KR20210130334A - Vehicle platooning method and device - Google Patents

Abstract

The present invention comprises: a step of checking a communication failure state of a leader vehicle during platooning; a step of selecting the new leader vehicle and a care vehicle taking care of the communication-impossible leader vehicle; a step of grouping the entire vehicles during platooning into a sub-group where the existing leader vehicle belongs and a main group where the new leader vehicle belongs; a step of moving the main group to a front side of the sub-group; and a step of switching to the platooning by the new leader vehicle by connecting the main group and the sub-group.

Description

Vehicle platooning method and device {VEHICLE PLATOONING METHOD AND DEVICE}

The present invention relates to autonomous driving of a vehicle, and more particularly, to a technology in which a plurality of vehicles form a group to autonomously drive.

Group driving, in which a large number of consecutive vehicles run in groups through vehicle spacing control, is emerging as a technology that can improve convenience and safety and save energy in the case of mass transportation using autonomous driving technology of vehicles is becoming

The platoon driving is mainly performed by performing inter-vehicle distance control while communicating with a leader vehicle at the front of the line and a plurality of vehicles following following the guidance of the leader vehicle.

The matters described as the background technology of the invention are only for enhancing the understanding of the background of the present invention, and should not be taken as acknowledging that they correspond to the prior art already known to those of ordinary skill in the art. will be

KR 1020190068115 A

An object of the present invention is to provide a vehicle platooning method and apparatus that can ensure stability and reliability of platooning by enabling the platooning to continue when a leader vehicle of platooning falls into a communication failure situation. There is this.

The vehicle platooning method of the present invention for achieving the above object is

checking a communication inability state of the leader vehicle during platoon driving;

selecting a care vehicle and a new leader vehicle capable of taking care of the communication-incapable leader vehicle;

grouping all the vehicles in the platoon into a sub-group to which the previous leader vehicle belongs and a main cluster to which the new leader vehicle belongs;

moving the main cluster to the front of the sub-group;

connecting the main cluster and the sub-group to switch to platooning by the new leader vehicle;

It is characterized in that it comprises a.

The care vehicle may be selected as a vehicle immediately behind the communication-incapable leader vehicle.

The new leader vehicle may be selected as a vehicle having good communication function and the best performance of mounted sensors.

The new leader vehicle may be selected from among vehicles other than the care vehicle.

The subgroup may be selected as all vehicles from the previous leader vehicle incapable of communication to the vehicle immediately preceding the new leader vehicle.

The main group may be selected as the new leader vehicle and all vehicles behind it.

The care vehicle may use a front sensor, and the previous leader vehicle may use a rear sensor to maintain an inter-vehicle distance between the care vehicle and the previous leader vehicle.

In the step of moving the main cluster forward of the sub-group,

After performing the primary lane change to the adjacent lane of the previous lane in the main cluster, referring to the location of the previous leader vehicle provided by the care vehicle, the secondary lane so that the main cluster is located in front of the previous leader vehicle change can be made.

After the main cluster moves to the front of the sub-group, the rearmost vehicle of the main cluster provides a predetermined light amount change pattern to the previous leader vehicle in the rear, and the previous leader vehicle receives the light amount change pattern and receives the main The main cluster and the sub-group may be connected by switching to a mode for following the rearmost vehicle of the cluster.

The predetermined light quantity change pattern may be implemented as a tail light of the rearmost vehicle of the main group.

The previous leader vehicle maintains a state in which the vehicle speed is reduced by a predetermined level until the main cluster is moved to the front of the sub-group and is connected, when the communication failure state is confirmed to form a road condition in which the lane change of the main cluster is possible. can

In addition, the vehicle platooning device of the present invention for achieving the above object,

Communication check unit for checking the communication incapacitated state of the leader vehicle during platoon driving;

a vehicle selection unit that selects a care vehicle and a new leader vehicle that can take care of a leader vehicle that is unable to communicate;

a grouping unit for grouping all vehicles in platoon into a sub-group to which the previous leader vehicle belongs and a main cluster to which the new leader vehicle belongs;

a driving switching unit configured to connect the main and sub-groups to a platooning operation by the new leader vehicle after the main cluster moves forward of the sub-group;

It is characterized in that it comprises a.

The vehicle selection unit may be configured to select a vehicle immediately after the communication-incapable leader vehicle as the care vehicle.

The vehicle selection unit may be configured to select, as the new leader vehicle, a vehicle having a good communication function and the best performance of mounted sensors.

The vehicle selection unit may be configured to select the new leader vehicle from among vehicles other than the care vehicle.

The grouping unit may be configured to select all vehicles from the previous leader vehicle incapable of communication to the vehicle immediately preceding the new leader vehicle as the sub-group.

The grouping unit may be configured to select the new leader vehicle and all vehicles behind it as the main group.

The care vehicle may be configured to use a front sensor, and the previous leader vehicle may be configured to maintain an inter-vehicle distance between the care vehicle and the previous leader vehicle by using a rear sensor.

When the driving switching unit moves the main group to the front of the sub-group,

After performing the primary lane change of the main cluster to the adjacent lane of the previous lane, referring to the location of the previous leader vehicle provided by the care vehicle, the secondary lane so that the main cluster is located in front of the previous leader vehicle may be configured to make changes.

After the driving switching unit moves the main cluster to the front of the sub-group, the rearmost vehicle of the main cluster provides a predetermined light amount change pattern to the previous leader vehicle in the rear, and the previous leader vehicle changes the light amount change pattern It may be configured to connect the main cluster and the sub-group by switching to a mode for following the rearmost vehicle of the main cluster by receiving it.

The predetermined light quantity change pattern may be configured to be implemented as a tail light of the rearmost vehicle of the main group.

When it is confirmed that the communication failure state of the previous leader vehicle is confirmed, the driving switching unit maintains a state in which the vehicle speed of the previous leader vehicle is reduced by a predetermined level until the main cluster is moved to the front of the sub-group and connected to the lane of the main cluster. It may be configured to form a road condition that is changeable.

The present invention enables the platooning leader vehicle to continue platooning when the communication is impossible, thereby improving the stability and reliability of the platooning driving.

1 is a flowchart showing an embodiment of a vehicle platooning method according to the present invention;
2 is a view for explaining a situation in which a communication impossible state occurs in the leader vehicle during platoon driving;
3 is a view for explaining a process of performing the present invention when the same situation as in FIG. 2 occurs;
4 is a view illustrating platooning vehicles to which the present invention can be applied;
5 is a configuration diagram of a vehicle platooning device according to the present invention.

Referring to FIG. 1 , an embodiment of the vehicle platooning method of the present invention includes the steps of: checking a communication inability state of a leader vehicle during platooning (S10); selecting a care vehicle and a new leader vehicle that can take care of the communication-incapable leader vehicle (S20); grouping all the vehicles in the platoon into a sub-group to which the previous leader vehicle belongs and a main cluster to which the new leader vehicle belongs (S30); moving the main cluster to the front of the sub-group (S40); and a step (S50) of connecting the main group and the sub-group, and switching to the platooning by the new leader vehicle (S50).

That is, the present invention monitors whether such a situation occurs when the leading previous leader vehicle (O_RC) becomes in a communication-disabled state due to a communication malfunction while platooning of vehicles is being performed, and then takes care of the situation immediately. After selecting a vehicle (CC) and a new leader vehicle (N_RC), and dividing the vehicles into a main cluster (MG) and a sub-group (SG) accordingly, the new leader vehicle (N_RC) of the main cluster (MG) is the total vehicle By converting them to lead platooning, the stability and reliability of platooning can be further improved.

It is preferable that the care vehicle CC is selected as a vehicle immediately behind the previous leader vehicle O_RC incapable of communication.

That is, in order to continue platooning while continuously including the previous leader vehicle O_RC, which has fallen out of communication, in the ranks, the vehicle in the immediate rear that is closest to the previous leader vehicle O_RC immediately moves to the care vehicle (CC). ) is the most advantageous.

As such, when the care vehicle CC is selected as a vehicle immediately behind the previous leader vehicle O_RC, the care vehicle CC uses a front sensor, and the previous leader vehicle uses a rear sensor, and the care vehicle ( CC) and the previous leader vehicle can maintain the inter-vehicle distance.

That is, the front sensor and the rear sensor are each composed of a radar sensor capable of measuring the inter-vehicle distance. It is to keep driving while maintaining it and to prevent other vehicles from interfering between them.

On the other hand, it is preferable that the new leader vehicle N_RC is selected as a vehicle having a good communication function and the best performance of the mounted sensors.

That is, since the new leader vehicle N_RC must have good communication function and lead the ranks at the forefront, it is desirable to select the vehicle with the best performance of the sensors installed therein.

Of course, the new leader vehicle (N_RC) must be selected from among vehicles other than the care vehicle (CC), and in comparing the performance of the mounted sensors, the performance of the sensors essential for actually pioneering a driving route at the forefront It would be preferable to give more weight to the judgment.

In grouping the vehicles into a sub-group (SG) and a main cluster (MG), the sub-group (SG) includes all vehicles from the previous leader vehicle (O_RC) incapable of communication to the vehicle immediately preceding the new leader vehicle (N_RC). , and the main group MG is selected as the new leader vehicle N_RC and all vehicles behind it.

That is, as illustrated in FIG. 2 , the sub-group SG includes the previous leader vehicle O_RC and the care vehicle CC behind it, which are in a communication disabled state, and the vehicle selected as the new leader vehicle N_RC. is selected as all vehicles up to the vehicle immediately preceding divided into groups of dogs.

Thereafter, as illustrated in FIG. 3 , the main cluster MG moves forward of the sub-group SG.

That is, the main cluster MG performs the primary lane change to the adjacent lane LN2 of the previous lane LN1, and then refers to the position of the previous leader vehicle O_RC provided by the care vehicle CC. , to perform a secondary lane change so that the main group MG is positioned in front of the previous leader vehicle O_RC.

The new leader vehicle N_RC leading the main cluster MG moves the vehicles of the main cluster MG to the adjacent lane LN2 of the previous lane LN1, and then overtakes the sub-group SG. By changing the lane back to the front of the sub-group SG, the rearmost vehicle of the main group MG is positioned in front of the previous leader vehicle O_RC.

At this time, the new leader vehicle N_RC leading the main group MG is essential information in moving the main group MG forward of the previous leader vehicle O_RC. The location information is provided from the care vehicle CC.

That is, the care vehicle CC provides the location information of the previous leader vehicle O_RC obtained through the front sensor to the new leader vehicle N_RC, so that the new leader vehicle N_RC is set to the main cluster MG. to accurately and safely move to the front of the previous leader vehicle (O_RC).

Of course, as described above, in order for the main cluster MG to move from the rear to the front of the sub-group SG, two lane changes are required, so there is no vehicle in the adjacent lane LN2, and the A road condition in which a lane change is possible is required in which there is space for the main group (MG) to move even in front of the leader vehicle, and since such a road condition does not always exist, the communication inability state of the previous leader vehicle (O_RC) is confirmed However, while the road conditions necessary for the main cluster (MG) to move forward of the sub-group (SG) are not favorable, the previous platooning state is maintained without major changes, or the road conditions in which lane changes as described above are possible. can be made to form.

That is, as described above, when the previous leader vehicle O_RC becomes in a communication disabled state, the previous leader vehicle O_RC controls the vehicle speed until the main group MG is moved to the front of the sub-group SG and connected. A space in which the main cluster (MG) vehicles move in front of the previous leader vehicle (O_RC) while maintaining the state reduced by a predetermined level to wait for a road condition in which movement through lane change of the main cluster (MG) is permitted can be obtained more easily.

Therefore, the level of reducing the vehicle speed of the previous leader vehicle (O_RC) can be determined by a number of experiments and interpretations according to the purpose as described above, for example, to be reduced to a level of 60 to 80% of the vehicle speed before the communication failure state is confirmed. will be able

After the main cluster MG moves to the front of the sub-group SG, the rearmost vehicle EC of the main cluster MG provides a predetermined light quantity change pattern to the previous leader vehicle O_RC in the rear. , the previous leader vehicle O_RC receives the light amount change pattern and switches to a mode to follow the rearmost vehicle EC of the main cluster MG, thereby separating the main cluster MG and the sub-group SG. to connect

Here, the predetermined light quantity change pattern can be implemented in a way that the tail lights of the rearmost vehicle EC of the main cluster MG blink according to a predetermined pattern such as Morse Code, and in addition, In preparation for the same situation, it may be implemented using a separately mounted lighting device.

When a separate lighting device is used as described above, a lighting device that does not emit visible light, such as an infrared lamp, is used to prevent unnecessary attention from other nearby vehicles, and also causes other nearby vehicles to turn on their tail lights. It would also be desirable to prevent the previous leader vehicle (O_RC) from mistakenly emitting an emergency light.

For reference, as described above, the transmission of a signal from the rearmost vehicle of the main group MG to the previous leader vehicle O_RC through a predetermined light quantity change pattern can also be viewed as a kind of 'communication', but it is mentioned in the present invention. Communication in the 'communicable state' does not necessarily include communication that depends on the direct transmission of light beams at positions adjacent to each other as described above, but refers to communication that can send and receive information between communication subjects regardless of the presence or absence of other vehicles. It is reasonable to interpret it as

On the other hand, the present invention as described above can be performed by the controllers respectively mounted on all vehicles participating in the platooning, and each controller shares data essential for the implementation of the present invention, CC) and the new leader vehicle (N_RC) will be able to sequentially carry out the present invention with full control.

For example, if the communication failure state of the previous leader vehicle O_RC is confirmed, the care vehicle CC automatically selects a new leader vehicle N_RC with full control rights, and the main group MG and sub group SG After grouping, the new leader vehicle N_RC has full control right and moves and connects the main cluster MG to the front of the sub-group SG to lead the subsequent platooning.

4 illustrates platoon vehicles to which the present invention can be applied, as described above, a plurality of vehicles run in a row from the front-most vehicle (FC) to the rear-most vehicle (EC), and each vehicle has a plurality of Sensors are provided, and a controller (CLR) for recognizing various obstacles around the vehicle and controlling the vehicle based on the signals of the sensors is provided, respectively, and the controllers (CLR) of each of these vehicles are provided with data required by mutual communication They are shared, and commands are transmitted according to a predetermined command system, so that they move to their destination through continuous platooning.

For reference, in FIG. 4 , the sensors of each vehicle are indicated as having a front sensor (FS), a left side sensor (LS), a right side sensor (RS), and a rear sensor (ES), but in an actual vehicle, more sensors Of course, various changes are possible, such as provided or some are omitted.

In addition, the front-most vehicle FC is a leader vehicle, and serves to lead vehicles that follow at the forefront of a line of vehicles performing platoon driving.

5 shows an embodiment of a vehicle platooning apparatus according to the present invention to which the present invention method as described above can be applied. ; a vehicle selection unit 12 for selecting a care vehicle and a new leader vehicle capable of taking care of the communication-incapable leader vehicle; a grouping unit 14 for grouping all the vehicles in the platoon into a sub-group to which the previous leader vehicle belongs and a main cluster to which the new leader vehicle belongs; and a driving switching unit 16 that connects the main cluster and the sub-group to change to the platooning by the new leader vehicle after the main cluster moves forward of the sub-group.

The communication confirmation unit 10, the vehicle selection unit 12, the grouping unit 14, and the driving switching unit 16 are implemented in common in the controller of each vehicle as described above, so that the corresponding functions are selectively implemented as necessary. will be able to do

The vehicle selection unit 12 is configured to select, as the care vehicle CC, a vehicle immediately behind the leader vehicle incapable of communication.

The vehicle selection unit 12 is configured to select, as the new leader vehicle N_RC, a vehicle having a good communication function and the best performance of mounted sensors.

The vehicle selection unit 12 is configured to select the new leader vehicle N_RC from among vehicles other than the care vehicle CC.

The grouping unit 14 is configured to select all vehicles from the previous leader vehicle O_RC incapable of communication to the vehicle immediately preceding the new leader vehicle N_RC as the sub-group SG.

The grouping unit 14 is configured to select the new leader vehicle N_RC and all vehicles behind it as the main group MG.

The care vehicle CC uses a front sensor, and the previous leader vehicle uses a rear sensor, and is configured to maintain an inter-vehicle distance between the care vehicle CC and the previous leader vehicle.

When the driving switching unit 16 moves the main cluster MG forward of the sub-group SG, after performing a primary lane change of the main cluster MG to a lane adjacent to the previous lane, the Referring to the location of the previous leader vehicle O_RC provided by the care vehicle CC, the secondary lane change is performed so that the main cluster MG is positioned in front of the previous leader vehicle O_RC.

After the driving switching unit 16 moves the main group MG to the front of the sub-group SG, the rearmost vehicle of the main group MG sends a predetermined amount of light to the previous leader vehicle O_RC at the rear. A change pattern is provided, and the previous leader vehicle O_RC receives the light amount change pattern and switches to a mode to follow the rearmost vehicle of the main cluster MG, and the main cluster MG and sub-group SG) is configured to connect

The predetermined light quantity change pattern is configured to be implemented as a tail light of the rearmost vehicle of the main group MG.

When it is confirmed that the communication failure state of the previous leader vehicle is confirmed, the driving switching unit 16 controls the vehicle speed of the previous leader vehicle O_RC until the main group MG is moved forward of the sub-group SG to be connected. It is configured to form a road condition in which lane change of the main cluster MG is possible by maintaining a state in which ? is reduced by a predetermined level.

Although the present invention has been shown and described with reference to specific embodiments, it is within the art that the present invention can be variously improved and changed without departing from the spirit of the present invention provided by the following claims. It will be obvious to those of ordinary skill in the art.

MG; main group
SG; sub-cluster
CC; care vehicle
O_RC; Former leader vehicle
N_RC; new leader vehicle
10; Communication confirmation department
12; vehicle selection department
14; grouping department
16; driving change unit

Claims (22)

checking a communication inability state of the leader vehicle during platoon driving;
selecting a care vehicle and a new leader vehicle capable of taking care of the communication-incapable leader vehicle;
grouping all the vehicles in the platoon into a sub-group to which the previous leader vehicle belongs and a main cluster to which the new leader vehicle belongs;
moving the main cluster to the front of the sub-group;
connecting the main cluster and the sub-group to switch to platooning by the new leader vehicle;
Vehicle platooning method, characterized in that it comprises a. The method according to claim 1,
The care vehicle is selected as a vehicle immediately behind the communication-incapable leader vehicle.
Vehicle platooning method characterized in that. 3. The method according to claim 2,
The new leader vehicle has a good communication function and is selected as a vehicle with the best performance of the installed sensors.
Vehicle platooning method characterized in that. 4. The method according to claim 3,
The new leader vehicle is selected from among vehicles other than the care vehicle.
Vehicle platooning method characterized in that. The method according to claim 1,
The subgroup is selected as all vehicles from the previous leader vehicle incapable of communication to the vehicle immediately preceding the new leader vehicle
Vehicle platooning method characterized in that. 6. The method of claim 5,
The main group is selected as the new leader vehicle and all vehicles behind it
Vehicle platooning method characterized in that. The method according to claim 1,
The care vehicle uses a front sensor, and the previous leader vehicle uses a rear sensor to maintain an inter-vehicle distance between the care vehicle and the previous leader vehicle.
Vehicle platooning method characterized in that. 8. The method of claim 7,
In the step of moving the main cluster forward of the sub-group,
After performing the primary lane change to the adjacent lane of the previous lane in the main cluster, referring to the location of the previous leader vehicle provided by the care vehicle, the secondary lane so that the main cluster is located in front of the previous leader vehicle making changes
Vehicle platooning method characterized in that. The method according to claim 1,
After the main cluster moves to the front of the sub-group, the rearmost vehicle of the main cluster provides a predetermined light amount change pattern to the previous leader vehicle in the rear, and the previous leader vehicle receives the light amount change pattern and receives the Connecting the main cluster and the sub-group by switching to a mode that follows the rearmost vehicle of the cluster
Vehicle platooning method characterized in that. 10. The method of claim 9,
The predetermined light quantity change pattern is implemented as a tail light of the rearmost vehicle of the main group.
Vehicle platooning method characterized in that. The method according to claim 1,
The previous leader vehicle maintains a state in which the vehicle speed is reduced by a predetermined level until the main cluster is moved to the front of the sub-group and connected, when a communication failure state is confirmed, thereby forming a road condition in which the lane change of the main cluster is possible thing
Vehicle platooning method characterized in that. Communication check unit for checking the communication incapacitated state of the leader vehicle during platoon driving;
a vehicle selection unit that selects a care vehicle and a new leader vehicle that can take care of a leader vehicle that is unable to communicate;
a grouping unit for grouping all vehicles in platoon into a sub-group to which the previous leader vehicle belongs and a main cluster to which the new leader vehicle belongs;
a driving switching unit that connects the main and sub-groups to a platoon driving by the new leader vehicle after the main cluster moves forward of the sub-group;
Vehicle platooning device, characterized in that it comprises a. 13. The method of claim 12,
The vehicle selection unit is configured to select a vehicle immediately after the communication-incapable leader vehicle as the care vehicle.
Vehicle platooning device, characterized in that. 14. The method of claim 13,
The vehicle selection unit is configured to select, as the new leader vehicle, a vehicle having a good communication function and the best performance of the mounted sensors.
Vehicle platooning device, characterized in that. 15. The method of claim 14,
The vehicle selection unit is configured to select the new leader vehicle from among vehicles other than the care vehicle.
Vehicle platooning device, characterized in that. 13. The method of claim 12,
The grouping unit is configured to select all vehicles from the previous leader vehicle incapable of communication to the vehicle immediately preceding the new leader vehicle as the sub-group.
Vehicle platooning device, characterized in that. 17. The method of claim 16,
The grouping unit is configured to select the new leader vehicle and all vehicles behind it as the main group.
Vehicle platooning device, characterized in that. 13. The method of claim 12,
The care vehicle uses a front sensor, and the previous leader vehicle uses a rear sensor to maintain an inter-vehicle distance between the care vehicle and the previous leader vehicle.
Vehicle platooning device, characterized in that. 19. The method of claim 18,
When the driving switching unit moves the main group to the front of the sub-group,
After performing the primary lane change of the main cluster to the adjacent lane of the previous lane, referring to the location of the previous leader vehicle provided by the care vehicle, the secondary lane so that the main cluster is located in front of the previous leader vehicle configured to make changes
Vehicle platooning device, characterized in that. 13. The method of claim 12,
After the driving switching unit moves the main cluster to the front of the sub-group, the rearmost vehicle of the main cluster provides a predetermined light amount change pattern to the previous leader vehicle in the rear, and the previous leader vehicle changes the light amount change pattern configured to connect the main cluster and the sub-group by receiving and switching to a mode for following the rearmost vehicle of the main cluster
Vehicle platooning device, characterized in that. 21. The method of claim 20,
The predetermined light amount change pattern is configured to be implemented as a tail light of the rearmost vehicle of the main group.
Vehicle platooning device, characterized in that. 13. The method of claim 12,
When it is confirmed that the previous leader vehicle is unable to communicate, the driving switching unit maintains a state in which the vehicle speed of the previous leader vehicle is reduced by a predetermined level until the main cluster is moved to the front of the sub-group and connected to the lane of the main cluster. Constructed to create a changeable road condition
Vehicle platooning device, characterized in that.

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