KR20210142060A - Vehicle platooning method and device - Google Patents

Abstract

A vehicle platooning method of the present invention comprises the following steps: confirming a travelable distance according to a fuel amount and fuel efficiency of each vehicle which participates platooning; assigning a series of vehicle ranks to each of the vehicles according to the travelable distance of the vehicles; assigning a series of position ranks at each position according to a vehicle energy consumption rate according to a relative position of the vehicles composing the platooning; and rearranging the relative position of the vehicles by considering the position ranks and the vehicle ranks. The present invention considers the travelable distance of the entire vehicles to improve fuel efficiency of the entire vehicles and to increase travelable distance of the entire vehicles for efficient platooning.

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 more efficient platooning to be performed in consideration of the drivable distances of all vehicles participating in the platooning, thereby improving the fuel efficiency of all vehicles performing the platooning and increasing the drivable distance. An object of the present invention is to provide a method and apparatus for platooning a vehicle so as to improve economic efficiency.

The platooning method of the vehicle of the present invention 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;

assigning a series of vehicle ranks to each vehicle according to the length and length of the drivable distance of each vehicle;

assigning a series of position ranks to each position according to the high and low of vehicle energy consumption rate according to the relative positions of the vehicles constituting the group;

rearranging the relative positions of vehicles in consideration of the position rank and the vehicle rank;

It is characterized in that it comprises a.

the vehicle rank is assigned to increase from a vehicle having a short driving distance to a vehicle having a long driving distance;

The position rank may be assigned to increase from a position where the vehicle energy consumption rate is low to a position where the vehicle energy consumption rate is high.

In the step of rearranging the relative positions of the vehicles, the positions of the vehicles may be arranged so that the position rank arrangement order of the group and the vehicle rank arrangement order match.

the vehicle rank and the position rank are assigned the smallest number equal to each other;

In the step of rearranging the relative positions of the vehicles, vehicles having the same number of vehicle ranks may be arranged in positions having the same position rank.

When all the vehicles constituting the group are the same model vehicle,

The vehicle energy consumption rate according to the relative positions of the vehicles constituting the group is

The fuel amount of each vehicle consumed during a predetermined reference distance or reference time during which platoon driving is continuous may be calculated by dividing the total vehicle weight of the corresponding vehicle.

When the vehicles constituting the group are vehicles of different models,

The vehicle energy consumption rate according to the relative positions of the vehicles constituting the platoon is calculated by dividing the fuel amount of each vehicle consumed during a predetermined reference distance or reference time during which the platoon driving is continuous by the total vehicle weight of the vehicle, then the front projected area of the vehicle and It can be calculated by dividing by the air resistance coefficient.

In addition, an embodiment of the platooning device of the present invention for achieving the above object is,

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 rank designation unit that assigns a series of vehicle ranks to each vehicle according to the long and short lengths of the drivable distances of the respective vehicles;

a position rank designation unit for assigning a series of position ranks to each position according to the high and low of vehicle energy consumption rate according to the relative positions of the vehicles constituting the group;

a vehicle arrangement unit for rearranging the relative positions of vehicles in consideration of the position rank and the vehicle rank;

It is characterized in that it comprises a.

In the vehicle rank designation unit, the vehicle rank is assigned to increase from a vehicle having a short driving distance to a vehicle having a longer driving distance;

In the position rank designation unit, the position rank may be configured such that the vehicle energy consumption rate increases from a low position to a high position.

The vehicle arrangement unit may be configured to arrange the positions of the vehicles so that the arrangement order of the position rank of the group coincides with the arrangement order of the vehicle rank.

the vehicle rank designating unit and the position rank designating unit assign the smallest number of the vehicle rank and the position rank equal to each other, respectively;

The vehicle arrangement unit may be configured to arrange vehicles having the same number of vehicle ranks to positions having the same position rank.

When all the vehicles constituting the group are the same model vehicle,

The position rank designation unit calculates the vehicle energy consumption rate according to the relative positions of the vehicles constituting the cluster by dividing the fuel amount of each vehicle consumed during a predetermined reference distance or reference time in which the cluster driving is continuous by the total weight of the vehicle. can

When the vehicles constituting the group are vehicles of different models,

The position rank designation unit divides the vehicle energy consumption rate according to the relative positions of the vehicles constituting the cluster by the total weight of the vehicle by dividing the fuel amount of each vehicle consumed during a predetermined reference distance or reference time in which the platoon driving is continuous, and then the corresponding vehicle It can be configured to calculate by dividing by the forward projected area of and the air resistance coefficient.

The present invention enables more efficient platooning to be performed in consideration of the drivable distances of all vehicles participating in the platooning, thereby improving the fuel efficiency of all vehicles performing the platooning and increasing the drivable distance. to improve economic efficiency.

Therefore, the present invention can separate groups as much as possible before reaching the destination, or prevent the entire vehicle from visiting the gas station because of some vehicles, so that all vehicles can successfully arrive at the destination within the target time.

1 is a view illustrating platooning vehicles to which the present invention can be applied;
2 is a flowchart illustrating an embodiment of a method for platooning vehicles according to the present invention;
3 is a view for explaining the rearrangement of the relative positions of vehicles in consideration of the vehicle rank and the position rank according to the present invention;
4 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.

Referring to FIG. 2 , an embodiment of the platooning method of a vehicle according to the present invention includes the steps of: checking a drivable distance according to the fuel amount and fuel efficiency of each vehicle participating in the platooning (S10); assigning a series of vehicle ranks to each vehicle according to the length and length of each vehicle's drivable distance (S20); assigning a series of Position Ranks to each position according to the high and low of the vehicle energy consumption rate according to the relative positions of the vehicles constituting the group (S30); In consideration of the position rank and the vehicle rank, it is configured to include a step (S40) of rearranging the relative positions of the vehicles.

That is, the vehicle rank is assigned by comparing the drivable distances of all vehicles performing platooning, and for each relative position of the vehicles forming the rank of platooning, the vehicle energy consumption rate at the corresponding position After assigning the position rank of each position, the vehicles are rearranged using the vehicle rank and the position rank.

Of course, after rearranging the vehicles as described above, as shown, the fuel consumption of the vehicles is monitored and the fuel economy model is set, and using these, the entire group of vehicles is eco-friendly so that the overall fuel efficiency of the group is maximized through optimal speed control. By driving in the platooning mode, the economic feasibility of platooning can be improved, and the possibility that all vehicles of the platooning can arrive at the destination within the target time can be increased.

For reference, to set the fuel economy model and drive in the eco mode, a conventional known technique may be used.

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.

In the present embodiment, the vehicle rank is assigned to increase from a vehicle having a short driving distance to a vehicle having a long driving distance, and the position rank is assigned to increase from a position having a low vehicle energy consumption rate to a position having a high vehicle energy consumption rate.

In the step of rearranging the relative positions of the vehicles, the positions of the vehicles are arranged so that the position rank arrangement order of the group and the vehicle rank arrangement order match.

That is, the shorter the remaining drivable distance, the lower the vehicle energy consumption rate is arranged so that the subsequent platooning can be maintained as far as possible while consuming less energy.

As specifically illustrated in FIG. 3 , the vehicle rank and the position rank assign the smallest number equal to 1, and in the step of relocating the relative positions of the vehicles, the vehicles having the same number of vehicle ranks are set to the same It can be placed in a position with a position rank.

That is, the upper side shows a state in which a vehicle rank of 1 is given to a vehicle having the shortest drivable distance at any time during group driving, and a position rank of 1 is assigned to a position where the vehicle energy consumption rate is lowest, as shown in the figure. It is to arrange a vehicle with the same number of vehicle ranks as the lower side with the vehicle rank and the position rank assigned to the position with the same position rank.

With this arrangement, the vehicle assigned the vehicle rank 5 due to the longest remaining drivable distance is located at the position indicated by position rank 5, which is the most forward position in the platooning rank, and this vehicle will lead the platooning rank as the leader vehicle. Therefore, although it is a location that consumes the most energy, since it is a vehicle with the longest driving range, it is possible to increase the average driving distance of all platooning vehicles.

In addition, since the vehicle assigned with vehicle rank 1 because the drivable distance is the shortest is disposed at the position assigned with position rank 1, which is the position with the lowest vehicle energy consumption, to perform platooning, and thus also the average of all platooning vehicles. This will contribute to the expansion of the driving range.

When all of the vehicles constituting the group are the same model vehicle, the vehicle energy consumption rate according to the relative positions of the vehicles constituting the group is the amount of fuel consumed during a predetermined reference time or reference distance in which the group driving is continuous as the total vehicle weight of each vehicle. can be calculated by dividing.

For example, when the amount of fuel consumed by a certain vehicle in platooning for 1 hour or 60 km is 10L, the vehicle energy consumption rate can be calculated by dividing the 10L by the total vehicle weight including the loaded weight of the vehicle.

By dividing the amount of fuel consumed by the total vehicle weight in this way, a more substantial comparison of the vehicle energy consumption rate according to the relative position in the platooning line becomes possible while excluding the effect of the difference in the loading amount of each vehicle in platooning.

On the other hand, when the vehicles constituting the group are vehicles of different models, the vehicle energy consumption rate according to the relative positions of the vehicles constituting the group is the fuel amount of each vehicle consumed during a predetermined reference distance or reference time during which the group driving is continued. After dividing by the total vehicle weight of the vehicle, it is preferable to calculate by dividing the front projected area (Frontal Projected Area) and the drag coefficient (Cd) of the vehicle.

That is, when the models of the vehicles participating in the platooning are different from each other, a more appropriate comparison of the vehicle energy consumption rate according to the relative position is possible only when the difference in air resistance resulting from the difference in the shape of the vehicle is considered. After dividing the amount of fuel consumed during this predetermined time or distance by the total vehicle weight of the vehicle, the value is again divided by the front projected area of the vehicle and the air resistance coefficient to calculate the vehicle energy consumption rate.

In this way, the comparison of the vehicle energy consumption rate can be made in consideration of only the influence of the relative position of the platooning ranks as much as possible despite the differences in the loading amount, model, shape, etc. of the vehicles constituting the platoon. Relocation of positions is possible.

Accordingly, the reference distance and the reference time are at a level at which the vehicle energy consumption rate at the corresponding location can be relatively accurately determined according to the purpose as described above, and may be determined by design through a number of experiments and analysis.

As described above, the steps of assigning a vehicle rank and a location rank and rearranging the locations of the vehicles accordingly may be periodically and repeatedly performed while platooning is performed.

This is because, during platooning, the vehicle rank may change due to changes in fuel consumption and performance of each vehicle, and air resistance acting on each vehicle changes due to a change in wind direction. As a result, a change in the position rank may occur, and a new vehicle arrangement is made by reflecting these changes, thereby further increasing the drivable distance of the entire platooning operation.

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.

4 is a configuration diagram illustrating an embodiment of a vehicle platooning device according to the present invention that can implement the present invention as described above, and confirming the drivable distance according to the fuel amount and fuel efficiency of each vehicle participating in the platooning operation. a drivable distance check unit 10; a vehicle rank designation unit 12 for assigning a series of vehicle ranks to each vehicle according to the length and length of the drivable distance of each vehicle; a position rank designation unit 14 for assigning a series of position ranks to each position according to the high and low of the vehicle energy consumption rate according to the relative positions of the vehicles constituting the group; In consideration of the position rank and the vehicle rank, the vehicle arrangement unit 16 is configured to rearrange the relative positions of the vehicles.

Of course, the drivable distance check unit 10, the vehicle rank designation unit 12, the position rank designation unit 14, and the vehicle arrangement unit 16 may be implemented in the controller of each vehicle, and may be selected depending on the situation. It will be possible to implement the present invention by performing the corresponding function.

In the vehicle rank designating unit 12, the vehicle rank is assigned to increase from a vehicle having a short driving distance to a vehicle having a long driving distance; In the position rank designation unit 14, the position rank may be configured to increase as the vehicle energy consumption rate increases from a low position to a high position.

The vehicle arrangement unit 16 may be configured to arrange the positions of the vehicles so that the arrangement order of the position rank of the group and the arrangement order of the vehicle rank coincide.

The vehicle rank designation unit 12 and the position rank designation unit 14 respectively assign the smallest number of the vehicle rank and the position rank equal to each other, and the vehicle arrangement unit 16 has the same number of vehicle ranks. It may be configured to place the vehicle in a position having the same position rank.

When all the vehicles constituting the group are the same model vehicle, the location rank designation unit 14 consumes the vehicle energy consumption rate according to the relative positions of the vehicles constituting the group for a predetermined reference distance or reference time during which the group driving is continuous. It may be configured to calculate by dividing the fuel amount of each vehicle by the total vehicle weight of the corresponding vehicle.

When the vehicles constituting the group are vehicles of different models, the location rank designation unit 14 sets the vehicle energy consumption rate according to the relative positions of the vehicles constituting the group for a predetermined reference distance or a reference time during which the group driving is continuous. After dividing the fuel amount of each vehicle consumed by the total vehicle weight of the vehicle, it may be configured to calculate by dividing the front projected area and the air resistance coefficient of the vehicle.

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
10; Driving distance check unit
12; vehicle rank designation
14; position rank designation government
16; vehicle placement department

Claims (12)

checking the driving distance according to the fuel amount and fuel efficiency of each vehicle participating in the platoon driving;
assigning a series of vehicle ranks to each vehicle according to the length and length of the drivable distance of each vehicle;
assigning a series of position ranks to each position according to the high and low of vehicle energy consumption rate according to the relative positions of the vehicles constituting the group;
rearranging the relative positions of vehicles in consideration of the position rank and the vehicle rank;
A platooning method of vehicles, characterized in that it comprises a. The method according to claim 1,
the vehicle rank is assigned to increase from a vehicle having a short driving distance to a vehicle having a long driving distance;
The position rank is given so that the vehicle energy consumption rate increases from a low position to a high position.
A platooning method of vehicles, characterized in that 3. The method according to claim 2,
In the step of rearranging the relative positions of the vehicles, arranging the positions of the vehicles so that the position rank arrangement order of the group and the vehicle rank arrangement order match
A platooning method of vehicles, characterized in that 3. The method according to claim 2,
the vehicle rank and the position rank are assigned the smallest number equal to each other;
In the step of rearranging the relative positions of the vehicles, arranging vehicles having the same number of vehicle ranks to positions having the same position rank
A platooning method of vehicles, characterized in that The method according to claim 1,
When all the vehicles constituting the group are the same model vehicle,
The vehicle energy consumption rate according to the relative positions of the vehicles constituting the group is
Calculating by dividing the fuel amount of each vehicle consumed during a predetermined reference distance or reference time during which platooning is continuous, by the total vehicle weight of the vehicle.
A platooning method of vehicles, characterized in that The method according to claim 1,
When the vehicles constituting the group are vehicles of different models,
The vehicle energy consumption rate according to the relative positions of the vehicles constituting the platoon is calculated by dividing the fuel amount of each vehicle consumed during a predetermined reference distance or reference time during which platoon driving is continuous by the total vehicle weight of the vehicle, and then the front projected area of the vehicle and Calculated by dividing by air resistance coefficient
A platooning method of vehicles, 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 rank designation unit that assigns a series of vehicle ranks to each vehicle according to the long and short lengths of the drivable distances of the respective vehicles;
a position rank designation unit for assigning a series of position ranks to each position according to the high and low of vehicle energy consumption rate according to the relative positions of the vehicles constituting the group;
a vehicle arrangement unit for rearranging the relative positions of vehicles in consideration of the position rank and the vehicle rank;
A platooning device of a vehicle, characterized in that it comprises a. 8. The method of claim 7,
In the vehicle rank designation unit, the vehicle rank is assigned to increase from a vehicle having a short driving distance to a vehicle having a longer driving distance;
In the position rank designation unit, the position rank is configured to increase as the vehicle energy consumption rate increases from a low position to a high position.
A vehicle platooning device, characterized in that. 9. The method of claim 8,
The vehicle arrangement unit is configured to arrange the positions of the vehicles so that the position rank arrangement order of the group coincides with the vehicle rank arrangement order
A vehicle platooning device, characterized in that. 9. The method of claim 8,
the vehicle rank designating unit and the position rank designating unit assign the smallest number of the vehicle rank and the position rank equal to each other, respectively;
The vehicle arrangement unit is configured to arrange vehicles having the same number of vehicle ranks to positions having the same position rank.
A vehicle platooning device, characterized in that. 8. The method of claim 7,
When all the vehicles constituting the group are the same model vehicle,
The position rank designation unit calculates the vehicle energy consumption rate according to the relative positions of the vehicles constituting the cluster by dividing the fuel amount of each vehicle consumed during a predetermined reference distance or reference time in which the cluster driving is continuous by the total weight of the vehicle.
A vehicle platooning device, characterized in that. 8. The method of claim 7,
When the vehicles constituting the group are vehicles of different models,
The position rank designation unit divides the vehicle energy consumption rate according to the relative positions of the vehicles constituting the cluster by the total weight of the vehicle by dividing the fuel amount of each vehicle consumed during a predetermined reference distance or reference time in which the platoon driving is continuous, and then the corresponding vehicle Constructed to calculate by dividing the forward projected area and air resistance coefficient of
A vehicle platooning device, characterized in that.

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