WO2023085469A1 - Procédé de commande hybride de déplacement de véhicule et appareil de commande hybride de déplacement le prenant en charge - Google Patents

Procédé de commande hybride de déplacement de véhicule et appareil de commande hybride de déplacement le prenant en charge Download PDF

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Publication number
WO2023085469A1
WO2023085469A1 PCT/KR2021/016557 KR2021016557W WO2023085469A1 WO 2023085469 A1 WO2023085469 A1 WO 2023085469A1 KR 2021016557 W KR2021016557 W KR 2021016557W WO 2023085469 A1 WO2023085469 A1 WO 2023085469A1
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WIPO (PCT)
Prior art keywords
vehicle
rsu
information
vehicles
driving
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PCT/KR2021/016557
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English (en)
Korean (ko)
Inventor
최성곤
안혜영
최원석
Original Assignee
충북대학교 산학협력단
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Priority to PCT/KR2021/016557 priority Critical patent/WO2023085469A1/fr
Priority to KR1020217040356A priority patent/KR20230070398A/ko
Publication of WO2023085469A1 publication Critical patent/WO2023085469A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance

Definitions

  • the present invention relates to vehicle driving control, and more particularly, to a vehicle driving complex control method for controlling vehicle driving in a complex environment constructed through a plurality of RSUs, and a driving complex control 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 solves the above-mentioned problems in the prior art, for example, a vehicle driving complex control method that supports driving-related control of vehicles equipped with only a GPS module and communication equipment within a plurality of RSU (road side units) management areas, and a vehicle driving complex control method and support thereof. It is to provide a driving composite control device that does.
  • a vehicle driving-related composite control method includes the steps of, by a driving composite control device, collecting vehicle information of a plurality of vehicles located in management areas defined by a communication range of RSUs (Road Side Units); Checking whether there is a vehicle to be moved from a first RSU to a second RSU among the RSUs based on the collected vehicle information, if there is a first vehicle to be moved from the first RSU to the second RSU, the first RSU Detecting a risk of collision between the first vehicle and a second vehicle belonging to a second RSU, and adjusting a moving speed of the first vehicle when the risk of collision exists.
  • RSUs Raad Side Units
  • the checking may include checking whether a vehicle located at the edge of the management area of the first RSU and moving in a direction away from the center of the management area of the first RSU exists.
  • the step of detecting the risk of collision may include detecting a second vehicle driving on a lane following the lane in use by the first vehicle and belonging to the management area of the second RSU, and detecting the first vehicle and the second vehicle. It characterized in that it comprises the step of detecting whether there is a risk of collision based on the moving speed difference and the separation distance between the first vehicle and the second vehicle.
  • the step of adjusting the moving speed of the first vehicle may include transmitting a message related to adjusting the moving speed of the first vehicle to the first RSU, and then receiving a message about entering the first vehicle from the second RSU. , transmitting a message related to movement speed control of the first vehicle to the second RSU.
  • the method may further include transmitting a message requesting termination of the first vehicle management to the first RSU.
  • a driving composite control device includes a server communication unit that communicates with RSUs (Road Side Units), a server storage unit that stores vehicle information received through the server communication unit, and the server communication unit and the server storage unit. and a server control unit functionally connected to the unit, wherein the server control unit collects vehicle information of a plurality of vehicles located within management areas defined by a communication range of the RSUs (Road Side Units), and displays the collected vehicle information. Based on this, it is checked whether there is a vehicle to be moved from the first RSU to the second RSU among the RSUs, and if there is a first vehicle to be moved from the first RSU to the second RSU, the first vehicle and the second RSU are determined. A risk of collision with a second vehicle belonging to is detected, and when the risk of collision exists, the moving speed of the first vehicle is adjusted.
  • the server control unit is located at the edge of the management area of the first RSU, and is located at the center of the management area of the first RSU in relation to the process of determining whether there is a vehicle to be changed from the first RSU to the second RSU. It is characterized in that it is confirmed whether there is a vehicle moving in a direction away from .
  • the server control unit detects a second vehicle driving on a lane following the lane in use by the first vehicle and belongs to a management area of the second RSU in relation to the collision risk detection, and detects the first vehicle and the second vehicle. It is characterized in that whether there is a risk of collision is detected based on the difference in moving speed of the second vehicle and the separation distance between the first vehicle and the second vehicle.
  • the server control unit transfers a message related to adjusting the moving speed of the first vehicle to the first RSU, and when receiving a message about entering the first vehicle from the second RSU, the server control unit transmits the message to the second RSU. 1. It is characterized in that a message related to vehicle movement speed control is transmitted and a message requesting termination of the first vehicle management is transmitted to the first RSU.
  • Another example of the driving complex control method includes the steps of, by the driving complex control device, collecting vehicle information of a plurality of vehicles located in management areas defined as a communication range of RSUs (Road Side Units); adjusting at least one of a moving direction and a moving speed of the plurality of vehicles so that a density of vehicles belonging to each of the plurality of RSUs is equal to or less than a predefined size based on the collected vehicle information;
  • the present invention complexly controls the vehicle driving only with GPS and network communication equipment without various high-performance Lidar, Radar, and Camera. It is possible to reduce the cost required to build various sensors during design, and to secure more improved vehicle driving safety by performing the overall management of the road in an integrated manner with multiple RSUs.
  • the present invention can support road congestion control through overall vehicle path control by comprehensively collecting, evaluating, and controlling vehicle information on the entire road environment with a plurality of RSUs.
  • FIG. 1 is a diagram showing an example of a complex driving control system including a complex driving control device according to an embodiment of the present invention.
  • FIG. 2 is a diagram showing an example of an RSU configuration according to an embodiment of the present invention.
  • FIG. 3 is a diagram showing an example of a vehicle configuration according to an embodiment of the present invention.
  • FIG. 4 is a diagram showing an example of a configuration of a driving composite control device according to an embodiment of the present invention.
  • FIG. 5 is a diagram illustrating an example of a complex control method related to vehicle driving according to an embodiment of the present invention.
  • the present invention is to proceed with an application with the support of the tasks described below.
  • the present invention described below can secure vehicle safety through vehicles including only GPS and network communication equipment and a plurality of RSUs.
  • several RSUs can be integratedly managed through the driving complex control device, and for a vehicle that deviate from a specific RSU, management of the corresponding vehicle can be taken over again from a neighboring RSU, and the vehicle can be controlled so that the vehicle is not exposed to danger.
  • the present invention supports efficient vehicle control by distributing vehicles so that they are not concentrated in a specific area in terms of road management through centralized management in terms of the overall route of vehicles.
  • FIG. 1 is a diagram showing an example of a complex driving control system including a complex driving control device according to an embodiment of the present invention.
  • the driving composite control system 10 is driving on a road (driving lane, overtaking lane) and a vehicle in which a user is riding or autonomously driving for the user to board (vehicles) 201, 202, 203, 204, 205, 206, a plurality of roadside base station devices (51, 52) capable of communicating with the vehicles (201, 202, 203, 204, 205, 206), the vehicles ( 201, 202, 203, 204, 205, 206), GPS satellite 60 supporting location information, driving complex control for complexly controlling driving of the vehicles 201, 202, 203, 204, 205, 206 Device 300 may be included.
  • the vehicles 201, 202, 203, 204, 205, and 206 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, It may include a means of transportation (eg, wheels and axles) driven based on the power transmitted from the power unit, 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. there is.
  • the vehicles 201, 202, 203, 204, 205, and 206 of the present invention receive and receive various driving controls according to the control of the plurality of RSUs 51 and 52 and the driving composite control device 300.
  • Road driving e.g., maintaining current lane, maintaining or changing speed, overtaking, crossing intersection, etc.
  • Each of the plurality of RSUs 51 and 52 may include a roadside base station and a base station controller.
  • the plurality of RSUs 51 and 52 are internet networks, and may include a free wireless local area network (WLAN) or a network capable of transmitting and receiving data at no cost or relatively low cost.
  • the plurality of RSUs 51 and 52 are arranged for each section to support transmission and reception of data related to vehicle driving while the vehicles 201 , 202 , 203 , 204 , 205 , and 206 are moving.
  • the first RSU 51 may form a first communication coverage 51a and perform driving control of vehicles (eg, 201, 202, 203, and 204) running in the first communication coverage 51a. there is.
  • the second RSU 52 may form a second communication coverage 52a and perform driving control of vehicles (eg, 205 and 206) running in the second communication coverage 52a.
  • the plurality of RSUs 51 and 52 not only form a communication channel with the vehicles 201, 202, 203, 204, 205, and 206, but also form a communication channel with the driving complex control device 300, Transmission of data required for complex control of the vehicles 201 , 202 , 203 , 204 , 205 , and 206 may be supported.
  • At least a portion of the roadside base station may be replaced by a mobile communication network.
  • the GPS satellite 60 may transmit/receive signals for calculating the location of the vehicles 201, 202, 203, 204, 205, and 206 to and from the vehicles 201, 202, 203, 204, 205, and 206. .
  • arrows are shown in a form of communication with the first vehicle 201 and the sixth vehicle 206, but the present invention is not limited thereto.
  • the GPS satellite 60 may transmit a signal for calculating the location of at least one vehicle equipped with a GPS module.
  • the driving complex control device 300 collects information related to driving of the vehicles 201, 202, 203, 204, 205, and 206 through the plurality of RSUs 51 and 52, and based on the collected information, Driving complex control of the s 201 , 202 , 203 , 204 , 205 , and 206 may be performed.
  • the driving complex control apparatus 300 may receive vehicle information received from the first RSU 51 (eg, vehicle information 201, 202, 203, and 204) and vehicle information received from the second RSU 52. (eg, 205 and 206) may be collected, and a vehicle moving from the first communication coverage 51a of the first RSU 51 to the second communication coverage 52a of the second RSU 52 may be determined.
  • the driving composite control device 300 classifies information about a vehicle to be moved and delivers the classified information to the RSU of the communication coverage to be moved, so that vehicle control can be performed seamlessly when the vehicle enters. In this process, when the vehicle is overtaking, the driving composite control device 300 transfers overtaking-related information to the RSU to be moved so that overtaking of the vehicle can be continuously performed even in the communication coverage of the neighboring RSU. .
  • the vehicles 201, 202, 203, 204, 205, and 206 have a GPS module and a communication module, receive location information from the GPS satellite 60, and use the communication module. It communicates with the RSUs 51 and 52 periodically.
  • the driving composite control device 300 performs route-related control of the vehicles 201 , 202 , 203 , 204 , 205 , and 206 .
  • Vehicles 201 , 202 , 203 , 204 , 205 , and 206 maintain lanes, maintain speed, overtake, decelerate driving, and change lanes, etc. are performed as a result calculated by the plurality of RSUs 51 and 52 .
  • the vehicle information outside the specific RSU management area is delivered to and managed by other RSUs adjacent to the specific RSU through the driving composite control device 300 .
  • the fourth vehicle 204 is in the first communication coverage 51a of the first RSU 51 adjacent to the second RSU 52 in the second communication coverage 52a of the second RSU 52. ) (or managed area).
  • the route information of the fourth vehicle 204 may be transmitted from the second RSU 52 to the first RSU 51 through the complex driving control device 300 .
  • the first RSU 51 calculates the speed difference between the fourth vehicle 204 and the second vehicle 202, and if there is an accident risk, all lanes of vehicles (eg, 201, 202, 203, 204) can perform control for the safe operation of
  • the first RSU 51 determines the risk of collision and eliminates the risk of collision. For this purpose, overtaking of the second vehicle 202 may be controlled.
  • the third vehicle 203 may be in a situation where it is preparing for a lane change from the passing lane to the driving lane.
  • the first RSU 51 may control an attempt to change to a driving lane while the third vehicle 203 is within the first communication coverage 51a.
  • FIG. 2 is a diagram showing an example of an RSU configuration according to an embodiment of the present invention.
  • the RSU described in FIG. 2 may be at least one of the plurality of RSUs 51 and 52 described in FIG. 1 .
  • the configuration of the first RSU 51 or the second RSU 52 will be described by assigning reference number 100.
  • the RSU 100 of the present invention may include an RSU communication unit 110, an RSU storage unit 130, and an RSU control unit 150.
  • the RSU communication unit 110 may include a component supporting a communication function of a roadside base station device.
  • the RSU communication unit 110 may form a communication channel with a plurality of vehicles 201 , 202 , 203 , 204 , 205 , and 206 .
  • the RSU communication unit 110 may form a communication channel with the driving composite control device.
  • the RSU communication unit 110 provides various information for driving and overtaking control of the vehicles 201, 202, 203, 204, 205, and 206, for example, the vehicles 201, 202, 203, 204, 205, and 206.
  • Information on the driving road (eg, driving lane and overtaking lane), current location information of vehicles 201, 202, 203, 204, 205, and 206, and vehicles 201, 202, 203, 204, 205, and 206 ) Receives autonomous driving route information between the destination and the starting point, speed setting information of vehicles 201, 202, 203, 204, 205, 206 on the autonomous driving route, and stores the RSU under the control of the RSU controller 150 It can be stored in unit 130.
  • the RSU communication unit 110 transmits information periodically from the vehicles 201, 202, 203, 204, 205, and 206 through 1:N communication with the vehicles 201, 202, 203, 204, 205, and 206.
  • the RSU communication unit 110 may provide information on at least one vehicle located within its communication coverage (or management area) to the driving complex control device 300 periodically or in real time under the control of the RSU control unit 150. there is. Alternatively, the RSU communication unit 110 may transmit vehicle information newly entered within its own communication coverage or vehicle information expected to leave its own communication coverage to the driving composite control device 300 under the control of the RSU control unit 150. .
  • the RSU storage unit 130 may store information related to driving (eg, autonomous driving) and overtaking control of the vehicles 201 , 202 , 203 , 204 , 205 , and 206 .
  • the RSU storage unit 130 stores the vehicles 201, 202, 203, 204, 205, and 206 received from the vehicles 201, 202, 203, 204, 205, and 206 by the RSU communication unit 110.
  • Current location information, speed setting information, etc. of the can be stored.
  • the RSU storage unit 130 may store speed limit information of the road and safety distance information between vehicles according thereto.
  • the RSU storage unit 130 stores information about a vehicle that needs to be overtaken among the vehicles 201, 202, 203, 204, 205, and 206, information about a vehicle that fails to pass, and information about a vehicle that succeeds in overtaking. can be saved
  • the RSU control unit 150 relates to autonomous driving of a plurality of vehicles 201, 202, 203, 204, 205, and 206 located within the communication coverages 51a and 52a, and overtaking and re-overtaking, the vehicles 201 , 202, 203, 204, 205, 206) collects location information and speed setting information, and based on this, considers the need for overtaking and re-overtaking of vehicles (201, 202, 203, 204, 205, 206) , It is possible to control the execution of overtaking for a vehicle requiring overtaking and re-overtaking and the speed adjustment of the side and rear vehicles accordingly.
  • the RSU controller 150 includes a collection module 151, a first resource configuration management module 153, a first resource state management module 155, a stability management module 157, and a control module 159. ) may be included.
  • the collection module 151 collects vehicle information periodically transmitted by the vehicles 201, 202, 203, 204, 205, and 206 through the RSU communication unit 110, and the first resource configuration management module 153 and the second 1 is transferred to the resource state management module 155.
  • the data transmitted to the first resource configuration management module 153 includes IP and port information for communication with the vehicles 201, 202, 203, 204, 205, and 206, location information related to vehicle GPS information, and vehicle speed information. This is necessary information for driving, overtaking and re-overtaking control.
  • the information collected by the collection module 151 may be stored in a database included in the RSU storage unit 130 through the first resource configuration management module 153 and the first resource state management module 155 .
  • the first resource configuration management module 153 stores the information collected from the vehicles 201, 202, 203, 204, 205, and 206 in conjunction with the database included in the RSU storage unit 130, and performs safety management. It serves to deliver necessary information to the first resource state management module 155.
  • the first resource configuration management module 153 uses the GPS information collected from the vehicle 200 to provide lane information of the vehicles 201, 202, 203, 204, 205, and 206, location information in the corresponding lane, and surrounding vehicles. You can check the positional relationship information with .
  • the first resource configuration management module 153 periodically updates and manages the information collected from the vehicles 201, 202, 203, 204, 205, and 206 in the database of the RSU storage unit 130, and stores information in the history data. If there is a request for it, it is retrieved from the DB (database) and forwarded. Basic information related to the road can be directly stored and managed by the RSU.
  • the first resource configuration management module 153 does not receive periodic messages from the vehicles 201, 202, 203, 204, 205, and 206 for a certain period of time, the vehicles 201, 202, 203, 204, 205, 206) may be regarded as out of the RSU range (or outside the management range for vehicle overtaking control).
  • the first resource configuration management module 153 stores corresponding vehicle information in the database of the RSU storage unit 130. deletion can be processed.
  • the first resource configuration management module 153 provides vehicle information stored in the RSU storage unit 130 to calculate information for supporting processing related to vehicle driving, overtaking and re-overtaking, and acceleration/deceleration in terms of stability. 1 is transferred to the resource state management module 155.
  • the transmitted information may include lane information, nearby vehicle information, speed, and location information.
  • the first resource configuration management module 153 may deliver vehicle information determined to be out of the communication coverage of the RSU to the complex driving control device 300 .
  • the first resource configuration management module 153 pre-stores information on the communication coverage of the RSU (eg, GPS coordinate information on the communication coverage), and based on the current location and moving speed and direction information of the vehicle, If the possibility of leaving a certain area built with GPS coordinate information is within a specified time (eg, within a few seconds or minutes), the corresponding vehicle information (eg, vehicle identification information, current location of the vehicle, moving speed and direction of movement of the vehicle) information may be transmitted to the driving composite control device 300 .
  • information on the communication coverage of the RSU eg, GPS coordinate information on the communication coverage
  • the corresponding vehicle information eg, vehicle identification information, current location of the vehicle, moving speed and direction of movement of the vehicle
  • the first resource state management module 155 controls the vehicles 201, 202, 203, 204, and 205 for safety of the vehicles 201, 202, 203, 204, 205, and 206 based on periodically received vehicle information. , 206), the speed difference between the vehicle in front and the rear vehicle is compared, and the state of the vehicle is periodically monitored through the positional relationship with the vehicle in the side.
  • the first resource state management module 155 configures a front vehicle list, a rear vehicle list, and a side vehicle list centering on a specific vehicle (eg, a vehicle whose speed is equal to or greater than a specified value or a vehicle whose speed is higher than that of the front vehicle) in a first resource configuration.
  • the first resource state management module 155 calculates the risk of an accident or transfers information related to vehicle driving, overtaking and re-passing, and acceleration/deceleration (acceleration and deceleration) to the stability management module 157.
  • the first resource state management module 155 is a stability management module 157, the speed and location of other vehicles adjacent to the center of the specific vehicle, lane information of the specific vehicle, a list ahead of the specific vehicle, and vehicles behind the specific vehicle. A list and speed and location information of a specific vehicle can be provided.
  • 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 , 203 , 204 , 205 , and 206 .
  • the stability management module 157 may perform collision risk comparison, vehicle acceleration or deceleration calculation, and vehicle driving, overtaking, or re-overtaking range calculation.
  • the stability management module 157 requests speed and location information between the two vehicles to the first resource state management module 155 in order to compare the risk of collision between the two vehicles, and returns whether or not a collision is possible as a result.
  • the stability management module 157 requests speed and distance information of the front and rear vehicles from the first resource state management module 155 to calculate the deceleration of the vehicles 201, 202, 203, 204, 205, and 206. Then, the deceleration speed of the vehicle is returned as a result.
  • the stability management module 157 requests information on the current vehicle, the vehicle ahead, and the vehicle in the next lane from the first resource state management module 155 to calculate the possibility of overtaking or re-overtaking, and as a result, the overtaking or re-overtaking range, Returns the possibility of overtaking or re-overtaking.
  • the stability management module 157 may transmit related setting change information to the control module 159 when the calculation result and vehicle speed control setting are required.
  • the stability management module 157 calculates the surrounding environment monitoring for overtaking and re-overtaking control of a specific vehicle (eg, a vehicle with a higher speed than the preceding vehicle), and calculations for controlling vehicles for overtaking and re-overtaking control. can be performed.
  • a specific vehicle eg, a vehicle with a higher speed than the preceding vehicle
  • the control module 159 is a part that processes commands related to controlling the vehicles 201 , 202 , 203 , 204 , 205 , and 206 .
  • the control module 159 maintains lanes and speeds of vehicles 201, 202, 203, 204, 205, and 206 based on information received from the first resource state management module 155 and the stability management module 157. It can control holding, changing lanes, overtaking and re-passing, and accelerating and decelerating. That is, the control module 159 transmits a message and a control command to a vehicle requiring control for vehicle safety so that the vehicle can execute the corresponding command of the RSU.
  • the control module 159 may determine a vehicle lane change time calculated by the stability management module 157, and may instruct a vehicle and surrounding vehicle speed change command (eg, deceleration or acceleration) during this process.
  • 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 and re-overtaking are performed as a result of overtaking and re-overtaking range calculation.
  • the control module 159 may control transmission of information related to complex driving control of the vehicles 201 , 202 , 203 , 204 , 205 , and 206 .
  • the control module 159 may receive a message indicating that a new vehicle is scheduled to enter the communication coverage from the complex driving control device 300 .
  • the control module 159 checks the moving speed, moving direction, and lane in use of the vehicle, and calculates, through the stability module 157, whether a vehicle that collides with or is likely to collide with the vehicle is within its communication coverage. there is.
  • the control module 159 may control acceleration or deceleration of the vehicle when there is a vehicle that may collide or collide with.
  • control module 159 transmits information on a vehicle that may collide or collide to the driving composite control device 300, and according to the control of the driving composite control device 300, the speed control information of the corresponding vehicle and the lane After receiving the change or maintenance information, it can be delivered to the corresponding vehicle. That is, vehicle control in an area where communication coverages of a plurality of RSUs overlap may be performed by the driving complex control apparatus 300 .
  • FIG. 3 is a diagram showing an example of a vehicle configuration according to an embodiment of the present invention.
  • a vehicle 200 may correspond to at least one of the vehicles 201 , 202 , 203 , 204 , 205 , and 206 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.
  • the vehicle 200 may further include a power device (eg, a battery) that generates power necessary for operating the accelerator.
  • 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 at least one RSU among the plurality of RSUs 51 and 52 and provide vehicle information to the RSU 100 managing communication coverage to which it currently belongs.
  • the vehicle communication unit 210 may transmit a control signal provided by the affiliated RSU 100 to the vehicle control unit 250 .
  • the vehicle communication unit 210 may provide the current location information collected by the GPS module 220 to the RSU 100 to which it belongs.
  • the GPS module 220 may acquire current location information of the vehicle 200 using the GPS satellite 60 .
  • the GPS module 220 may provide the acquired current location information of the vehicle 200 to the RSU 100 to which it belongs 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 .
  • the vehicle storage unit 230 may store location information and speed information of the vehicle 200 .
  • the vehicle storage unit 230 may store source information and destination information according to user settings, travel time setting information from the source to the destination, and user desired travel speed.
  • the vehicle storage unit 230 may store at least one control signal provided by the affiliated RSU 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 .
  • 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.
  • the display 240 may output information received from the RSU 100 to which it belongs.
  • the display 240 displays information on surrounding roads where the vehicle 200 is currently located, current location information of other vehicles on the surrounding roads, overtaking status, waiting and attempting to re-pass, or overtaking situations of other vehicles. can be displayed in real time.
  • the display 240 may output information related to the currently assigned RSU 100, RSU change information, and the like.
  • the acceleration device 260 may adjust acceleration or deceleration of the vehicle 200 .
  • the accelerator 260 may include, for example, an accelerator.
  • the accelerator unit 260 may be adjusted without user manipulation (or automatically) according to the control of the driving composite control unit 300 or the RSU 100 to which the vehicle 200 is autonomously driving.
  • the steering device 270 may include a handle for adjusting the direction of the vehicle 200 .
  • the steering device 270 may support light control related to direction control of the vehicle 200 .
  • the steering device 270 may be automatically (or without user manipulation) controlled according to the control of the complex driving control device 300 or the control of the affiliated RSU 100 .
  • the vehicle control unit 250 provides information to the affiliated RSU 100 in relation to driving, overtaking, and re-overtaking control of the vehicle 200, acceleration according to a control signal received from the affiliated RSU 100, You can control deceleration, steering, lane change, and more.
  • the vehicle control unit 250 is located within the management area of the RSU 100 to which the vehicle 200 belongs (eg, an RSU communication available area), and in an autonomous driving state, the identification information of the vehicle 200, the vehicle Current location information of the vehicle 200 and acceleration state information of the vehicle 200 may be provided to the RSU 100 to which it belongs.
  • the vehicle control unit 250 may provide speed setting information of the vehicle 200 to the RSU 100 to which it belongs.
  • the speed setting information is the speed at which the vehicle 200 should move on a road within the current management area, and may be determined by a user-inputted travel request time between a starting point and a destination, or may be determined by user-inputted speed information.
  • the speed setting information may be adjusted by the road condition or driving composite control device 300 or the affiliated RSU 100.
  • the vehicle 200 may further include an input unit.
  • the input unit may include a touch screen.
  • the input unit may include a microphone to support voice input and an audio processor capable of processing recognition of an input voice.
  • FIG. 4 is a diagram showing an example of a configuration of a driving composite control device according to an embodiment of the present invention.
  • the multi-driving control device 300 of the present invention may include a server communication unit 310 , a server storage unit 320 and a server control unit 350 .
  • the server communication unit 310 may support a communication function of the driving complex control device 300 .
  • the server communication unit 310 may form a communication channel with the plurality of RSUs 51 and 52, for example.
  • the server communication unit 310 collects resource information necessary for vehicle driving, including vehicle, RSU to be managed, and road infrastructure information, through a plurality of RSUs 51 and 52.
  • the server communication unit 310 may control the vehicle by transmitting a control command for controlling at least one of speed and direction of a specific vehicle to a specific RSU in response to the control of the control management module 359 .
  • the server communication unit 310 may receive, from a specific RSU, vehicle information about a vehicle expected to deviate from the corresponding RSU.
  • the server communication unit 310 may receive vehicle information of a vehicle located at the edge of a specific RSU's communication coverage (or management area) from the corresponding RSU. Vehicle information received by the server communication unit 310 may be stored in the server storage unit 320 .
  • the server storage unit 320 may store programs or data necessary for operating the complex driving control device 300 .
  • the server storage unit 320 stores the location of each of the RSUs 51 and 52, communication coverage (or management area) information of each of the RSUs 51 and 52, and information about information belonging to each of the RSUs 51 and 52.
  • Vehicle information eg, vehicle identification information, RSU information to which the vehicle belongs, vehicle location, vehicle movement speed, vehicle movement direction, The route of the vehicle (origin and destination or route from the current location to the destination) and the current state of the vehicle (vehicle breakdown or low speed or vehicle accident) may be received from the respective RSUs 51 and 52 .
  • Vehicle information about at least one vehicle stored in the server storage unit 320 may be updated as the vehicle moves through the management areas of the RSUs 51 and 52 .
  • the server storage unit 320 may store collision or collision calculation algorithms of vehicles, vehicle flow control algorithms, and the like.
  • the server control unit 350 may process data collection, processing, and transmission of data necessary for operating the driving complex control device 300 .
  • the server control unit 350 includes a second resource configuration management module 351, a second resource state management module 353, a path management module 355, a path calculation module 357, a control management module 359 ) may be included.
  • the second resource configuration management module 351 manages resource information for vehicle driving. That is, the second resource configuration management module 351 manages vehicles, RSUs to be managed, and road infrastructure information, and collects information for route configuration based on the information in the server storage unit 320 (or database). can be maintained or renewed.
  • the second resource configuration management module 351 maintains all information included in information collection or setting related to route and connection information, and provides current status and history of route and connection information.
  • the second resource configuration management module 351 updates and manages vehicle and RSU, road-related alarm and event information collected by the second resource state management module 353 .
  • the second resource configuration management module 351 may provide information necessary for setting a vehicle route to the route management module 355 .
  • the second resource configuration management module 351 functions to collect and maintain resource information necessary for path calculation in the path management module 355 in the server storage unit 320 .
  • the second resource configuration management module 351 collects vehicle information belonging to all RSUs at an initialization time, and in a vehicle control process, collects information updated according to vehicle movement and stores it in the server storage unit 320 accordingly. information can be changed.
  • the second resource state management module 353 inspects the real-time state of resources (or vehicle information) or receives events (eg, vehicle collision or risk of collision, handover between RSUs, vehicle accident, etc.) It reflects the availability of resources. In addition, the second resource state management module 353 may generate failure information based on vehicle information and deliver it to the RSU to which the corresponding vehicle belongs. The second resource state management module 353, when the resource state and connection information collected through the event is a resource managed by the second resource configuration management module 351, transmits the corresponding information to the second resource configuration management module 351. forward to The second resource state management module 353 may generate an event based on the collected information and transmit it to the RSU as a failure through the control management module 359.
  • events eg, vehicle collision or risk of collision, handover between RSUs, vehicle accident, etc.
  • the second resource status management module 353 transfers the failure information collected through the event to the path management module 355 when the path information resource managed by the second resource configuration management module 351 is processed for path management. help you do it Based on the collected information, the second resource state management module 353 generates an event related to a failure when there is a possibility of an accident based on the collected information and transmits the event to the control management module 359 so that the information is transmitted to the corresponding vehicle through the RSU. help you to
  • the route management module 355 serves to manage routes to destinations or intermediate stopovers when vehicles are driven.
  • the route management module 355 manages or changes a route, vehicle flow, or vehicle density by controlling a set of waypoints constituting a route.
  • the path management module information handled by the path management module 355 includes resource information and a logical connection state of resources.
  • the route management module 355 transfers necessary information for route calculation, such as vehicle departure and destination information, to the route calculation module 357 and receives a route calculation result from the route calculation module 357.
  • the path management module 355 receives corresponding state information when a path needs to be changed due to a change in the status of a resource related to the path, performs a path calculation function using the path calculation module 357, and then calculates the result. used to change the vehicle's route.
  • the path management module 355 receives resource information necessary for path management from the second resource configuration management module 351 .
  • the route calculation module 357 is a module that calculates an optimal route by receiving vehicle and road information necessary for route calculation.
  • the route calculation module 357 receives information necessary for route calculation from the route management module 355 .
  • the control management module 359 receives control-related information and controls the vehicle through the RSUs 51 and 52.
  • the control management module 359 transmits event information for vehicle control to a corresponding vehicle through the RSU.
  • the control management module 359 receives the route result calculated by the route calculation module 357 from the route management module 355, and transfers information related to route management to the RSU to which the vehicle belongs.
  • the control management module 359 may deliver route information calculated so that vehicles are distributed to multiple RSUs without converging at a specific RSU based on destination information of vehicles and current locations of the vehicles, to each vehicle. In this process, the control management module 359 may control the route calculation module 357 so that each vehicle can reach a desired destination through a corresponding route within a desired arrival time.
  • the control management module 359 calculates the possibility of a collision or collision with another vehicle by a vehicle moving between RSUs, and controls the moving speed and direction of the related vehicle when there is a possibility of a collision or collision. can
  • FIG. 5 is a diagram illustrating an example of a complex control method related to vehicle driving according to an embodiment of the present invention.
  • the driving composite control device 300 may collect vehicle information in step 501 .
  • the driving composite control device 300 may collect vehicle information about a plurality of vehicles belonging to the plurality of RSUs 51 and 52 .
  • the driving composite control device 300 may provide vehicle information of at least one vehicle located at the edge of the communication coverage of the plurality of RSUs 51 and 52 (or an outer area outside a predetermined distance from the center of the RSU). can be collected.
  • the driving complex control unit 300 moves from a management area (or communication coverage) of a specific RSU (eg, the first RSU 51) to a management area of another RSU (eg, the second RSU 52).
  • High vehicle information can be collected.
  • the driving complex control device 300 includes location information of each of the RSUs 51 and 52, location information of the communication coverage (or management area) of each RSU 51 and 52 and the edge area of the communication coverage, Information on the current location, movement direction, and movement speed of vehicles may be collected.
  • the driving composite control apparatus 300 may check whether a vehicle to be changed with RSU exists. For example, the driving composite control device 300 may check whether there are vehicles moving in a direction away from the center of each RSU while being located at the edge of each RSU. When the vehicle to be changed RSU does not exist, in step 505, the driving composite control apparatus 300 may perform vehicle flow control. For example, the driving composite control apparatus 300 determines the number of vehicles belonging to each of the RSUs 51 and 52, the destination of the vehicles, the moving direction of the vehicles, and the moving speed of the vehicles, based on the RSUs 51 and 51 of the vehicles.
  • the driving composite control device 300 can determine the flow of movement between The driving composite control device 300 generates a message for adjusting the road and moving speed of the vehicles to be used so that the vehicles do not belong to a specific RSU more than a certain density in consideration of the destinations and the desired arrival time of the vehicles, and generates a message for each RSU. It can be delivered to fields (51, 52).
  • the complex driving control apparatus 300 may detect a collision or a risk of collision in step 507 .
  • the driving composite control device 300 checks the moving direction and speed of the first vehicle moving from the first RSU 51 to the second RSU 52 and the lane in use, and determines the moving direction and the current lane in use. It may be determined whether a second vehicle exists in an edge area of the management area of another RSU connected to the lane. The driving composite control apparatus 300 detects that there is a risk of collision when the moving speed of the second vehicle is lower than the moving speed of the first vehicle and the distance between the first vehicle and the second vehicle is within a specified distance.
  • the driving complex control unit 300 determines the moving speed and direction of vehicles to use the intersection. Taking this into account, it is possible to determine whether there is a vehicle that will cause a collision risk.
  • the driving complex control unit 300 may remove the risk of collision by transmitting a message to adjust (eg, decelerate) the moving speed of the vehicle to enter the new RSU to the corresponding RSU and vehicle. there is.
  • the driving composite control device 300 may generate a message adjusting the speed of vehicles to enter the intersection in consideration of the current state of the traffic lights installed at the intersection, and transmit the message to each RSU. there is.
  • the driving complex control apparatus 300 may deliver a message related to vehicle speed adjustment in consideration of the belonging state of corresponding vehicles in order to manage the risk of collision or the risk of collision.
  • the driving composite control device 300 when there is a vehicle moving from the first RSU 51 to the second RSU 52, and receiving new entry vehicle information from the second RSU 52, the driving composite control device 300 performs a new entry vehicle.
  • a message for adjusting the speed of the entering vehicle may be transmitted to the second RSU 52 .
  • the driving complex control device 300 may transmit a message requesting management end to the vehicle entering the second RSU 52 to the first RSU 51 .
  • a request may be made to the first RSU 51 to overtake the first vehicle.
  • the driving composite control device 300 informs that the first vehicle is in the process of overtaking the second vehicle. By transmitting the message, overtaking of the first vehicle can be controlled by the second RSU 52 to continue. In this operation, the complex driving control device 300 may transmit a message requesting termination of management of the first vehicle to the first RSU 51 .
  • the above-described present invention performs control of a vehicle equipped with only a GPS module and network communication equipment through an RSU, defines functions to be performed in the RSU through system structure of the RSU, and operates a driving complex control device 300 (or control center) For vehicles moving within a plurality of RSUs, by defining the vehicle path control function through the RSU and defining the function to be performed in the driving complex control unit 300 through the structure definition of the driving complex control unit 300 Safe control can be supported.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un procédé de commande hybride de déplacement et un appareil de commande hybride de déplacement l'utilisant, le procédé de commande hybride de déplacement comprenant les étapes suivantes : un appareil de commande hybride de déplacement collecte des informations de véhicule d'une pluralité de véhicules situés dans des zones de gestion définies en tant que plage de communication d'unités de bord de route (UBR) ; identifier, sur la base des informations de véhicule collectées, s'il existe ou non un véhicule à déplacer d'une première UBR à une seconde UBR parmi les UBR ; s'il y a un premier véhicule à déplacer de la première UBR à la seconde UBR, détecter le risque d'une collision d'extrémité arrière entre le premier véhicule et un second véhicule appartenant à la seconde UBR ; et s'il y a le risque d'une collision d'extrémité arrière, ajuster la vitesse de déplacement du premier véhicule.
PCT/KR2021/016557 2021-11-12 2021-11-12 Procédé de commande hybride de déplacement de véhicule et appareil de commande hybride de déplacement le prenant en charge WO2023085469A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/KR2021/016557 WO2023085469A1 (fr) 2021-11-12 2021-11-12 Procédé de commande hybride de déplacement de véhicule et appareil de commande hybride de déplacement le prenant en charge
KR1020217040356A KR20230070398A (ko) 2021-11-12 2021-11-12 차량 주행 복합 제어 방법 및 이를 지원하는 주행 복합 제어 장치

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PCT/KR2021/016557 WO2023085469A1 (fr) 2021-11-12 2021-11-12 Procédé de commande hybride de déplacement de véhicule et appareil de commande hybride de déplacement le prenant en charge

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009037561A (ja) * 2007-08-03 2009-02-19 Toyota Motor Corp 走行計画生成装置
US20110306353A1 (en) * 2010-06-11 2011-12-15 Electronics And Telecommunications Research Institute Channel allocation device and method using wireless access in vehicular enviroments
KR20150051549A (ko) * 2013-11-04 2015-05-13 현대오트론 주식회사 주행상황 예측을 통한 적응형 순항제어장치 및 적응형 순항 제어 방법
KR20180043009A (ko) * 2016-10-19 2018-04-27 엘지전자 주식회사 차량 운전 보조장치
KR20190102868A (ko) * 2018-02-27 2019-09-04 삼성전자주식회사 차량의 주행 경로를 계획하는 방법 및 이를 위한 장치

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009037561A (ja) * 2007-08-03 2009-02-19 Toyota Motor Corp 走行計画生成装置
US20110306353A1 (en) * 2010-06-11 2011-12-15 Electronics And Telecommunications Research Institute Channel allocation device and method using wireless access in vehicular enviroments
KR20150051549A (ko) * 2013-11-04 2015-05-13 현대오트론 주식회사 주행상황 예측을 통한 적응형 순항제어장치 및 적응형 순항 제어 방법
KR20180043009A (ko) * 2016-10-19 2018-04-27 엘지전자 주식회사 차량 운전 보조장치
KR20190102868A (ko) * 2018-02-27 2019-09-04 삼성전자주식회사 차량의 주행 경로를 계획하는 방법 및 이를 위한 장치

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