KR20190057867A - Platooning control system, apparatus and method for supporting route - Google Patents

Platooning control system, apparatus and method for supporting route Download PDF

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Publication number
KR20190057867A
KR20190057867A KR1020170155305A KR20170155305A KR20190057867A KR 20190057867 A KR20190057867 A KR 20190057867A KR 1020170155305 A KR1020170155305 A KR 1020170155305A KR 20170155305 A KR20170155305 A KR 20170155305A KR 20190057867 A KR20190057867 A KR 20190057867A
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KR
South Korea
Prior art keywords
cluster
vehicle
traveling
route
information
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KR1020170155305A
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Korean (ko)
Inventor
김동혁
Original Assignee
현대자동차주식회사
기아자동차주식회사
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Priority to KR1020170155305A priority Critical patent/KR20190057867A/en
Publication of KR20190057867A publication Critical patent/KR20190057867A/en

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    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
    • G06Q50/30Transportation; Communications
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/22Platooning, i.e. convoy of communicating vehicles

Abstract

[0001] The present invention relates to a system, an apparatus and a method for driving a cluster, comprising a car terminal for receiving cargo transportation information from a user and generating and transmitting car information based on the cargo transportation information, And a server for recommending at least one recommended community traveling route to the vehicle terminal in consideration of at least one of the community waiting time and the toll discount information calculated and calculated.

Description

TECHNICAL FIELD [0001] The present invention relates to a control system,

The present invention relates to a system, an apparatus, and a method for controlling a running of a cluster, which generates and provides an optimum global path for running the cluster in consideration of actual conditions of use of the vehicle.

If the weight of the vehicle body is heavy and an accident occurs in the commercial vehicle on which the load or the transportation personnel ride, the life and property damage is greater than that of the ordinary vehicle. Accordingly, efforts have been made to apply the traveling of the vehicle to the front vehicle while keeping a certain distance from the front vehicle by using a sensing technology such as a radar and a camera for safe running of the commercial vehicle.

Such crowd driving is effective in fuel saving by minimizing the air resistance due to the running characteristic that leads the lead vehicle. In addition, since the cluster driving follows the driving of the leading vehicle, the risk of accident caused by the driver's mistake can be greatly reduced.

However, the conventional cluster driving provides functions such as merging among clusters, searching for clusters, recommending joining of clusters, estimating the location and time of cluster joining, estimating the amount of savings through clustering, It is difficult to select the same-path cluster vehicle because the vehicle use conditions such as the waiting time are not taken into account, and the fuel economy reduction effect due to the cluster run is also inferior.

WO 2015156731 A1

SUMMARY OF THE INVENTION It is an object of the present invention to provide a system, apparatus, and method for controlling the running of a cluster, which provides an optimal global path for running the cluster in consideration of actual conditions of use of the vehicle.

According to an aspect of the present invention, there is provided a system for controlling the running of a cluster, comprising: a vehicle terminal for receiving cargo transportation information from a user and generating and transmitting vehicle information based on the cargo transportation information; And a server for recommending at least one recommended community traveling route to the vehicle terminal in consideration of at least one of the community waiting time and the toll discount information.

The cargo transportation information includes a cargo starting point, a cargo arrival point and a cargo arrival time.

The vehicle information includes a vehicle number, a vehicle position, and a traveling route.

The server generates a global route from the vehicle position to the destination of the cargo based on the vehicle information.

And the server calculates a cluster waiting time according to the global route based on the cargo transportation information.

The server calculates a cluster traveling rate traveling in a cluster in the toll discount time zone by the global route.

The server selects at least one recommended community traveling route among the global routes considering the community waiting time and the community traveling ratio.

Wherein the vehicle terminal selects any one of the at least one recommended community traveling route and transmits a selection result to the server.

The server generates cluster running control information based on the selection result and transmits the cluster running control information to the vehicle terminal.

The cluster running control information includes a last cluster running path, a cluster waiting place, a cluster waiting time, a cluster place, and a start time.

Meanwhile, the cluster running control apparatus according to an embodiment of the present invention includes a communication module that performs wireless communication with a vehicle terminal, and at least one recommended community traveling route based on the cargo transportation information included in the vehicle information transmitted from the vehicle terminal. And generating a cluster driving control information based on the selected one of the at least one recommended cluster traveling path when the selected one of the at least one recommended cluster traveling path is selected by the vehicle terminal and transmitting the generated cluster running control information to the vehicle terminal .

According to another aspect of the present invention, there is provided a method for controlling the running of a cluster, the method comprising the steps of: generating vehicle information by receiving cargo transportation information from the vehicle terminal; transmitting the vehicle information to the server; The method comprising the steps of: generating at least one recommended community travel route using the transportation information; transmitting, by the server, the at least one recommended community travel route to the vehicle terminal; Selecting one of the plurality of cluster travel paths and transmitting the same to the server, and the server generates cluster travel control information based on the cluster travel route selected by the vehicle terminal and transmits the generated cluster travel control information to the vehicle terminal to control the community travel The method comprising the steps of:

The cargo transportation information includes a cargo starting point, a cargo arrival point and a cargo arrival time.

The vehicle information includes a vehicle number, a vehicle position, and a traveling route.

Wherein the generating of the at least one recommended community travel route includes generating a global route from the vehicle location to the destination of the cargo based on the vehicle information, Calculating a cluster travel rate for traveling to the cluster at the toll discount time zone for each global route, and calculating a cluster travel rate based on at least one of the global route based on the cluster available time and the cluster travel rate, The method comprising the steps of:

The step of calculating the cluster standby time may include calculating a time obtained by subtracting the arrival time, the traveling time, and the margin time of the cluster standby place from the cargo arrival time.

The step of selecting at least one prospective community traveling route is selected in consideration of the traveling speed, the community route ratio, the arrival time, and the toll discount rate for the community driving.

The cluster path ratio is a ratio of a cluster path that travels in a cluster among the entire travel paths.

The cluster running control information includes a last cluster running path, a cluster waiting place, a cluster waiting time, a cluster place, and a start time.

The present invention maximizes the mileage saving effect by maximizing the distance traveled by the vehicle to the community, by providing an optimum global route for the community travel in consideration of the actual conditions of use of the vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram illustrating a system for controlling the running of a cluster according to an embodiment of the present invention. FIG.
Fig. 2 is a block diagram showing the system for controlling the running of a cluster shown in Fig. 1. Fig.
3 is a block diagram of a vehicle terminal according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a method of controlling a cluster running according to an embodiment of the present invention. FIG.
5 illustrates an example of a recommended community travel global route according to the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the difference that the embodiments of the present invention are not conclusive.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. Also, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted in an ideal or overly formal sense unless explicitly defined in the present application Do not.

1 is a diagram illustrating a system for controlling the running of a cluster according to an embodiment of the present invention.

As shown in FIG. 1, the cluster drive control system includes a cluster drive control device 10 and vehicles 20 that exchange data related to platooning with each other using wireless communication. As wireless communication technology, communication technologies such as wireless Internet (e.g. wi-fi), mobile communication and V2X (Vehicle to Everything) communication can be used.

The cluster driving control device 10 is installed in a control center for managing and controlling the vehicles 20 that perform the cluster driving and collects vehicle information from the vehicles 20 such as a truck, a special vehicle, and a construction machine vehicle. The cluster driving control device 10 groups the vehicles 20 to perform the cluster driving based on the collected vehicle information. That is, the cluster driving control device 10 forms a vehicle group with at least two or more vehicles 20 traveling on the same traveling route. The cluster drive control device 10 provides the cluster drive control information as a group of vehicles to perform the cluster drive.

The vehicles 20 travel in a cluster in accordance with the cluster travel control information provided by the cluster travel control apparatus 10 while traveling from the start point to the destination. Here, the place of departure may be a place where cargo transportation is started, a cargo starting place or an unloading place, and the like. The destination is the location where the cargo is to be terminated, the destination of the cargo or the place to drop the cargo (landing place).

FIG. 2 is a block diagram showing the system for controlling the running of a cluster 10 shown in FIG.

As shown in Fig. 2, the cluster driving control apparatus 10 includes a server 100 and a database (DB).

The server 100 registers and manages the vehicles 20 using the cluster driving service in the DB. The server 100 collects vehicle information from the vehicles 20 and provides a community driving service to the vehicles 20 using the collected vehicle information.

The server 100 includes a communication module 110 and a processing module 120.

The communication module 110 enables wireless communication with the vehicles 20. The communication module 110 may use at least one of communication technologies such as wireless Internet, mobile communication, and V2X communication.

The processing module 120 may be implemented as a server processor. The processing module 120 receives vehicle information transmitted from the vehicles 20 via the communication module 110. The processing module 120 may receive the received vehicle information and store the received vehicle information in a database (DB). Vehicle information includes vehicle basic information, cargo transportation information, vehicle position (current position), travelable distance (fuel remaining amount), travel route, and preferred travel speed. The vehicle basic information includes the vehicle number and the type of cargo (eg, container, cargo, wing, trailer, and dump). Cargo information includes the cargo origin, the destination of the cargo, and the time of arrival (cargo unloading time).

The processing module 120 generates at least one community traveling route based on the cargo transportation information included in the received car information. At this time, the processing module 120 generates a global route (cluster traveling route) from the vehicle position (current position of the vehicle) to the destination of the cargo using a known global route generation technique. That is, the processing module 120 generates at least one global route with the destination of the cargo as its destination. The processing module 120 calculates a cluster waiting time for the cluster traveling according to the generated global path. The cluster standby time is the time taken from the cargo take-off time (unloading time) to the arrival time (for example, the nearest rest stop arrival time), the driving time from the vehicle position to the destination of the cargo and the margin time . Here, the margin time may be set by the user or set by the system developer.

The processing module 120 calculates the ratio (percentage of toll discount time period during the running time) that travels (utilizes) the toll discount time slot for each global path generated. For example, the processing module 120 calculates the rate at which the toll runs at the toll discount time zone by the global route generated when the toll discount rate according to the toll discount time zone ratio is equal to [Table 1], and calculates the toll discount rate .

Toll discount time Toll discount rate Above 80 and below 100 50% More than 50 but less than 80 30% More than 20 but less than 50 20%

The processing module 120 extracts at least one or more global paths among the generated at least one global path as a recommended cluster traveling path. The processing module 120 selects a recommended community traveling route in consideration of the traveling speed, the cluster route ratio, the arrival time, and the toll discount rate for the cluster travel. Here, the cluster path ratio means a ratio of a traveling path (a path from the starting point of the cluster running to the ending point of the cluster running) to the cluster among the running path of the vehicle (the path from the cargo starting point to the destination of the cargo). Arrival time means time to arrive at destination (destination).

For example, the processing module 120 determines whether the traveling speed (traveling speed of the cluster) of the vehicle 20 is smaller than the preferred traveling speed, in descending order of the cluster path ratio, The recommendation cluster travel route is selected according to the recommended conditions such as the order in which the time difference between arrival times is small and the toll discount rate is high. The user can set the priority according to the recommendation condition.

The processing module 120 transmits the selected recommended community traveling route to the vehicle 20 via the communication module 110 when at least one recommended community traveling route is selected.

The processing module 120 receives a cluster travel path selected by the user from among the recommended community travel paths from the vehicle 20. [ The server 100 generates cluster running control information for performing cluster running on the selected cluster running path. The cluster driving control information includes a final cluster traveling path, a cluster waiting place, a cluster waiting time, a cluster place (cluster generating place, starting position of cluster running), and a departure time.

The processing module 120 transmits the generated community running control information to the vehicle 20. The vehicle 20 performs a cluster run according to the cluster run control information provided from the server 100.

3 shows a block diagram of a vehicle terminal according to an embodiment of the present invention.

The vehicle terminal 200 is installed in the vehicle 20 and includes a user input unit 210, a position receiving unit 220, a storage unit 230, a communication unit 240, a detection unit 250, a display unit 260, 270).

The user input unit 210 generates input data according to a user's operation. The user input unit 210 generates a community driving function setting and a setting cancellation command according to a user input.

The user input unit 210 may include at least one of input means such as a key pad, a dome switch, a touch pad (static / static), a jog wheel, and a jog switch.

The position receiving unit 220 receives the signal transmitted from the satellite and confirms the position (vehicle position) of the vehicle terminal 200. The position receiver 220 may be implemented as a Global Positioning System (GPS) receiver, or two or more of them may be installed. The GPS receiver 220 can calculate the current position of the vehicle 20 using signals transmitted from three or more GPS satellites. The GPS receiver 220 calculates the distance between the satellite and the GPS receiver 220 using the time difference between the time when the signal was transmitted from the satellite and the time when the signal was received from the GPS receiver 220. The GPS receiver 220 calculates the current position of the vehicle 20 using the distance between the calculated satellite and the GPS receiver 220 and the position information of the satellite included in the transmitted signal. At this time, the GPS receiver 220 can use the triangulation method for calculating the current position of the vehicle 20. [

The storage unit 230 may store software and a digital map programmed by the vehicle terminal 200 to perform predetermined operations. The storage unit 230 may temporarily store input / output data of the controller 270.

The storage unit 230 may be a flash memory, a hard disk, an SD card (Secure Digital Card), a RAM (Random Access Memory), a ROM (Read Only Memory) web storage), and the like.

The communication unit 240 communicates with devices such as an electronic control unit (ECU), a mobile terminal (e.g., a smart phone, a computer, a notebook, and a tablet) do.

The communication unit 240 can use vehicle communication and / or wireless communication. Vehicle communication may be CAN (Controller Area Network) communication, MOST (Media Oriented Systems Transport) communication, LIN (Local Interconnect Network) communication or X-by-Wire (Flexray) communication. The wireless communication may be implemented with at least one of wireless Internet (e.g. wi-fi), local area communication (e.g. Bluetooth, ZigBee and infrared communication) and communication technology such as mobile communication.

The detection unit 250 acquires vehicle information from at least one sensor and / or electronic control unit (ECU) mounted on the vehicle. The detection unit 250 can detect the vehicle speed, the travelable distance, the preferred travel speed, and the like. The detection unit 250 may include a rider, a radar, an ultrasonic sensor, an image sensor, and a velocity sensor.

The display unit 260 displays the status and the result of the operation of the vehicle terminal 200 as time information and displays it. The display unit 260 displays the route guidance information and the community driving related information.

The display unit 260 may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED) a flexible display, a 3D display, a transparent display, a head-up display (HUD), and a cluster.

The display unit 260 may include an audio output module such as a speaker capable of outputting audio data. For example, the display unit 260 displays route guidance information and may output a voice signal (audio signal) through a speaker.

Also, the display unit 260 may be implemented as a touch screen combined with a touch sensor, and may be used as an input device as well as an output device. The touch sensor may be a touch film or a touch pad.

The control unit 270 controls the overall operation of the vehicle terminal 200. The controller 270 may be an application specific integrated circuit (ASIC), a digital signal processor (DSP), a programmable logic device (PLD), a field programmable gate array (FPGA), a central processing unit (CPU), microcontrollers, (microprocessors). < RTI ID = 0.0 >

The control unit 270 receives an input (user input) by the user through the user input unit 210. [ The control unit 270 receives vehicle basic information and cargo transportation information through the user input unit 210. The vehicle basic information includes the vehicle number and the type of cargo (e.g., container, cargo, wingbody, trailer, and dump). The vehicle number is used to confirm whether the server 100 is a toll discount vehicle. Freight forwarding information includes the origin of the cargo, the destination of the cargo and the time of arrival of the cargo. The control unit 270 may store the vehicle basic information and the cargo transportation information in the storage unit 230. [

The control unit 270 acquires the current position (vehicle position) of the vehicle through the position receiving unit 220. The control unit 270 detects the travelable distance (remaining amount of fuel) and the preferred travel speed through the detection unit 250. Here, the preferred traveling speed may be input through the user input unit 210 or may be extracted through monitoring the traveling speed of the vehicle.

The control unit 270 generates vehicle information based on the vehicle basic information, the cargo transportation information, the vehicle position, the travelable distance, the travel route, and the preferred travel speed. The control unit 270 transmits the generated vehicle information to the server 100 through the communication unit 240. [

The control unit 270 receives at least one recommended community traveling route transmitted from the server 100 through the communication unit 240 after transmitting the vehicle information. The control unit 270 outputs the received recommended community traveling route to the display unit 260 for display. The control unit 270 transmits the selection result to the server 100 when the user selects one of the recommended community traveling routes displayed on the display unit 260. That is, the controller 270 informs the server 100 of the cluster traveling route selected by the user among the recommended community traveling routes.

The controller 270 receives the cluster running control information transmitted from the server 100 and performs the cluster running according to the received cluster running control information. The cluster travel control information includes the last cluster travel route, the cluster standby location, the cluster standby time, the cluster location (cluster generation location, cluster start location), and the departure time from the cluster location. The cluster location and the departure time are updated in real time by the server 100.

The control unit 270 outputs the guidance information to the display unit 260 according to the cluster driving control information to allow the user to control the operation (behavior) of the vehicle 20. [ On the other hand, the control unit 270 controls the cruise control based on the cluster travel control information to automatically perform the cluster travel. An automatic traveling device (not shown) controls the driving device, the braking device and the steering device so as to run at the set traveling speed. Further, the automatic traveling device (not shown) measures the distance from the preceding vehicle and controls driving, braking and steering of the vehicle so as to maintain a predetermined distance from the preceding vehicle.

FIG. 4 is a flowchart illustrating a method of controlling a cluster running according to an embodiment of the present invention, and FIG. 5 is an example of a recommended cluster running global path according to the present invention.

First, the vehicle terminal 200 activates a community driving function according to a user input (S110). When the user operates the crowd driving function setting and releasing button of the user input unit 210, the control unit 270 of the vehicle terminal 200 operates (sets) the crowd driving function according to the user's operation or stops ).

When the cluster driving function is activated, the vehicle terminal 200 receives the cargo transportation information from the user input unit 210 (S120). Freight forwarding information includes the origin of the cargo, the destination of the cargo and the time of arrival of the cargo. At this time, the controller 270 may receive a desired traveling speed (preferred traveling speed) through the user input unit 210.

The vehicle terminal 200 generates vehicle information using the received cargo transportation information (S130). The controller 270 acquires the vehicle position, the travelable distance, and the preferred travel speed through the position receiver 220 and the detector 250. Then, the control unit 270 generates the vehicle information using the vehicle basic information, the cargo transportation information, the vehicle position, the travelable distance, the travel route, and the preferred travel speed. The driving route means the route from the cargo origin to the cargo destination.

The vehicle terminal 200 transmits the vehicle information generated through the communication unit 240 to the server 100 (S140).

The server 100 generates at least one recommended community traveling route based on the vehicle information received through the communication module 110 (S150). The processing module 120 of the server 100 generates at least one global route based on the cargo transportation information included in the received car information. The processing module 120 generates a global route (a cluster traveling route) from the vehicle position (current position of the vehicle) to the cargo destination using a known global route generation technique. The processing module 120 calculates a cluster waiting time for the cluster traveling according to the generated global path. The cluster standby time is the time taken from the cargo waiting time (cargo arrival time) to the arrival time of the crowd waiting place, the driving time from the car position to the cargo destination, and the margin time. Here, the margin time may be set by the user or set by the system developer. The processing module 120 extracts at least one or more global paths among the generated at least one global path as a recommended cluster traveling path. At this time, the processing module 120 selects the recommended community travel route considering the traveling speed, the cluster route ratio, the arrival time, and the toll discount rate for the community travel.

The server 100 transmits the generated at least one recommended community traveling route to the vehicle terminal 200 (S160). The server 100 provides the vehicle terminal 200 with a plurality of recommended community traveling routes as shown in FIG.

The vehicle terminal 200 selects one of the at least one recommended community travel route (S170). The controller 270 of the vehicle terminal 200 selects any one of the recommended community travel routes according to user input.

The vehicle terminal 200 transmits the selected cluster traveling route to the server 100 (S180). The vehicle terminal 200 notifies the server 100 of the cluster traveling path selected by the user.

The server 100 generates cluster running control information based on the selected cluster running route transmitted from the vehicle terminal 200 (S190). The cluster driving control information includes a final cluster traveling path, a cluster waiting place, a cluster waiting time, a cluster place (cluster generating place, starting position of cluster running), and a departure time.

The server 100 transmits the generated community running control information to the vehicle terminal 200 (S200).

The vehicle terminal 200 causes the vehicle 20 to perform a cluster run based on the cluster run control information (S210). The control unit 270 of the vehicle terminal 200 outputs the guidance information on the display unit 260 based on the cluster driving control information so that the user controls the driving of the vehicle 20 to perform the cluster driving. On the other hand, the vehicle terminal 200 automatically performs the cluster running of the vehicle 20 in accordance with the cluster running control information through the automatic running apparatus (not shown).

As described above, the present embodiment proposes a global route for running the community in consideration of the actual conditions of use of the vehicle, such as the waiting time of the cluster and the toll discount, thereby maximizing the distance traveled by the vehicle to the community, The effect can be maximized.

In addition, according to the present embodiment, the user can set the traveling speed of the vehicle when traveling in a cluster, so that an optimal fuel efficiency effect of the vehicle can be expected.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention.

Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

10: Cluster driving control device
100: Server
110: communication module
120: Processing module
20: vehicle
200: vehicle terminal
210: user input
220:
230:
240:
250:
260:
270:

Claims (19)

  1. A car terminal for receiving cargo transportation information from a user and generating and transmitting car information based on the cargo transportation information,
    And a server for recommending at least one recommended community traveling route to the vehicle terminal in consideration of at least one of the community waiting time and the toll discount information calculated by calculating the community waiting time using the cargo transportation information A cluster running control system characterized by.
  2. The method according to claim 1,
    The cargo transportation information,
    A cargo starting point, a cargo arrival point, and a cargo arrival time.
  3. 3. The method of claim 2,
    The vehicle information includes:
    A vehicle number, a vehicle position, and a traveling route.
  4. The method of claim 3,
    The server comprises:
    And generates a global route from the vehicle position to the destination of the cargo based on the vehicle information.
  5. 5. The method of claim 4,
    The server comprises:
    And calculates a cluster waiting time according to the global route based on the cargo transportation information.
  6. 6. The method of claim 5,
    The server comprises:
    And calculating a cluster traveling rate traveling in the cluster at the toll discount time zone by the global route.
  7. The method according to claim 6,
    The server comprises:
    Wherein at least one recommended community traveling route among the global routes is selected in consideration of the cluster waiting time and the community traveling ratio.
  8. The method according to claim 1,
    The vehicle terminal,
    Selects one of the at least one recommended community travel route, and transmits the selection result to the server.
  9. 9. The method of claim 8,
    The server comprises:
    And generates the cluster running control information based on the selection result and transmits the cluster running control information to the vehicle terminal.
  10. 10. The method of claim 9,
    The cluster driving control information includes:
    A last cluster traveling path, a cluster waiting place, a cluster waiting time, a cluster place, and a departure time.
  11. A communication module for performing wireless communication with the vehicle terminal, and
    And recommending at least one recommended community travel route based on the cargo transportation information included in the vehicle information transmitted from the vehicle terminal and selecting one of the at least one recommended community travel route by the vehicle terminal And a processing module for generating cluster driving control information based on the cluster traveling path and transmitting the cluster running control information to the vehicle terminal.
  12. A step in which the vehicle terminal receives the cargo transportation information and generates the car information,
    The vehicle terminal transmitting the vehicle information to a server,
    The server generating at least one recommended community travel route using the cargo transportation information,
    The server transmitting the at least one recommended community travel route to the vehicle terminal,
    Selecting one of the at least one recommended community travel route from the vehicle terminal and transmitting the selected community travel route to the server;
    Wherein the server generates clustering driving control information based on a cluster traveling path selected by the vehicle terminal and transmits the cluster running control information to the vehicle terminal to control the cluster running.
  13. 13. The method of claim 12,
    The cargo transportation information,
    A cargo starting point, a cargo destination, and a cargo arrival time.
  14. 14. The method of claim 13,
    The vehicle information includes:
    A vehicle number, a vehicle position, and a traveling route.
  15. 15. The method of claim 14,
    Wherein the generating of the at least one recommended community travel route comprises:
    Generating a global route from the vehicle location to the cargo destination based on the vehicle information,
    Calculating a cluster standby time according to the global route based on the cargo transportation information,
    Calculating a cluster traveling rate traveling to the cluster in the toll discount time zone for each global route, and
    And selecting at least one prospective community traveling route from among the global routes based on the community waiting time and the community driving ratio.
  16. 16. The method of claim 15,
    The step of calculating the cluster standby time includes:
    And calculating a time obtained by subtracting a arrival time, a traveling time, and a margin time of a cluster waiting place from the cargo arrival time.
  17. 16. The method of claim 15,
    Wherein the step of selecting at least one prospective community traveling route comprises:
    Wherein the traveling speed, the cluster route ratio, the arrival time, and the toll discount rate for the cluster travel are taken into account.
  18. 18. The method of claim 17,
    Wherein the cluster path ratio
    And a ratio of a cluster path traveling to the cluster in the entire travel route.
  19. 16. The method of claim 15,
    The cluster driving control information includes:
    A last cluster travel path, a cluster waiting location, a cluster waiting time, a cluster location, and a departure time.
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