KR20210090301A - Control of vehicles performing platooning - Google Patents

Abstract

Disclosed is a method for controlling vehicles performing platooning. A control method of a leading vehicle of the present specifications, in a control method of a leading vehicle that performs platooning in an autonomous driving system, comprises: a step of acquiring driving data of a general vehicle that intends to enter between platooning vehicles; a step of setting a first section for allowing the general vehicle to enter between the platooning vehicles based on the driving data; a step of generating a first driving instruction of slave vehicles to secure the set first section and generating first guide data for allowing the general vehicle to enter into the first section; a step of transmitting the first driving instruction to the slave vehicles; and a step of transmitting the first guide data to the general vehicle. Accordingly, a more accurate predicted path can be derived.

Description

CONTROL OF VEHICLES PERFORMING PLATOONING

The present specification relates to vehicle control for performing platooning.

Autonomous vehicle refers to a vehicle that can drive itself without driver or passenger manipulation, and Automated Vehicle & Highway Systems is a system that monitors and controls such autonomous vehicles so that they can operate on their own. say

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

One cluster includes a leading vehicle and a slave vehicle. The leader vehicle is a vehicle that leads the group in the platoon, and the slave vehicle is a vehicle that follows the leader vehicle.

The slave vehicle may receive driving instructions from the leading vehicle through a vehicle-to-vehicle communication method, and may perform group driving according to the received driving instructions. However, when a general vehicle enters the rank of platooning vehicles or a general vehicle has to pass through the ranks of platooning vehicles, there is a problem in that the general vehicle has to wait until all of the platooning vehicles have passed.

An object of the present specification is to allow a general vehicle to safely enter or safely pass through a line of platooning vehicles.

In addition, an object of the present specification is to enable the leading vehicle to transmit guide data for guiding a route with respect to the general vehicle so that the general vehicle can more safely enter or pass the line.

In addition, an object of the present specification is to enable a leading vehicle to pursue versatility and security by transmitting guidance data to a general vehicle using the TPEG protocol.

In addition, an object of the present specification is to be able to derive a more accurate predicted path by learning the driving path of a general vehicle.

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned are clear to those of ordinary skill in the art to which the present invention belongs from the detailed description of the invention below. will be able to be understood

In order to solve the above-described problem, the present specification provides a method for controlling a leading vehicle that performs platooning in an autonomous driving system. acquiring driving data of a general vehicle; setting a first section for allowing the general vehicle to enter between the vehicles in platooning based on the driving data; and slave vehicles to secure the set first section. (Slave Vehicles) generating first driving instructions, generating first guidance data for entering the general vehicle into the first section, transmitting the first driving instructions to the slave vehicles, and the It may include transmitting the first guide data to the general vehicle.

In this case, the driving data is It includes a traveling direction indicated by the direction indicator light of the general vehicle, and may be obtained from at least one of cameras provided in the vehicles in platooning.

The driving data includes at least one of speed, acceleration, vehicle type, turning radius, driving lane, and driver information of the general vehicle, and is to be obtained from at least one of cameras provided in the platooning vehicles. can

The step of setting the first section comprises: The predicted route of the general vehicle may be generated based on the big data collected according to the driver information, and the first section may be set based on the generated predicted route.

The first driving instructions may include location data of each of the slave vehicles, and the location data may include relative coordinates.

In addition, the first driving guideline may be for increasing the speed of the slave vehicles located in front of the set first section and decreasing the speed of the slave vehicles positioned at the rear of the set first section.

Transmitting the first guide data may include transmitting a permission request message to a control server, receiving permission from the control server, and transmitting the first guidance data to the general vehicle based on the approved permission and returning the approved authority.

The setting of the first section may include generating an actual moving trajectory of the general vehicle based on the driving data, generating an expected path of the general vehicle based on the actual moving trajectory, and based on the predicted path The first section may be set.

In the setting of the first section, the first section is set based on the similarity of the trajectory between the actual movement trajectory and the predicted path, and the trajectory similarity comprises a feature point constituting the actual movement trajectory and the predicted path. It can be calculated based on the distance between the feature points.

The step of setting the first section comprises: When the trajectory similarity is lower than a preset threshold, the predicted path may be modified based on the actual movement trajectory, and the first section may be set based on the modified predicted path.

The control method may include: acquiring driving data of another general vehicle to enter the first section; changing the set first section based on the driving data of the other general vehicle; Changing the first driving instructions of the slave vehicles to be secured, generating first guidance data for entering the general vehicle into the changed first section, and transmitting the changed first driving instructions to the slave vehicles, , transmitting the first guide data to the general vehicle.

The control method may include: obtaining driving data of another general vehicle to enter the first section; a first for entering the general vehicle among the vehicles in the platoon based on the driving data of the other general vehicle Setting a second section, generating second driving instructions of the slave vehicles to secure the set second section, and generating second guide data for entering the general vehicle into the second section The method may further include transmitting the second driving instructions to the slave vehicles and transmitting the first guidance data to the general vehicle.

The first driving guideline may include data for lane departure of some of the slave vehicles to secure the set first section.

The first guide data may be transmitted to the navigation of the general vehicle using a TPEG protocol.

The first guide data may include a driving route, an entry time, and a speed for guiding the general vehicle to the first section.

In addition, in order to solve the above problem, the present specification provides a leading vehicle performing platooning, including a communication module, a memory, and a processor, wherein the processor drives a general vehicle to enter between the vehicles in the platoon. Set a first section into which the general vehicle can enter based on data, generate first driving instructions for slave vehicles to secure the first section, and enter the general vehicle into the first section Generate first guide data, the communication module may transmit the first driving instructions to the slave vehicles, and transmit the first guide data to the general vehicle.

In addition, the processor generates an actual movement trajectory of the general vehicle based on the driving data, generates an expected path of the general vehicle based on the actual movement trajectory, and selects the first section based on the predicted path. can be set.

The communication module may include a TPEG protocol communication module using the TPEG protocol.

The communication module receives the driving data of another general vehicle to enter the first section from the slave vehicles, the processor changes the set first section based on the driving data of the other general vehicle, and the changed In order to secure the first section, the first driving instructions of the slave vehicles may be changed, and a first guidance message for the general vehicle and a second guidance message for the other general vehicle may be generated.

In addition, the communication module receives driving data of other general vehicles that want to enter the first section from the slave vehicles, and the processor conducts the general vehicle to the platoon based on the driving data of the other general vehicles. A second section is set for entering between vehicles in progress, a second driving guideline is generated for the slave vehicles to secure the set second section, and the general vehicle is grouped into the swarm based on driving data of the other general vehicle. A second section for entering between vehicles in motion may be set.

The present specification has an effect of allowing a general vehicle to safely enter or pass through the ranks of platooning vehicles.

In addition, the present specification has the effect of allowing the leading vehicle to transmit guide data for guiding a route with respect to the general vehicle so that the general vehicle can more safely enter or pass the line.

In addition, the present specification has the effect of enabling the leading vehicle to pursue versatility and security by transmitting guidance data to a general vehicle using the TPEG protocol.

In addition, the present specification has the effect of deriving a more accurate predicted path by learning the driving path of a general vehicle.

The effects obtainable in the present specification are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those of ordinary skill in the art to which this specification belongs from the description below. .

1 is an example of V2X communication to which this specification can be applied.
2 illustrates a resource allocation method in a sidelink in which V2X is used.
3 is a diagram illustrating a procedure for a broadcast mode of V2X communication using PC5.
4 is a view showing a vehicle of the present specification.
5 is a control block diagram of a vehicle according to the present specification.
6 is a diagram illustrating a method for controlling a leading vehicle according to a first embodiment of the present specification.
7 is a diagram illustrating a method for setting a first section according to the first embodiment of the present specification.
8 is a diagram illustrating a step of transmitting guide data according to the first embodiment of the present specification.
9 is a diagram specifically illustrating a method for controlling a leading vehicle according to the first embodiment of the present specification.
10(a) and 10(b) are diagrams illustrating an example of regenerating a guide path by regenerating guide data according to the first embodiment of the present specification.
11 to 13 are views illustrating an example in which a general vehicle passes a line of vehicles in a group driving at an intersection according to the first embodiment of the present specification.
14 to 16 are views illustrating an example in which a general vehicle passes through a line of vehicles in a group driving according to the first embodiment of the present specification.
17 and 18 are views illustrating a case in which a general vehicle enters a first section according to the first embodiment of the present specification.
19 and 20 are diagrams illustrating an example in which another general vehicle enters the first section before the general vehicle enters the first section according to the first embodiment of the present specification.
21 is a diagram illustrating an example in which a general vehicle enters a rank of vehicles in a group driving according to the first embodiment of the present specification.
22 and 23 are views illustrating an example in which another general vehicle enters the first section before the general vehicle enters the first section according to the first embodiment of the present specification.
24 and 25 are views illustrating an example in which a general vehicle enters the ranks of vehicles in a group driving according to the first embodiment of the present specification.
26 to 28 are diagrams illustrating the overall flow of a method for controlling a leading vehicle according to the first embodiment of the present specification.
29 is a view showing a leading vehicle according to a second embodiment of the present specification.
BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included as part of the detailed description to help the understanding of the present specification, provide embodiments of the present specification, and together with the detailed description, explain the technical features of the present specification.

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numbers regardless of reference numerals, and redundant description thereof will be omitted. The suffixes "module" and "part" for the components used in the following description are given or mixed in consideration of only the ease of writing the specification, and do not have a meaning or role distinct from each other by themselves. In addition, in describing the embodiments disclosed in the present specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in the present specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical spirit disclosed herein is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present specification , should be understood to include equivalents or substitutes.

Terms including an ordinal number, such as first, second, etc., may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When a component is referred to as being “connected” or “connected” to another component, it is understood that the other component may be directly connected or connected to the other component, but other components may exist in between. it should be On the other hand, when it is mentioned that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in between.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In the present application, terms such as "comprises" or "have" are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

V2X (Vehicle-to-Everything)

1 is an example of V2X communication to which this specification can be applied.

V2X communication is V2V (Vehicle-to-Vehicle), which refers to communication between vehicles, V2I (Vehicle to Infrastructure), which refers to communication between a vehicle and an eNB or RSU (Road Side Unit), vehicle and individual It includes communication between the vehicle and all entities, such as V2P (Vehicle-to-Pedestrian) and V2N (vehicle-to-network), which refers to communication between UEs possessed by (pedestrian, cyclist, vehicle driver, or passenger).

V2X communication may represent the same meaning as V2X sidelink or NR V2X, or may represent a broader meaning including V2X sidelink or NR V2X.

V2X communication is, for example, forward collision warning, automatic parking system, cooperative adaptive cruise control (CACC), loss of control warning, traffic queue warning, traffic vulnerable safety warning, emergency vehicle warning, when driving on a curved road. It can be applied to various services such as speed warning and traffic flow control.

V2X communication may be provided through a PC5 interface and/or a Uu interface. In this case, in a wireless communication system supporting V2X communication, specific network entities for supporting communication between the vehicle and all entities may exist. For example, the network entity may be a BS (eNB), a road side unit (RSU), a UE, or an application server (eg, a traffic safety server).

In addition, the UE performing V2X communication, as well as a general handheld UE (handheld UE), vehicle UE (V-UE (Vehicle UE)), pedestrian UE (pedestrian UE), BS type (eNB type) RSU, or UE It may mean an RSU of a UE type, a robot equipped with a communication module, and the like.

V2X communication may be performed directly between UEs, or may be performed through the network entity(s). A V2X operation mode may be divided according to a method of performing such V2X communication.

V2X communication is required to support the anonymity and privacy of the UE when using the V2X application so that an operator or a third party cannot track the UE identifier within the region where V2X is supported. do.

Terms frequently used in V2X communication are defined as follows.

- RSU (Road Side Unit): RSU is a V2X service capable device that can transmit/receive with a mobile vehicle using V2I service. In addition, RSU is a fixed infrastructure entity that supports V2X applications, and can exchange messages with other entities that support V2X applications. RSU is a term frequently used in the existing ITS specification, and the reason for introducing this term to the 3GPP specification is to make the document easier to read in the ITS industry. The RSU is a logical entity that combines the V2X application logic with the function of a BS (referred to as BS-type RSU) or UE (referred to as UE-type RSU).

- V2I service: A type of V2X service, in which one side is a vehicle and the other side is an entity belonging to the infrastructure.

- V2P service: A type of V2X service where one side is a vehicle and the other side is a device carried by an individual (eg, a portable UE device carried by a pedestrian, cyclist, driver or passenger).

- V2X service: A 3GPP communication service type involving a vehicle transmitting or receiving device.

-V2X enabled (enabled) UE: UE supporting the V2X service.

- V2V service: A type of V2X service, where both sides of the communication are vehicles.

- V2V communication range: Direct communication range between two vehicles participating in V2V service.

V2X applications, called Vehicle-to-Everything (V2X), are (1) vehicle-to-vehicle (V2V), (2) vehicle-to-infrastructure (V2I), (3) vehicle-to-network (V2N), (4) vehicle There are 4 types of pedestrians (V2P).

2 illustrates a resource allocation method in a sidelink in which V2X is used.

In the sidelink, different sidelink control channels (physical sidelink control channels, PSCCHs) may be allocated spaced apart in the frequency domain, and different physical sidelink shared channels (PSSCHs) may be allocated spaced apart from each other. Alternatively, different PSCCHs may be consecutively allocated in the frequency domain, and PSSCHs may also be allocated consecutively in the frequency domain.

NR V2X

To extend the 3GPP platform to the automotive industry during 3GPP Releases 14 and 15, support for V2V and V2X services in LTE was introduced.

The requirements for support for the enhanced (enhanced) V2X use case are largely organized into four use case groups.

(1) Vehicle Platooning allows vehicles to dynamically form platoons that move together. All vehicles in the Platoon get information from the lead vehicle to manage this Platoon. This information allows vehicles to drive more harmoniously than normal, go in the same direction and drive together.

(2) extended sensors are collected through a local sensor or a live video image in a vehicle, a road site unit, a pedestrian device, and a V2X application server raw (raw) ) or to exchange processed data. Vehicles can increase their environmental awareness beyond what their sensors can detect, and provide a broader and holistic picture of local conditions. A high data rate is one of the main characteristics.

(3) Advanced driving enables semi-automatic or fully-automatic driving. Each vehicle and/or RSU shares self-awareness data obtained from local sensors with nearby vehicles, allowing the vehicle to synchronize and coordinate its trajectory or maneuver. Each vehicle shares driving intent with the proximity-driving vehicle.

(4) Remote driving enables remote drivers or V2X applications to drive remote vehicles by themselves or for passengers who cannot drive with remote vehicles in hazardous environments. When variability is limited and routes can be predicted, such as in public transport, driving based on cloud computing can be used. High reliability and low latency are key requirements.

Identifier for V2X communication through PC5

Each terminal has a Layer-2 identifier for V2 communication through one or more PC5. This includes a source Layer-2 ID and a destination Layer-2 ID.

The source and destination Layer-2 IDs are included in the Layer-2 frame, and the Layer-2 frame is transmitted over the layer-2 link of PC5 that identifies the source and destination of Layer-2 on the frame.

Source and destination Layer-2 ID selection of the terminal is based on the communication mode of V2X communication of PC5 of the layer-2 link. The source Layer-2 ID may be different between different communication modes.

If IP-based V2X communication is allowed, the terminal sets the link-local IPv6 address to be used as the source IP address. The UE may use this IP address for V2X communication of PC5 without sending a Neighbor Solicitation and Neighbor Advertisement message for duplicate address discovery.

If one terminal has an activated V2X application that requires privacy protection supported in the current geographic area, the source terminal (eg, vehicle) is tracked or identified from other terminals only for a specific time, source Layer- 2 IDs change over time and can be randomized. In the case of IP-based V2X communication, the source IP address must also change over time and must be randomized.

The change of identifiers of the source terminal should be synchronized in the layer used for PC5. That is, if the application layer identifier is changed, the change of the source Layer-2 ID and the source IP address is also required.

Broadcast mode

3 is a diagram illustrating a procedure for a broadcast mode of V2X communication using PC5.

One. The receiving terminal determines a destination Layer-2 ID for broadcast reception. The destination Layer-2 ID is transmitted to the AS layer of the receiving terminal for reception.

2. The V2X application layer of the transmitting terminal may provide a data unit, and may provide V2X application requirements (Application Requirements).

3. The transmitting terminal determines the destination Layer-2 ID for the broadcast. The transmitting terminal itself allocates a source Layer-2 ID.

4. One broadcast message transmitted by the transmitting terminal transmits V2X service data using a source Layer-2 ID and a destination Layer-2 ID.

Driving

(1) Vehicle exterior

4 is a diagram illustrating a vehicle according to an embodiment of the present invention.

Referring to FIG. 4 , a vehicle 10 according to an embodiment of the present invention is defined as a transportation means traveling on a road or track. The vehicle 10 is a concept including a car, a train, and a motorcycle. The vehicle 10 may be a concept including all of an internal combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as a power source, and an electric vehicle having an electric motor as a power source. The vehicle 10 may be a vehicle owned by an individual. The vehicle 10 may be a shared vehicle. The vehicle 10 may be an autonomous vehicle.

(2) Components of the vehicle

5 is a control block diagram of a vehicle according to an embodiment of the present invention.

Referring to FIG. 5 , the vehicle 10 includes a user interface device 200 , an object detection device 210 , a communication device 220 , a driving manipulation device 230 , a main ECU 240 , and a driving control device 250 . ), an autonomous driving device 260 , a sensing unit 270 , and a location data generating device 280 . The object detecting device 210 , the communication device 220 , the driving manipulation device 230 , the main ECU 240 , the driving control device 250 , the autonomous driving device 260 , the sensing unit 270 , and the location data generating device 280 may be implemented as electronic devices that each generate electrical signals and exchange electrical signals with each other.

1) User interface device

The user interface device 200 is a device for communication between a vehicle and a user. The user interface device 200 may receive a user input and provide information generated in the vehicle to the user. The vehicle 10 may implement a user interface (UI) or a user experience (UX) through the user interface device 200 . The user interface device 200 may include an input device, an output device, and a user monitoring device.

2) Object detection device

The object detection apparatus 210 may generate information about an object outside the vehicle 10 . The information about the object may include at least one of information on the existence of an object, location data of the object, distance information between the vehicle 10 and the object, and relative speed information between the vehicle and the object. The object detecting apparatus 210 may detect an object outside the vehicle 10 . The object detecting apparatus 210 may include at least one sensor capable of detecting an object outside the vehicle 10 . The object detecting apparatus 210 may include at least one of a camera, a radar, a lidar, an ultrasonic sensor, and an infrared sensor. The object detecting apparatus 210 may provide data on an object generated based on a sensing signal generated by a sensor to at least one electronic device included in the vehicle.

2.1) Camera

The camera may generate information about an object outside the vehicle by using the image. The camera may include at least one lens, at least one image sensor, and at least one processor that is electrically connected to the image sensor to process a received signal, and generate data about the object based on the processed signal.

The camera may be at least one of a mono camera, a stereo camera, and an AVM (Around View Monitoring) camera. The camera may obtain position data of an object, distance information with respect to the object, or relative speed information with respect to the object by using various image processing algorithms. For example, the camera may acquire distance information and relative velocity information from an object based on a change in the size of the object over time from the acquired image. For example, the camera may acquire distance information and relative speed information with respect to an object through a pinhole model, road surface profiling, or the like. For example, the camera may acquire distance information and relative velocity information from an object based on disparity information in a stereo image obtained from the stereo camera.

The camera may be mounted at a position in which a field of view (FOV) can be secured in the vehicle to photograph the outside of the vehicle. The camera may be disposed adjacent to the front windshield in the interior of the vehicle to acquire an image of the front of the vehicle. The camera may be placed around the front bumper or radiator grill. The camera may be disposed adjacent to the rear glass in the interior of the vehicle to acquire an image of the rear of the vehicle. The camera may be placed around the rear bumper, trunk or tailgate. The camera may be disposed adjacent to at least one of the side windows in the interior of the vehicle in order to acquire an image of the side of the vehicle. Alternatively, the camera may be disposed around a side mirror, a fender or a door.

2.2) Radar

The radar may generate information about an object outside the vehicle using radio waves. The radar may include an electromagnetic wave transmitter, an electromagnetic wave receiver, and at least one processor that is electrically connected to the electromagnetic wave transmitter and the electromagnetic wave receiver, processes a received signal, and generates data for an object based on the processed signal. The radar may be implemented in a pulse radar method or a continuous wave radar method in terms of a radio wave emission principle. The radar may be implemented as a frequency modulated continuous wave (FMCW) method or a frequency shift keyong (FSK) method according to a signal waveform among continuous wave radar methods. The radar detects an object based on an electromagnetic wave, a time of flight (TOF) method or a phase-shift method, and detects the position of the detected object, the distance to the detected object, and the relative speed. can The radar may be placed at a suitable location outside of the vehicle to detect objects located in front, rear or side of the vehicle.

2.3) Lidar

The lidar may generate information about an object outside the vehicle by using the laser light. The lidar may include at least one processor that is electrically connected to the light transmitter, the light receiver, and the light transmitter and the light receiver, processes the received signal, and generates data about the object based on the processed signal. . The lidar may be implemented in a time of flight (TOF) method or a phase-shift method. Lidar can be implemented as driven or non-driven. When implemented as a driving type, the lidar is rotated by a motor and can detect objects around the vehicle. When implemented as a non-driven type, the lidar may detect an object located within a predetermined range with respect to the vehicle by light steering. The vehicle may include a plurality of non-driven lidars. LiDAR detects an object based on a time of flight (TOF) method or a phase-shift method with a laser light medium, and calculates the position of the detected object, the distance to the detected object, and the relative speed. can be detected. The lidar may be placed at a suitable location outside of the vehicle to detect an object located in front, rear or side of the vehicle.

3) communication device

The communication apparatus 220 may exchange signals with a device located outside the vehicle. The communication device 220 may exchange signals with at least one of an infrastructure (eg, a server, a broadcasting station), another vehicle, and a terminal. The communication device 220 may include at least one of a transmit antenna, a receive antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element to perform communication.

For example, the communication apparatus 220 may exchange a signal with an external device based on C-V2X (Cellular V2X) technology. For example, the C-V2X technology may include LTE-based sidelink communication and/or NR-based sidelink communication. Contents related to C-V2X will be described later.

For example, the communication device 220 is based on IEEE 802.11p PHY / MAC layer technology and IEEE 1609 Network / Transport layer technology based on DSRC (Dedicated Short Range Communications) technology or WAVE (Wireless Access in Vehicular Environment) It can exchange signals with devices. DSRC (or WAVE standard) technology is a communication standard prepared to provide ITS (Intelligent Transport System) service through short-distance dedicated communication between in-vehicle devices or between roadside devices and in-vehicle devices. The DSRC technology may use a frequency of 5.9 GHz and may be a communication method having a data transmission rate of 3 Mbps to 27 Mbps. IEEE 802.11p technology can be combined with IEEE 1609 technology to support DSRC technology (or WAVE standard).

The communication apparatus 220 of the present invention may exchange a signal with an external device by using only one of the C-V2X technology or the DSRC technology. Alternatively, the communication device 220 of the present invention may exchange a signal with an external device by hybridizing the C-V2X technology and the DSRC technology.

4) Driving control device

The driving operation device 230 is a device that receives a user input for driving. In the manual mode, the vehicle may be driven based on a signal provided by the driving manipulation device 230 . The driving manipulation device 230 may include a steering input device (eg, a steering wheel), an acceleration input device (eg, an accelerator pedal), and a brake input device (eg, a brake pedal).

5) Main ECU

The main ECU 240 may control the overall operation of at least one electronic device included in the vehicle.

6) drive control device

The drive control device 250 is a device that electrically controls various vehicle drive devices in the vehicle. The drive control device 250 may include a power train drive control device, a chassis drive control device, a door/window drive control device, a safety device drive control device, a lamp drive control device, and an air conditioning drive control device. The power train drive control device may include a power source drive control device and a transmission drive control device. The chassis drive control device may include a steering drive control device, a brake drive control device, and a suspension drive control device. Meanwhile, the safety device drive control device may include a safety belt drive control device for seat belt control.

The drive control device 250 includes at least one electronic control device (eg, a control ECU (Electronic Control Unit)).

The pitch control device 250 may control the vehicle driving device based on a signal received from the autonomous driving device 260 . For example, the control device 250 may control a power train, a steering device, and a brake device based on a signal received from the autonomous driving device 260 .

7) autonomous driving device

The autonomous driving device 260 may generate a path for autonomous driving based on the obtained data. The autonomous driving device 260 may generate a driving plan for driving along the generated path. The autonomous driving device 260 may generate a signal for controlling the movement of the vehicle according to the driving plan. The autonomous driving device 260 may provide the generated signal to the driving control device 250 .

The autonomous driving apparatus 260 may implement at least one Advanced Driver Assistance System (ADAS) function. ADAS includes Adaptive Cruise Control (ACC), Autonomous Emergency Braking (AEB), Forward Collision Warning (FCW), Lane Keeping Assist (LKA), ), Lane Change Assist (LCA), Target Following Assist (TFA), Blind Spot Detection (BSD), Adaptive High Beam Control (HBA) , Auto Parking System (APS), Pedestrian Collision Warning System (PD Collision Warning System), Traffic Sign Recognition (TSR), Trafffic Sign Assist (TSA), Night Vision System At least one of a Night Vision (NV), a Driver Status Monitoring (DSM), and a Traffic Jam Assist (TJA) may be implemented.

The autonomous driving device 260 may perform a switching operation from the autonomous driving mode to the manual driving mode or a switching operation from the manual driving mode to the autonomous driving mode. For example, the autonomous driving device 260 may change the mode of the vehicle from the autonomous driving mode to the manual driving mode or to switch from the manual driving mode to the autonomous driving mode based on a signal received from the user interface device 200 . can

8) Sensing unit

The sensing unit 270 may sense the state of the vehicle. The sensing unit 270 may include an inertial measurement unit (IMU) sensor, a collision sensor, a wheel sensor, a speed sensor, an inclination sensor, a weight sensor, a heading sensor, a position module, and a vehicle. It may include at least one of a forward/reverse sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor, a temperature sensor, a humidity sensor, an ultrasonic sensor, an illuminance sensor, and a pedal position sensor. Meanwhile, an inertial measurement unit (IMU) sensor may include at least one of an acceleration sensor, a gyro sensor, and a magnetic sensor.

The sensing unit 270 may generate state data of the vehicle based on a signal generated by at least one sensor. The vehicle state data may be information generated based on data sensed by various sensors provided inside the vehicle. The sensing unit 270 may include vehicle attitude data, vehicle motion data, vehicle yaw data, vehicle roll data, vehicle pitch data, vehicle collision data, vehicle direction data, vehicle angle data, and vehicle speed. data, vehicle acceleration data, vehicle inclination data, vehicle forward/reverse data, vehicle weight data, battery data, fuel data, tire pressure data, vehicle interior temperature data, vehicle interior humidity data, steering wheel rotation angle data, vehicle exterior illumination Data, pressure data applied to the accelerator pedal, pressure data applied to the brake pedal, and the like may be generated.

9) Location data generating device

The location data generating device 280 may generate location data of the vehicle. The location data generating apparatus 280 may include at least one of a Global Positioning System (GPS) and a Differential Global Positioning System (DGPS). The location data generating apparatus 280 may generate location data of the vehicle based on a signal generated by at least one of GPS and DGPS. According to an embodiment, the location data generating apparatus 280 may correct the location data based on at least one of an Inertial Measurement Unit (IMU) of the sensing unit 270 and a camera of the object detecting apparatus 210 . The location data generating device 280 may be referred to as a Global Navigation Satellite System (GNSS).

The vehicle may include an internal communication system 50 . A plurality of electronic devices included in the vehicle may exchange signals through the internal communication system 50 . Signals may contain data. The internal communication system 50 may use at least one communication protocol (eg, CAN, LIN, FlexRay, MOST, Ethernet).

Service using TPEG protocol

The Transport Protocol Expert Group (TPEG) protocol may include a technology generally used for receiving traffic information through a DMB broadcasting channel in a car navigation system.

TPEG’s services are largely divided into Congestion Traffic Information (CTT), Safe Driving Information (SDI), Remaining Information (REI), News Information (NWS), and Point of Interest Information (POI). have. In general, PEG is available for both terrestrial DMB and satellite DMB.

The currently standardized TEPG standard is technically and economically standardized to be optimized for DMB or DAB (Digital Audio Broadcasting) and Internet media that provide a bandwidth of 10kbps or more. Meanwhile, the TPEG standard, which is standardized as a series, is designed to be applicable not only to DMB or Internet media, but also to any media that provides a transparent data channel. Accordingly, it may be possible to provide various multimedia services through TPEG while the vehicle is moving.

TPEG has the following characteristics.

- It is unidirectional.

- Byte unit (1 Byte = 8bits).

- Provides a protocol structure using asynchronous frames.

- Includes CRC (Cyclic Redundancy Check) error detection that can be applied to several different levels.

- Use a transparent data channel.

- It is based on a system with reliability.

- Error correction is based on available systems.

- It has a hierarchical data frame structure.

- Transfer information from DB (database) to DB.

- Provide service provider, service name and network information.

- Use security mechanisms.

A detailed look at the TPEG protocol is as follows.

The TPEG protocol may include Sync Word, Field Length, CRC, Frame Type, and Sercive Frame.

In this case, the Service Frame may include a Service Identification SID-A, a Service Identification SID-B, a Service Identification SID-C, an Encrryption Indicator, and a Component Mulriplex (fn).

In this case, the Component Mulriplex may include from Service Component Frame 1 to Frame n.

The Service Component Frame may include Service Component Identifier, Field Length, CRC, and Component Date. In this case, the Component Date is an SNI Message and may include a Message Management Container, SNI Event Container, and TPEG-Location Container.

In this case, the SNI Event Component may include Total Length, File Number, Compressed Length, UTC, Compressed Data, and CRC 32.

How to control the leading vehicle

Hereinafter, a method for controlling a leading vehicle according to the first preferred embodiment of the present specification will be described in detail based on the above-described contents.

In addition, the method for controlling a leading vehicle according to the first embodiment of the present specification may relate to a method for controlling a leading vehicle that performs platooning in an autonomous driving system.

As used herein, "entrance" may mean that a general vehicle enters a lane of a platoon, and "passing" as used herein means that a general vehicle "enters" into a lane of a platoon after "entering" It could mean leaving that lane. Accordingly, the embodiments described below as “passing” in this specification may be interpreted as being exemplified on the premise of “entry” of a general vehicle.

6 is a diagram illustrating a method for controlling a leading vehicle according to a first embodiment of the present specification.

Referring to FIG. 6 , the control method of the leading vehicle 100 according to the first embodiment of the present specification includes the steps of acquiring driving data of a general vehicle 120 that intends to enter between vehicles in platooning (S1010), the obtained A step of setting a first section for allowing the general vehicle 120 to enter between the vehicles in the platoon based on the driving data (S1020), the first section of the slave vehicles (Slave Vehicles, 110) so that the set first section is secured 1 Generating a driving guideline, generating first guide data for entering the general vehicle 120 into a set first section (S1030), and transmitting the generated first driving guideline to the slave vehicles 110 (S1040) and transmitting the generated first guide data to the general vehicle 120 (S1050).

In addition, in the control method of the leading vehicle 100 according to the present specification, when the general vehicle 120 passes through a platoon in accordance with the first guide data, the leading vehicle 100 is transmitted to the slave vehicles 110 . The method may further include transmitting new driving instructions. The new driving instructions may be driving instructions for returning the slave vehicles 110 to their original positions.

Acquiring the driving data of the general vehicle 120 to enter between the vehicles in the platoon ( S1010 ) may include detecting a traveling direction indicated by a direction indicator light of the general vehicle 120 .

The general vehicle 120 may include an autonomous vehicle or a vehicle manually driven by a driver, but is preferably a vehicle manually driven by a driver.

The driving data may be acquired from at least one of cameras provided in vehicles in platooning. Vehicles in platooning may include the leading vehicle 100 and the slave vehicle 110 . Accordingly, the step of acquiring the driving data of the general vehicle 120 to enter between the vehicles in platooning ( S1010 ) is obtained from a camera provided in the leading vehicle 100 or from a camera provided in the slave vehicle 110 . can be obtained.

In this case, the camera includes an image such as a charge coupled device (CCD) image sensor, a complementary metal oxide semi-conductor (CMOS) image sensor, a charge priming device (CPD) image sensor, and a charge injection device (CID) image sensor. At least one of the sensors may include an image sensor. The camera may include at least one lens among lenses such as a standard lens, an ultra-wide-angle lens, a wide-angle lens, a zoom lens, a macro lens, a telephoto lens, a fisheye lens, and a semi-fisheye lens, and may include illumination such as an infrared light emitting device. can In addition, the camera may include an image processor that performs image processing, such as noise removal, color reproduction, file compression, image quality control, and saturation control, on the image acquired through the image sensor.

In addition, the driving data may include a general vehicle 120 indicating a driving direction by turning on a turn indicator around the vehicles in the group driving. In addition, the driving data may include at least one of a speed of the general vehicle 120 , an acceleration, a vehicle type, a turning radius, a driving lane, and driver information.

In this case, the driver information may include the driver's gender or the driver's age. The driver's gender or the driver's age may be analyzed based on photographing the driver's face, attire, and body type by at least one of cameras provided in vehicles in platooning.

A specific example of acquiring driving data is as follows.

For example, when the general vehicle 120 turns on a direction indicator to indicate the direction of travel in the vicinity of vehicles in platooning, the slave vehicle 110 captures the direction indicator and transmits image data or image data to the leading vehicle 100 . can be transmitted The leading vehicle 100 may recognize the transmitted image data or image data to analyze the traveling direction of the general vehicle 120 . That is, it can be analyzed that the general vehicle 120 will make a right turn when the right turn indicator is displayed, and that the general vehicle 120 will make a left turn when the left turn indicator is displayed. In addition, such image data or image data may be directly photographed by the leading vehicle 100 .

For example, when the general vehicle 120 gradually decelerates around the vehicles in platooning and changes the traveling direction toward the platooning rank, the slave vehicle 110 records whether the general vehicle 120 is decelerated and the traveling direction by photographing it. Image data or image data may be transmitted to the leading vehicle 100 . The leading vehicle 100 may recognize the transmitted image data or image data to analyze the traveling direction of the general vehicle 120 . That is, when the general vehicle 120 gradually decelerates and changes the traveling direction to the right, it is analyzed that it will make a right turn, and when the general vehicle 120 gradually decelerates and changes the traveling direction to the left, it is analyzed that it will make a left turn. have. In addition, such image data or image data may be directly photographed by the leading vehicle 100 .

For example, when the direction of travel is changed toward the platooning line by reducing the turning radius of the general vehicle 120 around vehicles in platooning, the slave vehicle 110 takes the turning radius of the general vehicle 120 and leads Image data or image data may be transmitted to the vehicle 100 . The leading vehicle 100 recognizes the transmitted image data or image data, and analyzes whether the general vehicle 120 tries to enter the platooning lane by changing lanes or makes a right turn to pass the platooning queue. have. That is, when the general vehicle 120 approaches by gradually changing the turning radius, it is analyzed that it will enter the platooning lane, and when the general vehicle 120 approaches by rapidly changing the turning radius, it will pass through the platooning lane. can be analyzed as In addition, such image data or image data may be directly photographed by the leading vehicle 100 .

For example, the slave vehicle 110 may transmit image data or image data to the leading vehicle 100 by photographing the driver's face, clothes, and body type. The leading vehicle 100 may recognize the transmitted image data or image data to analyze the driver's gender and/or the driver's age of the general vehicle. As such, the leading vehicle 100 may acquire driver information including the analyzed driver's gender and/or the driver's age. In addition, such image data or image data may be directly photographed by the leading vehicle 100 .

For example, the slave vehicle 110 may transmit image data or image data to a server including a vision recognition module by photographing the driver's face, clothes, and body type. The leading vehicle 100 may receive image data or a driver server derived by analyzing image data from the server. In addition, such image data or image data may be directly photographed by the leading vehicle 100 .

As such, by acquiring the driving data of the general vehicle, the leading vehicle 100 may have an effect of more specifically and accurately grasping the expected path or driving intention of the general vehicle 120 .

In the step of generating the first driving guide and generating the first guide data ( S1030 ), an actual moving trajectory of the general vehicle 120 may be considered. The leading vehicle 100 inputs the actual movement trajectory of the general vehicle 120 to a learner (not shown), and based on the predicted path of the general vehicle 120 predicted through the learner, first driving instructions and first guide data can create

The first guide data may include driving information such as a driving route for guiding the general vehicle 120 to the first section, an entry time, and a speed.

The learner (not shown) may be included in a leading vehicle or an external server. The learner (not shown) may generate an expected path of the general vehicle based on the actual movement trajectory of the general vehicle, and may use driving data to generate the predicted path. Specifically, a turning radius, a statistical driving tendency, etc. may be considered based on driver information and vehicle information of the driving data. For example, if the vehicle information is a large vehicle, a wide radius of the predicted route may be generated.

In this case, the driving instructions may include all command messages transmitted by the leading vehicle 100 to the slave vehicle 110 . The slave vehicle 110 may drive according to information included in the driving guideline. For example, the driving guide may be information including the position, speed, acceleration, lane, and driving route of the slave vehicle 110 .

In this case, the position of each of the slave vehicles may be transmitted as coordinate information, and in this case, the coordinate information may be a relative coordinate set with respect to the leading vehicle.

The driving instructions may be the first driving instructions or the second driving instructions. The first driving instruction may be transmitted from the leading vehicle 100 to the slave vehicle 110 to generate the first section. The second driving instruction may be transmitted from the leading vehicle 100 to the slave vehicle 110 to generate the second section. In this specification, the first section and the second section may mean different sections.

In addition, the first section or the second section may be a section set so that the general vehicle 120 can enter or pass through a space between vehicles in platooning.

The first and second driving instructions may include a command message for maintaining an appropriate distance so that the general vehicle 120 and the slave vehicles 110 do not collide.

7 is a diagram illustrating a method for setting a first section according to the first embodiment of the present specification.

Referring to FIG. 7 , the step of setting a first section for allowing the general vehicle 120 to enter between the vehicles in the platooning operation ( S1020 ) includes transmitting driver information among the driving data to the server ( S1021 ), driver information It may include receiving the big data analysis result according to (S1022) from the server and setting the first section based on the received big data analysis result (S1023).

The step of transmitting the driving data to the server ( S1021 ) refers to transmitting driving data acquired from the slave vehicle 110 or acquired by the leading vehicle 100 to the server. The server may include a big data DB that analyzes driving propensity that is built in advance according to the driver's gender, driver's age, vehicle type, etc.

The server may predict the driving tendency of the general vehicle 120 based on the driving data transmitted from the leading vehicle 100 .

As an example, analysis of a server based on a vehicle type among driving data will be described. The server may include a big data DB that analyzes a trend that a large vehicle has a large turning radius and a small vehicle has a small turning radius. In this case, the server may pre-establish information on the turning radius based on the size of the vehicle, the length of the vehicle, the driving method of the vehicle, and the like.

As an example, analysis of the server based on the driver's age among driving data will be described. The server may include a big data DB that analyzes the tendency of a driver to change a lane more forcefully with a larger turning radius as the driver's age is younger. In this case, the server may build in advance the information analyzing the driving trend by age of the driver.

Accordingly, the leading vehicle 100 may receive the big data analysis result according to the driving data from the server (S1022), and set the first section based on the received analysis result (S1023).

As an example, the server may analyze that the type of general vehicle 120 attempting to enter is a large vehicle and therefore have a large turning radius, and may predict the turning radius of the general vehicle 120 according to a pre-built big data DB. The leading vehicle 100 may set the first section based on the turning radius predicted by the server. Based on the expected turning radius and the driver's disposition, etc., the leading vehicle 100 sets the first section at a sufficient interval so that a collision between the vehicles in the platoon and the general vehicle 120 attempting to enter does not occur. desirable.

As an example, the server analyzes that when the driver of the general vehicle 120 attempting to enter is young, the turning radius is large and the lane change may be attempted somewhat forcefully, and the general vehicle 120 according to the pre-built big data DB ) can be predicted. The leading vehicle 100 may set the first section based on the turning radius predicted by the server. Based on the expected turning radius and the driver's propensity, it is preferable to set the first section with a sufficient interval so that a collision between the vehicles in the platoon and the general vehicle 120 attempting to enter does not occur.

8 is a diagram illustrating a step of transmitting guide data according to the first embodiment of the present specification.

According to FIG. 8 , the step (S1050) of transmitting the guide data according to the first embodiment of the present specification includes the step of the leading vehicle 100 requesting the authority for transmitting the guide data to the control server (S1014), the control server It may include a step of receiving approval of the authority for transmitting the guide data from (S1042), the step of transmitting the guide data to the general vehicle 120 with the approved authority (S1043), and the step of returning the approved authority (S1044). .

According to FIG. 8 , the leading vehicle 100 requires the authority of the control server 130 to transmit guide data to the general vehicle 120 . In vehicle-to-vehicle communication represented by the TPEG protocol, when a specific vehicle transmits data to another vehicle, the security of the vehicle may be problematic. In particular, in vehicle security that values stability, unilaterally sending guide data between vehicles may cause various problems. Accordingly, the leading vehicle 100 may receive permission of the control server 130 and transmit guide data based on the approved permission.

In this case, the authority approved by the control server 130 may be the authority for the leading vehicle 100 to transmit guide data to the general vehicle 120 . That is, the leading vehicle 100 may have the authority to transmit only data for route guidance of the general vehicle 120 .

The guidance data may include a route for the general vehicle 120 to safely enter or pass a lane without colliding with vehicles in platooning. The guidance data may be generated in the leading vehicle 100 , and may be transmitted to the general vehicle 120 by receiving the authority of the control server 130 .

In this case, the guide data may include not only a path for the general vehicle 120 to proceed, but also a remaining time until departure or acceleration, a turning radius, and a driving speed.

9 is a diagram specifically illustrating a method for controlling a leading vehicle according to the first embodiment of the present specification.

Referring to FIG. 9 , the control method of the leading vehicle 100 according to the first embodiment of the present specification may include monitoring the movement path of the general vehicle 120 . This may be for monitoring whether the general vehicle 120 deviates from the route according to the guidance.

According to FIG. 9 , the control method of the leading vehicle 100 according to the first embodiment of the present specification includes the steps of acquiring driving data of a general vehicle 120 that intends to enter between vehicles in platooning (S2010), the obtained A step of setting a first section for allowing the general vehicle 120 to enter between the vehicles in the platoon based on the driving data (S2020), the first driving instructions of the slave vehicles 110 so that the set first section is secured and generating first guide data for entering the general vehicle 120 into the set first section (S2030), and transmitting the generated first driving instructions to the slave vehicles 110 (S2040) and transmitting the generated first guide data to the general vehicle 120 ( S2050 ).

Also, according to FIG. 9 , in the method of controlling the leading vehicle 100 according to the first embodiment of the present specification, the step of monitoring the actual movement trajectory of the general vehicle 120 that has received the guide data ( S2060 ), guide data The method may further include a step of regenerating the guide data based on the actual movement trajectory of the general vehicle 120 that has received (S2070) and transmitting the regenerated guide data to the general vehicle 120 (S2080).

In the step of monitoring the actual movement trajectory of the general vehicle 120 that has received the guidance data (S2060), the actual movement trajectory of the general vehicle 120 can be monitored from at least one of cameras provided in vehicles in platooning. have. In this case, the actual movement trajectory may mean a path actually traveled by the general vehicle 120 .

For example, the slave vehicle 110 may transmit image data or image data to the leading vehicle 100 by photographing the driving process of the general vehicle 120 . The leading vehicle 100 may recognize the transmitted image data or image data to analyze the traveling direction and the actual movement trajectory of the general vehicle 120 . That is, when the general vehicle 120 displays the moving point for each frame as a dot, and the displayed dots are connected with a line, the movement trajectory of the general vehicle 120 can be known. In addition, such image data or image data may be directly photographed by the leading vehicle 100 .

In the step of regenerating the guide data based on the actual movement trajectory of the general vehicle 120 ( S2070 ), the guide data may be regenerated through the similarity between the actual movement trajectory and the guide path included in the guide data.

In this case, the method of calculating the similarity includes the steps of displaying the actual movement trajectory as dots for each frame, displaying the guide path included in the guide data as dots for each frame, and determining that the smaller the difference in the coordinates between the two points, the more similar may include the step of

Accordingly, as the similarity decreases, that is, as the difference between the actual movement trajectory and the guidance path increases, the leading vehicle 100 may change the guidance path based on the actual movement trajectory.

10(a) and 10(b) are diagrams illustrating a guide route reset by regenerating guide data according to the first embodiment of the present specification.

Referring to FIG. 10( a ), the general vehicle 120 may move on a path different from the guidance path guided through the guidance data. That is, there may be a difference between the actual movement trajectory and the guide path of the general vehicle 120 . According to FIG. 10( a ), it can be seen that the actual turning radius of the vehicle is larger than the turning radius along the guide path.

According to FIG. 10( b ) , the leading vehicle 100 may change the guidance path in consideration of the actual movement trajectory of the general vehicle 120 .

According to FIG. 10( b ), the general vehicle 120 is guided to make a right turn after passing through the formation of vehicles in platooning and to drive in the right lane. In this case, the leading vehicle 100 may change the guide route in consideration of the actual movement trajectory of the general vehicle 120 , but may change the guide route so that the vehicle can travel in the right lane after turning right.

Such a guide path may be calculated based on a result of learning the actual movement trajectory of the general vehicle 120 .

The actual movement trajectory of the general vehicle 120 may be detected by setting a characteristic point representing the general vehicle 120 and using a position where the set characteristic point exists in each frame.

The leading vehicle 100 may calculate the expected path of the general vehicle 120 based on the actual movement trajectory. The leading vehicle 100 may determine whether the general vehicle 120 intends to enter or pass through the platoon, based on the actual movement trajectory.

The leading vehicle 100 may calculate the trajectory similarity between the predicted path and the actual driving path. The leading vehicle 100 may calculate the trajectory similarity based on the distance between the position where the set feature point exists in each frame and the calculated expected path. As the calculated trajectory similarity is lower, it may be determined that the general vehicle 120 is more likely to deviate from the expected path.

When the calculated trajectory similarity is lower than a preset threshold, the leading vehicle 100 recalculates and corrects the expected path of the general vehicle 120, and according to the modified expected path, the guidance path as shown in FIG. Can be modified.

11 to 13 are views illustrating an example in which a general vehicle passes a line of vehicles in a group driving at an intersection according to the first embodiment of the present specification.

Hereinafter, an example to be described is an example in which the control method of the leading vehicle according to the first embodiment of the present specification is specifically applied, and the same and overlapping contents as described above may be omitted.

Referring to FIG. 11 , the vehicles in platooning may include a first group and a second group including the leading vehicle 100 and the slave vehicles 110 . The first group may refer to a group including slave vehicles 110 that are positioned in front of the first section through which the general vehicle 120 passes and increase speed. The second group may refer to a group including slave vehicles 110 that are located at the rear of the first section through which the general vehicle 120 passes and reduce speed.

In this way, by adjusting the speed of the slave vehicles based on the first section, an effect of easily securing the first section through which a general vehicle can enter or pass may occur.

In this case, the driving instructions transmitted by the leading vehicle to the first group and the second group may be different from each other. The driving instruction transmitted to the first group may increase or maintain the speed of the vehicle. The driving instructions transmitted to the second group may slow down the vehicle or stop the vehicle.

In this case, the vehicles in the platoon may sense that the general vehicle 120 is approaching the vehicles in the platoon. This may be accomplished by acquiring driving data of the general vehicle 120 through a camera or the like.

According to FIG. 12 , the leading vehicle 100 may set a first section through which the general vehicle 120 can pass, and transmit driving instructions to the slave vehicles 110 to generate the set first section.

According to FIG. 12 , the leading vehicle 100 may transmit driving instructions for maintaining driving or increasing speed to the first group. Also, the leading vehicle 100 may transmit a driving instruction for stopping the driving or reducing the speed to the second group. Through such a driving guideline, the first section through which the general vehicle 120 can pass may be secured.

According to FIG. 13 , the leading vehicle 100 may generate guide data and transmit the generated guide data to the general vehicle 120 or a navigation system provided in the general vehicle 120 by receiving the authority of the control server 130 . . The general vehicle 120 may include a navigation 121 and a display 122 capable of displaying guide data on a screen.

The display 122 may include a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED) display, and a flexible display (Flexible Display). display), a three-dimensional display (3D display), a transparent display, a head-up display (HUD), and may be implemented as at least one of a cluster (cluster).

In addition, the display 122 may be implemented as a touch screen combined with a touch sensor and may be used as an input device as well as an output device. As the touch sensor, a touch film or a touch pad may be used.

The navigation 121 may include a sound output module such as a speaker capable of outputting audio data. For example, the navigation 121 may display road guidance information and may also output a voice signal (audio signal) through a speaker.

Referring to FIG. 13 , information on the locations of vehicles currently in platooning, directions indicating a traveling route, time remaining until departure, driving speed, driving direction, and driving lane may be displayed on the screen.

14 to 16 are views illustrating an example in which a general vehicle passes through a line of vehicles in a group driving according to the first embodiment of the present specification.

Hereinafter, an example to be described is an example in which the control method of the leading vehicle according to the first embodiment of the present specification is specifically applied, and the same and overlapping contents as described above may be omitted.

According to FIG. 14 , vehicles in platooning may include a first group and a second group including the leading vehicle 100 and the slave vehicles 110 .

In this case, the vehicles in the platoon may sense that the general vehicle 120 is approaching the vehicles in the platoon. This may be accomplished by acquiring driving data of the general vehicle 120 through a camera or the like. In this case, the driving data obtained through a camera or the like may be direction indicator information of the general vehicle 120 .

Referring to FIG. 14 , the general vehicle 120 turns on the right direction indicator to make a right turn next to the lane of the vehicle in platooning. The leading vehicle 100 may acquire driving data indicating that the general vehicle 120 is gradually decelerating or is in a stopped state and a right turn indicator is turned on at the same time.

Referring to FIG. 15 , the leading vehicle 100 may set a first section through which the general vehicle 120 can pass, and transmit driving instructions to the slave vehicles 110 to generate the set first section.

Referring to FIG. 15 , the leading vehicle 100 may transmit driving instructions for maintaining driving or increasing speed to the first group. Also, the leading vehicle 100 may transmit a driving instruction for stopping the driving or reducing the speed to the second group. Through such a driving guideline, the first section through which the general vehicle 120 can pass may be secured.

According to FIG. 16 , the leading vehicle 100 may generate guide data, and transmit the generated guide data to the general vehicle 120 or a navigation system provided in the general vehicle 120 by receiving the authority of the control server 130 . . The general vehicle 120 may include a navigation 121 and a display 122 capable of displaying guide data on a screen.

Referring to FIG. 16 , information on the positions of vehicles currently in platooning, directions indicating a traveling route, time remaining until departure, driving speed, driving direction, turning radius, and driving lane may be displayed on the screen.

Referring to FIG. 16 , the general vehicle 120 may pass through the first section in consideration of the traveling path, driving speed, driving direction, turning radius, and driving lane displayed on the display 122 .

17 and 18 are views illustrating a case in which a general vehicle enters a first section according to the first embodiment of the present specification.

Hereinafter, an example to be described is an example in which the control method of the leading vehicle according to the first embodiment of the present specification is specifically applied, and the same and overlapping contents as described above may be omitted.

Referring to FIG. 17 , the general vehicle 120 may pass through the first section according to the traveling route included in the guide data.

Referring to FIG. 18 , the actual driving path of the general vehicle 120 may be observed by at least one of cameras provided in the vehicles in platooning. In this case, when the driving of the general vehicle 120 deviates from the expected trajectory, the leading vehicle 100 may change the set first section.

Referring to FIG. 18 , as the turning radius at which the general vehicle 120 rotates to change a lane increases, a wider first section may be set. Accordingly, the leading vehicle 100 may set the changed first section and transmit a new driving instruction to the second group in order to generate the changed first section.

Referring to FIG. 18 , the new driving instruction transmitted to the second group may include data for the slave vehicles 110 of the second group to start decelerating more quickly. Accordingly, a wider distance between the rearmost vehicle of the first group and the frontmost vehicle of the second group can be secured. In this case, a wider secured section may be referred to as a changed first section.

19 and 20 are diagrams illustrating an example in which another general vehicle enters the first section before the general vehicle enters the first section according to the first embodiment of the present specification.

Hereinafter, an example to be described is an example in which the control method of the leading vehicle according to the first embodiment of the present specification is specifically applied, and the same and overlapping contents as described above may be omitted.

Referring to FIG. 19 , there is a case in which another general vehicle 130 unexpectedly enters the first section in which the general vehicle 120 enters or passes through. At this time, if the general vehicle 120 continues to drive according to the previously transmitted guidance data, it may collide with another general vehicle 130 that has suddenly entered. In addition, when the general vehicle 120 suddenly changes its shape to avoid collision with another general vehicle that has suddenly entered, it may collide with other slave vehicles.

Accordingly, in order to prevent such a case, the leading vehicle 100 may set the interval of the first section to be wider. That is, the leading vehicle 100 may set a changed first section with a wider interval and transmit a new driving instruction to the second group to generate the changed first section.

Referring to FIG. 19 , the new driving instruction transmitted to the second group may include data for starting the deceleration of the slave vehicles 110 of the second group more quickly. Accordingly, a wider distance between the rearmost vehicle of the first group and the frontmost vehicle of the second group can be secured. In this case, a wider secured section may be referred to as a changed first section.

According to FIG. 20 , the leading vehicle 100 may generate guide data, and transmit the generated guide data to the general vehicle 120 or a navigation system provided in the general vehicle 120 by receiving the authority of the control server 130 . . The general vehicle 120 may include a navigation 121 and a display 122 capable of displaying guide data on a screen.

Referring to FIG. 20 , information on locations of vehicles currently in platooning, directions indicating a traveling route, time remaining until departure, driving speed, driving direction, and driving lane may be displayed on the screen.

In this case, the leading vehicle 100 may acquire the driving data of the other general vehicle 130 and calculate the expected route in the same manner as in the first embodiment described above. Accordingly, the leading vehicle 100 may transmit guidance data including a warning due to the entry of another general vehicle 130 to the general vehicle 120 . Also, the leading vehicle 100 may transmit guidance data including an expected route of the other general vehicle 130 and an estimated time required for the other general vehicle 130 to pass to the general vehicle 120 .

Accordingly, the warning included in the guide data, the expected route of the other general vehicle 130, and the estimated time may be displayed on the navigation 121 and the display 122 of the general vehicle 120 .

As such, by displaying the expected route of the other general vehicle 130 on the general vehicle 120 , an effect of inducing the driver of the general vehicle 120 to drive more carefully may occur.

Additionally, the leading vehicle 100 may transmit the guidance data to the other general vehicle 130 in the same manner as in the first embodiment described above. The guidance data transmitted to the other general vehicle 130 may include a warning due to the entry of the general vehicle 120 . In addition, the guidance data transmitted to the other general vehicle 130 may include an expected route of the general vehicle 120 and an estimated time required for the general vehicle 120 to pass.

21 is a view illustrating an example in which a general vehicle enters a rank of vehicles in a group driving according to the first embodiment of the present specification.

According to FIG. 21 , the general vehicle 120 may enter the first section set and generated by the leading vehicle 100 . In this case, since it is the same as the above-mentioned content, the detailed content is omitted.

22 and 23 are diagrams illustrating an example in which another general vehicle enters the first section before the general vehicle enters the first section according to the first embodiment of the present specification.

Hereinafter, an example to be described is an example in which the control method of the leading vehicle according to the first embodiment of the present specification is specifically applied, and the same and overlapping contents as described above may be omitted.

Referring to FIG. 22 , before the general vehicle 120 enters the first section, another general vehicle 130 suddenly enters the first section. In this case, when the same guide message is continuously transmitted to the general vehicle 120 , a collision between the general vehicle 120 and the other general vehicle 130 may occur.

Accordingly, the leading vehicle 100 may acquire the driving data of the other general vehicle 130 from at least one of cameras provided in vehicles in platooning. According to FIG. 22 , another general vehicle 130 may enter by turning on the left turn indicator. The leading vehicle 100 may set the second section as shown in FIG. 23 in consideration of the direction indicators, speed, and turning radius of other general vehicles 130 .

According to FIG. 23 , the leading vehicle 100 may set a second section to induce safe entry of the general vehicle 120 , and transmit second driving instructions according to the set second section to the slave vehicles 110 . have.

In this case, the second section may mean a space between the rearmost vehicle of the first group and the frontmost vehicle of the second group. In this case, the process of setting and generating the second section is the same as the above-described section for setting the first section, and thus is omitted.

However, as shown in FIG. 23 , when the second section is located in front of the first section, when the speed of the vehicle of the second group decreases, the interval between the first section may be narrowed. In this case, the leading vehicle 100 may reduce the speed of the vehicle of the third group together with the speed of the vehicle of the second group. In this case, even if the second section is created, if the first section is removed or reduced, a problem may occur in the entry of another general vehicle 130 .

Also, unlike FIG. 23 , when the second section is located behind the first section, the second section can be generated by adjusting the speed of the third group, which is the rearmost group.

In this way, the control of the plurality of groups may be based on the driving instructions of the leading vehicle 100 . In addition, there is an effect of inducing safer operation by forming a new second section, rather than simply changing the interval of the first section.

24 and 25 are diagrams illustrating an example in which a general vehicle enters the ranks of vehicles in a group driving according to the first embodiment of the present specification.

Hereinafter, an example to be described is an example in which the control method of the leading vehicle according to the first embodiment of the present specification is specifically applied, and the same and overlapping contents as described above may be omitted.

Referring to FIG. 24 , the leading vehicle 100 may set a first section and change the driving guidelines for the vehicles of the first group in order to generate the set first section. The vehicle of the first group may receive the changed driving instructions and change lanes to generate the first section.

That is, the changed driving guideline may include data for lane departure of some of the slave vehicles in order to secure the first section.

The vehicle of the first group may change the lane to the right lane as in the example shown in FIG. 24 , but this is an example and does not limit the scope of the present specification. However, it is preferable that the vehicle of the first group moves to a lane opposite to the lane in which the general vehicle 120 attempting to enter is located.

In addition, at least one of the vehicles of the first group moves to a lane opposite to the lane in which the general vehicle 120 is located, but may be driven in a position drooping backward by slowing the speed. Through such driving, it is possible to prevent the approach of another general vehicle approaching from the rear.

As the lane of the first group of vehicles is changed, the actual moving trajectory of the general vehicle 120 may be detected by the first group of vehicles.

Referring to FIG. 25 , the navigation device 121 provided in the general vehicle 120 displays information on the positions of vehicles currently in platooning, directions indicating the progress paths, lane entry start times, driving speeds, driving directions, and driving lanes. can be

Accordingly, the warning included in the guide data, the expected route of the other general vehicle 130, and the estimated time may be displayed on the navigation 121 and the display 122 of the general vehicle 120 .

26 is a diagram illustrating an overall flow of a method for controlling a leading vehicle according to the first embodiment of the present specification.

Hereinafter, the control method of the leading vehicle according to the first embodiment of the present specification will be described as a whole. In this case, the same and duplicate content as the above-described content may be omitted.

Referring to FIG. 26 , the leading vehicle 100 may transmit a message instructing the platooning to the slave vehicle 110 ( S101 ), and the slave vehicle 110 may transmit the response to the leading vehicle 100 ( S102 ). ). The slave vehicle 110 may monitor driving data of the general vehicle 120 ( S103 ). Also, the slave vehicle 110 may transmit the monitored driving data to the leading vehicle 100 ( S104 ).

The leading vehicle 100 learns the driving data received from the slave vehicle 110 (S105), sets a first section according to the learned movement path of the general vehicle 120 (S106), and sets the first section A driving guideline may be generated for the generation of (S107), and the generated driving guideline may be transmitted to the slave vehicle 110 (S108).

The leading vehicle 100 may request authority to transmit the TPEG message to the control server 130 in order to transmit the TPEG guide message to the general vehicle 120 (S109), and may receive authorization from the control center (S110). The leading vehicle 100 may transmit a guide message S111 using the TPEG protocol to the general vehicle 120 according to the approved authority.

The slave vehicle 110 monitors the first section entry process or the first section passage process of the general vehicle 120 ( S112 ), and the leading vehicle 100 receives an entry confirmation message or a pass confirmation message from the slave vehicle 110 . is received (S113).

The leading vehicle 100 transmits a request message for returning the authority to the control server 130 (S114), and the control server 130 receiving the request message may release the authority of the leading vehicle 100 ( S115).

27 is a diagram illustrating an overall flow of a method for controlling a leading vehicle according to the first embodiment of the present specification.

Referring to FIG. 27 , the leading vehicle 100 may transmit a message instructing the platooning to the slave vehicle 110 ( S201 ), and the slave vehicle 110 may transmit a response to the leading vehicle 100 ( S202 ). ). The slave vehicle 110 may monitor driving data of the general vehicle 120 ( S203 ). Also, the slave vehicle 110 may transmit the monitored driving data to the leading vehicle 100 ( S204 ).

The leading vehicle 100 learns the driving data received from the slave vehicle 110 (S205), sets a first section according to the learned movement path of the general vehicle 120 (S206), and sets the first section A first driving guideline may be generated for the generation of (S207), and the generated first driving guideline may be transmitted to the slave vehicle 110 (S208).

The slave vehicle 110 may detect that another general vehicle 130 enters the first section generated according to the first driving guideline ( S209 ), and may monitor driving data of the other entering general vehicle 130 . (S210).

The slave vehicle 110 transmits the monitored driving data to the leading vehicle 100 (S211), the leading vehicle 100 learns the transmitted driving data (S212), and based on the learning result, the first section It can be changed (S213). The leading vehicle 100 may change the first driving instructions according to the changed first section (S214) and transmit the changed first driving instructions to the slave vehicle 110 (S215).

The leading vehicle 100 requests permission to transmit the TPEG message to the control server 130 in order to transmit the TPEG guide message to the general vehicle 120 and other general vehicles 130 (S216), and the control center Authority may be approved from (S217). The leading vehicle 100 may transmit guide messages S218 and S219 using the TPEG protocol to the general vehicle 120 and other general vehicles 130 according to the approved authority.

The slave vehicle 110 monitors the process of entering the first section or passing the first section of the general vehicle 120 and/or other general vehicle 130 (S220, S221), and the leading vehicle 100 is the slave vehicle ( 110) receives an entry confirmation message or a pass confirmation message (S223).

The leading vehicle 100 transmits a request message for returning the authority to the control server 130 (S224), and the control server 130 receiving the request message may release the authority of the leading vehicle 100 ( S225).

28 is a diagram illustrating an overall flow of a method for controlling a leading vehicle according to the first embodiment of the present specification.

Referring to FIG. 28 , the leading vehicle 100 may transmit a message for instructing the platooning operation to the slave vehicle 110 ( S301 ), and the slave vehicle 110 may transmit the response to the leading vehicle 100 ( S302 ). ). The slave vehicle 110 may monitor driving data of the general vehicle 120 ( S303 ). Also, the slave vehicle 110 may transmit the monitored driving data to the leading vehicle 100 ( S304 ).

The leading vehicle 100 learns the driving data received from the slave vehicle 110 (S305), sets a first section according to the learned movement path of the general vehicle 120 (S306), and sets the first section A first driving guideline may be generated for generation of , and the generated first driving guideline may be transmitted to the slave vehicle 110 (S308).

The slave vehicle 110 may detect that another general vehicle 130 enters the first section generated according to the first driving guideline (S309), and may monitor driving data of the entering other general vehicle 130. (S310).

The slave vehicle 110 transmits the monitored driving data to the leading vehicle 100 (S311), the leading vehicle 100 learns the transmitted driving data (S312), and based on the learning result, the second section can be generated (S313). The leading vehicle 100 may generate the second driving instructions according to the second section (S314) and transmit the generated second driving instructions to the slave vehicle 110 (S315).

The leading vehicle 100 may request authority to transmit the TPEG message to the control server 130 in order to transmit the TPEG guide message to the general vehicle 120 (S316), and may receive authorization from the control center (S317). The leading vehicle 100 may transmit guide messages S318 and S319 using the TPEG protocol to the general vehicle 120 according to the approved authority.

The slave vehicle 110 monitors the process of entering the second section or passing the second section of the general vehicle 120 ( S319 ), and the leading vehicle 100 receives an entry confirmation message or a pass confirmation message from the slave vehicle 110 . Receive (S320).

The leading vehicle 100 transmits a request message for returning the authority to the control server 130 (S321), and the control server 130 receiving the request message may release the authority of the leading vehicle 100 ( S322).

Leading vehicle for platooning

Hereinafter, a platooning leading vehicle according to a second preferred embodiment of the present specification will be described in detail based on the above-described contents.

For reference, among the second embodiments of the present specification, descriptions of components having the same or similar features as those of the first embodiment of the present specification will be omitted and only differences will be described.

Also, the leading vehicle for platooning according to the second embodiment of the present specification may use the control method according to the first embodiment of the present specification.

29 is a view showing a leading vehicle according to a second embodiment of the present specification.

According to FIG. 29 , the leading vehicle 100 may include a processor 101 , a memory 102 , and a communication module 103 .

The processor 101 is a component capable of performing calculations and controlling other devices. Mainly, it may mean a central processing unit (CPU), an application processor (AP), a graphics processing unit (GPU), or the like. In addition, the CPU, AP, or GPU may include one or more cores therein, and the CPU, AP, or GPU may operate using an operating voltage and a clock signal. However, a CPU or AP may consist of a few cores optimized for serial processing, whereas a GPU may consist of thousands of smaller and more efficient cores designed for parallel processing.

The processor 101 may set a first section into which the general vehicle 120 can enter, based on driving data of the general vehicle 120 that intends to enter between vehicles in platooning.

The processor 101 generates first driving instructions of the slave vehicles 110 to secure the set first section, and generates first guide data for entering the general vehicle 120 into the set first section. can

The processor 101 may calculate an expected path of the general vehicle 120 based on the position, speed, acceleration, and lane of the general vehicle. The processor 101 receives data including the position, speed, acceleration, and lane of the general vehicle 120 from the communication module 103 . The processor 101 may learn the actual moving path of the general vehicle 120 based on the received data, and may calculate the expected path of the general vehicle 120 based on the learned actual moving path. In this case, the processor 101 may calculate the predicted route using the result of big data analysis in the external server according to the driver information.

The processor 101 may set the first section and change the driving instructions for the vehicle of the first group in order to generate the set first section. That is, the changed driving guideline may include data for lane departure of some of the slave vehicles in order to secure the first section.

The processor 101 generates an actual movement trajectory of the general vehicle 120 based on the driving data, generates a predicted path of the general vehicle 120 based on the generated actual movement trajectory, and calculates the generated predicted path. The first section may be set based on the first section.

The processor 101 changes the first section set based on the driving data of the other general vehicle 130 , and changes the first driving guidelines of the slave vehicles 110 to secure the changed first section, A first guide message for the vehicle 120 may be generated.

The processor 101, based on the driving data of the other general vehicle 130, sets a second section for allowing the general vehicle 120 to enter between vehicles in platooning, and sets the slave to secure the set second section. The second driving guideline of the vehicles 110 may be generated, and a second section may be set for allowing the general vehicle 120 to enter between vehicles in platooning based on driving data of other general vehicles 130 .

The memory 102 may include, but is not limited to, a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, and the like.

In the case of the communication module 103 , information is transmitted and received with a base station or a vehicle including a communication function through the antenna 104 . The transceiver 9013 using wireless communication includes a wireless communication module 103 having a modulator, a demodulator, a signal processor, and the like.

The communication module 103 of the leading vehicle 100 may use the above-described V2X communication.

Also, the communication module 103 of the leading vehicle 100 may include a TPEG protocol communication module. The TPEG protocol communication module may be a communication module using the TPEG protocol.

The TPEG protocol communication module may transmit a permission request message to the control server 130 and receive permission from the control server 130 . In addition, the TPEG protocol communication module may transmit guide data to the general vehicle 120 based on the authority approved by the control server 130 . When the guide data transmission is finished, the TPEG protocol communication module may return the authorized authority.

Although not shown in the above description, it is obvious that the above-described method for controlling the leading vehicle according to the first embodiment of the present specification can be performed by the leading vehicle according to the second embodiment of the present specification, and the method disclosed in the first embodiment All examples may also be performed in the leading vehicle according to the second embodiment.

The above-described specification can be implemented as computer-readable code on a medium in which a program is recorded. The computer-readable medium includes all kinds of recording devices in which data readable by a computer system is stored. Examples of computer-readable media include Hard Disk Drive (HDD), Solid State Disk (SSD), Silicon Disk Drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. There is also a carrier wave (eg, transmission over the Internet) that is implemented in the form of. Accordingly, the above detailed description should not be construed as restrictive in all respects but as exemplary. The scope of this specification should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of this specification are included in the scope of this specification.

In addition, although the embodiments have been mainly described above, these are merely examples and are not intended to limit the present specification, and those of ordinary skill in the art to which this specification belongs are exemplified above in a range that does not depart from the essential characteristics of the present embodiment. It can be seen that various modifications and applications that have not been made are possible. For example, each component specifically shown in the embodiments can be implemented by modification. And differences related to such modifications and applications should be construed as being included in the scope of the present specification defined in the appended claims.

100: leading vehicle
110: slave vehicle
120: general vehicle
121: navigation
122: display
130: control server

Claims (20)

In the control method of a leading vehicle that performs platooning in an autonomous driving system (Autonomous Driving System),
obtaining driving data of a general vehicle to enter between the vehicles in the platoon;
setting a first section for allowing the general vehicle to enter between the vehicles in the platoon based on the driving data;
generating first driving instructions of slave vehicles to secure the set first section, and generating first guide data for entering the general vehicle into the first section;
transmitting the first driving instruction to the slave vehicles; and
and transmitting the first guide data to the general vehicle.
According to claim 1,
The driving data is
The control method includes a traveling direction indicated by a turn indicator light of the general vehicle, and is obtained from at least one of cameras provided in the vehicles in platooning.
According to claim 1,
The driving data is
The control method, which includes at least one of speed, acceleration, vehicle type, turning radius, driving lane, and driver information of the general vehicle, and is obtained from at least one of cameras provided in the vehicles in platooning.
4. The method of claim 3,
The step of setting the first section comprises:
The control method of generating a predicted route of the general vehicle based on the big data collected according to the driver information, and setting the first section based on the generated predicted route.
According to claim 1,
The first driving guideline is
and position data of each of the slave vehicles, wherein the position data includes relative coordinates.
According to claim 1,
The first driving guideline is
The control method is to increase the speed of the slave vehicles located in front of the set first section and reduce the speed of the slave vehicles positioned at the rear of the set first section.
According to claim 1,
Transmitting the first guide data comprises:
transmitting a permission request message to the control server;
receiving authorization from the control server;
transmitting the first guide data to the general vehicle based on the approved authority; and
Returning the authorized authority; will include, the control method.
According to claim 1,
The step of setting the first section comprises:
generating an actual moving trajectory of the general vehicle based on the driving data, generating an expected path of the general vehicle based on the actual moving trajectory, and setting the first section based on the predicted path, control method.
9. The method of claim 8,
The step of setting the first section comprises:
setting the first section based on the similarity of the trajectory between the actual movement trajectory and the predicted path,
The trajectory similarity is
The control method, which is calculated based on the distance between the feature points constituting the actual movement trajectory and the feature points constituting the expected path.
10. The method of claim 9,
The step of setting the first section comprises:
When the trajectory similarity is lower than a preset threshold value, the predicted path is corrected based on the actual movement trajectory, and the first section is set based on the modified predicted path.
According to claim 1,
The control method is
acquiring driving data of another general vehicle to enter the first section;
changing the set first section based on the driving data of the other general vehicle;
changing the first driving guidelines of the slave vehicles so that the changed first section is secured, and generating first guide data for entering the general vehicle into the changed first section; and
Transmitting the changed first driving instructions to the slave vehicles, and transmitting the first guidance data to the general vehicle; the control method further comprising a.
According to claim 1,
The control method is
acquiring driving data of another general vehicle to enter the first section;
setting a second section for allowing the general vehicle to enter between the vehicles in the platooning platoon based on the driving data of the other general vehicle;
generating second driving instructions of the slave vehicles to secure the set second section, and generating second guide data for entering the general vehicle into the second section; and
The method further comprising; transmitting the second driving instruction to the slave vehicles and transmitting the first guidance data to the general vehicle.
According to claim 1,
The first driving guideline is
The control method comprising data for lane departure of some of the slave vehicles so that the set first section is secured.
According to claim 1,
The first guide data is
The control method, which is transmitted to the navigation of the general vehicle using the TPEG protocol.
15. The method of claim 14,
The first guide data is
A control method comprising a driving route, an entry time, and a speed for guiding the general vehicle to the first section.
In the leading vehicle performing platooning,
communication module;
Memory; and
processor; including;
The processor is
A first section into which the general vehicle can enter is set based on driving data of a general vehicle to enter between the vehicles in the platooning, and a first driving guideline for slave vehicles is generated to secure the first section, , to generate first guide data for entering the general vehicle into the first section,
The communication module is
and transmitting the first driving instruction to the slave vehicles and transmitting the first guidance data to the general vehicle.
17. The method of claim 16,
The processor is
generating an actual moving trajectory of the general vehicle based on the driving data, generating an expected path of the general vehicle based on the actual moving trajectory, and setting the first section based on the predicted path, The leading vehicle for platoon driving.
17. The method of claim 16,
The communication module is
A leading vehicle for platooning, comprising a TPEG protocol communication module using the TPEG protocol.
17. The method of claim 16,
The communication module is
Receive driving data of other general vehicles that want to enter the first section from the slave vehicles,
The processor is
The set first section is changed based on the driving data of the other general vehicle, the first driving guidelines of the slave vehicles are changed to secure the changed first section, and a first guide message for the general vehicle is displayed. A leading vehicle of platooning that it generates.
17. The method of claim 16,
The communication module is
Receive driving data of other general vehicles that want to enter the first section from the slave vehicles,
The processor is
Based on the driving data of the other general vehicle, a second section for allowing the general vehicle to enter between the vehicles in the platooning platoon is set, and the second driving instructions for the slave vehicles are generated to secure the set second section and setting a second section for allowing the general vehicle to enter between the vehicles in the platooning platoon based on the driving data of the other general vehicle.

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