KR20200075108A - Apparatus for controlling platooning driving of vehicle, system having the same and method thereof - Google Patents

Abstract

The present invention relates to a cluster driving control device, a system including the same, and a method thereof. The cluster driving control device according to an embodiment of the present invention includes: a processor for performing cluster driving control for each warning level according to the type of a surrounding vehicle by determining whether the surrounding vehicle driving around a vehicle driving in a cluster intends to cut-in or has cut-in; and a storage unit for storing information for identifying the occurrence or intention of cut-in by the processor.

Description

Apparatus for controlling platooning driving of vehicle, system having the same and method thereof

The present invention relates to a cluster driving control device, a system including the same, and a method thereof, and more particularly, to a cluster driving control technology of a medium-sized commercial vehicle in crowd driving.

As the technology of intelligent vehicles has been advanced, a group driving technique in which multiple vehicles are grouped and autonomously driving is being researched. Cluster driving has the advantage that vehicles can reduce fuel use due to air resistance by maintaining the cluster, and has the advantage of maintaining a closer distance between vehicles than when the driver is driving, thereby increasing the road usage rate. There is more attention.

In particular, considering the aspects such as reducing fuel consumption and reducing accident rates, realistically, medium and large commercial vehicles such as buses and trucks are using a lot of cluster driving. In the case of such a medium-to-large commercial vehicle, if a small vehicle is suddenly inserted between the clusters due to heavy body weight and heavy loads, the commercial vehicle in the crowd is not aware of the small vehicle, and is rapidly in an unexpected situation. Difficult to cope, there is a high probability of an accident.

An exemplary embodiment of the present invention is to provide a cluster driving control device capable of preventing an accident by providing a prior warning for a vehicle that cuts-in a space between vehicles in a crowded vehicle, a system including the same, and a method thereof.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following descriptions.

The cluster driving control apparatus according to an exemplary embodiment of the present invention includes a processor for determining whether a cut-in intention or cut-in of a surrounding vehicle is driving around a vehicle in a cluster driving and performing cluster driving control for each warning level according to a vehicle type of the surrounding vehicle; And a storage unit that stores information for determining whether the cut-in intention or cut-in is performed by the processor.

In one embodiment, the processor may include setting a space of a lane next to a space between the front vehicle and the rear vehicle in the cluster as a warning area, and determining whether the surrounding vehicle has entered the warning area. .

In one embodiment, the processor sets the distance of the space between the front vehicle and the rear vehicle to the longitudinal width of the warning area, and uses the lane width of the road and the full width of the vehicle to transverse the warning area. It may include setting the direction width.

In one embodiment, when the surrounding vehicle cuts in a predetermined distance to the warning area, the processor determines that the surrounding vehicle has entered the warning area, and determines the vehicle type and location of the surrounding vehicle. , It may include performing the first warning level control according to the vehicle model and location.

In an embodiment, the processor may irradiate the first warning level by varying the height of a guideline light source according to the vehicle type, and irradiate the guideline light source toward a location of the surrounding vehicle in a predetermined color. It may include.

In one embodiment, the processor determines whether there is an intention to cut into a dangerous area, which is a space between a front vehicle and a rear vehicle in which the surrounding vehicle in the warning area is driving, and if the intention is to cut, It may include performing the second warning level control according to the vehicle model and location.

In one embodiment, the processor may include determining that the cut-in is intention when the surrounding vehicle cuts into a predetermined area within the dangerous area.

In one embodiment, the processor may include determining that the cut-in intention is intended when the left and right corner regions of the vehicle in front of the surrounding vehicle are cut in the dangerous region.

In one embodiment, the processor is irradiated by varying the height of the guideline light source according to the vehicle model, changing the guideline light source to a color different from the color when controlling the first warning level, and flashing the headlamp. It may include controlling to blink.

In one embodiment, the processor may include turning off the guideline light source or the headlamp after performing a predetermined number of times or time.

In one embodiment, the processor determines whether the surrounding vehicle in the warning area is a cut into a dangerous area that is a space between the front vehicle and the rear vehicle running in the cluster, and if it is determined that the cut-in, the vehicle model and And performing third warning level control regardless of location.

In one embodiment, the processor may include determining that the cut-in is performed when the surrounding vehicle cuts in exceeding a predetermined area in the dangerous area.

In one embodiment, the processor may cut in the case where the rear left and right corner regions of the surrounding vehicle are cut in the danger region within a predetermined time after the vehicle front left and right corner regions of the surrounding vehicle are cut in the danger region. It may include judging.

In one embodiment, the processor may include performing the third warning level control by performing the own vehicle deceleration control, the safety distance securing control, and the headlamp flashing control.

In one embodiment, the processor sets the color or pattern of a guideline light source differently for each warning level, or irradiates a guide phrase to the guideline light source irradiated on the road surface for cluster driving control for each warning level. It may include.

The vehicle system according to an embodiment of the present invention is a cluster driving control device that performs a cluster driving control for each warning level according to the vehicle type of the surrounding vehicle by determining whether the surrounding vehicle is driving in or out of the surrounding vehicle while driving the cluster. ; And a light source irradiation module controlled by the cluster driving control device to change the color or pattern of the light source to irradiate or flash the light source.

In one embodiment, the light source irradiation module includes: a first light source irradiation module mounted at a first height in front of the vehicle in the cluster driving; A second light source irradiation module mounted at a second height higher than the first height; And a third light source irradiation module mounted at a third height higher than the second height.

The cluster driving control method according to an exemplary embodiment of the present invention includes determining whether a cut-in intention or cut-in of a surrounding vehicle while driving the cluster is around the vehicle; And performing cluster driving control for each warning level according to the vehicle type of the surrounding vehicle.

In one embodiment, the step of determining whether the surrounding vehicle is a cut-in intention or a cut-off is to determine whether the surrounding vehicle has entered a warning area that is a space in a side lane between a space between the front vehicle and the rear vehicle during the cluster driving. To do; Determining whether the cut-in intention is determined by determining whether the surrounding vehicle has entered within a predetermined distance in a dangerous area that is a space between the front vehicle and the rear vehicle during the cluster driving; And it may include the step of determining whether the cut-in by determining whether the surrounding vehicle has entered a predetermined distance in the danger zone.

In one embodiment, the step of performing cluster driving control for each warning level includes: when the surrounding vehicle enters the warning level, performing a first warning level control according to the vehicle type and vehicle position of the surrounding vehicle. ; Performing a second warning level control according to a vehicle type and a vehicle position of the surrounding vehicle when the surrounding vehicle entering the warning level has an intention to cut into the dangerous area; And performing a third warning level control when a surrounding vehicle entering the warning level is cut in to the dangerous area.

This technology can prevent accidents by providing a warning in advance for vehicles that cut in the space between vehicles in the crowd.

In addition, various effects that can be directly or indirectly identified through this document may be provided.

1 is a block diagram showing the configuration of a vehicle system including a cluster driving control apparatus according to an embodiment of the present invention.
2 is an exemplary diagram of a cluster driving according to an embodiment of the present invention.
3 is an exemplary view showing a cut-in situation of a small car while driving in a crowd according to an embodiment of the present invention.
4 is a view for explaining an exemplary operation of determining the vehicle entry in the warning area of the cluster driving control apparatus according to an embodiment of the present invention.
5 is a view for explaining an exemplary operation of performing the first warning level control to the vehicle in the warning area of the cluster driving control apparatus according to an embodiment of the present invention.
6 is a view for explaining an exemplary operation of determining the intention and whether to enter the vehicle in the danger zone of the cluster driving control apparatus according to an embodiment of the present invention.
7 is a view for explaining an exemplary operation of determining whether the vehicle is intended to enter and cut in a danger zone in a straight road and a curved road according to an embodiment of the present invention.
8 is a view for explaining an exemplary operation of determining the priority of each target vehicle position according to the radar detection area and the camera detection area of the cluster driving control apparatus according to another embodiment of the present invention.
9 is a flow chart for explaining a cluster driving control method according to an embodiment of the present invention.
10 is a view for explaining an exemplary operation of the warning when cut in the right (RH) direction of the cluster driving control device according to an embodiment of the present invention.
11 is a view for explaining an exemplary operation of the warning when the left (LH) direction cut-in of the cluster driving control device according to an embodiment of the present invention.
12 is a view for explaining an exemplary operation of the warning when the two-way cut-in of the cluster driving control apparatus according to an embodiment of the present invention.
13 is a view showing an example of mounting a light source irradiation module for each height of the vehicle according to an embodiment of the present invention and an example of a pattern irradiated on the road surface.
14 is an exemplary view in which a guide phrase is irradiated on a road surface when a guideline light source is irradiated according to an embodiment of the present invention.
15 illustrates a computing system according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. It should be noted that in adding reference numerals to the components of each drawing, the same components have the same reference numerals as possible even though they are displayed on different drawings. In addition, in describing embodiments of the present invention, when it is determined that detailed descriptions of related well-known configurations or functions interfere with understanding of the embodiments of the present invention, detailed descriptions thereof will be omitted.

In describing the components of the embodiments of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the component from other components, and the nature, order, or order of the component is not limited by the term. Also, unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person skilled in the art to which the present invention pertains. Terms, such as those defined in a commonly used dictionary, should be interpreted as having meanings consistent with meanings in the context of related technologies, and should not be interpreted as ideal or excessively formal meanings unless explicitly defined in the present application. Does not.

The present invention recognizes a case where a small vehicle suddenly cuts in (cut-in) between clusters during cluster driving, and alerts the small vehicle that the vehicle is running in a crowd, thereby inducing a technology that can induce the small vehicle to stop the cut-in. It starts.

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 15.

1 is a block diagram showing the configuration of a vehicle system including a cluster driving control apparatus according to an embodiment of the present invention. FIG. 2 is an exemplary view of cluster driving according to an embodiment of the present invention, and FIG. 3 is an exemplary view showing a cut-in situation of a compact car during cluster driving according to an embodiment of the present invention.

Referring to FIG. 1, a vehicle system according to an embodiment of the present invention includes a cluster driving control device 100, a sensing module 200, a light source irradiation module 300, a steering control device 400, and a braking control device 500 ), the engine control device 600.

As shown in FIG. 2, when the medium-sized commercial vehicles are cut in between the medium-sized and medium-sized vehicles in the cluster while the small and medium-sized commercial vehicles are driving in the cluster, the cluster driving control device 100 detects this in advance and performs vehicle control for warning and safe driving. Can.

The cluster driving control device 100 may include a communication unit 110, a storage unit 120, and a processor 130.

The communication unit 110 is a hardware device implemented with various electronic circuits to transmit and receive signals through a wireless or wired connection. In the present invention, communication in a vehicle is performed through can communication, LIN communication, and the like. In addition, it is possible to transmit and receive cluster driving information by performing vehicle communication (V2X) with other vehicles driving in the cluster.

The storage unit 120 includes information received from other vehicles in the cluster, sensing results of the sensing module 200, information for determining whether the processor 130 is a cut-in intention or a cut, and acquired by the processor 130 The warning level judgment result and the like can be stored. The storage unit 120 includes a flash memory type, a hard disk type, a micro type, and a card type (for example, an SD card (Secure Digital Card) or an XD card (eXtream Digital). Card)), RAM, Random Access Memory (RAM), Static RAM (SRAM), Read-Only Memory (ROM), Programmable ROM (PROM), Electrically Erasable PROM (EEPROM), Magnetic Memory (MRAM) , Magnetic RAM), a magnetic disk, and an optical disk type of memory, a storage medium of at least one type.

The processor 130 may be electrically connected to the communication unit 110, the storage unit 120, and the like, and may electrically control each component, and may be an electric circuit that executes software commands, which will be described later. Various data processing and calculations can be performed.

The processor 130 may determine whether a cut-in intention or a cut-in of the surrounding vehicle is driving around the vehicle in the cluster driving and perform cluster driving control for each warning level according to the vehicle type of the surrounding vehicle.

The processor 130 may set a space of a side lane of a space between a front vehicle and a rear vehicle in a cluster driving as a warning area, and determine whether the surrounding vehicle has entered the warning area.

The processor 130 may set the distance between the front vehicle and the rear vehicle as the longitudinal width of the warning area, and set the lateral width of the warning area using the lane width of the road and the entire width of the vehicle. .

When the surrounding vehicle cuts in a predetermined distance to the warning area, the processor 130 determines that the surrounding vehicle has entered the warning area, determines the vehicle type and location of the surrounding vehicle, and determines the first vehicle according to the vehicle type and location. Alert level control can be performed. At this time, the first warning level may be irradiated by varying the height of the guideline light source according to the vehicle type, and irradiating the guideline light source toward a position of the surrounding vehicle in a predetermined color (eg, green).

The processor 130 determines whether there is an intention to cut into a dangerous area, which is a space between a front vehicle and a rear vehicle in which the surrounding vehicle in the warning area is crowded, and if there is an intention to cut in, the second warning level according to the vehicle model and position Control can be performed.

The processor 130 may determine that there is an intention to cut-in when the surrounding vehicle cuts within the predetermined area in the dangerous area. The processor 130 may determine that there is an intention to cut in when the left and right corner regions of the vehicle front and rear of the surrounding vehicle are cut in the dangerous region.

The processor 130 irradiates the height of the guideline light source differently according to the vehicle type of the surrounding vehicle, changes the color of the guideline light source to a color different from the first warning level control (for example, red color), blinks, and displays the headlamp. It can be controlled to flash.

The processor 130 may perform a predetermined number of times (eg, 5 times) or time (eg, 5 seconds) of blinking of the guideline light source or headlamp, and then turn it off.

The processor 130 determines whether the surrounding vehicle in the warning area is cut into a dangerous area, which is a space between the front vehicle and the rear vehicle in the cluster driving, and if it is determined to be cut in, the third warning level regardless of the vehicle type and location Control can be performed. The processor 130 may perform the third warning level control by performing the own vehicle deceleration control, the safety distance securing control, and the head lamp blinking control.

The processor 130 may determine that the surrounding vehicle is cut-in when the surrounding vehicle is cut-in exceeding a predetermined region in the danger zone. The processor 130 may determine that the rear left and right corner regions of the surrounding vehicle are cut in the danger region within a predetermined time after the vehicle front left and right corner regions of the surrounding vehicle are cut in the danger region.

The processor 130 may set the color or pattern of the guideline light source differently for each warning level or control the guide light source to be irradiated on the road surface for the control of cluster driving for each warning level.

As described above, the present invention performs real-time monitoring of the presence or absence of a vehicle in the left/right lane warning area based on the vehicle front/side sensing module 200, and the vehicle in the warning area is equal to or greater than a certain ratio (longitudinal reference, 3.6 meters). At the time of cut-in, the green guideline light source is irradiated to the road surface in the forward driving direction according to the height of the vehicle based on the height of the cut-in vehicle.

In addition, the present invention monitors in real time whether the vehicle in the warning area cuts into the dangerous area (the area between the vehicle in front of the crowd) and guides when the vehicle in the dangerous area cuts in at a certain rate (0 to 20%). After changing the color of the light source to red, it blinks and the head lamp blinks simultaneously. When the vehicle in the danger zone exceeds 20%, it cuts itself, controls the own vehicle deceleration, secures the safety distance, and controls the head lamp. At this time, if the guideline light source and the headlamp continue to blink, it may interfere with safe operation, so the guideline light source and the headlamp can be controlled to turn off after flashing 5 times.

In addition, when a vehicle-to-vehicle communication (V2V) fails during cluster driving, the above-described cluster driving control (first warning level control, second warning level control, third warning level control) method of the present invention may be an instantaneous backup solution. Can.

The sensing module 200 may include a plurality of sensors to detect vehicles around the vehicle, the location of the surrounding vehicle, the speed of the surrounding vehicle, the direction of movement of the surrounding vehicle, and/or the type of the surrounding vehicle (eg, passenger car, Information on small cars, mid-sized cars, large cars, etc.) can be obtained. To this end, the sensing module 200 may include an ultrasonic sensor, a radar, a camera, a laser scanner and/or a corner radar, a lidar, an acceleration sensor, a yaw rate sensor, a torque measurement sensor and/or a wheel speed sensor, a steering angle sensor, etc. Can. In the present invention, it is possible to detect and detect whether the surrounding vehicle is cut in the warning area and the danger area through the sensing module 200 and detect the degree of cut-in.

The light source irradiation module 300 is a laser irradiation module, and irradiates light sources of different colors such as green and red on the road surface in front of the vehicle (including the front side). In addition, the light source irradiation module 300 may combine a green light source and a red light source to irradiate various colors desired, and irradiate the irradiation pattern in various patterns. The laser irradiation pattern will be described in detail later with reference to FIGS. 13 and 14.

The steering control device 400 may be configured to control the steering angle of the vehicle, and may include a steering wheel, an actuator associated with the steering wheel, and a controller that controls the actuator.

The braking control device 500 may be configured to control braking of the vehicle, and may include a controller that controls the brake.

The engine control device 600 may be configured to control the engine driving of the vehicle, and may include a controller that controls the speed of the vehicle.

As described above, the present invention can prevent accidents by providing a warning in advance for a vehicle that cuts into a space between medium and large commercial vehicles running in a crowd.

4 is a view for explaining an exemplary operation of determining the vehicle entry in the warning area of the cluster driving control apparatus according to an embodiment of the present invention.

Referring to FIG. 4, when the cluster driving control apparatus 100 defines a distance between a leading vehicle (LV:Lead Vehicle) and a following vehicle (FV) that is driving in the cluster as D1 (longitudinal width), The areas of the right and left lanes corresponding to D1 may be set as warning areas 401 and 402.

The cluster driving control device 100 may set a value obtained by dividing the lane width by subtracting the full width of a large commercial vehicle by 2, and the value obtained by adding the value of one lane width to the lateral width D2 of the warning areas 401 and 402. have. For example, at this time, when the lane width is 3.5m and the full width of a large commercial vehicle is 2.5m, it becomes (3.5-2.5)/2 + 3.5, and the lateral width D2 may be set to 4m. The longitudinal widths D1 of the warning regions 401 and 402 may be variously set according to various situations.

The cluster driving control device 100 cuts in the vehicles 11 and 12 that are driving the left and right lanes in the warning areas 401 and 402 of the left and right lanes of the space between the leading vehicle LV and the following vehicle FV, respectively. In this case, it may be determined that the surrounding vehicle has cut in the warning areas 401 and 402.

5 is a view for explaining an exemplary operation of performing the first warning level control to the vehicle in the warning area of the cluster driving control apparatus according to an embodiment of the present invention. When the vehicle is a passenger car or an SUV, the first warning level control may include irradiating a green guideline light source at a height of one level for each vehicle direction.

Referring to FIG. 5, the cluster driving control device 100 warns when a surrounding vehicle cuts D3 or more into the warning area based on the fact that the vehicle rear end must be ahead of the next lane vehicle in order for the vehicle to enter the next lane. It can be judged as being cut in. At this time, D3 may be set to the minimum value of the vehicle battlefield, and may be set to, for example, 3.6 m, and the cluster driving control device 100 cuts in as much as D3 of the warning zones 401 and 402 by the surrounding vehicles 11 and 12. If it is, it is determined that it has cut in the warning area, and the first warning level control is performed.

6 is a view for explaining an exemplary operation of determining whether the vehicle is intended to enter and cut in the danger zone of the cluster driving control apparatus according to an embodiment of the present invention.

Referring to 601 of FIG. 6, the cluster driving control device 100 may define a space between the leading vehicle LV and the following vehicle FV as a danger area 611. That is, the cluster driving control apparatus 100 may define the distance between the leading vehicle LV and the following vehicle FV as the longitudinal width D4 of the danger area 611. At this time, the longitudinal width D4 of the dangerous area 611 may be set differently according to various situations.

In addition, the cluster driving control device 100 may have the lateral width D5 of the danger zone 611 equal to the lane width of the road, and may be set to 3.5 m, which is a general lane width of the highway lane.

As in 602, when the surrounding vehicle 12 that was driving in the warning area attempts to cut in to the dangerous area 611, that is, when the surrounding vehicle 12 spans between 0 to 20% in the dangerous area 611, the group travels The control device 100 determines that there is an intention to cut into the danger zone and performs second warning level control. At this time, the cluster driving control device 100 changes the guideline light source from green to red according to the vehicle type according to the vehicle type of the surrounding vehicle 12, blinks and flashes the headlamp together, but the guideline light source and the headlamp The second warning level control that blinks for a predetermined time or a predetermined number of times is performed.

As shown in 603, when the surrounding vehicle 12 that was driving in the warning area completely enters the danger area 611 or exceeds 20%, the cluster driving control device 100 performs the third warning level control. The cluster driving control device 100 may control the third warning level that continues to decelerate the host vehicle, control the safety distance, control the road surface light source and the head lamp regardless of the vehicle type of the surrounding vehicle 12.

7 is a view for explaining an exemplary operation of determining whether the vehicle is intended to enter and cut in a danger zone in a straight road and a curved road according to an embodiment of the present invention.

Referring to 701, the cluster driving control device 100 divides a cut-in vehicle cut-in determination reference position into a primary position and a secondary position. The primary position means the front left/right corner area (e.g. FR fender LH/RH, FR Bumper, etc.), and the secondary position means the rear left/right corner area of the vehicle (e.g. RR fender LH/RH, RR Bumper) Etc.).

Referring to 702 and 703, when a cut-in vehicle (a peripheral vehicle) is cut between a leading vehicle (LV) and a following vehicle (FV), the cut-in vehicle must be cut-in at the front part of the vehicle, i.e., the primary position (e.g., FR Fender/Bumper). You will have no choice but to enter the lane first.

At the moment the vehicle first enters, the primary location (FR corner) enters the lane you want to enter first, but after a certain entry time (T), inevitably parallels the leading vehicle (LV) and the following vehicle (FV). Since it is a driving situation, the left and right corners of the vehicle should be used as the criteria. At this time, since the entry time is different for each vehicle entering, it is necessary to separately define the entry time T.

The cluster driving control device 100 determines whether the secondary position of the entering vehicle has entered the lane in which the host vehicle is running after a certain cut-in time has elapsed after the primary position of the cut-in vehicle has entered the lane in which the host vehicle is running, and is within the danger zone. It can be determined whether the vehicle has entered.

8 is a view for explaining an exemplary operation of determining the priority of each target vehicle position according to the radar detection area and the camera detection area of the cluster driving control apparatus according to another embodiment of the present invention. FIG. 8 discloses an example of recognizing the presence of a cut-in vehicle based on a Smart Cruise Control System (SCC) and an Autonomous Emergency Braking System (AEB). At this time, the smart cruise control system is a technology that detects a distance from a vehicle in front of the road and automatically adjusts the driving speed based on the speed set by the driver and performs convenient and safe driving. The emergency braking system actively brakes the vehicle by automatically recognizing objects or pedestrians in front when a forward collision is expected.

That is, the cluster driving control device 100 detects a cut-in vehicle among front vehicles through a radar sensor and a camera in conjunction with a smart cruise control system and an emergency braking system, and detects a vehicle in the own lane among the target vehicles existing in the detection area for each sensor. The highest priority control target can be determined.

In addition, as shown in FIG. 8, the cluster driving control device 100 is in the case of vehicles with no priority 0 and 1, and vehicles 2 and 3 become the next high priority, but do not exist in the lane, so SCC And AEB does not operate, and may be subject to control when the 2nd/3rd vehicle is cut into the own lane.

FIG. 8 illustrates an example of detecting a cut-in vehicle as another embodiment. An example of determining whether or not a target vehicle in the sensor lane exists in the sensor detection area and controlling it. In case of multiple vehicles, only priorities are given and control is performed. Disclosed.

As described above, it is possible to recognize a surrounding situation in advance through a radar sensor and a camera mounted on a vehicle, and secure a safety distance through braking if necessary, but when an unexpected situation occurs that is difficult to predict when driving on a real road, the present invention In, it is possible to prevent dangerous situations such as sudden cut-in by allowing the surrounding vehicles to be recognized as a group driving situation in advance.

Accordingly, as in one embodiment of the present invention, it is possible to determine how much the cut-in vehicle has entered the warning zone and the danger zone, thereby changing the warning level.

Hereinafter, with reference to Table 1 and Figure 9 will be described in detail the cluster driving control method according to an embodiment of the present invention. 9 is a flow chart for explaining a cluster driving control method according to an embodiment of the present invention.

Hereinafter, it is assumed that the cluster driving control apparatus 100 of FIG. 1 performs the process of FIG. 9. In addition, in the description of FIG. 9, operations described as being performed by the device may be understood as being controlled by the processor 130 of the cluster driving control device 100.

Warning level/model Car and SUV Small to medium sized commercial vehicles Large commercial vehicle 1st warning level control Investigate the green guideline light source in the first stage by vehicle direction Green guideline light irradiation with 2 levels of height by vehicle direction Green guideline light irradiation with 3 levels of height by vehicle direction Second warning level control Red guideline light flashes and headlamp flashes at one level height Red guideline light and flashing headlamp at two levels of height Red guideline light and flashing headlamp at 3 levels Third warning level control Control of own vehicle deceleration, secured safety distance and continued flashing of head lamp Control of own vehicle deceleration, secured safety distance and continued flashing of head lamp Control of own vehicle deceleration, secured safety distance and continued flashing of head lamp

Referring to FIG. 9, the cluster driving control device 100 may determine whether the vehicle is cut in the warning area (S110 ). The cluster driving control apparatus 100 may determine that the surrounding vehicle has entered the warning region when the surrounding vehicle enters the warning region in a warning direction exceeding a predetermined reference distance (eg, 4 m).

The cluster driving control device 100 may determine a vehicle type and a vehicle position (S120 ). At this time, the vehicle model may include a passenger car, SUV, small and medium-sized car, large-sized car, and the like, and the vehicle location determines whether surrounding vehicles are entering the warning area on the right or the warning area on the left or both warning areas on both sides. do.

The cluster driving control device 100 applies the warning level differently according to the vehicle type, and performs the first warning level control to the vehicle that has entered the corresponding warning area (S130).

Medium and large commercial vehicles, especially for large trucks, the driver's eye level is about 2.5M above ground level. Since the truck cab itself is very large, invisible blind spots around the truck cab may occur when the driver is seated. In particular, the area immediately to the right of the cab is less visible. Due to this, accidents due to blind spots are frequently occurring across the entire vehicle speed section, and when a vehicle with a relatively low altitude (garage) between vehicles is suddenly cut in in a crowded driving situation between actual heavy trucks with a distance between vehicles of less than 10M. A truck driver may encounter a situation in which it is very difficult to recognize a vehicle in advance and respond to a brake such as braking.

Accordingly, the cluster driving control device 100 may classify vehicle models of cut-in vehicles and perform different warning levels according to the vehicle models.

At this time, passenger cars and SUVs have a vehicle height of 1900 or less, the height of a medium-sized commercial vehicle is greater than 1900 ~ 2400, and the height of a large commercial vehicle exceeds 2400. For example, in the case of a vehicle such as a refrigerated truck, the height of the vehicle is higher than that of the vehicle, and thus it can be classified as large.

Accordingly, the warning level may be different according to the type of vehicle according to the garage. Referring to Table 1, when controlling the first warning level, the vehicle type of the vehicle cut in the warning area is the vehicle type and the SUV vehicle according to vehicle direction (cut in Toward the vehicle) irradiate the green guideline light source at the first level height, and if the vehicle is a small commercial vehicle, irradiate the green guideline light source at the second level per vehicle direction, and for the large commercial vehicle, the green guideline light source at the third level height per vehicle direction. To investigate. That is, the higher the height of the vehicle, the higher the irradiation height of the green guideline light source, so that the surrounding vehicle being cut in can recognize the warning.

The cluster driving control device 100 determines whether the vehicle is intended to be cut in the danger zone (S140 ). The cluster driving control apparatus 100 may determine that there is an intention to cut in the vehicle in the danger region when the surrounding vehicle cuts 0 to 20% within the danger region based on the lateral direction.

The cluster driving control device 100 may apply the warning level differently according to the vehicle type to perform the second warning level control with the vehicle being cut in (S150 ).

Referring to Table 1, when controlling the second warning level, in the case of a passenger car and an SUV vehicle, the red guideline light source blinks and the headlamp blinks in the case of passenger cars and SUVs when the vehicle starts to cut in to the dangerous area, If the vehicle model is a small commercial vehicle, the red guideline light source blinks and the headlamp blinks at a two-level height for each vehicle direction, and for a large commercial vehicle, the red guideline light source blinks and the headlamp blinks at a three-level height for each vehicle direction. . That is, the higher the height of the vehicle, the higher the irradiation height of the green guideline light source, so that the surrounding vehicle being cut in can recognize the warning.

The cluster driving control device 100 determines whether the vehicle is cut in the danger zone (S160 ). That is, the cluster driving control device 100 may determine that the vehicle in the danger area is cut in when the surrounding vehicle is cut in by 20% or more within the danger area on a lateral basis.

The cluster driving control apparatus 100 may perform the third warning level control with the corresponding vehicle by differently applying the warning level according to the vehicle model (S170 ).

Referring to Table 1, the cluster driving control device 100 performs third-degree control of the own vehicle, securing the safety distance, and continuing the headlamp blinking regardless of the vehicle type for the third warning level control.

10 is a view for explaining an exemplary operation of the warning when the right (RH) direction cut-in of the cluster driving control device according to an embodiment of the present invention, Figure 11 is a cluster driving control device according to an embodiment of the present invention It is a view for explaining an exemplary operation of the warning when cut in the left (LH) direction. 12 is a view for explaining an exemplary operation of the warning when the two-way cut-in of the cluster driving control device according to an embodiment of the present invention.

In FIG. 10, when the surrounding vehicle controls the first warning level in the right direction (RH), the green guideline light source is irradiated by varying the height of each vehicle type in the right direction, and when the second warning level is controlled, the height of each vehicle type is varied to indicate the red guide line to the right. It can be seen that the investigation. That is, it can be seen that the heights of the light source irradiation modules 1001, 1002, and 1003 are different.

In FIG. 11, when the surrounding vehicle controls the first warning level in the left direction (LH), the green guideline light source is irradiated by varying the height of each vehicle type in the left direction, and when the second warning level is controlled, the height of each vehicle type is varied to indicate the red guide line to the left. It can be seen that the investigation.

In FIG. 12, it is understood that the surrounding vehicle irradiates the green guideline light source by varying the vehicle type height in both directions when controlling the first warning level in both directions and irradiates the red guide line in both directions by varying the vehicle type height when controlling the second warning level. Can.

13 is a view showing an example of mounting a light source irradiation module for each height of the vehicle according to an embodiment of the present invention and an example of a pattern irradiated on the road surface. The present invention discloses an example in which three laser irradiation modules for each vehicle height are mounted on the light source irradiation module 300.

Referring to FIG. 13, it can be seen that the mounting positions of the light source irradiation module 1300 are different for each height in 1301, 1302, and 1303. At this time, the light source irradiation module 1300 may include a green light source and a red light source, and irradiate various color light sources as a guideline light source by a combination of a green light source and a red light source. 1311 indicates a green guideline light source irradiated onto the road surface, and 1312 indicates a pattern appearing on the road surface when green, red, and blue light sources are irradiated onto the road surface.

14 is an exemplary view in which a guide phrase is irradiated on a road surface when a guideline light source is irradiated according to an embodiment of the present invention. Referring to FIG. 14, when the light source is irradiated as in 1401, the light source may be irradiated so that the text is visible on the road surface as in 1402.

As described above, the present invention can secure driving safety through advance notification and warning for a vehicle that cuts into a lane warning area next to a mid-to-large-sized commercial vehicle in a crowded driving.

In addition, the present invention can provide an accident prevention effect through automatic braking/securing a safety distance in the event of a visual warning and an emergency, for a vehicle that suddenly cuts-in into an area between mid-sized and large-sized commercial vehicles running in a crowd.

In addition, the present invention is based on the sensor (ADAS sensor, radar, camera, etc.) of the vehicle when V2X communication temporarily causes errors/problems while driving in the cluster, it can determine the driving situation of surrounding vehicles and warn in case of danger. Even if there are no problems, it can help to drive the crowd.

15 illustrates a computing system according to an embodiment of the present invention.

Referring to FIG. 15, the computing system 1000 includes at least one processor 1100 connected through a bus 1200, a memory 1300, a user interface input device 1400, a user interface output device 1500, and storage 1600, and the network interface 1700.

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that executes processing for instructions stored in the memory 1300 and/or storage 1600. The memory 1300 and the storage 1600 may include various types of volatile or nonvolatile storage media. For example, the memory 1300 may include read only memory (ROM) and random access memory (RAM).

Thus, steps of a method or algorithm described in connection with the embodiments disclosed herein may be directly implemented by hardware, software modules, or a combination of the two, executed by processor 1100. The software modules reside in storage media (ie, memory 1300 and/or storage 1600) such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM. You may.

An exemplary storage medium is coupled to the processor 1100, which can read information from and write information to the storage medium. Alternatively, the storage medium may be integral with the processor 1100. Processors and storage media may reside within an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. Alternatively, the processor and storage medium may reside as separate components within the user terminal.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and variations without departing from the essential characteristics of the present invention.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical spirits within the equivalent range should be interpreted as being included in the scope of the present invention.

Claims (20)

A processor for determining whether a cut-in intention or cut-in of a surrounding vehicle is driving around a vehicle in the cluster driving and performing cluster driving control for each warning level according to a vehicle type of the surrounding vehicle; And
A storage unit which stores information for determining whether the cut-in intention or cut-in is performed by the processor;
Cluster driving control device comprising a. The method according to claim 1,
The processor,
The space of the next lane in the space between the front vehicle and the rear vehicle while driving the cluster is set as a warning area,
Cluster driving control device, characterized in that for determining whether the surrounding vehicle has entered the warning area. The method according to claim 2,
The processor,
The distance between the front vehicle and the rear vehicle is set to the longitudinal width of the warning area,
A cluster driving control device characterized in that the lateral width of the warning area is set by using the lane width of the road and the entire width of the vehicle. The method according to claim 2,
The processor,
When the surrounding vehicle cuts in a predetermined distance to the warning area, it is determined that the surrounding vehicle has entered the warning area, determines the vehicle type and location of the surrounding vehicle, and displays a first warning according to the vehicle type and location. Cluster driving control device characterized in that for performing the level control. The method according to claim 4,
The processor,
The first warning level,
A cluster driving control device characterized by irradiating the height of a guideline light source differently according to the vehicle type and irradiating the guideline light source toward a position of the surrounding vehicle in a predetermined color. The method according to claim 4,
The processor,
It is determined whether or not the surrounding vehicle in the warning area has an intention to cut into a dangerous area, which is a space between the front vehicle and the rear vehicle while driving in the cluster,
If there is an intention to cut-in, the cluster driving control device, characterized in that to perform the second warning level control according to the vehicle type and position. The method according to claim 6,
The processor,
When the surrounding vehicle is cut into the predetermined area within the danger area, it is determined that there is an intention to cut in, the cluster driving control device. The method according to claim 6,
The processor,
A cluster driving control device characterized in that it is determined that the cut-in intention is made when the left and right corner areas of the vehicle in front of the surrounding vehicle are cut in the dangerous area. The method according to claim 6,
The processor,
A cluster driving characterized in that the height of a guideline light source is varied according to the vehicle type, and the guideline light source is changed to a color different from the color when the first warning level is controlled, so as to blink and control the head lamp to blink. controller. The method according to claim 9,
The processor,
A cluster driving control device characterized in that the guideline light source or the head lamp is turned off after being performed for a predetermined number of times. The method according to claim 6,
The processor,
It is determined whether or not the surrounding vehicle in the warning area is cut into a dangerous area, which is a space between the front vehicle and the rear vehicle while driving in the cluster,
If it is determined that the cut-in, the cluster driving control device, characterized in that for performing the third warning level control regardless of the vehicle type and position. The method according to claim 11,
The processor,
When the surrounding vehicle is cut in exceeding a predetermined area in the danger area, it is determined that the cut-in, the cluster driving control device. The method according to claim 11,
The processor,
Cluster driving control characterized in that if the rear left and right corner areas of the surrounding vehicle cut in the dangerous area within a predetermined time after the left and right corner areas of the vehicle in the front are cut in the dangerous area Device. The method according to claim 11,
The processor,
A cluster driving control device characterized in that the third warning level control is performed by performing the own vehicle deceleration control, the safety distance securing control, and the headlamp flashing control. The method according to claim 1,
The processor,
For group driving control for each warning level,
A group driving control device characterized in that the color or pattern of a guideline light source is set differently for each warning level, or a guide phrase is irradiated to the guideline light source irradiated on the road surface. A cluster driving control device configured to determine whether a cut-in intention or cut-in of a surrounding vehicle driving a group of vehicles in the vicinity of a group driving is performed to perform cluster driving control for each warning level according to a vehicle type of the surrounding vehicle; And
A light source irradiation module controlled by the cluster driving control device and irradiating or flashing by changing the color or pattern of the light source;
Vehicle system comprising a. The method according to claim 16,
The light source irradiation module,
A first light source irradiation module mounted at a first height in front of the vehicle running in the cluster;
A second light source irradiation module mounted at a second height higher than the first height; And
A third light source irradiation module mounted at a third height higher than the second height;
Vehicle system comprising a. Determining whether a cut-in intention or a cut-in of a surrounding vehicle while driving the cluster is around the vehicle; And
Performing cluster driving control for each warning level according to the vehicle type of the surrounding vehicle;
Cluster driving control method comprising a. The method according to claim 18,
The step of determining whether the surrounding vehicle is a cut-in intention or a cut-in,
Determining whether the surrounding vehicle has entered a warning area that is a space in a side lane of a space between the front vehicle and the rear vehicle during the cluster driving;
Determining whether the cut-in intention is determined by determining whether the surrounding vehicle has entered within a predetermined distance in a dangerous area that is a space between the front vehicle and the rear vehicle during the cluster driving; And
Determining whether or not the cut-in is performed by determining whether the surrounding vehicle has entered a predetermined distance within the danger zone;
Cluster driving control method comprising a. The method according to claim 19,
The step of performing cluster driving control for each warning level is:
If the surrounding vehicle enters the warning level, performing a first warning level control according to the vehicle type and vehicle position of the surrounding vehicle;
Performing a second warning level control according to the vehicle type and vehicle position of the surrounding vehicle when the surrounding vehicle entering the warning level has an intention to cut into the dangerous area; And
Performing a third warning level control when a surrounding vehicle entering the warning level is cut in to the dangerous area;
Cluster driving control method comprising a.

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