KR20060053649A - Vehicle and vehicle telecommunication method of group driving - Google Patents

Abstract

Multiple vehicles are clustered toward one destination, and follow-up vehicles follow the leading vehicle and exchange with Ad-hoc communication including real-time location information, speed, direction and status information of each vehicle. To do that,

The process of setting a plurality of vehicles to be driven to the same destination as one cluster driving, and each vehicle driving the cluster driving using the GPS satellite information, the axis coordinates (X, Y, Z) and the traveling speed (V) of the own vehicle location. ) And extracting the information of the axial angle (θ) and the information of the axis coordinates (X, Y, Z), the traveling speed (V) and the direction angle (θ) of the extracted host vehicle position in the set data format Transmitting to the subsequent driving vehicle through Ad-hoc communication through the RF communication module, and the subsequent driving vehicle extracts the relative distance (d _ab ) of the preceding vehicle and the state information (S) of the own vehicle, and then the extracted relative And processing the distance d _ab , the state information S of the own vehicle, and the information θ of the direction angle into a set data format, and transmitting the same to the preceding vehicle through Ad-hoc communication through the RF communication module.

Cluster Driving, Inter-vehicle Communication, Relative Distance, Ad-hoc Communication

Description

VEHICLE AND VEHICLE TELECOMMUNICATION METHOD OF GROUP DRIVING}

1 is an exemplary view illustrating a group driving of a vehicle according to the present invention.

2 is a diagram illustrating a data communication sequence between vehicles in a group driving according to the present invention.

3 illustrates a structure of data bits including vehicle state information in inter-vehicle data communication according to the present invention;

The present invention relates to vehicle-to-vehicle communication, and more particularly, multiple vehicles are clustered toward a single destination, and in real time, position, speed, direction and angle between each vehicle in following vehicles under the leading vehicle. The present invention relates to a vehicle-to-vehicle communication method for exchanging with ad-hoc communication including vehicle status information.

Due to traffic congestion and increasing inconsistent road networks, corporate and social logistics costs are increasing day by day due to traffic congestion, which is becoming a social problem such as waste of energy and waste of time.

In order to solve such an increase in logistics costs and to make a more stable operation, a positioning system for checking a current position and moving speed or determining a moving route is mounted on a vehicle.

The positioning system receives a radio wave indicating latitude, longitude, altitude, etc. from a plurality of satellites (Global Positioning System), calculates the current position of the vehicle, and then calculates the current position, movement path, It displays information such as the speed of movement, the route set by the driver before driving, the optimal route of the destination branch, and the route traveled.

However, the positioning system mounted on the vehicle displays only the information related to the driving of the vehicle, and does not include a function for searching the driving information or the route of the other vehicle. There is a problem that information or route tracking and the leading vehicle cannot be followed.

In other words, depending on the situation, when several vehicles are simultaneously traveling to one destination, many drivers do not know the road to the destination and only one or two know the road or additional shortcuts. When a person wants to travel by using a specific route among several routes to a destination, finds a good place without a specific destination, and passes through an undetermined waypoint such as a rest area while moving to the destination, etc. Clustering should be carried out to prevent accidents.                         

The group driving follows the rear of the leading vehicle, and in such a situation, when the other vehicle is interrupted between the traffic light or the vehicle in the group driving, the gap between the leading vehicle and the subsequent vehicle may occur.

The driver of such a leading vehicle or a driver of a subsequent driving vehicle has a disadvantage of exchanging information with each other using a telephone or the like.

In addition, the following driving vehicle has to carry a dangerous driving that is a signal violation, speeding or overtaking in order to follow the distance to the leading vehicle within the visible distance, accumulating extreme tension and fatigue, and the leading vehicle stops on the shoulder There is a disadvantage that the situation of waiting for the vehicle often occurs.

In particular, the leading vehicle cannot obtain accurate information about distance, driving direction, and abnormality of the following vehicles in real time, which leads to many limitations and difficulties in inducing subsequent vehicles in a group driving. have.

The present invention has been invented to solve the above problems, the object of which is that each vehicle is a real-time location, traveling speed, direction angle of the vehicle from the GPS satellite information during the group driving of several vehicles moving to one destination at the same time Information is extracted and processed into the data format including the identification ID assigned to each of them, and then provided to the subsequent vehicle through Ad-hoc communication, and the subsequent vehicle is a distance, a direction angle and a subsequent vehicle of the own vehicle and the own vehicle. By processing the status information on the data format including the identification ID assigned to each and then providing it to the preceding vehicle through Ad-hoc communication, the leading vehicle can safely lead the following vehicle in cluster driving. It is to provide convenience and reliability in following the leading vehicle.

In addition, to prevent excessive driving to maintain the distance to the leading vehicle within the driver's visible distance during the group driving to provide stability of the driving.

The present invention for realizing the above object comprises the steps of setting a plurality of vehicles to be driven to the same destination in one cluster driving; Extracting information about the axis coordinates (X, Y, Z), the traveling speed (V), and the direction angle (θ) of the host vehicle position using GPS satellite information; The extracted coordinate information of the axis coordinates (X, Y, Z), the traveling speed (V) and the direction angle (θ) of the own vehicle position is processed into a set data format to the subsequent driving vehicle through Ad-hoc communication through the RF communication module. Transmitting; The subsequent driving vehicle extracts the relative distance d _ab from the preceding vehicle and the state information S of the own vehicle, and the extracted relative distance d _ab , the state information S of the own vehicle, and the information of the direction angle θ. ) Is processed into a set data format, and provides a method of communication between vehicles in a group driving, comprising the step of transmitting to the preceding vehicle through Ad-hoc communication through the RF communication module.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

As can be seen in FIG. 1, the present invention includes a plurality of vehicles 100A-100E and a plurality of GPS satellites 100 that are clustered to a specified destination.                     

Each vehicle (100A-100E) has a unique identification ID, and the location (X, Y, Z) and driving speed (V) of the real-time own vehicle extracted from the information provided by the GPS satellite 100 in axial coordinates. And a GPS control module for extracting the direction angle θ, an RF communication module for performing communication in a set data format between the vehicles traveling in a group, and a logic control module for calculating and extracting relative distances and status values between the vehicles. Include.

In the present invention having the above configuration, the operation of performing communication between vehicles during group driving is as follows.

As shown in FIG. 1, a case in which vehicles 1 (100A) to 5 (100E) are clustered toward the same destination will be described as an example.

As described above, the GPS receiving module mounted on the vehicle 1 (100A) to the vehicle 5 (100E) clustering to the same destination is the real-time axis coordinates (X, Y, Z), travel speed (V) and direction angle (θ) are extracted.

Each vehicle 100A-100E in the group driving is processed in the set data format when the axis coordinates (X, Y, Z), traveling speed (V) and direction angle (θ) of the own vehicle position are extracted and then processed through the RF communication module. Ad-hoc communication transmits the information of the own vehicle to the following vehicle.

As shown in FIG. 2, the vehicle 1 (100A), which is a leading vehicle, has information about the axis coordinates (X1, Y1, Z1), the traveling speed (V1), and the direction angle (θ1) of the host vehicle position extracted by the GPS receiving module. After processing the set data format and transmits to the vehicle 2 (100B) to be subsequently driven by the Ad-hoc communication via the RF communication module (S101).

When the information of the vehicle 1 (100A) is received in the vehicle 2 (100B), the vehicle 2 (100B) is the axis coordinates (X2, Y2, Z2), the traveling speed (V2) and the direction of the own vehicle position extracted by the GPS receiving module The information of the angle θ2 is processed and then transmitted to the vehicle 3 (100C) that is subsequently driven through Ad-hoc communication through the RF communication module (S102).

When the information of the vehicle 2 (100B) is received in the vehicle 3 (100C), the vehicle 3 (100C) is the axis coordinates (X3, Y3, Z3), the traveling speed (V3) and the direction of the own vehicle position extracted by the GPS receiving module The information of the angle θ3 is processed and then transmitted to the vehicle 4 (100D) which is subsequently driven through Ad-hoc communication through the RF communication module (S103).

When the information of the vehicle 3 (100C) is received in the vehicle 4 (100D), the vehicle 4 (100D) is the axis coordinates (X4, Y4, Z4), the traveling speed (V4) and the direction of the own vehicle position extracted by the GPS receiving module. After processing the set data format, the angle θ4 is transmitted to the vehicle 5 (100E) which finally drives the vehicle through Ad-hoc communication through the RF communication module (S104).

When the information of the vehicle 4 (100D) is received by the vehicle 5 (100E) that is finally driven in the group driving, the vehicle 5 (100E) is a relative distance from the vehicle 4 (100D) that runs ahead using Equation 1 below (d45). ), The state information S5 of the host vehicle is extracted from the self-diagnosis module, and the information of the direction angle θ5 calculated from the GPS receiving module is extracted.

Then, the relative distance (d45) and the vehicle state information (S5) with the vehicle 4 (100D) is processed into a set data format, and then transmitted to the vehicle 4 (100D) running ahead through Ad-hoc communication through the RF communication module. (S105).                     

When the relative distance d45, the direction angle θ5, and the state information S5 are received from the vehicle 5 100E that is subsequently driven on the vehicle 4 100D, the vehicle 4 100D is preceded by using Equation 1 above. The relative distance d34 from the vehicle 3 100C, which is the vehicle, is calculated, the state information S4 of the host vehicle is extracted from the self-diagnosis module, and the information of the direction angle θ4 calculated from the GPS receiving module is extracted.

Subsequently, vehicle 4 (100D) processes the relative distance (d34) and the direction angle (θ4) with respect to the extracted vehicle 3 (100C) and the state information (S45) for the host vehicle and the subsequent vehicle in a set data format, and then RF communication. The module transmits to the vehicle 3 (100C) running ahead through Ad-hoc communication (S106).

The relative distance d34 and the direction angle θ4 and the status information S45 of the vehicle 4 100D and the vehicle 5 100E, which are subsequent driving vehicles, are received from the vehicle 4 100D that is subsequently driven to the vehicle 3 100C. When the vehicle 3 (100C) calculates the relative distance (d23) from the vehicle 2 (100B), which is the preceding vehicle, by using Equation 1 above, extracts the state information (S3) of the own vehicle from the self-diagnosis module, and receives the GPS receiving module. The information of the direction angle θ3 calculated from the information is extracted.

Subsequently, the vehicle 3 (100C) processes the relative distance (d23) and the direction angle (θ2) with the extracted vehicle 2 (100B) and the state information (S345) for the host vehicle and the subsequent vehicle into a set data format, and then the RF communication module. Through the Ad-hoc communication via the vehicle 2 (100B) to run ahead (S107).

When the relative distance d23 and the direction angle θ3 and the state information S345 for the host vehicle and the subsequent vehicle are received from the vehicle 3 100C that is subsequently driven to the vehicle 2 100B, the vehicle 2 100B is represented by the above mathematical expression. Equation 1 is used to calculate the relative distance d12 from vehicle 1 (100A), which is a preceding vehicle, extract the state information S2 of the host vehicle from the self-diagnosis module, and calculate the direction angle θ2 calculated from the GPS receiver module. Extract the information.

Thereafter, the vehicle 2 (100B) processes the relative distance (d12) and the direction angle (θ2) and the state information (S2345) for the host vehicle and the subsequent vehicle with the extracted vehicle 1 (100A) in a set data format, and then RF communication. The module transmits to the vehicle 1 (100A) running ahead through Ad-hoc communication (S108).

Each process of the above described S101 to S108 is repeatedly performed until the entire vehicle traveling in a group arrives at the destination.

The state information of the vehicle provided to the preceding traveling vehicle by the subsequent traveling vehicle is processed and transmitted into a 4-bit data format as shown in FIG. 3.

Thus, for example, when the vehicle state information transmitted from the vehicle 2 (100B) and received by the vehicle 1 (100A) is detected as a value of "0010", it is possible to know that there is an error in the state of the vehicle 4 (100D). do.

 As described above, according to the present invention, even when the distance between the vehicles increases due to the transmission and reception of information between vehicles in the process of grouping several vehicles to the same destination, the positions of the leading vehicle and the subsequent vehicle can be grasped without unnecessary stops. Subsequent vehicles are provided with stability and reliability in driving by eliminating excessive driving in order to not miss the leading vehicle following.

In addition, the communication load is reduced by the exchange of information between the vehicles in the group driving.

Claims (4)

Setting a plurality of vehicles to be driven to the same destination as one cluster driving; Extracting information on the axis coordinates (X, Y, Z), the traveling speed (V), and the direction angle (θ) of the host vehicle position by using the vehicle GPS satellite information of the group driving; The extracted coordinate information of the axis coordinates (X, Y, Z), the traveling speed (V) and the direction angle (θ) of the own vehicle position is processed into a set data format to the subsequent driving vehicle through Ad-hoc communication through the RF communication module. Transmitting; The subsequent driving vehicle extracts the relative distance d _ab from the preceding vehicle and the state information S of the own vehicle, and the extracted relative distance d _ab , the state information S of the own vehicle, and the information of the direction angle θ. ) Processing to a predetermined data format, and transmitting to the preceding vehicle through Ad-hoc communication through the RF communication module. The method of claim 1, In the group-to-vehicle communication, when the reception of information from the preceding vehicle is detected, the host vehicle provides the information of the host vehicle to the subsequent vehicle, and when the reception of the information from the subsequent vehicle is detected, the host vehicle provides the vehicle information to the preceding vehicle. A communication method between vehicles in a group driving, characterized in that. The method of claim 1, In providing the information to the preceding vehicle according to the detection of the reception of the information from the subsequent driving vehicle in the group driving, the state information (S) of the vehicle includes information about the own vehicle and all vehicles subsequently traveling on the own vehicle. A communication method between vehicles in a group driving. The method of claim 1, The transmission and reception of information between vehicles in the group driving provides information of the own vehicle to the subsequent vehicle when the information is received from the preceding vehicle, and when the information is received from the subsequent vehicle, the information of the own vehicle and the subsequent vehicle and the subsequent vehicle of the subsequent vehicle. An inter-vehicle communication method in a group driving, characterized in that provided to the preceding vehicle including the status information.

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