KR20170119126A - Autonomous driving vehicle system and method thereof - Google Patents

Abstract

The present invention provides an autonomous drive control system for a vehicle and a control method thereof. An autonomous-drive control system according to an embodiment of the present invention includes a communication unit for performing inter-vehicle communication so that cooperative travel among a plurality of vehicles can be performed, and a communication unit for inter- And a controller.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an autonomous driving control system for a vehicle,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to an autonomous running control system for a vehicle and a control method thereof.

Generally, when the current overtaking vehicle travels past the current overtaking vehicle, the conventional vehicle control apparatus calculates HeadWay information in the HeadWay computing apparatus for maintaining the distance from the current overtaking vehicle for a predetermined time, and performs ESC The device was braked.

However, in the conventional vehicle control apparatus, when the headway time value is set to be small when a plurality of vehicles are running in a concentrated manner, a sufficient headway time is not set in the system failure state due to termination of a crowded running of a plurality of vehicles or communication failure of a module. There was a limit that the safety distance could not be secured.

Therefore, in recent years, there has been a study on a vehicle control apparatus and its control method which can secure a sufficient safety distance between the vehicles without performing unnecessary braking in the ESC apparatus, Has been continuously carried out.

An embodiment of the present invention is to provide a vehicle control apparatus and a control method thereof capable of preventing the occurrence of a traffic accident in advance.

In addition, the embodiment of the present invention is intended to provide a vehicle control apparatus and a control method therefor, which can suppress anxiety about a current driving situation while inducing a driver to perform a driving operation.

According to an aspect of the present invention, there is provided a communication system comprising: a communication unit for performing inter-vehicle communication so as to enable cooperative traveling between a plurality of vehicles; And a controller for increasing the vehicle interval at a predetermined interval for a first predetermined time when the cooperative running is terminated.

In addition, when the cooperative driving is terminated, the wireless communication between the plurality of vehicles may not be smooth or the cooperative driving termination may be requested by at least one of the plurality of vehicles.

In addition, the control unit may select the center vehicle of the plurality of vehicles when the cooperative running is finished, and calculate the control signal so that at least one preceding vehicle in front of the center vehicle is accelerated.

Further, the headway time of one or more following vehicles behind the center vehicle can be calculated based on the increased vehicle interval and the vehicle speed at the time of cooperative driving.

Also, the control unit may terminate the cooperative driving if the vehicle interval is increased at the predetermined interval.

According to another aspect of the present invention, there is provided a method for controlling a vehicle, comprising: performing inter-vehicle communication so as to enable cooperative traveling between a plurality of vehicles; and, when the cooperative driving end request signal is applied, ; And when the vehicle interval is increased at the predetermined interval, the cooperative running is ended.

The application of the cooperative driving termination request signal may include a case in which the wireless communication between the plurality of vehicles is not smooth or a case in which at least one of the plurality of vehicles requests a cooperative driving termination.

Selecting a center vehicle of the plurality of vehicles when the cooperative running end request signal is applied; And calculating the control signal so that at least one preceding vehicle in front of the center vehicle is accelerated.

Further, the method may further include calculating a headway time of one or more following vehicles behind the center vehicle on the basis of the increased vehicle interval and the vehicle speed at the time of cooperative driving.

The embodiment of the present invention can prevent the occurrence of a traffic accident in advance.

In addition, the embodiment of the present invention can suppress anxiety about the current driving situation while inducing driver's attention driving.

1 is a block diagram showing various electronic devices included in a vehicle including an autonomous drive control system according to an embodiment of the present invention.
2 is a block diagram of a communication device included in a vehicle according to an embodiment of the present invention.
3 is an internal block diagram of a communication device included in a vehicle according to an embodiment of the present invention.
4 is a schematic diagram illustrating a method of wireless communication between vehicles according to an embodiment of the present invention.
FIG. 5 is a schematic diagram illustrating a request for ending a dense run of an autonomous run according to an embodiment of the present invention.
FIG. 6 is a schematic view showing an end of a dense running of an autonomous running according to an embodiment of the present invention. FIG.
FIG. 7 is a schematic view showing a plurality of vehicles at a point of time when a cooperative driving end request is made and a time when a cooperative driving end request is completed according to an embodiment of the present invention.
8 is a flowchart illustrating an autonomous driving control method according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are provided to fully convey the spirit of the present invention to a person having ordinary skill in the art to which the present invention belongs. The present invention is not limited to the embodiments shown herein but may be embodied in other forms. For the sake of clarity, the drawings are not drawn to scale, and the size of the elements may be slightly exaggerated to facilitate understanding.

FIG. 1 is a block diagram showing various electronic devices included in a vehicle including an autonomous drive control system according to an embodiment of the present invention, FIG. 2 is a block diagram of an autonomous drive control system according to an embodiment of the present invention, 3 is an internal block diagram of a communication device included in a vehicle according to an embodiment of the present invention.

1, the vehicle 1 includes an engine control system 110, a brake-by-wire 120, an AVN device (Audio Video Navigation) 140, an autonomous drive control System 150, a transmission management system (TMS) 160, a steering-by-wire 170, a communication device 180, an input / output control system 190, 195), and the like.

However, the electronic device 100 shown in Fig. 1 is only a part of the electronic device included in the vehicle 1, and the vehicle 1 may be provided with a wider variety of electronic devices.

In addition, the various electronic devices 100 included in the vehicle 1 can communicate with each other through the vehicle communication network NT. The Vehicle Communication Network (NT) may be a Media Oriented Systems Transport (MOST) having a communication speed of up to 24.5 Mbps (Mega-bits per second), a FlexRay having a communication speed of up to 10 Mbps, a CAN (Controller Area Network) having a communication speed of 1 Mbps to 1 Mbps, and a LIN (Local Interconnect Network) having a communication speed of 20 kbps. Such a vehicle communication network NT can employ not only a single communication protocol such as a mast, a player, a can, a lean, but also a plurality of communication protocols.

The engine control system 110 performs fuel injection control, fuel ratio feedback control, lean burn control, ignition timing control, idling control, and the like. The engine control system 110 may not only be a single device but may also be a plurality of devices connected through communication.

The braking control device 120 may control the braking of the vehicle 1, and may typically include an anti-lock brake system (ABS) or the like.

The AVN device (Audio Video Navigation) 140 is a device for outputting music or an image according to a control command of a driver. Specifically, the AVN apparatus 140 can reproduce music or moving images according to a control command of the driver, or guide a route to a destination received from a navigation system (not shown).

Shift control system 160 shift point control, damper clutch control, pressure control during friction clutch on / off, and engine torque control during shifting. The shift control system 160 may be a single device, or may be a plurality of devices connected through communication.

The steering control device 160 assists the steering operation of the driver by reducing the steering force during low-speed driving or parking and increasing the steering force during high-speed driving.

The input / output control system 190 receives the driver's control command via the button and displays information corresponding to the driver's control command. The input / output control system 190 may include a cluster display 191 provided on a dashboard (not shown) of the vehicle 1 to display an image, a head-up display 192 for projecting an image on a wind screen, and the like.

The cluster display 191 is provided on the dashboard to display images. Particularly, the cluster display 191 is provided adjacent to the windscreen so that the driver U can be informed of the operation information of the vehicle 1, the information of the road or the traveling route of the vehicle 1 in a state in which the sight line of the driver does not deviate greatly from the front of the vehicle 1. [ And so on. The cluster display 191 may include a liquid crystal display (LCD) panel or an organic light emitting diode (OLED) panel.

The head-up display 192 can project an image onto the windscreen. Specifically, the image projected on the windscreen by the head-up display 122 may include motion information of the vehicle 1, road information, or a travel route.

The other vehicle sensor 195 includes an acceleration sensor 196, a yaw rate sensor 197, a steering angle sensor 198, a speed sensor 199 and the like included in the vehicle 1 to detect the running information of the vehicle .

The acceleration sensor 196 measures the acceleration of the vehicle and may include a lateral acceleration sensor (not shown) and an acceleration sensor (not shown).

The yaw rate sensor 197 can be installed on each wheel of the vehicle and can detect the yaw rate value in real time.

The steering angle sensor 198 measures the steering angle. Mounted on the lower end of the steering wheel (not shown), and can detect the steering speed, the steering direction, and the steering angle of the steering wheel.

The speed sensor 199 can be installed inside the wheel of the vehicle to detect the rotational speed of the vehicle wheel.

The communication device 180 includes a wireless communication unit 183 that performs continuous communication with a plurality of vehicles outside the vehicle, an internal communication unit 181 that performs communication between various electronic devices in the vehicle, and a wireless communication unit 183 and an internal communication unit 181 And a communication control unit 182 for controlling the communication apparatus.

The autonomous-drive control system 150 includes a conventional cruise control system (ACC) so that when the driver sets the vehicle speed at a constant speed, he or she does not have to brake or accelerate the pedal It provides the convenience to the driver by keeping the speed of the vehicle in accordance with the external road conditions.

In addition, in recent years, dense running is performed based on information of a plurality of vehicles received by the wireless communication unit 183 of the communication device 180, and autonomous running control based on cruise control is performed.

The configuration of the vehicle 1 has been described above.

The configuration and operation of the communication device 180 and the autonomous-drive control system 150 included in the vehicle 1 will be described below.

2 is a block diagram for explaining a communication device 180 included in the vehicle 1 according to an embodiment of the present invention.

2, the communication device 180 includes an internal communication unit 181, a communication control unit 182, and a wireless communication unit 183.

The internal communication unit 181 is connected to the vehicle communication network NT to receive communication signals transmitted from the various electronic devices 100 in the vehicle 1 and to transmit the vehicle 1 via the vehicle communication network NT And transmits the communication signal to the various electronic apparatuses 100 inside. Here, the communication signal means a signal transmitted / received through the vehicle communication network NT.

The wireless communication unit 183 can exchange signals with an external vehicle or a wireless communication base station through a wireless signal.

That is, the vehicle 1 transmits and receives radio signals to and from other vehicles existing around the vehicle through the wireless communication unit 183, receives the speed, acceleration, and other traveling information of the external vehicle, It is possible to send and receive signals and transmit / receive information that can be autonomously traveled.

For example, as shown in Fig. 4, the vehicle 1 can communicate wirelessly with the first vehicle V1 and the third vehicle V3 via wireless communication, and the third vehicle V3, Can transmit and receive data with the vehicle 1 and the second vehicle V2 via wireless communication.

That is, a virtual network is formed between a plurality of vehicles (1, V1, V2, V3) located within a distance at which wireless communication is possible, so that a wireless signal can be transmitted and received to enable autonomous travel.

At this time, the communication method performed by the wireless communication unit 183 can exchange signals through various communication protocols. For example, the wireless communication unit 300 may be a second generation (2G) communication system such as a time division multiple access (TDMA) system and a code division multiple access system (CDMA) (3G) communication systems such as Wide Code Division Multiple Access (WCDMA), Code Division Multiple Access (CDMA2000), Wireless Broadband (Wibro) and World Interoperability for Microwave Access (WiMAX) (4G) communication method such as Long Term Evolution (LTE) and Wireless Broadband Evolution. The wireless communication unit 183 may employ a fifth generation (5G) communication system.

The communication control unit 182 collectively controls the communication between the external vehicle and the in-vehicle electronic device 100 in the internal communication unit 181 and the wireless communication unit 183.

3 is a block diagram of an autonomous drive control system 150 according to one embodiment of the present invention.

Referring to FIG. 3, the autonomic drive control system 150 includes a switch 151, a communication unit 152, and a controller 153.

The switch unit 151 may include an On switch and an Off switch so as to receive an on / off control input of the driver's autonomous drive control system 150.

The communication unit 152 is connected to the vehicle communication network NT to receive the communication signals transmitted from the various electronic devices 100 in the vehicle 1 and the information of the external vehicle through the communication device 180, And transmits the communication signal to the various electronic devices 100 in the vehicle 1 via the communication network NT.

Here, the communication signal means a signal transmitted / received via the vehicle communication network NT, and can receive various sensor values measured by the other vehicle sensors 195, Signals may be transmitted to the various electronic apparatuses 100.

For example, it is possible to transmit various control signals for maintaining a constant speed to the engine control system 110 and the shift control system 160 in order to travel at the target speed in the autonomous drive control system 150 according to the present invention. have.

The control unit 153 collectively controls the autonomous-drive control system 150. [

More specifically, the control unit 153 controls the signal processing unit 154 that processes various communication signals received from the communication unit 152 and various data processed in the autonomous-drive control system 150, A main processor 155 for comparing the accelerations and generating various control signals to maintain the autonomous running control accordingly, and a memory 156 for storing various data.

Specifically, the signal processing unit 154 maintains a proper distance from the preceding vehicle of the present vehicle 1 when the close running through the autonomous running between the plurality of vehicles is terminated, And transmits various kinds of information received from the communication unit 152 to the main processor 155 to calculate the acceleration and the headway so as to maintain the safety distance.

Next, the main processor 155 determines the completion of the close running of the plurality of vehicles via the control signal processed by the signal processing unit 154, and selects the central vehicle of the close running to secure a safe inter-vehicle distance The preceding vehicle generates acceleration signals based on the selected center vehicle, and the following vehicle generates control signals to secure a safe inter-vehicle distance through HeadWay control.

5 is a schematic view showing a plurality of vehicles in response to a request for ending a dense run of an autonomous run according to an embodiment of the present invention. FIG. 7 is a schematic diagram showing a point of time for requesting and ending a cooperative drive end according to an embodiment of the present invention.

5, when the autonomous running of a plurality of vehicles through the communication device 180 of the vehicle 1 is progressed in a concentrated manner, when the inter-vehicle wireless communication is not smooth, If it is desired to terminate the close running at one or more of the plurality of vehicles, it starts to generate the control signal according to the present invention.

First, a center vehicle of a plurality of vehicles in a concentrated driving mode is selected.

(N + 1) / 2th vehicle is selected as the central vehicle, and when the vehicle in the dense traveling is an even number (N = even number) The N / 2th vehicle can be selected as the center vehicle.

 For example, as shown in Fig. 5, when there are five vehicles in a concentrated driving mode, a third vehicle may be selected as the central vehicle 1 in turn from the foremost vehicle.

Hereinafter, when calculating the safety distance for ending the dense running, the front vehicle of the selected central vehicle 1 can be represented as V1 and sequentially up to the foremost position.

 Further, after marking the forward vehicle of the selected central vehicle 1, the following vehicle that sequentially follows the central vehicle 1 can be indicated by the number after the preceding vehicle.

As shown in Fig. 5, the center vehicle 1 is moved from a reference position 700 at a time point t0 [sec] at which it is desired to stop the close running in one or more of the plurality of vehicles, Is referred to as &_quot; S _{0 &} quot ;, and the distance between vehicles in the dense running is referred to as " Sr ".

Subsequently, as shown in Fig. 6, the distance from the reference position 700 to the center vehicle 1 at the end point (t0 '[sec]) of dense cooperative driving is referred to as S0 _' ' , And the distance between vehicles at the end of the cooperative driving is called Sr '.

At this time, the time interval t (t) from the time point t0 [sec] at which the close running is desired to be terminated in one or more of the plurality of vehicles to the close control completion point t0 '[sec] Can be set in advance.

7 is a schematic view showing a plurality of vehicles at a time point of requesting and ending a cooperative driving end according to an embodiment of the present invention.

As shown in FIG. 7, when n vehicles are running in a concentrated driving mode, the central vehicle is selected as Vc, the vehicle ahead of the center vehicle is marked as Vc-1 and Vc-2 from the vehicle nearest to the center vehicle, Vc + 1 and Vc + 2 from the vehicle close to the center vehicle.

At the end of the dense running, S ₀ is increased to S ₀ ', and Sr is increased to Sr' because it is necessary to sufficiently secure the inter-vehicle distance due to the end of dense running to end the dense running safely.

At this time, in order to secure S ₀ 'and Sr', the front vehicle of the central vehicle 1 must perform the acceleration control and secure sufficient HeadWay time for the following vehicle of the central vehicle 1.

At this time, the amount of change Sr increased to Sr 'can be denoted by? S, and the autonomous drive control system 150 according to the present invention can set? S in advance.

Accordingly, the main processor 155 can calculate the acceleration value for the vehicle ahead of the central vehicle 1 according to the preset t and? S, and secure the headway time value for the following vehicle.

Specifically, the HeadWay time for securing the acceleration of the vehicle ahead of the center vehicle 1 and the safety distance of the vehicle following the center vehicle 1 can be calculated through Equations 1 to 10 described below. HeadWay time refers to the transit time between the vehicle and the vehicle.

[Formula 1]

S ₀ '= S ₀ + v _c * t + 1/2 * a _{c *} t ²

At this time, the distance of the dense driving end from which the reference position (700) of a desired point in time (t0 [sec]), to the center of the vehicle (1), S ₀ ', dense center vehicle from the reference position of cooperation driving end (1 ) takes time, in the distance S _0, t is t0 up to the running end dense cooperation velocity vc is, a time point t0 of the center _c of the vehicle (1) is meant the acceleration of the center of the vehicle (1).

[Formula 2]

S ₁ '= S ₀ + Sr + v _c-1 * t + 1/2 * a _{c-1 *} t ²

At this time, the dense co driving end time it takes 7 a preceding vehicle from the reference position of the point (V _c-1) the distance to the S ₁ 't is terminated dense cooperation running from t0 point, v _c-1 is a preceding vehicle ( V _c-1 is the speed at the time t0, a _c-1 is the acceleration of the forward vehicle (V _c-1 ), and Sr is the vehicle-to-vehicle distance during the concentrated driving.

[Formula 3]

S ₂ '= S ₀ + 2 * Sr + v _c-2 * t + 1/2 * a _{c-2 *} t ²

In this case, the distance from the reference position at the end of the dense cooperative driving to the forward vehicle (V _c-2 ) in FIG. 7 is S ₂ ', t is the time taken from t 0 to the end of the dense cooperative driving, v _c- acceleration, Sr speed, a _c-1 is a preceding vehicle (V _c-2) at the time point of t0 (V _c-2) refers to the inter-vehicle distance when traveling concentrated.

[Formula 4]

S _r '= Sr +? S

In this case, Sr is the distance between the vehicles in the dense running, Sr 'is the distance between the vehicles at the end of the dense cooperative driving, and Δs is the distance where the inter-vehicle distance is added at the end of the dense cooperative driving.

[Formula 5]

_{S 1 '- S 0' =} S r '= Sr + Δs = Sr + (v c-1 - v c) * t + 1/2 * (a c-1 - a c) * t 2

 [Formula 6]

_{S 2 '- S 1' =} S r '= Sr + Δs = Sr + (v c-2 - v c-1) * t + 1/2 * (a c-2 - a c-1) * t 2

In this case, [Equation 5] is obtained by subtracting [Equation 1] from [Equation 2], and [Equation 6] is obtained by subtracting [Equation 2] from [Equation 3] , It is possible to derive [Expression 7] based on [Expression 5], and derive Expression [8] based on Expression [6] to derive Expression [9] .

[Equation 7]

a _c-1 = 2 *? s / t ² + a _c

[Equation 8]

a _c-2 = 2 *? s / t ² + a _c-1

 [Equation 9]

_{a ci = 2 * Δs / t} 2 + a c- (i-1)

In this case, a _ci is the acceleration of the forward (i) th vehicle from the center vehicle, and a _{c- (i-1)} is the acceleration of the forward (i-1) th vehicle from the center vehicle.

That is, after the predetermined [s] [m] and the preset t [sec] through [Equation 1] to [Equation 9], it is possible to end the cooperative crowd driving according to the present invention.

 Next, Expression 10 is an expression for the passage time between the vehicle and the vehicle with respect to the trailing vehicle of the center vehicle 1. [

[Equation 10]

Headway time = (Sr +? S) / v _c

That is, as the inter-vehicle distance increases with Sr ', the sum of Sr and Δs becomes equal to the vehicle speed divided by the speed of the vehicle.

Next, the memory 156 stores programs and data of the autonomous-drive control system 150. [

Specifically, the memory (not shown) 156 may be a flash memory, a read only memory, an erasable programmable read only memory such as an SRAM (D-RAM) A nonvolatile memory such as a memory (EPROM), an electrically erasable programmable read only memory (EEPROM), or the like.

The non-volatile memory may semi-permanently store a control program and control data for controlling the operation of the autonomous drive control system 150. The volatile memory temporarily stores control programs and control data from the non-volatile memory, Various sensor information acquired from the communication unit 152 and various control signals output from the main processor can be temporarily stored.

The configuration and the control method of the autonomous drive control system 150 according to the present invention have been described above.

8 is a flowchart of a control method of the autonomous-drive control system 150 according to the present invention.

First, the autonomous drive control system 150 according to the present invention performs autonomous drive control (S10).

At this time, the communication device 180 of the vehicle 1 can perform cooperative densely running of a plurality of vehicles through communication with a plurality of vehicles outside the vehicle. Specifically, the control unit 153 in the autonomous-drive control system 150 controls the autonomous-traveling control unit 150 to perform autonomous traveling through the various electronic devices 100 of the vehicle so as to keep the distance between the vehicles constant during co- .

At this time, the autonomous-vehicle-travel control system 150 in the vehicle 1 determines whether the cooperative close running control termination request of a plurality of vehicles occurs (S30) The central vehicle is selected (S40). Specifically, when a cooperative close running control termination request of a plurality of vehicles occurs, the case where the intensive vehicle-to-vehicle wireless communication is not smooth and the close running can not be performed or the close running end is desired in one or more of the plurality of vehicles.

The control unit 153 in the autonomous-drive control system 150 determines whether the vehicle in the (N + 1) th / second vehicle is an odd number (N = odd number) Is selected as the center vehicle, and the N / 2th vehicle can be selected as the center vehicle when the vehicles in the dense traveling are even (N = even number).

When the center vehicle is selected (S40), an acceleration control signal is generated for the preceding vehicle of the central vehicle to secure the increased inter-vehicle distance Sr 'for a preset time t (S50).

That is, the acceleration control signal is generated, and the preceding vehicles of the central vehicle can transmit and receive the control signals to / from the plurality of vehicles through the communication device 150 so as to perform the acceleration control according to the generated acceleration control signal.

Specifically, the acceleration control signal generated in the autonomous-drive control system 150 can be calculated through [Expression 1] through [Expression 9].

In addition, a headway control signal is generated for the trailing vehicle of the central vehicle (S60).

That is, the headway control signal generated through the communication device 150 can be transmitted / received between a plurality of vehicles so that the following vehicles can secure a sufficient headway distance by generating a headway control signal.

 Specifically, the headway control signal generated in the autonomous-drive control system 150 can be calculated through [Expression 10].

Next, the controller 153 in the autonomous-drive control system 150 performs acceleration control in the front of the center vehicle and headway control in the rear of the center vehicle and ends the cooperative close-pack driving control (S70).

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be construed as limited to the embodiments set forth herein; It will be understood that various modifications may be made without departing from the spirit and scope of the invention.

1: vehicle
150: Autonomous drive control system

Claims (9)

A communication unit for performing inter-vehicle communication so as to allow cooperative traveling between a plurality of vehicles; And
And a control unit for increasing the vehicle interval at a predetermined interval for a first predetermined time when the cooperative running is terminated. The method according to claim 1,
And when the cooperative driving is terminated, the wireless communication between the plurality of vehicles is not smooth, or when at least one of the plurality of vehicles requests cooperative driving termination. 3. The method of claim 2,
Wherein the control unit selects a center vehicle of the plurality of vehicles when the cooperative running is finished and calculates a control signal so that at least one preceding vehicle in front of the center vehicle is accelerated. The method of claim 3,
(HeadWay) time of one or more following vehicles behind the center vehicle on the basis of an increased vehicle interval and a vehicle speed at the time of cooperative driving. 5. The method of claim 4,
Wherein the control unit terminates the cooperative driving when the vehicle interval is increased at the predetermined interval. Performing inter-vehicle communication such that cooperative traveling between a plurality of vehicles is possible;
Increasing the vehicle interval at a predetermined interval for a first predetermined time when the cooperative driving end request signal is applied; And
And when the vehicle interval is increased at the predetermined interval, terminates the cooperative running. The method according to claim 6,
Wherein the application of the cooperative driving end request signal includes a case in which wireless communication between the plurality of vehicles is not smooth or a case in which at least one of the plurality of vehicles requests a cooperative driving end. 8. The method of claim 7,
Selecting a center vehicle of the plurality of vehicles when the cooperative running end request signal is applied; And
Further comprising: calculating a control signal so that at least one preceding vehicle in front of the center vehicle is accelerated. 9. The method of claim 8,
And calculating a headway time of one or more following vehicles behind the center vehicle on the basis of the increased vehicle interval and the vehicle speed at the time of cooperative driving.

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