KR20230033202A - Controlling Method of Driving of automobile and Supporting device supporting the same - Google Patents

Abstract

Disclosed are a vehicle driving support method and a vehicle driving support apparatus using the same. The vehicle driving support method of the present invention comprises the following steps of: collecting vehicle information of a plurality of vehicles located in a vehicle driving management area defined as a communication range of a roadside base station; storing the collected vehicle information; identifying a vehicle which needs to be overtaken based on the stored vehicle information; and regulating a speed of an overtaking vehicle and vehicles around the overtaking vehicle in relation to an overtaking performance of the overtaking vehicle. Provided are a vehicle driving control method supporting safe road driving and the vehicle support apparatus supporting the same.

Description

Vehicle driving control method and vehicle support device supporting the same {Controlling Method of Driving of automobile and Supporting device supporting the same}

The present invention relates to vehicle driving control, and more particularly, to a vehicle driving control method for controlling the driving of a vehicle according to the presence or absence of a rear vehicle in a driving state, and a vehicle support device supporting the same.

Conventional vehicles use various sensors such as radar, lidar, and camera for collision warning, avoidance, and prevention. Although these various sensors are used to prepare for accidents, there is a limit to preparing for all the complex environments of the city only with control using sensors. In particular, when overtaking between vehicles is considered, it is necessary to collect various information such as the surrounding environment of the vehicle, the next lane and the road environment in front of the vehicle as well as the vehicle itself, and control based thereon. In addition, in terms of using and maintaining various sensors mounted on conventional vehicles, it can be a burden in terms of cost.

The present invention addresses the above-mentioned conventional problems, for example, the present invention is based on information collected in relation to vehicles to ensure the safety of vehicles equipped with only GPS and communication modules within a range capable of communicating with RSU (road side units). An object of the present invention is to provide a vehicle driving control method for supporting safe driving on a road and a vehicle support device supporting the same.

Another object of the present invention is to provide a vehicle driving control method and a vehicle support device supporting the vehicle driving control method capable of ensuring the safety of all traveling vehicles by controlling deceleration of rear vehicles according to overtaking or a speed change of a preceding vehicle.

A vehicle driving control method according to an embodiment of the present invention includes the steps of collecting vehicle information of a plurality of vehicles located in a vehicle driving management area defined by the communication range of a roadside base station, storing the collected vehicle information, and storing the stored vehicle information. identifying a vehicle that needs to be overtaken based on vehicle information, and adjusting the speed of the vehicle that needs to overtake and the vehicles around the vehicle that needs to overtake in relation to the overtaking of the vehicle that needs to overtake to be

Here, the collecting may include collecting vehicle identification information of vehicles capable of communicating with the roadside base station, vehicle current location information, and vehicle speed information.

In addition, the checking step may include overtaking a rear vehicle in which the vehicle distance between the front vehicle and the rear vehicle is equal to or less than a specified first distance and the difference between the movement speed of the front vehicle and the movement speed of the rear vehicle is equal to or greater than a first value. It is characterized in that it includes the step of determining as a vehicle.

Meanwhile, the step of adjusting the speed may include increasing the speed of the overtaking vehicle after the overtaking has been performed, and if the distance between the overtaking completed vehicle and the rear vehicle of the overtaking completed vehicle is equal to or greater than a specified first distance, the overtaking completed vehicle and adjusting the speed to a set speed.

Alternatively, the adjusting the speed may include decelerating the speed of a vehicle behind the overtaken vehicle after the overtaking has been performed so that the speed of the vehicle behind the overtaken vehicle is reduced when the distance between the overtaken vehicle and the rearward vehicle is equal to or greater than a specified first distance. It characterized in that it includes the step of adjusting to the set speed.

In addition, the adjusting of the speed may include, when there is a surrounding vehicle on the virtual overtaking path of the vehicle that needs to overtake, decelerating or accelerating the speed of the surrounding vehicle so that the surrounding vehicle and the virtual overtaking path do not overlap. It is characterized by including steps.

An apparatus for supporting vehicle driving according to an embodiment of the present invention includes a server communication unit communicating with a road wall base station, a server storage unit storing information received through the server communication unit, and a server functionally connected to the server communication unit and the server storage unit. The server control unit includes a control unit, wherein the server control unit includes a collection module for collecting vehicle information of a plurality of vehicles located in a vehicle driving management area defined by a communication range of a roadside base station, and resource configuration management for storing and managing the collected vehicle information in a database. module, a resource state management module that identifies a vehicle that needs to be overtaken based on the stored vehicle information, and controls the speed of the overtaking vehicle and surrounding vehicles in relation to the overtaking performance of the vehicle that needs to be overtaking It is characterized in that it includes a stability management module that performs necessary calculations, and a control module that transmits the calculated speed adjustment value to the overtaking vehicle and the surrounding vehicles to adjust the speed.

Here, the server control unit collects vehicle identification information, current location information of vehicles, and vehicle speed information of vehicles capable of communicating with the roadside base station, and a vehicle distance between a front vehicle and a rear vehicle is less than or equal to a specified first distance, A rear vehicle having a difference between the moving speed of the preceding vehicle and the moving speed of the rear vehicle being equal to or greater than a first value may be determined as the vehicle requiring overtaking.

Meanwhile, the server control unit increases the speed of the overtaking vehicle after performing the overtaking driving, and then, when the distance between the overtaking vehicle and the rear vehicle of the overtaking vehicle is equal to or greater than a specified first distance, increases the speed of the overtaking vehicle. or by reducing the speed of the vehicle behind the overtaken vehicle after the overtaking has been performed, so that the speed of the vehicle behind the overtaken vehicle is reduced to the set speed when the distance between the overtaken vehicle and the rear vehicle is equal to or greater than a specified first distance. characterized by control.

Alternatively, the server control unit, when there is a surrounding vehicle on the virtual overtaking route of the vehicle requiring overtaking, decelerates or accelerates the speed of the surrounding vehicle to control the surrounding vehicle and the virtual overtaking route so that they do not overlap. do.

According to the vehicle driving control method according to the present invention and the vehicle support device supporting the same, the present invention secures road safety through communication with the RSU using only a GPS module and network communication equipment without various high-performance Lidar, Radar, and Camera, thereby arranging sensors. And it can reduce the cost required for maintenance.

In addition, the present invention can secure more improved vehicle driving safety through the overall management of the road using the RSU, and can support the efficient operation of the road.

In addition, the present invention can support the safe driving of all vehicles using the road more efficiently through the speed change vehicle control and the rear vehicle control by the RSU.

In addition, various effects supported by the present invention may be described along with descriptions of embodiments.

1 is a diagram showing an example of a vehicle driving support system related to vehicle driving control according to an embodiment of the present invention.
2 is a diagram showing an example of a configuration of a vehicle driving support device according to an embodiment of the present invention.
3 is a diagram showing an example of a vehicle configuration according to an embodiment of the present invention.
4 is a diagram illustrating an example of a signal flow between components of a vehicle driving support apparatus related to vehicle driving support according to an embodiment of the present invention.
5 is a diagram illustrating an example of overtaking execution according to vehicle driving support according to an embodiment of the present invention.
6 is a diagram illustrating an example of a method of operating a vehicle driving support device related to vehicle driving support according to an embodiment of the present invention.

It should be noted that in the following description, only parts necessary for understanding the embodiments of the present invention are described, and descriptions of other parts will be omitted without disturbing the gist of the present invention.

The terms or words used in this specification and claims described below should not be construed as being limited to ordinary or dictionary meanings, and the inventors have appropriately used the concept of terms to describe their inventions in the best way. It should be interpreted as a meaning and concept consistent with the technical spirit of the present invention based on the principle that it can be defined in the following way. Therefore, the embodiments described in this specification and the configurations shown in the drawings are only preferred embodiments of the present invention, and do not represent all of the technical spirit of the present invention, so various equivalents that can replace them at the time of the present application It should be understood that there may be variations and variations.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

1 is a diagram showing an example of a vehicle driving support system related to vehicle driving control according to an embodiment of the present invention.

Referring to FIG. 1 , a vehicle driving support system 10 according to an embodiment of the present invention includes vehicles 201, 202, and 203 that are driving on a road and have a user on board or autonomously drive for the user to board, A roadside base station network 51 capable of communicating with the vehicles 201, 202, and 203, a GPS satellite 52 supporting location information of the vehicles 201, 202, and 203, the vehicles 201, A vehicle driving support device 100 controlling driving of 202 and 203 may be included.

The vehicles 201, 202, and 203 include a vehicle body, various structures constituting an interior space in which a user can ride, a power device (eg, a battery) that generates power for moving the vehicle body, and power transmitted from the power device. It may include a moving means (eg, wheels and axles) driven based on the vehicle body, a steering device that controls the direction of the vehicle body, an accelerator device that controls speed, and a brake device that controls speed deceleration. In particular, the vehicles 201, 202, and 203 of the present invention can perform autonomous driving under the control of the vehicle driving support device 100, and overtake and overtake under the control of the vehicle driving support device 100 during the autonomous driving process. deceleration can be performed.

The roadside base station network 51 is an Internet network, and may include a network capable of transmitting and receiving data at no cost or relatively low cost through a Wireless Local Area Network (WLAN) or Road Side Units (RSU). there is. The roadside base station network 51 may support transmission and reception of data related to vehicle driving while the vehicles 201 , 202 , and 203 are moving, by arranging a plurality of RSUs for each predetermined section, for example. The roadside base station network 51 forms a communication channel between the vehicles 201, 202, and 203 and the vehicle driving support device 100, and supports transmission of data required for driving of the vehicles 201, 202, and 203. can Meanwhile, in FIG. 1 , it is described that the roadside base station network 51 supports the communication channel between the vehicles 201 , 202 , and 203 and the vehicle driving support device 100 , but the present invention is not limited thereto. That is, at least a part of the roadside base station network 51 can be replaced with a mobile communication network.

The GPS satellite 52 may transmit/receive signals for position calculation of the vehicles 201 , 202 , and 203 to and from the vehicles 201 , 202 , and 203 . In the illustrated drawings, it is shown in a form of communication with the first vehicle 201, but the present invention is not limited thereto. The GPS satellite 52 may transmit a signal for calculating the location of at least one vehicle equipped with a GPS module.

The vehicle driving support device 100 communicates with the vehicles 201, 202, and 203 through the roadside base station network 51, and based on information collected about the vehicles 201, 202, and 203, Road driving of the vehicles 201 , 202 , and 203 may be controlled. For example, the vehicle driving support apparatus 100 may control the driving of the vehicles 201 and 202 located in the driving lane 59a and the use of the overtaking lane 59b of the vehicle 203 requiring overtaking. In this regard, the vehicle driving support apparatus 100 may include a configuration shown in FIG. 2 .

2 is a diagram showing an example of a configuration of a vehicle driving support device according to an embodiment of the present invention.

Referring to FIG. 2 , the vehicle driving support apparatus 100 of the present invention may include a server communication unit 110 , a server storage unit 130 and a server control unit 150 .

The server communication unit 110 may include a component supporting a communication function of the vehicle driving support device 100 . For example, the server communication unit 110 may communicate with the roadside base station network 51 to form a communication channel with the plurality of vehicles 201 , 202 , and 203 . The server communication unit 110 transmits various pieces of information for driving control of the vehicles 201, 202, and 203, for example, information about roads on which the vehicles 201, 202, and 203 are driving, vehicles 201, 202, 203), current location information, autonomous driving route information between the destination and starting point of vehicles 201, 202, and 203, and speed setting information of vehicles 201, 202, and 203 on the autonomous driving route are received, and the server It can be stored in the server storage unit 130 under the control of the controller 150 . The server communication unit 110 collects and processes information periodically transmitted by the vehicles 201, 202, and 203 through 1:N communication with the vehicles 201, 202, and 203, and 203) to transmit a command for safety management.

The server storage unit 130 may store driving control information related to driving (eg, autonomous driving) of the vehicles 201 , 202 , and 203 . In this regard, the server storage unit 130 may store current location information, speed setting information, and the like of the vehicles 201, 202, and 203 received by the server communication unit 110 from the vehicles 201, 202, and 203. there is. In addition, the server storage unit 130 may store speed limit information of the road and safety distance information between vehicles according thereto.

The server controller 150 transmits location information and speed setting information of the vehicles 201, 202, and 203 in relation to autonomous driving of the plurality of vehicles 201, 202, and 203 located within the roadside base station network 51. Based on this, it is possible to consider whether to overtake the vehicles 201, 202, and 203, execute overtaking for the vehicle that needs to overtake, and control the speed of the vehicle behind it to be reduced accordingly. In this regard, the server controller 150 may include a collection module 151, a resource configuration management module 153, a resource state management module 155, a stability management module 157, and a control module 159. .

The collection module 151 collects vehicle information periodically transmitted from the vehicles 201 , 202 , and 203 and transfers it to the resource configuration management module 153 and the resource state management module 155 . Data transmitted to the resource configuration management module is information necessary for vehicle control, such as IP and port information for communication with vehicles 201, 202, and 203, location information related to vehicle GPS information, and speed information. The information collected by the collection module 151 may be stored in a database included in the server storage unit 130 through the resource configuration management module 153 and the resource state management module 155 .

The resource configuration management module 153 stores information collected from the vehicles 201, 202, and 203 in conjunction with a database included in the server storage 130, and provides information necessary for safety management to the resource state management module ( 155) plays a role in transmitting. The resource configuration management module 153 may check lane position information and surrounding vehicle information of the vehicles 201 , 202 , and 203 using the GPS information collected from the vehicle 200 . The resource configuration management module 153 periodically updates and manages the information collected from the vehicles 201, 202, and 203 in the database of the server storage unit 130, and when there is a request for history data, the DB (database ) is retrieved and transmitted. Basic road-related information is directly stored and managed by the RSU. The resource configuration management module 153 determines that the vehicles 201, 202, and 203 are outside the RSU range (or support vehicle driving) when periodic messages from the vehicles 201, 202, and 203 do not arrive for a certain period of time. out of the scope of control). In the case of a vehicle out of the RSU range among the vehicles 201 , 202 , and 203 , the resource configuration management module 153 may delete corresponding vehicle information from the database of the server storage unit 130 . The resource configuration management module 153 transfers the stored vehicle information to the resource state management module 155 to calculate information for supporting processing related to overtaking and acceleration/deceleration in terms of stability. At this time, the transmitted information may include lane information, nearby vehicle information, speed, and location information.

The resource state management module 155 detects the amount of change in speed of the vehicles 201, 202, and 203 for the safety of the vehicles 201, 202, and 203 based on periodically received vehicle information, and between the front vehicle and the rear vehicle. Periodically monitors the state of the vehicle through the comparison of the speed difference. The resource state management module 155 may collect, from the resource configuration management module 153, a list of vehicles in front and rear of the vehicle, previous speed data of vehicles, environment information related to lane information, and vehicle surrounding information. The resource state management module 155 transfers information to the stability management module 157 to calculate the risk of an accident or process related to overtaking and deceleration. To this end, the resource state management module 155 may provide speed and location between vehicles, lane information, front and rear vehicle list information, and speed and location information of corresponding vehicles to the stability management module 157.

The stability management module 157 is a module that calculates the risk of an accident through calculation related to the safety of the vehicles 201 , 202 , and 203 . The stability management module 157 may perform collision risk comparison, vehicle deceleration calculation, and overtaking range calculation. The stability management module 157 requests speed and location information between the two vehicles to the resource state management module 155 in order to compare the risk of collision between the two vehicles, and then returns whether or not a collision is possible as a result. The stability management module 157 requests the speed and distance information of the front and rear vehicles from the resource state management module 155 to calculate the deceleration of the vehicles 201, 202, and 203, and then calculates the deceleration speed of the vehicle as a result. returns The stability management module 157 requests information on the current vehicle, the preceding vehicle, and the vehicle in the next lane according to the speed to the resource state management module 155 to calculate the overtaking range and overtaking possibility, and as a result, the overtaking range and overtaking return possibility The stability management module 157 may transmit related setting change information to the control module 159 when vehicle setting is required as a result of the calculation.

The control module 159 is a part that processes commands related to controlling the vehicles 201 , 202 , and 203 . The control module 159 can control lane change, overtaking, acceleration/deceleration, etc. of the vehicles 201, 202, 203 based on information received from the resource state management module 155 and the stability management module 157. there is. That is, the control module 159 transmits a message and a control command to a vehicle requiring control for vehicle safety, and transmits the message to the vehicle through the roadside base station network 51 so that the vehicle can execute the corresponding command of the RSU. . The control module 159 may instruct a vehicle deceleration command at the deceleration speed calculated by the stability management module 157 . The control module 159 may issue a command to maintain the current lane and speed of the vehicle as a result of the stability management module 157 calculation. The control module 159 may induce a lane change of the vehicle according to a control sequence when overtaking is performed as a result of calculating an overtaking range.

3 is a diagram showing an example of a vehicle configuration according to an embodiment of the present invention.

Referring to FIG. 3 , a vehicle 200 according to an embodiment of the present invention may correspond to at least one of the vehicles 201 , 202 , and 203 previously described in FIG. 1 . The vehicle 200 may include a vehicle communication unit 210, a GPS module 220, a vehicle storage unit 230, a display 240, an accelerator 260, a steering device 270, and a vehicle controller 250. can Additionally, the vehicle 200 may further include a power device (eg, a battery) that generates power necessary for operating the accelerator. In addition, the vehicle 200 may further include various devices (eg, a vehicle body, power means (eg, wheels and axles, etc.) driven by power generated by the power unit, brake devices, etc.).

The vehicle communication unit 210 may be configured to support a communication function of the vehicle 200 . The vehicle communication unit 210 may form a communication channel with, for example, the roadside base station network 51 and provide vehicle information to the vehicle driving support device 100 . The vehicle communication unit 210 may transmit a control signal provided by the vehicle driving support device 100 to the vehicle controller 250 . In addition, the vehicle communication unit 210 may provide current location information collected by the GPS module 220 to the vehicle driving support device 100 .

The GPS module 220 may obtain current location information of the vehicle 200 using the GPS satellite 52 . The GPS module 220 may provide the acquired current location information of the vehicle 200 to the vehicle driving support device 100 under the control of the vehicle control unit 250 .

The vehicle storage unit 230 may store various data and programs necessary for driving the vehicle 200 . For example, the vehicle storage unit 230 may store location information and speed information of the vehicle 200 . In addition, the vehicle storage unit 230 may store departure information and destination information according to user settings, and travel time setting information from the departure point to the destination. The vehicle storage unit 230 may store at least one control signal provided by the vehicle driving support apparatus 100 . The vehicle storage unit 230 may store an autonomous driving algorithm for autonomous driving of the vehicle 200 .

The display 240 may output at least one screen related to driving of the vehicle 200 . For example, the display 240 may display a screen showing the on-off state of the vehicle 200, a screen showing the autonomous driving state, an input screen of at least one of a starting point and a destination for route planning, and a moving time constraint input screen. can be printed out. Also, the display 240 may output information received from the vehicle driving support apparatus 100 . For example, the display 240 may display, in real time, information on surrounding roads of a location where the vehicle 200 is located, current location information of other vehicles on the surrounding roads, an overtaking state or an overtaking situation of other vehicles, and the like.

The acceleration device 260 may adjust acceleration or deceleration of the vehicle 200 . For example, the accelerator 260 may include, for example, an accelerator. The accelerator device 260 may be adjusted according to the control of the vehicle driving support device 100 during autonomous driving of the vehicle 200 .

The steering device 270 may include a handle for adjusting the direction of the vehicle 200 . In addition, the steering device 270 may support light control related to direction control of the vehicle 200 . The steering device 270 may be controlled according to the control of the vehicle driving support device 100 during autonomous driving of the vehicle 200 .

The vehicle control unit 250 provides information to the vehicle driving support device 100 in relation to driving control of the vehicle 200, and accelerates, decelerates, and direction according to a control signal received from the vehicle driving support device 100. can be controlled, etc. For example, when the vehicle 200 is in an autonomous driving state in a state where the vehicle 200 is located within a management area of the vehicle driving support apparatus 100 (eg, an RSU communication available area), the vehicle 200 may include identification information of the vehicle 200, Current location information of the vehicle 200 and acceleration state information of the vehicle 200 may be provided to the vehicle driving support apparatus 100 . Also, the vehicle controller 250 may provide speed setting information of the vehicle 200 to the vehicle driving support device 100 . The speed setting information is a speed at which the vehicle 200 should move on a road within a current management area, and may be determined by a movement request time between a departure point and a destination inputted by a user. The speed setting information may be adjusted according to road conditions.

Additionally, the vehicle 200 may further include an input unit. For example, the input unit may include a touch screen. In addition, the input unit may include a microphone to support voice input and an audio processor capable of processing recognition of an input voice.

4 is a diagram illustrating an example of a signal flow between components of a vehicle driving support apparatus related to vehicle driving support according to an embodiment of the present invention.

Referring to FIG. 4 , the signal flow between each component for vehicle driving control of the vehicle driving support apparatus of the present invention is first, in step 401, the collection module 151 detects vehicles 201 and 202 within the management area of the RSU. , 203) enters, vehicle information is collected through the RSU, and the corresponding information is transmitted to the resource configuration management module 153 and the resource state management module 155.

In step 403, the resource configuration management module 153 stores the vehicle information delivered by the collection module 151 in the DB of the server storage unit 230.

In step 405, the resource state management module 155 requests and receives history data of the vehicles 201, 202, and 203 from the resource configuration management module 153, and analyzes the received vehicle speed data. In step 407, the resource state management module 155 periodically compares the speed information received from the vehicles 201, 202, and 203 with the historical data speed stored in the resource configuration management module.

If the speed of the vehicle slows down, in step 409, the resource state management module 155 collects information for inquiry of the vehicle behind the slowed down vehicle, and in step 411, checks the collected rear vehicle information so that the rear vehicle Check whether it exists or not.

If there is no rear vehicle, the resource state management module 155 informs the control module 159 of this, and in step 413, the control module 159 determines the current lanes of the vehicles 201, 202 and 203 and Command to maintain speed.

If there is a rear vehicle, in step 415, the resource state management module 155 may compare the speed of the rear vehicle and the current vehicle. Here, if the speed of the rear vehicle is lower than the speed of the current vehicle, the resource state management module 155 branches to step 413 and requests the control module 159 to maintain the current speed and position of the current vehicle and the rear vehicle. .

On the other hand, in step 407, when the speed of the current vehicle increases, the resource state management module 155 collects information for querying the preceding vehicle from the resource configuration management module 153 in step 417, and in step 419, You can check whether there is a vehicle ahead. If there is no vehicle in front, the resource state management module 155 may branch to step 413 and request the control module 159 to control for setting the current lane and speed. If there is a vehicle in front, the resource state management module 155 may branch to step 415 and perform the following operations.

In step 415, if the speed of the rear vehicle is higher than that of the current vehicle, this is guided to the stability management module 157, and the stability management module 157 compares the risk of collision between the current vehicle and the rear vehicle in step 421. While explaining the steps after step 421, the case of comparing the speed of the current vehicle and the rear vehicle will be described as an example. That is, when the speeds of the current vehicle and the front vehicle are compared in step 415, the current vehicle to be overtaken may be expressed as the 'rear vehicle' and the overtaken front vehicle as the 'current vehicle' in the explanations after step 421. there is.

When there is no risk of collision, the stability management module 157 may request the control module 159 to maintain the current lane and speed of the vehicles 201 , 202 , and 203 in step 413 .

If there is a risk of collision, the stability management module 157 guides this to the resource state management module 155, and the resource state management module 155 queries the list of rear vehicles in step 423, and the rear vehicle in step 425. Make sure there are vehicles behind you. If there is no vehicle behind the rear vehicle, in step 427, the resource state management module 155 may check whether or not the rear vehicle overtakes, and may inform the stability management module 157 if overtaking is not desired. In step 429, the stability management module 157 calculates the deceleration of the rear vehicle and transfers the resultant value to the control module 159. After the control module 159 performs the command to decelerate the rear vehicle in step 431, By branching into steps, it is possible to control the current lane and speed maintenance of each vehicle.

If the rear vehicle intends to overtake, in step 433, an overtaking algorithm for overtaking of the vehicle is instructed to be executed, and the resource state management module 155 determines whether the overtaking is successful in step 435, and if the overtaking is successful, the current speed and You can control it to stay in your lane.

If overtaking fails, the stability management module 157 calculates the deceleration of the rear vehicle in step 437 and transmits the calculation to the control module 159, which in step 439 calculates the deceleration value of the rear vehicle. (or rear vehicles) can process deceleration commands. Then, in step 441, the resource state management module 155, the stability management module 157, and the control module 159 may add a rear vehicle to the list of vehicles waiting for overtaking and wait for an overtaking time. After that, if all overtakers waiting for overtaking succeed, the current speed and lane are maintained.

Meanwhile, in step 425, if there are vehicles behind the rear vehicle, in step 443, the resource state management module 155 stores the rear vehicles in the rear vehicle storage list, and in step 445, executes a rear rearrangement algorithm with the stored vehicle information. After that, in step 447, the result of rearrangement is checked, and if the alignment fails, it branches to step 441, and if the rearrangement is successful, it branches to step 413 to support the maintenance of the current lane and speed of the aligned vehicles. If overtaking is not successful for all rear vehicles with the rear rearrangement algorithm, it is added to the overtaking wait algorithm again to wait for overtaking.

The backward rearrangement algorithm proceeds in the following order. First of all, vehicle information on which a change in speed has occurred and vehicle list information behind the vehicle are brought. The first attempt to align the rear vehicle is aimed at overtaking the entire vehicle. If overtaking fails, deceleration is performed for all vehicles, but it is stored in the form of an overtaking failure list so that overtaking can be attempted again. Slow down and try to overtake until there are no more vehicles in the vehicle list behind you. The speed of the speed-changing vehicle and the comparison vehicle obtained from the rear list is compared, and if the speed-changing vehicle, which is the front vehicle, is faster, the algorithm is terminated.

However, if the speed of the comparison vehicle brought from the rear list is high, the risk of collision is compared through the stability management module 157, and if there is a risk of collision, whether to overtake is checked. If desired, the overtaking algorithm is performed, and if there is no risk of collision, the algorithm is terminated. If the vehicle gives up overtaking, it slows down and the overtaking algorithm is performed again for the vehicle behind the vehicle.

If overtaking is successful, overtaking is performed for the next vehicle on the list, but if overtaking fails, all vehicles behind the vehicle are decelerated through speed reduction calculation. After that, it is saved in the overtaking failure list. If overtaking fails for one vehicle, a deceleration command is given to all vehicles behind. This process is repeated until the vehicle leaves the control area of the RSU.

In the above-described operation, whether or not to proceed with overtaking of the vehicle may be determined by a vehicle user riding in the vehicle or may be determined by the moving speed of the vehicle and the distance between vehicles. For example, when the difference between the moving speeds of the current vehicle and the preceding vehicle is greater than or equal to a specified first difference value and the distance between the current vehicle and the preceding vehicle is less than or equal to the first distance, the vehicle driving support apparatus 100 may determine overtaking progress. On the other hand, a vehicle whose speed is reduced due to overtaking of another vehicle returns to its original speed if the distance from the overtaken vehicle is equal to or greater than the specified second distance, or for a certain period of time to secure a distance that has not moved beyond the original speed during deceleration. After accelerating more than the original speed while driving, it can travel at the original speed.

5 is a diagram illustrating an example of overtaking execution according to vehicle driving support according to an embodiment of the present invention.

Referring to FIG. 5 , in the vehicle driving support environment 11, the vehicle driving support apparatus 100 detects a speed change of vehicles 201, 202, 203, 204, and 205 through the RSU 51. Driving control of the communicable vehicles 201 , 202 , 203 , 204 , and 205 may be performed. Here, the vehicles 201, 202, 203, 204, and 205 have a GPS module and a communication module to receive location information using the GPS satellites 52 and periodically communicate with the RSU 51 using the communication module.

The vehicle driving support apparatus 100 connected to the RSU 51 may perform calculations for overtaking, driving deceleration, and lane change of the vehicles 201 , 202 , 203 , 204 , and 205 . It is no longer concerned about vehicles that have gone out of the vehicle driving management area through the communication coverage of the RSU (51).

In the illustrated drawing, a vehicle driving support device ( 100) will be described.

When the speed of the second vehicle 202 slows down, the vehicle driving support apparatus 100 checks whether there is a rear vehicle and checks the risk of collision through speed comparison. If there is no rearward vehicle behind the fourth vehicle 204 (eg, when the fifth vehicle 205 does not exist), the vehicle driving support apparatus 100 determines the fourth vehicle traveling in the driving lane 59a. 204 is controlled to overtake using the illustrated vehicle movement curve and the overtaking lane 59b, and if overtaking fails, the fourth vehicle 204 is decelerated through speed comparison, and then the next overtaking opportunity is waited for. .

If a rearward vehicle exists behind the fourth vehicle 204 (eg, a fifth vehicle 205 exists), the vehicle driving support device 100 compares the speeds of the second vehicle 202 and the rearward vehicles. It identifies vehicles that are at risk of collision. In addition, the vehicle driving support apparatus 100 checks the number of overtaking vehicles according to the surrounding environment. The vehicle driving support apparatus 100 induces overtaking of vehicles presenting a risk of collision equal to the number of overtaking-capable vehicles. After that, the vehicle driving support apparatus 100 induces successful overtaking of all vehicles having a risk of collision from above according to the surrounding environment. That is, if only one vehicle among all vehicles is capable of overtaking, the fourth vehicle 204 attempts overtaking along the illustrated curve, and if overtaking fails, the next vehicle 204 decelerates through speed comparison and then provides the next overtaking opportunity. waiting. Then, with respect to the fifth vehicle 205, the deceleration of the fifth vehicle 205 is also performed as compared to the deceleration of the fourth vehicle 204.

If overtaking is possible for both vehicles, the vehicle driving support apparatus 100 may ensure speed and safety distance for all of the fourth vehicle 204 and the fifth vehicle 205 and control the overtaking simultaneously. If overtaking of all vehicles fails, the vehicle driving support apparatus 100 may continuously check the surrounding environment and control overtaking to be retried.

Meanwhile, when the second vehicle 202 speeds up and there is a risk of collision with the first vehicle 201, the vehicle driving support device 100 controls the second vehicle 202 to overtake along the illustrated curve. can do. Here, when overtaking of the second vehicle 202 by the third vehicle 203 fails, the vehicle driving support device 100 controls the deceleration of the second vehicle 202 through calculation of the deceleration speed, and the deceleration result Accordingly, the risk of an accident between the second vehicle 202 and the fourth vehicle 204 is determined. Here, the accident risk may be calculated based on the moving speed between the two vehicles and the current inter-vehicle distance.

If, as a result of the deceleration of the second vehicle 202, there is a risk of accident with the fourth vehicle 204 and the fifth vehicle 205, which are the rear vehicles, the fourth vehicle 204 and the fifth vehicle 205, which are the rear vehicles. ) can be controlled.

6 is a diagram illustrating an example of a method of operating a vehicle driving support device related to vehicle driving support according to an embodiment of the present invention.

Referring to FIG. 6 , according to the operating method of the vehicle driving support device according to an embodiment of the present invention, in step 601, the vehicle driving support device 100 checks a management area defined as a communication range for vehicle driving control. and collect vehicle information about vehicles within the management area.

In step 603, the vehicle driving support apparatus 100 may determine whether an overtaking vehicle exists. In order to identify an overtaking vehicle, the vehicle driving support device 100 determines, based on the collected vehicle information, when the distance between vehicles is less than or equal to the first distance and the difference in moving speed between the vehicles is greater than or equal to the first difference (or the rear vehicle is in front). If the vehicle is faster than the vehicle by a first size or more), it may be determined that overtaking of the rear vehicle is requested. If there is no overtaking vehicle, in step 605, the vehicle driving support apparatus 100 may control vehicles to maintain their current lane positions and speeds.

In step 603, if there is an overtaking vehicle, in step 607, the vehicle driving support apparatus 100 may control overtaking of a vehicle that needs to be overtaken and control the speed of the vehicles. For example, the vehicle driving support apparatus 100 increases the speed of the preceding vehicle for a predetermined period of time so that the separation distance between the preceding vehicle and the rear vehicle after overtaking is a predetermined value (eg, a safety distance), When the distance between vehicles is more than a predetermined value, it may be controlled to maintain the set speed of the preceding vehicle. Here, the vehicle driving support apparatus 100 may control re-overtaking based on a separation distance and a speed difference from the vehicle when there is another vehicle in front of the vehicle that has completed overtaking. Similarly, the vehicle driving support apparatus 100 decelerates the speed of the rear vehicle for a predetermined time so that the distance between the vehicle in front and the vehicle in front of the vehicle after overtaking becomes a predetermined value (eg, a safety distance), and then the vehicle in front When the distance between the and the rear vehicle is more than a predetermined value, the rear vehicle may be controlled to maintain the set speed. Here, the vehicle driving support apparatus 100 may control the moving speed of another rear vehicle to temporarily decelerate when the distance from the rear vehicle becomes closer to the safety distance or less due to the deceleration of the rear vehicle. Meanwhile, in the course of overtaking vehicles, when another vehicle exists on the virtual overtaking movement path of the vehicle performing overtaking (eg, when there is another vehicle in the overtaking lane), the vehicle driving support apparatus 100 temporarily performs overtaking. The speed of the vehicle in the overtaking lane may be controlled to be accelerated or decelerated so that the virtual overtaking movement path of the vehicle to be overtaken and the vehicle in the overtaking lane do not overlap.

Next, in step 609, the vehicle driving support apparatus 100 may check whether there is a vehicle in the management area. When there is no vehicle in the management area, the vehicle driving support apparatus 100 may end the vehicle driving control. If there is a vehicle in the management area, it branches to step 601 and can be controlled to re-perform the following operation.

As described above, the method for operating a vehicle driving support device according to an embodiment of the present invention performs driving control of a vehicle equipped with only GPS and network communication equipment through a communication system (eg, RSU) capable of communicating with vehicles. The RSU can provide a procedure for performing vehicle control of the RSU when a change in vehicle speed is detected by the RSU within the RSU management area. In addition, the present invention provides a control method according to whether there are rear vehicles when changing lanes and overtaking due to a speed difference, and provides a speed control and overtaking control procedure method of rear vehicles due to a speed difference in an RSU management area, which is more improved. Vehicle driving control may be supported.

On the other hand, the embodiments disclosed in this specification and drawings are only presented as specific examples to aid understanding, and are not intended to limit the scope of the present invention. In addition to the embodiments disclosed herein, it is obvious to those skilled in the art that other modifications based on the technical idea of the present invention can be implemented.

10: vehicle driving support system
51: network
52: GPS satellites
100: vehicle driving support device
110: server communication unit
130: server storage unit
150: server control unit
200: vehicle
210: vehicle communication department
220: GPS module
230: vehicle storage unit
240: display

Claims (10)

collecting vehicle information of a plurality of vehicles located in a vehicle driving management area defined as a communication range of a roadside base station;
storing the collected vehicle information;
identifying a vehicle that needs to be overtaken based on the stored vehicle information;
and adjusting speeds of the overtaking vehicle and vehicles around the overtaking vehicle in relation to the overtaking vehicle.
According to claim 1,
The collecting step is
and collecting vehicle identification information of vehicles capable of communicating with the roadside base station, vehicle current location information, and vehicle speed information.
According to claim 1,
The steps to check are
Determining a rear vehicle in which the vehicle distance between the front vehicle and the rear vehicle is equal to or less than a specified first distance and the difference between the moving speed of the preceding vehicle and the rear vehicle is equal to or greater than a first value as the vehicle requiring overtaking; Vehicle driving support method comprising the.
According to claim 1,
The step of adjusting the speed is
after the overtaking has been performed, increasing the speed of the overtaking vehicle and then adjusting the overtaking vehicle speed to a set speed when a distance between the overtaking vehicle and a vehicle behind the overtaking vehicle is greater than or equal to a specified first distance; Vehicle driving support method comprising a.
According to claim 1,
The step of adjusting the speed is
After the overtaking is performed, decelerating a speed of a vehicle behind the overtaking vehicle and adjusting the speed of the vehicle behind the vehicle to a set speed when a distance between the overtaking completed vehicle and the rearward vehicle is equal to or greater than a specified first distance; A vehicle driving support method characterized in that for doing.
According to claim 1,
The step of adjusting the speed is
When there is a surrounding vehicle on the virtual overtaking path of the vehicle that needs to overtake, decelerating or accelerating the speed of the surrounding vehicle so that the surrounding vehicle and the virtual overtaking path do not overlap; How to support vehicle driving.
a server communication unit that communicates with the furnace wall base station;
a server storage unit for storing information received through the server communication unit;
Including; a server control unit functionally connected to the server communication unit and the server storage unit;
The server control unit
a collection module that collects vehicle information of a plurality of vehicles located in a vehicle driving management area defined as a communication range of a roadside base station;
A resource configuration management module for storing and managing the collected vehicle information in a database;
a resource state management module that identifies a vehicle that needs to be overtaken based on the stored vehicle information;
a stability management module configured to perform calculations necessary for speed control of the overtaking vehicle and vehicles around the overtaking vehicle in connection with the overtaking operation of the vehicle requiring overtaking;
and a control module configured to transfer the calculated speed adjustment value to the overtaking vehicle and the surrounding vehicles to adjust the speed.
According to claim 7,
The server control unit
collecting vehicle identification information, current location information of vehicles, and vehicle speed information of vehicles capable of communicating with the roadside base station;
A rear vehicle in which a vehicle distance between the front vehicle and the rear vehicle is equal to or less than a specified first distance and a difference between the moving speed of the preceding vehicle and the rear vehicle is greater than or equal to a first value is determined as the vehicle requiring overtaking. vehicle driving support device.
According to claim 7,
The server control unit
After the overtaking is performed, the speed of the overtaking vehicle is increased, and when the distance between the overtaking vehicle and a vehicle behind the overtaking vehicle is greater than or equal to a specified first distance, the speed of the overtaking vehicle is adjusted to a set speed;
After the overtaking is performed, the speed of a vehicle behind the overtaking completed vehicle is reduced, and the speed of the rearward vehicle is adjusted to a set speed when the distance between the overtaken completed vehicle and the rearward vehicle is equal to or greater than a specified first distance. Vehicle driving support device.
According to claim 7,
The server control unit
When a surrounding vehicle exists on the virtual overtaking route of the vehicle that needs to be overtaken, the vehicle driving support apparatus according to claim 1 , wherein the vehicle driving support device is controlled so that the surrounding vehicle and the virtual overtaking route do not overlap by decelerating or accelerating the speed of the surrounding vehicle.

Images