KR20210142059A - Vehicle platooning method and device - Google Patents

Abstract

The present invention relates to a vehicle platooning method and apparatus. The vehicle platooning method of the present invention comprises the following steps of: checking a drivable distance according to a fuel amount and fuel efficiency of each vehicle participating in platoon driving; selecting a vehicle having the shortest drivable distance as the vehicle to be cared for; locating a care target vehicle immediately behind a leader vehicle; sharing driving information of the leader vehicle with the care target vehicle; and driving the care target vehicle to minimize energy consumption based on the shared information. An objective of the present invention is to provide the vehicle platooning method and apparatus, which ensure all vehicles successfully arrive at their destinations within target time.

Description

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

The present invention relates to platooning of vehicles, and more particularly, to a driving control technology in consideration of the fuel amount of vehicles that autonomously perform platooning.

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 the leader vehicle at the front of the line and a plurality of vehicles following the guide of the leader vehicle. Autonomous driving is generally possible.

Since each vehicle participating in the platooning has a difference in fuel storage amount and fuel efficiency, a fuel shortage may occur in some vehicles during platooning. Vehicles stopping by gas stations together to refuel may delay the arrival of platooning vehicles to their final destination.

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 1020190119227 A

The present invention enables the platooning to be performed in consideration of the fuel shortage among all vehicles participating in the platooning, thereby increasing the drivable distance of all vehicles performing the platooning, as much as possible before reaching the destination. It is an object of the present invention to provide a vehicle platooning method and apparatus that allows the entire vehicle to not visit a gas station because of the separation of the vehicle and some vehicles.

The present invention vehicle platooning method for achieving the above object,

checking the driving distance according to the fuel amount and fuel efficiency of each vehicle participating in the platoon driving;

selecting a vehicle having the smallest drivable distance as a vehicle to be cared for;

positioning the vehicle to be cared for in the immediate rear of the leader vehicle;

sharing driving information of the leader vehicle with the care target vehicle;

driving the care target vehicle to minimize energy consumption based on the shared information;

It is characterized in that it comprises a.

When the car to be cared for is a conventional leader vehicle, the car to be cared for may be positioned immediately behind the leader vehicle by selecting a new leader vehicle and arranging the new leader car at the forefront of the line.

When the vehicle to be cared for is a vehicle directly behind the conventional leader vehicle,

The step of locating the vehicle to be cared for in the immediate rear direction of the leader vehicle may be omitted.

If the vehicle to be cared for is not a vehicle directly behind the conventional leader vehicle,

The first lane change is performed to the adjacent lane of the previous lane in which the vehicle to be cared for is platooned, and a space to insert the vehicle to be cared for is formed between a leader vehicle and a vehicle immediately after the leader vehicle, and By performing a second lane change of the vehicle to be cared for into the space, the vehicle to be cared for may be positioned immediately behind the leader vehicle.

Changing the primary lane of the vehicle to be cared for and forming a space for inserting the vehicle to be cared for may be simultaneously performed.

The driving information of the leader vehicle shared with the care target vehicle may include an expected driving speed profile and an expected driving route of the leader vehicle.

The car to be cared for may be driven to minimize energy consumption by minimizing braking in consideration of the expected driving speed profile of the leader vehicle.

The car to be cared for may drive such that energy consumption is minimized by driving along the expected driving path of the leader vehicle without searching for an independent driving path.

The vehicle to be cared for minimizes computing power by turning off all sensors other than the sensor for following the leader vehicle, and drives in a following mode that follows the leader vehicle only by relying on information from sensors that are kept on. By doing so, it is possible to drive so that energy consumption is minimized.

The care target vehicle can be driven to minimize energy consumption by following only the minimum separation distance, which is the minimum distance that can avoid a collision during emergency braking of the leader vehicle, in a spaced state to reduce air resistance.

The step of determining whether a predetermined re-determination condition is satisfied may be performed, and if the re-determination condition is satisfied, the step of checking the drivable distance according to the fuel amount and fuel efficiency of each vehicle participating in the platooning may be repeated.

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

a drivable distance check unit that checks the drivable distance according to the fuel amount and fuel efficiency of each vehicle participating in the platoon driving;

a vehicle selection unit that selects a vehicle having the smallest drivable distance as a vehicle to be cared for;

a vehicle arranging unit for locating the care target vehicle immediately and behind the leader vehicle;

a communication unit that shares driving information of the leader vehicle with the care target vehicle;

a driving control unit for driving the car to be cared for to minimize energy consumption based on the shared information;

It is characterized in that it comprises a.

When the vehicle to be cared for by the vehicle selection unit is a conventional leader vehicle, the vehicle selection unit selects a new leader vehicle,

The vehicle disposing unit may be configured to arrange the new leader vehicle at the forefront of a line, and position the care target vehicle immediately and behind the leader vehicle.

When the vehicle to be cared for by the vehicle selection unit is a vehicle directly behind the conventional leader vehicle, the process of locating the vehicle to be cared for by the vehicle arranging unit directly behind the leader vehicle may be omitted.

If the vehicle to be cared for by the vehicle selection unit is not a vehicle directly behind the conventional leader vehicle,

The vehicle arrangement unit performs a first lane change to a lane adjacent to the previous lane in which the vehicle to be cared for in platooning was running, and forms a space for inserting the vehicle to be cared for between the leader vehicle and a vehicle immediately after the leader vehicle, The vehicle to be cared for in the adjacent lane may be configured to perform a secondary lane change into the space to position the vehicle to be cared for immediately and behind the leader vehicle.

The vehicle arrangement unit may be configured to simultaneously change the primary lane of the vehicle to be cared for and to form a space for inserting the vehicle to be cared for.

The driving information of the leader vehicle shared with the care target vehicle through the communication unit may be configured to include an expected driving speed profile and a driving expected path of the leader vehicle.

The driving controller may be configured to minimize energy consumption by minimizing braking of the care target vehicle in consideration of the expected driving speed profile of the leader vehicle.

The driving control unit may be configured to minimize energy consumption by allowing the care target vehicle to travel along the expected driving path of the leader vehicle without searching for an independent driving path.

The driving control unit minimizes computing power by turning off all sensors other than the sensors for following the leader vehicle of the car to be cared for, and follows the leader vehicle only by relying on information from sensors that are kept on. By driving in the wing mode, it can be configured so that driving that minimizes energy consumption is made.

The driving control unit follows only the minimum separation distance, which is the minimum distance that can avoid a collision during emergency braking of the leader vehicle, to reduce air resistance, thereby reducing energy consumption. It can be configured to do this.

The driving control unit determines whether a predetermined re-determination condition is satisfied, and if the re-determination condition is satisfied, the fuel amount of each vehicle participating in the platooning and Check the drivable distance according to fuel efficiency, select a car to be cared for, place the car to be cared for right and behind the leader vehicle, share driving information of the leader vehicle to the car to be cared for, and use the shared information It may be configured to repeatedly perform the process of driving so that the energy consumption of the vehicle to be cared for is minimized.

The present invention enables the platooning to be performed in consideration of the fuel shortage among all vehicles participating in the platooning, thereby increasing the drivable distance of all vehicles performing the platooning, as much as possible before reaching the destination. or by preventing all vehicles from visiting the gas station because of some vehicles, so that all vehicles can successfully arrive at their destination within the targeted timeframe.

1 is a view illustrating platooning vehicles to which the present invention can be applied;
2 is a flowchart illustrating an embodiment of a vehicle platooning method according to the present invention;
3 is a view illustrating a process of moving the care target vehicle to the immediate rear of the leader vehicle when the vehicle other than the leader vehicle and the vehicle immediately after it is the vehicle to be cared for according to the present invention;
4 is a diagram illustrating an expected driving speed profile of a leader vehicle;
5 is a view illustrating an expected driving route of a leader vehicle;
6 is a view for explaining a state in which the care target vehicle maintains and follows only the leader vehicle and the minimum separation distance;
7 is a configuration diagram illustrating an embodiment of a vehicle platooning device according to the present invention.

1 is a view illustrating platooning vehicles to which the present invention can be applied. A plurality of vehicles run in a row from a front-most vehicle (FC) to a rear-most vehicle (EC), and each vehicle has a plurality of sensors. A controller (CLR) for recognizing various obstacles around the vehicle and controlling the vehicle based on the signals of these sensors is provided, respectively, and the controllers (CLR) of each of these vehicles share necessary data through mutual communication and transmits the command according to a predetermined command system, so as to move to the destination through continuous platooning.

For reference, in FIG. 1 , 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 RD_C, and serves to lead vehicles that follow in the forefront of a line of vehicles performing platooning.

2 is a view showing an embodiment of the vehicle platooning method according to the present invention, comprising the steps of: checking the drivable distance according to the fuel amount and fuel efficiency of each vehicle participating in the platooning (S10); selecting a vehicle having the smallest drivable distance as a vehicle to be cared for (CC) (S20); positioning the car to be cared for (CC) immediately and forward of the leader car (RD_C) (S30); sharing driving information of the leader vehicle RD_C with the care target vehicle CC (S40); and a step (S50) of driving the vehicle to be cared for (CC) to minimize energy consumption based on the shared information.

That is, the present invention selects the care target vehicle CC having the shortest drivable distance among the vehicles performing platooning, and places the care target vehicle CC directly behind the leader vehicle RD_C. , so that the car to be cared for (CC) is driven to minimize energy consumption with the help of the leader vehicle (RD_C), thereby maximizing the drivable distance of all vehicles performing platooning.

As described above, if the drivable distance of all vehicles performing platooning is maximized, the situation in which separation of the platoon is required before reaching the destination by some fuel-deficient vehicles can be minimized, and platooning for refueling of some fuel-deficient vehicles can be minimized. It is possible to minimize the situation in which all driving vehicles visit gas stations.

The drivable distance of each vehicle may be calculated by multiplying the current remaining fuel amount and the current average fuel efficiency of each vehicle, and the average fuel efficiency is the average fuel efficiency from the current time to a predetermined time (eg, 1 hour, etc.) Alternatively, the average fuel economy from the current point to a certain distance (eg, 10Km) in reverse may be used.

If the car to be cared for (CC) is a conventional leader vehicle, through the step (S31) of selecting a new leader vehicle and arranging the new leader car at the forefront of the line, the car to be cared for (CC) is set as the leader vehicle. It should be placed in the right direction.

That is, if the conventional leader vehicle, which has been leading the ranks of the platoon vehicle so far, is determined to have the shortest drivable distance and is selected as the vehicle to be cared for (CC), for example, a vehicle with the best sensor configuration and performance is selected as a new vehicle. When a leader vehicle is selected and the new leader vehicle is moved and placed in front of the conventional leader vehicle, the conventional leader vehicle, which is the vehicle to be cared for (CC), is automatically positioned immediately behind the new leader vehicle.

Of course, in the case where the vehicle immediately behind the conventional leader vehicle is selected as the care target vehicle CC, since the care target vehicle CC is already located immediately behind the leader vehicle, the care target vehicle CC The step (S30) of locating to the right and rear of the leader vehicle is omitted.

In addition, when the vehicle to be cared for (CC) is selected as a vehicle other than the conventional leader vehicle and the vehicle immediately following it, as illustrated in FIG. ) to the adjacent lane LN2, a first lane change is performed, and a space for inserting the care target vehicle CC is formed between the leader vehicle RD_C and the vehicle C2 immediately after the leader vehicle, and A secondary lane change is performed for the vehicle to be cared for in the adjacent lane LN2 into the space, and the vehicle to be cared for is positioned immediately and behind the leader vehicle RD_C.

At this time, changing the primary lane of the vehicle to be cared for (CC) and forming a space to insert the vehicle to be cared for (CC) may be sequentially performed, but they may be performed simultaneously so that the vehicle to be cared for more quickly ( It would also be desirable to complete the movement arrangement of CC).

The driving information of the leader vehicle RD_C shared with the care target vehicle CC includes the expected driving speed profile and the expected driving route of the leader vehicle.

That is, the leader vehicle shares the expected driving speed profile as shown in FIG. 4 and the expected driving route as shown in FIG. 5 with the vehicle to be cared for (CC) in real time, so that the vehicle to be cared for (CC) is the leader vehicle (RD_C). It is to make use of shared information to drive.

The vehicle to be cared for (CC) may be driven to minimize energy consumption by minimizing braking in consideration of the expected driving speed profile of the leader vehicle (RD_C).

For example, if the leader vehicle RD_C is currently accelerating, but it is determined from the expected driving speed profile of the leader vehicle RD_C that deceleration will start immediately after, the care target vehicle CC is less than the leader vehicle RD_C. By maintaining the current speed without accelerating or performing acceleration, the amount of braking that will be required immediately is reduced, ultimately minimizing energy consumption.

In addition, the car to be cared for (CC) may drive such that energy consumption is minimized by driving along the expected driving path of the leader vehicle (RD_C) without independently searching for a driving path.

In other words, although each vehicle performing platoon driving runs in a line, it is common that driving is performed almost similarly to independent autonomous driving by individually searching for its own driving route, but it is selected as the vehicle to be cared for (CC) After this, as described above, the sensors used for the driving path search can be turned off, and the energy required for processing data from these sensors can be reduced by not performing the independent driving route search separately, as described above. It is possible to drive while minimizing energy consumption.

Of course, the car to be cared for (CC) runs by following the expected driving route of the preceding leader vehicle (RD_C) as it is, instead of searching for an independent driving route as described above, which is the following mode (Following). Mode) it would be more preferable to be done with driving.

That is, the care target vehicle CC turns off all sensors other than the sensors for following the leader vehicle RD_C to minimize energy consumed by the sensors and computing power for processing data from these sensors, , by driving in a following mode that follows the leader vehicle RD_C depending only on information of the remaining sensors maintaining an on state, thereby driving to minimize energy consumption.

In the following mode, additional sensors in addition to the sensors required for the driving route search may be further turned off, and computing power required for data processing may be further reduced accordingly.

For reference, the sensor that maintains the on state even when driving in the following mode may include, for example, a distance sensor for maintaining an inter-vehicle distance with the leader vehicle RD_C in front.

When driving in the following mode, the care target vehicle CC follows only the minimum separation distance, which is the minimum distance that can avoid a collision during emergency braking of the leader vehicle RD_C, in a spaced state to reduce air resistance as much as possible. It would be desirable to drive so that energy consumption is minimized.

Here, the minimum separation distance transmits the braking information to the care target vehicle CC as much as possible simultaneously when emergency braking of the leader vehicle RD_C is performed, so that the braking of the leader vehicle RD_C in the care target vehicle CC and As a distance at a level that can avoid a collision with the leader vehicle RD_C when braking of the same or higher level is immediately started, it may be determined by design through a number of experiments and analysis, and the leader vehicle RD_C and care It may be set to have a tendency to become longer as the communication speed between the target vehicles CC is longer and the loading load of the care target vehicle CC is greater than that of the leader vehicle.

On the other hand, as described above, a step (S60) of determining whether a predetermined re-judgment condition is satisfied is performed while the vehicle to be cared for (CC) is selected and the vehicle to be cared for (CC) is driven to minimize energy consumption (S60). If the re-determination condition is satisfied, the vehicle to be cared for (CC) can be changed by repeatedly performing from the step (S10) of checking the drivable distance according to the fuel amount and fuel efficiency of each vehicle participating in the platooning driving.

That is, the re-determination condition is set to whether a certain period of time has elapsed, such as whether 2 hours have elapsed after selecting the car to be cared for, to minimize energy consumption of the car to be cared for (CC) as described above for the prescribed period of time. When the platooning is performed while driving, the drivable distance of each vehicle may change due to the driving in the meantime, so that the care target vehicle CC can be changed by reflecting such a change.

For reference, in the present invention as described above, the controller of each vehicle performing the platooning is determined in parallel to control each vehicle, or the controller of some selected vehicles such as a leader vehicle determines and communicates. By sending a command, the controllers of the other vehicles can be performed in such a way that they control each vehicle according to the command.

7 is a configuration diagram illustrating an embodiment of a vehicle platooning apparatus according to the present invention to which the method of the present invention can be applied as described above. A drivable distance check unit 10 to confirm; a vehicle selection unit 12 for selecting a vehicle having the minimum driving distance as a vehicle to be cared for; a vehicle arranging unit 14 for locating the car to be cared for in the immediate rear direction of the leader vehicle; a communication unit 16 that shares driving information of the leader vehicle with the care target vehicle; and a driving control unit 18 that drives the vehicle to be cared for based on the shared information to minimize energy consumption.

Of course, the drivable distance confirmation unit 10, the vehicle selection unit 12, the vehicle arrangement unit 14, the communication unit 16, and the driving control unit 18 may be implemented in the controller of each vehicle, and if necessary By allowing the corresponding function to be performed accordingly, it is possible to implement the present invention.

When the vehicle to be cared for by the vehicle selection unit 12 is a conventional leader vehicle, the vehicle selection unit 12 selects a new leader vehicle, and the vehicle arrangement unit 14 arranges the new leader vehicle in a queue. By disposing in the frontmost direction, it may be configured to position the vehicle to be cared for immediately and in front of the leader vehicle.

When the vehicle to be cared for by the vehicle selection unit 12 is a vehicle directly behind the conventional leader vehicle, the process of the vehicle arranging unit 14 locating the vehicle to be cared for immediately and behind the leader vehicle is omitted. can be

When the vehicle to be cared for by the vehicle selection unit 12 is not a vehicle immediately following the conventional leader vehicle, the vehicle arrangement unit 14 is a primary lane adjacent to the previous lane in which the vehicle to be cared for is platooned. performing a change, forming a space for inserting the care target vehicle between the leader vehicle and a vehicle immediately behind the leader vehicle, and performing a secondary lane change of the care target vehicle in the adjacent lane into the space, It may be configured to position the target vehicle immediately and behind the leader vehicle.

The vehicle arrangement unit 14 may be configured to simultaneously change the primary lane of the vehicle to be cared for and to form a space for inserting the vehicle to be cared for.

The driving information of the leader vehicle shared with the vehicle to be cared for through the communication unit 16 may be configured to include the expected driving speed profile and the expected driving route of the leader vehicle.

The driving control unit 18 may be configured to minimize energy consumption by minimizing braking of the care target vehicle in consideration of the expected driving speed profile of the leader vehicle.

The driving control unit 18 may be configured to minimize energy consumption by allowing the care target vehicle to travel along the expected driving path of the leader vehicle without searching for an independent driving path.

The driving control unit 18 minimizes computing power by turning off all sensors other than the sensors for following the leader vehicle of the car to be cared for, and operates the leader vehicle only by relying on information from the sensors that are kept on. By allowing the vehicle to travel in the following following mode, it may be configured to drive with minimal energy consumption.

The driving control unit 18 allows the care target vehicle to follow only the minimum separation distance, which is the minimum distance that can avoid a collision during emergency braking of the leader vehicle, in a spaced state to reduce air resistance, thereby reducing energy consumption. It may be configured such that the driving to be minimized is made.

The driving control unit 18 determines whether a predetermined re-determination condition is satisfied, and if the re-determination condition is satisfied, the drivable distance check unit 10, the vehicle selection unit 12, the vehicle arrangement unit 14 and the communication unit ( 16), check the drivable distance according to the fuel amount and fuel efficiency of each vehicle participating in the platooning, select a car to be cared for, place the car to be cared for immediately behind the leader car, and drive the leader car It may be configured to share information with the vehicle to be cared for, and to repeatedly perform a process of driving so that energy consumption of the vehicle to be cared for is minimized by the shared information.

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.

FC; front-end vehicle
EC; rear end vehicle
CLR; controller
FS; front sensor
LS; left side sensor
RS; right side sensor
ES; rear sensor
RD_C; leader vehicle
CC; Vehicles subject to care
LN1; old lane
LN2; adjacent lane
10; Driving distance check unit
12; vehicle selection department
14; vehicle placement department
16; communication department
18. Driving control unit

Claims (22)

checking the driving distance according to the fuel amount and fuel efficiency of each vehicle participating in the platoon driving;
selecting a vehicle having the smallest drivable distance as a vehicle to be cared for;
positioning the vehicle to be cared for in the immediate rear of the leader vehicle;
sharing driving information of the leader vehicle with the care target vehicle;
driving the care target vehicle to minimize energy consumption based on the shared information;
Vehicle platooning method, characterized in that it comprises a. The method according to claim 1,
If the vehicle to be cared for is a conventional leader vehicle, selecting a new leader vehicle and arranging the new leader vehicle at the forefront of a line to place the vehicle to be cared for immediately and behind the leader vehicle
Vehicle platooning method characterized in that. The method according to claim 1,
When the vehicle to be cared for is a vehicle directly behind the conventional leader vehicle,
Omitting the step of locating the car to be cared for immediately and behind the leader car
Vehicle platooning method characterized in that. The method according to claim 1,
If the vehicle to be cared for is not a vehicle directly behind the conventional leader vehicle,
The first lane change is performed to the adjacent lane of the previous lane in which the vehicle to be cared for is platooned, and a space to insert the vehicle to be cared for is formed between a leader vehicle and a vehicle immediately after the leader vehicle, and Carrying out a second lane change of the vehicle to be cared for into the space, and positioning the vehicle to be cared for immediately and behind the leader vehicle.
Vehicle platooning method characterized in that. 5. The method according to claim 4,
Changing the primary lane of the vehicle to be cared for and forming a space for inserting the vehicle to be cared for are performed simultaneously
Vehicle platooning method characterized in that. The method according to claim 1,
The driving information of the leader vehicle shared with the care target vehicle includes a driving expected speed profile and an expected driving route of the leader vehicle.
Vehicle platooning method characterized in that. 7. The method of claim 6,
The care target vehicle is driven to minimize energy consumption by minimizing braking in consideration of the expected driving speed profile of the leader vehicle.
Vehicle platooning method characterized in that. 7. The method of claim 6,
The car to be cared for is driven so that energy consumption is minimized by driving along the expected driving path of the leader vehicle without searching for an independent driving path.
Vehicle platooning method characterized in that. 7. The method of claim 6,
The car to be cared for minimizes computing power by turning off all sensors other than the sensors for following the leader vehicle, and drives in a following mode that follows the leader vehicle only by relying on information from sensors that are kept on. By doing so, driving so that energy consumption is minimized
Vehicle platooning method characterized in that. 10. The method of claim 9,
The car to be cared for is driven so that energy consumption is minimized by following only the minimum separation distance, which is the minimum distance that can avoid a collision during emergency braking of the leader vehicle, in a spaced state to reduce air resistance.
Vehicle platooning method characterized in that. The method according to claim 1,
performing a step of determining whether a predetermined re-determination condition is satisfied, and if the re-determination condition is satisfied, repeating the step of checking the drivable distance according to the fuel amount and fuel efficiency of each vehicle participating in the platooning
Vehicle platooning method characterized in that. a drivable distance check unit that checks the drivable distance according to the fuel amount and fuel efficiency of each vehicle participating in the platoon driving;
a vehicle selection unit that selects a vehicle having the smallest drivable distance as a vehicle to be cared for;
a vehicle arranging unit for locating the care target vehicle immediately and behind the leader vehicle;
a communication unit that shares driving information of the leader vehicle with the care target vehicle;
a driving control unit for driving the car to be cared for to minimize energy consumption based on the shared information;
Vehicle platooning device, characterized in that it comprises a. 13. The method of claim 12,
When the vehicle to be cared for by the vehicle selection unit is a conventional leader vehicle, the vehicle selection unit selects a new leader vehicle,
The vehicle disposing unit is configured to place the new leader vehicle at the forefront of a line, and to position the care target vehicle immediately behind the leader vehicle.
Vehicle platooning device, characterized in that. 13. The method of claim 12,
When the vehicle to be cared for by the vehicle selection unit is a vehicle directly behind the conventional leader vehicle, the process of locating the vehicle to be cared for by the vehicle arranging unit immediately behind the leader vehicle is omitted.
Vehicle platooning device, characterized in that. 13. The method of claim 12,
If the vehicle to be cared for by the vehicle selection unit is not a vehicle directly behind the conventional leader vehicle,
The vehicle arrangement unit performs a first lane change to a lane adjacent to the previous lane in which the vehicle to be cared for in platooning was running, and forms a space for inserting the vehicle to be cared for between the leader vehicle and a vehicle immediately after the leader vehicle, and a second lane change is made to the vehicle to be cared for in the adjacent lane into the space, and the vehicle to be cared for is positioned immediately behind the leader vehicle.
Vehicle platooning device, characterized in that. 16. The method of claim 15,
The vehicle arrangement unit is configured to simultaneously change the primary lane of the vehicle to be cared for and to form a space for inserting the vehicle to be cared for.
Vehicle platooning device, characterized in that. 13. The method of claim 12,
The driving information of the leader vehicle shared with the vehicle to be cared for through the communication unit is configured to include the expected driving speed profile and the expected driving route of the leader vehicle.
Vehicle platooning device, characterized in that. 18. The method of claim 17,
The driving controller is configured to minimize energy consumption by minimizing braking of the vehicle to be cared for in consideration of the expected driving speed profile of the leader vehicle.
Vehicle platooning device, characterized in that. 18. The method of claim 17,
The driving control unit is configured to minimize energy consumption by allowing the vehicle to be taken care of to travel along the expected driving path of the leader vehicle without searching for an independent driving path.
Vehicle platooning device, characterized in that. 18. The method of claim 17,
The driving control unit minimizes computing power by turning off all sensors other than the sensors for following the leader vehicle of the car to be cared for, and follows the leader vehicle only by relying on information from sensors that are kept on. By driving in wing mode, the driving is configured to minimize energy consumption
Vehicle platooning device, characterized in that. 21. The method of claim 20,
The driving control unit follows only the minimum separation distance, which is the minimum distance that can avoid a collision during emergency braking of the leader vehicle, to reduce air resistance, thereby reducing energy consumption. configured to do this
Vehicle platooning device, characterized in that. 13. The method of claim 12,
The driving control unit determines whether a predetermined re-determination condition is satisfied, and if the re-determination condition is satisfied, the fuel amount of each vehicle participating in the platooning and Check the drivable distance according to fuel efficiency, select a car to be cared for, place the car to be cared for right behind the leader vehicle, share driving information of the leader vehicle to the car to be cared for, and use the shared information configured to repeatedly perform the process of driving so that the energy consumption of the vehicle to be cared for is minimized
Vehicle platooning device, characterized in that.

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