KR20200068098A - Autonomous drivning-based trailing vehicle driving apparatus and method using driving information of preceding vehicle - Google Patents

Abstract

The present invention relates to an autonomous driving-based trailing vehicle driving apparatus and a method using driving control information of a preceding vehicle. The autonomous driving-based trailing vehicle driving apparatus comprises: a driving control information reception unit which receives the driving control information on the acceleration, deceleration, and steering of the preceding vehicle; a steering control distance calculation unit which calculates the steering control distance of the trailing vehicle based on the driving control information; and a trailing vehicle driving control unit which simultaneously controls the acceleration and deceleration of the trailing vehicle in accordance with the acceleration and deceleration information of the driving control information, and controls the steering of the trailing vehicle by delaying after moving as much as the steering control distance in accordance with the steering information of the driving control information. Accordingly, the present invention can effectively control the driving of the trailing vehicle based on the driving control information of the preceding vehicle.

Description

Autonomous driving-based trailing vehicle driving device and method using driving control information of preceding vehicle{AUTONOMOUS DRIVNING-BASED TRAILING VEHICLE DRIVING APPARATUS AND METHOD USING DRIVING INFORMATION OF PRECEDING VEHICLE}

The present invention relates to an autonomous driving based trailing vehicle driving technology using driving control information of a preceding vehicle, and more specifically, driving of a preceding vehicle that can effectively control driving of the trailing vehicle based on the driving control information of the preceding vehicle. The present invention relates to an apparatus and method for driving a trailing vehicle based on autonomous driving using control information.

Autonomous driving may be divided into a plurality of autonomous driving stages according to the level of autonomous driving. In general, the autonomous driving stage may be divided into a fully manual, specific function automatic, combination function automatic, conditional autonomous driving, advanced autonomous driving, and fully autonomous driving stages. In particular, the conditional autonomous driving stage is a stage in which a vehicle controls all functions in a specific traffic environment and a driver intervenes only in special cases, and may correspond to a minimum stage defined as an autonomous vehicle.

Self-driving technology is currently in progress, and it is expected to take some time to ensure safety without human intervention. However, if the autonomous driving technology can be used under appropriate conditions, it can provide a better effect than the conventional technology.

Korean Registered Patent Publication No. 10-0559393 (2006.03.03) relates to a preceding vehicle determination and tracking control method, and it is possible to track the forward traveling lane and surrounding vehicles of a traveling vehicle, thereby facilitating response to an unexpected situation. Disclosed is a description of a preceding vehicle determination and tracking control method that can be performed.

Korean Patent Application Publication No. 10-2011-0011936 (2011.02.09) relates to a method for controlling the driving of a vehicle, and warns the departure delay when the preceding vehicle does not have proper driving operation after departure, and also stops when the stopped preceding vehicle reverses. Disclosed is a technology that can warn of the danger of collision with a host vehicle when the inter-vehicle distance is within a safe distance.

Korean Registered Patent Publication No. 10-0559393 (2006.03.03) Korean Patent Publication No. 10-2011-0011936 (2011.02.09)

An embodiment of the present invention is to provide an autonomous driving based trailing vehicle driving apparatus and method using driving control information of a preceding vehicle that can effectively control driving of a trailing vehicle based on driving control information of the preceding vehicle.

According to an embodiment of the present invention, while simultaneously controlling the acceleration and deceleration of the trailing vehicle according to the acceleration/deceleration information, the steering control information of the preceding vehicle that can be delayed after moving the steering of the trailing vehicle by the steering control distance according to the steering information It is intended to provide an apparatus and method for driving a trailing vehicle based on autonomous driving.

An embodiment of the present invention provides driving control information of a preceding vehicle that can calculate, as a steering control distance, the sum of the first vehicle length of the preceding vehicle, the second vehicle length of the preceding vehicle, and the total safety distance between the preceding vehicle and the following vehicle. It is intended to provide an apparatus and method for driving a trailing vehicle based on autonomous driving.

Among the embodiments, the autonomous driving-based trailing vehicle driving apparatus using the driving control information of the preceding vehicle includes a driving control information receiving unit that receives driving control information regarding acceleration/deceleration and steering of the preceding vehicle, and trailing based on the driving control information. The steering control distance calculating unit for calculating the steering control distance of the vehicle and the acceleration/deceleration of the following vehicle according to the acceleration/deceleration information of the driving control information while simultaneously controlling the steering of the following vehicle according to the steering information of the driving control information. And a trailing vehicle driving control unit for delay control after moving by the steering control distance.

The driving control information receiving unit may start receiving the driving control information when pairing between the preceding vehicle and the following vehicle is successful through the exchange of encrypted identification information.

The steering control distance calculating unit may calculate, as the steering control distance, a total sum of the first vehicle length of the preceding vehicle, the second vehicle length of the preceding vehicle, and the safety distance between the preceding vehicle and the following vehicle.

The steering control distance calculating unit may calculate the vehicle distance f(d) calculated through Equation 1 below as the safety distance.

[Equation 1]

f(d) = k * V _a * V _b * R _b

(f(d) is the vehicle interval, k is the proportional constant, V _a is the speed of the preceding vehicle, V _b is the speed of the trailing vehicle, R _b is the reaction time of the trailing vehicle)

When the driving control information remains the same for the first reference time, the trailing vehicle driving control unit temporarily autonomously drives to correct at least one of the vehicle spacing and the center alignment error between the preceding vehicle and the following vehicle during the second reference time. Can be controlled.

The trailing vehicle driving control unit may autonomously control the trailing vehicle to retreat below a threshold speed when the advancing direction of the preceding vehicle is the backward direction.

The trailing vehicle driving control unit temporarily terminates control of the trailing vehicle when the traveling direction of the preceding vehicle is in the reverse direction and pairs the trailing vehicle when the vehicle interval between the preceding vehicle and the trailing vehicle is included in the reference interval range. It can be controlled to reverse according to the reverse method.

The trailing vehicle driving control unit controls the trailing vehicle to maintain the reference distance from the preceding vehicle and the reference interval, and controls the backward vehicle to go straight backward while the first steering backwards of the preceding vehicle, the second of the preceding vehicle A second reversing step of controlling the reversing vehicle to steer backward to a third steering angle greater than the second steering during steer reversing, and a third reversing to control the following vehicle to retreat to the third steering during a straight reverse of the preceding vehicle Step, the pairing proceeds to a fourth reversing step of controlling the backward vehicle to go straight during the fourth steering reversing of the preceding vehicle, and a fifth reversing step of controlling the backward vehicle to go straight during the straight reverse of the preceding vehicle It can be controlled to drive according to the reverse method.

The trailing vehicle traveling control unit may temporarily control the trailing vehicle in the third reverse stage and autonomously control the trailing vehicle to reverse.

Among the embodiments, the autonomous driving-based trailing vehicle driving method using the driving control information of the preceding vehicle is the driving control information regarding acceleration/deceleration, steering, and gear of the preceding vehicle in the trailing vehicle driving method performed in the trailing vehicle driving apparatus. Receiving a step, calculating the steering control distance of the trailing vehicle based on the driving control information and steering information of the driving control information while simultaneously controlling the acceleration and deceleration of the trailing vehicle according to the acceleration/deceleration information of the driving control information And moving the steering of the trailing vehicle by the steering control distance, followed by delay control.

The disclosed technology can have the following effects. However, since the specific embodiment does not mean that all of the following effects should be included or only the following effects are included, the scope of rights of the disclosed technology should not be understood as being limited thereby.

An autonomous driving-based trailing vehicle driving apparatus and method using driving control information of a preceding vehicle according to an embodiment of the present invention simultaneously controls acceleration and deceleration of a trailing vehicle according to acceleration/deceleration information while controlling steering of the trailing vehicle according to steering information. After moving by the steering control distance, the delay can be controlled.

An autonomous driving-based trailing vehicle driving apparatus and method using driving control information of a preceding vehicle according to an embodiment of the present invention includes the first vehicle length of the preceding vehicle, the second vehicle length of the following vehicle, and the safety between the preceding vehicle and the following vehicle. The total sum of the distances can be calculated as the steering control distance.

1 is a view for explaining an autonomous driving based trailing vehicle driving system using driving control information of a preceding vehicle according to an embodiment of the present invention.
FIG. 2 is a block diagram illustrating the functional configuration of the trailing vehicle traveling apparatus in FIG. 1.
FIG. 3 is a flowchart illustrating a process of driving a trailing vehicle performed by the trailing vehicle traveling apparatus of FIG. 1.
FIG. 4 is an exemplary view for explaining the steering control distance calculated by the steering control distance calculating unit in FIG. 2.
5 is an exemplary view illustrating a steering control process of a trailing vehicle performed by the trailing vehicle traveling control unit in FIG. 2.
FIG. 6 is an exemplary view for explaining a process of controlling driving of a trailing vehicle according to a pairing backward method in the trailing vehicle traveling control unit of FIG. 2.

Since the description of the present invention is merely an example for structural or functional description, the scope of the present invention should not be interpreted as being limited by the examples described in the text. That is, since the embodiments can be variously changed and have various forms, it should be understood that the scope of the present invention includes equivalents capable of realizing technical ideas. In addition, the purpose or effect presented in the present invention does not mean that a specific embodiment should include all of them or only such an effect, and the scope of the present invention should not be understood as being limited thereby.

Meanwhile, the meaning of terms described in the present application should be understood as follows.

Terms such as "first" and "second" are for distinguishing one component from other components, and the scope of rights should not be limited by these terms. For example, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.

When a component is said to be "connected" to another component, it may be understood that other components may exist in the middle, although they may be directly connected to the other component. On the other hand, when a component is said to be "directly connected" to another component, it should be understood that no other component exists in the middle. On the other hand, other expressions describing the relationship between the components, that is, "between" and "immediately between" or "neighboring to" and "directly neighboring to" should be interpreted similarly.

Singular expressions are to be understood as including plural expressions unless the context clearly indicates otherwise, and terms such as “comprises” or “have” are used features, numbers, steps, actions, components, parts or the like. It is to be understood that a combination is intended to be present, and should not be understood as pre-excluding the existence or addition possibility of one or more other features or numbers, steps, actions, components, parts or combinations thereof.

In each step, the identification code (for example, a, b, c, etc.) is used for convenience of explanation. The identification code does not describe the order of each step, and each step clearly identifies a specific order in context. Unless stated, it may occur in a different order than specified. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

The present invention can be embodied as computer readable code on a computer readable recording medium, and the computer readable recording medium includes all kinds of recording devices in which data readable by a computer system is stored. . Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disks, and optical data storage devices.

All terms used herein have the same meaning as generally understood by a person skilled in the art to which the present invention pertains, unless otherwise defined. The terms defined in the commonly used dictionary should be interpreted as being consistent with the meanings in the context of the related art, and cannot be interpreted as having ideal or excessively formal meanings unless explicitly defined in the present application.

As used herein, "vehicle", "vehicular" or other similar terminology includes cars, generally passenger automobiles, buses, including sport utility vehicles (SUVs). , May include trucks, various commercial vehicles, and the like, hybrid vehicles, electric vehicles, hybrid electric vehicles, hydrogen powered vehicles and other alternative fuel (eg fuels derived from non-petroleum resources) vehicles It can be understood to include. An electric vehicle (EV) is a vehicle that includes electric power obtained from a rechargeable energy storage device (eg, one or more rechargeable electrochemical cells or other types of batteries) as part of its locomotion capabilities. May correspond to The EV is not limited to automobiles and may include motor cycles, carts, scooters, and the like. In addition, a hybrid vehicle may correspond to a vehicle having two or more power sources, for example, gasoline-based power and electricity-based power (eg, a hybrid electric vehicle (HEV)).

1 is a view for explaining an autonomous driving based trailing vehicle driving system using driving control information of a preceding vehicle according to an embodiment of the present invention.

Referring to FIG. 1, the autonomous driving-based trailing vehicle driving system 100 may include a preceding vehicle 110, a trailing vehicle driving device 130, a database 150, and a trailing vehicle 170.

The preceding vehicle 110 may correspond to a vehicle directly driven by a driver, and measures information related to acceleration, deceleration, and steering to provide driving control information necessary for driving control of the trailing vehicle 170. It may be implemented by including a plurality of sensors that can be implemented and may be implemented by including a communication device for communication with the trailing vehicle driving device 130 and the trailing vehicle 170. For example, the preceding vehicle 110 may be implemented by including a signal extraction unit capable of extracting a signal from an ECU (Electronic Control Unit) that controls acceleration, brake, and steering, respectively.

In FIG. 1, the preceding vehicle 110 may be connected to the trailing vehicle traveling apparatus 130 through a network, and the plurality of preceding vehicles 110 may be connected to the trailing vehicle traveling apparatus 130 simultaneously. In one embodiment, the preceding vehicle 110 may correspond to an autonomous vehicle that can be driven without a driver.

The trailing vehicle driving device 130 may be implemented as a server corresponding to a computer or a program capable of controlling driving of the trailing vehicle 170 based on driving control information received from the preceding vehicle 110. The trailing vehicle driving device 130 may be connected to the preceding vehicle 110 and the trailing vehicle 170 by a wired network or a wireless network such as Bluetooth, WiFi, etc., and the preceding vehicle 110 and the trailing vehicle ( 170). In one embodiment, the trailing vehicle driving device 130 may store information necessary for driving the trailing vehicle 170 in conjunction with the database 150. Meanwhile, unlike the FIG. 1, the trailing vehicle driving device 130 may be implemented by including the database 150 therein.

In one embodiment, the trailing vehicle driving device 130 may be implemented by being included in the preceding vehicle 110 or the trailing vehicle 170, and some of a plurality of components constituting the trailing vehicle driving device 130 Is included in the preceding vehicle 110 and the rest can be implemented by being included in the following vehicle 170. In another embodiment, the trailing vehicle driving device 130 may form one driving system including one preceding vehicle 110 and one trailing vehicle 170. Accordingly, different driving systems composed of the preceding vehicle 110 and the following vehicle 170 exist, and the following vehicle 170 in the first traveling system corresponds to the preceding vehicle 170 in the other second traveling system. In this case, the first and second driving systems may be connected to each other due to a vehicle simultaneously performing the roles of the trailing vehicle 170 and the preceding vehicle 110.

The database 150 may store driving control information received from the preceding vehicle 110 and may store data related to driving control of the trailing vehicle 170, but is not limited thereto, and the trailing vehicle traveling device 130 In the process of controlling the driving of the trailing vehicle 170, information collected or processed in various forms may be stored. In one embodiment, the database 150 may be composed of a plurality of partial databases, and each partial database may be integrated and managed through a single control unit.

The trailing vehicle 170 is a vehicle that includes an autonomous driving function and may correspond to a vehicle capable of unmanned autonomous driving, and follows the preceding vehicle 110 based on the driving control information of the preceding vehicle 110 to drive It can be implemented by including a communication device for communication with the preceding vehicle 110 and the trailing vehicle running device 130. For example, the trailing vehicle 170 may be accelerated/decelerated according to an actuator operation by the trailing vehicle traveling device 130 based on the acceleration and brake signals, and may be applied to ECU control by the trailing vehicle traveling device 130. Therefore, steering can be performed. In addition, the autonomous driving function (or system) included in the trailing vehicle 170 may serve as a driving assistance system for safety and avoidance of danger and accident prevention during driving.

FIG. 2 is a block diagram illustrating the functional configuration of the trailing vehicle traveling apparatus in FIG. 1.

Referring to FIG. 2, the trailing vehicle driving apparatus 130 may include a driving control information receiving unit 210, a steering control distance calculating unit 230, a trailing vehicle driving control unit 250, and a control unit 270.

The driving control information receiving unit 210 may receive driving control information regarding acceleration/deceleration and steering of the preceding vehicle 110. More specifically, the driving control information receiving unit 210 is information that is actually used to control the driving of the preceding vehicle 110 using signals extracted from the acceleration, brake, and steering ECU (Electronic Control Unit) of the preceding vehicle 110, respectively. I can receive it. The driving control information receiving unit 210 may store the driving control information received from the preceding vehicle 110 for each reception time in conjunction with the database 150.

In one embodiment, the driving control information receiving unit 210 may initiate the reception of the driving control information when pairing between the preceding vehicle 110 and the following vehicle 170 is successful through the exchange of encrypted identification information. . Since the driving control information of the preceding vehicle 110 corresponds to important information that directly affects the driving of the trailing vehicle 170, a preparation measure may be necessary to provide the information only to the correct target. The driving control information receiving unit 210 is previously assigned to each vehicle and the encrypted identification information is exchanged between the preceding vehicle 110 and the following vehicle 170, and if pairing is successful, driving control from the preceding vehicle 110 Information can be received. Here, pairing may correspond to transmitting and registering identification information of each other for wireless connection between different devices.

The steering control distance calculating unit 230 may calculate the steering control distance of the trailing vehicle 170 based on the driving control information. Here, the steering control distance may correspond to the running distance of the trailing vehicle 170, which is necessary for driving control of the trailing vehicle 170, in particular, control regarding steering. That is, when the steering information of the preceding vehicle 110 is changed, the steering control of the following vehicle 170 is not immediately started, but only after the following vehicle 170 is moved by the steering control distance, and is started. ), the information necessary for control may correspond to the steering control distance. The steering control distance calculating unit 230 may estimate the speed of the preceding vehicle 110 based on the acceleration/deceleration information of the preceding vehicle 110 included in the driving control information, and utilize this to calculate the steering control distance have.

In one embodiment, the steering control distance calculating unit 230 includes the first vehicle length of the preceding vehicle 110, the second vehicle length of the following vehicle 170, and the safety distance between the preceding vehicle 110 and the following vehicle 170. The total sum of can be calculated as the steering control distance. Here, the first vehicle length may correspond to the distance from the center of the front wheel of the vehicle to the end of the vehicle, and the second vehicle length may correspond to the distance from the center of the front wheel of the vehicle to the front of the vehicle. If the preceding vehicle 110 and the following vehicle 170 correspond to a vehicle of the same model, the sum of the first vehicle length and the second vehicle length may correspond to the entire length of the vehicle. In addition, the safety distance may correspond to a distance that is essential for safety according to the speeds of the preceding vehicle 110 and the following vehicle 170. That is, the safety distance may correspond to a distance to avoid collision between the preceding vehicle 110 and the trailing vehicle 170.

In one embodiment, the steering control distance calculating unit 230 may calculate the vehicle distance f(d) calculated through Equation 1 below as a safety distance.

[Equation 1]

f(d) = k * V _a * V _b * R _b

Here, f(d) is the vehicle interval, k is the proportionality constant, V _a is the speed of the preceding vehicle 110, V _b is the speed of the trailing vehicle 170, R _b is the trailing vehicle Reaction time of (170) can be represented.

The reaction time R _b of the trailing vehicle 170 may correspond to a time delayed until the trailing vehicle 170 receives the driving control information of the preceding vehicle 110 and actually operates the vehicle, and the vehicle interval f(d) is The reaction time of the trailing vehicle 170 and the speed of the two vehicles may increase in proportion to each. As a result, the steering control distance to which the following vehicle 170 must essentially move for steering control of the following vehicle 170 may be determined by including the vehicle distance f(d) between the two vehicles, and the steering control distance may also be The reaction time of 170) and the speed of the two vehicles can be affected respectively.

The trailing vehicle driving control unit 250 simultaneously controls the acceleration/deceleration of the trailing vehicle 170 according to the acceleration/deceleration information of the driving control information, and moves the steering of the trailing vehicle 170 by the steering control distance according to the steering information of the driving control information. After that, you can control the delay. Simultaneous control may correspond to controlling the driving of the trailing vehicle 170 to the same value at the same time as the acceleration/deceleration operation signal of the preceding vehicle 110 occurs, and the delay control may include the steering operation signal of the preceding vehicle 110. It may correspond to controlling the vehicle to be steered at the same angular velocity after the vehicle is moved by the steering control distance to the position of the preceding vehicle 110 at the time of occurrence.

The trailing vehicle driving control unit 250 extracts acceleration/deceleration information from the driving control information received from the preceding vehicle 110 and reflects it in the driving of the trailing vehicle 170 in real time, and at the same time extracts the steering information and calculates the steering control distance calculation unit After driving by the steering control distance calculated by 230, it can be reflected in the driving of the trailing vehicle 170. The trailing vehicle driving control unit 250 may control the two vehicles to maintain a constant distance by simultaneously performing the acceleration/deceleration operation of the trailing vehicle 170 and the acceleration/deceleration operation of the preceding vehicle 110.

In one embodiment, when the driving control information remains the same for the first reference time, the trailing vehicle driving control unit 250 generates the vehicle spacing and the center alignment error between the preceding vehicle 110 and the following vehicle 170 during the second reference time. The autonomous driving control may be temporarily performed to correct at least one of them. The first reference time is a time for which the driving control information of the preceding vehicle 110 is kept constant, and may influence the time to determine the time for the autonomous driving of the following vehicle 170, and the second reference time is the following vehicle. As the time for the 170 to travel in the autonomous driving mode, it may be automatically switched to travel according to the driving control information of the preceding vehicle 110 when the corresponding time elapses.

For example, if the driving control information of the preceding vehicle 110 remains the same for 10 seconds, the trailing vehicle driving control unit 250 may control the trailing vehicle 170 to travel in the autonomous driving mode for 3 seconds. At this time, the trailing vehicle 170 may perform autonomous driving such that the distance between the two vehicles is corrected according to a preset distance or corrected within an error range so that the centers of the two vehicles are aligned on the same straight line. The trailing vehicle driving device 130 may set the first and second reference times in advance, and the trailing vehicle driving control unit 250 utilizes this to control the transition to the autonomous driving mode in the driving process of the trailing vehicle 170 can do.

In one embodiment, the trailing vehicle driving control unit 250 may autonomously control the trailing vehicle 170 to retreat below a threshold speed when the advancing direction of the preceding vehicle 110 is the backward direction. The trailing vehicle traveling device 130 may detect the traveling direction of the preceding vehicle 110 in real time in various ways, and the trailing vehicle traveling control unit 250 may display the preceding vehicle (when the traveling direction of the preceding vehicle 110 is the reverse direction) Switching to the autonomous driving mode may be controlled such that the trailing vehicle 170 retreats below a preset threshold speed regardless of the driving control information of 110).

In addition, the trailing vehicle running control unit 250 ends the autonomous driving mode of the trailing vehicle 170 and the trailing vehicle according to the driving control information of the preceding vehicle 110 when the progressing direction of the preceding vehicle 110 changes back to the forwarding direction. The driving of the 170 can be controlled. The trailing vehicle traveling device 130 may set the threshold speed in advance, and the trailing vehicle traveling control unit 250 may control the autonomous driving mode switching of the trailing vehicle 170 based on the information on the threshold speed.

In one embodiment, the trailing vehicle driving control unit 250 temporarily terminates control of the trailing vehicle 170 and moves between the preceding vehicle 110 and the trailing vehicle 170 when the progressing direction of the preceding vehicle 110 is the backward direction. When the vehicle interval is included in the reference interval range, the trailing vehicle 170 may be controlled to travel according to the pairing backward method. In addition, when the traveling direction of the preceding vehicle 110 is changed from the forward direction to the backward direction, the trailing vehicle 170 may move by a predetermined distance to stop or travel at a low speed at a preset speed.

The trailing vehicle driving control unit 250 may control the trailing vehicle 170 to travel according to the pairing backward method when the vehicle interval with the trailing vehicle 170 is narrowed within the reference interval range due to the backward of the preceding vehicle 110. In the pairing backward method, the preceding vehicle 110 moves with the preceding vehicle 110 maintaining a constant distance from the preceding vehicle 110 in accordance with the operation of the preceding vehicle 110 while the preceding vehicle 110 and the following vehicle 170 are paired. It may correspond to the reverse form of the form.

In one embodiment, the trailing vehicle running control unit 250 moves backward while the trailing vehicle 170 maintains a reference distance from the preceding vehicle 110 while driving the trailing vehicle 170 while driving the first steering backward of the preceding vehicle 110. The first reversing step to control the vehicle, the second reversing step to control the reversing vehicle 170 to the third steering backward with a greater steering angle than the second steering during the second steering reversing of the preceding vehicle 110, the preceding vehicle 110 A third reversing step of controlling the reversing vehicle 170 to retreat to the third steering during a straight reversing of the fourth, a fourth reversing step of controlling the reversing vehicle 170 to move straight during the fourth steering reversal of the preceding vehicle 110 and preceding The vehicle 110 may be controlled to travel according to a pairing reverse method that proceeds to a fifth reversing step, which controls the reversing vehicle 170 to go straight while reversing.

Here, the first to fourth steering reversals may correspond to reversing according to the first to fourth steering angles (or steering ranges), respectively, and the straight reversing corresponds to reversing the steering direction parallel to the moving direction of the vehicle. can do. In addition, the trailing vehicle driving control unit 250 may control the backward of the trailing vehicle 170 in accordance with the backward of the preceding vehicle 110 so that the end state of the specific backward phase and the start state of the next backward phase are naturally connected. This will be described in more detail in FIG. 6.

In one embodiment, the trailing vehicle driving control unit 250 may temporarily control control of the trailing vehicle 170 in the third backward stage and autonomously control the trailing vehicle 110 to reverse. If the trailing vehicle 170 corresponds to an actual trailer that cannot be steered, the preceding vehicle 110 may directly push the trailing vehicle 170 back to reverse, but the trailing vehicle traveling control unit 250 may trailer even if there is no physical contact between the two vehicles. The reverse of the trailing vehicle 170 may be controlled according to the pairing reverse method similar to the reverse.

However, the trailing vehicle running control unit 250 temporarily terminates the control of the trailing vehicle 170 in the third reversing stage and switches the trailing vehicle 110 to the autonomous driving mode, so that the preceding vehicle 110 moves straight forward to the trailing vehicle. Control in the form of pushing 170 may be omitted, and the radius of rotation of the trailing vehicle 110 may be minimized. The trailing vehicle 170 may be driven in a self-driving mode such that the vehicle is in a straight reverse direction from the third steering reverse.

The control unit 270 controls the overall operation of the trailing vehicle driving device 130, and controls or flows data between the driving control information receiving unit 210, the steering control distance calculating unit 230, and the trailing vehicle driving control unit 250. Can be managed.

FIG. 3 is a flowchart illustrating a process of driving a trailing vehicle performed by the trailing vehicle traveling apparatus of FIG. 1.

Referring to FIG. 3, the trailing vehicle driving device 130 may receive driving control information regarding acceleration/deceleration, steering, and gear of the preceding vehicle 110 through the driving control information receiving unit 210 (step S310). The trailing vehicle driving device 130 may calculate the steering control distance of the trailing vehicle 170 based on the driving control information through the steering control distance calculating unit 230 (step S330). The trailing vehicle driving device 130 controls the acceleration and deceleration of the trailing vehicle 170 in accordance with the acceleration/deceleration information of the driving control information through the trailing vehicle driving control unit 250 while the trailing vehicle 170 according to the steering information of the driving control information. ) After the steering is moved by the steering control distance, the delay can be controlled (step S350).

In one embodiment, the trailing vehicle driving device 130 may maintain the vehicle spacing and center alignment during the second reference time when the driving control information of the preceding vehicle 110 is maintained for the first reference time through the trailing vehicle driving control unit 250. The autonomous driving control may be temporarily performed to correct at least one of the errors (step S370). In addition, the trailing vehicle driving control unit 250 may return to driving control of the trailing vehicle 170 based on the driving control information of the preceding vehicle 110 after the temporary autonomous driving control for the second reference time.

4 is an exemplary diagram illustrating a steering control distance for steering control of a trailing vehicle.

Referring to FIG. 4, the trailing vehicle driving device 130 may calculate a steering control distance for steering control of the trailing vehicle 430 through the steering control distance calculating unit 230. In one embodiment, the steering control distance calculating unit 230 includes the first vehicle length (a) of the preceding vehicle 410, the second vehicle length (b) of the following vehicle 430, and the preceding vehicle 410 and the following vehicle. The total sum of the safety distances f(d) between 430 may be calculated as the steering control distance L. At this time, if the preceding vehicle 410 and the following vehicle 430 correspond to the vehicle of the same model, the sum of the first vehicle length (a) and the second vehicle length (b) is the preceding vehicle 410 or the following vehicle ( 430), and the steering control distance may be the same as the total length of the vehicle and the vehicle distance.

5 is an exemplary view illustrating a steering control process of a trailing vehicle performed by the trailing vehicle traveling control unit in FIG. 2.

Referring to FIG. 5, the trailing vehicle driving device 130 may control the driving of the trailing vehicle 170 based on the driving control information of the preceding vehicle 110 through the trailing vehicle traveling control unit 250. In particular, the trailing vehicle driving control unit 250 may simultaneously control the acceleration/deceleration of the trailing vehicle 170 according to the acceleration/deceleration information while delaying the steering of the trailing vehicle 170 according to the steering information.

In Figure (a), when the steering information of the preceding vehicle 110 is changed to the left turn, the trailing vehicle traveling device 130 controls the corresponding rotation value and angular speed from the preceding vehicle 110 through the driving control information receiving unit 210. After receiving it as information, it can be transmitted to the trailing vehicle 170. In Figure (b), the trailing vehicle running device 130 calculates the steering control distance for the trailing vehicle 170 through the steering control distance calculating unit 230 to the trailing vehicle 170 through the trailing vehicle running control unit 250 ) Can be controlled to travel as much as the steering control distance. In Figure (c), the trailing vehicle traveling device 130 travels at the same rotational value and angular speed as the preceding vehicle 110 at a position where the trailing vehicle 170 is moved by the steering control distance through the trailing vehicle traveling control unit 250. Can be controlled.

FIG. 6 is an exemplary view illustrating a process of controlling driving of a trailing vehicle according to a pairing reverse method in the trailing vehicle traveling control unit of FIG. 2.

Referring to FIG. 6, the trailing vehicle traveling device 130 may control the trailing vehicle 170 to travel according to the pairing backward method through the trailing vehicle traveling control unit 250. When the trailing vehicle 170 travels backward in a pairing backward manner, the reference distance from the preceding vehicle 110 may be maintained. For example, the trailing vehicle running device 130 is a manner in which the preceding vehicle 110 and the trailing vehicle 170 maintain a reference interval, and the center position of the rear portion of the preceding vehicle 110 and the front portion of the trailing vehicle 170 are maintained. The central position can be controlled to be included and moved within a specific area.

Each step of the pairing backward method will be described through each figure in FIG. 6, and it is assumed that the trailing vehicle driving control unit 250 is a main body and controls each step. In Figure (a), in order to turn the trailing vehicle 170 backward and turn right, it can be steered slightly to the right from the preceding vehicle 170. In Figure (b), the trailing vehicle 170 can be reversed to a greater steering angle than the preceding vehicle 110 to facilitate reverse right turn. In Figure (c), the preceding vehicle 110 can be steered horizontally and retracted to further advance the trailing vehicle 170. In Figure (d), the trailing vehicle 170 can be steered horizontally backward (or straight backward) and the preceding vehicle 110 can be steered largely to the right again to make a reverse right turn. In the figure (e), both the preceding vehicle 110 and the trailing vehicle 170 may go straight in an aligned state to terminate pairing backward in an appropriate position.

In one embodiment, the trailing vehicle driving control unit 250 temporarily terminates control of the trailing vehicle 170 in the third backward step corresponding to Figure (c), and switches the trailing vehicle 170 to an autonomous driving mode to trailing By controlling the vehicle 170 to retract by autonomous driving, it is possible to omit the third reversing step or minimize the operation at the step.

Although described above with reference to preferred embodiments of the present invention, those skilled in the art variously modify and change the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. You can understand that you can.

100: autonomous driving based trailing vehicle driving system
110, 410: preceding vehicle 130: trailing vehicle driving device
150: database 170, 430: trailing vehicle
210: driving control information receiving unit 230: steering control distance calculation unit
250: trailing vehicle driving control unit 270: control unit

Claims (10)

A driving control information receiving unit receiving driving control information regarding acceleration/deceleration and steering of the preceding vehicle;
A steering control distance calculating unit calculating a steering control distance of the trailing vehicle based on the driving control information; And
A trailing vehicle driving control unit that simultaneously controls the acceleration/deceleration of the following vehicle according to the acceleration/deceleration information of the driving control information and moves the steering of the trailing vehicle by the steering control distance according to the steering information of the driving control information and then delays the control. An autonomous driving-based trailing vehicle driving apparatus using driving control information of a preceding vehicle including a.
According to claim 1, The operation control information receiving unit
Autonomous driving-based trailing vehicle using driving control information of the preceding vehicle, characterized in that when the pairing between the preceding vehicle and the succeeding vehicle is successful through the exchange of encrypted identification information, the reception of the driving control information is started. Traveling device.
According to claim 1, The steering control distance calculation unit
Driving control information of the preceding vehicle, wherein the sum of the first vehicle length of the preceding vehicle, the second vehicle length of the preceding vehicle, and the total safety distance between the preceding vehicle and the following vehicle is calculated as the steering control distance. Autonomous driving based trailing vehicle driving device.
According to claim 3, The steering control distance calculation unit
An autonomous driving-based trailing vehicle driving apparatus using driving control information of a preceding vehicle, characterized in that the vehicle interval f(d) calculated through Equation 1 is calculated as the safety distance.

[Equation 1]
f(d) = k * V _a * V _b * R _b

(f(d) is the vehicle interval, k is the proportional constant, V _a is the speed of the preceding vehicle, V _b is the speed of the trailing vehicle, R _b is the reaction time of the trailing vehicle)
The method of claim 1, wherein the trailing vehicle traveling control unit
If the driving control information remains the same for the first reference time, the autonomous driving control is temporarily performed to correct at least one of the vehicle spacing and the center alignment error between the preceding vehicle and the following vehicle during the second reference time. An autonomous driving-based trailing vehicle driving device using driving control information of a preceding vehicle.
The method of claim 1, wherein the trailing vehicle traveling control unit
An autonomous driving-based trailing vehicle driving device using driving control information of a preceding vehicle, characterized in that autonomous driving control is performed to retreat the trailing vehicle below a threshold speed when the traveling direction of the preceding vehicle is in a backward direction.
The method of claim 1, wherein the trailing vehicle traveling control unit
When the traveling direction of the preceding vehicle is in the reverse direction, the control of the following vehicle is temporarily ended, and when the vehicle interval between the preceding vehicle and the following vehicle is included in the reference interval range, the following vehicle is driven according to the pairing reverse method. Autonomous driving-based trailing vehicle driving device using driving control information of a preceding vehicle, characterized in that it controls.
The method of claim 7, wherein the trailing vehicle running control unit
The trailing vehicle maintains the reference distance from the preceding vehicle,
A first reversing step of controlling the reversing vehicle to go straight forward while the first steering reversing of the preceding vehicle;
A second reversing step of controlling the rear vehicle to retreat to a third steer at a greater steering angle than the second steer during the second steer reverse of the preceding vehicle;
A third reversing step of controlling the reversing vehicle to retreat to the third steering during a straight reversal of the preceding vehicle;
A fourth reversing step of controlling the reversing vehicle to go straight forward while the fourth steering reversing of the preceding vehicle; And
Autonomous driving-based regression using driving control information of the preceding vehicle, characterized in that driving is performed in accordance with the pairing reversing method that proceeds to a fifth reversing step of controlling the reversing vehicle to move straight ahead while reversing the preceding vehicle. Vehicle driving device.
The method of claim 8, wherein the trailing vehicle traveling control unit
In the third reversing step, the autonomous driving-based trailing vehicle driving apparatus using the driving control information of the preceding vehicle, characterized in that the control of the trailing vehicle is temporarily terminated and the trailing vehicle is autonomously controlled to reverse.
In the trailing vehicle running method performed in the trailing vehicle running device,
Receiving driving control information regarding acceleration/deceleration and steering of the preceding vehicle;
Calculating a steering control distance of the trailing vehicle based on the driving control information; And
And simultaneously controlling the acceleration/deceleration of the following vehicle according to the acceleration/deceleration information of the driving control information, and controlling the delay of the steering vehicle after moving the steering of the following vehicle according to the steering information of the driving control information. A method of driving a trailing vehicle based on autonomous driving using driving control information of the preceding vehicle.

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