the new vehicle 30 enters the cluster formation section if there is a willingness to implement the platoon driving service (403), otherwise it travels on a general driving road.

Thereafter, the new vehicle 30 entering the cluster formation section applies for the platoon driving service to the RSU 10 (404). At this time, the new vehicle 30 transmits its ID, cluster service information (high speed, low speed), and vehicle certificate to the RSU 10.

Thereafter, the RSU 10 verifies the vehicle certificate (405), and requests a vehicle communication and vehicle driving function safety verification document to the new vehicle 30 (406). Of course, if there is a problem with the vehicle certificate, it is judged as ineligible for the platooning service.

Thereafter, the new vehicle 30 tests the functions of the mounted vehicle communication module, and generates a vehicle driving safety verification report (407). At this time, the existing test history may be submitted as a vehicle driving safety verification document.

Thereafter, the new vehicle 30 transmits a response to the vehicle communication and driving function safety to the RSU 10 (408).

In this way, by checking the function of the vehicle communication module and checking the driving safety before the vehicle implementing the platoon driving service enters the platoon driving road, only vehicles having normal communication and driving functions can enter the platoon driving road. Therefore, it is possible to improve the safety of the platoon driving service.

Thereafter, the RSU 10 determines whether a preceding vehicle exists according to the type of a high-speed cluster or low-speed cluster to which the new vehicle 30 is subscribed (409). At this time, the RSU 10 may determine whether a preceding vehicle exists based on the preceding vehicle information received in the process '401'.

As a result of the determination 409, if the preceding vehicle 20 exists, the RSU 10 transmits the information of the new vehicle 30 to inform the preceding vehicle 20 that the new vehicle 30 is traveling as a subsequent vehicle. It transmits to the preceding vehicle 20 (410), and transmits the information of the preceding vehicle (20) to the new vehicle (30) (411).

Then, the new vehicle 30 secures a distance suitable for platooning behind the preceding vehicle 20 and enters the platooning section along the preceding vehicle 20.

As a result of the determination 409, if the preceding vehicle 20 does not exist, a process of verifying whether the new vehicle 30 is qualified as a leader vehicle is selected as the leader vehicle (predecessor vehicle), and then a new cluster formation section is entered. The entire process is repeated for one new vehicle.

In forming a cluster of the preceding vehicle and the subsequent vehicle as described above, the cluster is formed through the RSU 10 without forming a cluster through the exchange of messages between vehicles, thereby increasing mutual reliability between the preceding vehicle and the subsequent vehicle when the cluster is formed. You can increase it. That is, when a cluster is formed through the RSU 10, after the vehicle certificate verification, vehicle communication and functional verification of vehicle communication and driving safety are performed by the RSU 10, only trusted vehicles are members of the cluster. It is transmitted to the preceding vehicle to form a cluster, so that the preceding vehicle can trust the subsequent vehicle. After the vehicle certificate verification, vehicle communication, and function verification of driving safety are performed by the RSU 10 for the preceding vehicle, only reliable vehicles are recommended as the preceding vehicle, so that the subsequent vehicle can trust the preceding vehicle.

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

The present invention described above is capable of various substitutions, modifications and changes within the scope of the technical spirit of the present invention to those of ordinary skill in the technical field to which the present invention belongs. It is not limited by the drawings.

11: Communication Department
12: control unit
13: Vehicle information storage unit
14: cluster information storage unit

Claims (10)

Communication unit for communicating with a vehicle subscribed to the platoon driving service;
A control unit for verifying vehicle communication and driving safety based on a vehicle certificate from a vehicle requesting the platooning service and a vehicle communication and driving safety verification document, and forming a cluster according to the attributes of the verified vehicle;
A vehicle information storage unit for storing information on a vehicle requesting the platoon driving service; And
A cluster information storage unit for storing information on clusters formed by the control unit; Including,
The vehicle communication and driving safety verification document,
A vehicle cluster formation device, characterized in that it tests and generates a function of the vehicle communication module, and includes an existing test history. The method of claim 1,
The control unit,
A vehicle cluster forming apparatus configured to form the cluster by dividing the vehicle into a high-speed vehicle and a low-speed vehicle based on the verified type of the vehicle. The method of claim 1,
The control unit,
When a leader vehicle is included in the cluster, information of the leader vehicle is transmitted to a subsequent vehicle, information of the subsequent vehicle is transmitted to the leader vehicle, and leader vehicle qualification verification is performed when the leader vehicle is not included in the cluster. A vehicle cluster forming apparatus for selecting the leader vehicle by doing so. The method of claim 3,
The control unit,
The vehicle cluster forming apparatus for selecting the leader vehicle by performing the leader vehicle qualification verification in the order of the vehicles entering the communication area of the communication unit. The method of claim 1,
The control unit,
An apparatus for forming a cluster of vehicles to form the cluster so that the vehicle can receive the cluster driving service in a cluster driving section, which is a section without an access road and an access road. In the vehicle cluster formation method for a cluster driving service performed by a vehicle cluster formation device,
Notifying that the vehicle entering the communication area is scheduled to enter the cluster formation section;
Verifying vehicle communication and driving safety based on a vehicle certificate received from the vehicle and a vehicle communication and driving safety verification document;
Forming a cluster according to an attribute corresponding to the verified vehicle; And
Storing the formed cluster; Including,
The vehicle communication and driving safety verification document,
A vehicle cluster formation method for a cluster driving service, characterized in that the function of the vehicle communication module is tested and generated, and includes an existing test history. The method of claim 6,
The step of forming the cluster,
A vehicle cluster formation method for a cluster driving service in which the vehicle is divided into a high-speed vehicle and a low-speed vehicle to form the cluster based on the verified type of the vehicle. The method of claim 6,
When a leader vehicle is included in the cluster, transmitting information of the leader vehicle to a subsequent vehicle and transmitting information of the subsequent vehicle to the leader vehicle; And
When the leader vehicle is not included in the cluster, the method of forming a cluster of vehicles for cluster driving service further comprises the step of selecting the leader vehicle by performing a leader vehicle qualification verification. The method of claim 8,
The step of selecting the leader vehicle,
After the cluster is formed, the leader vehicle qualification verification is performed in the order of the vehicles entering the communication area to select the leader vehicle. The method of claim 6,
The step of forming the cluster,
A method of forming a cluster of vehicles for a platoon driving service, forming the cluster so that the vehicle can receive the platoon driving service in a platoon driving section, which is a section without an access road and an access road.

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