Apparatus for controlling platooning, method for controlling platooning, and system comprising the apparatus

Abstract

The present application relates to an apparatus for controlling platooning, a method for controlling platooning, and a system including the same. The apparatus for controlling platooning includes a processor for controlling platooning and a memory for storing platoon formation information of a platooning vehicle during platooning. When controlling platooning, the processor can automatically form a platoon based on the platoon formation information stored in the memory.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority and benefit to Korean Patent Application No. 10-2020-0053889, filed on May 6, 2020, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to an apparatus for controlling platoon movement, a method for controlling platoon movement, and a system including the apparatus, and more particularly to a technique for rapidly initiating platoon movement based on previously stored platoon arrangement information. Background Technology

[0004] Platoon driving is a technology that enables multiple vehicles to operate autonomously while lining up in a queue and maintaining a certain distance between each other. During platoon driving, the lead vehicle at the head of the platoon can control at least one following vehicle. The lead vehicle can maintain the distance between the multiple vehicles in the platoon and can exchange information about the behavior and status of the multiple vehicles in the platoon through inter-vehicle communication.

[0005] In this scenario, a convoy can be formed when a following vehicle sends a request to the leading vehicle to join the convoy, and the leading vehicle approves the request.

[0006] When identical vehicles form a convoy, they can continue driving in the convoy until they reach their destination, or at the destination, they can use vehicles from the previous convoy to form a new convoy. However, if the engine is turned off for a short rest and then restarted during convoy driving, the convoy may disband. Therefore, since following vehicles must repeatedly request to join the convoy and be approved to form a convoy, drivers' rest time may be reduced due to the inconvenient process, potentially leading to traffic accidents. Summary of the Invention

[0007] One aspect of the present invention provides an apparatus for controlling platooning, a method for controlling platooning, and a system including the apparatus, wherein when it is determined based on platooning history information that a vehicle has a history of previously forming a platoon, platooning can be formed by direct control transfer without a request and approval process.

[0008] The technical problems to be solved by the present invention are not limited to those described above. Those skilled in the art will clearly understand any other technical problems not mentioned herein through the following description.

[0009] According to one aspect of the present invention, an apparatus for controlling convoy driving may include: a processor and a memory; the processor is used to control convoy driving; the memory is used to store convoy arrangement information of vehicles in convoy driving during convoy driving, and the processor can automatically form a convoy driving queue based on the convoy arrangement information stored in the memory when convoy driving control is initiated.

[0010] According to one implementation, the memory can store convoy arrangement information by mapping roles in the convoy to vehicle identifiers (IDs) of each convoy vehicle.

[0011] According to one implementation, when the vehicles in the convoy are in "hold mode", the processor can control the storage of the current convoy arrangement information of the vehicles in the convoy in memory.

[0012] According to one embodiment, when platooning information is stored in memory, the processor can control the determination of whether previously stored platooning information exists in a memory region selected by the user, and if previously stored platooning information exists, provide the previously stored platooning information.

[0013] According to one implementation, when previously stored fleet arrangement information exists, the processor can, in response to a user's request, delete the previously stored fleet arrangement information and store the current fleet arrangement information.

[0014] According to one implementation, the processor can notify that the current fleet arrangement information has been stored in memory.

[0015] According to one implementation, the processor can determine whether to approve rapid start control of queuing vehicles corresponding to convoy arrangement information stored in the memory, thereby automatically forming a queuing for convoy driving.

[0016] According to one implementation, the processor can receive setting information approving fast start control for a following vehicle from a queuing of vehicles, and determine whether there are any following vehicles that do not approve fast start control.

[0017] According to one implementation, when at least one following vehicle among the following vehicles does not approve quick start control, the processor can determine that the automatic queuing has failed and notify that the automatic queuing has failed.

[0018] According to one implementation, when all following vehicles have approved rapid start control, the processor can determine whether platooning is possible by receiving sensor information and vehicle information from the following vehicles.

[0019] According to one implementation, when sensor malfunction, engine shutdown, vehicle control failure, or distance to the vehicle in front is determined based on sensor information and vehicle information received from the following vehicle, the processor can determine that queuing has failed and issue a notification.

[0020] According to one implementation, when platooning is possible, the processor can determine whether the platooning vehicles are arranged based on platooning information stored in memory, and when the platooning vehicles are arranged based on platooning information stored in memory, platooning is initiated.

[0021] According to one implementation, when platooning is possible, the processor can compare the speed of a first following vehicle with the speed of the first following vehicle measured by a front sensor of a second following vehicle traveling behind the first following vehicle, determine whether the second following vehicle is traveling behind the first following vehicle, and verify the platoon formation.

[0022] According to one implementation, the processor can verify the platoon arrangement for all following vehicles, and initiate platoon driving when the verification of the platoon arrangement for all following vehicles is completed.

[0023] According to one implementation, the processor can notify of the failure of verification for the platooning arrangement of at least one following vehicle when verification for the platooning arrangement of the following vehicle fails.

[0024] According to one implementation, when platooning begins, the processor can determine the platooning mode of all following vehicles based on the vehicle spacing between all following vehicles and the vehicle in front of each following vehicle.

[0025] According to one implementation scheme, when the vehicle spacing is greater than a first reference value and less than or equal to a fourth reference value, the processor can determine the queuing driving mode as "manual mode"; when the vehicle spacing is greater than a second reference value and less than or equal to the first reference value, the processor can determine the queuing driving mode as "semi-automatic approach mode"; when the vehicle spacing is greater than a third reference value and less than or equal to the second reference value, the processor can determine the queuing driving mode as "automatic approach mode"; and when the vehicle spacing is less than or equal to the third reference value, the processor can determine the queuing driving mode as "holding mode".

[0026] According to one implementation, the processor can send queue driving mode commands in parallel to all following vehicles, causing all following vehicles to execute queue driving mode in parallel.

[0027] According to one aspect of the present invention, a vehicle system may include: a communication device, a platooning control device, and an interface device; the communication device communicates between vehicles in a platoon; the platooning control device stores platooning arrangement information of vehicles in a platoon during platooning control, and automatically executes platooning based on the stored platooning arrangement information when platooning control is initiated; the interface device displays the platooning arrangement information.

[0028] According to one aspect of the present invention, a method for controlling platoon driving may include: storing platoon arrangement information of vehicles in platoon driving during platoon driving, and automatically performing platoon driving based on the stored platoon arrangement information when platoon driving control is initiated. Attached Figure Description

[0029] To better understand the invention, various embodiments of the invention will now be described by way of example with reference to the accompanying drawings, in which:

[0030] Figure 1 This is a block diagram showing the configuration of a vehicle system including means for controlling platoon driving according to an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram showing a convoy arrangement according to an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram showing information stored in the memory of a device for controlling queuing movement according to an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram showing a menu of multiple memories in a device for controlling queue movement according to an embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram showing a screen for storing a convoy arrangement in a memory according to an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram showing detailed values ​​of a memory according to an embodiment of the present invention;

[0036] Figure 7 This is a schematic diagram showing a screen for setting up quick startup according to an embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram showing a screen for notifying a fast startup failure according to an embodiment of the present invention;

[0038] Figure 9This is a flowchart illustrating a storage method for a fleet memory according to an embodiment of the present invention;

[0039] Figure 10 This is a flowchart illustrating a method for performing a fast start while traveling in a queue, according to one embodiment of the present invention;

[0040] Figure 11 This is a flowchart illustrating a method for performing fast-start queue driving according to an embodiment of the present invention; and

[0041] Figure 12 This is a block diagram showing a computing device according to one embodiment of the present invention. Detailed Implementation

[0042] In the following, some embodiments of the invention will be described in detail with reference to the accompanying drawings. When adding reference numerals to components in each drawing, it should be noted that even if the same or equivalent components are shown in different drawings, they are indicated by the same reference numerals. Furthermore, in describing embodiments of the invention, detailed descriptions of well-known features or functions will be omitted so as not to unnecessarily obscure the spirit of the invention.

[0043] In describing components according to embodiments of the invention, terms such as first, second, "A", "B", (a), (b), etc., may be used. These terms are intended only to distinguish one component from another, and they do not limit the nature, order, or sequence of the constituent components. Furthermore, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. These terms, as defined in common dictionaries, should be interpreted as having the meaning equivalent to their contextual meaning in the relevant technical field, and should not be interpreted as having an ideal or overly literary meaning, unless expressly defined herein.

[0044] In the following text, reference will be made to Figures 1 to 12 The embodiments of the present invention are described in detail.

[0045] A convoy consisting of a lead vehicle (LV) and a follower vehicle (FV) can operate in a queue on the road. The lead vehicle (LV) and follower vehicle (FV) can maintain a certain distance from each other while moving. Either the lead vehicle (LV) or the follower vehicle (FV) can adjust the distance between them while moving. The lead vehicle (LV) or follower vehicle (FV) can increase or decrease the distance between vehicles based on driver input.

[0046] According to the present invention, the convoy arrangement can be stored in a memory, as will be referred to below. Figure 2 and Figure 3A detailed example of storing convoy formations in memory is described below. References will be made below. Figures 4 to 8 Describe the details of the user interface provided by the lead vehicle (LV) or follower vehicle (FV) for storing convoy formations.

[0047] Figure 1 This is a block diagram showing the configuration of a vehicle system including a means for controlling platooning (platooning control device) according to an embodiment of the present invention.

[0048] refer to Figure 1 According to an embodiment of the present invention, the queuing control device 100 can be implemented inside a vehicle. In this case, the queuing control device 100 can be integrally formed with the vehicle's internal control unit, or it can be implemented separately from the vehicle's internal control unit, thereby connecting to the vehicle's internal control unit via a separate connector.

[0049] refer to Figure 1 The queuing driving control device 100 may include a memory 110 and a processor 120.

[0050] The memory 110 can be divided into multiple memory regions for use, and multiple memory regions can be assigned numbers. For example, as Figure 4 As shown, the memory 110 can be divided into memory #1, memory #2, and memory #3. Furthermore, different information regarding platoon formation (platoon formation information) can be stored separately in memory #1, memory #2, and memory #3. In this case, the platoon formation information may include vehicle number, vehicle identifier (ID), each vehicle's platoon driving role (platoon order for each vehicle), time spent performing platoon driving, or platoon driving history information.

[0051] The memory 110 may store the sensing results of the sensing device 200, as well as the data and / or algorithms required for the operation of the platoon driving control device 100. For example, the memory 110 may store platooning information received from platooning vehicles via vehicle-to-everything (V2X) communication, and the platooning information may include location information, sensing values ​​obtained by the sensing devices of each vehicle, vehicle information (e.g., the speed calculated for each vehicle), setpoints, destination information, or route information.

[0052] Alternatively, the memory 110 can be implemented using at least one of the following storage media: flash memory, hard disk memory, micro memory, card memory (e.g., a secure digital card (SD) or an eXtreme digital card), random access memory (RAM), static RAM (SRAM), read-only memory (ROM), programmable ROM (PROM), electrically erasable programmable ROM (EEPROM), magnetic RAM (MRAM), disk memory, or optical disk memory.

[0053] Processor 120 may be electrically connected to memory 110 and may electrically control each component. Processor 120 may be a circuit that executes software commands. Therefore, processor 120 may perform various data processing and calculations described below. For example, processor 120 may be an electronic control unit (ECU), a microcontroller unit (MCU), or another lower-level controller installed in the vehicle.

[0054] The processor 120 can execute requests for approval of queue driving, perform queue driving due to approval of queue driving, and determine the queue driving mode to control queue driving. In this case, the queue driving mode can be divided into "manual mode", "semi-automatic approach mode", "automatic approach mode" and "hold mode".

[0055] In this configuration, in "Manual Mode," the driver can perform longitudinal and lateral control. In "Semi-Automatic Approach Mode," the processor 120 performs longitudinal control of the vehicle, while the driver can manually perform lateral control. In "Automatic Approach Mode," the processor 120 performs both longitudinal and lateral control of the vehicle. In "Holding Mode," the processor 120 performs both longitudinal and lateral control of the vehicle and also performs vehicle spacing control. As described above, when all following vehicles (FVs) in the platoon string enter "Holding Mode," platoon driving can be initiated, and the current platoon arrangement can be stored in memory 110.

[0056] The processor 120 can automatically perform queue driving based on the convoy arrangement information previously stored in the memory 110.

[0057] When platoon formation information is stored in memory 110, processor 120 can determine whether previously stored platoon formation information exists in the user-selected memory. When platoon formation information is pre-stored in said memory, processor 120 can control the provision of the previously stored platoon formation information via interface device 400. In this case, it can be done as follows: Figure 4 The image shows the platoon formation information stored in memory 110. Therefore, the user of the lead vehicle (LV) can recognize the previously stored platoon formation information.

[0058] When previously stored vehicle arrangement information exists in memory 110, processor 120 can receive a user's selection to rewrite the relevant memory, such as... Figure 5 As shown. When a user requests a rewrite, processor 120 can delete the previously stored fleet arrangement information from memory and store the current fleet arrangement information in the relevant memory. Additionally, processor 120 can display the current fleet arrangement information stored in memory 110 through interface device 400 and notify the user of the current fleet arrangement information stored in memory 110.

[0059] Processor 120 can determine whether to approve quick start control for platooning vehicles corresponding to platooning arrangement information stored in memory 110, so as to automatically execute platooning. In other words, processor 120 can request setpoints from following vehicles (FVs) in the platooning and can receive said setpoints from the following vehicles (FVs). Processor 120 can use the received values ​​to determine the approval status of quick start control for the following vehicles (FVs). When... Figure 6 When the selected memory for quick startup is shown, the convoy arrangement information stored in the memory can be displayed, and can be... Figure 7 The settings are shown below.

[0060] When at least one of the following vehicles (FVs) has not approved quick start control, the processor 120 can determine that the automatic queuing has failed, and the processor 120 can notify the user of the automatic queuing failure. In this case, the processor 120 can take control to notify the user of the following vehicle (FV) by sending an automatic queuing failure notification to the following vehicle (FV).

[0061] When all following vehicles (FVs) have approved rapid start control, the processor 120 can request and receive sensor information and vehicle information from the following vehicles (FVs) and determine whether platooning is possible.

[0062] Based on sensor information and vehicle information received from the following vehicle, when the following vehicle's state is determined to be at least one of the following states, the processor 120 can determine that platooning has failed: sensor malfunction, start / stop, vehicle control failure, or a distance from the vehicle in front equal to or greater than a preset distance. The processor 120 can then provide the platooning failure status via the interface device 400, such as... Figure 8 As shown. In this case, the processor 120 can control the process by notifying the user of the following vehicle (FV) of an automatic queue driving failure.

[0063] As described above, when all following vehicles (FVs) have approved rapid start control and none of the sensors of the following vehicles (FVs) have malfunctioned, the processor 120 can determine that platooning is possible.

[0064] When platooning is possible, processor 120 can determine whether to arrange the vehicles in the platoon based on the platooning information stored in memory 110. When platooning is based on the platooning information stored in memory 110, processor 120 can control the initiation of platooning.

[0065] In other words, when platooning is possible, the processor 120 can compare the speed of the first following vehicle with the speed of the first following vehicle measured by a front sensor of the second following vehicle traveling behind the first following vehicle, in order to determine whether the second following vehicle is traveling behind the first following vehicle, thereby verifying the platooning arrangement.

[0066] The processor 120 can verify the platooning arrangement for all following vehicles. When the verification of the platooning arrangement for all following vehicles is completed, the processor 120 can control all following vehicles to perform platooning. When the verification of the platooning arrangement for at least one following vehicle fails, the processor 120 can notify the relevant following vehicle of the verification failure.

[0067] Although the above description pertains to the user selecting platooning information stored in the memory of the leading vehicle (LV), verifying whether the following vehicles (FVs) are arranged based on the stored platooning information, and initiating platooning, the invention is not limited thereto. For example, once the user of the leading vehicle (LV) selects the memory, the user can manually arrange the following vehicles (FVs) according to the order stored in the memory during vehicle travel, thereby initiating platooning.

[0068] When platooning begins, processor 120 can determine the platooning mode of all following vehicles (FVs) based on the distance between each FV and the vehicle in front of it. In other words, when the distance between vehicles is greater than a first reference value, processor 120 can determine the platooning mode as "manual mode." When the distance between vehicles is greater than a second reference value (smaller than the first reference value) but less than the first reference value, processor 120 can determine the platooning mode as "semi-automatic approach mode." When the distance between vehicles is greater than a third reference value (smaller than the second reference value) but less than the second reference value, processor 120 can determine the platooning mode as "automatic approach mode." When the distance between vehicles is greater than a fourth reference value (smaller than the third reference value) but less than the third reference value, processor 120 can determine the platooning mode as "hold mode." Therefore, the following vehicles (FVs) can perform platooning according to the platooning mode received from the leading vehicle (LV).

[0069] The processor 120 can send queuing mode commands to all following vehicles (FVs) in parallel, and all following vehicles (FVs) can execute queuing mode in parallel. Therefore, queuing control can be performed quickly for queuing vehicles.

[0070] The sensing device 200 may include at least one sensor that detects obstacles (such as vehicles in front) located around the vehicle and measures the distance to the obstacle and / or the speed relative to the obstacle. For example, the sensing device 200 may include a front sensor and a rear sensor to sense the distance and speed between vehicles located in front of and behind the vehicle.

[0071] For this purpose, sensing device 200 may include ultrasonic sensors, radar, cameras, laser scanners and / or angular radar, lidar, acceleration sensors, yaw rate sensors, torque measurement sensors and / or wheel speed sensors and steering angle sensors.

[0072] Communication device 300 is a hardware device implemented with various circuits to send or receive signals via wireless or wired connections. It can achieve vehicle-to-vehicle (V2V), vehicle-to-everything (V2X), or vehicle-to-infrastructure (V2I) communication through in-vehicle network communication technologies, wireless internet access, or short-range communication technologies with external servers, infrastructure, and other vehicles. In this context, vehicle network communication technologies may include Controller Area Network (CAN) communication technology, Local Interconnect Network (LIN) communication technology, and FlexRay communication technology, and in-vehicle communication can be performed through these technologies. Wireless internet technologies may include Wireless Local Area Network (WLAN), Wibro, Wi-Fi, and WiMAX. Short-range communication technologies may include Bluetooth, ZigBee, Ultra-Wideband (UWB), Radio Frequency Identification (RFID), or Infrared Data Association (IrDA).

[0073] For example, communication device 300 can allow vehicles in a queuing queue to share queuing information together. In this case, the queuing information can be stored in memory 110 as described above.

[0074] The interface device 400 may include an input device and an output device. The input device is used to receive control commands from the user, and the output device is used to output the operating status and operating results of the queue driving control device 100.

[0075] In this scenario, the input device may include buttons, and may also include a mouse, joystick, rotary knob, stylus, etc. Additionally, the input device may include a soft keyboard implemented on the display. For example, the input device may receive approval from the user for queuing, dequeueing, querying, updating, and restoring of convoy arrangements stored in memory, and approval for quick start control.

[0076] Output devices may include displays and may include voice output devices, such as speakers. When the display includes touch sensors such as touch films, touch sheets, or touchpads, the display can operate as a touchscreen, and the input and output devices can be integrated. For example, the output device may display: platoon formation information stored in memory, the approval status of quick-start control for following vehicles, and changes to the platoon formation information stored in memory.

[0077] For example, the output device can output the following notifications: fleet arrangement information has been stored, fleet arrangement information is not stored in memory, following vehicle refuses to start quickly, platoon driving failed, and fleet arrangement verification result.

[0078] In this case, the display may include at least one of the following: liquid crystal display (LCD), thin film transistor liquid crystal display (TFT LCD), organic light-emitting diode (OLED), flexible display, field emission display (FED), or three-dimensional display (3D display).

[0079] The vehicle control device 500 can be controlled by the platooning control device 100 to control the vehicle's steering, acceleration, deceleration, or braking.

[0080] Figures 4 to 8 The image shows the lead vehicle (LV), which will be referenced below. Figures 4 to 8 Provide a detailed description of the scene of the lead vehicle (LV).

[0081] Figure 2 This is a schematic diagram showing the convoy arrangement according to an embodiment of the present invention. Figure 3 This is a schematic diagram showing the information stored in the memory of the queuing driving control device according to an embodiment of the present invention.

[0082] refer to Figure 2 When the leading vehicle (LV) and following vehicles (FV1, FV2, FV3 and FV4) with vehicle IDs ID1, ID2, ID3, ID4 and ID5 are arranged in sequence and the convoy is moving, that is, when all following vehicles in the convoy are moving in "hold mode", the current convoy arrangement can be stored in memory 110.

[0083] refer to Figure 3 When vehicles (vehicle numbers MV1, MV2, MV3, MV4, and MV5) have joined the driving queue, roles and vehicle IDs can be mapped and stored to each vehicle (vehicle number MV1, MV2, MV3, MV4, and MV5). For example, vehicle number "MV1" has the role of a lead vehicle (LV) and vehicle ID "ID1". Therefore, the role and vehicle ID of each vehicle are mapped and stored to each vehicle number.

[0084] In addition, whenever the convoy arrangement changes, the changed convoy arrangement is modified and stored in memory 110.

[0085] Figure 4 This is a schematic diagram showing a menu of multiple memories in a queuing driving control device according to an embodiment of the present invention. Figure 5 This is a schematic diagram showing a screen for storing a convoy arrangement in a memory according to an embodiment of the present invention.

[0086] In order to store the convoy arrangement in memory 110, the convoy driving control device 100 of the leading vehicle can first determine whether the convoy driving mode of all following vehicles is "hold mode", and when the convoy driving mode of all following vehicles is "hold mode", the convoy arrangement can be stored.

[0087] When a request for storing the convoy arrangement is received from the user via the interface device, the convoy driving control device 100 of the leading vehicle, as... Figure 4 The diagram shows the arrangement of the memory, in Figure 4 When memory #1, memory #2 and memory #3 are displayed, if the user selects memory #1, the platoon driving control device 100 of the leading vehicle can display whether the previously stored platoon arrangement information exists in memory #1.

[0088] When the previously stored platoon arrangement information exists in memory #1, the platoon driving control device 100 of the leading vehicle can display the previously stored platoon arrangement, allowing the user to identify the previously stored platoon arrangement.

[0089] Therefore, the platooning control device 100 of the leading vehicle can receive the following choice from the user: maintain the previously stored platooning arrangement or rewrite it with the current platooning arrangement.

[0090] exist Figure 5 In the process, when memory #1 has previously stored records (previous fleet arrangement information), a screen can be displayed asking the user whether to rewrite memory #1 with new fleet arrangement information.

[0091] Therefore, when the user selects the response "Yes", the previously stored convoy arrangement is deleted from memory #1, and the current convoy arrangement is re-stored in memory #1. The convoy arrangement stored in memory #1 can then be displayed. Conversely, when the user selects the response "No", the previously stored convoy arrangement remains in memory #1, while the current convoy arrangement is not stored in memory #1.

[0092] In the following text, reference will be made to Figures 6 to 8 Describe an example of quickly and automatically forming convoys based on previously stored convoy arrangements.

[0093] Figure 6 This is a schematic diagram showing detailed values ​​of the memory according to an embodiment of the present invention. Figure 7 This is a schematic diagram showing a screen for setting up quick startup according to an embodiment of the present invention. Figure 8 This is a schematic diagram showing a screen for notifying users of a fast startup failure according to an embodiment of the present invention.

[0094] When a leading vehicle receives a memory number from the user without performing platooning, the platooning control device 100 of the leading vehicle determines whether a platooning arrangement is stored in the memory and attempts to automatically form a platoon based on previously stored platooning arrangements. In this case, if no previously stored platooning arrangements are in the memory, the platooning control device 100 of the leading vehicle can notify the user that there are no previously stored platooning arrangements in the memory.

[0095] exist Figure 6 The document discloses an example of displaying platooning information stored in each of memory #1, memory #2, or memory #3. Therefore, when a user attempts to form a platoon by selecting at least one of memory #1, memory #2, or memory #3, the platooning control device 100 of the leading vehicle can detect approval information from the rapid start control of the following vehicles and can collect sensor information and vehicle information from the following vehicles to determine whether the following vehicles can immediately form a platooning platoon.

[0096] Figure 7 The display settings for the following vehicles, used to approve the lead vehicle's (LV) quick start control, are shown. In other words, the following vehicles can set whether to approve the lead vehicle's (LV) quick start control to a passive value. The setting value can be stored in the following vehicle's non-volatile memory and will always be maintained even if the engine is turned off and then restarted. When the setting value is "Do not approve quick start control of LV", indicating that quick start control of the lead vehicle (LV) is not approved, the lead vehicle (LV) cannot perform a quick start. Conversely, when the setting value is "Approve quick start control of LV", indicating that quick start control of the lead vehicle (LV) is approved, the lead vehicle (LV) will form a convoy even if the following vehicles do not send any requests. Even if one of the following vehicles belonging to the convoy is set to not approve the lead vehicle's (LV) quick start control, the convoy driving control device 100 of the lead vehicle can still display the following vehicle (FV). <id>The decision not to approve fast start made the LV (Leader Vehicle) user aware that fast start was not approved.

[0097] The queuing control device 100 of the leading vehicle determines that all following vehicles have been approved for rapid start, and then determines whether any vehicles have failed to queue based on sensor information and vehicle information of the following vehicles. Even if one of the following vehicles fails to queue, the queuing control device 100 of the leading vehicle displays the following vehicles (FV). <id>Queue movement failed, such as Figure 8 As shown.

[0098] In the following text, reference will be made to Figure 9 A storage method for a fleet memory according to an embodiment of the present invention is described. Figure 9 This is a flowchart illustrating a storage method for a fleet memory according to an embodiment of the present invention.

[0099] based on Figure 1 The queuing driving control device 100 executes Figure 9 The following description is based on the assumptions of the process. Additionally, in reference to... Figure 9 As can be understood from the following description, the operations described as being performed by the device are controlled by the processor 120 of the queue driving control device 100. Figure 9 The process can be performed by the queuing driving control device 100 installed in the lead vehicle (LV).

[0100] refer to Figure 9 After starting queuing (S101), the queuing control device 100 determines whether the current queuing mode is "holding mode" (S102).

[0101] When the current queuing mode is "hold mode", if the user selects to store the role and vehicle ID of each currently queuing vehicle through the interface device 400 (S103), the queuing control device 100 receives a selection of one of the memory numbers of the memory 110 (S104).

[0102] In other words, the memory 110 can be divided into multiple memory regions, and the multiple memory regions are assigned memory numbers for classification. For example, the memory numbers can be divided into memory #1, memory #2, and memory #3.

[0103] The queue driving control device 100 determines whether a previously stored record exists in the memory area corresponding to the selected memory number (S105).

[0104] When there is no previously stored record in the memory area corresponding to the selected memory number, the convoy driving control device 100 stores the current fleet role and vehicle ID for the corresponding memory number (S106). For example, when memory #1 is selected and there is no previously stored record in memory #1, that is, when memory #1 is empty, the current fleet role and vehicle ID can be stored in memory #1.

[0105] Subsequently, the platoon driving control device 100 can notify the user that the current platoon arrangement information (information about the platoon role (order) and vehicle ID of each vehicle) has been stored in the memory 110 (S107).

[0106] Meanwhile, in S105, when the previous platoon arrangement information is recorded for the corresponding memory number, the platoon driving control device 100 provides the platoon arrangement information stored for the corresponding memory number (S108).

[0107] Subsequently, the platoon driving control device 100 determines whether the user has selected to rewrite the previously stored record (S109), and then, when the user selects to rewrite the previously stored record, stores the current platoon role and vehicle ID for the corresponding memory number (S106).

[0108] Conversely, if no option is chosen to rewrite the previously stored record, the process returns to S102 while retaining the previous record.

[0109] As described above, according to the present invention, the current fleet arrangement information can be stored in a memory, and the stored fleet arrangement information can be identified.

[0110] In the following text, reference will be made to Figure 10 and Figure 11 A method for performing a fast startup according to an embodiment of the present invention is described in detail. Figure 10 and Figure 11 This is a flowchart illustrating a method for performing a fast start during queuing travel according to an embodiment of the present invention.

[0111] based on Figure 1 The queuing driving control device 100 executes Figure 10 or Figure 11 The following description is based on the assumptions of the process. Additionally, in reference to... Figure 10 or Figure 11 As can be understood from the following description, the operations described as being performed by the device are controlled by the processor 120 of the queue driving control device 100.

[0112] refer to Figure 10 When the user selects a memory number (S201), the queuing driving control device 100 determines whether there is a value stored in the corresponding memory number of the memory 110 for the leading vehicle (LV) (S202).

[0113] When there is no value stored for the corresponding memory number (previous platoon arrangement information), the platoon driving control device 100 notifies that there is no platoon arrangement stored for the corresponding memory number (S203).

[0114] Meanwhile, when a value is stored for the corresponding memory number, the queuing control device 100 of the leading vehicle requests the parameter value for approving quick start from the following vehicle stored for the corresponding memory number, and receives the parameter value for approving quick start (S204).

[0115] Therefore, the platooning control device 100 of the leading vehicle determines whether there is a following vehicle among the following vehicles that has not approved fast start control (S205). When there is a following vehicle among the following vehicles that has not approved fast start control, the platooning control device 100 of the leading vehicle notifies that the following vehicle has refused fast start (S206). Therefore, the driver of the leading vehicle can identify the following vehicles that have refused fast start stored for the corresponding memory number. In this case, the leading vehicle notifies the following vehicle that it is unable to form a platoon due to the refusal of fast start, making the driver of the following vehicle aware that a platoon cannot be formed.

[0116] Meanwhile, when there is no following vehicle that does not approve fast start control among the following vehicles stored for the corresponding memory number, that is, when all following vehicles approve fast start control, the queuing driving control device 100 requests and receives sensor information and vehicle information from the following vehicles stored for the corresponding memory number (S207).

[0117] By utilizing sensor information and vehicle information received from following vehicles stored for corresponding memory numbers, the platooning control device 100 of the leading vehicle determines whether there is a following vehicle in the memory that has failed to platoon (S208). In other words, when it is determined, based on sensor information and vehicle information received from following vehicles stored for corresponding memory numbers, that there is a sensor malfunction, a vehicle control failure, and the distance to the preceding vehicle is within a preset distance, the platooning control device 100 of the leading vehicle can determine that the vehicle has failed to platoon.

[0118] As described above, when a vehicle in the following vehicles stored for the corresponding memory number has failed to queue, the queuing control device 100 of the leading vehicle notifies the driver of the queuing failure (S209). Therefore, the driver of the leading vehicle can become aware of the queuing failure.

[0119] When there are no vehicles that have failed to queue in the list of following vehicles stored for the corresponding memory number, the queuing control device 100 of the leading vehicle increases the speed of the following vehicle (MVn) stored for the corresponding memory number (S210). As a result, the following vehicle stored for the corresponding memory number moves to the queue position stored for the corresponding memory number.

[0120] Subsequently, by utilizing the sensor values ​​of the queuing vehicles, the queuing control device 100 of the leading vehicle can determine whether the following vehicles are positioned in the arrangement position stored for the corresponding memory number.

[0121] The platooning control device 100 of the leading vehicle compares the speed and rear sensor value of the leading vehicle (MVn) with the front sensor value of the following vehicle (MVn+1) (S211), and determines whether the comparison result is less than or equal to a preset threshold value (S212).

[0122] For example, the platooning control device 100 of the leading vehicle (LV) slowly increases the speed of its own vehicle, compares the speed of the leading vehicle (leading vehicle) measured by the front sensor of the following vehicle (FV1) with the speed of the leading vehicle measured by the leading vehicle, and determines whether the comparison result is equal to or less than a preset threshold value.

[0123] Therefore, when the comparison result is equal to or less than a preset threshold, the queuing control device 100 of the leading vehicle determines that the following vehicle (FV1) is behind the leading vehicle (LV). When the comparison result exceeds the preset threshold, the queuing control device 100 of the leading vehicle determines that the following vehicle (FV1) is not behind the leading vehicle (LV).

[0124] The platooning control device 100 for the leading vehicle can execute S212 for each following vehicle stored for a memory number to determine whether the vehicle is positioned at the location stored in the memory.

[0125] The queuing control device 100 for the leading vehicle compares all vehicles in the queuing and determines the position of the vehicle stored in the memory when the comparison result is equal to or less than a preset threshold (S213). Therefore, queuing can be started.

[0126] When the queuing control device 100 of the leading vehicle compares all vehicles in the queuing, if any value in the comparison result exceeds a threshold, the queuing control device 100 can determine that the relevant following vehicle is not positioned at the location stored in the memory, and notify the relevant following vehicle that the relevant following vehicle is not positioned at the location stored for the memory number, and reconfiguration has failed (S214). In this case, the queuing control device 100 of the leading vehicle can suggest positioning the relevant following vehicle at the location stored for the memory number.

[0127] For example, the platooning control device 100 for leading vehicles can compare the speed of the leading vehicle (LV) with the speed of the following vehicle (FV1) measured by a front sensor of the following vehicle (FV1), compare the speed of the following vehicle (FV1) with the speed of the following vehicle (FV2) measured by a front sensor of the following vehicle (FV2), and compare the speed of the following vehicle (FV2) with the speed of the following vehicle (FV3) measured by a front sensor of the following vehicle (FV3). As described above, the platooning control device 100 for leading vehicles can perform comparison operations on all vehicles in the platooning queue, and when all comparison result values ​​are equal to or less than a preset threshold, it can be determined that all vehicles are positioned at the locations stored in the memory. Simultaneously, even if one of the comparison values ​​of the leading vehicle (LV), following vehicle (FV1), following vehicle (FV2), and following vehicle (FV3) exceeds the preset threshold, it is determined that the relevant vehicle is not positioned at the location stored for the memory number.

[0128] Reference Figure 11 The following description is provided. Figure 11 This involves: when in Figure 10 The process of sending a queue driving mode command when the arrangement of all vehicles in S213 is the same as the arrangement stored in the memory.

[0129] The queuing control device 100 of the leading vehicle sends queuing commands in parallel to the following vehicles in the queuing queue. In this case, the queuing mode commands can be set differently depending on the distance between the following vehicle and the vehicle in front of it.

[0130] In this scenario, steps S301 to S305 are determined for all following vehicles, and a queuing mode command is sent to the relevant vehicles based on the determination results. However, for clarity, the following example is used: the queuing mode command is determined by determining the distance between a following vehicle and the vehicle in front of it.

[0131] The platooning control device 100 of the leading vehicle determines whether the distance between the following vehicle (FV2) and the following vehicle (FV1) in front of the following vehicle (FV2) is greater than a preset reference value "A" and equal to or less than a preset reference value "B" (S301). In this case, the preset reference value "A" can be set to be less than the preset reference value "B" based on experimental values.

[0132] When the distance between the following vehicle (FV2) and the following vehicle (FV1) in front of it is greater than a preset reference value "A" and equal to or less than a preset reference value "B", the queuing control device 100 of the leading vehicle sets the queuing mode command to "manual mode" (S302). In this case, in manual mode, the driver can perform all longitudinal and lateral control.

[0133] Conversely, when the distance between the following vehicle (FV2) and the following vehicle (FV1) in front of it does not meet the condition that it is greater than a preset reference value "A" and equal to or less than a preset reference value "B", the platooning control device 100 of the leading vehicle determines whether the distance between the following vehicle (FV2) and the following vehicle (FV1) in front of it is greater than a preset reference value "C" and equal to or less than a preset reference value "A" (S303). In this case, the preset reference value "C" can be set to be less than the preset reference value "A" based on experimental values.

[0134] When the distance between the following vehicle (FV2) and the following vehicle (FV1) in front of it is greater than a preset reference value "C" and equal to or less than a preset reference value "A", the queuing control device 100 of the leading vehicle sets the queuing mode command of the following vehicle (FV2) to "semi-automatic approach mode" (S304). In "semi-automatic approach mode", the queuing control device 100 performs longitudinal control of the vehicle, and the driver performs lateral control manually.

[0135] When the distance between the following vehicle (FV2) and the following vehicle (FV1) in front of it does not meet the condition that it is greater than a preset reference value "C" and equal to or less than a preset reference value "A", the platooning control device 100 of the leading vehicle determines whether the distance between the following vehicle (FV2) and the following vehicle (FV1) in front of it is greater than a preset reference value "D" and equal to or less than a preset reference value "C" (S305). In this case, the preset reference value "D" can be set to be less than the preset reference value "C" based on experimental values.

[0136] When the distance between the following vehicle (FV2) and the following vehicle (FV1) in front of it is greater than a preset reference value "D" and equal to or less than a preset reference value "C", the queuing control device 100 of the leading vehicle sets the queuing mode command to "automatic approach mode" (S306). In "automatic approach mode", the queuing control device 100 performs full longitudinal and lateral control on the vehicles.

[0137] When the distance between the following vehicle (FV2) and the following vehicle (FV1) in front of it does not meet the condition of being greater than a preset reference value "D" and equal to or less than a preset reference value "C", the queuing control device 100 of the leading vehicle can set the queuing mode command of the following vehicle (FV2) to "holding mode" (S307). In "holding mode", the queuing control device 100 performs all longitudinal and lateral control and vehicle spacing control on the vehicles. As described above, when all following vehicles in the queuing queue enter "holding mode", queuing can be started, and the current queuing arrangement can be stored in the memory 110. In addition, whenever the queuing arrangement changes, the changed queuing arrangement is modified and stored in the memory 110. In this case, as Figure 3 As shown, when storing the convoy arrangement, the vehicle ID and role of the vehicles traveling in the convoy can be stored.

[0138] Although the following vehicle (FV2) has been described as an example in the above process, the queuing control device 100 of the leading vehicle performs the above process in parallel for all following vehicles and sends queuing mode commands to all following vehicles in parallel in order to quickly execute queuing.

[0139] Subsequently, the platooning control device 100 of the leading vehicle notifies the driver that the platooning arrangement stored in the memory has been completed (S308). Thus, the driver of the leading vehicle can be aware that the platooning arrangement has been completed, and each following vehicle notifies its driver that the platooning arrangement stored in the memory has been completed, thereby making the driver of each following vehicle aware that the platooning arrangement has been completed.

[0140] As described above, according to the present invention, when a convoy is re-formed after a convoy has disbanded, it can quickly perform platooning together with vehicles that have previously formed a convoy.

[0141] In other words, according to the present invention, platooning can be initiated quickly without the following process: when a following vehicle that has previously formed a platoon requests platooning, the leading vehicle approves platooning to form a platoon. Furthermore, since all following vehicles are controlled in parallel, the time required for the initial initiation of platooning can be saved.

[0142] In addition, it can reduce the effort users have to put into regrouping a team after it has been disbanded, so users can take a break.

[0143] Figure 12 This is a block diagram showing a computing device according to an embodiment of the present invention.

[0144] refer to Figure 12 The computing system 1000 may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage device 1600, and a network interface 1700 interconnected via a system bus 1200.

[0145] Processor 1100 may be a central processing unit (CPU) or semiconductor device for processing instructions stored in memory 1300 and / or storage device 1600. Each of memory 1300 and storage device 1600 may include various types of volatile or non-volatile storage media. For example, memory 1300 may include read-only memory (ROM) and random access memory (RAM).

[0146] Therefore, the operation of the methods or algorithms described in conjunction with the embodiments disclosed in this invention can be directly implemented by hardware modules, software modules, or combinations thereof executed by processor 1100. The software module can reside on a storage medium (i.e., memory 1300 and / or storage device 1600), such as RAM, flash memory, ROM, erasable programmable ROM (EPROM), electrically EPROM (EEPROM), registers, hard disk, removable disk, or optical disc-ROM (CD-ROM).

[0147] An exemplary storage medium can be connected to processor 1100. Processor 1100 can read information from and write information to the storage medium. Alternatively, the storage medium can be integrated with processor 1100. The processor and storage medium can reside in an application-specific integrated circuit (ASIC). The ASIC can reside in the user terminal. Alternatively, the processor and storage medium can reside as separate components in the user terminal.

[0148] According to the present invention, convoy arrangement information can be stored in a memory, and when a convoy is subsequently formed, the request and approval process can be skipped, and convoy driving can be performed directly based on the convoy arrangement information stored in the memory, thereby minimizing the inconvenience of re-forming the previous convoy after de-queuing.

[0149] Furthermore, various effects can be provided directly or indirectly through this invention.

[0150] Although the invention has been described above with reference to exemplary embodiments and accompanying drawings, the invention is not limited thereto, but can be modified and altered in various ways by those skilled in the art without departing from the spirit and scope of the invention as claimed in the appended claims.

[0151] Therefore, the embodiments of the present invention are not intended to limit the technical spirit of the invention, but are provided for illustrative purposes only. The scope of protection of the present invention should be interpreted by the appended claims, and all equivalents thereof should be interpreted as being included within the scope of the present invention.< / id> < / id>

Claims

1. An apparatus for controlling the movement of a convoy, the apparatus comprising: A processor configured to control queue movement; and A memory configured to store platooning information of vehicles traveling in a platoon during platooning. The processor is configured as follows: When controlling the movement of the convoy, the convoy is automatically formed based on the convoy arrangement information. The processor is further configured as follows: Determine whether to approve rapid start control for the vehicles in the convoy; When rapid start control of the vehicles in the platoon is approved, the platoon is automatically re-formed according to the platoon arrangement information stored in the memory, without the need for a request and approval process to re-form the platoon.

2. The apparatus for controlling convoy movement according to claim 1, wherein, The memory is configured as follows: Fleet arrangement information is stored by mapping roles in the queue to vehicle identifiers for each vehicle in the queue.

3. The apparatus for controlling convoy movement according to claim 1, wherein, The processor is configured as follows: When vehicles in a queue are in hold mode, the memory stores the current platoon arrangement information of the vehicles in the queue.

4. The apparatus for controlling convoy movement according to claim 1, wherein, The processor is configured as follows: When storing fleet arrangement information in memory, determine whether previously stored fleet arrangement information exists in the memory area selected by the user; If previously stored fleet arrangement information exists, provide the previously stored fleet arrangement information.

5. The apparatus for controlling convoy movement according to claim 4, wherein, The processor is configured as follows: If previously stored fleet arrangement information exists, delete the previously stored fleet arrangement information in response to the user's request; Store the current fleet arrangement information.

6. The apparatus for controlling convoy movement according to claim 3, wherein, The processor is configured as follows: The system notifies that the current fleet arrangement information has been stored in memory.

7. The apparatus for controlling convoy movement according to claim 1, wherein, The processor is configured as follows: Receive settings information for quick start control of the following vehicle from the following vehicle in the convoy; Determine if any of the following vehicles are not authorized to use rapid start control.

8. The apparatus for controlling convoy movement according to claim 7, wherein, The processor is configured as follows: Automatic queuing is determined to have failed when at least one of the following vehicles does not approve fast start control. Notify the system when automatic queue driving fails.

9. The apparatus for controlling convoy movement according to claim 7, wherein, The processor is configured as follows: When all following vehicles have approved rapid start control, the system determines whether platooning is possible by receiving sensor and vehicle information from the following vehicles.

10. The apparatus for controlling convoy movement according to claim 9, wherein, The processor is configured as follows: When sensor malfunction, engine shutdown, vehicle control failure, or distance to the vehicle in front is determined based on sensor information and vehicle information received from the following vehicle, the convoy driving is deemed to have failed and a notification is issued.

11. The apparatus for controlling convoy movement according to claim 9, wherein, The processor is configured as follows: When platooning is possible, determine whether the platooning vehicles are arranged based on the platooning information stored in memory; When vehicles in a convoy are arranged based on convoy arrangement information stored in memory, convoy driving is initiated.

12. The apparatus for controlling convoy movement according to claim 9, wherein, The processor is configured as follows: When platooning is possible, the speed of the first following vehicle in the platoon is compared with the speed of the first following vehicle as measured by the front sensor of the second following vehicle traveling behind the first following vehicle. Determine whether the second following vehicle is traveling behind the first following vehicle; Verify the convoy arrangement.

13. The apparatus for controlling convoy movement according to claim 12, wherein, The processor is configured as follows: Verify convoy formation for all following vehicles; Once the verification of the platoon formation for all following vehicles is complete, platoon driving begins.

14. The apparatus for controlling convoy movement according to claim 12, wherein, The processor is configured as follows: Notify the system that the validation of the platoon arrangement for at least one following vehicle fails.

15. The apparatus for controlling convoy movement according to claim 11, wherein, The processor is configured as follows: When platooning begins, the platooning mode of all following vehicles is determined based on the vehicle spacing between each following vehicle and the vehicle in front of each following vehicle.

16. The apparatus for controlling convoy movement according to claim 15, wherein, The processor is configured as follows: When the vehicle spacing is greater than the first reference value and less than or equal to the fourth reference value, the queuing driving mode will be set to manual mode. When the distance between vehicles is greater than the second reference value and less than or equal to the first reference value, the queuing driving mode is determined to be a semi-automatic approach mode, where the second reference value is less than the first reference value; When the distance between vehicles is greater than the third reference value and less than or equal to the second reference value, the queuing driving mode is determined to be the automatic approach mode, where the third reference value is less than the second reference value; When the vehicle spacing is less than or equal to the third reference value, the queuing mode is set to hold mode.

17. The apparatus for controlling convoy movement according to claim 16, wherein, The processor is configured as follows: Send a queuing driving mode command to all following vehicles in parallel, so that all following vehicles execute the queuing driving mode in parallel.

18. A vehicle system comprising: Communication equipment configured to communicate between vehicles traveling in a convoy; The platoon driving control device is configured as follows: When controlling the convoy's movement, store the convoy arrangement information of the vehicles in the convoy; When controlling the convoy's movement, convoy movement is automatically executed based on stored convoy arrangement information; and an interface device configured to display the convoy arrangement information. The queue driving control device is configured as follows: Determine whether to approve rapid start control for the vehicles in the convoy; When rapid start control of the vehicles in the platoon is approved, the platoon is automatically re-formed according to the stored platoon arrangement information without the need for a request and approval process to re-form the platoon.

19. A method for controlling the movement of a convoy, the method comprising: During platooning, store the platooning arrangement information of the vehicles in the platoon; When controlling the convoy's movement, convoy movement is automatically executed based on stored convoy arrangement information. The automatic execution of queue driving includes: Determine whether to approve rapid start control for the vehicles in the convoy; When rapid start control of the vehicles in the platoon is approved, the platoon is automatically re-formed according to the stored platoon arrangement information without the need for a request and approval process to re-form the platoon.

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