KR20190057507A - Method and apparatus for controlling driving of vehicle based on traffic condition - Google Patents

Abstract

Disclosed are a method and an apparatus for controlling driving of a vehicle based on traffic conditions as mileage of the vehicle can increase based on traffic conditions. The method for controlling the driving based on traffic conditions, comprises the steps of: receiving information on a traffic signal and information on front side vehicles in a target section; determining whether a user′s own vehicle passes the target section using vehicle passable time according to the traffic signal and waiting line disappearance time with respect to the front side vehicles; and determining a coasting drive start speed and start point of the user′s own vehicle using a coasting drive map of the user′s own vehicle and the distance to a trailing vehicle in the waiting line according to the determination result, wherein the information on the front side vehicles include information on the waiting line disappearance time.

Description

TECHNICAL FIELD [0001] The present invention relates to a driving control method and apparatus for a vehicle,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a driving control method and apparatus based on traffic conditions, and more particularly, to a method and apparatus for controlling driving of a vehicle so that fuel economy of a vehicle can be increased based on traffic conditions.

With the development of Intelligent Transport Systems (ITS) technology, information about traffic conditions on the road has been provided to drivers. In addition, studies are underway to provide drivers with information on vehicles in operation, traffic signals, etc., along with vehicle-to-vehicle (V2X) technology development. Such research and development is aimed at enhancing the fuel efficiency of the vehicle while making traffic flow smooth, and is about to be commercialized soon.

Korean Patent Laid-Open Publication No. 2013-0117496, which is a related prior art document, discloses a method for providing a traffic flow satisfactorily by using variable speed control variable speed control (VSL) And the traveling speed is controlled by using the shock wave when the steering wheel is released.

And to provide a method and apparatus for controlling the running of the vehicle so that the fuel economy of the vehicle can be increased based on the traffic situation.

According to an aspect of the present invention, there is provided a method for controlling a vehicle, the method comprising: receiving traffic signal information and information about forward vehicles in a target section; Determining whether the vehicle is passing through the target section using the vehicle passing time according to the traffic signal and the cancellation time of the queue for the preceding vehicles; And determining a starting speed and a starting point of the driving force of the vehicle based on the driving history map for the vehicle and the distance to the aft vehicle of the waiting matrix according to the determination result, The information about the forward vehicles is provided by a traffic condition based on the traffic situation including the erase time information of the queue.

According to another aspect of the present invention, there is provided a method for controlling a vehicle, the method comprising: receiving traffic signal information and information about forward vehicles in a step target section; Determining whether the vehicle is passing through the target section using the vehicle passing time according to the traffic signal and the cancellation time of the queue for the preceding vehicles; And determining a starting speed and starting point of the driving force of the vehicle based on the driving history map for the vehicle and the time at which the vehicle arrives at the trailing vehicle of the waiting matrix, The information on the preceding vehicles is provided in a traffic control based on a traffic situation including information on the time of the queue being erased.

According to another aspect of the present invention, there is provided a traffic situation estimation apparatus for estimating an elimination time of a queue using a queue length of a forward vehicle according to a traffic signal in a target section. A vehicle passage judging unit for judging whether or not the vehicle has passed the target section by using the vehicle passing time according to the traffic signal and the cancellation time of the waiting matrix; And a driving force control unit for determining a driving start speed and a starting point of the driving force of the vehicle using the driving force map for the vehicle and the distance to the rear vehicle of the waiting matrix, A driving control device based on traffic conditions is provided.

According to the present invention, it is possible to determine whether or not a target vehicle passes an intersection based on a traffic situation, and to provide an optimal driving strategy that can reduce fuel consumption and increase fuel economy according to a determination result, Can be increased.

1 is a view for explaining a driving control system based on a traffic situation according to an embodiment of the present invention.
2 is a view for explaining a driving control apparatus based on a traffic situation according to an embodiment of the present invention.
3 is a flowchart of a driving control method based on a traffic situation according to an embodiment of the present invention.
4 is a flowchart illustrating a method of controlling a driving force according to an embodiment of the present invention.
FIG. 5 is a diagram showing a driving force map according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing.

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

1 is a view for explaining a driving control system based on a traffic situation according to an embodiment of the present invention.

Referring to Fig. 1, a running control system according to the present invention includes an intelligent traffic system 110 and vehicles 121 to 124 running on a road. The vehicles 121 to 124 may be autonomous vehicles.

The intelligent traffic system 110 collects information on nearby vehicles traveling on the road, traffic signals, and the like, and provides the collected information to the vehicles 121 to 124. As an example, the intelligent transportation system 110 may collect information of vehicles by collecting information of vehicles using a wireless communication network or analyzing CCTV images.

The intelligent traffic system 110 estimates the current traffic situation using information on the collected vehicles and traffic signal information. In one embodiment, when the interval in which the information is collected is within a predetermined distance from the intersection, the intelligent traffic system 110 determines the length of the vehicles that are waiting for or waiting for signals at the intersection, ).

For example, when the first and second vehicles 121 and 122 are standing by and waiting for a signal, and the third vehicle 123 in operation is stopped without passing through the intersection, Lt; RTI ID = 0.0 > 121 < / RTI > When the third vehicle 123 is expected to reach the second vehicle 122 in 10 seconds after the time from the stop signal (red signal) of the traffic light to the traffic signal (green signal) is 30 seconds, The system 110 may estimate the length of the queue including the third vehicle 123.

And the intelligent traffic system 110 may estimate the cancellation time of the queue from the length of the queue. Although the erase time of the queue shows a pattern proportional to the length of the queue, in general, a vehicle that is stopped does not start as soon as the traffic signal changes to the traffic signal but starts after the front vehicle has moved since the traffic signal has been changed to the traffic signal. The system 110 can estimate the cancellation time of the queue in consideration of a shock wave when the congestion is eliminated.

Also, the intelligent traffic system 110 estimates the remaining time of the current signal from the traffic signal information. For example, if the length of the traffic signal (green signal) is one minute and the current signal is a signal 10 seconds after the start of the traffic signal, the intelligent traffic system 110 estimates the remaining time as 50 seconds.

The vehicles traveling on the roads receive the information estimated by the intelligent transportation system 110 and control the traveling speed. More specifically, the vehicles use information provided by the intelligent transportation system 110 to determine whether an intersection has passed or not, and use different driving strategies depending on whether the intersection has passed or not. If it is determined that the vehicle can pass through the intersection, it is possible to reduce the fuel consumption while maintaining the current speed as much as possible in consideration of the distance from the present vehicle ahead. If it is determined that the vehicle can not pass through the intersection, Stop while reducing consumption.

For example, as shown in Fig. 1, the first to third vehicles 121 to 123 constitute a queue at the intersection, and the fourth vehicle 124 is connected to the third vehicle 123 as a trailing vehicle of the queue If it is proximate, the fourth vehicle 124 can determine whether or not the intersection passes by using the information provided by the intelligent transportation system 110. [

The waiting time of the queue by the first to third vehicles 121 to 123 is 20 seconds. If the allowable time of the vehicle is 30 seconds, the fourth vehicle 124 can determine that the vehicle can pass through the intersection. In this case, the fourth vehicle 124 maintains the safety distance with the third vehicle 123 and runs at the current speed.

If the queue clear time by the first to third vehicles 121 to 123 is 20 seconds and the allowable time of the vehicle is 10 seconds, the fourth vehicle 124 judges that the intersection passage is impossible, Start coasting. That is, the fourth vehicle 124 approaches and stops after the third vehicle 123 is driven by the driving force.

The running control system according to the present invention determines whether a target vehicle passes an intersection based on a traffic situation, and provides an optimum running strategy that can reduce fuel consumption and increase fuel economy according to a determination result. Therefore, according to the present invention, the fuel consumption of the vehicle can be reduced and the fuel consumption can be increased.

In FIG. 1, although the intersection situation is described as an embodiment, it can be applied not only to traffic but also to all areas where vehicle progress is controlled by a traffic signal.

In addition, although FIG. 1 illustrates an embodiment in which the intelligent traffic system estimates the current traffic situation, according to an embodiment, a traffic situation in the vehicle can be estimated. That is, the vehicles can collect information on the surrounding vehicles and traffic signal information through inter-vehicle communication, and can estimate the queue length and the queue cancellation time based on this information.

2 is a view for explaining a driving control apparatus based on a traffic situation according to an embodiment of the present invention.

2, the driving control apparatus according to the present invention is mounted on a vehicle, and includes a traffic condition estimating unit 210, a vehicle passing determination unit 220, and a driving force control unit 230.

The traffic condition estimating unit 210 estimates the cancellation time of the queue using the queue length of the forward vehicles according to the traffic signal in the target section. The target section is a section within a predetermined distance from the area where the vehicle progress is controlled by the traffic signal, and may be the area around the intersection, as described above.

The traffic condition estimating unit 210 calculates a queue length for a vehicle that does not pass the target section during a vehicle passing possible time according to a traffic signal among the preceding vehicles. The traffic condition estimating unit 210 can calculate the queue length by using a vehicle that is expected not to pass the target section according to the vehicle passing time according to the traffic signal as well as the vehicle that is stationary in the target section.

)를 계산할 수 있다.In one embodiment, as shown in Equation (1), the queue length (

) Can be calculated.

은 차량 사이의 간격이며,

은 대기행렬을 구성하는 차량의 개수이다.

은 대기행렬을 구성하는 차량의 길이이다. 차량간 길이 및 차량 사이 간격은 모두 다를수 있으나, 동일한 것으로 가정하여 대기행렬 길이를 추정할 수 있다.here,

Is the distance between the vehicles,

Is the number of vehicles constituting the queue.

Is the length of the vehicle constituting the queue. Vehicle length and vehicle spacing can all be different, but the queue length can be estimated assuming the same.

)을 추정할 수 있다.The traffic condition estimating unit 210 can estimate the cancellation time of the queue from the length of the queue. For example, considering the shock wave when the congestion is canceled,

) Can be estimated.

Here, W (m / s) is a shock wave value and a constant value determined according to traffic conditions. Shockwave value increases with traffic congestion.

Alternatively, the traffic situation estimation unit 210 may estimate the queue erasure time so as to be proportional to the queue length, without considering the shock wave, according to the embodiment.

The vehicle passing determination unit 220 determines whether or not the vehicle is passing through the target section by using the vehicle passing time according to the traffic signal and the cancellation time of the waiting vehicle for the preceding vehicles. If the cancellation time of the queue is larger than the allowable passing time of the vehicle according to the traffic signal, the sub-vehicle passing determination unit 220 determines that the sub-vehicle can not pass the target section.

Based on the determination result of the subcarrier passing determination unit 220, the target driving control unit 230 calculates the target driving start speed and the starting point of the target car based on the target driving map for the target car and the distance from the car to the trailing target vehicle . The traveling control method according to the determination result of the target section will be described in more detail with reference to FIGS.

FIG. 3 is a flowchart of a driving control method based on a traffic situation according to an embodiment of the present invention, and FIG. 4 is a flowchart illustrating a driving control method according to an embodiment of the present invention. And FIG. 5 is a diagram showing a driving force map according to an embodiment of the present invention.

The running control method according to the present invention can be performed in an ECU of a vehicle or in a separate running control apparatus including a processor mounted on the vehicle. Hereinafter, a running control method performed in an autonomous vehicle will be described as an embodiment.

The vehicle according to the present invention receives traffic signal information in the target section and information on the preceding vehicles (S310). The information about the forward vehicles may include the erase time information of the queue, and the traffic signal information may include the remaining time information of the current signal. The vehicle can collect information of the nearby vehicles using the inter-vehicle communication network or access the intelligent transportation system to receive the related information. Or information about the processed forward vehicle in a separate device of the vehicle.

The vehicle according to the present invention determines whether the vehicle is passing through the target section (S320) using the vehicle passing time according to the traffic signal and the cancellation time of the queue for the preceding vehicles. Then, based on the determination result, the driving start speed and starting point of the vehicle are determined using the driving history map for the vehicle and the distance between the vehicle and the tail vehicle of the queue (S330).

The vehicle according to the present invention determines the starting speed and starting point of the driving force of the vehicle when it is determined that the vehicle can not pass through the target section. The target driving map is a map including information on the driving speed of the subject vehicle and the moving distance, and the traveling distance decreases as the driving speed of the driving force decreases. The driving characteristics of each vehicle may be different for each vehicle, and a driving force map may be generated from the result of driving the vehicle in advance with respect to the vehicle.

The vehicle according to the present invention compares the driving distance of the subject vehicle with the current speed of the subject vehicle and the distance to the rear vehicle of the waiting matrix in the subject vehicle to determine the starting speed and the starting point of the subject driving force. When the driving distance is longer than the distance to the rear end of the queue, the driving speed is determined to be lower than the current speed. On the other hand, if the driving distance of the vehicle according to the current speed of the vehicle is shorter than the distance to the rear vehicle of the queue, it is determined that the starting time of the driving of the vehicle is later than the current time.

4, the vehicle according to the present invention compares the driving distance of the vehicle with the distance to the rear end of the vehicle (S410). When the vehicle travel distance according to the current speed of the vehicle is less than the distance to the rear vehicle If it is longer, the vehicle speed is decelerated (S420), and the running of the vehicle is started (S430).

On the other hand, if the driving distance according to the current speed of the vehicle is shorter than the distance to the rear vehicle of the waiting matrix, the current driving speed of the vehicle is maintained to some extent (S440) do. For example, if the current speed of the vehicle is 50 km and the driving range of the driving force according to 50 km is shorter than the distance to the rear driving vehicle, the current speed is maintained. If the driving distance corresponding to 50 km is 100 m, At the point of time, start driving at 50km. That is, the starting point of the driving of the vehicle can be said to be the time when the driving distance corresponding to the current speed of the vehicle corresponds to the distance to the rear vehicle.

The vehicle according to the present invention controls the speed of the vehicle in accordance with the determined starting speed and starting point. If the vehicle according to the present invention is not an autonomous driving vehicle, the determined driving start speed and starting point information may be provided to a driver through a display or a speaker. The driver can directly control the speed of the vehicle by checking the information provided.

In the vehicle according to the present invention, when it is determined that the vehicle can pass through the target section, the current speed is maintained at a speed capable of minimizing fuel consumption through the Model Predictive Control (MPC) Can be changed.

In addition, since the vehicle according to the present invention follows the trailing vehicle of the queue and travels while the trailing vehicle is traveling, the traveling state of the trailing vehicle can be changed at any time, The speed of the vehicle is controlled in consideration of the state. That is, the vehicle according to the present invention decelerates the speed of the self-propelled vehicle for safety when the distance from the rear end vehicle is excessively short, even though the vehicle runs while minimizing fuel consumption through driving.

On the other hand, in step S330, the vehicle according to the present invention can determine the starting speed and starting point of the driving force of the vehicle by using the driving map of the driving force for the driving vehicle and the time at which the vehicle reaches the rear vehicle of the waiting matrix. In this case, as shown in FIG. 5, the driving history map includes information on the relationship between the driving speed and the moving time of the vehicle. According to Fig. 5, when the driving of the horsepower starts at about 120 km, the vehicle can travel for 120 seconds or more.

The vehicle according to the present invention calculates the driving distance based on the current speed of the vehicle using the driving map. If the driving distance is greater than the distance to the rear vehicle, the vehicle speed is lower than the current driving speed You can decide. For example, when the current speed of the vehicle is 30 km, the speed of the vehicle is reduced from 20 seconds to 30 seconds with time, so that the driving distance of the vehicle can be calculated.

In addition, when the vehicle travel distance is shorter than the distance to the rear vehicle, the vehicle according to the present invention can determine the time point at which the vehicle is running after the current time.

The above-described technical features may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware device may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

As described above, the present invention has been described with reference to particular embodiments, such as specific elements, and specific embodiments and drawings. However, it should be understood that the present invention is not limited to the above- And various modifications and changes may be made thereto by those skilled in the art to which the present invention pertains. Accordingly, the spirit of the present invention should not be construed as being limited to the embodiments described, and all of the equivalents or equivalents of the claims, as well as the following claims, belong to the scope of the present invention .

Claims (14)

Receiving traffic signal information in a target section and information on forward vehicles;
Determining whether the vehicle is passing through the target section using the vehicle passing time according to the traffic signal and the cancellation time of the queue for the preceding vehicles; And
Determining a starting speed and starting speed of the driving force of the vehicle based on the driving history map of the vehicle and the distance to the trailing vehicle of the waiting matrix according to the determination result,
Wherein the information about the forward vehicles includes information on the time of erasure of the queue
Traffic control based driving control method.
The method according to claim 1,
The target section
And a section within a predetermined distance from an area where vehicle progress is controlled by the traffic signal
Traffic control based driving control method.
The method according to claim 1,
The step of determining the starting speed and starting point of the driving force of the vehicle
If it is determined that the vehicle can not pass through the target section, the starting speed and starting point of the driving force of the vehicle are determined
Traffic control based driving control method.
The method of claim 3,
The driving force map
And information on the relationship between the driving speed of the subject vehicle and the moving distance
Traffic control based driving control method.
5. The method of claim 4,
The step of determining the starting speed and starting point of the driving force of the vehicle
When the driving distance according to the current speed of the vehicle is longer than the distance to the rear end vehicle, the vehicle speed lower than the current speed is determined as the driving start speed
Traffic control based driving control method.
5. The method of claim 4,
The step of determining the starting speed and starting point of the driving force of the vehicle
When the driving distance according to the current speed of the vehicle is shorter than the distance to the rear vehicle, a time later than the current time is determined as the starting time
Traffic control based driving control method.
The method according to claim 1,
Controlling the speed of the vehicle according to the determined driving start speed and starting point,
Based on a traffic situation.
8. The method of claim 7,
The step of controlling the speed of the vehicle
When the rear vehicle is traveling, the speed of the vehicle is controlled in consideration of the traveling state of the rear vehicle
Traffic control based driving control method.
The method according to claim 1,
A step of providing the driver with information on the starting speed and start time of the driving force of the vehicle
Based on a traffic situation.
Receiving traffic signal information in a step target section and information on forward vehicles;
Determining whether the vehicle is passing through the target section using the vehicle passing time according to the traffic signal and the cancellation time of the queue for the preceding vehicles; And
Determining a starting speed and a starting point of the driving force of the vehicle based on the driving history map for the vehicle and the time at which the vehicle arrives at the trailing vehicle of the waiting matrix,
Wherein the information about the forward vehicles includes information on the time of erasure of the queue
Traffic control based driving control method.
11. The method of claim 10,
The driving force map
And information on the relationship between the driving speed and the moving time of the subject vehicle
Traffic control based driving control method.
12. The method of claim 11,
The step of determining the starting speed and starting point of the driving force of the vehicle
Calculating a driving range corresponding to the current speed of the vehicle using the driving map; And
Determining a speed lower than the current speed to be the driving start speed when the driving distance is longer than the distance to the rear end vehicle
Based on a traffic situation.
12. The method of claim 11,
The step of determining the starting speed and starting point of the driving force of the vehicle
Calculating a driving range corresponding to the current speed of the vehicle using the driving map; And
Determining a time point later than the current time as the starting point of the driving force when the driving distance is shorter than the distance to the rear end vehicle
Based on a traffic situation.
A traffic situation estimating unit estimating an erase time of the queue by using a queue length of a forward vehicle according to a traffic signal in a target zone;
A vehicle passage judging unit for judging whether or not the vehicle has passed the target section by using the vehicle passing time according to the traffic signal and the cancellation time of the waiting matrix; And
Determining a start driving speed and a start time of the vehicle based on the driving history map for the vehicle and the distance to the trailing vehicle of the waiting vehicle,
And a control unit for controlling the driving of the vehicle.

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