KR20220131210A - Method for controlling platooning and apparatus thereof - Google Patents

Abstract

The present invention relates to a method for controlling platooning and an apparatus therefor. The method for controlling platooning, according to an embodiment of the present invention comprises: a platooning control step of controlling platooning of a driving cluster by a leader vehicle belonging to the driving cluster so that the distance between vehicles in each cluster determined based on the driving speed of the driving cluster is maintained; a collision risk determination step of determining, but the leader vehicle, at least one of a risk of collision with a front object located in front of the leader vehicle and the presence or absence of another vehicle intervening into the driving cluster in a state in which the platooning of the driving cluster is performed; and a collision avoidance control step of controlling, by the leader vehicle, braking of each vehicle of the cluster or variably controlling an inter-vehicle distance between each vehicle in the cluster based on a determination result of at least one of the risk of collision with the forward object and the presence or absence of the other vehicle intervening into the driving cluster, wherein the leader vehicle divides, based on the presence of other vehicles intervening into the driving cluster, the driving cluster into first and second driving groups and allows the other vehicle to intervene into the driving cluster, and then arranges the ranks of the driving cluster.

Description

Method and apparatus for platoon driving control {METHOD FOR CONTROLLING PLATOONING AND APPARATUS THEREOF

The present invention relates to a group driving control method and apparatus, and more particularly, to a group driving control method and apparatus for avoiding a collision between a forward object or another vehicle and a driving group.

In general, group driving 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). By such group driving, the convenience of the driver may be increased and the efficiency of transportation may be increased.

Meanwhile, in the process of platoon driving, it is necessary to perform emergency braking to avoid collision with a front obstacle located in front of the leader vehicle. it will work However, when the inter-vehicle distance between each platoon vehicle is not secured to the level of the braking distance required for emergency braking, there is a problem in that a continuous collision between the driving platoon vehicles occurs. Furthermore, the conventional braking control method of platoon driving limits the collision risk object to the front obstacle in front of the leader vehicle, so there is a limitation in that consideration of various environmental factors that may cause a collision in the platoon driving process is excluded. .

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 problems, and an object according to an aspect of the present invention is to adopt a platoon driving method that is actively controlled with respect to various environmental factors that cause a collision in the process of platoon driving. It is an object of the present invention to provide a method and apparatus for controlling platoon driving capable of avoiding collisions caused during platoon driving.

In a platoon driving control method according to an aspect of the present invention, a leader vehicle belonging to the driving cluster controls the platoon driving of the driving cluster so that the inter-vehicle distance between each platoon vehicle determined based on the driving speed of the driving cluster is maintained. The driving control step and the leader vehicle determine at least one of the risk of collision with a front object located in front of the leader vehicle and the presence of other vehicles intervening into the driving group in a state in which group driving of the driving group is performed and the leader vehicle controls the braking of each group vehicle based on the determination result of at least one of the risk of collision with the front object and the existence of the other vehicle intervening into the driving group or a collision avoidance control step of variably controlling the inter-vehicle distance between the respective groups of vehicles, wherein the leader vehicle divides the driving groups into first and second driving groups based on the presence of other vehicles intervening in the driving group. After separating and allowing the other vehicle to intervene into the driving group, it is characterized in that the rank of the driving group is maintained.

In an embodiment, the first driving group and the second driving group may be determined based on the number of platoon vehicles included in each driving group, and a driving group having a large number of platoon vehicles may be determined as the second driving group.

In an embodiment, the first driving group may be joined to the second driving group according to the control of the leader vehicle, so that the rank of the driving group may be maintained.

In an embodiment, the speed of the rearmost group vehicle of the second driving group may be decelerated and controlled to secure a space for the other vehicle to enter the driving group.

In an embodiment, the leader vehicle may allocate an identification code to the platoon vehicle belonging to the first driving group, and the identification code may be allocated to have sequential values based on a distance from the leader vehicle.

In an embodiment, an order of joining the platoon vehicles included in the first driving group into the second driving group may be determined based on the assigned identification code.

For example, when the number of group vehicles belonging to each of the first to second driving groups is the same, the front driving group may be determined as the second driving group and the rear driving group may be determined as the first driving group.

For example, when the number of group vehicles belonging to each of the first to second driving groups is the same, the driving group to which the leader vehicle belongs may be determined as the first driving group.

In an embodiment, when there is a risk of collision with the front object and there is another vehicle intervening into the driving group, the leader vehicle performs prefill control to prevent collision with the front object for the forward driving group. and may perform deceleration control for the rear driving group.

In an embodiment, when there is no risk of collision with the front object and there is another vehicle intervening into the driving group, the leader vehicle is determined based on the location of the other vehicle intervening into the driving group By reducing the distance between the front driving group and the rear driving group, it is possible to prevent the other vehicles from being merged into the driving group.

A leader vehicle equipped with a platoon driving control function according to another aspect includes a communication unit that communicates with other platoon vehicles included in the driving group, a sensing unit that acquires sensing information using the provided sensor, and the sensing information and the cluster. and a control unit that determines the risk of collision with a front object and the presence of another vehicle intervening into the driving group based on at least one of information collected from the vehicle, wherein the control unit is configured to determine whether there is another vehicle intervening inside the driving group, Control to maintain the inter-vehicle distance between each determined group vehicle, and determine at least one of the risk of collision with the front object and the presence of other vehicles intervening inside the driving group in a state in which the group driving of the driving group is performed, , control the braking of each platoon vehicle or vary the inter-vehicle distance between each platoon vehicle based on a determination result of at least one of the risk of collision with the front object and the presence of the other vehicle intervening into the driving group control, but based on the existence of another vehicle intervening into the driving group, the controller divides the driving group into first and second driving groups to allow the other vehicle to intervene into the driving group, and then It is characterized in that the ranks of the driving group are maintained.

In an embodiment, the first driving group and the second driving group may be determined based on the number of platoon vehicles included in each driving group, and a driving group having a large number of platoon vehicles may be determined as the second driving group.

In an embodiment, the control unit may control the first driving group to join the second driving group, so that the ranks of the driving group may be maintained.

In an embodiment, the controller may control the speed of the rearmost platoon vehicle of the second driving group to be decelerated to secure a space for the other vehicle to enter the driving platoon.

In an embodiment, the control unit may allocate an identification code to the platoon vehicle belonging to the first driving group, and the identification code may be allocated to have sequential values based on a distance from the leader vehicle.

In an embodiment, an order of joining the platoon vehicles included in the first driving group into the second driving group may be determined based on the assigned identification code.

For example, when the number of group vehicles belonging to each of the first to second driving groups is the same, the front driving group may be determined as the second driving group and the rear driving group may be determined as the first driving group.

For example, when the number of group vehicles belonging to each of the first to second driving groups is the same, the driving group to which the leader vehicle belongs may be determined as the first driving group.

In an embodiment, when there is a risk of collision with the front object and there is another vehicle intervening inside the driving group, the control unit performs prefill control for the forward driving group to prevent collision with the forward object and the deceleration control may be performed for the rear driving group.

In an embodiment, when there is no risk of collision with the front object and there is another vehicle intervening into the driving group, the control unit is determined based on the location of the other vehicle intervening into the driving group By controlling the distance between the front driving group and the rear driving group to be reduced, it is possible to prevent the other vehicle from being merged into the driving group.

According to one aspect of the present invention, the present invention determines the intervention of another vehicle into the driving group along with the risk of collision with a front object in the process of performing platoon driving, and according to the determination result, brakes or intervehicle of each platoon vehicle By controlling the distance, it is possible to effectively prevent collisions caused during group driving.

1 is a block diagram of a platoon driving control apparatus mounted on a platoon vehicle to perform a platoon driving control method according to an embodiment of the present invention.
2 is a block diagram of a driving module of a group driving control apparatus according to an embodiment of the present invention.
3 and 4 are flowcharts for explaining a group driving control method according to an embodiment of the present invention.
5 to 12 are exemplary views illustrating a process in which the driving of the driving group is controlled in the collision avoidance control step of the group driving control method according to an embodiment of the present invention.

Hereinafter, a method and apparatus for controlling group driving 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 control apparatus mounted on a platoon vehicle to perform a platoon driving control method according to an embodiment of the present invention.

2 is a block diagram of a driving module of a group driving control apparatus according to an embodiment of the present invention.

1 and 2 , a platoon driving control apparatus mounted on a platoon vehicle to perform a platoon driving control 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. The manipulation unit 410 includes a steering wheel that receives a steering command for steering of a platoon vehicle from the driver, a gear input unit that receives a gear manipulation of the platoon vehicle, an accelerator pedal that receives an acceleration command from the driver, and a deceleration command that receives a deceleration command from the driver A brake pedal and the like may be included.

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, an ultrasonic sensor, an infrared sensor, a radar, and a lidar. You can obtain information about the surrounding situation. 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 captures an image around the platoon vehicle to obtain information about 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 , as long as it is related to the driving of a group vehicle, various systems and devices may be further 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 of the platoon vehicle described below is performed by the controller 300 mounted on each platoon vehicle controlling the driving module 400, and the control operation of the leader vehicle described below is performed by the controller 300 mounted on the leader vehicle. ) is performed in such a way that a control command is sent to each platoon vehicle.

In this embodiment, the control unit 300 controls the platoon driving of the driving group so that the inter-vehicle distance between each platoon vehicle determined based on the driving speed of the driving group is maintained, and in a state where the platoon driving of the driving group is performed, in front of the leader vehicle It determines whether there is a risk of collision with the located front object or other vehicles intervening inside the driving group, and controls the braking of each group vehicle based on the result of determining the risk of collision with the front object or whether other vehicles exist. It is possible to variably control the inter-vehicle distance between each group vehicle.

Based on the above-described configuration, a method for controlling group driving according to an embodiment of the present invention will be described below.

3 and 4 are flowcharts for explaining a platoon driving control method according to an embodiment of the present invention, and FIGS. 5 to 12 are driving in the collision avoidance control step of the platoon driving control method according to an embodiment of the present invention. It is an exemplary diagram showing a process in which the driving of the group is controlled.

The group driving control method according to an embodiment of the present invention will be described with reference to FIG. 3 . First, in order to maintain the inter-vehicle distance between the respective group vehicles L and F, which is determined based on the driving speed of the driving group, it belongs to the driving group. The leader vehicle L controls the platoon driving of the driving group (S100, platoon driving control step).

In step S100 , the leader vehicle may maintain the driving speed of the driving group to be less than or equal to a preset speed limit. The above-mentioned speed limit may mean a prescribed speed limit of a road currently being driven, and may be obtained from a navigation device installed in the leader vehicle. In addition, since it is necessary to secure a sufficient braking distance for driving safety as the driving speed of the driving group increases, in step S100, the leader vehicle determines the inter-vehicle distance between vehicles in the driving group so as to be proportional to the driving speed of the driving group to conduct group driving. can be controlled That is, in step S100, the leader vehicle may control the platoon driving in such a way that the driving speed of the driving group is adjusted in a range below the speed limit, and an inter-vehicle distance of each group vehicle is secured in proportion to the adjusted driving speed.

In the state in which the platoon driving of the driving group is performed according to step S100, the leader vehicle determines whether there is a risk of collision with a front object located in front or another vehicle O intervening into the driving group (S200, collision risk) judgment stage). The front object may correspond to another vehicle in front driving in front of the leader vehicle or a fixed obstacle in front.

That is, since the collision of the driving group may be caused not only by a front object in front of the leader vehicle but also by other vehicles intervening into the driving group, the leader vehicle may collide with a front object in front of the leader vehicle in order to perform collision avoidance control, which will be described later. The risk of collision and the existence of other vehicles intervening inside the driving group are determined in advance. In this case, when the time to collision (TTC) with the front object detected through the sensing unit 430 is less than or equal to a preset threshold, the leader vehicle may determine that there is a risk of collision with the front object. In addition, the leader vehicle senses a vehicle located inside the driving group and close to the driving group through the sensing unit 430 , and drives in a manner that detects a vehicle without approval of the leader vehicle (that is, does not join the driving group) It can be determined whether there is another vehicle intervening inside the group.

Then, the leader vehicle controls the braking of each platoon vehicle or variably controls the inter-vehicle distance between each platoon vehicle based on the result of determining whether there is a risk of collision with the front object or other vehicles in step S200 (S300, collision avoidance control) step). The inter-vehicle distance between each platoon vehicle that is variably controlled in step S300 may be controlled according to first to third distances defined in order of increasing size (a detailed description thereof will be described later), and FIGS. 5 to 12 for better understanding. The sizes of the first to third distances are indicated by the number of squares. The sizes of the first to third distances may be variously designed according to a designer's intention and may be preset in the controller 300 .

The collision avoidance control in step S300 is divided into four cases as shown in FIG. 4 according to whether there is a risk of collision with the front object and whether there is another vehicle intervening into the driving group. The collision avoidance control method for each case will be described in detail.

First, if it is determined in step S200 that there is a risk of collision with the object in front, as shown in FIG. 5 , the leader vehicle causes each platoon vehicle to perform prefill control for emergency braking, and The inter-vehicle distance is maintained as the first distance (S310).

That is, when there is a risk of collision between the leader vehicle and the object in front, it is necessary for the entire platoon vehicle to prepare emergency braking for mutual collision avoidance, and it is also necessary to secure a sufficient inter-vehicle distance for emergency braking. The vehicle allows each platoon vehicle to perform prefill control for emergency braking (it may be defined so that a braking hydraulic pressure of 1.5 bar to 2.0 bar is formed by the master cylinder according to the prefill control), and the inter-vehicle distance between the platoon vehicles is limited. The first distance having a value greater than the second and third distances may be maintained.

Next, when it is determined in step S200 that there is a risk of collision with the front object and another vehicle intervening into the driving group, the leader vehicle is separated by the other vehicle intervening into the driving group as shown in FIG. 6 . The driving of the first and second driving groups that are formed through the process is independently controlled (S320).

As will be described later, the first and second driving groups are determined by the number of group vehicles belonging to each driving group, and in the example of FIG. 6 , the first driving group is determined as a front driving group, and the second driving group is a driving group in the rear determined in groups. In this case, in the first driving group, control for avoiding collision with a front object should be prioritized, and in the second driving group, control for avoiding collision with other intervening vehicles should be prioritized. When the risk of collision and another vehicle intervening into the driving group exist at the same time, the leader vehicle can avoid collision with a front object for the first driving group and with other intervening vehicles for the second driving group. The driving of the first and second driving groups is independently controlled so that a collision can be avoided.

Specifically, in step S320, the leader vehicle performs prefill control for emergency braking for each group vehicle belonging to a driving group located in the front of the first and second driving groups (that is, a driving group to which the leader vehicle belongs), Each group vehicle belonging to a driving group located at the rear of the first and second driving groups may perform deceleration control to cause other vehicles to intervene.

That is, when there is a risk of collision between the leader vehicle and the front object, each platoon vehicle belonging to the driving group in front needs to prepare emergency braking for mutual collision avoidance. It is possible to make the vehicle perform prefill control for emergency braking. In addition, in order to allow the intervention of other vehicles in the rear driving group to avoid collisions with other vehicles, deceleration control for each group vehicle belonging to the rear driving group to be intervened by other vehicles is performed. can In this case, in order to secure a sufficient braking distance, the leader vehicle may maintain the inter-vehicle distance of each group vehicle belonging to the first and second driving groups as the first distance.

On the other hand, since the leader vehicle controls to avoid a collision with other vehicles in a way that allows other vehicles to intervene into the driving group, in subsequent platoon driving control, the follower vehicle controls the leader vehicle by the intervening other vehicle. A follow-up situation in which the platoon driving is canceled may occur as the platoon ranks are disturbed by not being able to follow properly. Therefore, it is necessary to prevent the group running from being released by other vehicles intervening into the driving group.

To this end, the present embodiment adopts a configuration in which the group ranks are maintained by controlling the first platoon vehicle belonging to the first driving group to join the second driving group after another vehicle intervenes into the driving group.

The first and second driving groups are determined by the number of platoon vehicles belonging to each driving group. Hereinafter, each platoon vehicle belonging to the first driving group is defined as a first platoon vehicle, and each platoon belonging to the second driving group is defined. A vehicle is defined as a second platoon vehicle. As will be described later, the number of first platoon vehicles belonging to the first driving group may be smaller than the number of second platoon vehicles belonging to the second driving group. That is, the driving group to which the smaller number of platoon vehicles belongs among the first and second driving groups is determined as the first driving group, and the driving group to which the larger number of platoon vehicles belongs is determined as the second driving group. When the number of first platoon vehicles is equal to the number of second platoon vehicles, the first driving group is determined as the driving group to which the leader vehicle belongs (ie, the driving group in front).

When describing the platoon maintenance process in detail based on the above, first, the leader vehicle assigns identification codes having sequential values according to the distance from the leader vehicle to the first platoon vehicle that will join the second driving group. . The identification code assigned to the first platoon vehicle functions as information serving as a basis for maintaining the first and second platoon while the first platoon vehicle moves to join the second driving group, and accordingly, the platoon vehicle movement during group maintenance Disengagement due to this can be prevented.

Then, the leader vehicle causes the last platoon vehicle among the second platoon vehicles belonging to the second driving group to decelerate to secure a space with the vehicle in front, and the first platoon vehicle enters the second driving group through the secured space. to join

A process in which the first group vehicle of the first driving group joins the second driving group will be described in detail with the examples 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 divided 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 group vehicle joins the second driving group. 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.

When the first platoon vehicle joins the second driving group, it joins while maintaining the front and rear ranks according to the identification code assigned by the leader vehicle. Accordingly, in the process of joining the second driving group, the first platoon vehicle can maintain a rank with each other, and thus the disengagement of the rank can be prevented.

Next, when it is determined in step S200 that there is no risk of collision with the front object and no other vehicle intervening inside the driving group, as shown in FIG. 11 , in the leader vehicle, the inter-vehicle distance between each group vehicle is the second distance. to be maintained (S330).

That is, if there is no risk of collision with the front object and no other vehicles intervening inside the driving group, normal platoon driving control is performed. The inter-vehicle distance may be maintained as the second distance having a smaller value than the first distance. However, considering that the leader vehicle controls the platoon driving by determining the inter-vehicle distance between each platoon vehicle to be proportional to the driving speed of the driving platoon in step S100 as described above, compared to step S100, each platoon vehicle in step S330 As a condition for starting control of the leader vehicle so that the inter-vehicle distance is maintained at the second distance, a condition in which another vehicle exists within a set distance from the driving group (that is, the possibility that another vehicle near the driving group intervenes into the driving group) if there is) may be applied.

Next, when it is determined in step S200 that there is no risk of collision with the front object and it is determined that there is another vehicle intervening inside the driving group, as shown in FIG. 12 , the leader vehicle is inside the driving group. The distance between the first and second driving groups divided based on the point at which the other vehicle intervenes is maintained at the third distance (S340). Here, the first driving group may be defined as a driving group to which the leader vehicle belongs (distinct from the first and second driving groups indicated to describe the group maintenance process in step S320).

That is, in the example of FIG. 12 , the leader vehicle maintains the interval between the first and second driving groups at a third distance having a smaller value than the first and second distances to prevent the intervention of other vehicles, thereby canceling the group rank. can be prevented Meanwhile, in preparation for a collision due to excessive intervention of another vehicle, the leader vehicle may cause the lead vehicle of each group vehicle belonging to the second driving group to perform prefill control for emergency braking.

As described above, this embodiment determines the intervention of other vehicles into the driving group along with the risk of collision with the front object in the process of platoon driving, and controls the braking or inter-vehicle distance of each platoon vehicle according to the determination result, Collision caused during group driving can be effectively prevented.

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 (15)

In the group driving control method,
A step of communicating between the vehicle leader (Leading Vehicle) and the follower vehicle (Following Vehicle); and
Including; by the leader vehicle controlling the follower vehicles based on the information obtained through the vehicle-to-vehicle communication;
The controlling step is
controlling the platooning so that the distance between vehicles increases in proportion to the speed,
A platoon driving control method.
The method according to claim 1,
The information is
including vehicle acceleration information, vehicle speed information and vehicle direction information,
A platoon driving control method.
3. The method according to claim 2,
The controlling step is
controlling the speed of the driving group at the speed set by the leader vehicle,
A platoon driving control method.
4. The method of claim 3,
The controlling step is
a collision risk determination step in which the leader vehicle determines whether there is a risk of collision with a front object located in front of the leader vehicle or another vehicle intervening into the driving group in a state in which the group driving of the driving group is performed; and
A collision avoidance control step in which the leader vehicle controls the braking of each platoon vehicle or variably controls the inter-vehicle distance between each platoon vehicle based on a result of determining the risk of collision with the front object or the presence of the other vehicle ; Group driving control method further comprising.
5. The method according to claim 4,
The group driving control method according to claim 1, wherein the inter-vehicle distance variably controlled in the collision avoidance control step is controlled according to first to third distances defined in order of increasing magnitude.
6. The method of claim 5,
The collision avoidance control step includes:
When it is determined that there is a risk of collision with the front object, the leader vehicle causes each platoon vehicle to perform prefill control for emergency braking, and the inter-vehicle distance between each platoon vehicle becomes the first distance. A platoon driving control method comprising: maintaining;
7. The method of claim 6,
The collision avoidance control step includes:
When it is determined that there is a risk of collision with the front object and another vehicle intervening into the driving group, the leader vehicle is first and second formed separately by another vehicle intervening into the driving group. The group driving control method comprising: independently controlling the driving of the driving group.
8. The method of claim 7,
In the independently controlling step, the leader vehicle,
Each platoon vehicle belonging to the forward driving group among the first and second driving groups performs prefill control for emergency braking, and each platoon vehicle belonging to the rear driving group among the first and second driving groups is to perform deceleration control to cause the other vehicle to intervene, and to maintain an inter-vehicle distance of each platoon vehicle belonging to the first and second driving groups to be the first distance.
9. The method of claim 8,
In the independently controlling step, the leader vehicle,
and controlling the first group vehicle belonging to the first driving group to join the second driving group after the other vehicle intervenes into the driving group.
10. The method of claim 9,
If 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 is equal to the number of the second platoon vehicles, the The first driving group is a driving group to which the leader vehicle belongs.
11. The method of claim 10,
In the independently controlling step, the leader vehicle,
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. Group driving control method of a vehicle, characterized in that to do so.
12. The method of claim 11,
In the independently controlling step, the leader vehicle,
By assigning identification codes having sequential values according to the distance from the leader vehicle to the first platoon vehicles, the first platoon vehicles join the second driving group while maintaining the first and subsequent ranks according to the assigned identification codes. Group driving control method of a vehicle, characterized in that to do so.
6. The method of claim 5,
The collision avoidance control step includes:
When it is determined that there is no risk of collision with the front object and no other vehicle intervening into the driving group, the leader vehicle maintaining the inter-vehicle distance between the respective group vehicles as the second distance; Group driving control method comprising the.
6. The method of claim 5,
The collision avoidance control step includes:
When it is determined that there is no risk of collision with the front object and it is determined that there is another vehicle intervening into the driving group, the leader vehicle is the point at which the other vehicle intervenes into the driving group and maintaining the distance between the first and second driving groups divided based on the third distance, wherein the first driving group is a driving group to which the leader vehicle belongs. A platoon driving control method.
15. The method of claim 14,
In the step of maintaining the third distance, the leader vehicle,
The platoon driving control method of claim 1, wherein a leading vehicle among platoon vehicles belonging to the second driving group performs prefill control for emergency braking.

Images