Driving control method by forming a cluster of autonomous driving vehicles

Abstract

The present invention relates to a driving control method by forming a cluster of autonomous driving vehicles. Wherein the host vehicle can execute the driving control method. The method includes: confirming a target vehicle traveling around the host vehicle; requesting information sharing to the target vehicle; when the information sharing with the target vehicle is allowed, inquiring about the existence of an emergency danger avoidance driving rule and its type; and driving by forming a cluster when the target vehicle sharing the information and the host vehicle have the same emergency danger avoidance driving rule.

Description

Technical Field

[0001] This invention relates to a driving control method for forming a cluster of autonomous vehicles. Background Technology

[0002] Vehicles are equipped with detection devices such as various sensors and cameras, and controllers that operate the vehicle based on the detection results. Hazard avoidance technologies, such as automatic braking or steering wheel operation, have been implemented to address dangers caused by driver negligence. Hazard avoidance technologies have evolved into support systems to reduce driver workload and are moving towards the practical application of autonomous driving technology in the future.

[0003] Various technologies have been proposed for autonomous driving. In the case of autonomous driving, the vehicle continuously inputs data on the surrounding conditions along a path with input points as targets, and drives while adjusting speed or selecting lanes based on these conditions. If the vehicle cannot predict the movement of the target vehicle when it is traveling around it, an accident may occur. Therefore, due to the increased load on the controller when a target vehicle is traveling around it, a technology for sharing information between vehicles via inter-vehicle communication has also been developed.

[0004] Japanese Patent Application Publication No. 2007-176355 discloses an automatic driving control device. This automatic driving control device includes: a receiving device for receiving information about surrounding vehicles; a computing device for calculating the vehicle's speed based on the information about surrounding vehicles received by the receiving device; and a driving control device for controlling the driving of the vehicle based on the speed calculated by the computing device.

[0005] Furthermore, a technology is being developed that utilizes vehicle-to-vehicle communication to form platoons of vehicles with the same purpose and drive in formation while maintaining a safe positional relationship with each other. Through platooning, all vehicles except the lead vehicle can follow the vehicle in front, thus reducing the load on the controller.

[0006] Japanese Patent Application Publication 2001-6099 discloses a platooning control device for vehicle platooning. A vehicle driving independently of the platoon has a device for requesting to join the platoon from the leading vehicle of the platoon. The leading vehicle has a device for allowing or prohibiting a solo-driving vehicle from joining, and when the leading vehicle allows a solo-driving vehicle to join, the solo-driving vehicle switches to automatic driving mode, following the leading vehicle of the platoon.

[0007] The above techniques are based on the premise of normal driving control. However, unexpected dangers may occur in actual driving. Normal driving control may not be able to cope with all situations, such as falling objects ahead or reversing vehicles. When unavoidable emergencies occur, driving rules that reduce the risk of collision or contact are needed. However, since there are currently no universally standardized driving rules, emergency driving rules vary from vehicle manufacturer to vehicle type.

[0008] As mentioned above, when an unavoidable emergency occurs while vehicles are driving with different emergency driving rules, each corresponding to its own rule, the risk of a secondary accident may increase. Conversely, when vehicles have the same emergency driving rules, the risk of a secondary accident can be avoided in an unavoidable emergency. Therefore, there is a need to provide a driving control method that takes into account emergency driving rules. Summary of the Invention

[0009] Embodiments of this disclosure relate to a driving control method that forms a cluster of autonomous vehicles. In a particular embodiment, when a target vehicle traveling around the vehicle and the vehicle have the same emergency hazard avoidance driving rules for defining driving controls to reduce impact in the event of an unavoidable emergency hazard, the driving control method can mitigate the emergency hazard by forming a cluster of the vehicle and the target vehicle.

[0010] The embodiments can avoid the problems in driving control methods of conventional autonomous vehicles and provide a driving control method by forming a cluster of autonomous vehicles. When a target vehicle traveling around the vehicle and the vehicle have the same emergency hazard avoidance driving rules for defining driving controls to reduce impact in the event of an unavoidable emergency hazard, the driving control method can reduce the emergency hazard by forming a cluster of the vehicle and the target vehicle.

[0011] According to one aspect of this disclosure, a driving control method is provided to reduce emergency hazards when multiple vehicles are driving in the same area during autonomous driving. The driving control method includes: the vehicle identifying a target vehicle traveling around it; the vehicle requesting information sharing from the identified target vehicle; when information sharing with the target vehicle is permitted, the vehicle inquiring from the target vehicle about the existence and type of an emergency hazard avoidance driving rule; and when the target vehicle and the vehicle sharing the information have the same emergency hazard avoidance driving rule, the vehicle and the target vehicle forming a cluster to drive, wherein the emergency hazard avoidance driving rule may be a rule defining a vehicle control method for implementing impact reduction driving control when an unavoidable emergency hazard occurs.

[0012] When the result of the inquiry into the existence and type of emergency hazard avoidance driving rules by this vehicle indicates that the target vehicle has emergency hazard avoidance driving rules different from those of this vehicle, the driving control method may further include: this vehicle confirming the positional relationship between this vehicle and the target vehicle and determining whether this vehicle is affected when an emergency hazard occurs, and when it is determined that this vehicle is not affected, allowing the target vehicles to drive in a group.

[0013] During normal driving, target vehicles may be allowed to drive in a group according to normal driving hazard avoidance behavior rules based on at least one safety confirmation device, including the driving type, specifications, and installed sensors of vehicles traveling around the target vehicle, and when an emergency hazard occurs, the target vehicles may drive according to emergency hazard avoidance driving rules.

[0014] Determining whether the vehicle is affected when an emergency hazard occurs may include: the vehicle acquiring emergency hazard avoidance driving rules from the target vehicle; the vehicle calculating potential hazards from driving state data including the speed, acceleration of each of the vehicle and the target vehicle, as well as the positional relationship between the vehicle and the target vehicle, to obtain a potential hazard level, and determining whether the obtained potential hazard level is less than or equal to a preset potential hazard level.

[0015] Determining whether the vehicle is affected when an emergency hazard occurs may include: the vehicle acquiring emergency hazard avoidance driving rules from the target vehicle; the vehicle acquiring a potential hazard level based on the positional relationship between the vehicle and the target vehicle and the impact of the target vehicle's driving control information assumed when the target vehicle conforms to the target vehicle's emergency hazard avoidance driving rules on the vehicle's driving control, and determining whether the acquired potential hazard level is less than or equal to a pre-set potential hazard level.

[0016] The driving control method disclosed herein, which involves forming a swarm of autonomous vehicles, allows vehicles with the same emergency hazard avoidance driving rules to drive in a swarm. Therefore, in the event of an unavoidable emergency, the vehicles within the swarm perform hazard avoidance control using the same control rules, thereby avoiding or reducing secondary accidents associated with impact-reducing driving controls.

[0017] Furthermore, through the driving control method of forming a cluster of autonomous vehicles disclosed herein, even if there are vehicles that have not joined a platoon driving group with the same purpose, a cluster can be formed according to the same emergency danger avoidance driving rules to expand the group of vehicles with similar driving control, thereby reducing damage such as collisions in the event of an emergency danger. Attached Figure Description

[0018] The above and other objects, features, and other advantages of this disclosure will become more clearly understood from the following detailed description taken in conjunction with the accompanying drawings, wherein:

[0019] Figure 1 This is a schematic view illustrating the formation of a cluster of autonomous vehicles in a driving control method for forming a cluster of autonomous vehicles according to an embodiment of the present disclosure;

[0020] Figure 2 is a view illustrating an example of avoidance behavior assumed to be an emergency hazard avoidance driving rule according to an embodiment of the present disclosure;

[0021] Figure 3A and Figure 3B This is a view illustrating examples of information for driving control during normal driving and driving control during emergency hazards, according to embodiments of the present disclosure;

[0022] Figure 4 This is a view illustrating an example of driving control information that shares emergency hazard avoidance driving rules with a target vehicle according to an embodiment of this disclosure;

[0023] Figure 5 This is a flowchart illustrating a driving control method for forming a cluster of vehicles according to an embodiment of the present disclosure;

[0024] Figure 6 This is a flowchart illustrating a method for determining whether to drive by forming a cluster of the vehicle and surrounding target vehicles according to an embodiment of the present disclosure;

[0025] Figure 7 This is a flowchart illustrating a method for determining whether to drive by forming a cluster of the vehicle and surrounding target vehicles according to an embodiment of the present disclosure;

[0026] Figure 8 This is a view illustrating an example of setting a potential hazard level based on the location of the target vehicle and emergency hazard avoidance driving rules according to embodiments of the present disclosure; and

[0027] Figure 9 This is a flowchart illustrating a method for setting a potential hazard level based on emergency hazard avoidance driving rules for a target vehicle according to an embodiment of the present disclosure. Detailed Implementation

[0028] In the following, preferred embodiments of the present disclosure for implementing a driving control method by forming a cluster of autonomous vehicles will be described in detail with reference to the accompanying drawings.

[0029] Figure 1 This is a schematic view illustrating the formation of a cluster of autonomous vehicles in a driving control method for forming a cluster of autonomous vehicles according to an embodiment of the present disclosure.

[0030] Reference Figure 1 ,exist Figure 1 The upper accompanying diagram shows a group of nine vehicles, A1, A2, B, C, and D, traveling in the same direction on road 2 at time t = t0. Road 2 is an example of a four-lane road with four lanes 3. At least one of the nine vehicles A1, A2, B, C, and D, A1, A2, and B, is an autonomous vehicle equipped with communication devices and capable of communicating with other vehicles.

[0031] Autonomous vehicles take their surroundings as data input and drive accordingly, adjusting speed or selecting lanes. In the early stages of development, when a target vehicle is traveling around the vehicle, the vehicle uses cameras or sensors to detect the target vehicle's position, presumably its speed or direction of travel, and controls its driving to avoid collisions. In this scenario, the controller faces a significant computational load.

[0032] However, with the development of vehicle-to-vehicle communication technology, the vehicle can acquire information about the target vehicle and control itself based on this information, thus reducing the computational load on the vehicle used to predict the target vehicle's movement. In particular, research has been conducted on platooning, in which vehicles with common requirements (e.g., purpose or destination) cooperate to form a platoon, and following vehicles in the platoon follow the lead vehicle while maintaining safety, based on information from the leading vehicle. Through platooning, the computational load on the controllers used for driving control can be significantly reduced for following vehicles. Furthermore, even when an unforeseen obstacle appears ahead, subsequent vehicles can receive information from the leading vehicle to notice the obstacle in advance and avoid it or apply braking, thereby preventing accidents.

[0033] When vehicles are traveling on multi-lane roads, the convoy is not limited to the forward and backward directions, and other vehicles can also travel around the autonomous vehicle. Even when the vehicle is driving in a convoy, it is common for other vehicles not in a convoy to travel in the lane adjacent to the autonomous vehicle. In the case of multi-lane roads, it is necessary to consider driving control to avoid accidents between the vehicle and other vehicles, especially accidents between vehicles in adjacent lanes.

[0034] For autonomous vehicles designed to avoid accidents between themselves and other vehicles, it is crucial to have different driving controls during normal driving and in situations involving unavoidable hazards in both lanes. During normal driving, even when changing lanes, driving controls are executed within the limits that do not affect the target vehicle, making accidents less likely. However, in situations involving unavoidable emergencies, such as when a leading vehicle overturns due to an unexpected falling object or gust of wind, the vehicle may not be able to handle all obstacles that would be present during normal driving. Therefore, emergency hazard avoidance driving rules, different from those used during normal driving, are required.

[0035] Emergency hazard avoidance driving rules establish a vehicle control method for implementing impact reduction driving controls when an unavoidable emergency hazard occurs. Normally, when driving alone, the vehicle avoids any emergency hazard by quickly controlling the steering wheel to move into an adjacent lane. However, when a vehicle is following behind, such avoidance may cause a secondary accident between the vehicle and the following vehicle, potentially resulting in a serious accident.

[0036] When a following vehicle has the same emergency hazard avoidance driving rules as this vehicle, and when this vehicle's emergency hazard avoidance strategy can be instantaneously sent to the target vehicle at the start of the emergency hazard avoidance action, the target vehicle may also brake suddenly to avoid a secondary accident.

[0037] This disclosure provides a driving control method in which vehicles with emergency hazard avoidance driving rules form a swarm and effectively cooperate and drive to mitigate unavoidable sudden emergencies through the overall swarm response. The method can be executed on the vehicle using an onboard processing loop, such as a processor and memory, to perform the instruction steps described herein.

[0038] For example, in one embodiment, the vehicle identifies a target vehicle traveling around it. When the target vehicle appears around the vehicle, the vehicle shares information with the target vehicle and then queries the target vehicle for its emergency hazard avoidance driving rules and their types. When the target vehicle has the same emergency hazard avoidance driving rules as the vehicle, the vehicle and the target vehicle form a group.

[0039] The cluster described herein is a group of vehicles that can act as a whole to mitigate unavoidable, sudden emergencies and does not require restrictions on normal driving conditions. Therefore, at least in the event of an emergency, target vehicles are permitted to form a cluster and drive according to emergency hazard avoidance driving rules. However, in normal driving, target vehicles drive according to hazard avoidance behavior rules in normal driving, which are based on at least one of the following: the driving type, specifications, and safety verification devices of the vehicles surrounding the target vehicle.

[0040] For example, when both the vehicle and the target vehicle have the same emergency hazard avoidance driving rules, the driving control information used in the driving control can be represented in a common format, and the amount of driving control information sent to the target vehicle can be limited to the minimum required amount, for example, it can be limited to preset parameters. Furthermore, when the operating strategy for a hypothetical emergency hazard is pre-coded, in an emergency, the vehicle can send its operating strategy to the target vehicle by sending a code. As described above, since only the minimum required amount of information regarding the vehicle's operating strategy is sent to the target vehicle, the information transmission time can be shortened. Additionally, the target vehicle receiving the vehicle's operating strategy can conserve energy for driving control calculations according to preset rules, thus enabling the target vehicle to respond to the hazard in a shorter time.

[0041] As mentioned above, vehicles with the same emergency hazard avoidance driving rules form a cluster and drive in a linked state, thereby reducing emergency hazards.

[0042] Refer again Figure 1 This view shows that vehicles represented by the same symbols have the same emergency hazard avoidance driving rules. For example, two autonomous vehicles 1 represented by A1 have the same emergency hazard avoidance driving rules. Similarly, two autonomous vehicles 1 represented by A2 and three autonomous vehicles 1 represented by B each have the same emergency hazard avoidance driving rules.

[0043] In the driving vehicle group at time t = t0, the vehicles are dispersed on the four-lane road. However, as mentioned above, the vehicle and the target vehicles around it share information, and when the vehicle and the target vehicles that share information with it have the same emergency hazard avoidance driving rules, the vehicle and the target vehicles form a cluster.

[0044] exist Figure 1In the lower part of the view of the driving vehicle groups at time t = t1, the driving vehicles after forming cluster 10 (hereinafter referred to as cluster 10) are shown. Cluster 11 includes two autonomous vehicles 1 denoted as A1, cluster 12 includes two autonomous vehicles 1 denoted as A2, and cluster 13 includes three autonomous vehicles 1 denoted as B. The vehicles included in each cluster 11, 12, and 13 have the same emergency hazard avoidance driving rules, but the vehicles in another cluster 10, for example, the vehicles in cluster 11 and the vehicles in cluster 12, have different emergency hazard avoidance driving rules.

[0045] Solo vehicles, labeled C and D, are vehicles that do not share emergency hazard avoidance rules with other vehicles. Solo vehicles C and D can be automated vehicles without emergency hazard avoidance driving rules, or they can be manually driven vehicles without controllers for automated driving.

[0046] exist Figure 1 In this configuration, vehicles forming clusters 11, 12, and 13 travel longitudinally in the same lane 3, with a leading vehicle marked with a circular symbol indicating that it guides other vehicles within the same cluster 10. There are no particular restrictions on which vehicle in the same cluster 10 will become the leading vehicle; however, for example, since leading vehicles require more computational processing for driving control compared to following vehicles, cluster 10 is formed such that the vehicle with the higher computational processing performance of the controller within the same cluster 10 becomes the leading vehicle. Thus, the leading vehicle can perform driving control calculations for itself, including vehicles in the same cluster 10, and send motion vectors and position information to following vehicles during travel. Following vehicles can then control themselves based on the motion vectors and position information transmitted by the leading vehicle.

[0047] Conversely, when there is little difference in computing performance among vehicles in the same cluster 10, following vehicles can be configured to share some of the computing load of the leading vehicle in order to reduce the computing load of the leading vehicle.

[0048] Cluster 13 is an example of a cluster including three autonomous vehicles 1 as shown in B. When the three autonomous vehicles are driving individually, it can be confirmed that they have the same emergency hazard avoidance driving rules, and they can form a cluster 13. Furthermore, when two of the three vehicles are driving in a convoy, it can be confirmed that the remaining vehicle, which has been driving alone, has the same emergency hazard avoidance driving rules as the other two vehicles, and the remaining vehicle can join the convoy of the two vehicles to form a cluster 13.

[0049] Because target vehicles included in a different cluster 10, or individually driven target vehicles, do not have the same emergency hazard avoidance driving rules as this vehicle, the vehicle's operating strategy will not be immediately transmitted to the target vehicles when an unavoidable sudden emergency occurs. Therefore, driving control is executed to increase the distance between this vehicle and such target vehicles. In this embodiment, when a group of vehicles in another cluster 10, which is a leading vehicle of this cluster 10, does not have the same emergency hazard avoidance driving rules as this vehicle, or an individually driven target vehicle, is driving around this vehicle, this vehicle can share partial information about the size of the cluster 10 or driving control with the leading vehicle of the other cluster 10 or the individually driven autonomous vehicle. By sharing information, vehicles can increase the distance between vehicles while driving.

[0050] exist Figure 1 In the diagram, vehicles in each of the three clusters 11, 12, and 13 are shown driving longitudinally, but when lane 3 can be multiple lanes, vehicles can drive in a horizontal or diagonal position. In the above case, one of the vehicles forming cluster 10 can act as a lead vehicle. Therefore, typically, when vehicles in the same cluster 10 are driving, and when an unexpected obstacle appears in front of a target vehicle, assuming the target vehicle brakes, the vehicle can also evade by veering out of its lane to the front of the target vehicle.

[0051] In addition, Figure 1 The example shown depicts two or three vehicles participating to form cluster 10, but more vehicles than this example can form cluster 10. In this case, the leading vehicle is not limited to one vehicle and can be multiple vehicles.

[0052] For example, in Figure 1 In the example, vehicles A1 and A2 form different clusters 11 and 12, respectively. However, in another embodiment, vehicles A1 and A2 have the same general emergency hazard avoidance driving rules, and the four vehicles with the symbol A, namely the two vehicles of A1 and the two vehicles of A2, form a cluster 10. When many vehicles form a cluster 10, even if each vehicle has the same emergency hazard avoidance driving rules, it cannot be said that the other rules and purposes of each vehicle are consistent. For example, the two vehicles of A1 and the two vehicles of A2 have common hazard avoidance driving rules in normal driving, but the hazard avoidance driving rules of the two vehicles of A1 and the two vehicles of A2 are different in normal driving. In this case, in a cluster 10, vehicles of A1 and vehicles of A2 with high rule commonality can be grouped together for driving, and a lead vehicle can be preset for each group.

[0053] In another embodiment, there is no distinction between A1 and A2, and four vehicles with the symbol A form a cluster 10. Among these four vehicles, the vehicle with a controller having high computing power can be designated as the lead vehicle, and is not limited to one vehicle.

[0054] Figure 2 is a view illustrating an example of avoidance behavior assumed to be an emergency hazard avoidance driving rule according to an embodiment of the present disclosure.

[0055] In Figure 2, when an obstacle such as an emergency-stopping vehicle or a falling object appears in front of the vehicle, the avoidance behavior of the vehicle is shown as follows, depending on whether the vehicle remains in lane 3. Figures 2A to 2C There are three scenarios.

[0056] exist Figure 2A In this context, the prerequisite is the tolerance for collisions with obstacles such as vehicles that have stopped suddenly ahead or falling objects, and the avoidance behavior involves performing steering and braking control within the vehicle's original lane and reducing the impact of a direct collision.

[0057] Reference Figure 2A The diagram illustrates the vehicle and other vehicles, designated A through E, traveling on one side of a three-lane road 2. It also shows vehicle A, traveling in the middle lane 3 of the three-lane road 2, suddenly stopping. In the left lane 3, vehicle B is in front of the vehicle, and vehicle D is behind it. Similarly, in the right lane, vehicle C is in front of the vehicle, and vehicle E is behind it.

[0058] In the aforementioned situations, for example, if vehicles D and E approach this vehicle at high speed from behind, or if vehicles D and E are large vehicles and cannot safely decelerate, then if this vehicle veers out of its lane to avoid the danger, it is considered that a secondary accident resulting from a collision with vehicles D and E would lead to a larger accident.

[0059] Two dashed arrows are shown in front of this vehicle. These arrows indicate options for minimizing damage should this vehicle inevitably collide with a suddenly stopped vehicle A. For example, when there is only one driver in this vehicle, the likelihood of less injury to the driver is higher if the vehicle swerves to the right, even while remaining in the same lane. A leftward swerve is possible when the likelihood of less injury to a person is high, given that a passenger is in the front passenger seat or vehicle A is stationary. Of course, this vehicle may also choose to proceed straight if it is expected that less injury to passengers will be caused by not swerving. As long as this vehicle remains in its lane, a collision will not occur between this vehicle and target vehicles B, C, D, and E.

[0060] exist Figure 2BIn this context, the prerequisite is that driving control, including steering to the outside of the vehicle's original lane, is performed to reduce collision damage with surrounding vehicles, including vehicles in front, and falling objects, and the avoidance behavior is steering and braking control to the outside of the vehicle's original lane.

[0061] exist Figure 2B In the middle, the positional relationship between vehicles and Figure 2A The positional relationships are the same. However, in Figure 2B In this scenario, vehicles D and E behind are not traveling at high speed, and when this vehicle shares driving control information with the vehicles behind and performs an emergency hazard avoidance maneuver, it is expected that vehicles D and E behind will also take evasive action. Similarly, in this situation, in addition to the condition of the passengers and the condition of the stopped vehicle A, which lane this vehicle deviates into also depends on the condition of vehicles D and E behind. For example, the difference in speed between vehicle D and vehicle E, or whether vehicles D and E are large vehicles, can be the basis for this judgment.

[0062] exist Figure 2C In this context, the prerequisite is tolerating driving control including lane changes and collisions with vehicles behind, in order to avoid collisions with vehicles in front or falling objects, and the avoidance behavior is to perform steering and braking control to the outside of the original lane of the vehicle.

[0063] exist Figure 2C In the middle, the positional relationship between vehicles and Figure 2A The positional relationships are the same. However, in this case, even if the vehicle collides with a vehicle behind it, the danger can be considered lower than if the vehicle collides with a stopped vehicle A. In particular, when the vehicle and the following vehicles D and E have the same emergency hazard avoidance driving rules, the vehicle's avoidance strategy can be transmitted to the following vehicles D and E in a short time, and the avoidance behavior of the following vehicles D and E is also accelerated, thereby reducing or avoiding the degree of secondary accidents between the vehicle and the following vehicles.

[0064] Figure 3A and Figure 3B This is a view illustrating examples of information for driving control during normal driving and driving control during emergency hazards, according to embodiments of the present disclosure. Figure 3A An example of information during normal driving is shown. Figure 3B An example of information in an emergency or hazard is shown.

[0065] Reference Figure 3ARegarding traffic, road types, lane types related to road types, traffic signs, etc., are referred to as driving control information used in normal driving. Furthermore, regarding vehicle operation, route strategies used for actions such as lane changing and deceleration are referred to as information, and regarding traffic-related targets, target types such as vehicles or pedestrians are referred to as information. Additionally, the safety associated with the distance to the target and the time required to reach the target is referred to as the evaluation value of information operations. Finally, operators used to determine whether a hypothetical event occurs simultaneously in multiple locations or on one side are referred to as information.

[0066] Reference Figure 3B Information regarding basic traffic and traffic-related targets is common to driving controls used in normal driving. However, information regarding emergency actions, including airbag deployment or the presumed level of harm to the driver or passengers in the event of emergency braking or a collision, differs from information regarding driving controls used in normal driving. Furthermore, regarding distances in assessment values, the reference distances between the vehicle and the vehicles in front and behind at the time of a collision differ from information regarding driving controls used in normal driving.

[0067] Figure 4 This is a view illustrating an example of driving control information for emergency hazard avoidance driving rules shared with a target vehicle according to an embodiment of this disclosure. Figure 4 The driving control information shown is an example of driving control in which, because the distance between the vehicle and the target vehicle or obstacle is less than 5m, the vehicle stops by performing a lane change when it may not be able to stop safely.

[0068] exist Figure 4 In this context, the underlined information is selected to indicate driving control. For example, by assigning paragraph marks, the underlined information can be sent only to target vehicles that have the same emergency hazard avoidance driving rules as this vehicle, and the target vehicle receiving the information can then apply it to driving control. Figure 4 The format is used to understand the movement of the vehicle, i.e., the transmission source. Furthermore, the vehicle's status and operational strategies can be sent to the target vehicle by encoding hypothetical events and operational strategies at the time of the events, designing combined organizational codes, and sending these organizational codes.

[0069] Figure 5 This is a flowchart illustrating a driving control method for forming a cluster of autonomous vehicles according to an embodiment of the present disclosure.

[0070] Reference Figure 5The vehicle confirms the presence of a target vehicle traveling around it (S510). In this embodiment, the vehicle confirms the target vehicle by acquiring information such as images or scattered light using a camera or a sensor such as LiDAR (Light Detection and Ranging). Based on the acquired information such as images and scattered light, the vehicle's controller performs image processing or analysis and determines whether the target vehicle exists (S520). When the vehicle's controller determines that the target vehicle does not exist, it returns to step S510 to repeatedly confirm the presence of the target vehicle.

[0071] When the vehicle's controller determines in step S520 that a target vehicle exists in the vicinity, the controller requests information sharing from the other confirmed vehicles. This information sharing request is executed by sending a signal requesting information sharing to the target vehicle via inter-vehicle communication using the communication device installed in the vehicle.

[0072] The target vehicles around this vehicle are not limited to one vehicle. The situation of other vehicles around this vehicle is constantly changing. Another new vehicle may enter the vicinity of this vehicle, and there may also be target vehicles that temporarily stay around this vehicle at the same speed for a period of time. In this embodiment, the controller of this vehicle determines whether there are other new vehicles around this vehicle (S520) and requests newly confirmed other vehicles to share information (S530).

[0073] Next, the controller of this vehicle determines whether the target vehicle can share information with this vehicle based on the response from the target vehicle (S540). When the controller determines that the target vehicle can share information with this vehicle, this vehicle shares information with the target vehicle (S550).

[0074] The controller of this vehicle queries the target vehicle for information sharing regarding the existence and type of the target vehicle's emergency hazard avoidance driving rules, and determines whether the target vehicle's emergency hazard avoidance driving rules affect the emergency hazard avoidance driving control of this vehicle (S560).

[0075] The above determination aims to ascertain whether the vehicle forms a cluster 10 with the target vehicle. In this embodiment, when the target vehicle has the same emergency hazard avoidance driving rules as the vehicle, the vehicle's controller determines that the target vehicle's emergency hazard avoidance driving rules do not affect the vehicle's emergency hazard avoidance driving control. When the target vehicle's emergency hazard avoidance driving rules differ from the vehicle's emergency hazard avoidance driving rules, the vehicle's controller determines that the target vehicle's emergency hazard avoidance driving rules affect the vehicle's emergency hazard avoidance driving control.

[0076] The following describes how, when the emergency hazard avoidance driving rules of the target vehicle are the same as those of the current vehicle, the current vehicle and the target vehicle form a cluster 10. However, even when the emergency hazard avoidance driving rules of the target vehicle are different from those of the current vehicle, depending on driving conditions such as the positional relationship and speed of the two vehicles, there may be situations where the emergency hazard avoidance driving rules of the target vehicle do not affect the emergency hazard avoidance driving control of the current vehicle. In this case, cluster 10 can be formed. Accordingly, in another embodiment, in addition to the correspondence between the emergency hazard avoidance driving rules of the target vehicle and the current vehicle, the current vehicle also determines whether the emergency hazard avoidance driving rules of the target vehicle affect the emergency hazard avoidance driving control of the current vehicle by adding driving conditions when the emergency hazard avoidance driving rules of the two vehicles are different.

[0077] When it is determined that the vehicle's emergency hazard avoidance driving control is affected, driving in a group with the target vehicles is not permitted (S570). Therefore, the vehicle is controlled to maintain a greater distance from the target vehicles while driving, compared to when it is in a group with the target vehicles 10.

[0078] Conversely, when it is determined that the emergency hazard avoidance driving rules of the target vehicle do not affect the emergency hazard avoidance driving control of this vehicle, group driving of the target vehicles is permitted (S580). In step S580, as a condition for forming group 10, conditions that affect the emergency hazard avoidance driving control of this vehicle can be added. For example, the consistency of driving rules during normal driving can be added.

[0079] Returning to step S540, when the target vehicle cannot share information with this vehicle, this vehicle does not allow the target vehicle to drive in a group. Therefore, this vehicle is controlled to maintain a greater distance from the target vehicle while driving than when forming a group 10 with the target vehicle (S590).

[0080] Figure 6 This is a flowchart illustrating a method for determining whether to drive by forming a cluster of autonomous vehicles with surrounding target vehicles, according to an embodiment of the present disclosure. Figure 6 A more detailed description Figure 5 The judgment in step S560. Refer to... Figure 6 In step S610, the vehicle queries the target vehicle to determine whether it has an Emergency Rash Avoidance Driving Rule (represented by "ERR" in the accompanying drawings), and the vehicle determines whether the target vehicle has an Emergency Rash Avoidance Driving Rule (represented by "ERR" in the accompanying drawings) based on the result. When the target vehicle does not have an Emergency Rash Avoidance Driving Rule, group driving of the target vehicle is not permitted (S660).

[0081] When the target vehicle has emergency hazard avoidance driving rules, in step S615, the vehicle queries the type of the target vehicle's emergency hazard avoidance driving rules, and based on the result, the vehicle determines whether the target vehicle's emergency hazard avoidance driving rules are the same as its own. When the vehicle determines that the target vehicle's emergency hazard avoidance driving rules are the same as its own, in step S620, the vehicle allows the target vehicle to drive in a group. At this time, conditions such as consistency of driving rules in normal driving can be added to the conditions for allowing group driving.

[0082] In step S615, when the vehicle determines that the emergency hazard avoidance driving rules of the target vehicle are different from those of the vehicle, if it is determined that even if the rules are different, the target vehicle will not affect the vehicle when it performs driving control according to its own emergency hazard avoidance driving rules in the event of an emergency, then the target vehicle can be allowed to drive in a group.

[0083] In this embodiment, to more accurately determine the impact on the vehicle, the positional relationship between the target vehicle and the vehicle is determined in step S625. For example, the positional information generated by the Global Navigation Satellite System (GNSS) of both vehicles can be exchanged during the information sharing step, or the positional relationship between the target vehicle and the vehicle can be determined using cameras and sensors such as LiDAR installed in the vehicle.

[0084] Based on the judgment result in step S625, when the target vehicle is traveling in front of the vehicle, step S630 determines whether the target vehicle would affect the vehicle in the event of an emergency. When the target vehicle is traveling behind the vehicle, step S635 determines whether the target vehicle would affect the vehicle in the event of an emergency. When the target vehicle is traveling to the right or left of the vehicle, step S640 determines whether the target vehicle would affect the vehicle in the event of an emergency. As mentioned above, the judgment is made in different steps based on the positional relationship between the target vehicle and the vehicle because the degree of danger of a secondary accident varies depending on the positional relationship between the target vehicle and the vehicle. This will be discussed later. Figure 8 Please provide an explanation.

[0085] When processing is assigned based on the positional relationship between the target vehicle and the current vehicle, and if it is determined in any of steps S630, S635, and S640 that the target vehicle does not affect the current vehicle, then in step S650 or S655, the current vehicle allows the target vehicle to participate in group driving. Similar to step S620, other conditions can be added to the conditions for allowing group driving. Conversely, if it is determined in any of steps S630, S635, and S645 that the target vehicle affects the current vehicle, then in step S645, the current vehicle does not allow the target vehicle to participate in group driving. Additionally, it is checked whether restrictions such as changes in the driving position of the target vehicle during group driving do not affect the current vehicle; if adding such restrictions still affects the current vehicle, then group driving of the target vehicle is not allowed.

[0086] Figure 7 This is a flowchart illustrating a method for determining whether to drive by forming a cluster of the vehicle and surrounding target vehicles, according to an embodiment of the present disclosure. Figure 7 A more detailed description Figure 5 Step S580 and Figure 6 Steps S650 and S655 in the process.

[0087] Reference Figure 7 As a condition for forming cluster 10, the following three conditions a to c are preset:

[0088] Condition a: Emergency hazard avoidance driving rules,

[0089] Condition b: Hazard avoidance rules and avoidance performance when an accident hazard occurs in a normal driving environment, and

[0090] Condition c: destination, required time to reach the destination, driving route, possibility of turning back en route, past driving preferences, etc.

[0091] In step S710, the current vehicle and the target vehicle share the three conditions a to c mentioned above. This can be... Figure 5 Conditional sharing is performed during information sharing in step S550.

[0092] To determine the conditions, condition a takes precedence. It is then determined whether the target vehicle and the current vehicle have the same priority condition a (S720).

[0093] When the priority condition a of the target vehicle and the current vehicle are different, in step S730, it is determined whether the target vehicle and the current vehicle have the same conditions b and c. As a result, when all conditions a to c of the target vehicle and the current vehicle are different, in step S740, the current vehicle is not allowed to be evaluated in the group driving of the target vehicle, and drives at a distance from the target vehicle.

[0094] Meanwhile, in step S730, when it is determined that conditions b and c are the same for the target vehicle and the current vehicle, since driving condition a is an additional condition, that is, condition a is different between vehicles, a serious accident may occur in the event of an emergency. Therefore, under the condition that the distance between vehicles is preset to a long distance, the current vehicle allows the target vehicle to drive in a group (S750).

[0095] Returning to step S720, when the target vehicle and this vehicle have the same condition a, in step S760, this vehicle determines whether the target vehicle and this vehicle have the same conditions b and c.

[0096] When conditions b and c of this vehicle and the target vehicle are the same except for condition a, in step S770, this vehicle allows the target vehicle to drive in a group and starts driving in a group.

[0097] In step S760, the conditions b for this vehicle and the target vehicle are different, and c is a driving condition that is an additional condition, i.e., condition a is the same between the vehicles while condition b is different between the vehicles. In this case, the probability of a serious accident occurring when an emergency danger occurs is low, and the distance between the vehicles is set taking into account the avoidance performance of the accident caused by condition b, and the vehicle allows the target vehicle to drive in a group (S780).

[0098] Figure 8 This is a view illustrating an example of setting a potential hazard level based on the location of the target vehicle and emergency hazard avoidance driving rules according to embodiments of the present disclosure.

[0099] As referenced above Figure 6 As stated above, due to the positional relationship between the target vehicle and the vehicle itself, the assumed degree of danger of a secondary accident differs. Therefore, it is necessary to determine the position of the target vehicle in order to assess its impact on the vehicle in the event of an emergency. To more accurately determine the impact on the vehicle based on the positional relationship between the target vehicle and the vehicle itself, a potential danger level is defined in this embodiment, and this potential danger is used as the judgment criterion.

[0100] Figure 8 This is a view showing an example of setting a potential hazard level.

[0101] Reference Figure 8 For each positional relationship between the vehicle and the target vehicle, driving control information based on emergency hazard avoidance driving rules of surrounding vehicles, the vehicle's driving control relative to the emergency hazard avoidance driving rules of surrounding vehicles, and its potential hazard level will be displayed in tabular form.

[0102] Under the above driving operation, a description of the conditions for setting the potential hazard level is shown, and the level is set as five levels E1 to E5 as follows.

[0103] Level E1: No changes to the vehicle's driving control information are required.

[0104] Level E2: Requires rapid braking or acceleration.

[0105] Level E3: Requires rapid braking, acceleration, or steering wheel operation.

[0106] Level E4: Requires strong braking or acceleration and steering wheel operations accompanied by sudden lane changes.

[0107] Level E5: Requires rapid braking or acceleration and steering wheel operation accompanied by sudden lane changes.

[0108] For example, if a target vehicle is in front of the vehicle, based on driving control information from emergency hazard avoidance rules for surrounding vehicles, there is a high probability of a collision if the target vehicle brakes suddenly; therefore, it is assumed that the collision will affect the vehicle. Thus, a rapid braking operation is required as a driving control measure for emergency hazard avoidance rules relative to surrounding vehicles. From the description of the conditions for the potential hazard level, this operation corresponds to level E2.

[0109] When the target vehicle is to the left of your vehicle, and the target vehicle quickly moves into the right lane to avoid an obstacle by maneuvering the steering wheel, it is assumed that your vehicle may be affected due to the high probability of collision. In this situation, since the target vehicle may squeeze in front of your vehicle, a rapid braking operation and lane change are required. The above operation corresponds to level E5.

[0110] In embodiments of this disclosure, when determining whether the vehicle is affected in the event of an emergency hazard, the vehicle obtains emergency hazard avoidance driving rules for the target vehicle from the target vehicle, and obtains the potential hazard level based on the positional relationship between the vehicle and the target vehicle and the influence of the target vehicle's driving control information assumed when the target vehicle conforms to the target vehicle's emergency hazard avoidance driving rules on the vehicle's driving control. As a result, it is determined whether the required potential hazard level is less than or equal to a preset level, and when the potential hazard level is less than or equal to the preset level, the vehicle allows the target vehicles to form a cluster 10.

[0111] exist Figure 8For example, when setting a level below E2 as the criterion for allowing group driving, the driving control method can be configured as follows: Group driving is allowed when the target vehicle is in front of or to the right of the vehicle, and not allowed when the target vehicle is behind or to the left of the vehicle.

[0112] Figure 9 This is a flowchart illustrating a method for setting a potential hazard level based on emergency hazard avoidance driving rules for a target vehicle according to an embodiment of the present disclosure.

[0113] Reference Figure 9 The vehicle acquires emergency hazard avoidance driving rules for target vehicles around it (S910). The vehicle determines whether the target vehicle requires its driving control during emergency hazard avoidance driving (S915). When the target vehicle does not require its driving control, the potential hazard level is set to level E1 (S920). When the target vehicle requires its driving control, the vehicle determines whether the target vehicle's driving control can be sequentially matched from level E2 to level E4 (S925, 935, and 945), and sets the potential hazard level accordingly (S930, 940, 950, and 955).

[0114] Setting potential hazard levels is not limited to the methods described above. When determining whether the vehicle will be affected in the event of an emergency hazard, the vehicle can obtain emergency hazard avoidance driving rules from the target vehicle, calculate the potential hazard based on driving state data including the speed, acceleration, and positional relationship between the vehicle and the target vehicle, obtain the potential hazard level, and determine whether the potential hazard level is less than or equal to the preset level.

[0115] For example, when a vehicle is traveling at position x1 with speed v1 and acceleration α1 on a single-lane road extending along the x-axis, and a target vehicle is traveling at position x2 in front of the vehicle with speed v2 and acceleration α2, the potential hazard can be identified as follows.

[0116] When the distance between this vehicle and the target vehicle is d, the relative speed is vr, and the relative acceleration is αr...

[0117] d = x2 - x1

[0118] vr = v2 - v1

[0119] αr=α2-α1

[0120] When the float time to the previous target vehicle is TC, that is, TC represents the value after which the distance between vehicles becomes zero and the current vehicle and the target vehicle come into contact with each other when the current driving situation continues and v1, v2, and vr are constant, TC is expressed as follows:

[0121] TC=-d / vr (1)

[0122] Furthermore, in the vehicle-to-vehicle time, i.e., when the vehicle is following the target vehicle, when the value representing the impact of the floating time TC on the assumed target vehicle's speed changing in the future is TW, TW is expressed as follows:

[0123] TW = -d / v1 (2)

[0124] By utilizing the floating time TC and the inter-vehicle time TW, the potential hazards RPs during the normal period and the potential hazards RPt during the transition period are respectively...

[0125] RPs = 1 / TW, and

[0126] RPt = 1 / TC,

[0127] Potential hazards (RP) can be represented as follows:

[0128] RP=(a / k)RPs+(1-(a / k))RPt (3)

[0129] Here, the integer k determines the absolute importance of RPs and RPt, and can be a number that is appropriately set in advance based on the test results.

[0130] In addition, variable 'a' dynamically determines the driving scenarios in normal and transitional states based on the driving status of the vehicle and the target vehicle.

[0131] Potential hazards can be calculated when a vehicle is in multiple lanes by extending the calculation to two dimensions.

[0132] Accordingly, since the potential hazard level is obtained by progressively dividing the potential hazard value and comparing the potential hazard level with the set level, it is possible to determine whether the vehicle will be affected in the event of an emergency.

[0133] Although preferred embodiments of the present disclosure have been described in detail with reference to the accompanying drawings, the present disclosure is not limited thereto, and those skilled in the art will understand that various modifications, additions, and substitutions can be made without departing from the scope and spirit of the present disclosure.

Claims

1. A driving control method comprising: a host vehicle confirming a target vehicle traveling around the host vehicle; the host vehicle requesting information sharing to the target vehicle; when information sharing with the target vehicle is allowed, the host vehicle inquiring the target vehicle of existence and a type of an emergency danger avoidance driving rule, wherein the emergency danger avoidance driving rule is a rule defining a vehicle control method performing a driving control for reducing an impact when an unavoidable emergency danger occurs; and when the target vehicle sharing information and the host vehicle have the same emergency danger avoidance driving rule, forming a cluster to drive.

2. The driving control method according to claim 1, wherein, when a result of the host vehicle inquiring the existence and the type of the emergency danger avoidance driving rule indicates that the target vehicle has an emergency danger avoidance driving rule different from that of the host vehicle, the driving control method further comprises: the host vehicle confirming a positional relationship between the host vehicle and the target vehicle; judging whether the host vehicle is affected when an emergency danger occurs; when it is judged that the host vehicle is not affected, allowing the target vehicle to cluster drive; and when it is judged that the host vehicle is affected, not allowing the target vehicle to cluster drive.

3. The driving control method according to claim 2, wherein, during normal driving, allowing the target vehicle to cluster drive according to a normal driving danger avoidance behavior rule based on at least one safety confirmation.

4. The driving control method according to claim 3, wherein, the at least one safety confirmation includes a driving type and a sensor installed of a vehicle traveling around the target vehicle.

5. The driving control method according to claim 3, wherein, when the emergency danger occurs, the target vehicle drives according to the emergency danger avoidance driving rule.

6. The driving control method according to claim 5, wherein, the at least one safety confirmation includes a driving type and a sensor installed of a vehicle traveling around the target vehicle.

7. The driving control method according to claim 6, wherein, judging whether the host vehicle is affected when an emergency danger occurs includes: the host vehicle acquiring from the target vehicle an emergency danger avoidance driving rule controlling the target vehicle; calculating a potential danger based on driving state data including a speed, an acceleration of each of the host vehicle and the target vehicle, and a positional relationship between the host vehicle and the target vehicle to acquire a potential danger level; and judging whether the acquired potential danger level is less than or equal to a pre-set potential danger level.

8. The driving control method according to claim 6, wherein, judging whether the host vehicle is affected when an emergency danger occurs includes: the host vehicle acquiring from the target vehicle an emergency danger avoidance driving rule controlling the target vehicle; acquiring a potential danger level based on a positional relationship between the host vehicle and the target vehicle and an influence of driving control information of the target vehicle on driving control of the host vehicle; and determining whether the acquired potential danger level is less than or equal to a preset potential danger level.

9. The driving control method according to claim 8, wherein the influence of the driving control information of the target vehicle on the driving control of the host vehicle is assumed when the target vehicle complies with the emergency danger avoidance driving rule of the target vehicle.

10. The driving control method according to claim 5, wherein determining whether the host vehicle is affected when an emergency danger occurs includes: the host vehicle acquires an emergency danger avoidance driving rule of the target vehicle that controls the target vehicle; calculating a potential danger based on driving state data including a speed, an acceleration of each of the host vehicle and the target vehicle, and a positional relationship between the host vehicle and the target vehicle to acquire a potential danger level; and determining whether the acquired potential danger level is less than or equal to a preset potential danger level.

11. The driving control method according to claim 5, wherein determining whether the host vehicle is affected when an emergency danger occurs includes: the host vehicle acquires an emergency danger avoidance driving rule of the target vehicle that controls the target vehicle; acquiring a potential danger level based on a positional relationship between the host vehicle and the target vehicle and the influence of the driving control information of the target vehicle on the driving control of the host vehicle; and determining whether the acquired potential danger level is less than or equal to a preset potential danger level.

12. The driving control method according to claim 11, wherein the influence of the driving control information of the target vehicle on the driving control of the host vehicle is assumed when the target vehicle complies with the emergency danger avoidance driving rule of the target vehicle.

13. A vehicle comprising: a plurality of sensors; a processing circuit coupled to the sensors; and a non-transitory memory coupled to the processing circuit and storing instructions that, when executed by the processing circuit, cause the vehicle to: confirm a target vehicle traveling around the vehicle; request information sharing to the target vehicle; when information sharing with the target vehicle is allowed, inquire about the existence of an emergency danger avoidance driving rule of the target vehicle and a type thereof, wherein the emergency danger avoidance driving rule is a rule defining a vehicle control method that performs driving control that reduces an impact when an unavoidable emergency danger occurs; and when the target vehicle sharing information and the vehicle have the same emergency danger avoidance driving rule, form a cluster to drive.

14. The vehicle according to claim 13, wherein when the inquiry result of the existence of the emergency danger avoidance driving rule and the type thereof indicates that the target vehicle has an emergency danger avoidance driving rule different from that of the vehicle, the instructions cause the vehicle to: confirm a positional relationship between the vehicle and the target vehicle; determine whether the vehicle is affected when an emergency danger occurs; when it is determined that the vehicle is not affected, allow the target vehicle to cluster drive; and When it is determined that the vehicle is affected, the target vehicle cluster is not allowed to drive.

15. The vehicle according to claim 14, wherein, During normal driving, the target vehicle cluster is allowed to drive according to normal driving danger avoidance behavior rules based on at least one safety confirmation.

16. The vehicle according to claim 15, wherein, When the emergency danger occurs, the target vehicle drives according to the emergency danger avoidance driving rules.

17. The vehicle according to claim 16, wherein, The at least one safety confirmation includes a driving type of a vehicle traveling around the target vehicle and a mounted sensor.

18. The vehicle according to claim 17, wherein, It is determined whether the vehicle is affected when the emergency danger occurs by: obtaining, from the target vehicle, emergency danger avoidance driving rules for controlling the target vehicle; calculating a potential danger from driving state data including a speed, an acceleration of each of the vehicle and the target vehicle, and a positional relationship between the vehicle and the target vehicle to obtain a potential danger level; and determining whether the obtained potential danger level is less than or equal to a pre-set potential danger level.

19. The vehicle according to claim 16, wherein, It is determined whether the vehicle is affected when the emergency danger occurs by: obtaining, from the target vehicle, emergency danger avoidance driving rules for controlling the target vehicle; obtaining a potential danger level based on a positional relationship between the vehicle and the target vehicle and an effect of driving control information of the target vehicle on driving control of the vehicle; and determining whether the obtained potential danger level is less than or equal to a pre-set potential danger level.

20. The vehicle according to claim 19, wherein, The effect of the driving control information of the target vehicle on driving control of the vehicle is assumed when the target vehicle complies with the emergency danger avoidance driving rules of the target vehicle. ​ ​

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