KR20210011660A - Method for controlling platooning and apparatus thereof - Google Patents

Abstract

The present invention relates to a platooning control method and a device thereof. The platooning control method of the present invention comprises: a platooning control step of controlling platooning of a driving group by a leading vehicle included in the driving group to maintain a distance between grouped vehicles determined based on a driving speed of the driving group; a collision risk determining step of determining, by the leading vehicle, whether a risk of collision with a front object positioned in front of the leading vehicle or another vehicle intervening into the driving group exists in a state that the platooning of the driving group is performed; and a collision avoidance control step of controlling, by the leading vehicle, brake of each grouped vehicle or variably controlling the distance between the grouped vehicles on the basis of a result of determining whether the risk of collision with the front object or another vehicle exists. Accordingly, collisions caused during platooning can be avoided.

Description

Cluster driving control method and apparatus {METHOD FOR CONTROLLING PLATOONING AND APPARATUS THEREOF}

The present invention relates to a cluster traveling control method and apparatus, and more particularly, to a cluster traveling control method and apparatus for avoiding a collision between a front object or another vehicle and a traveling cluster.

In general, cluster driving means that a plurality of vehicles grouped into a group share driving information with each other and travel on a road while taking into account an external environment.

One cluster includes a leader vehicle and a follower vehicle. The leader vehicle is a vehicle that leads the cluster at the top of the cluster, and the follower vehicle is a vehicle that follows the leader vehicle.

The crowded follower vehicle may maintain tracking of the leader vehicle by using driving information of the leader vehicle (eg, GPS coordinates, speed, route, direction, brake step information) transmitted through a vehicle-to-vehicle communication method. Accordingly, the driver of the follower vehicle can freely perform actions other than driving indoors (eg, operating a smartphone, sleeping). The driver's convenience may be increased and transportation efficiency may be enhanced by such cluster driving.

Meanwhile, it is necessary to perform emergency braking in order to avoid collision with a front obstacle located in front of the leader vehicle in the process of performing swarm driving. In this case, the braking control of the follower vehicle is usually performed according to the control command of the leader vehicle. It works. However, when the inter-vehicle distance between each cluster vehicle is not secured at the level of the braking distance required for emergency braking, there is a problem that continuous collision between the driving cluster vehicles occurs. Furthermore, the conventional braking control method for cluster driving has a limitation in that consideration of various environmental factors that may cause a collision in the cluster driving process is excluded because the collision risk object is limited to an obstacle in front of the leader vehicle. .

The background technology of the present invention is disclosed in Korean Patent Registration No. 10-0957137 (2010.05.03) in'cluster driving control system and method'.

The present invention was invented to solve the above-described problem, and an object according to an aspect of the present invention is to adopt a cluster driving method that is actively controlled for various environmental factors that cause a collision in the process of performing cluster driving. It is to provide a cluster driving control method and apparatus capable of avoiding a collision caused during cluster driving.

In a cluster driving control method according to an aspect of the present invention, a leader vehicle belonging to the driving cluster controls the cluster driving of the driving cluster so that the inter-vehicle distance between each cluster vehicle determined based on the driving speed of the driving cluster is maintained. Control step, the risk of collision of the leader vehicle to determine whether there is a risk of collision with a front object located in front of the leader vehicle or another vehicle intervening in the driving cluster in a state in which cluster driving of the driving cluster is performed A collision in which the leader vehicle controls the braking of each cluster vehicle or variably controls the inter-vehicle distance between the cluster vehicles based on a result of determining whether the leader vehicle has a risk of collision with the front object or whether the other vehicle exists. It characterized in that it comprises an avoidance control step.

In the cluster driving control step of the present invention, the leader vehicle maintains the driving speed of the driving cluster below a preset limit speed, and determines the inter-vehicle distance between the cluster vehicles in proportion to the driving speed of the driving cluster. It is characterized in that the cluster driving is controlled.

The inter-vehicle distance, which is variably controlled in the collision avoidance control step of the present invention, is controlled according to first to third distances defined in the order of increasing magnitude.

In the present invention, in the collision avoidance control step, when it is determined that there is a risk of collision with the front object, the leader vehicle causes each cluster vehicle to perform prefill control for emergency braking, and the respective And maintaining the inter-vehicle distance between the clustered vehicles at the first distance.

In the present invention, in the collision avoidance control step, when it is determined that there is a risk of collision with the front object and another vehicle intervening inside the driving cluster, the leader vehicle is another vehicle intervening inside the driving cluster. It characterized in that it comprises the step of independently controlling the driving of the first and second driving groups formed separated by.

In the independently controlling step of the present invention, the leader vehicle causes each cluster vehicle belonging to a driving group located in front of the first and second driving groups to perform prefill control for emergency braking, and the first And each cluster vehicle belonging to a driving group located at the rear of the second driving group performs deceleration control for causing the other vehicle to intervene, and the inter-vehicle distance of each cluster vehicle belonging to the first and second driving groups is the first It is characterized in that it is maintained at 1 distance.

In the independently controlling step of the present invention, the leader vehicle controls a first cluster vehicle belonging to the first driving group to join the second driving group after the other vehicle is intervened into the driving cluster. Characterized in that.

In the present invention, the number of first cluster vehicles belonging to the first driving group is smaller than the number of second cluster vehicles belonging to the second driving group, and the number of the first cluster vehicles and the number of the second cluster vehicles In the same case, the first driving group is a driving group to which the leader vehicle belongs.

In the independently controlling step of the present invention, the leader vehicle, among the second cluster vehicles belonging to the second driving group, performs a deceleration to secure a space with the front vehicle, and the first vehicle The cluster vehicle is characterized in that it joins the second driving group through the reserved space.

In the independently controlling step of the present invention, the leader vehicle, by assigning an identification code having a sequential value according to a distance from the leader vehicle to the first cluster vehicle, each of the first cluster vehicles It is characterized in that it joins the second driving group while maintaining the line after the identification code.

In the present invention, in the collision avoidance control step, when it is determined that there is no risk of collision with the front object and no other vehicle intervening into the driving cluster, the leader vehicle, the inter-vehicle distance between the cluster vehicles It characterized in that it comprises the step of maintaining the second distance.

In the present invention, in the collision avoidance control step, when it is determined that there is no risk of collision with the front object, and when it is determined that there is another vehicle intervening inside the driving cluster, the leader vehicle, The step of maintaining a distance between the first and second driving groups divided based on a point where the other vehicle intervenes into the driving cluster as the third distance, wherein the first driving group is a driving group to which the leader vehicle belongs Phosphorus, characterized in that it comprises a step.

In the step of maintaining the third distance of the present invention, the leader vehicle is characterized in that the leading vehicle among the cluster vehicles belonging to the second driving group performs prefill control for emergency braking.

The cluster driving control apparatus according to an aspect of the present invention controls cluster driving of the driving cluster so that the inter-vehicle distance between each cluster vehicle determined based on the driving speed of the driving cluster is maintained, and in a state in which the cluster driving of the driving cluster is performed. It is determined whether there is a risk of collision with a front object located in front of the leader vehicle or another vehicle intervening inside the driving cluster, and the result of determining whether there is a risk of collision with the front object or the other vehicle Based on this, it is characterized in that braking of each of the cluster vehicles is controlled or an inter-vehicle distance between each of the cluster vehicles is variably controlled.

According to an aspect of the present invention, the present invention determines the risk of collision with the front object and the intervention of other vehicles into the driving cluster in the process of performing cluster driving, and according to the determination result, the braking or inter-vehicle of each cluster vehicle By controlling the distance, it is possible to effectively prevent a collision caused during cluster driving.

1 is a block diagram of a cluster driving control apparatus mounted on a cluster vehicle to perform a cluster driving control method according to an embodiment of the present invention.
2 is a block diagram of a traveling module of the cluster traveling control apparatus according to an embodiment of the present invention.
3 and 4 are flowcharts illustrating a cluster driving control method according to an embodiment of the present invention.
5 to 12 are exemplary diagrams showing a process of controlling the driving of the traveling cluster in the collision avoidance control step of the cluster driving control method according to an embodiment of the present invention.

Hereinafter, a method and apparatus for controlling cluster driving according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this process, thicknesses of lines or sizes of components shown in the drawings may be exaggerated for clarity and convenience of description. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of users or operators. Therefore, definitions for these terms should be made based on the contents throughout the present specification.

1 is a block diagram of a cluster driving control apparatus mounted on a cluster vehicle to perform a cluster driving control method according to an embodiment of the present invention.

2 is a block diagram of a traveling module of the cluster traveling control apparatus according to an embodiment of the present invention.

1 and 2, a cluster driving control device mounted on a cluster vehicle in order to perform a cluster driving control method according to an embodiment of the present invention includes a communication unit 100, a user interface unit 200, and a control unit 300. ) And a driving module 400.

The communication unit 100 may transmit and receive information through a communication network between cluster vehicles belonging to a driving cluster or between cluster vehicles and a server. The communication unit 100 includes WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access). ), HSDPA (High Speed Downlink Packet Access), HSUPA (High Speed Uplink Packet Access), LTE (Long Term Evolution), LTE-A (Long Term Evolution-Advanced) through at least one communication method that belongs to the driving cluster Information can be transmitted and received between vehicles or between cluster vehicles and servers.

In addition, the communication unit 100 may perform short-range communication between cluster vehicles belonging to the driving cluster. That is, since the cluster vehicles running in clusters are driven while maintaining a close distance to each other, the communication unit 100 may transmit and receive various types of information between the cluster vehicles through short-range wireless communication. In this case, the communication unit 100 includes Bluetooth (Radio Frequency Identification (RFID)), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, Near Field Communication (NFC), and Wireless-Fi (Wi-Fi). Fidelity), Wi-Fi Direct, Wireless USB (Wireless Universal Serial Bus), etc., allows various types of information to be transmitted and received between clustered vehicles.

The user interface unit 200 may provide a user interface to the driver. The user interface unit 200 may receive information from the driver and input it to the control unit 300 or may output a result according to an operation. For example, the user interface unit 200 may receive a destination from a driver or output a route to a destination according to an operation of a navigation (not shown) mounted on a cluster vehicle. In this case, the POI (Point Of Interest), etc. can be provided or various menus of navigation can be displayed.

The driving module 400 may drive a cluster vehicle based on a driver's manipulation or autonomous driving function.

Referring to FIG. 2, the driving module 400 includes an operation unit 410 that receives a driver's manipulation, a sensing unit 430 that detects a driving state of a cluster vehicle and surrounding conditions, and a driving unit 450 that drives the cluster vehicle. ) Can be included.

The manipulation unit 410 may receive a driver's manipulation for driving a cluster vehicle. The operation unit 410 includes a steering wheel that receives a steering command for steering a cluster vehicle from a driver, a gear input unit that receives a gear operation of a cluster vehicle, an accelerator pedal that receives an acceleration command from the driver, and a deceleration command from the driver. A brake pedal or the like may be included.

The sensing unit 430 may detect a driving state and a surrounding situation of the cluster vehicle. The sensing unit 430 that detects the driving state of clustered vehicles includes a collision sensor, a steering sensor, a speed sensor, a tilt sensor, a weight detection sensor, a heading sensor, a yaw sensor, a gyro sensor, a position module sensor, a vehicle forward/reverse sensor, and a battery. Sensor, fuel sensor, tire sensor, steering sensor by steering wheel rotation, vehicle internal temperature sensor, vehicle internal humidity sensor, etc. can be included.Based on these, vehicle collision information, vehicle direction information, vehicle angle information, vehicle speed information, vehicle acceleration Information, vehicle tilt information, vehicle forward/reverse information, battery information, fuel information, tire information, vehicle ramp information, vehicle interior temperature information, vehicle interior humidity information, steering wheel rotation angle, and the like can be obtained.

The sensing unit 430 for detecting the surrounding situation of the cluster vehicle may include at least one of a camera, an ultrasonic sensor, an infrared sensor, a radar, and a lidar, and based on these, various objects or obstacles located around the driving cluster vehicle You can obtain information about the surrounding situation. For example, the surrounding situation information may include information on the location of the obstacle, the number of obstacles, the distance to the obstacle, the size of the obstacle, the type of the obstacle, surrounding vehicles, surrounding facilities, traffic safety signs, and the like.

In particular, the camera captures an image around the clustered vehicle to obtain information on at least one of a traffic light, a traffic sign, a pedestrian, a nearby vehicle, and a road surface.

The driving unit 450 may control operations of various vehicle devices. The driving unit 450 includes a driving unit such as an engine or a transmission for driving a cluster vehicle, a steering unit for steering the cluster vehicle, a brake unit for stopping the cluster vehicle, and a lamp driving unit for guiding the driving state or driving direction of the cluster vehicle. I can.

On the other hand, the driving module 400 is presented as an example. In addition to the operation unit 410, the sensing unit 430, and the driving unit 450, the driving module 400 includes various systems if related to the driving of a cluster vehicle. And a device may be further included.

The controller 300 may perform cluster driving of the cluster vehicle by controlling the driving module 400 according to cluster driving information input from the communication unit 100 and user input information input from the user interface unit 200. The movement of the cluster vehicle described below is performed by controlling the driving module 400 by the controller 300 mounted on each cluster vehicle, and the control operation of the leader vehicle described below is performed by the controller 300 mounted on the leader vehicle. ) Is performed in such a way that the control command is sent to each cluster vehicle.

In this embodiment, the control unit 300 controls the cluster driving of the driving cluster so that the inter-vehicle distance between each cluster vehicle determined based on the driving speed of the driving cluster is maintained, and in a state in which the driving cluster is clustered, the controller 300 is in front of the leader vehicle. It determines whether there is a risk of collision with the located front object or other vehicles intervening inside the driving cluster, and controls the braking of each cluster vehicle based on the result of determining whether there is a risk of collision with the front object or other vehicles. It is possible to variably control the inter-vehicle distance between each cluster vehicle.

Based on the above-described configuration, the following describes a cluster driving control method according to an embodiment of the present invention.

3 and 4 are flow charts for explaining a cluster driving control method according to an embodiment of the present invention, and FIGS. 5 to 12 are driving in a collision avoidance control step of the cluster driving control method according to an embodiment of the present invention. It is an exemplary diagram showing a process in which the running of the cluster is controlled.

Referring to FIG. 3, a method for controlling cluster driving according to an embodiment of the present invention will be described. First, the distance between vehicles L and F determined based on the driving speed of the driving cluster is maintained. The leader vehicle L controls cluster driving of the driving cluster (S100, cluster driving control step).

In step S100, the leader vehicle may maintain the driving speed of the driving cluster below a preset speed limit. The above-described speed limit may mean the prescribed speed limit of the currently driving road, and may be obtained from a navigation device installed in the leader vehicle. In addition, as the driving speed of the driving cluster increases, a sufficient braking distance must be secured for driving safety.In step S100, the leader vehicle determines the inter-vehicle distance between each cluster vehicle in proportion to the driving speed of the driving cluster to perform cluster driving. Can be controlled. That is, in step S100, the leader vehicle may control cluster driving in a manner that adjusts the driving speed of the driving cluster within a range less than or equal to the speed limit, and secures the inter-vehicle distance of each cluster vehicle in proportion to the adjusted driving speed.

In a state in which cluster driving of the driving cluster is performed according to step S100, the leader vehicle determines whether there is a risk of collision with a front object located in the front or another vehicle O intervening inside the driving cluster (S200, collision risk. Judgment step). The front object may correspond to another vehicle in front of the leader vehicle or a fixed obstacle in front of the leader vehicle.

That is, the collision of the driving cluster may be caused by not only the front object in front of the leader vehicle, but also other vehicles intervening inside the driving cluster, so that the leader vehicle collides with the front object in front of the leader vehicle in order to perform collision avoidance control, which will be described later. The risk of collision and the presence of other vehicles intervening inside the driving cluster are determined in advance. In this case, when the time to collision (TTC) with the front object detected through the sensing unit 430 is less than or equal to a preset threshold, the leader vehicle may determine that there is a risk of collision with the front object. In addition, the leader vehicle senses the vehicle located inside the driving cluster and in proximity to the driving cluster through the sensing unit 430, and detects vehicles without approval of the leader vehicle (that is, not joined to the driving cluster). It can be determined whether there are other vehicles intervening inside the cluster.

Subsequently, the leader vehicle controls the braking of each cluster vehicle or variably controls the inter-vehicle distance between each cluster vehicle based on the result of determining whether there is a risk of collision with the front object or whether another vehicle exists in step S200 (S300, collision avoidance control) step). The inter-vehicle distance between each cluster vehicle that is variably controlled in step S300 may be controlled according to the first to third distances defined in the order of increasing size (a detailed description thereof will be described later), and FIGS. 5 to 12 for better understanding Is indicated by the number of squares of the first to third distances. The sizes of the first to third distances may be variously designed according to the intention of the designer and may be preset in the control unit 300.

The collision avoidance control in step S300 is divided into four cases as shown in FIG. 4 depending on whether there is a risk of collision with the object in front and whether another vehicle intervening inside the driving cluster exists. The collision avoidance control method for each case will be described in detail.

First, when it is determined that there is a risk of collision with a front object in step S200, as shown in FIG. 5, the leader vehicle causes each cluster vehicle to perform prefill control for emergency braking, and between each cluster vehicle. The inter-vehicle distance is maintained at the first distance (S310).

In other words, if there is a risk of collision between the leader vehicle and the object in front, the entire cluster vehicle needs to prepare emergency braking for mutual collision avoidance, and since it is necessary to secure a sufficient distance between vehicles for emergency braking, the leader The vehicle allows each cluster vehicle to perform prefill control for emergency braking (depending on the prefill control, it may be defined that braking hydraulic pressure of 1.5 bar to 2.0 bar is formed by the master cylinder), and the inter-vehicle distance between the cluster vehicles is controlled. It can be maintained at the first distance having a value greater than the second and third distances.

Next, in step S200, if it is determined that there is a risk of collision with the front object and other vehicles intervening inside the driving cluster, as shown in FIG. 6, the leader vehicle is separated by other vehicles intervening inside the driving cluster. The first and second driving groups that are formed are independently controlled (S320).

As will be described later, the first and second driving groups are determined by the number of cluster vehicles belonging to each driving group, and in the example of FIG. 6, the first driving group is determined as a driving group in the front, and the second driving group is driving in the rear. It is decided in groups. In this case, the first driving group must prioritize control for avoiding a collision with the front object, and the second driving group must prioritize control for avoiding a collision with an intervening other vehicle. When the risk of collision and other vehicles intervening inside the driving cluster exist at the same time, the leader vehicle will be able to avoid a collision with the front object for the first driving group and the other vehicles intervening for the second driving group. The driving of the first and second driving groups is independently controlled so that a collision can be avoided.

Specifically, in step S320, the leader vehicle performs prefill control for emergency braking for each cluster vehicle belonging to a driving group located in front of the first and second driving groups (ie, a driving group to which the leader vehicle belongs), Each cluster vehicle belonging to the driving group located at the rear of the first and second driving groups may perform deceleration control for causing other vehicles to intervene.

In other words, when there is a risk of collision between the leader vehicle and the front object, each cluster vehicle belonging to the forward driving cluster needs to prepare emergency braking for mutual collision avoidance, so that the leader vehicle is each cluster belonging to the forward driving group. It is possible for the vehicle to perform prefill control for emergency braking. In addition, for the driving group in the rear, the deceleration control to allow other vehicles to intervene with respect to each cluster vehicle belonging to the rear driving group is performed so that a collision with other vehicles can be avoided by allowing the intervention of other vehicles. I can. In this case, in order to secure a sufficient braking distance, the leader vehicle may maintain the inter-vehicle distance of each cluster vehicle belonging to the first and second driving groups as the first distance.

On the other hand, since the leader vehicle controls to avoid collisions with other vehicles in a manner that allows other vehicles to intervene into the driving cluster, in the subsequent cluster driving control, the follower vehicle is the leader vehicle by the intervening other vehicles. A follow-up situation may occur in which the cluster driving is canceled as the clustering ranks are disturbed due to the inability to properly follow. Accordingly, there is a need to prevent the releasing of cluster driving by other vehicles intervening inside the driving cluster.

To this end, in the present embodiment, after another vehicle is intervened into the driving cluster, the cluster is maintained by controlling the first cluster vehicle belonging to the first driving group to join the second driving group.

The first and second driving groups are determined by the number of cluster vehicles belonging to each driving group. Hereinafter, each cluster vehicle belonging to the first driving group is defined as a first cluster vehicle, and each cluster belonging to the second driving group The vehicle is defined as the second cluster vehicle. As described later, the number of first cluster vehicles belonging to the first driving group may be smaller than the number of second cluster vehicles belonging to the second driving group. That is, among the first and second driving groups, a driving group to which the smaller number of cluster vehicles belongs is determined as the first driving group, and the driving group to which the larger number of cluster vehicles belongs is determined as the second driving group. When the number of first cluster vehicles and the number of second cluster vehicles are the same, the first driving group is determined as a driving group to which the leader vehicle belongs (ie, a driving group in front).

Based on the above, the process of maintaining the cluster cluster is specifically described, first, the leader vehicle assigns an identification code having sequential values according to the distance from the leader vehicle to the first cluster vehicle that will join the second driving group. . The identification code assigned to the first cluster vehicle functions as information that serves as a criterion for maintaining the ranks after the first cluster vehicle in the process of moving to join the second driving group, and accordingly, the movement of the cluster vehicle when the rank is maintained. The disarmament of the ranks due to

Subsequently, the leader vehicle, among the second cluster vehicles belonging to the second driving group, performs deceleration to secure a space with the vehicle in front, and the first cluster vehicle enters the second driving group through the reserved space. Try to join.

A process in which the first cluster vehicle of the first driving group joins the second driving group will be described in detail as an example shown in FIGS. 7 to 10.

Referring to FIG. 7, a driving cluster is formed by being divided into two driving groups by other vehicles. Since the number of cluster vehicles belonging to the front driving group is 1 and the number of cluster vehicles belonging to the rear driving group is 2, the driving group in the front becomes the first driving group and the driving group in the rear is the second driving group. Thus, the first cluster vehicle joins the second driving group for efficiency in line maintenance. At this time, the last cluster vehicle of the second cluster vehicle performs deceleration to secure a space with the front vehicle, and the first cluster vehicle joins the second driving group through the reserved space.

Referring to FIG. 8, a driving cluster is formed by being divided into two driving groups by other vehicles. Since the number of cluster vehicles belonging to the front driving group is 2 and the number of cluster vehicles belonging to the rear driving group is 1, the driving group in the rear becomes the first driving group and the driving group in the front is the second driving group. Thus, the first cluster vehicle joins the second driving group for efficiency in line maintenance. At this time, the last cluster vehicle of the second cluster vehicle performs deceleration to secure a space with the front vehicle, and the first cluster vehicle joins the second driving group through the reserved space.

Referring to FIG. 9, a driving cluster is formed by being divided into two driving groups by other vehicles. Since the number of cluster vehicles belonging to the front driving group is 3 and the number of cluster vehicles belonging to the rear driving group is 2, the driving group in the rear becomes the first driving group and the driving group in the front is the second driving group. Thus, the first cluster vehicle joins the second driving group for efficiency in line maintenance. At this time, the last cluster vehicle of the second cluster vehicle performs deceleration to secure a space with the front vehicle, and the first cluster vehicle joins the second driving group through the reserved space.

Referring to FIG. 10, a driving cluster is formed by being divided into two driving groups by other vehicles. Since the number of cluster vehicles belonging to each of the front and rear driving groups is the same as one, the driving group in the front becomes the first driving group and the driving group in the rear becomes the second driving group. In order not to obstruct the driving of other vehicles, the first cluster vehicle joins the second driving group. At this time, the last cluster vehicle of the second cluster vehicle performs deceleration to secure a space with the front vehicle, and the first cluster vehicle joins the second driving group through the reserved space.

When the first cluster vehicle joins the second driving group, it joins while maintaining the ranks of the preceding and following according to the identification code given by the leader vehicle. Accordingly, in the process of joining the second driving group, the first cluster vehicles can maintain their ranks, thereby preventing the ranks from being released.

Next, when it is determined in step S200 that there is no risk of collision with the front object and other vehicles intervening inside the driving cluster, as shown in FIG. 11, the leader vehicle has a second distance between the vehicle clusters. To be maintained (S330).

In other words, when there is no risk of collision with the object in front and other vehicles intervening inside the driving cluster, normal cluster driving control is performed. In this case, each cluster vehicle is used to prevent the disengagement of the cluster due to the intervention of other vehicles. The inter-vehicle distance may be maintained as a second distance having a value smaller than the first distance. However, as described above, in step S100, the leader vehicle determines the inter-vehicle distance between each cluster vehicle in proportion to the driving speed of the driving cluster to control cluster driving. Compared with the step S100, each cluster vehicle in step S330 It is a condition in which the control of the leader vehicle that allows the inter-vehicle distance to be maintained at the second distance is started, and a condition in which another vehicle exists within a set distance from the driving cluster (i.e., the possibility that another vehicle near the driving cluster intervenes inside the driving cluster. If there is) may be applied.

Next, when it is determined that there is no risk of collision with the front object in step S200 and it is determined that there is another vehicle intervening inside the driving cluster, the leader vehicle is inside the driving cluster as shown in FIG. The distance between the first and second driving groups divided based on the point where the other vehicle intervenes is maintained as the third distance (S340). Herein, the first driving group may be defined as a driving group to which the leader vehicle belongs (it is distinguished from the first and second driving groups indicated to describe the cluster maintenance process in step S320).

That is, in the example of FIG. 12, the leader vehicle prevents the intervention of other vehicles by keeping the distance between the first and second driving groups at a third distance having a value smaller than the first and second distances, thereby disabling the cluster. Can be prevented. Meanwhile, in preparation for a collision due to an unreasonable intervention by another vehicle, the leader vehicle may cause the leading vehicle among the cluster vehicles belonging to the second driving group to perform prefill control for emergency braking.

As described above, in the present embodiment, in the process of performing cluster driving, by determining the risk of collision with the front object and the intervention of other vehicles into the driving cluster, and controlling the braking or inter-vehicle distance of each cluster vehicle according to the determination result, It is possible to effectively prevent collisions caused by cluster driving.

The present invention has been described with reference to the embodiments shown in the drawings, but these are only exemplary, and those of ordinary skill in the art to which the present technology pertains, various modifications and other equivalent embodiments are possible. I will understand. Therefore, the true technical protection scope of the present invention should be determined by the following claims.

100: communication department
200: user interface unit
300: control unit
400: drive module
410: control panel
430: sensing unit
450: drive unit

Claims (14)

A cluster driving control step in which a leader vehicle belonging to the driving cluster controls cluster driving of the traveling cluster so that the inter-vehicle distance between each cluster vehicle determined based on the driving speed of the traveling cluster is maintained;
A collision risk determination step of determining, by the leader vehicle, whether there is a risk of a collision with a front object located in front of the leader vehicle or another vehicle intervening in the driving cluster in a state in which cluster driving of the driving cluster is performed; And
A collision avoidance control step of controlling the braking of each cluster vehicle or variably controlling an inter-vehicle distance between the cluster vehicles based on a result of the leader vehicle determining whether there is a risk of collision with the front object or whether the other vehicle exists;
Cluster driving control method comprising a.
The method of claim 1,
In the cluster driving control step, the leader vehicle,
And controlling the cluster driving by maintaining the driving speed of the driving cluster below a preset speed limit, and determining an inter-vehicle distance between the cluster vehicles in proportion to the driving speed of the driving cluster.
The method of claim 1,
The distance between vehicles, which is variably controlled in the collision avoidance control step, is controlled according to first to third distances defined in the order of increasing magnitude.
The method of claim 3,
The collision avoidance control step,
When it is determined that there is a risk of collision with the front object, the leader vehicle causes each cluster vehicle to perform prefill control for emergency braking, and the inter-vehicle distance between each cluster vehicle is the first distance. A method for controlling cluster travel comprising: maintaining the method.
The method of claim 3,
The collision avoidance control step,
When it is determined that there is a risk of collision with the front object and other vehicles intervening inside the driving cluster, the leader vehicle is separated and formed by the other vehicles intervening inside the driving cluster. Independently controlling the driving of the driving group; cluster driving control method comprising a.
The method of claim 5,
In the independently controlling step, the leader vehicle,
Each cluster vehicle belonging to a driving group located in the front of the first and second driving groups performs prefill control for emergency braking, and each cluster vehicle belonging to a driving group located at a rear of the first and second driving groups Is configured to perform deceleration control to allow the other vehicle to intervene, and wherein an inter-vehicle distance of each cluster vehicle belonging to the first and second driving groups is maintained at the first distance.
The method of claim 6,
In the independently controlling step, the leader vehicle,
After the other vehicle is intervened into the driving cluster, the first cluster vehicle belonging to the first driving group is controlled to join the second driving group.
The method of claim 7,
When the number of first cluster vehicles belonging to the first driving group is smaller than the number of second cluster vehicles belonging to the second driving group, and the number of the first cluster vehicles is the same as the number of the second cluster vehicles, the The first driving group is a driving group to which the leader vehicle belongs.
The method of claim 7,
In the independently controlling step, the leader vehicle,
Among the second cluster vehicles belonging to the second driving group, the last cluster vehicle performs deceleration to secure a space with the front vehicle, and the first cluster vehicle joins the second driving group through the reserved space. Cluster driving control method of a vehicle, characterized in that so as to.
The method of claim 7,
In the independently controlling step, the leader vehicle,
By assigning an identification code having a sequential value according to the distance from the leader vehicle to the first cluster vehicle, the first cluster vehicle joins the second driving group while maintaining the preceding rank according to the assigned identification code. Cluster driving control method of a vehicle, characterized in that so as to.
The method of claim 3,
The collision avoidance control step,
When it is determined that there is no risk of collision with the front object and no other vehicle intervening into the driving cluster, allowing the leader vehicle to maintain the inter-vehicle distance between the cluster vehicles as the second distance; Cluster driving control method comprising a.
The method of claim 3,
The collision avoidance control step,
When it is determined that there is no risk of collision with the front object, and when it is determined that there is another vehicle intervening inside the driving cluster, the leader vehicle is a point where the other vehicle intervenes inside the driving cluster And maintaining a distance between the first and second driving groups divided based on the third distance, wherein the first driving group is a driving group to which the leader vehicle belongs; Cluster driving control method.
The method of claim 12,
In the step of maintaining the third distance, the leader vehicle,
And a leading vehicle among the cluster vehicles belonging to the second driving group performs prefill control for emergency braking.
The cluster driving of the driving cluster is controlled so that the inter-vehicle distance between each cluster vehicle determined based on the driving speed of the driving cluster is maintained, and collision with a front object located in front of the leader vehicle in a state in which the cluster driving of the driving cluster is performed It is determined whether there is a danger or other vehicles intervening inside the driving cluster, and based on the result of determining whether there is a risk of collision with the front object or whether the other vehicle exists, the braking of each cluster vehicle is controlled or A cluster driving control device, characterized in that variable control of an inter-vehicle distance between cluster vehicles.

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