Platoon control device and platoon control method for vehicle

Abstract

The present invention relates to a platooning controller and a platooning control method for a vehicle. The platooning controller includes a processor that reorganizes divided platoons after the end of the occurrence of an event when the platoons are divided into an existing platoon and a new platoon during platooning due to the occurrence of the event. The controller includes a storage device that stores data and algorithms run by the processor. The processor determines a condition in which the divided platoons can be reorganized, and controls reorganization between the divided platoons.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority from Korean Patent Application No. 10-2020-0140553 filed on October 27, 2020, in the Korean Intellectual Property Office, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to a platoon driving controller and a platoon driving control method for vehicles, and more particularly, to a technology for dividing and reorganizing a vehicle fleet during platoon driving. Background Art

[0004] Platooning is a technology that allows multiple vehicles to autonomously drive in a formation at specific intervals. When multiple vehicles are platooning, the lead vehicle (the vehicle at the front of the formation) can control one or more following vehicles.

[0005] The lead vehicle may maintain a spacing between a plurality of vehicles included in the platoon, and may exchange information regarding behavior and conditions of the plurality of vehicles included in the platoon using inter-vehicle communication. Summary of the Invention

[0006] The present invention is made to solve the above-mentioned problems occurring in the prior art, while completely retaining the advantages achieved by the prior art.

[0007] One aspect of the present invention provides a platoon travel controller and a platoon travel control method. The platoon travel controller determines conditions for reorganizing a divided platoon after platoon division during automatic platoon driving, and automatically performs platoon reorganization within the scope of maintaining traffic flow, thereby maintaining the advantages of platoon travel.

[0008] The technical problems solved by the present invention are not limited to the aforementioned problems, and a person skilled in the art to which the present invention pertains will clearly understand any other technical problems not mentioned herein from the following description.

[0009] According to one aspect of the present invention, a platooning controller may include a processor that, when an event occurs during platooning and causes a platoon to be divided into an existing platoon and a new platoon, reorganizes the divided platoons after the event. The platooning controller also includes a storage device that stores data and algorithms executed by the processor. The processor may determine conditions under which the divided platoons can be reorganized and may control the reorganization of the divided platoons.

[0010] In an embodiment, the conditions for being able to reorganize the divided queues may include at least one of the following conditions: queue driving conditions and whether the automatic driving function is normal; distance conditions between the existing queue and the new queue; traffic congestion level conditions; or the number of idle lanes conditions.

[0011] In an embodiment, the processor may determine whether the platoon driving condition and the autonomous driving function are normal using at least one of whether an obstacle exists, whether the driving safety function is running, or whether the autonomous driving function is running.

[0012] In an embodiment, when the distance between the existing queue and the new queue is less than a predetermined value, the processor may determine that a condition for reorganizing the divided queues is satisfied.

[0013] In an embodiment, the processor may determine that the conditions for reorganizing the divided queues are met when the new queue is within a distance range that the new queue can reach the existing queue by accelerating and decelerating or making lane changes within the speed limit of the road on which the new queue is currently traveling.

[0014] In an embodiment, when the distance between the existing queue and the new queue is greater than or equal to a predetermined value, the processor may determine that the condition for reorganizing the divided queues is not satisfied.

[0015] In an embodiment, when the traffic congestion level is classified as smooth, normal, or delayed, the processor may determine that a condition for reorganizing the divided queues is satisfied when the traffic congestion level is smooth or normal.

[0016] In an embodiment, when the number of free lanes is greater than or equal to a predetermined number, the processor may determine that a condition for reorganizing the divided queues is satisfied.

[0017] In an embodiment, when it is determined that the conditions for enabling reorganization of the divided queues are met, the processor may notify the user of the reorganization function activation and may receive permission from the user.

[0018] In an embodiment, when controlling the reorganization between divided queues, the processor can determine the steering control amount, driving control amount and braking control amount of the queue vehicles of the existing queue and the new queue based on at least one of the position, driving speed, lane or fleet information of each queue vehicle of the existing queue and the new queue.

[0019] In an embodiment, when controlling the reorganization between divided queues, if there is no new vehicle between the existing queue and the new queue, the processor may control the new queue to arrive at the existing queue and perform the reorganization.

[0020] In an embodiment, when a new vehicle exists between the existing queue and the new queue, the processor may determine whether the new vehicle can join the queue.

[0021] In an embodiment, the processor may determine whether a new vehicle can join the queue based on at least one of the similarity between the remaining driving path of the new vehicle and the remaining driving path of the queue, the user permission of the new vehicle or the permission of the unmanned driving system, or the satisfaction of the performance of the system capable of autonomous driving of the fleet.

[0022] In an embodiment, when a new vehicle is able to join the queue, the processor may control the new queue to include the new vehicle and regroup with the existing queue.

[0023] In an embodiment, when a new vehicle cannot join the queue, the processor may control the new queue to avoid the new vehicle and reorganize with the existing queue by performing a lane change.

[0024] In an embodiment, when there is no new vehicle between the existing queue and the new queue, but the new queue is traveling in front of the existing queue, the processor can control the leading vehicle of the new queue to act as the leading vehicle of the reorganized queue, or can reselect the leading vehicle.

[0025] In an embodiment, after the reorganization between the existing queue and the new queue is completed, the processor may control the lead vehicle of the existing queue to serve as the lead vehicle of the reorganized queue.

[0026] According to one aspect of the present invention, a platoon travel control method may include: when a platoon is divided into an existing platoon and a new platoon due to an occurrence of an event during platoon travel, determining whether the occurrence of the event has ended; after the occurrence of the event has ended, determining a condition for enabling reorganization of the divided platoons; and when the condition for enabling reorganization of the divided platoons is met, controlling reorganization between the divided platoons.

[0027] In an embodiment, determining the conditions for enabling the reorganization of a divided queue may include determining that the conditions for enabling the reorganization of a divided queue are met when at least one of the following conditions is met: queue driving conditions and whether the autonomous driving function is normal; distance conditions between the existing queue and the new queue; traffic congestion level conditions; or the number of idle lanes conditions.

[0028] In an embodiment, the platoon travel control method may further include: when it is determined that a condition enabling reorganization of the divided platoons is satisfied, notifying a user of activation of the reorganization function and receiving permission from the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and other objects, features and advantages of the present invention will become more apparent through the following detailed description in conjunction with the accompanying drawings:

[0030] Figure 1is a block diagram showing a configuration of a vehicle system including a platooning controller according to an embodiment of the present invention;

[0031] Figure 2 A schematic diagram illustrating division and reorganization control during platoon travel according to an embodiment of the present invention is shown;

[0032] Figure 3 is a flow chart showing a platoon travel control method according to an embodiment of the present invention;

[0033] Figure 4 is a block diagram illustrating a computing system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. When reference numerals are added to the components of each drawing, it should be noted that even if the same or equivalent components are shown in other drawings, the same reference numerals are used to represent the same or equivalent components. In addition, when describing the embodiments of the present invention, detailed descriptions of known features or functions are omitted so as not to unnecessarily obscure the main purpose of the present invention.

[0035] When describing the components according to the embodiments of the present invention, terms such as first, second, "A", "B", (a), (b) etc. may be used. These terms are only intended to distinguish one component from another, and these terms do not limit the essence, order or sequence of the components. Unless otherwise defined, all terms used herein (including technical terms or scientific terms) have the same meaning as those generally understood by those of ordinary skill in the art to which the present invention belongs. Terms defined in general dictionaries should be interpreted as having the same meaning as the contextual meaning in the relevant technical field. Such terms should not be interpreted as having ideal or overly formal meanings unless explicitly defined as having such meanings in the present invention. When components, devices, elements etc. of the present invention are described as having a purpose or performing an operation, function etc., it should be considered that the components, devices or elements are "configured to" meet the purpose or perform the operation or function. In addition, the controller described herein may include a processor programmed to perform the operation, function etc.

[0036] An embodiment of the present invention discloses a technology that, when a situation arises during platoon driving that requires platoon division due to internal or external factors, divides the platoon to perform independent driving control; after the emergency situation ends, determines the conditions for reorganizing the divided platoons; and when the conditions are met, reorganizes the fleet.

[0037] In the following, reference will be made to Figures 1 to 4 Embodiments of the present invention are described in detail.

[0038] A lead vehicle LV and a following vehicle FV included in a platooning vehicle group can platoon on a road. The lead vehicle LV and the following vehicle FV can travel while maintaining a certain distance. While driving, the lead vehicle LV or the following vehicle FV can adjust the distance between the lead vehicle LV and the following vehicle FV. The lead vehicle LV or the following vehicle FV can increase or decrease the inter-vehicle distance according to the operation of a driver.

[0039] Figure 1 is a block diagram illustrating a configuration of a vehicle system including a platooning controller according to an embodiment of the present application.

[0040] Reference Figure 1 The vehicle system can include a platooning controller 100, a sensing device 200, an interface 300, a turn signal 500, an emergency ON / OFF indicator 600, a steering controller 700, a brake controller 800, and an engine controller 900.

[0041] The platooning controller 100 according to an embodiment of the present application can be implemented in a vehicle. In this case, the automatic driving controller 100 can be configured in the vehicle as a whole with a control unit, or can be implemented as a separate device connected to the control unit of the vehicle through a separate connection device.

[0042] When the platooning vehicle group platoons, the platooning controller 100 can divide the platoon due to an event situation (e.g., an obstacle) occurring, and can perform platoon reorganization after the event situation ends to continue the existing platooning.

[0043] The platooning controller 100 of the new lead vehicle can perform control to avoid an obstacle or the like. In this case, situations in which division of the platoon is required to travel can include at least one of the following situations: an obstacle occurs in the platoon due to a load falling from the lead vehicle during platooning, a vehicle in the platoon malfunctions, or a surrounding vehicle attempting to change lanes to a lane in which the platoon is traveling appears.

[0044] The platooning controller 100 according to an embodiment of the present application performing the above-described operations can be implemented in the form of a separate hardware device including a memory and a processor for processing each operation, or can be driven in the form of being included in another hardware device (e.g., a microprocessor or a general computing system).

[0045] The platooning controller 100 can include a communication device 110, a storage device 120, and a processor 130.

[0046] The communication device 110 can be a hardware device implemented with various circuits to send and receive signals through wireless or wired connections. In an embodiment of the present invention, the communication device 110 can utilize vehicle network communication technology, and can utilize wireless Internet technology or short-range communication technology to perform vehicle-to-infrastructure (V2I) communication with a server, infrastructure or another vehicle outside the vehicle. In this article, vehicle network communication technology can perform inter-vehicle communication through controller area network (CAN) communication, local interconnect network (LIN) communication, flex-ray communication, etc. In addition, wireless Internet technology may include wireless local area network (WLAN), wireless broadband (WiBro), wireless fidelity (Wi-Fi), global microwave access interoperability (WiMAX), etc. In addition, short-range communication technology may include Bluetooth, ZigBee, ultra-wideband (UWB), radio frequency identification (RFID) or infrared data association (IrDA), etc.

[0047] As an example, the communication device 110 may share platoon travel information between vehicles in a platoon. In this case, the platoon travel information may include information related to leaving a platoon, information related to creating a new platoon, vehicle locations, vehicle speeds, destination information, platoon reorganization information, etc.

[0048] The storage device 120 may store sensing results of the sensing device 200 , vehicle information of vehicles in the queue received by the communication device 110 , data obtained by the processor 130 , or data and algorithms required for the operation of the processor 130 .

[0049] For example, the storage device 120 may store information about the vehicle's position and information about the road ahead, as well as platooning information, received via a navigation device (not shown) or the like. Furthermore, the storage device 120 may store positioning information and vehicle speed information of the preceding vehicle received via vehicle-to-everything (V2X) communication. Furthermore, the storage device 120 may store information about preceding obstacles (e.g., preceding vehicles) detected by the sensing device 200.

[0050] In addition, the storage device 120 may store position and size information of obstacles or position and speed information of surrounding vehicles acquired by the sensing device 200 , and may store commands, algorithms, and the like for independent driving control.

[0051] The storage device 120 may include at least one type of storage medium, such as a flash memory, a hard disk memory, a micro memory, a card memory (e.g., a secure digital (SD) card or an extreme digital (XD) card), a random access memory (RAM), a static RAM (SRAM), a read-only memory (ROM), a programmable ROM (PROM), an electrically erasable PROM (EEPROM), a magnetic RAM (MRAM), a magnetic disk, and an optical disk.

[0052] The processor 130 can be electrically connected to the communication device 110, the storage device 120, and the like, and can electrically control each component. The processor 130 can be a circuit that executes software instructions and can perform various data processing and calculations described below. The processor 130 can be, for example, an electronic control unit (ECU), a microcontroller unit (MCU), or other sub-controller installed in the vehicle.

[0053] When a situation occurs in which a leading vehicle and a following vehicle need to divide the queues for traveling, the processor 130 may determine the possibility of the platoon reorganization and may perform the platoon reorganization to maintain the existing platoon traveling.

[0054] The processor 130 may divide the platoon upon an event such as an obstruction in the platoon due to a load drop from a lead vehicle during platooning, a breakdown of a vehicle in the platoon, or a surrounding vehicle attempting to make a lane change into the lane in which the platoon is traveling.

[0055] In other words, some vehicles in the existing queue can be divided to generate one or more new queues. In this case, a new queue of two columns of following vehicles behind the obstacle can be generated, or two new queues can be generated for each column.

[0056] When the event ends after the platoon is divided, processor 130 can determine the possibility of platoon reorganization. In other words, after the event ends, if the platoon driving conditions, the status of the autonomous driving function, the distance between the existing and new platoons, the navigation-based traffic congestion level, the number of free lanes, and other conditions are met, processor 130 can determine that the current state is a state in which platoon reorganization is possible.

[0057] The processor 130 may determine the platoon driving condition and whether the autonomous driving function is normal using at least one of whether an obstacle exists, whether a driving safety function (e.g., forward collision-avoidance assist (FCA)) is running, or whether the autonomous driving function is running.

[0058] When the distance between the existing queue and the new queue is less than a predetermined value, the processor 130 may determine that a condition for reorganizing the divided queues is satisfied.

[0059] When the new queue is within a distance range that the new queue can reach the existing queue by accelerating and decelerating or making lane changes within the speed limit of the road on which the new queue is traveling, the processor 130 can determine that the conditions for reorganizing the divided queues are met.

[0060] In the case where the traffic congestion level is classified as smooth, normal, or delayed, when the traffic congestion level is smooth or normal, the processor 130 may determine that a condition for reorganizing the divided queues is satisfied.

[0061] When the number of idle channels is greater than or equal to a predetermined number, the processor 130 may determine that a condition for reorganizing the divided queues is satisfied.

[0062] When determining that the current state is a state in which fleet reorganization can be performed, the processor 130 may notify the user of the activation of the reorganization function through the interface 300 and may request and receive user permission.

[0063] During reorganization control, the processor 130 can determine the steering control amount, driving control amount and braking control amount of the platoon vehicles in the existing queue and the new queue based on at least one of the position, driving speed, lane or fleet information of each platoon vehicle in the existing queue and the new queue.

[0064] During reorganization control, when there are no new vehicles between the existing queue and the new queue, the processor 130 may control the new queue to arrive at the existing queue and perform reorganization. Figure 2 FIG2 shows a schematic diagram of the division and reorganization control during platoon travel according to an embodiment of the present invention. Figure 2 Referring to reference numeral 201 , when there is no obstacle between the existing queue 211 and the new queue 212 , the new queue 212 may approach the existing queue 211 for reorganization.

[0065] When a new vehicle appears between the existing queue and the new queue, Figure 1 The processor 130 may determine whether a new vehicle can join the queue.

[0066] The processor 130 may determine whether a new vehicle can join the queue based on at least one of the similarity between the remaining driving path of the new vehicle and the remaining driving path of the queue, user permission of the new vehicle or permission of the unmanned driving system, or satisfaction of the performance of a system capable of autonomous driving of the platoon.

[0067] When a new vehicle is able to join the queue, the processor 130 may control the new queue to include the new vehicle and reorganize with the existing queue. Figure 2 Referring to figure mark 202, when there is a new vehicle (obstacle) 213 between the existing queue 211 and the new queue 212 and the new vehicle 213 can be included in the path, when the new queue 212 approaches the existing queue 211, the new queue 212 can be reorganized with the existing queue 211 and the new vehicle 213.

[0068] When a new vehicle cannot join the queue, the processor 130 can control the new queue to avoid the new vehicle and regroup with the existing queue by performing lane change. Figure 2 As shown by reference numeral 203 , the new queue 212 can avoid the new vehicle 213 , thereby performing a lane change to an empty lane (see reference numeral 212 ′), and can be reorganized with the existing queue 211 .

[0069] refer to Figure 2 Referring to reference numeral 204 , when there is no new vehicle between the existing queue 211 and the new queue 212 , but the new queue 212 is traveling in front of the existing queue 211 , the processor 130 may control the leading vehicle of the new queue 212 to act as the leading vehicle of the reorganized queue, or may reselect the leading vehicle.

[0070] After the reorganization between the existing queue and the new queue is completed, the processor 130 may control the leading vehicle of the existing queue to serve as the leading vehicle of the reorganized queue.

[0071] Figure 1 The sensing device 200 may include a vehicle exterior information sensor for sensing vehicle exterior information and a vehicle interior information sensor for acquiring vehicle interior information. The sensing device 200 may include one or more sensors for detecting obstacles located around the vehicle (e.g., a preceding vehicle) and measuring the distance to the obstacle and / or the relative speed of the obstacle.

[0072] The sensing device 200 may have a plurality of sensors to sense objects outside the vehicle and may obtain information about the position of the object, the speed of the object, the direction of movement of the object, and / or the type of the object (e.g., vehicle, pedestrian, bicycle, motorcycle, etc.). To this end, the sensing device 200 may include an ultrasonic sensor, a radar, a camera, a laser scanner and / or a corner radar, a light detection and ranging (LiDAR), an acceleration sensor, a yaw rate sensor, a torque sensor and / or a wheel speed sensor, a steering angle sensor, etc.

[0073] Figure 1 The interface 300 may include an input device for receiving a control command from a user and an output device for outputting an operation status, an operation result, etc. of the platoon travel controller 100 .

[0074] Interface 300 can output platooning information on an output screen or receive feedback from users. For example, feedback can include platooning approval, reorganization approval, etc. Interface 300 can be implemented as a head-up display (HUD), instrument cluster, audio and video navigation (AVN), human-machine interface (HMI), user setting menu (USM), etc.

[0075] Herein, the input device may include a key, and may further include a mouse, a joystick, a jog shuttle, a stylus pen, etc. In addition, the input device may further include a soft key implemented on the display.

[0076] The output device may include a display and may further include a sound output device such as a speaker. In this case, when a touch sensor (e.g., a touch film, a touch sheet, or a touch pad) is provided in the display, the display operates as a touch screen, and the input device and the output device may be integrated with each other.

[0077] In this case, the display may include at least one of a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT-LCD), an organic light emitting diode (OLED) display, a flexible display, a field emission display (FED), or a three-dimensional (3D) display.

[0078] For example, the output device may display platooning information. In this case, the platooning information may include platooning change items (e.g., information related to platoon creation or platoon termination), information related to the creation of new platoons, information about obstacles ahead, information about avoidance paths, information about lane change paths, and the like.

[0079] When changing lanes, Figure 1 The turn signal lamp 500 of the direction to be changed can be controlled to be turned on by the platoon driving controller 100. In other words, the turn signal lamp 500 of the direction to be changed can be turned on.

[0080] Figure 1 The emergency signal on / off indicator 600 may turn on / off a hazard light in a critical situation or the like to warn following vehicles.

[0081] Figure 1 The steering controller 700 may be configured to control a steering angle of a vehicle and may include a steering wheel, an actuator linked to the steering wheel, and a controller for controlling the actuator.

[0082] Figure 1 The brake controller 800 may be configured to control braking of a vehicle and may include a controller for controlling the brakes.

[0083] Figure 1 The engine controller 900 may be configured to control an engine that drives a vehicle, and may include a controller for controlling a vehicle speed.

[0084] Therefore, embodiments of the present invention can divide vehicles into platoons to avoid obstacles during automated platoon driving, and can reorganize the platoon after the event ends to maintain platooning. This allows for flexible control of platoon division and reorganization within the confines of maintaining traffic flow, improving platooning efficiency.

[0085] In the following, reference will be made to Figure 3 A detailed description is given of a platoon travel control method according to an embodiment of the present invention. Figure 3 1 is a flowchart illustrating a platoon travel control method according to an embodiment of the present invention, which illustrates a method of dividing platoons for travel due to an event situation and reorganizing the platoon when the event situation ends.

[0086] In the following, it is assumed that Figure 1 The platoon controller 100 executes Figure 3 In addition, Figure 3 In the description, operations described as being performed by the device can be understood as being controlled by the processor 130 of the platooning controller 100, which is loaded into each of the lead vehicles of the new platoon and the existing platoon. When platooning, all following vehicles except the lead vehicle of the current platoon can become the lead vehicle of the new platoon. When the existing platoon and the new platoon are combined, the lead vehicle of the existing platoon can become the lead vehicle of all platooning vehicles.

[0087] refer to Figure 3 In S101 , the device may divide the fleet to form a new queue due to an event occurring during queue travel.

[0088] In S102 , when the occurrence of the event ends, in S103 , the device may remain in an idle state.

[0089] In S104, the device may determine whether the platooning condition and the autonomous driving function are normal. In this case, the device may determine that the platooning condition is normal when no obstacles are present or no forward collision avoidance assist (FCA) condition occurs. Furthermore, the device may determine whether autonomous driving functions, such as driving convenience functions (e.g., smart cruise control (SCC)) or driving safety functions (e.g., FCA, lane following assist (LFA)), are operating normally.

[0090] In S104 , when the platoon driving condition and the automatic driving function are both in normal states, in S105 , the device may determine whether a distance condition between the existing platoon and the new platoon is satisfied.

[0091] In other words, the device can determine whether the new platoon is within a distance range where the new platoon can reach the existing platoon by accelerating and decelerating or changing lanes within the speed limit of the road the new platoon is traveling on, thereby determining the conditions under which platoon reorganization is possible. In other words, when the new platoon is within a distance range where the new platoon can reach the existing platoon by accelerating and decelerating or changing lanes within the speed limit of the road the new platoon is traveling on, the device can determine that platoon reorganization is possible.

[0092] In addition, the device can determine whether the distance between the existing queue and the new queue is greater than or equal to a predetermined distance to determine the possibility of platoon reorganization. For example, when the distance between the existing queue and the new queue is within 300 meters, the device can determine that the distance condition for platoon reorganization is met.

[0093] In S105, if the distance condition between the existing and new queues is met, the device may determine in S106 whether a navigation-based traffic congestion condition is met. In other words, embodiments of the present invention may utilize traffic congestion levels to limit the conditions under which fleet reorganization can occur, thereby preventing increased traffic congestion from occurring during the fleet reorganization process. The device may classify traffic congestion levels as smooth, normal, or delayed, and may determine that the traffic congestion condition for fleet reorganization is met when the traffic congestion level is smooth or normal.

[0094] If the navigation-based traffic congestion level condition is met in S106, the device may determine in S107 whether the number of available lanes is met. In other words, the device may use the availability of available lanes to determine whether platoon reorganization is possible, thereby preventing increased traffic congestion from the platoon reorganization process. In this context, an available lane may refer to a platoon lane that is not occupied by existing or new queues. Temporary lane occupation for lane changes may be an exception.

[0095] For example, when the road is a two-lane or three-lane road, if at least one free lane is available, the device may determine that the convoy can be reorganized.

[0096] Furthermore, when the road is a road with four or more lanes, the device may determine that platoon reorganization is possible if at least n / 2 vacant lanes are available. For example, when the road is a road with four or more lanes, the device may determine that platoon reorganization is possible if at least n / 2 vacant lanes are available, for example, if at least three vacant lanes are available on a six-lane road.

[0097] When at least one of the conditions in S104 to S107 is not satisfied, the device may return to the standby state in S103. In S105, when the distance condition between the existing queue and the new queue is not satisfied, the device may end the reorganization logic.

[0098] As described above, when the queue driving conditions and the automatic driving function are both in normal states, the distance condition between the existing queue and the new queue is met, the navigation-based traffic congestion condition is met, and the number of idle lanes condition is met, in S108, the device can provide a notification of the activation of the reorganization function and can execute the user permission procedure.

[0099] Can be achieved through Figure 1 Interface 300 outputs a visual or auditory signal to provide notification of the activation of the reorganization function. In addition, the device can comply with user permission for the platoon reorganization operation (e.g., an OK button input, etc.) and can operate automatically according to the settings of the user set mode (USM) menu. In this case, the device can support autonomous driving above Level 3. For autonomous driving below Level 2, the device can correct the target speed in a hands-on state or support platoon reorganization by assisting in lane changes.

[0100] When the user permission is completed, in S109 , the device may determine whether there is a new vehicle between the existing queue and the new queue.

[0101] When there are no new vehicles, in S110 , the device may control the new queue to approach the existing queue and reorganize it. Figure 2 FIG2 shows a schematic diagram of the division and reorganization control during platoon travel according to an embodiment of the present invention. Figure 2 Referring to reference numeral 201 , when there is no obstacle between the existing queue 211 and the new queue 212 , the new queue 212 may approach the existing queue 211 for reorganization.

[0102] In S111, when there is a new vehicle, the device may determine whether the new vehicle can be included in the queue. When the new vehicle can be included in the queue, in S112, the device may include the new vehicle in the queue to perform reorganization control. Figure 2 Referring to figure mark 202, when there is a new vehicle (obstacle) 213 between the existing queue 211 and the new queue 212 and the new vehicle 213 can be included in the path, when the new queue 212 approaches the existing queue 211, the new queue 212 can be reorganized with the existing queue 211 and the new vehicle 213.

[0103] The device can determine that the new vehicle can be included in the queue when the remaining driving path of the new vehicle is the same as a predetermined value (for example, more than 80%) of the queue driving path, when there is user permission for the new vehicle or permission for the unmanned vehicle, and when the new vehicle meets the performance of the system that can perform autonomous driving of the queue.

[0104] When it is difficult to include a new vehicle in the platoon, in S113, the vehicle of the new platoon can approach the existing platoon by avoiding the new vehicle and performing lane change to reorganize. In this case, in the reorganization process such as lane change, the device can change the platoon shape according to the platoon driving conditions (for example, the number of lanes or another surrounding vehicle). Figure 2 As shown by reference numeral 203 , the new queue 212 may avoid the new vehicle 213 , thereby performing a lane change to an empty lane, and may be reorganized with the existing queue 211 .

[0105] Thereafter, the existing platoon to which the leading vehicle belonged before the platoon split can become the parent platoon, and the leading vehicle of the existing platoon can continue to serve as the leading vehicle after the reorganization. In this article, when the leading vehicle of the existing platoon is not located at the front of the platoon, the leading vehicle can be reselected from the preceding vehicles according to general items related to platoon formation, and the arrangement of the platoon can be adjusted. In addition, when a new platoon travels in front of an existing platoon, the new platoon can become the parent platoon for reorganization. Figure 2 As shown in the figure 204, when the new queue 212 travels in front of the existing queue 211, the new queue 212 can be the mother queue for reorganization.

[0106] The devices of the lead vehicle of the new queue and the lead vehicle of the existing queue can share position, driving speed, lane, and fleet information (for example, the number of vehicles or the number of columns), and can determine the steering control amount, driving control amount, or braking control amount of the vehicles traveling in the queue during the reorganization process.

[0107] Vehicles in the existing queue can use cruise control or decelerate to a target speed within a predetermined value. Furthermore, vehicles in the new queue can accelerate or decelerate from the existing target speed within a predetermined value, or, if necessary, perform lane changes to approach the existing queue. In this case, the device in each vehicle in the queue can display steering, driving, or braking changes to the user, or the user can be notified of steering, driving, or braking changes using sound or other means.

[0108] For example, when the difference between the speed of the vehicles of the new queue and the convoy speed of the vehicles of the existing queue is 20 kpm, reorganization at the maximum distance (eg, 300 meters) can be performed in approximately 1 minute.

[0109] Furthermore, the arrangement of existing and new platoons can correct the platoon shape during approach to facilitate reorganization.

[0110] Therefore, when a queue is divided into an existing queue and a new queue due to an event, the embodiment of the present invention can reorganize the new queue with the existing queue after the event to maintain the existing queue, thereby improving the efficiency of queue travel.

[0111] Figure 4 is a block diagram illustrating a computing system according to an embodiment of the present invention.

[0112] refer to Figure 4 , 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 connected to each other via a bus 1200 .

[0113] The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and / or the storage device 1600. The memory 1300 and the storage device 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a ROM (read-only memory) 1310 and a RAM (random access memory) 1320.

[0114] Therefore, the operations of the methods or algorithms described in conjunction with the embodiments disclosed herein may be directly implemented as hardware or software modules, or a combination thereof, executed by the processor 1100. The software modules may reside on a storage medium (i.e., memory and / or storage device) such as RAM, flash memory, ROM, EPROM, EEPROM, registers, a hard disk, a removable disk, or a CD-ROM.

[0115] The storage medium can be connected to the processor 1100, and the processor 1100 can read the information of the storage medium and can record information in the storage medium. In another embodiment, the storage medium can be integrated with the processor 1100. The processor and the storage medium can be present in an application specific integrated circuit (ASIC). The ASIC can be present in a user terminal. In another case, the processor and the storage medium can be present in a user terminal as separate components.

[0116] The present technology can determine the conditions under which the divided platoon can be reorganized after platoon division during autonomous driving, and can automatically perform platoon reorganization within the scope of maintaining traffic flow, thereby maintaining the advantages of platoon driving.

[0117] In addition, various effects determined directly or indirectly by the present invention can be provided.

[0118] In the above, although the present invention has been described with reference to specific embodiments and the accompanying drawings, the present invention is not limited thereto. Without departing from the spirit and scope of the present invention as claimed in the appended claims, those skilled in the art may make various changes and modifications to the present invention.

[0119] Therefore, the specific embodiments of the present invention are provided to explain the spirit and scope of the present invention, rather than to limit the spirit and scope of the present invention, and therefore the spirit and scope of the present invention are not limited by the embodiments. The scope of the present invention should be interpreted based on the appended claims, and all technical ideas within the scope equivalent to the claims should be included within the scope of the present invention.

Claims

1. A platoon driving controller, comprising: a processor configured to: when the queue is divided into the existing queue and the new queue due to occurrence of an event during the travel of the queue, reorganize the divided queues after the occurrence of the event ends; and a memory device that stores data and algorithms executed by the processor, Wherein, the processor is configured as follows: Determining conditions under which the divided queues can be reorganized; Controls the reorganization between partitioned queues, When a new vehicle is present between the existing queue and the new queue, the processor determines whether the new vehicle can join the queue. When a new vehicle cannot join the queue, the processor controls the new queue to avoid the new vehicle and reorganize with the existing queue by performing lane change.

2. The platoon controller according to claim 1, wherein: The conditions for reorganizing the divided queues may include at least one of the following conditions: queue driving conditions and whether the automatic driving function is normal; distance conditions between the existing queue and the new queue; traffic congestion level conditions; or the number of idle lanes conditions.

3. The platoon controller according to claim 2, wherein: The processor determines whether the platoon driving condition and the automatic driving function are normal by using at least one of whether an obstacle exists, whether a driving safety function is running, or whether an automatic driving function is running.

4. The platoon controller according to claim 2, wherein: When the distance between the existing queue and the new queue is less than a predetermined value, the processor determines that a condition for reorganizing the divided queues is satisfied.

5. The platoon controller according to claim 2, wherein: The processor determines that a condition for reorganizing the divided queues is satisfied when the new queue is within a distance range that the new queue can reach the existing queue by accelerating and decelerating or making a lane change within the speed limit of the road on which the new queue is currently traveling.

6. The platoon controller according to claim 2, wherein: In a case where the traffic congestion level is classified as smooth, normal, or delayed, the processor determines that a condition for reorganizing the divided queues is satisfied when the traffic congestion level is smooth or normal.

7. The platoon controller according to claim 2, wherein: When the number of free lanes is greater than or equal to a predetermined number, the processor determines that a condition for reorganizing the divided queues is satisfied.

8. The platooning controller according to claim 1, wherein: When it is determined that a condition capable of reorganizing the divided queues is satisfied, the processor notifies a user of activation of the reorganization function and receives permission from the user.

9. The platooning controller according to claim 1, wherein: When controlling the reorganization between the divided queues, the processor determines the steering control amount, the driving control amount, and the braking control amount of the platoon vehicles of the existing queue and the new queue based on at least one of the position, driving speed, lane, or fleet information of each platoon vehicle of the existing queue and the new queue.

10. The platooning controller according to claim 1, wherein: When controlling the reorganization between the divided queues, if there is no new vehicle between the existing queue and the new queue, the processor controls the new queue to arrive at the existing queue and perform the reorganization.

11. The platooning controller according to claim 1, wherein: The processor determines whether the new vehicle can join the queue based on at least one of a similarity between a remaining driving path of the new vehicle and a remaining driving path of the queue, a user permission of the new vehicle or a permission of the unmanned driving system, or a satisfactory performance of a system capable of autonomous driving of the platoon.

12. The platooning controller according to claim 1, wherein: When a new vehicle is able to join the queue, the processor controls the new queue to include the new vehicle and regroup with the existing queue.

13. The platooning controller according to claim 1, wherein: When there is no new vehicle between the existing queue and the new queue, but the new queue travels in front of the existing queue, the processor controls the leading vehicle of the new queue to serve as the leading vehicle of the reorganized queue, or reselects the leading vehicle.

14. The platooning controller according to claim 1, wherein: After the reorganization between the existing queue and the new queue is completed, the processor controls the leading vehicle of the existing queue to serve as the leading vehicle of the reorganized queue.

15. A platoon control method, comprising: When the queue is divided into the existing queue and the new queue due to an event occurring during the travel of the queue, determining whether the occurrence of the event is completed; After the occurrence of the event ends, determining the conditions for reorganizing the divided queues; When the conditions for reorganizing the divided queues are met, control the reorganization between the divided queues. When a new vehicle appears between the existing queue and the new queue, determine whether the new vehicle can join the queue. When a new vehicle cannot join the queue, the new queue is controlled by changing lanes to avoid the new vehicle and reorganize with the existing queue.

16. The platoon control method according to claim 15, wherein: The conditions that determine whether a divided queue can be reassembled include: The conditions for reorganizing the divided queue are determined to be met when at least one of the following conditions is met: queue driving conditions and whether the automatic driving function is normal; distance conditions between the existing queue and the new queue; traffic congestion level conditions; or the number of idle lanes conditions.

17. The platoon control method according to claim 15, further comprising: When it is determined that the conditions for enabling reorganization of the divided queues are satisfied, the user is notified of the reorganization function activation, and permission is received from the user.

18. The platoon control method according to claim 15, wherein: The conditions that determine whether a divided queue can be reassembled include: When the distance between the existing queue and the new queue is less than a predetermined value, determining that a condition for reorganizing the divided queues is met; When the new queue is within a distance range that the new queue can reach the existing queue by accelerating and decelerating or performing a lane change within the speed limit of the road currently traveled by the new queue, determining that a condition for reorganizing the divided queues is satisfied; In the case where the traffic congestion level is classified as smooth, normal, or delayed, when the traffic congestion level is smooth or normal, determining that a condition is satisfied for reorganizing the divided queues; or When the number of free lanes is greater than or equal to a predetermined number, it is determined that a condition for reorganizing the divided queues is satisfied.

Images