KR20230088156A - Apparatus for controlling Distance between platooning vehicle and method thereof - Google Patents

Abstract

The present invention relates to an apparatus and method for controlling a distance between vehicles in platooning, and an apparatus for controlling a distance between vehicles in platooning according to an embodiment of the present invention determines the distance between vehicles for each vehicle according to the performance of each vehicle in a group and driver's tendency. individually controlled processors; and a storage unit in which data and algorithms driven by the processor are stored.

Description

Apparatus for controlling distance between platooning vehicles and method thereof}

The present invention relates to an apparatus and method for controlling a distance between vehicles traveling in clusters, and more particularly, to a technology for setting intervals between clustered traveling vehicles.

Platooning is a case where a following vehicle follows a preceding vehicle, and the vehicles in the platoon transmit and receive various driving information through V2V communication and control the vehicle speed, vehicle interval, etc., at regular intervals between vehicles. to allow driving while maintaining

The shorter the interval between platooning vehicles, the higher the fuel efficiency effect. However, if it is too short, stability deteriorates in situations such as emergency braking, so it is very important to set an appropriate interval.

Conventionally, the lead vehicle determines the distance between the platooning vehicles and provides the same vehicle distance information to the following vehicles to collectively control the distance between all platooning vehicles. However, when the specifications of the platooning vehicles are different, it may be difficult to follow the interval between the platooning vehicles. For example, if the communication specifications and braking specifications of vehicles are different for each vehicle, but the same inter-vehicle distance determined by the leading vehicle and the same braking force are used to collectively control vehicles traveling in a cluster, problems such as a collision may occur.

An embodiment of the present invention provides inter-vehicle distance control in platooning that can improve the stability of platooning by individually assigning an inter-vehicle distance to each platooning vehicle based on the driving tendency and vehicle performance (communication, braking, etc.) of each platooning vehicle. It is intended to provide an apparatus and method thereof.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

According to an embodiment of the present invention, an apparatus for controlling a headway distance for platooning includes a processor that individually controls a headway distance for each vehicle according to the performance of each vehicle in a cluster driving rank and the driver's tendency; and a storage unit in which data and algorithms driven by the processor are stored.

In one embodiment, the performance of the vehicle may include a braking specification and a communication specification.

In an embodiment, the processor may include requesting a communication delay calculation to a following vehicle and starting counting of an internal timer of the host vehicle when the host vehicle is the lead vehicle.

In an embodiment, the processor may include receiving a communication delay value from the following vehicle, and comparing an internal timer counting value of the own vehicle with the received communication delay value.

In one embodiment, the processor determines the communication delay value received from the following vehicle as the communication delay of the following vehicle when the communication delay value received from the following vehicle is greater than the internal timer counting value of the own vehicle. can include

In an embodiment, if the communication delay value received from the following vehicle is smaller than or equal to the internal timer counting value of the own vehicle, the processor determines the internal timer counting value of the own vehicle as the communication delay of the following vehicle. can include

In one embodiment, the processor may include requesting a braking delay calculation to the following vehicle.

In an embodiment, the processor may include determining an inter-vehicle distance of the following vehicle by using a braking delay received from the following vehicle and a communication delay of the following vehicle.

In an embodiment, the processor may include increasing or decreasing an inter-vehicle distance of the following vehicle by receiving driver propensity information from the following vehicle.

In an embodiment, the processor increases the distance between vehicles of the following vehicle by a predetermined amount when the driver's tendency is safety-oriented, and when the driver's tendency is fuel economy-oriented, the processor increases the distance between vehicles of the following vehicle in advance. It may include reducing by a certain amount.

In an embodiment, the processor may include transmitting the increased or decreased vehicle-to-vehicle distance of the following vehicle to the following vehicle.

In an embodiment, the processor may include receiving driver propensity from the driver and transmitting the input to the lead vehicle when the host vehicle is a following vehicle.

In an embodiment, the processor may include calculating the driver's propensity based on a driving situation and transmitting the result to the leading vehicle when the host vehicle is a following vehicle.

According to an embodiment of the present invention, a method for controlling a distance between vehicles driving in a platoon includes, when driving in a platoon composed of a leading vehicle and at least one or more following vehicles, the leading vehicle controls each following vehicle according to the performance and driver's propensity of each vehicle in the group driving group. determining an inter-vehicle distance for each vehicle; and transmitting the vehicle-to-vehicle distance for each following vehicle for each following vehicle.

In an embodiment, the determining of the headway distance for each following vehicle may include requesting, by the leading vehicle, calculation of a communication delay for each following vehicle, and starting an internal timer count by the leading vehicle. .

In an embodiment, the determining of the vehicle-to-vehicle distance for each following vehicle may include receiving a communication delay value from the following vehicle; and comparing an internal timer counting value of the host vehicle with the received communication delay value.

In an embodiment, the determining of the inter-vehicle distance for each following vehicle may include, when a communication delay value received from the following vehicle is greater than an internal timer counting value of the own vehicle, the communication delay value received from the following vehicle as the determining a communication delay of a following vehicle; and if the communication delay value received from the following vehicle is smaller than or equal to the internal timer counting value of the own vehicle, determining the internal timer counting value of the own vehicle as the communication delay of the following vehicle.

In an embodiment, the determining of the headway distance for each following vehicle may include requesting a braking delay calculation to the following vehicle; receiving a braking delay from the following vehicle; and determining an inter-vehicle distance of the following vehicle by using a braking delay received from the following vehicle and a communication delay of the following vehicle.

In an embodiment, the determining of the headway distance for each following vehicle may further include receiving driver propensity information from the following vehicle and increasing or decreasing the headway distance of the following vehicle.

In an embodiment, the increasing or decreasing the inter-vehicle distance of the following vehicle may include increasing the inter-vehicle distance of the following vehicle by a predetermined amount when the driver's tendency is safety-oriented; and reducing the inter-vehicle distance of the following vehicle by a predetermined amount when the driver's propensity is fuel economy-oriented.

This technology can improve the stability of platoon driving by individually assigning an inter-vehicle distance to each platooning vehicle based on the driving tendency and vehicle performance (communication, braking, etc.) of each platooning vehicle.

In addition to this, various effects identified directly or indirectly through this document may be provided.

1 is a block diagram showing the configuration of a vehicle system including an apparatus for controlling a distance between vehicles traveling in platooning according to an embodiment of the present invention.
2A and 2B are exemplary diagrams of distance control between vehicles traveling in clusters according to an embodiment of the present invention.
3 is a flowchart illustrating a method for controlling a distance between vehicles traveling in clusters according to an embodiment of the present invention.
4 illustrates a computing system according to one embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to components of each drawing, it should be noted that the same components have the same numerals as much as possible even if they are displayed on different drawings. In addition, in describing an embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function hinders understanding of the embodiment of the present invention, the detailed description will be omitted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, order, or order of the corresponding component is not limited by the term. In addition, unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in the present application, they should not be interpreted in an ideal or excessively formal meaning. don't

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 4 .

1 is a block diagram showing the configuration of a vehicle system including an apparatus for controlling a distance between vehicles traveling in platooning according to an embodiment of the present invention.

Referring to FIG. 1 , a vehicle system according to an embodiment of the present invention includes a platooning headway distance control device 100, a sensing device 200, a steering control device 300, a braking control device 400, and an engine control device. Device 500 may be included.

The platooning headway distance control apparatus 100 according to an embodiment of the present invention may be implemented inside a vehicle. In this case, the platooning headway distance control device 100 may be integrally formed with the internal control units of the vehicle, or may be implemented as a separate device and connected to the control units of the vehicle by a separate connection means.

The platooning headway distance control apparatus 100 may individually control the headway distance for each following vehicle according to the performance of each vehicle and the driver's propensity of each vehicle in the cluster driving rank.

The platooning driving distance control apparatus 100 of the leading vehicle may be implemented as a platooning system (PLV: Potential Leading Vehicle), and the platooning driving distance control apparatus 100 of the following vehicle may be implemented as a platooning system (PFV: Potential Following Vehicle). Vehicle) can be implemented.

Referring to FIG. 1 , the apparatus 100 for controlling the distance between vehicles traveling in platooning may include a communication unit 110 , a storage unit 120 , and a processor 140 .

The communication unit 110 is a hardware device implemented with various electronic circuits to transmit and receive signals through a wired connection, and may transmit and receive information based on in-vehicle devices and in-vehicle network communication technology. As an example, the in-vehicle network communication technology may include CAN (Controller Area Network) communication, LIN (Local Interconnect Network) communication, Flex-Ray communication, and the like. As an example, the communication unit 110 may transmit a valve control command signal to a pressure control valve.

The storage unit 120 may store data and/or algorithms necessary for the processor 140 to operate. As an example, the storage unit 120 may store a braking pressure generation delay time mapping value for each vehicle, a braking torque mapping value for each pressure, and a deceleration arrival delay time mapping value for each vehicle weight. The braking pressure generation delay time mapping value for each vehicle, the braking torque mapping value for each pressure, and the deceleration arrival delay time mapping value for each vehicle weight may be obtained and stored in advance through experimental values and measured values.

The storage unit 120 includes a flash memory type, a hard disk type, a micro type, and a card type (eg, SD card (Secure Digital Card) or XD card (eXtream Digital Card)). Card), RAM (RAM, Random Access Memory), SRAM (Static RAM), ROM (ROM, Read-Only Memory), PROM (Programmable ROM), EEPROM (Electrically Erasable PROM), magnetic memory (MRAM) , Magnetic RAM), a magnetic disk, and an optical disk type of memory.

The interface unit 130 may include an input unit for receiving a control command from a user and an output unit for outputting an operating state and result of the platooning driving distance control apparatus 100 .

Here, the input means may include a key button, and may include a mouse, a joystick, a jog shuttle, a stylus pen, and the like. Also, the input means may include soft keys implemented on a display.

The output unit may include a display and may also include an audio output unit such as a speaker. In this case, when a touch sensor such as a touch film, a touch sheet, or a touch pad is provided in a display, the display operates as a touch screen, and an input unit and an output unit may be integrated.

At this time, the display includes a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display. , a field emission display (FED), and a three-dimensional display (3D display).

For example, the interface unit 130 receives an input for platooning merging approval, a manual approach completion notification, a semi-autonomous driving approach completion notification, an input such as an autonomous driving approach completion notification, and a driver tendency (safety-oriented, fuel economy-oriented) input. can be input. In addition, the interface unit 130 may display platoon driving conditions (placing queue location, inter-vehicle distance information, destination, route, messages transmitted/received between drivers of platooning vehicles, etc.).

The processor 140 may be electrically connected to the communication unit 110 and the storage unit 120, may electrically control each component, and may be an electric circuit that executes software commands, whereby various Data processing and calculations can be performed.

The processor 140 may process signals transmitted between each component of the apparatus 100 for controlling the distance between vehicles traveling in platooning, and may perform overall control so that each component can normally perform its function.

The processor 140 may be implemented in the form of hardware, implemented in the form of software, or implemented in the form of a combination of hardware and software, preferably implemented as a microprocessor, for example , it may be an ECU (electronic control unit), MCU (Micro Controller Unit) or other lower level controller mounted on the vehicle.

The processor 140 may individually control the head-to-head distance of each vehicle according to the performance (braking performance, communication performance) of each vehicle in the cluster driving formation and the driver's tendency.

When the host vehicle is the lead vehicle, the processor 140 requests the following vehicle to calculate the communication delay and starts counting the internal timer of the host vehicle. Subsequently, the processor 140 receives the communication delay value from the following vehicle and compares the received communication delay value with the internal timer counting value of the host vehicle. Then, when the communication delay value received from the following vehicle is greater than the internal timer count value of the own vehicle, the processor 140 determines the communication delay value received from the following vehicle as the communication delay of the following vehicle. On the other hand, if the communication delay value received from the following vehicle is smaller than or equal to the internal timer counting value of the own vehicle, the processor 140 may determine the internal timer counting value of the own vehicle as the communication delay of the following vehicle.

The processor 140 may request a braking delay calculation from the following vehicle and determine the head-to-head distance of the following vehicle by using the braking delay received from the following vehicle and the communication delay of the following vehicle.

The processor 140 may increase or decrease an inter-vehicle distance of the following vehicle by receiving driver propensity information from the following vehicle.

That is, the processor 140 may increase the distance between vehicles of the following vehicle by a predetermined amount when the driver's tendency is safety-oriented, and may decrease the distance between vehicles of the following vehicle by a predetermined amount when the driver's tendency is fuel economy-oriented.

As such, when the inter-vehicle distance of the following vehicle is finally determined, the following vehicle transmits the inter-vehicle distance of the corresponding following vehicle through the communication unit 110.

In this case, if the host vehicle is the following vehicle, the processor 140 may calculate the driver's propensity based on the driving situation and transmit it to the leading vehicle. In this case, the driving situation may include information related to driving tendencies such as sudden acceleration, rapid acceleration, and average speed.

The sensing device 200 may include one or more sensors that detect an obstacle located around the vehicle, for example, a preceding vehicle, and measure a distance and/or a relative speed of the obstacle.

The sensing device 200 may include a plurality of sensors to detect an object outside the vehicle, and may include the position of the external object, the speed of the external object, the moving direction of the external object, and/or the type of the external object (eg, vehicle, pedestrian). , bicycle or motorcycle, etc.) can be obtained. To this end, the sensing device 200 may include an ultrasonic sensor, radar, camera, laser scanner and/or corner radar, lidar, acceleration sensor, yaw rate sensor, torque measurement sensor and/or wheel speed sensor, steering angle sensor, and the like. can In the present invention, a parking space can be searched using an ultrasonic sensor, the presence or absence of a rear vehicle can be determined using a camera, and a wheel speed sensor, a steering angle sensor, an ultrasonic sensor, etc.

The steering control device 300 may be configured to control a steering angle of a vehicle, and may include a steering wheel, an actuator interlocked with the steering wheel, and a controller controlling the actuator.

The braking control device 400 may be configured to control braking of the vehicle and may include a controller controlling the brakes.

The engine control device 500 may be configured to control engine driving of a vehicle and may include a controller that controls vehicle speed.

As described above, the present invention sets the distance between vehicles individually in consideration of the vehicle performance (braking control specifications, communication specifications, etc.), driving tendency, etc. , can improve the safety of platooning.

2A and 2B are exemplary diagrams of distance control between vehicles traveling in clusters according to an embodiment of the present invention.

Referring to FIG. 2A , an example in which an inter-vehicle distance D1 of each of the platooning vehicles LV, FV1, FV2, and FV3 is maintained constant is disclosed.

FIG. 2B discloses an example in which the inter-vehicle distances of the platooning vehicles LV, FV1, FV2, and FV3 are differently set to D2, D3, and D4, respectively.

The following vehicle FV1 is a vehicle with good vehicle performance, and the distance between vehicles D2 is set short to maximize fuel efficiency. Since the vehicle performance of the following vehicle FV2 is poor, the inter-vehicle distance D3 is set long to secure a safe distance. Since the following vehicle FV3 has a driver's tendency to focus on fuel economy, an example in which the vehicle-to-vehicle distance D4 is set to be very short is disclosed.

Hereinafter, a method for controlling a distance between vehicles traveling in clusters according to an embodiment of the present invention will be described in detail with reference to FIG. 3 . 3 is a flowchart illustrating a method for controlling a distance between vehicles traveling in clusters according to an embodiment of the present invention.

Hereinafter, it is assumed that the leading vehicle 10 and the following vehicle 20 each include a platooning driving distance control device 300 and the driving headway distance control device 100 of each vehicle performs the process of FIG. 3 . Also, in the description of FIG. 3 , it may be understood that the operation described as being performed by the device is controlled by the processor 140 of the apparatus 100 for controlling the distance between vehicles traveling in platooning. In addition, although one following vehicle 20 is taken as an example in FIG. 3 , there may be a plurality of following vehicles, and the plurality of following vehicles may perform the same process as the following vehicle 20 in FIG. 3 . .

Referring to FIG. 3 , the driving vehicle requests the leading vehicle 10 to join the platoon driving (S101).

Accordingly, the leading vehicle 10 sends an approval for joining the platooning to the vehicle (following vehicle 20) that has requested joining the platooning (S102).

The lead vehicle 10 requests manual approach within a first reference distance (eg, 30 m) for cluster driving (S103), and the following vehicle 20 approaches and drives the cluster driving queue in a manual mode (S104). The first reference distance means a first point for joining the platooning queue before platooning and may be set in advance by an experimental value. At this time, the following vehicle 20 must approach within a first reference distance from the platoon driving formation to join the platoon driving formation, and may approach in a manual mode.

When the manual approach is completed, the following vehicle 20 notifies the lead vehicle 10 that the manual approach is completed within a first reference distance (S105).

Accordingly, the lead vehicle 10 requests the following vehicle 20 to approach within a predetermined second reference distance (eg, 20 m) from the cluster driving formation in the semi-autonomous driving mode and requests a communication delay calculation (S106).

The leading vehicle 10 starts counting the internal timer (S107), and the following vehicle 20 drives in the semi-autonomous driving mode to the second reference distance from the group driving queue to approach, transmits a signal to the internal communication device, and returns. A communication delay is calculated in consideration of the time of an incoming signal (S108).

Accordingly, the following vehicle 20 transmits to the lead vehicle 10 that the approach to the second reference distance has been completed through semi-autonomous driving and transmits the calculated communication delay to the lead vehicle 10 (S109).

The leading vehicle 10 determines whether the communication delay received from the following vehicle 20 is greater than an internal counting value (S110).

If the communication delay received from the following vehicle 20 is smaller than or equal to the internal counting value, the internal counting value is determined as the final communication delay (S111), and if the communication delay received from the following vehicle 20 is greater than the internal counting value, reception is received. The set communication delay is determined as the final communication delay (S112).

The lead vehicle 10 requests the following vehicle 20 to approach within a third reference distance (eg, 10 m) from the platoon driving queue in the autonomous driving mode and requests a braking delay calculation (S113).

Accordingly, the following vehicle 20 moves to the third reference distance in the autonomous driving mode and transmits a signal to the braking control device 400 to calculate a braking delay (S114).

Subsequently, the following vehicle 20 notifies the leading vehicle 10 that it has completed approaching within the third reference distance in the autonomous driving mode and transmits the calculated braking delay to the leading vehicle 10 (S115).

Accordingly, the leading vehicle 10 calculates the headway distance in consideration of the communication delay and braking delay of the following vehicle 20 (S116). Here, the communication delay of the following vehicle 20 means the communication delay finally determined as a result of the comparison in step S110.

Meanwhile, the leading vehicle 10 requests driver propensity information from the following vehicle 20 (S117). The following vehicle 20 receives driver propensity information directly from the driver or determines the driver propensity based on driving data such as fuel economy information, sudden acceleration, and vehicle speed information, and transmits the driver propensity information to the leading vehicle 10 (S118).

The leading vehicle 10 may increase or decrease the inter-vehicle distance according to the driver's tendency of the following vehicle 20 (S119). That is, the leading vehicle 10 may increase or decrease the calculated inter-vehicle distance by a predetermined amount by using the communication delay and braking delay of the following vehicle 20 in step S116.

At this time, the lead vehicle 10 may increase the distance between vehicles when the driver tendency of the following vehicle 20 is safety attention, and may decrease the distance between vehicles when the driver tendency of the following vehicle 20 is fuel economy oriented.

The leading vehicle 10 transmits the finally set headway distance to the following vehicle 20 .

The above-described processes S101 to S120 may be performed for all following vehicles in the platoon driving rank to set and apply a headway distance for each following vehicle.

As described above, the present invention does not set the inter-vehicle distance between the platooning vehicles to the same value, but sets the inter-vehicle distance differently for each platooning vehicle in consideration of the vehicle performance (communication delay, braking delay, etc.) of the following vehicles and the driver's propensity. The safety of platooning can be further improved.

4 illustrates a computing system according to one embodiment of the present invention.

Referring to FIG. 4 , a computing system 1000 includes at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, and a storage connected through a bus 1200. 1600, and a network interface 1700.

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes commands stored in the memory 1300 and/or the storage 1600 . The memory 1300 and the storage 1600 may include various types of volatile or nonvolatile storage media. For example, the memory 1300 may include a read only memory (ROM) 1310 and a random access memory (RAM) 1320.

Accordingly, the steps of a method or algorithm described in connection with the embodiments disclosed herein may be directly implemented as hardware executed by the processor 1100, a software module, or a combination of the two. A software module resides in a storage medium (i.e., memory 1300 and/or storage 1600) such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, or a CD-ROM. You may.

An exemplary storage medium is coupled to the processor 1100, and the processor 1100 can read information from, and write information to, the storage medium. Alternatively, the storage medium may be integral with the processor 1100. The processor and storage medium may reside within an application specific integrated circuit (ASIC). An ASIC may reside within a user terminal. Alternatively, the processor and storage medium may reside as separate components within a user terminal.

The above description is merely an example of the technical idea of the present invention, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present invention.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed according to the claims below, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

Claims (20)

A processor individually controlling a head-to-head distance for each vehicle according to the performance of each vehicle and the driver's inclination in the cluster driving queue; and
a storage unit for storing data and algorithms driven by the processor;
Cluster driving inter-vehicle distance control device comprising a.
The method of claim 1,
The performance of the vehicle is
A platooning intervehicle distance control device comprising a braking specification and a communication specification.
The method of claim 1,
the processor,
If the host vehicle is the lead vehicle,
Request communication delay calculation with following vehicle,
The platooning inter-vehicle distance control device, characterized in that for starting the count of the internal timer of the host vehicle.
The method of claim 3,
the processor,
Receiving a communication delay value from the following vehicle;
and comparing the internal timer counting value of the host vehicle with the received communication delay value.
The method of claim 4,
the processor,
When the communication delay value received from the following vehicle is greater than the internal timer counting value of the host vehicle, the communication delay value received from the following vehicle is determined as the communication delay of the following vehicle.
The method of claim 4,
the processor,
When the communication delay value received from the following vehicle is smaller than or equal to the internal timer counting value of the own vehicle, the internal timer counting value of the own vehicle is determined as the communication delay of the following vehicle.
The method of claim 3,
the processor,
The platooning intervehicle distance control device, characterized in that for requesting a braking delay calculation to the following vehicle.
The method of claim 7,
the processor,
and determining the inter-vehicle distance of the following vehicle by using a braking delay received from the following vehicle and a communication delay of the following vehicle.
The method of claim 8,
the processor,
The platooning headway distance control apparatus, characterized in that, by receiving driver propensity information from the following vehicle, the headway distance of the following vehicle is increased or decreased.
The method of claim 9,
the processor,
When the driver's propensity is safety-oriented, the following vehicle's inter-vehicle distance is increased by a predetermined amount;
The platooning headway distance control apparatus, characterized in that, when the driver's propensity is fuel economy-oriented, the headway distance of the following vehicle is reduced by a predetermined amount.
The method of claim 9,
the processor,
and transmitting the increased or decreased inter-vehicle distance of the following vehicle to the following vehicle.
The method of claim 9,
the processor,
If the host vehicle is a following vehicle,
An apparatus for controlling distance between vehicles driving in platooning, characterized in that it receives the driver's propensity from the driver and transmits it to the leading vehicle.
The method of claim 9,
the processor,
If the host vehicle is a following vehicle,
The platooning headway distance control apparatus, characterized in that for calculating the driver's propensity based on the driving situation and transmitting it to the leading vehicle.
When driving in a platoon consisting of a lead vehicle and at least one following vehicle,
determining, by the leading vehicle, a head-to-head distance for each following vehicle according to the performance of each vehicle and the driver's propensity of each vehicle in the cluster driving formation; and
and transmitting the headway distance for each following vehicle for each following vehicle.
The method of claim 14,
In the step of determining the headway distance for each following vehicle,
requesting, by the leading vehicle, calculation of a communication delay for each of the following vehicles, and starting an internal timer count by the leading vehicle;
A method for controlling a distance between vehicles driving in a cluster, comprising:
The method of claim 15
In the step of determining the headway distance for each following vehicle,
receiving a communication delay value from the following vehicle; and
Comparing the internal timer counting value of the host vehicle with the received communication delay value
A method for controlling the distance between platooning vehicles, further comprising:
The method of claim 16
In the step of determining the headway distance for each following vehicle,
determining the communication delay value received from the following vehicle as the communication delay of the following vehicle when the communication delay value received from the following vehicle is greater than the internal timer counting value of the host vehicle; and
If the communication delay value received from the following vehicle is smaller than or equal to the internal timer counting value of the own vehicle, determining the internal timer counting value of the own vehicle as the communication delay of the following vehicle
A method for controlling the distance between platooning vehicles, further comprising:
The method of claim 17
In the step of determining the headway distance for each following vehicle,
requesting a braking delay calculation to the following vehicle;
receiving a braking delay from the following vehicle; and
determining an inter-vehicle distance of the following vehicle by using a braking delay received from the following vehicle and a communication delay of the following vehicle;
A method for controlling the distance between platooning vehicles, further comprising:
The method of claim 18
In the step of determining the headway distance for each following vehicle,
Receiving driver propensity information from the following vehicle and increasing or decreasing an inter-vehicle distance of the following vehicle
A method for controlling the distance between platooning vehicles, further comprising:
The method of claim 19
In the step of increasing or decreasing the head-to-head distance of the following vehicle,
increasing an inter-vehicle distance of the following vehicle by a predetermined amount when the driver's propensity is safety-oriented; and
reducing the inter-vehicle distance of the following vehicle by a predetermined amount when the driver's propensity is fuel economy-oriented;
A method for controlling the distance between vehicles traveling in clusters, comprising:

Images