KR20160043299A - Vehicle outrun traveling support device based vehicle-to-vehicle communication, and method of thereof - Google Patents

Vehicle outrun traveling support device based vehicle-to-vehicle communication, and method of thereof Download PDF

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KR20160043299A
KR20160043299A KR1020140137463A KR20140137463A KR20160043299A KR 20160043299 A KR20160043299 A KR 20160043299A KR 1020140137463 A KR1020140137463 A KR 1020140137463A KR 20140137463 A KR20140137463 A KR 20140137463A KR 20160043299 A KR20160043299 A KR 20160043299A
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vehicle
overtaking
speed
driving
unit
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KR1020140137463A
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Korean (ko)
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김진석
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현대오트론 주식회사
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Priority to KR1020140137463A priority Critical patent/KR20160043299A/en
Publication of KR20160043299A publication Critical patent/KR20160043299A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention provides a vehicle-to-vehicle (V2V) communication based vehicle passing traveling support device to determine passing possibility based on the V2V communication without vision-related devices or sensor devices, and restrict entry to a danger area in a passing danger situation by automatically controlling a braking device and a steering device. The V2V communication based vehicle passing traveling support device comprises: a vehicle position detection unit checking location information of a vehicle to be passed and a vehicle travelling on a passing lane by using a GPS module; a vehicle traveling condition unit checking a traveling speed of the vehicle to be passed and the vehicle travelling on the passing lane; a V2V communication unit transmitting and receiving the location information and the speed of the vehicle to be passed and the vehicle travelling on the passing lane; a passing intention determination unit determining a passing intention based on the location information and the speed checked in the vehicle position detection unit and the vehicle traveling condition unit, when the vehicle to be passed is placed at the front side of the driving vehicle, according to the speed, a braking state and turn signal execution of the driving vehicle; a passing possibility notice unit informing a driver of whether or not the driving vehicle can pass the vehicle to be passed in consideration of the presence/absence and the speed of the vehicle travelling on the passing lane, and the speed of the driving vehicle based on the location information and the speed checked in the vehicle position detection unit and the vehicle traveling condition unit; and a vehicle control unit controlling acceleration, braking or steering of the driving vehicle depending on a passing probability.

Description

[0001] VEHICLE OUTRUN TRAVELING SUPPORT DEVICE BASED VEHICLE-TO-VEHICLE COMMUNICATION, AND METHOD OF THEREOF [0002]

The present invention relates to an overtaking support apparatus and method for a V2V communication-based vehicle.

As the wireless communication technology between vehicles has been developed, it has been widely applied to various driving support systems. Accordingly, smart driving functions that actively cope with the risk of running the vehicle are provided to the driver so that the driver can move to the destination along a safer route.

However, if you pass other vehicles while driving, the risk of accidents is considerably high. In general, when looking at a process of passing a vehicle, it is necessary to confirm the movement state of the vehicle, the vehicle to be passed, and the surrounding vehicles as well as the vehicle. However, it is difficult for the driver to grasp all of these conditions because the moving state of nearby vehicles can change from time to time, and therefore the risk of potential accident due to overtaking is more dangerous than the driver instantaneously thinks. Therefore, there is a limit to safety due to overtaking depending on the driving ability of the driver.

At present, various operation support systems exist in the vehicle, but such support system requires various sensors, and the operation support application method is changed according to the type and performance of the sensor.

Further, in reality, since the reliability of the function is guaranteed according to the development degree of the sensor, it is not easy to apply in various driving environments, and a cost problem arises due to the addition of the sensor. In addition, there is a real difficulty in applying high-value equipment such as high-performance radar to various vehicles.

Therefore, there is a need for a support device that not only adds a sensor but also helps to drive safely as well as warning.

Korea Published Patent 2012-0024230

In the embodiments of the present invention, the vehicle position detection unit obtains the position information of the overtaking target vehicle and the overtaking lane moving vehicle using the GPS module, obtains the overtaking target vehicle and the forward lane moving vehicle traveling speed in the vehicle running state unit The V2V communication unit transmits and receives the position information and the speed of the vehicle identified by the vehicle position sensing unit and the vehicle driving state unit, acquires the position information and the speed information of the vehicle, The lane departure determination unit determines whether the lane departure determination unit determines that the vehicle should pass by the speed of the driving vehicle, whether the braking state or the turn signal is executed, It is determined whether or not the driver's vehicle can pass the overtaking vehicle in consideration of the presence and speed and the speed of the driver's vehicle, The control unit controls the acceleration, braking or steering of the vehicle to determine whether it can be passed by V2V communication without the need for a sensor device such as a vision-related device or a lighter. In case of overtaking, the braking device and the steering device are automatically controlled, It is desired to control the accelerator and the steering device automatically so that the overtaking can be performed quickly.

According to an aspect of the present invention, there is provided a vehicular navigation system comprising: a vehicle position sensing unit for confirming positional information of an overtaking vehicle and an overtaking lane moving vehicle using a GPS module; A vehicle running state unit for confirming the traveling speed of the overtaking target vehicle and the passing lane moving vehicle; A V2V communication unit for transmitting and receiving the position information and the speed of the vehicle identified by the vehicle position sensing unit and the vehicle driving state unit; The overtaking target vehicle is located in front of the driving vehicle on the basis of the position information and the speed of the vehicle detected by the vehicle position sensing unit and the vehicle traveling state unit, The lane departure determination unit determines the presence or absence of the forward lane moving vehicle based on the position information and the speed of the vehicle determined by the vehicle position sensing unit and the vehicle driving state unit, An overtaking possibility notification unit informing whether or not the overtaking vehicle can be passed; And a vehicle control unit for controlling the acceleration, braking or steering of the vehicle in accordance with whether or not the vehicle can pass the vehicle, and an overtaking support apparatus for a V2V communication-based vehicle including the vehicle control unit.

If the speed of the driving vehicle is equal to or higher than the set speed and the speed difference between the driving vehicle and the overtaking vehicle is compared and the driving vehicle within the set time is able to overtake the overtaking vehicle, It can be judged.

The overtaking determination unit may determine that the driver wishes to overtake if the speed of the driving vehicle is equal to or higher than the set speed and the driving vehicle executes the left turn signal without braking.

The set time may be 5 seconds.

In addition, the speed of the set driving vehicle may be 40 km / h.

The overtaking possibility notifying unit may compare the speed difference between the driving vehicle and the overtaking lane moving vehicle when an overtaking lane moving vehicle exists and if the time interval between the driving vehicle and the overtaking lane moving vehicle is within a set time , It can be determined that it is an overtaking risk state and can be displayed as an overtaking risk state.

The overtaking possibility notifying unit compares the speed difference between the driving vehicle and the overtaking lane moving vehicle even if there is no upcoming lane moving vehicle or if the time interval of the driving lane moving vehicle exceeds the set time It can be determined that it is in the overtaking state and can be displayed in the overtaking state.

The set time may be 7 seconds.

In addition, the vehicle control unit may increase the acceleration capability of the driving vehicle and set the steering to be soft when the vehicle can pass.

Further, the vehicle control unit may be configured to execute a braking command to the driving vehicle and set the steering to be hard when the overtaking is dangerous.

According to another aspect of the present invention, the vehicle position detecting unit obtains the positional information of the overtaking target vehicle and the overtaking lane moving vehicle using the GPS module, acquires the overtaking target vehicle, the overtaking lane moving vehicle traveling speed in the vehicle running state unit A vehicle information collecting step of transmitting and receiving the position information and the speed of the vehicle identified by the vehicle position sensing unit and the vehicle driving state unit in the V2V communication unit and acquiring position information and speed information of the vehicle, An overtaking decision step in which the overtaking determination unit determines whether the overtaking vehicle is located in front of the driving vehicle and whether or not the overtaking vehicle is to be passed in accordance with the speed, the braking state, and the turn signal execution of the driving vehicle, Based on the information obtained in the overtaking possibility notification unit, Consider the presence and speed, the speed of the vehicle to inform of the amount of whether to overtake the target vehicle is overtaking vehicle is overtaking can determination step; And a vehicle control step of controlling acceleration, braking, or steering of the vehicle in the vehicle control section in accordance with whether or not the vehicle can be passed over.

If the speed of the driving vehicle is equal to or higher than the predetermined speed and the speed difference between the driving vehicle and the overtaking vehicle is compared and the driving vehicle within the set time can advance the overtaking vehicle, .

Also, the overtaking decision step may be determined to be a case where the speed of the driving vehicle is equal to or higher than the set speed and the driver of the driving vehicle executes the left turn signal without executing the braking operation.

The set time may be 5 seconds.

In addition, the speed of the set driving vehicle may be 40 km / h.

The overtaking possibility determining step compares the speed difference between the driving vehicle and the overtaking lane moving vehicle when an overtaking lane moving vehicle exists and if the time interval between the driving vehicle and the overtaking lane moving vehicle is within a set time , It can be determined that it is an overtaking risk state and can be displayed as an overtaking risk state.

The overtaking possibility determining step compares the speed difference between the driving vehicle and the overtaking lane moving vehicle even if the overtaking lane moving vehicle does not exist or exists, It can be determined that it is in the overtaking state and can be displayed in the overtaking state.

The set time may be 7 seconds.

In addition, the vehicle control step may increase the acceleration capability of the driving vehicle and softly set the steering when it is possible to overtake.

In addition, the vehicle control step may execute a braking command to the driving vehicle and set the steering to be hard when the overtaking is dangerous.

In the embodiments of the present invention, the vehicle position detection unit obtains the position information of the overtaking target vehicle and the overtaking lane moving vehicle using the GPS module, obtains the overtaking target vehicle and the forward lane moving vehicle traveling speed in the vehicle running state unit The V2V communication unit transmits and receives the position information and the speed of the vehicle identified by the vehicle position sensing unit and the vehicle driving state unit, acquires the position information and the speed information of the vehicle, The lane departure determination unit determines whether the lane departure determination unit determines that the vehicle should pass by the speed of the driving vehicle, whether the braking state or the turn signal is executed, It is determined whether or not the driver's vehicle can pass the overtaking vehicle in consideration of the presence and speed and the speed of the driver's vehicle, The control unit controls the acceleration, braking or steering of the vehicle to determine whether it can be passed by V2V communication without the need for a sensor device such as a vision-related device or a lighter. In case of overtaking, the braking device and the steering device are automatically controlled, It is possible to suppress the entry and control the accelerator and the steering device automatically when overtaking is possible so that the overtaking can be performed quickly.

1 shows the overtaking state.
2 is a configuration diagram of an overtaking travel support apparatus for a V2V communication-based vehicle according to an embodiment of the present invention.
3 is a flowchart of a method of supporting overtaking of a V2V communication-based vehicle according to an embodiment of the present invention.

Various embodiments of the present invention will now be described by way of specific embodiments shown in the accompanying drawings. The differences between the embodiments of the present invention described below are to be understood as mutually exclusive. That is, the specific shapes, structures, and characteristics described may be embodied in other embodiments in accordance with one embodiment without departing from the spirit and scope of the present invention, It is to be understood that the arrangements may be altered, where like reference numerals refer to like or similar features throughout the several views, and length and area, thickness, and the like may be exaggerated for convenience.

1 shows the overtaking state. 1, in general, in order for the driving vehicle 10 to overtake the preceding vehicle 20 to pass, the distance and speed between the driving vehicle 10 and the passing vehicle 20 must be considered, The speed and distance of the forward lane moving vehicle 30 traveling in the opposite direction to the driving vehicle 10 in the lane should also be considered.

2 is a configuration diagram of an overtaking travel support apparatus for a V2V communication-based vehicle according to an embodiment of the present invention. 2, an overtaking support apparatus for a V2V communication-based vehicle according to an aspect of the present invention includes a vehicle position confirmation unit for checking the position information of the overtaking vehicle 20 and the overtaking lane moving vehicle 30 using a GPS module A sensing unit 100; A vehicle running state unit 200 for confirming the running speed of the overtaking target vehicle 20 and the overtaking lane moving vehicle 30; A V2V communication unit 300 for transmitting and receiving the position information and speed of the vehicle identified by the vehicle position sensing unit 100 and the vehicle driving state unit 200; The overtaking vehicle 20 is positioned in front of the driving vehicle 10 on the basis of the position information and the speed of the vehicle identified by the vehicle position sensing unit 100 and the vehicle driving state machine 200, An overtaking determination unit 400 for determining whether or not to overtake according to a speed, a braking state, and a turning signal of the vehicle, a positional information and a speed of the vehicle determined by the vehicle position sensing unit 100 and the vehicle driving state unit 200, The overtaking lane indicating whether or not the driver vehicle 10 can pass the overtaking vehicle 20 in consideration of the presence and speed of the passing lane moving vehicle 30 and the speed of the driving vehicle 10 A possibility notification unit 500; And a vehicle control unit 600 that controls acceleration, braking, or steering of the vehicle according to whether or not the vehicle can be passed.

The vehicle position sensing unit 100 confirms the position information of the overtaking target vehicle 20 and the overtaking lane moving vehicle 30 using a GPS module. The positional relationship between the overtaking vehicle 20 and the overtaking lane moving vehicle 30 involved in overtaking can be accurately confirmed and the distance relationship with the driving vehicle 10 can be confirmed.

The vehicle running state unit 200 confirms the running speed of the overtaking lane 20 and the passing lane of the oncoming lane. Since the distance relation is confirmed through the vehicle position sensing unit 100, if the speeds of the overtaking vehicle 20 and the overtaking lane moving vehicle 30 can be confirmed, the overtaking time and the like can be known. The running condition of the vehicle can be confirmed by CAN communication.

 The V2V communication unit 300 transmits and receives the position information and speed of the vehicle identified by the vehicle position sensing unit 100 and the vehicle driving state unit 200 to transmit the information of each vehicle.

When the overtaking target vehicle 20 exists in front of the driving vehicle 10, the overtaking determination unit 400 determines whether or not there is an intention to overtake using the information of the driving vehicle 10 and the overtaking vehicle 20 . Therefore, when the speed of the driving vehicle 10 is too low, it is difficult to determine that there is an intention to overtake. Therefore, it is generally determined that there is a tendency to overtake the speed of the driving vehicle 10 when the speed is more than 40 km / h Because it is a speed that can be passed, it can be a standard speed for judging whether or not to pass if the speed is over 40 km / h.

 Even when the speed of the driving vehicle 10 is equal to or higher than the set speed, when the overtaking target vehicle 20 runs faster than the driving vehicle 10, the overtaking can not be performed. 10) exceeds the overtaking target vehicle 20, it is determined that there is an overtaking possibility. In this case, the set time can be set to 5 seconds.

In addition, when the left turn signal is executed to go to the lane where the driving vehicle 10 moves in the opposite direction without braking, it is determined that there is an intention to overtake.

The overtaking possibility notification unit 500 determines whether or not the overtaking vehicle 20 can pass the driving vehicle 10 in consideration of the presence and speed of the vehicle passing the overtaking lane 30 and the speed of the driving vehicle 10 Or not.

The speed difference between the driving vehicle 10 and the overtaking lane moving vehicle 30 can be compared because the driving vehicle 10 may collide with the overtaking lane moving vehicle in the overtaking process when the overtaking lane moving vehicle 30 exists. If the time interval between the driving vehicle 10 and the passing lane moving vehicle 30 is likely to collide with within a predetermined time, it can be determined as an overtaking danger state and can be displayed as an overtaking hazard state.

However, even if the overtaking lane moving vehicle 30 does not exist or exists, the speed difference between the driving vehicle 10 and the overtaking lane moving vehicle 30 is compared, and the driving vehicle 10 and the overtaking lane moving vehicle 30 ) Exceeds the set time, the possibility that the driving vehicle 10 and the passing lane moving vehicle 30 are in collision is low, so that it is determined that the vehicle is in the overtaking state and can be displayed in the overtaking state.

At this time, the set time can be set to 7 seconds.

The vehicle control unit 600 controls acceleration, braking, or steering of the vehicle depending on whether the vehicle can be passed.

The vehicle control unit 600 increases the acceleration capability of the driving vehicle 10 so that the driving vehicle 10 can quickly overtake the vehicle and can smoothly move left and right by setting the steering wheel softly. To make the steering possible.

In addition, when the overtaking is dangerous, the braking command is executed on the driving vehicle 10 so that the driving vehicle 10 does not move to the dangerous area, and the steering is set hard so that the driver can not easily move to the dangerous area.

3 is a flowchart of a method of supporting overtaking of a V2V communication-based vehicle according to an embodiment of the present invention. 3, the overtaking travel support method of the included V2V communication-based vehicle according to another aspect of the present invention includes the step of detecting the positional information of the overtaking vehicle 20 and the overtaking lane moving vehicle 30 in the vehicle position detecting unit 100, And acquires the traveling speed of the overtaking target vehicle 20 and the passing lane traveling vehicle 30 in the vehicle traveling state unit 200 and acquires the running speed of the passing lane traveling vehicle 30 in the V2V communication unit 300 using the GPS position sensor 100 (S100) for transmitting and receiving the position information and the speed of the vehicle, which are identified by the vehicle running state determining unit 200 and acquiring the position information and the speed information of the vehicle, based on the information acquired in the vehicle information collecting step The overtaking determination unit 400 determines whether the overtaking vehicle 20 is located ahead of the driving vehicle 10 and determines whether or not to pass the driving vehicle 10 according to the speed, In the decision-making step S200, Based on the obtained information, based on the position information and the speed of the vehicle checked by the overtaking possibility notifying unit 500, considering the presence of the overtaking lane moving vehicle 30, the speed, and the speed of the driving vehicle 10 An overtaking possibility judgment step (S300) of notifying whether the driving vehicle (10) can pass the overtaking vehicle (20); And a vehicle control step S400 for controlling acceleration, braking or steering of the vehicle in the vehicle control unit 600 in accordance with whether or not the vehicle can be passed.

The vehicle information collection step S100 is a step of collecting vehicle information and the vehicle position detection unit 100 confirms the position information of the overtaking vehicle 20 and the overtaking lane moving vehicle 30 using a GPS module . The positional relationship between the overtaking vehicle 20 and the overtaking lane moving vehicle 30 involved in overtaking can be accurately confirmed and the distance relationship with the driving vehicle 10 can be confirmed.

In addition, the vehicle running state unit 200 confirms the running speed of the overtaking target vehicle 20 and the overtaking lane moving vehicle 30. Since the distance relation is confirmed through the vehicle position sensing unit 100, if the speeds of the overtaking vehicle 20 and the overtaking lane moving vehicle 30 can be confirmed, the overtaking time and the like can be known. The running condition of the vehicle can be confirmed by CAN communication.

 In addition, the V2V communication unit 300 transmits and receives the position information and speed of the vehicle identified by the vehicle position sensing unit 100 and the vehicle driving state unit 200, and can transmit the information of each vehicle.

If the overtaking target vehicle 20 exists in front of the driving vehicle 10, the overtaking decision step S200 determines whether or not there is an intention to overtake using the information of the driving vehicle 10 and the overtaking vehicle 20 . Therefore, when the speed of the driving vehicle 10 is too low, it is difficult to determine that there is an intention to overtake. Therefore, it is generally determined that there is a tendency to overtake the speed of the driving vehicle 10 when the speed is more than 40 km / h Because it is a speed that can be passed, it can be a standard speed for judging whether or not to pass if the speed is over 40 km / h.

 Even when the speed of the driving vehicle 10 is equal to or higher than the set speed, when the overtaking target vehicle 20 runs faster than the driving vehicle 10, the overtaking can not be performed. 10) exceeds the overtaking target vehicle 20, it is determined that there is an overtaking possibility. In this case, the set time can be set to 5 seconds.

In addition, when the left turn signal is executed to go to the lane where the driving vehicle 10 moves in the opposite direction without braking, it is determined that there is an intention to overtake.

The overtaking possibility determining step S300 determines whether or not the driver vehicle 10 can pass the overtaking vehicle 20 in consideration of the presence and speed of the overtaking lane moving vehicle 30 and the speed of the driving vehicle 10 .

The speed difference between the driving vehicle 10 and the overtaking lane moving vehicle 30 can be compared because the driving vehicle 10 may collide with the overtaking lane moving vehicle in the overtaking process when the overtaking lane moving vehicle 30 exists. If the time interval between the driving vehicle 10 and the overtaking lane moving vehicle 30 is short within a set time and there is a possibility of collision, it is determined that the vehicle is in the overtaking danger state and can be displayed as the overtaking dangerous state.

However, even if the overtaking lane moving vehicle 30 does not exist or exists, the speed difference between the driving vehicle 10 and the overtaking lane moving vehicle 30 is compared, and the driving vehicle 10 and the overtaking lane moving vehicle 30 ) Exceeds the set time, the possibility that the driving vehicle 10 and the passing lane moving vehicle 30 are in collision is low, so that it is determined that the vehicle is in the overtaking state and can be displayed in the overtaking state.

At this time, the set time can be set to 7 seconds.

The vehicle control step (S400) controls acceleration, braking, or steering of the vehicle according to whether the vehicle can be passed.

The vehicle control unit 600 increases the acceleration capability of the driving vehicle 10 so that the driving vehicle 10 can quickly overtake the vehicle and can smoothly move left and right by setting the steering wheel softly. To make the steering possible.

In addition, when the overtaking is dangerous, the braking command is executed on the driving vehicle 10 so that the driving vehicle 10 does not move to the dangerous area, and the steering is set hard so that the driver can not easily move to the dangerous area.

10: Driving vehicle
20: Vehicle to be passed
30: passing lane moving vehicle
100: Vehicle position sensing unit
200: Vehicle running state part
300: V2V communication unit
400: Overdetermination decision section
500: Notification of overtaking possibility
600:

Claims (20)

A vehicle position sensing unit for confirming the position information of the overtaking target vehicle and the forward lane moving vehicle using a GPS module;
A vehicle running state unit for confirming the traveling speed of the overtaking target vehicle and the passing lane moving vehicle;
A V2V communication unit for transmitting and receiving the position information and the speed of the vehicle identified by the vehicle position sensing unit and the vehicle driving state unit;
The overtaking target vehicle is located in front of the driving vehicle on the basis of the position information and the speed of the vehicle detected by the vehicle position sensing unit and the vehicle traveling state unit, The overtaking decision unit
The driving vehicle may overtake the overtaking vehicle in consideration of the presence and speed of the overtaking lane moving vehicle and the speed of the driving vehicle based on the position information and the speed of the vehicle determined by the vehicle position sensing unit and the vehicle driving state unit Notification of whether or not to allow passing
And a vehicle control unit for controlling acceleration, braking or steering of the vehicle in accordance with whether or not the vehicle can pass the vehicle.
The method according to claim 1,
The overtaking determination unit compares the speed difference of the driving vehicle with the speed difference between the driving vehicle and the overtaking vehicle and determines that there is an overtaking wish when the driving vehicle in the set time is able to overtake the overtaking vehicle V2V communication based vehicle.
The method according to claim 1,
Wherein the overtaking determination unit determines that the driver is willing to overtake if the speed of the driving vehicle is equal to or higher than the set speed and the driving vehicle executes the left turn signal without executing the braking.
3. The method of claim 2,
Wherein the set time is 5 seconds.
The method according to claim 2 or 3,
Wherein the speed of the set driving vehicle is 40 km / h.
The method according to claim 1,
The overtaking possibility notifying unit compares the speed difference between the driving vehicle and the overtaking lane moving vehicle when there is an overtaking lane moving vehicle, and if the time interval between the driving vehicle and the overtaking lane moving vehicle is within the set time, An overtaking support device for a V2V communication based vehicle that is determined to be in a dangerous state and is marked as an overtravel hazard.
The method according to claim 1,
The overtaking possibility notifying unit compares the speed difference between the driving vehicle and the overtaking lane moving vehicle, even if there is no upcoming lane moving vehicle, or if the time interval between the driving vehicle and the overtaking lane moving vehicle exceeds the set time The overtaking travel support device of the V2V communication-based vehicle judging the overtaking possible state and displaying the overtaking possible state.
8. The method according to claim 6 or 7,
And the set time is 7 seconds.
The method according to claim 1,
Wherein the vehicle control unit increases the acceleration capability of the driving vehicle and sets the steering to soft when the vehicle control unit can pass the vehicle.
The method according to claim 1,
Wherein the vehicle control unit executes a braking command to the driving vehicle and sets the steering to be hard when the overtaking is dangerous.
The vehicle position detection unit obtains the position information of the overtaking target vehicle and the overtaking lane moving vehicle using the GPS module and obtains the overtaking target vehicle and the forward lane moving vehicle traveling speed in the vehicle traveling state unit, A vehicle information collection step of transmitting and receiving the position information and the speed of the vehicle identified by the sensing unit and the vehicle driving state unit and acquiring the position information and the speed information of the vehicle
Wherein the overtaking determination unit determines that the overtaking target vehicle is located in front of the driving vehicle based on the information acquired in the vehicle information collection step and determines whether the overtaking target is to be passed according to the speed of the driving vehicle, Decision step
Based on the position information and the speed of the vehicle determined by the overtaking possibility notification unit based on the information obtained in the vehicle information collection step, An overtaking determination step of indicating whether or not the overtaking vehicle can be passed;
And a vehicle control step of controlling acceleration, braking, or steering of the vehicle in a vehicle control section according to whether or not the vehicle can overtake.
12. The method of claim 11,
If the speed of the driving vehicle is equal to or higher than the predetermined speed and the speed difference between the driving vehicle and the overtaking vehicle is compared and the driving vehicle within the set time can advance the vehicle to be passed, A method for supporting overtaking of a V2V communication based vehicle.
12. The method of claim 11,
Wherein the overtaking decision step determines that the driver is willing to overtake if the speed of the driving vehicle is equal to or higher than the set speed and the driving vehicle executes the left turn signal without executing the braking.
13. The method of claim 12,
Wherein the set time is 5 seconds.
The method according to claim 12 or 13,
Wherein the speed of the set driving vehicle is 40 km / h.
12. The method of claim 11,
The overtaking possibility determining step compares the speed difference between the driving vehicle and the overtaking lane moving vehicle when an overtaking lane moving vehicle exists and if the time interval between the driving vehicle and the overtaking lane moving vehicle is within a set time, A method of supporting overtaking of a V2V communication based vehicle that is determined to be in a dangerous state and is marked as an overtravel hazard.
12. The method of claim 11,
The overtaking possibility determining step compares the speed difference between the driving vehicle and the overtaking lane moving vehicle, even if the vehicle does not exist or exists, so that the time interval between the driving vehicle and the overtaking lane moving vehicle corresponds to a set time Based vehicle is determined to be in the overtaking possible state and is displayed in the overtaking state.
18. The method as claimed in claim 16 or 17, wherein the set time is 7 seconds.
12. The method of claim 11,
Wherein the vehicle control step increases the acceleration capability of the driving vehicle and softens the steering when the vehicle is able to overtake.
12. The method of claim 11,
Wherein the vehicle control step executes a braking command to the driving vehicle and sets the steering to be hard when the overtaking is dangerous.

KR1020140137463A 2014-10-13 2014-10-13 Vehicle outrun traveling support device based vehicle-to-vehicle communication, and method of thereof KR20160043299A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105844967A (en) * 2016-05-16 2016-08-10 广州大学 Vehicle collision warning and active control method based on vehicle communication
KR20180102250A (en) * 2017-03-06 2018-09-17 만도헬라일렉트로닉스(주) Overtaking assistance system and control method of thereof
KR20190052239A (en) * 2017-11-08 2019-05-16 광운대학교 산학협력단 Visible light communication device and method for providing traffic information
CN110853386A (en) * 2018-08-21 2020-02-28 上海擎感智能科技有限公司 Vehicle, server and lane road condition construction prompting method based on 5G technology

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105844967A (en) * 2016-05-16 2016-08-10 广州大学 Vehicle collision warning and active control method based on vehicle communication
KR20180102250A (en) * 2017-03-06 2018-09-17 만도헬라일렉트로닉스(주) Overtaking assistance system and control method of thereof
KR20190052239A (en) * 2017-11-08 2019-05-16 광운대학교 산학협력단 Visible light communication device and method for providing traffic information
CN110853386A (en) * 2018-08-21 2020-02-28 上海擎感智能科技有限公司 Vehicle, server and lane road condition construction prompting method based on 5G technology

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