KR20220128600A - Method for platooning of vehicles - Google Patents

Abstract

The present invention relates to a platooning method of a vehicle. The platooning control method managed by a leading vehicle comprises the following steps of: starting control of a cluster based on driver's manipulation or an autonomous driving function, wherein vehicles included in the cluster are controlled based on data acquired from at least one sensor; performing vehicle-to-vehicle communication between at least one following vehicle included in the cluster and the leading vehicle included in the cluster; and receiving, by the leading vehicle, location information about the cluster from the sensor. According to the platooning method of the vehicle, platooning can be prevented from being released.

Description

METHOD FOR PLATOONING OF VEHICLES

The present invention relates to a platoon driving method of a vehicle, and more particularly, to a platoon driving method of a vehicle capable of more accurate platoon driving even in a GPS shadow area.

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

One cluster includes a leader vehicle and a follower vehicle. The leader vehicle is a vehicle that leads the group at the top of the group, and the follower vehicle is a vehicle that follows the leader vehicle.

The follower vehicle in the platoon may maintain tracking of the leader vehicle by using driving information (eg, GPS coordinates, speed, route, direction, and braking information) of the leader vehicle transmitted through vehicle-to-vehicle communication method. Accordingly, the driver of the follower vehicle can freely perform actions other than driving indoors (eg, operating a smartphone, sleeping). This platooning may increase the convenience of the driver and increase the efficiency of transportation.

On the other hand, the conventional platoon driving control is premised on being made in the GPS receiving area, but the actual platoon driving is not in the GPS receiving area, but in the GPS shadow area where GPS reception is impossible due to structures (buildings, forests, tunnels, etc.) in the driving area. It is often the case that When platoon driving is performed in the GPS shaded area, it is difficult to determine the positions of the platoon vehicles, and furthermore, if another vehicle not belonging to the driving group intervenes in the GPS shaded area, the platoon order is disturbed and the platoon operation is canceled. can be

The background technology of the present invention is disclosed in 'Swarming control system and method' of Korean Patent Registration No. 10-0957137 (2010.05.03).

The present invention was devised to solve the above-mentioned problems, and an object according to an aspect of the present invention is to enable accurate positioning even when platooning is performed in a GPS shadow area so that stable platooning can be achieved, and An object of the present invention is to provide a platooning method of a vehicle in which cancellation of platooning can be prevented by reconfiguring the arrangement of driving gangs even when platooning is disrupted due to vehicle intervention.

In a platoon driving method of a vehicle according to an aspect of the present invention, in a state in which a driving group formed of a leader vehicle and other platoon vehicles other than the leader vehicle is running in a platoon, an area in which the leader vehicle is platooning is determined by Global Positioning (GPS) System) determining whether it is a shaded area; when it is determined that the area in which the platoon is running is the GPS shaded area, each platoon vehicle belonging to the driving cluster receives first positioning data according to a predefined dead reckoning algorithm In the process of performing platooning based on the platooning based on the dead reckoning algorithm and performing platooning based on the positioning data according to the dead reckoning algorithm, whether the leader vehicle and other vehicles not belonging to the driving cluster exist in the driving cluster determining that, when it is determined that the other vehicle exists in the driving group, the other vehicle obtained through each sensing device applied to a plurality of target group vehicles determined based on the other vehicle among the respective group vehicles. verifying the reliability of the first positioning data according to the dead reckoning algorithm by using the second positioning data of the vehicle; Accordingly, the method may include performing the platoon driving by using any one of the first positioning data according to the dead reckoning algorithm and the second positioning data according to each sensing device applied to each platoon vehicle.

In the present invention, the dead reckoning algorithm is a dead reckoning (DR) algorithm, and the sensing device includes at least one of a camera sensor, an ultrasonic sensor, an infrared sensor, a radar sensor, and a lidar sensor.

In the step of verifying in the present invention, the plurality of target platoon vehicles are determined to be a first target platoon vehicle and a second target platoon vehicle respectively located in front and rear of the other vehicle among the respective platoon vehicles, and the reliability The first positioning data to be verified is distance data (D) between the first and second target platoon vehicles obtained according to the dead reckoning algorithm, and is used to verify the reliability of the first positioning data. The second positioning data includes first distance data Od1 between the other vehicle and the first target platoon vehicle and second distance data Od2 between the other vehicle and the second target platoon vehicle. do.

In the verifying step in the present invention, the reliability of the first positioning data is verified using the length information L of the other vehicle together with the first and second distance data Od1 and Od2. do.

In the present invention, in the verifying step, the difference between the distance data D and the sum of the first distance data Od1, the second distance data Od2, and the length information L of the other vehicle When it is less than a preset allowable value, it is characterized in that it is determined that the reliability of the first positioning data is verified.

In the present invention, in the step of performing the platoon driving using any one of the first positioning data and the second positioning data, each of the platoon vehicles includes the first positioning data according to the dead reckoning algorithm in the verifying step. When it is determined that the reliability is verified, it is determined that the reliability of the first positioning data according to the dead reckoning algorithm is not verified in the step of performing platooning using the first positioning data according to the dead reckoning algorithm, and performing the verification. When it is determined, group driving is performed using the second positioning data obtained through each of the sensing devices.

In the present invention, after performing group driving using any one of the first positioning data and the second positioning data, the arrangement of the driving group is reconfigured so that the leader vehicle excludes the other vehicle from the driving group. It is characterized in that it further comprises a step of making it possible.

In the present invention, in the step of reconfiguring the driving group arrangement, the leader vehicle assigns identification codes having sequential values according to the distance from the leader vehicle to the respective platoon vehicles, thereby It is characterized in that the arrangement of the driving group is reconfigured in a state in which the front and rear ranks of the respective group vehicles are maintained according to the assigned identification codes.

In the present invention, in the step of reconfiguring the arrangement of the driving group, the first driving group belonging to the first driving group among the plurality of driving groups formed separately by the other vehicles in the driving group is selected as the second driving group. The arrangement of the driving group is reconfigured by joining the vehicle, and the first group vehicle joins the second driving group while maintaining the first and second groups according to the assigned identification codes.

In the present invention, the number of first platoon vehicles belonging to the first driving group is smaller than the number of second platoon vehicles belonging to the second driving group, and the number of the first platoon vehicles and the second platoon vehicle are When the number is the same, the first driving group is a driving group driving ahead of the second driving group.

In the step of reconfiguring the arrangement of the driving group in the present invention, the last-speed platoon vehicle among the second platoon vehicles belonging to the second driving group performs deceleration to secure a space with the vehicle in front, and to secure a space with the first platoon vehicle. The vehicle joins the second driving group through the secured space.

According to one aspect of the present invention, the present invention converts the positioning method to a DR (Dead Reckoning) method when platoon driving is performed in a GPS shadow area to secure positioning precision for platoon driving, but the positioning data according to the DR method By verifying the reliability and changing the positioning data used for platoon driving according to the verification result, more stable platoon driving can be achieved. By preventing the release of driving, it is possible to improve the efficiency of platoon driving by eliminating the hassle of reconfiguring and rejoining the platoon when the platoon is released.

1 is a block diagram of a platooning device mounted on a platoon vehicle to perform a vehicle platoon driving method according to an embodiment of the present invention.
2 is a block diagram of a driving module of a group driving apparatus according to an embodiment of the present invention.
3 is a flowchart illustrating a method of group driving of vehicles according to an embodiment of the present invention.
4 and 5 are exemplary diagrams for explaining a process of verifying the reliability of the first positioning data according to the dead reckoning algorithm in the platoon driving method of a vehicle according to an embodiment of the present invention.
6 to 10 are exemplary views for explaining a process in which the arrangement of the driving group is reconfigured in the group driving method of a vehicle according to an embodiment of the present invention.

Hereinafter, a method of group driving of a vehicle according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to intentions or customs of users and operators. Therefore, definitions of these terms should be made based on the content throughout this specification.

1 is a block diagram of a platoon driving device mounted on a platoon vehicle to perform a vehicle platoon driving method according to an embodiment of the present invention, and FIG. 2 is the driving of the platoon driving device according to an embodiment of the present invention. This is the block diagram of the module.

1 and 2 , the platoon driving apparatus mounted on the platoon vehicle to perform the vehicle platoon driving method according to an embodiment of the present invention includes a communication unit 100 , a user interface unit 200 , and a control unit 300 . ) and a driving module 400 .

The communication unit 100 may transmit/receive information between platoon vehicles belonging to the driving group or through a communication network between the platoon vehicle and the server. The communication unit 100 is a WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access) ), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), and Long Term Evolution-Advanced (LTE-A) through at least one communication method. Information can be transmitted and received between vehicles or between a platoon vehicle and a server.

Also, the communication unit 100 may perform short-distance communication between group vehicles belonging to the driving group. That is, since the platoon vehicles in the platoon driving are driven while maintaining a short distance to each other, the communication unit 100 may transmit/receive various information between the platoon vehicles through short-range wireless communication. In this case, the communication unit 100 is Bluetooth (Radio Frequency Identification), infrared communication (Infrared Data Association; IrDA), UWB (Ultra Wideband), ZigBee, NFC (Near Field Communication), Wi-Fi (Wireless- Fidelity), Wi-Fi Direct, Wireless USB (Wireless Universal Serial Bus), etc. can be used to transmit and receive various information between platoon vehicles.

The user interface 200 may provide a user interface to the driver. The user interface unit 200 may receive information from the driver and input it to the control unit 300 , or may output a result according to an operation. For example, the user interface unit 200 may receive a destination input from the driver or output a route to the destination according to the operation of a navigation device (not shown) mounted on a platoon vehicle, and in this case, a POI (Point) set in the navigation system. Of Interest), etc., can be provided or various menus of navigation can be output.

The driving module 400 may drive the group vehicle based on a driver's manipulation or an autonomous driving function.

Referring to FIG. 2 , the driving module 400 includes a manipulation unit 410 that receives a driver's manipulation, a sensing unit 430 that senses the driving state and surrounding conditions of the platoon vehicle, and a driving unit 450 that drives the platoon vehicle. ) may be included.

The manipulation unit 410 may receive an input of a driver's manipulation for driving a group vehicle. In the operation unit 410 , a steering wheel that receives a steering command for steering of a platoon vehicle from a driver, a gear input unit that receives a gear operation of a platoon vehicle, an accelerator pedal that receives an acceleration command from the driver, and a deceleration command are input from the driver It may include a receiving brake pedal and the like.

The sensing unit 430 may detect the driving state of the group vehicle and surrounding conditions. The sensing unit 430 for detecting the driving state of the platoon vehicle includes a collision sensor, a steering sensor, a speed sensor, an inclination sensor, a weight sensor, a heading sensor, a yaw sensor, a gyro sensor, a position module sensor, a vehicle forward/reverse sensor, and a battery. A sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a vehicle interior temperature sensor, a vehicle interior humidity sensor, etc. may be included, and based on these, vehicle collision information, vehicle direction information, vehicle angle information, vehicle speed information, and vehicle acceleration may be included. Information, vehicle inclination information, vehicle forward/reverse information, battery information, fuel information, tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, steering wheel rotation angle, etc. can be acquired.

The sensing unit 430 for detecting the surrounding situation of the swarm vehicle may include at least one of a camera sensor, an ultrasonic sensor, an infrared sensor, a radar sensor, and a lidar sensor, and based on these, various objects or It is possible to obtain information about the surrounding situation related to the obstacle. For example, the surrounding context information may include information about the location of the obstacle, the number of obstacles, the distance to the obstacle, the size of the obstacle, the type of the obstacle, surrounding vehicles, surrounding facilities, traffic safety sign board, and the like.

In particular, the camera sensor captures an image of the surrounding vehicle to obtain information on at least one of a traffic light, a traffic sign, a pedestrian, a surrounding vehicle, and a road surface.

The driving unit 450 may control operations of various devices of the vehicle. The driving unit 450 includes a driving unit such as an engine or a transmission for driving the swarm vehicle, a steering unit for steering the swarm vehicle, a brake unit for stopping the platoon vehicle, and a lamp driving unit for guiding the driving state or driving direction of the platoon vehicle. can

On the other hand, the driving module 400 is presented as an example, and the driving module 400 includes, in addition to the manipulation unit 410 , the sensing unit 430 , and the driving unit 450 , if it is related to the driving of a group vehicle. Various systems and devices may further be included.

The control unit 300 may perform the platoon driving of the platoon vehicle by controlling the driving module 400 according to the platoon driving information received from the communication unit 100 and the user input information received from the user interface unit 200 . The movement and control of the platoon vehicles described below is performed by the controller 300 mounted on each platoon vehicle controlling the driving module 400 of each platoon vehicle, that is, the control logic of the platoon driving method described below is It is assumed that it is applied to the control unit 300 mounted on each group vehicle, respectively.

3 is a flowchart illustrating a platooning method of a vehicle according to an embodiment of the present invention, and FIGS. 4 and 5 are a first dead reckoning algorithm in the platooning method of a vehicle according to an embodiment of the present invention. It is an exemplary view for explaining a process of verifying the reliability of positioning data, and FIGS. 6 to 10 are exemplary views for explaining a process of reconfiguring the arrangement of the driving group in the group driving method of a vehicle according to an embodiment of the present invention to be.

Referring to FIG. 3 , the driving grouping method of a vehicle according to an embodiment of the present invention will be described. First, in a state in which a driving group formed of a leader vehicle and other group vehicles other than the leader vehicle is running in a group, the leader vehicle drives in a group It is determined whether the current area is a GPS (Global Positioning System) shadow area (S100). In step S100 , when a GPS satellite signal is not received through the sensing unit 430 of the leader vehicle, the leader vehicle may determine that the current driving group is driving in the GPS shadow area. When it is determined in step S100 that the area in which the platoon is driving is the GPS receiving area, each platoon vehicle performs the platooning based on the GPS according to a conventional method (S700).

When it is determined in step S100 that the area in which the platoon is running is the GPS shadow area, each platoon vehicle belonging to the driving cluster performs platooning based on first positioning data according to a predefined dead reckoning algorithm ( S200 ). Here, the dead reckoning algorithm may be a dead reckoning (DR) algorithm.

That is, when platoon driving is usually performed, the driving of each platoon vehicle is controlled based on location information of each platoon vehicle that is positioned based on the GPS signal, and when platoon driving is performed in the GPS shadow area, the positions of the platoon vehicles are determined. Since it is difficult to identify, in the present embodiment, each platoon vehicle may perform platoon driving based on first positioning data (ie, DR data) according to a DR algorithm when driving in a GPS shadow area.

In the process of performing group driving based on the positioning data according to the dead reckoning algorithm through step S200, the leader vehicle determines whether other vehicles not belonging to the driving group exist in the driving group (S300). In step S300, the leader vehicle senses a vehicle driving inside the driving group through the mounted sensing unit 430, and another vehicle without approval of the leader vehicle (that is, not subscribed to the driving group) enters the driving group. The existence of another vehicle may be determined by a method of determining whether the vehicle exists.

When it is determined in step S300 that another vehicle exists in the driving group, the second positioning data of the other vehicle obtained through each sensing device applied to a plurality of target group vehicles determined based on the other vehicle among the respective group vehicles. The reliability of the first positioning data according to the dead reckoning algorithm is verified ( S400 ). The sensing device may refer to the above-described sensing unit 430 , and accordingly, the sensing device may include one or more of a camera sensor, an ultrasonic sensor, an infrared sensor, a radar sensor, and a lidar sensor.

As is well known, since the DR algorithm operates to estimate the movement displacement based on the orientation data output from the orientation sensor such as the gyro sensor and the speed data output from the speed sensor such as the vehicle speed sensor, there is a predetermined error in the estimated movement displacement. is inherent, and therefore, it is necessary to verify the reliability of the positioning data (ie, the first positioning data) according to the dead reckoning algorithm (ie, the DR algorithm) before using it for platoon driving control. A configuration is adopted for verifying the first positioning data according to the algorithm using the second positioning data of the other vehicle acquired through each sensing device applied to the target swarming vehicle (more specifically, the second positioning data according to the dead reckoning algorithm) is adopted. 1 The general reliability of the first positioning data according to the dead reckoning algorithm is verified by verifying the reliability of the distance data D, which will be described later, included in the positioning data. 'data' is explicitly stated to mean the distance data (D) between the first and second target platoon vehicles obtained according to the dead reckoning algorithm). On the other hand, in the present embodiment, the other vehicle functions as a reference vehicle used to verify the reliability of the first positioning data in step S400, and in step S600 to be described later, the arrangement of the driving group must be excluded from the driving group in order to be reconfigured. It functions as an exclusion vehicle.

To describe step S400 in more detail, the plurality of target platoon vehicles determined based on the other vehicle may be the first target platoon vehicle and the second target platoon vehicle respectively located in front and rear of the other vehicle among the platoon vehicles. In addition, the first positioning data, the target of which reliability is verified through step S400, may be distance data D between the first and second target swarm vehicles obtained according to the dead reckoning algorithm (the distance data D is the GPS It may be determined based on GPS location data of the first and second target platoon vehicles just before entering the shadow area, and DR data of the first and second target platoon vehicles estimated in the GPS shadow area). In addition, the second positioning data used to verify the reliability of the first positioning data is the first distance data Od1 between the other vehicle and the first target platoon vehicle (sensing unit 430 mounted on the first target platoon vehicle). (eg, it may be acquired through a rear ultrasonic sensor), and second distance data Od2 between the other vehicle and the second target platoon vehicle (sensing unit 430 mounted on the second target platoon vehicle (eg, the front may be obtained through an ultrasonic sensor)).

In addition, in order to verify the reliability of the first positioning data, the above-described first and second distance data Od1 and Od2 as well as length information L of other vehicles may be considered together. Considering that specification information, such as a ratio between width and length, is known according to the model of a typical vehicle, the length information L of the other vehicle is the sensing unit 430 (eg, : It can be derived from the width information of other vehicles obtained through the front camera sensor).

Accordingly, when the difference between the sum of the first distance data Od1, the second distance data Od2, and the length information L of the other vehicle and the distance data D in step S400 is less than or equal to a preset tolerance, the first positioning It can be judged that the reliability of the data has been verified. If this is expressed as an equation, it is shown in Equation 1 below.

[ Equation 1 ]

α= |D - (Od1 + Od2 + L)| ≤ Tolerance Error: Verification of the first positioning data (D)

α= |D - (Od1 + Od2 + L)| > Tolerance Error: 1st positioning data (D) not verified

In Equation 1, Tolerance Error means an allowable value that is selected and preset in accordance with a designer's intention and a vehicle specification for reliability verification of the first positioning data.

That is, when the α value is less than or equal to the allowable value as in the case of ① of FIG. 4 , the distance between the first and second target swarm vehicles estimated according to the DR algorithm (ie, the first positioning data) is the first and second target swarms Since it means that there is no significant difference from the distance between the first and second target group vehicles measured through each sensing device of the vehicle, it may be determined that the first positioning data is reliable. On the other hand, when the α value exceeds the allowable value as in the case of ② of FIG. 4 , the distance between the first and second target swarm vehicles estimated according to the DR algorithm (ie, the first positioning data) is the first and second Since the distance and difference between the first and second target platoon vehicles measured by the respective sensing devices of the target platoon vehicle are large, it may be determined that the first positioning data is unreliable. In this case, the first positioning data is not utilized for platoon driving, and the second positioning data is the second target platoon vehicle and its subsequent vehicle (that is, the rear platoon) in the local map configured according to the sensing device as shown in FIG. 5 . ) can be used to correct the position of

Meanwhile, the subject performing step S400 may be a leader vehicle. For example, the leader vehicle includes GPS location data of the first and second target swarm vehicles just before entering the GPS shadow area, and the first estimated in the GPS shadow area. and receiving each DR data of the second target swarming vehicle from the first and second target swarming vehicles to determine the distance data D, receiving the first distance data Od1 from the first target swarming vehicle, and a second After receiving the second distance data Od2 and the length information L of the other vehicle from the target group vehicle, the reliability of the first positioning data can be verified by applying Equation 1 above to each received data. have.

After step S400, each platoon vehicle receives the first positioning data according to the dead reckoning algorithm and the second according to each sensing device applied to each platoon vehicle according to the result of verifying the reliability of the first positioning data according to the dead reckoning algorithm in step S400. Group driving is performed using any one of the two positioning data (S500).

Specifically, in step S500, when it is determined that the reliability of the first positioning data according to the dead reckoning algorithm is verified, each platoon vehicle performs platoon driving using the first positioning data according to the dead reckoning algorithm in step S200. and, when it is determined that reliability is not verified, platoon driving is performed using the second positioning data obtained through each sensing device applied to each platoon vehicle. That is, in the GPS shadow area, platoon driving is performed based on the first positioning data according to the DR algorithm through step S200, but when it is determined that the first positioning data is unreliable through step S400, platoon driving is performed in step S500 By replacing the positioning data used for platooning with the second positioning data obtained through each sensing device of each platoon vehicle, more accurate and stable platoon driving may be performed.

After step S500, the leader vehicle reconfigures the arrangement of the driving group so that other vehicles are excluded from the driving group (S600). In step S600, the leader vehicle assigns identification codes having sequential values according to the distance from the leader vehicle to each platoon vehicle (including the leader vehicle) as shown in FIG. It is possible to reconfigure the arrangement of the driving group in a state in which the front and rear ranks of each group vehicle according to . That is, the identification code assigned to the platoon vehicle functions as information serving as a basis for maintaining the front and rear ranks when the platoon vehicle moves, and accordingly, it is possible to prevent the group release due to the movement of the platoon vehicle during the maintenance of the platoon.

Specifically, the process in which the arrangement of the driving group is reconfigured through step S600. In step S600, the first group vehicle belonging to the first driving group among the plurality of driving groups formed by being separated by other vehicles in the driving group is the first 2 By joining the driving group, the arrangement of the driving group can be reconfigured. As described above, the first platoon vehicle may join the second driving group while maintaining the first and second ranks according to the assigned identification codes.

Here, the first driving group and the second driving group may be determined based on the number of group vehicles belonging to each driving group. Specifically, the first driving group and the second driving group are determined such that the number of first gang vehicles belonging to the first driving group is smaller than the number of second gang vehicles belonging to the second driving group. If the number of first platoon vehicles is equal to the number of second platoon vehicles, the first driving group is determined as a driving group driving in front of the second driving group (that is, the number of platoon vehicles belonging to each driving group is the same) Then, the driving group in the front is determined as the first driving group, and the driving group in the rear is determined as the second driving group).

Further, in step S600 , the last platoon vehicle among the second platoon vehicles belonging to the second driving group performs deceleration to secure a space with the vehicle in front, and the first platoon vehicle joins the second driving group through the secured space. can do.

Step S600 will be described in detail as an example shown in FIGS. 7 to 10 .

Referring to FIG. 7 , a driving group is formed by being separated into two driving groups by other vehicles. Since the number of platoon vehicles belonging to the front driving group is one and the number of platoon vehicles belonging to the rear driving group is two, the driving group in the front becomes the first driving group and the driving group in the rear is the second driving group In this case, the first platoon vehicle joins the second driving group for the efficiency of group maintenance. At this time, the last platoon vehicle of the second platoon vehicle performs deceleration to secure a space with the vehicle in front, and the first platoon vehicle joins the second driving group through the secured space.

Referring to FIG. 8 , a driving group is formed by being divided into two driving groups by other vehicles. Since the number of platoon vehicles belonging to the front driving group is two and the number of platoon vehicles belonging to the rear driving group is one, the driving group at the rear becomes the first driving group and the driving group in the front becomes the second driving group In this case, the first platoon vehicle joins the second driving group for the efficiency of group maintenance. At this time, the last platoon vehicle of the second platoon vehicle performs deceleration to secure a space with the vehicle in front, and the first platoon vehicle joins the second driving group through the secured space.

Referring to FIG. 9 , a driving group is formed by being separated into two driving groups by other vehicles. Since the number of platoon vehicles belonging to the front driving group is three and the number of platoon vehicles belonging to the rear driving group is two, the driving group at the rear becomes the first driving group and the driving group in the front becomes the second driving group In this case, the first platoon vehicle joins the second driving group for the efficiency of group maintenance. At this time, the last platoon vehicle of the second platoon vehicle performs deceleration to secure a space with the vehicle in front, and the first platoon vehicle joins the second driving group through the secured space.

Referring to FIG. 10 , a driving group is formed by being separated into two driving groups by other vehicles. Since the number of group vehicles belonging to each driving group in the front and rear is the same as one driving group, the driving group in the front becomes the first driving group and the driving group in the rear becomes the second driving group. In order not to interfere with the driving of other vehicles, the first platoon vehicle joins the second driving group. In this case, the last platoon vehicle of the second platoon vehicle performs deceleration to secure a space with the front vehicle, and the first platoon vehicle joins the second driving group through the secured space.

The movement of each group vehicle made in the process of reconfiguring the driving group arrangement in step S600 is made based on the first positioning data or the second positioning data according to the determination result in step S500, for example, in step S500 1 When it is determined that the reliability of the positioning data is not verified, the space secured according to the deceleration of the last platoon vehicle of the second platoon vehicle in step S600 is determined by the sensing device (eg, front ultrasonic sensor) of the second platoon vehicle. It may be identified based on the obtained second positioning data.

As such, this embodiment converts the positioning method to a DR (Dead Reckoning) method when platoon driving is performed in the GPS shadow area to secure positioning precision for platoon driving, but verifies the reliability of positioning data according to the DR method, and By changing the positioning data used for platoon driving according to the verification result, more stable platoon driving can be achieved. By doing so, it is possible to improve the efficiency of platooning by removing the hassle of reconfiguring and rejoining the platoon in advance when the platoon is cancelled.

Although the present invention has been described with reference to the embodiment shown in the drawings, this is merely exemplary, and it is understood that various modifications and equivalent other embodiments are possible by those of ordinary skill in the art. will understand Accordingly, the true technical protection scope of the present invention should be defined by the following claims.

100: communication department
200: user interface unit
300: control unit
400: driving module
410: control panel
430: sensing unit
450: driving unit

Claims (20)

In the group driving control method managed by a leader vehicle (Leading Vehicle),
starting control of the swarm based on a driver's manipulation or an autonomous driving function;
-Vehicles included in the cluster are controlled based on data obtained from at least one or more sensors-
performing inter-vehicle communication between at least one or more following vehicles included in the group and the leader vehicle included in the group; and
receiving, by the leader vehicle, location information about the group from the sensor;
A platoon driving control method managed by a leader vehicle, comprising:
According to claim 1,
the method
Based on the location information, when it is not possible to identify the location of the platoon driving area,
performing, by each platoon vehicle belonging to the driving cluster, platooning based on first positioning data according to a predefined dead reckoning algorithm;
determining, by the leader vehicle, whether another vehicle not belonging to the driving group exists in the driving group, while group driving is performed based on the positioning data according to the dead reckoning algorithm;
When it is determined that the other vehicle exists in the driving group, the second positioning of the other vehicle is obtained through each sensing device applied to a plurality of target group vehicles determined based on the other vehicle among the respective group vehicles. verifying reliability of first positioning data according to the dead reckoning algorithm using data; and
According to a result of each of the platoon vehicles verifying the reliability of the first positioning data according to the dead reckoning algorithm, the second positioning according to the first positioning data according to the dead reckoning algorithm and each sensing device applied to each platoon vehicle performing group driving using any one of the data;
The platoon driving control method managed by the leader vehicle, characterized in that it further comprises.
3. The method of claim 2,
The dead reckoning algorithm is a dead reckoning (DR) algorithm, and the sensing device includes at least one of a camera sensor, an ultrasonic sensor, an infrared sensor, a radar sensor, and a lidar sensor.
4. The method of claim 3,
In the verification step,
The plurality of target swarm vehicles are determined to be a first target swarm vehicle and a second target swarm vehicle respectively located in front and rear of the other vehicle among the respective platoon vehicles,
The first positioning data as a target for verifying the reliability is distance data (D) between the first and second target platoon vehicles obtained according to the dead reckoning algorithm,
The second positioning data used to verify the reliability of the first positioning data includes first distance data Od1 between the other vehicle and the first target platoon vehicle and between the other vehicle and the second target platoon vehicle. The platoon driving method of the vehicle, characterized in that it includes the second distance data (Od2).
5. The method of claim 4,
In the verification step,
and verifying the reliability of the first positioning data by using the length information (L) of the other vehicle together with the first and second distance data (Od1, Od2).
6. The method of claim 5,
In the verification step,
When the difference between the sum of the first distance data Od1, the second distance data Od2, and the length information L of the other vehicle and the distance data D is less than or equal to a preset tolerance, the first positioning data A platoon driving method of a vehicle, characterized in that it is determined that the reliability of the vehicle is verified.
4. The method of claim 3,
In the step of performing platoon driving using any one of the first positioning data and the second positioning data, each platoon vehicle includes:
When it is determined in the verifying that the reliability of the first positioning data according to the dead reckoning algorithm is verified, performing a platooning operation using the first positioning data according to the dead reckoning algorithm;
When it is determined in the verifying that the reliability of the first positioning data according to the dead reckoning algorithm is not verified, the group driving is performed using the second positioning data obtained through the respective sensing devices. How to platoon vehicles.
3. The method of claim 2,
after performing group driving using any one of the first positioning data and the second positioning data, causing the leader vehicle to reconfigure the arrangement of the driving group so that the other vehicle is excluded from the driving group; The platoon driving method of the vehicle, characterized in that it further comprises.
9. The method of claim 8,
In the step of allowing the arrangement of the driving group to be reconfigured, the leader vehicle,
By assigning identification codes having sequential values according to the distance from the leader vehicle to the platoon vehicles, the driving in a state in which the front and rear ranks of each platoon vehicle according to the identification codes respectively assigned to each platoon vehicle are maintained. A platoon driving method of a vehicle, characterized in that the arrangement of the platoon is reconfigured.
10. The method of claim 9,
In the step of allowing the arrangement of the driving cluster to be reconfigured,
A first driving group belonging to a first driving group from among a plurality of driving groups formed by being separated by the other vehicles in the driving group joins a second driving group, the arrangement of the driving group is reconfigured, The vehicle group driving method according to claim 1, wherein the vehicles join the second driving group while maintaining the first and second ranks according to the assigned identification codes.
In the group driving control device managed by a leader vehicle (Leading Vehicle),
a control unit for group control based on a driver's manipulation or an autonomous driving function;
-Vehicles included in the cluster are controlled based on data obtained from at least one or more sensors-
a communication unit for communicating between at least one or more follower vehicles included in the group and the leader vehicle included in the group; and
The leader vehicle may include: a communication unit configured to transmit location information about the group from the sensor;
Group driving control device of the vehicle, characterized in that it comprises a.
12. The method of claim 11,
the device is
Based on the location information, when it is not possible to identify the location of the platoon driving area,
Each platoon vehicle belonging to the driving cluster performs platooning based on first positioning data according to a predefined dead reckoning algorithm, and
In a process in which group driving is performed based on the positioning data according to the dead reckoning algorithm, the leader vehicle determines whether another vehicle not belonging to the driving group exists in the driving group;
When it is determined that the other vehicle exists in the driving group, the second positioning of the other vehicle is obtained through each sensing device applied to a plurality of target group vehicles determined based on the other vehicle among the respective group vehicles. verifying reliability of the first positioning data according to the dead reckoning algorithm using the data; and
According to a result of each of the platoon vehicles verifying the reliability of the first positioning data according to the dead reckoning algorithm, the second positioning according to the first positioning data according to the dead reckoning algorithm and each sensing device applied to each platoon vehicle performing platooning using any one of the data,
The platooning control unit of the vehicle.
13. The method of claim 12,
The dead reckoning algorithm is a dead reckoning (DR) algorithm, and the sensing device includes at least one of a camera sensor, an ultrasonic sensor, an infrared sensor, a radar sensor, and a lidar sensor.
14. The method of claim 13,
The plurality of target swarm vehicles are determined to be a first target swarm vehicle and a second target swarm vehicle respectively located in front and rear of the other vehicle among the respective platoon vehicles,
The first positioning data as a target for verifying the reliability is distance data (D) between the first and second target platoon vehicles obtained according to the dead reckoning algorithm,
The second positioning data used to verify the reliability of the first positioning data includes first distance data Od1 between the other vehicle and the first target platoon vehicle and between the other vehicle and the second target platoon vehicle. The platoon driving control device of the vehicle, characterized in that it includes the second distance data (Od2).
15. The method of claim 14,
A group driving control apparatus for a vehicle in which reliability of the first positioning data is verified by using the length information L of the other vehicle together with the first and second distance data Od1 and Od2.
16. The method of claim 15,
the device is
When the difference between the sum of the first distance data Od1, the second distance data Od2, and the length information L of the other vehicle and the distance data D is less than or equal to a preset tolerance, the first positioning data A vehicle platoon driving control device that determines that the reliability of the vehicle has been verified.
14. The method of claim 13,
Each of the platoon vehicles is
When it is determined that the reliability of the first positioning data according to the dead reckoning algorithm is verified, performing group driving using the first positioning data according to the dead reckoning algorithm;
When it is determined that the reliability of the first positioning data according to the dead reckoning algorithm is not verified, the platoon driving control apparatus of a vehicle performs platoon driving using the second positioning data obtained through the respective sensing devices.
13. The method of claim 12,
After group driving is performed using any one of the first positioning data and the second positioning data, group driving of the leader vehicle in which the arrangement of the driving group is reconfigured so that the other vehicle is excluded from the driving group controller.
19. The method of claim 18,
The leader vehicle,
By assigning identification codes having sequential values according to the distance from the leader vehicle to the platoon vehicles, the driving in a state in which the front and rear ranks of each platoon vehicle according to the identification codes respectively assigned to each platoon vehicle are maintained. A platoon driving control device for a vehicle, characterized in that the arrangement of the platoon is reconfigured.
20. The method of claim 19,
A first driving group belonging to a first driving group from among a plurality of driving groups formed by being separated by the other vehicles in the driving group joins a second driving group, the arrangement of the driving group is reconfigured, The vehicle group driving control apparatus according to claim 1, wherein the vehicle joins the second driving group while maintaining the first and second ranks according to the assigned identification codes.

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