KR20210155929A - Autonomous drivning-based trailing vehicle driving apparatus and method using driving information of preceding vehicle - Google Patents

Abstract

The present invention relates to a technology for driving a following vehicle based on autonomous driving using driving control information of a preceding vehicle. More specifically, the present invention relates to an apparatus for driving the following vehicle based on the autonomous driving using the driving control information of the preceding vehicle, which can effectively control driving of the following vehicle based on the driving control information of the preceding vehicle, and a method thereof. The apparatus for driving the following vehicle based on the autonomous driving using the driving control information of the preceding vehicle of the present invention comprises: a driving control information receiving unit; a steering control distance calculating unit; and a following vehicle driving control unit.

Description

Autonomous driving-based following vehicle driving device and method using driving control information of preceding vehicle

The present invention relates to a technology for driving a following vehicle based on autonomous driving using driving control information of the preceding vehicle. It relates to an autonomous driving-based following vehicle driving apparatus and method using control information.

Autonomous driving may be divided into a plurality of autonomous driving stages according to the level of autonomous driving. In general, the autonomous driving stage can be divided into fully manual, specific function auto, combined function auto, conditional autonomous driving, highly autonomous driving, and fully autonomous driving stages.

In particular, the conditional autonomous driving stage may correspond to the minimum stage defined as an autonomous vehicle as a stage in which the vehicle controls all functions and the driver intervenes only in special cases in a specific traffic environment.

Currently, autonomous driving technology is advancing and it is expected that it will take some time before it becomes safe enough without human intervention. However, if the autonomous driving technology can be used under appropriate conditions, a better effect can be provided compared to the prior art.

Korean Patent Publication No. 10-0559393 (20060303) relates to a method for determining and controlling a preceding vehicle, and it is possible to easily respond to an unexpected situation by tracing the location of the forward-going lane of a driving vehicle and surrounding vehicles. Disclosed is a technology related to a method for determining and controlling a preceding vehicle.

Korean Patent Application Laid-Open No. 10-2011-0011936 (201110209) relates to a method for controlling a vehicle's tracking, which warns of a departure delay if there is no proper driving operation after the preceding vehicle has departed, and also warns of a departure delay when the stopped preceding vehicle is reversing. Disclosed is a technology that can warn of a risk of collision with an own vehicle when the inter-vehicle distance is within a safe distance.

An embodiment of the present invention is to provide an apparatus and method for driving a following vehicle based on autonomous driving using driving control information of a preceding vehicle, which can effectively control the driving of a following vehicle based on driving control information of the preceding vehicle.

The present invention provides an autonomous driving-based following vehicle driving apparatus using driving control information of a preceding vehicle, a driving control information receiving unit for receiving driving control information related to acceleration/deceleration and steering of a preceding vehicle, A steering control distance calculation unit for calculating a steering control distance and the steering control of the following vehicle according to the steering information of the driving control information while simultaneously controlling the acceleration/deceleration of the following vehicle according to the acceleration/deceleration information of the driving control information and a following vehicle driving control unit for delay control after moving by a distance.

According to an embodiment of the present invention, an apparatus and method for driving a following vehicle based on autonomous driving using driving control information of a preceding vehicle according to an embodiment of the present invention control the acceleration/deceleration of the following vehicle according to the acceleration/deceleration information while simultaneously controlling the acceleration/deceleration of the following vehicle according to the steering information. After moving as much as the steering control distance, delay control is possible.

An autonomous driving-based following vehicle driving apparatus and method using driving control information of a preceding vehicle according to an embodiment of the present invention provides a first vehicle length of a preceding vehicle, a second vehicle length of the following vehicle, and safety between the preceding vehicle and the following vehicle The total sum of the distances may be calculated as the steering control distance.

1 is a view for explaining an autonomous driving-based following vehicle driving system using driving control information of a preceding vehicle according to an embodiment of the present invention.
FIG. 2 is a block diagram illustrating a functional configuration of the following vehicle traveling apparatus shown in FIG. 1 .
FIG. 3 is a flowchart illustrating a driving process of a following vehicle performed in the driving apparatus of the following vehicle shown in FIG. 1 .

Hereinafter, with reference to the accompanying drawings, the embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them.

However, since the description of the present invention is merely an embodiment for structural or functional description, the scope of the present invention should not be construed as being limited by the embodiment described in the text.

For example, it should be understood that the scope of the present invention includes equivalents capable of realizing the technical idea because the embodiments are capable of various modifications and may have various forms.

In addition, the scope of the present invention should not be construed as being limited thereto because the object or effect presented in the present invention does not mean that a specific embodiment should include all of them or only such effects.

In the present specification, the present embodiment is provided so that the disclosure of the present invention is complete, and to fully inform those of ordinary skill in the art to which the present invention belongs, the scope of the invention. And the present invention is only defined by the scope of the claims.

Accordingly, in some embodiments, well-known components, well-known operations, and well-known techniques have not been specifically described to avoid obscuring the present invention.

On the other hand, the meaning of the terms described in the present invention is not limited to the dictionary meaning, and should be understood as follows.

When a component is referred to as being “connected to” another component, it may be directly connected to the other component, but it should be understood that other components may exist in between. On the other hand, when it is mentioned that a certain element is "directly connected" to another element, it should be understood that the other element does not exist in the middle. On the other hand, other expressions describing the relationship between elements, that is, "between" and "between" or "neighboring to" and "directly adjacent to", etc., should be interpreted similarly.

The singular expression is to be understood to include the plural expression unless the context clearly dictates otherwise, and terms such as "comprise" or "have" are not intended to refer to the specified feature, number, step, action, component, part or any of them. It is intended to indicate that a combination exists, and it should be understood that it does not preclude the possibility of the existence or addition of one or more other features or numbers, steps, operations, components, parts, or combinations thereof.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined.

Terms defined in general used in the dictionary should be interpreted as having the meaning consistent with the context of the related art, and cannot be interpreted as having an ideal or excessively formal meaning unless explicitly defined in the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the description of the embodiments, the same reference numerals are assigned to the same components, and in some cases, the descriptions of the same reference numerals will be omitted.

1 is a view for explaining an autonomous driving-based following vehicle driving system using driving control information of a preceding vehicle according to an embodiment of the present invention.

Referring to FIG. 1 , the autonomous driving-based following vehicle driving system 100 may include a preceding vehicle 110 , a following vehicle driving device 130 , a database 150 , and a following vehicle 170 .

The preceding vehicle 110 may correspond to a vehicle directly driven by a driver, and information on acceleration, deceleration, and steering is measured to provide driving control information necessary for driving control of the following vehicle 170 . It may be implemented by including a plurality of sensors that can be implemented, and may be implemented by including a communication device for communication with the following vehicle driving device 130 and the following vehicle 170 .

For example, the preceding vehicle 110 may be implemented by including a signal extraction unit capable of extracting signals from an Electronic Control Unit (ECU) that respectively controls acceleration, brake, and steering.

In FIG. 1 , the preceding vehicle 110 may be connected to the following vehicle traveling apparatus 130 through a network, and a plurality of preceding vehicles 110 may be simultaneously connected to the following vehicle traveling apparatus 130 .

In an embodiment, the preceding vehicle 110 may correspond to an autonomous vehicle capable of driving without a driver.

The following vehicle driving apparatus 130 may be implemented as a server corresponding to a computer or program capable of controlling the driving of the following vehicle 170 based on the driving control information received from the preceding vehicle 110 .

The following vehicle driving device 130 may be connected to the preceding vehicle 110 and the following vehicle 170 through a wired network or a wireless network such as Bluetooth or WiFi, and the preceding vehicle 110 and the following vehicle ( 170) and may communicate.

In an embodiment, the following vehicle driving apparatus 130 may store information necessary for driving of the following vehicle 170 in association with the database 150 .

Meanwhile, unlike in FIG. 1 , the following vehicle driving apparatus 130 may be implemented by including the database 150 therein.

In one embodiment, the following vehicle traveling apparatus 130 may be implemented by being included in the preceding vehicle 110 or the following vehicle 170 , and some of the plurality of components constituting the following vehicle traveling apparatus 130 . may be implemented by being included in the preceding vehicle 110 and the rest being included in the following vehicle 170 .

In another embodiment, the following vehicle driving apparatus 130 may form one driving system including one preceding vehicle 110 and one following vehicle 170 .

Accordingly, there are different driving systems including the preceding vehicle 110 and the following vehicle 170 , and the following vehicle 170 in the first driving system corresponds to the preceding vehicle 170 in another second driving system. In this case, the first and second driving systems may be connected to each other due to the vehicle simultaneously performing the roles of the following vehicle 170 and the preceding vehicle 110 .

The database 150 may store driving control information received from the preceding vehicle 110 , and may store data related to driving control of the following vehicle 170 , but is not necessarily limited thereto, and the following vehicle driving device 130 . In the process of controlling the driving of the following vehicle 170, information collected or processed in various forms may be stored.

In an embodiment, the database 150 may be composed of a plurality of partial databases, and each partial database may be integrated and managed through one control unit.

The following vehicle 170 is a vehicle including an autonomous driving function and may correspond to a vehicle capable of unmanned autonomous driving, and is driven by following the preceding vehicle 110 based on driving control information of the preceding vehicle 110 . and may be implemented by including a communication device for communication with the preceding vehicle 110 and the following vehicle driving device 130 .

For example, the following vehicle 170 can accelerate and decelerate according to an actuator operation by the following vehicle traveling device 130 based on acceleration and brake signals, and ECU control by the following vehicle traveling device 130 Steering can be performed accordingly.

In addition, the autonomous driving function (or system) included in the following vehicle 170 may serve as a driving assistance system for safety, risk avoidance, and accident prevention while driving.

FIG. 2 is a block diagram illustrating a functional configuration of the following vehicle traveling apparatus shown in FIG. 1 .

Referring to FIG. 2 , the following vehicle traveling apparatus 130 may include a driving control information receiving unit 210 , a steering control distance calculating unit 230 , a following vehicle traveling control unit 250 , and a control unit 270 .

The driving control information receiving unit 210 may receive driving control information related to acceleration/deceleration and steering of the preceding vehicle 110 . More specifically, the driving control information receiver 210 uses the signals extracted from the acceleration, brake, and steering ECU (Electronic Control Unit) of the preceding vehicle 110 as information actually used to control the driving of the preceding vehicle 110 . can receive

The driving control information receiving unit 210 may store driving control information received from the preceding vehicle 110 for each reception time in association with the database 150 .

In one embodiment, the driving control information receiving unit 210 may start receiving the driving control information when pairing between the preceding vehicle 110 and the following vehicle 170 is successful through the exchange of encrypted identification information. .

Since the driving control information of the preceding vehicle 110 corresponds to important information directly affecting the driving of the following vehicle 170 , a countermeasure for providing the corresponding information only to an accurate target may be required.

The driving control information receiving unit 210 performs driving control from the preceding vehicle 110 when pairing is successful through a process in which identification information allocated and encrypted for each vehicle in advance is exchanged between the preceding vehicle 110 and the following vehicle 170 . information can be received.

Here, pairing may correspond to transmitting and registering mutual identification information for wireless connection between different devices.

The steering control distance calculating unit 230 may calculate the steering control distance of the following vehicle 170 based on the driving control information. Here, the steering control distance may correspond to the driving distance of the following vehicle 170 required for driving control of the following vehicle 170 , in particular, for controlling steering.

That is, when the steering information of the preceding vehicle 110 is changed, the steering control of the following vehicle 170 is not started immediately, but is started only after the following vehicle 170 moves by the steering control distance,

Such information necessary for controlling the following vehicle 170 may correspond to the steering control distance.

The steering control distance calculating unit 230 may estimate the speed of the preceding vehicle 110 based on acceleration/deceleration information of the preceding vehicle 110 included in the driving control information, and may calculate the steering control distance by using this. have.

In one embodiment, the steering control distance calculating unit 230 may include a first vehicle length of the preceding vehicle 110 , a second vehicle length of the following vehicle 170 , and a safety distance between the preceding vehicle 110 and the following vehicle 170 . can be calculated as the steering control distance.

Here, the first vehicle length may correspond to the distance from the center of the front wheel of the vehicle to the end of the vehicle, and the second vehicle length may correspond to the distance from the center of the front wheel of the vehicle to the front of the vehicle.

If the preceding vehicle 110 and the following vehicle 170 correspond to vehicles of the same model, the sum of the first vehicle length and the second vehicle length may correspond to the total length of the corresponding vehicle.

In addition, the safety distance may correspond to a distance that must be maintained for safety according to the speeds of the preceding vehicle 110 and the following vehicle 170 . That is, the safety distance may correspond to a distance for avoiding collision between the preceding vehicle 110 and the following vehicle 170 .

As such, the present invention is not limited to the described embodiments, and it is apparent to those skilled in the art that various modifications and variations can be made without departing from the spirit and scope of the present invention. Accordingly, it should be said that such modifications or variations shall fall within the scope of the claims of the present invention.

100: Autonomous driving-based trailing vehicle driving system
110, 410: preceding vehicle 130: following vehicle driving device
150: database 170, 430: following vehicle

Claims (1)

a driving control information receiver configured to receive driving control information related to acceleration/deceleration and steering of the preceding vehicle;
a steering control distance calculating unit for calculating a steering control distance of a following vehicle based on the driving control information; and
A trailing vehicle driving control unit that simultaneously controls the acceleration/deceleration of the following vehicle according to the acceleration/deceleration information of the driving control information and delays controlling the steering of the following vehicle according to the steering information of the driving control information by moving the steering control distance by the steering control distance A device for driving a following vehicle based on autonomous driving using driving control information of a preceding vehicle, including:

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