Hub apparatus and method for controlling platooning

Abstract

The present invention relates to a hub apparatus and method for controlling platooning. The hub apparatus for controlling platooning comprises a processor configured to control at least one of entry, parking or egress of a platooning vehicle; and a storage device configured to store data and algorithms driven by the processor, wherein the processor is configured to control movement of the vehicle to a parking location within the hub based on autonomous driving control after the driver has exited the vehicle when the vehicle reaches a gate of the hub.

Description

[0001] Cross-references to related applications

[0002] This application claims priority and benefit to Korean Patent Application No. 10-2020-0181035, filed on December 22, 2020, with the Korean Intellectual Property Office, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to a hub device and method for platooning control, and more specifically, to a technique for controlling the entry, parking alignment, and departure of platooning vehicles on a hub-to-hub basis. Background Technology

[0004] Currently, due to the synergistic effect of infrastructure and industrial agglomeration, logistics transportation systems are widely distributed in a hub-and-spoke form. More recently, networks have been established centered on hubs such as airports or ports to transport logistics to various regions, realizing large-scale aggregated logistics transportation through economies of scale.

[0005] Queue driving is a technology for performing autonomous driving in a convoy of multiple vehicles arranged at predetermined intervals. The lead vehicle, located at the head of the convoy, can control one or more following vehicles while convoy driving.

[0006] Typically, when queuing vehicles arrive at a hub, it is cumbersome to create and remove queuing vehicle groups between the lead vehicle and the following vehicles through a request and approval process. Therefore, it is necessary to improve queuing efficiency by directly controlling the generation of queuing vehicles in the hub.

[0007] The information disclosed in this background section is intended only to enhance the understanding of the background technology of this invention, and therefore the information it may contain does not constitute prior art known to those skilled in the art in this country. Summary of the Invention

[0008] The present invention provides a hub device and method for controlling queuing, which can create queuing vehicle groups for vehicles parked in the hub through hub-to-hub queuing control, and maximize queuing efficiency by directly executing door control, vehicle start control and vehicle driving control in the hub.

[0009] The technical objectives of this invention are not limited to those described above, and those skilled in the art can clearly understand other unmentioned technical objectives through the following description.

[0010] One exemplary embodiment of the present application provides a hub device for controlling platooning, including: a processor configured to control at least one of entry, parking, and exit of a platooning vehicle; and a storage device for storing data and algorithms driven by the processor, wherein, when the vehicle arrives at a gate of the hub, the processor controls movement of the vehicle to a parking position within the hub based on autonomous driving control after a driver gets off the vehicle.

[0011] In some embodiments of the present application, the processor can create a platooning plan, and can register a plurality of vehicles in a platooning waiting list by pre-receiving vehicle information and load information from the plurality of vehicles before arrival at a gate of the hub.

[0012] In some embodiments of the present application, the processor can determine whether pre-entry approval of the vehicle is made based on the platooning waiting list when the vehicle arrives at the gate of the hub.

[0013] In some embodiments of the present application, the processor can create a plurality of paths to a destination based on vehicle information of each vehicle, transmit the plurality of paths to the plurality of vehicles, and create a platooning plan based on at least one of the plurality of paths selected from the plurality of vehicles, a platooning departure time, a platooning creation location, vehicle information of a platooning vehicle group, and platooning role information.

[0014] In some embodiments of the present application, the processor can determine a parking position of the vehicle within the hub based on the platooning departure time and the platooning role information of the platooning vehicle group.

[0015] In some embodiments of the present application, the processor can perform a failure diagnosis on the vehicle when the vehicle arrives at the parking position within the hub.

[0016] In some embodiments of the present application, when a result of the failure diagnosis is that the vehicle is in a failure state, the processor can control movement of the vehicle to a repair position in the hub. When the result of the failure diagnosis is that the vehicle is in a normal state, the processor can perform an engine-off control of the vehicle.

[0017] In some embodiments of the present application, the processor can perform a door lock control of the vehicle after the engine-off control of the vehicle.

[0018] In some embodiments of the present application, the processor can determine whether the vehicle arriving at the entry gate is a vehicle moving to another hub or a last mile vehicle.

[0019] In some embodiments of the present application, when it is determined that the vehicle is moving to another hub, the processor can determine whether the vehicle is a lead vehicle.

[0020] In some embodiments of the present application, when it is determined that the vehicle is a lead vehicle, the processor can determine whether there is a parking space in a front area of the row of parking spaces in the hub, when it is determined that there is a parking space in the front area of the row of parking spaces in the hub, the parking position of the parking space in the front area of the row of parking spaces in the hub can be transmitted to the vehicle to control the vehicle to move to the parking space in the front area of the row of parking spaces in the hub.

[0021] In some embodiments of the present application, when it is determined that there is no parking space in the front area of the row of parking spaces in the hub, the processor can determine whether there is a parking space in a rear area of a queue traveling vehicle group having the fastest departure time among the queue traveling vehicle groups that have completed queue traveling parking.

[0022] In some embodiments of the present application, when it is determined that there is a parking space in the rear area of the queue traveling vehicle group having the fastest departure time, the processor can control the vehicle to move to the parking space in the rear area of the queue traveling vehicle group having the fastest departure time, can park the vehicle in the parking space in the rear area of the queue traveling vehicle group having the fastest departure time to wait, and after the queue traveling vehicle group having the fastest departure time departs, can change the parking position of the vehicle by controlling the vehicle to move to a front area of the parking space in which the queue traveling vehicle group having the fastest departure time is parked.

[0023] In some embodiments of the present application, when it is determined that there is no parking space in the rear area of the queue traveling vehicle group having the fastest departure time, the processor can control the vehicle to move to a temporary waiting space and park to wait.

[0024] In some embodiments of the present application, when the vehicle is a following vehicle, the processor can determine whether there is a parking space in a rear area of a queue traveling vehicle group that is in the same group as the vehicle, when it is determined that there is a parking space in the rear area of the queue traveling vehicle group that is in the same group as the vehicle, the vehicle can be controlled to move to the parking space in the rear area of the queue traveling vehicle group that is in the same group as the vehicle, but when it is determined that there is no parking space in the rear area of the queue traveling vehicle group that is in the same group as the vehicle, the vehicle can be controlled to move to a temporary waiting space and park to wait.

[0025] In some embodiments of the present application, when the vehicle that arrives at the entrance gate is a last mile vehicle, the processor can determine whether there is a parking space in the rear area of the queue travel vehicle group having the fastest departure time among the queue travel vehicle groups that have completed the queue travel parking, when there is a parking space in the rear area of the queue travel vehicle group having the fastest departure time, can control the vehicle to move to the parking space in the rear area of the queue travel vehicle group having the fastest departure time, can park the vehicle in the parking space in the rear area of the queue travel vehicle group having the fastest departure time to wait, and after the queue travel vehicle group having the fastest departure time departs, can change the parking position of the vehicle by controlling the vehicle to move to the front area of the parking space in which the queue travel vehicle group having the fastest departure time is parked.

[0026] In some embodiments of the present application, the processor can check the destination and departure time of the vehicle, determine whether the parking position of the vehicle needs to be adjusted to depart, and when it is determined that the parking position of the vehicle needs to be adjusted to depart, control the vehicle to move to the changed parking position by transmitting the changed parking position to the vehicle.

[0027] In some embodiments of the present application, the processor can control the vehicle to move to the pickup position of the driver when the vehicle departs.

[0028] An embodiment of the present application provides a hub method for controlling queue travel, as a queue travel control method for controlling queue travel vehicles on a hub-to-hub basis, the method including determining whether a pre-entry approval of a vehicle is made when the vehicle arrives at a gate of a hub, and controlling the vehicle to move to a parking position within the hub based on autonomous driving control after the driver leaves the vehicle when it is determined that the pre-entry approval is made.

[0029] In some embodiments of the present application, by creating a queue travel vehicle group in which vehicles are parked in a hub based on hub-to-hub queue travel control and by directly performing door control, vehicle start control, and vehicle travel control on vehicles in the hub, queue travel efficiency can be maximized.

[0030] Furthermore, various effects capable of being directly or indirectly recognized by the present disclosure can be provided. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 A block diagram showing the configuration of a hub device for hub-to-hub queue travel control of some embodiments of the present application is shown.

[0032] Figures 2A-2D A schematic diagram showing the basic concept of a hub for queue travel for describing some embodiments of the present application is shown.

[0033] Figure 3 An example of an interface between a hub device and a platoon vehicle for transmitting / receiving information is shown.

[0034] Figure 4 An example of an interface for platoon vehicle parking alignment within a hub for hub-to-hub platooning control is shown.

[0035] Figure 5 An example of an interface for hub-to-hub parking position determination is shown.

[0036] Figure 6 An example of an interface for hub-to-hub parking position change is shown.

[0037] Figure 7 A flowchart of a method of controlling entry of a platoon vehicle in a hub is shown.

[0038] Figure 8 A flowchart of a method of controlling parking position of a platoon vehicle in a hub is shown.

[0039] Figure 9 A flowchart of a method of controlling exit of a platoon vehicle in a hub is shown.

[0040] Figure 10 A computing system of some embodiments of the application is shown. DETAILED DESCRIPTION

[0041] Some embodiments of the application will be described below with reference to the example drawings. When adding reference numerals to the components shown in each drawing, it should be noted that like reference numerals are used for like components, even if the components are shown on different drawings. Also, in describing some embodiments of the application, when it is determined that a detailed description of related known configurations or functions would unnecessarily obscure the understanding of the exemplary embodiments of the application, a detailed description thereof will be omitted.

[0042] In describing the constituent components of some embodiments of the present application, terms such as first, second, A, B, (a), (b), etc. can be used. These terms are used only to distinguish the constituent components from other constituent components, and the terms do not limit the nature, order, or sequence of the constituent components. Furthermore, unless defined otherwise in the specification, all terms including technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application pertains. Terms defined in commonly used dictionaries are to be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and are not to be interpreted in an idealized or overly formal sense unless expressly so defined in the present specification.

[0043] Reference will now be made in detail to some embodiments of the present application. Figures 1-10 An exemplary embodiment of the present application is described in detail.

[0044] A lead vehicle LV and a following vehicle FV included in a platoon of vehicles can platoon on a road. The lead vehicle LV and the following vehicle FV can travel while maintaining a predetermined distance. During the travel, the lead vehicle LV and the following vehicle FV can adjust the distance between the lead vehicle LV and the following vehicle FV based on sensor information and platoon information shared through V2V communication.

[0045] The platooning vehicles constituting such a platoon of vehicles are arranged to be parked in a hub and then depart together.

[0046] In some embodiments of the present application, in a hubless hub, the hub device 100 can perform entry, parking alignment, and departure control of platooning vehicles.

[0047] Figure 1 A block diagram illustrating a configuration of a hub device for hub-to-hub platooning control according to some embodiments of the present application is shown.

[0048] Referring to Figure 1 , the hub device 100 for hub-to-hub platooning control according to some embodiments of the present application includes a hub control information receiver 110, a communication device 120, a storage device 130, a processor 140, and a vehicle controller 150.

[0049] The hub device 100 for hub-to-hub platooning control according to some embodiments of the present application can be implemented in a hub or / and a platooning center, etc.

[0050] The hub device 100 can control at least one of entry, parking, and departure of platooning vehicles on a hub-to-hub basis.

[0051] The hub control information receiver 110 can receive hub control information from a center (not shown) that controls the hub. Here, the hub control information can include a position of the vehicle in the hub, vehicle entry or exit time information, etc.

[0052] The communication device 110 is a hardware device implemented with various circuits to transmit and receive signals through a wireless or wired connection, and can communicate with the platooning vehicle 400, other hub devices 200, and a user terminal 300 of a driver of the platooning vehicle.

[0053] For example, the communication device 120 can communicate with an external server, infrastructure, or platooning vehicle through wireless Internet access or short-range communication technology. Here, the wireless communication technology can include wireless local area network (WLAN), wireless broadband (Wibro), Wi-Fi, worldwide interoperability for microwave access (Wimax), etc. In addition, the short-range communication technology can include Bluetooth, ZigBee, ultra-wideband (UWB), radio frequency identification (RFID), infrared data association (IrDA), etc.

[0054] For example, the communication device 120 can share platooning information, vehicle information, load information, etc. through V2X communication with the platooning vehicle. In this case, the platooning information can include information such as a platooning speed, an inter-vehicle distance, a destination, and a path. The vehicle information can include a vehicle type, engine information, driver information, contact information, a driving path based on load and empty load information input by the driver, a waiting place (rest area), an available waiting time, and a driving speed (preferred). The load information can be destination information, load loading time information, load type information, etc.

[0055] The communication device 120 can include a vehicle-to-hub communication device 121 that performs communication between the vehicle and the hub, a hub-to-vehicle communication device 122 that performs communication between the hub and the vehicle, a hub-to-hub communication device 123 that performs communication between the hub and the hub, and a telephone communication device 124 that communicates with the user terminal 300.

[0056] The storage device 130 can store data and / or algorithms, etc. required for the processor 140 to operate.

[0057] For example, the storage device 130 can store vehicle information, load information, a platooning waiting list, parking position information in the hub, platooning information, etc. obtained from the platooning vehicle. The platooning information can include information such as a destination, a path, a departure time, platooning creation place information.

[0058] The storage 130 can include at least one type of storage medium such as a flash memory type, a hard disk type, a micro type, a card type (for example, a secure digital (SD) card or an extreme digital (XD) card) type, 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 storage device (MRAM), a magnetic disk, and an optical disk storage.

[0059] The processor 140 can be electrically connected to the hub control information receiver 110, the communication device 120, the storage 130, the vehicle controller 150, etc., can electrically control each component, and can be an electric circuit that executes a software command, thereby performing various data processing and calculations described below.

[0060] The processor 140 can process signals transmitted between components of the hub device 100 for hub-to-hub-based platooning travel control, and can control at least one of entry, parking alignment, and exit of a platooning vehicle.

[0061] When the vehicle arrives at an entrance gate of the hub, the processor 140 can control the vehicle to move to a parking position in the hub based on autonomous driving control after the driver gets out of the vehicle.

[0062] The processor 140 can create a platooning plan before or when the vehicle arrives at a gate of the hub, and can register the vehicle in a platooning waiting list by pre-receiving vehicle information and / or load information from a vehicle created for a platooning vehicle group before the vehicle arrives at the gate of the hub.

[0063] When the vehicle arrives at the gate of the hub, the processor 140 can determine whether to make a pre-entry approval of the vehicle based on the platooning waiting list.

[0064] The processor 140 can create a plurality of paths to a destination based on vehicle information of each vehicle, and transmit the paths to the vehicle, and can create a platooning plan based on at least one of a path selected from the vehicle, a platooning departure time, a platooning creation location, vehicle information of a vehicle participating in a platooning vehicle group, platooning role information.

[0065] In addition, the platooning plan can include platooning vehicle group information.

[0066] The processor 140 can determine a parking position of the vehicle participating in the platooning vehicle group in the hub based on the platooning departure time and the platooning role information, and when the vehicle arrives at the entrance gate of the hub, after the driver gets off, the processor 140 can control the self-driving vehicle to move to the parking position in the hub based on the autonomous driving control. That is, the processor 140 transmits the parking position information in the hub to the vehicle, and the vehicle moves to the corresponding parking position based on the autonomous driving control.

[0067] In the case where the vehicle arrives at the parking position in the hub, the processor 140 can perform a failure diagnosis on the vehicle, and when the result of the failure diagnosis is that the vehicle is in a failure state, the processor 140 can control the vehicle to move to a repair position in the hub, thereby allowing the vehicle to be repaired at the repair position.

[0068] When the result of the failure diagnosis of the vehicle is that the vehicle is in a normal state, the processor 140 can perform a starting-off control of the vehicle, and can perform a door lock control of the vehicle after the starting-off control of the vehicle. The processor 140 can determine whether the vehicle that arrives at the entrance gate is a vehicle that moves to another hub or a last mile vehicle.

[0069] The first mile refers to a stage in which raw materials are purchased, produced, and delivered to a distribution base and a retailer, and the last mile refers to the last step in the delivery process of the purchased product before meeting the consumer.

[0070] Accordingly, the last mile vehicle refers to a vehicle that is empty and is to be sold to a consumer. The vehicle that moves to another hub refers to a vehicle that needs to wait at the hub.

[0071] In the case where the vehicle is a vehicle that moves to another hub, the processor 140 determines whether the vehicle is a lead vehicle LV, and when the vehicle is the lead vehicle LV, determines whether a front area of a platooning parking row in the hub has a parking space, and when the front area of the platooning parking row in the hub has a parking space, transmits a parking position of the parking space of the front area of the platooning parking row in the hub to the vehicle to control the vehicle to move to the parking space of the front area of the platooning parking row in the hub.

[0072] In addition, in the case where the front area of the platooning parking row in the hub does not have a parking space, the processor 140 determines whether a rear area of a platooning vehicle group having the fastest departure time among the platooning vehicle groups that have completed platooning parking has a parking space, and when the rear area of the platooning vehicle group having the fastest departure time has a parking space, the processor 140 controls the vehicle to move to the parking space of the rear area of the platooning vehicle group having the fastest departure time, and parks the vehicle at the parking space of the rear area of the platooning vehicle group having the fastest departure time to wait.

[0073] On the other hand, after the queue traveling vehicle group having the fastest departure time departs, the processor 140 can change the parking position of the vehicle by controlling the vehicle to move to a front area of a parking space in which the queue traveling vehicle group having the fastest departure time is parked.

[0074] When there is no parking space in a rear area of the queue traveling vehicle group having the fastest departure time, the processor 140 can control the vehicle to move to a temporary waiting space and park and wait.

[0075] In a case where the vehicle that arrives at the entrance gate of the hub is a following vehicle, the processor 140 can determine whether there is a parking space in a rear area of a queue traveling vehicle group to which the vehicle belongs, when there is a parking space in the rear area of the queue traveling vehicle group to which the vehicle belongs, the processor 140 can control the vehicle to move to the parking space in the rear area of the queue traveling vehicle group to which the vehicle belongs, but when there is no parking space in the rear area of the queue traveling vehicle group to which the vehicle belongs, the processor 140 can control the vehicle to move to a temporary waiting space and park and wait.

[0076] In addition, in a case where the vehicle that arrives at the entrance gate is a last mile vehicle, the processor 140 can determine whether there is a parking space in a rear area of a queue traveling vehicle group having the fastest departure time among queue traveling vehicle groups that have completed queue traveling parking, when there is a parking space in the rear area of the queue traveling vehicle group having the fastest departure time, the processor 140 can control the vehicle to move to the parking space in the rear area of the queue traveling vehicle group having the fastest departure time, park the vehicle in the parking space in the rear area of the queue traveling vehicle group having the fastest departure time, and wait, and after the queue traveling vehicle group having the fastest departure time departs, the processor 140 can change the parking position of the vehicle by controlling the vehicle to move to a front area of a parking space in which the queue traveling vehicle group having the fastest departure time is parked.

[0077] The processor 140 checks the destination and the departure time of the vehicle, and determines whether to adjust the parking position of the vehicle to depart, and when the parking position of the vehicle needs to be adjusted, controls the vehicle to move to the changed parking position by transmitting the changed parking position to the vehicle.

[0078] When the vehicle departs, the processor 140 can control the vehicle to move to the pickup position of the driver.

[0079] The vehicle controller 150 can control the start of the vehicle, the door of the vehicle, and the driving of the vehicle. That is, the vehicle controller 150 can control the start of the vehicle or the opening and closing of the door of the vehicle.

[0080] The vehicle controller 150 can be configured to control the braking of the vehicle, can be configured to control the engine drive of the vehicle, and can include a controller that controls the speed of the vehicle.

[0081] Figures 2A-2D A schematic diagram showing the basic concept of a hub for platooning for describing some embodiments of the present application is shown.

[0082] Referring to Figure 2A , a vehicle enters a hub at a first mile stage, and the hub device 100 transmits a parking position in the hub to the vehicle and prepares to create a platooning plan. As Figure 2B shown, a plurality of platooning vehicles wait at the hub. The hub device controls the platooning vehicles that have been waiting to travel to another hub by platooning by vehicle security authentication, door control, start control, and driving control of the vehicle.

[0083] As Figure 2C shown, when entering another hub, the hub device in another hub transmits parking position information to the vehicle, and after passing through vehicle security functions, door control, start control, driving control, and destination arrival notification, the vehicle drives off one by one to the last mile section, as Figure 2D shown.

[0084] Figure 3 An example of an interface for transmitting / receiving information between a hub device and a platooning vehicle of some embodiments of the present application is shown.

[0085] Referring to Figure 3 , during platooning, the lead vehicle LV and the following vehicle FV1 transmit vehicle information to the hub device 100. In this case, the vehicle information can include travel path information, a waiting place (rest area), a possible waiting time, and a travel speed based on the load and empty information of the driver input (preferably).

[0086] The hub device 100 can create an optimal platooning path by using the received vehicle information and transmit recommended platooning path information to the platooning vehicles LV and FV1. The recommended platooning path information can include a departure time, a departure place, a platooning path ratio (platooning path / total path), a predicted arrival time, and a saving amount (fuel economy, toll), etc.

[0087] Selection and approval of a platooning path can be transmitted and received between the hub device 100 and the platooning vehicles LV and FV1. That is, the hub device 100 can receive platooning path selection information from the platooning vehicles LV and FV1, and perform a final confirmation procedure between the vehicles, and can transmit a departure time, a platooning creation location, etc. to the platooning vehicles LV and FV1 so that a platoon can be finally created.

[0088] Figure 4 An example of an interface for parking alignment of a platooning vehicle within a hub for hub-to-hub platooning control according to some embodiments of the present application is illustrated.

[0089] Referring to Figure 4 When the vehicle arrives at the hub entrance, the driver gets off, and the vehicle receives a parking location in the hub from the hub device 100 and moves to the corresponding parking location based on autonomous driving.

[0090] After that, the hub has an exit to another hub and an exit to a last mile section, and the vehicles are driven off to the last mile section one by one, and when driven off to another hub, the vehicles are driven off in the form of a platoon.

[0091] Figure 5 An example of an interface for hub-to-hub parking location determination according to some embodiments of the present application is illustrated, Figure 6 An example of an interface for hub-to-hub parking location change according to some embodiments of the present application is illustrated.

[0092] When controlling movement of vehicles in the hub, the hub device 100 is controlled based on autonomous driving and manages parking in order of departure time. In addition, it is possible to minimize space consumption by minimizing the distance between parked vehicles. That is, for example, since there is no need to open the door, it is possible to control the distance between vehicles to within 10 cm.

[0093] In addition, when the departure time changes, the hub device 100 can remotely move some of the parked vehicles. That is, the hub device 100 can perform vehicle departure control by moving vehicles parked in the same row. In addition, the hub device 100 can perform vehicle departure control by separating vehicles moved to the last mile from vehicles moved to another hub. In addition, it is also possible to avoid problems that can occur when the vehicle departs by checking whether the vehicle has a malfunction at the time of parking.

[0094] Reference Figure 5In a case where the queue traveling vehicle group 501 plans to depart 5 minutes after completing parking, when the vehicle LV temporarily parks behind the queue traveling vehicle group 501 and the queue traveling vehicles of the queue traveling vehicle group 501 depart, the control vehicle LV is moved forward.

[0095] Reference Figure 6 In a case where there is a parking space behind the vehicles 601 and 602 of the queue traveling vehicle group that has completed parking after the vehicle 60 enters, when the parking area is emptied as the vehicles 601 and 602 depart after the vehicle 60 parks in the parking space behind the vehicles 601 and 602, the vehicle 60 can be controlled to move to the front area of the parking space where the queue traveling vehicle group is parked.

[0096] Hereinafter, a method of controlling entry of a queue traveling vehicle in a hub according to some embodiments of the present application will be described with reference to the accompanying drawings. Figure 7 A method of controlling entry of a queue traveling vehicle in a hub according to some embodiments of the present application will be described. Figure 7 A flowchart of a method of controlling entry of a queue traveling vehicle in a hub according to some embodiments of the present application is illustrated.

[0097] Hereinafter, it is assumed that Figure 1 The hub device 100 of Figure 7 performs the process of Figure 7 In the description of

[0098] Reference Figure 7 When moving to the hub, the queue traveling vehicle or the vehicle that will join the queue traveling can transmit vehicle information and / or load information to the hub device 100 before or after arriving at the hub.

[0099] Accordingly, the hub device 100 can receive vehicle information from the queue traveling vehicle (S101), and can receive load information (S102). In this case, the vehicle information can include vehicle type, engine information, driver information, contact information, etc. The load information can be destination information, load shipment time information, load type information, etc.

[0100] The hub device 100 inputs the vehicle information into a queue traveling waiting list (S103), and checks whether the vehicle has arrived at a gate of the hub (S104).

[0101] When the vehicle arrives at the gate of the hub, the hub device 100 checks whether the pre-entry approval has been completed (S105), and when the pre-entry approval is completed, determines whether the driver has completely left the vehicle (S106). In this case, the driver can get off the vehicle at the hub entrance, and after entering the hub, the vehicle can be automatically controlled to be unmanned within the hub.

[0102] That is, the vehicle for which the pre-entry approval has been completed can mean a pre-registered vehicle, and the vehicle can request the pre-entry approval by communicating with the hub device 100 to perform the approval.

[0103] After the driver completely leaves the vehicle, the hub device 100 determines a parking position in the hub based on a departure time of the vehicle entering the gate, a platooning role, etc., and transmits the parking position in the hub to the vehicle (S107).

[0104] Then, the hub device 100 controls the vehicle to move to the corresponding parking position, determines whether the vehicle has arrived at the corresponding parking position (S108), and when the vehicle arrives at the parking position, determines whether the vehicle is normally operated by performing a malfunction diagnosis on the vehicle (S109).

[0105] When the vehicle is in a damaged state, the hub device 100 moves the vehicle to a repair position, so that vehicle repair can be performed (S110).

[0106] When the vehicle is in a normal state, the hub device 100 performs an engine stop of the vehicle and a vehicle door lock control (S111).

[0107] Subsequently, the hub device 100 transmits platooning plan and platooning driving information to the user terminal 300 of the driver (S112).

[0108] Hereinafter, a method of controlling a parking position of a platooning vehicle in a hub according to some embodiments of the present application will be described with reference to the accompanying drawings. Figure 8 A method of controlling a parking position of a platooning vehicle in a hub according to some embodiments of the present application will be described in detail. Figure 8 A flowchart of a method of controlling a parking position of a platooning vehicle in a hub according to some embodiments of the present application is illustrated.

[0109] Hereinafter, it is assumed that Figure 1 the hub device 100 performs Figure 8 the processes. Further, in the description of Figure 8 the hub device 100 performs the processes.

[0110] Reference will now be made in detail to some embodiments of the present application. Figure 8, the hub device 100 creates a platoon travel plan (S201), determines whether the vehicle has arrived at the hub entrance gate (S202), and determines whether the destination of the vehicle that has arrived at the hub entrance gate is another hub (S203) when the vehicle arrives at the hub entrance gate.

[0111] When the vehicle that has arrived at the hub entrance gate is not a vehicle that is to move to another hub, the hub device 100 determines that the vehicle is a vehicle that is to depart to the last mile section, and determines whether there is a parking space in the rear area of the platoon travel vehicle group 501 (platoon travel parking has been completed) having the fastest departure time (S204).

[0112] When there is a parking space in the rear area of the platoon travel vehicle group 501 (platoon travel parking has been completed) having the fastest departure time, the hub device 100 transmits position information of the parking space in the rear area of the platoon travel vehicle group 501 having the fastest departure time to the vehicle that has arrived at the hub entrance gate (S205), controls the vehicle that has arrived at the hub entrance gate to move to the parking space in the rear area of the platoon travel vehicle group 501, and then controls the vehicle that has arrived at the hub entrance gate to move to the front area after the platoon travel vehicle group 501 having the fastest departure time departs (S206).

[0113] Meanwhile, when the vehicle that has arrived at the hub entrance gate is a vehicle that is to move to another hub, the hub device 100 determines whether the vehicle is a lead vehicle (S207). In this case, the hub device 100 can determine whether the vehicle is a lead vehicle or a following vehicle based on vehicle information and platoon travel plan information received from the vehicle.

[0114] In the case where the vehicle that has arrived at the hub entrance gate is the lead vehicle 503, the hub device 100 determines whether there is a parking space in the front area of the platoon parking space (S208), and when there is a parking space in the front area of the platoon parking space, transmits the corresponding parking position (first area of the platoon parking space) to the lead vehicle (S209).

[0115] On the other hand, when there is no parking space in the front area of the platoon parking space in step S208, the hub device 100 determines whether there is a parking space in the rear area of the platoon travel vehicle group 501 having the fastest departure time among the platoon travel vehicle groups 501 and 502 in which platoon travel parking has been completed (S210).

[0116] When there is a parking space in the rear area of the queue traveling vehicle group 501 having the fastest departure time, the hub device 100 transmits position information of the parking space in the rear area of the queue traveling vehicle group 501 having the fastest departure time to the corresponding vehicle (S211), and controls the vehicle to move to the rear area of the queue traveling vehicle group 501 having the fastest departure time (S212).

[0117] On the other hand, when there is no parking space in the rear area of the queue traveling vehicle group 501 having the fastest departure time in step S210, the hub device 100 controls the vehicle to move to the temporary waiting space 504 (S213).

[0118] Meanwhile, when the vehicle arriving at the hub entrance gate is not the leading vehicle in step S207, since it is a following vehicle, the hub device 100 determines whether there is a parking space behind the vehicle of the queue traveling vehicle group to which the following vehicle belongs (S214).

[0119] When there is a parking space behind the vehicle of the queue traveling vehicle group to which the following vehicle belongs, the hub device 100 transmits the corresponding position as parking position information to the following vehicle, and controls the following vehicle to move to the corresponding parking position (S215).

[0120] Meanwhile, when there is no parking space behind the vehicle of the queue traveling vehicle group to which the following vehicle belongs, the hub device 100 controls the vehicle to move to the temporary waiting space 504 (S216).

[0121] Hereinafter, a method of controlling the departure of a queue traveling vehicle in a hub based on a hub-to-hub queue traveling control will be described in detail with reference to the accompanying drawings. Figure 9 A method of controlling the departure of a queue traveling vehicle in a hub according to some embodiments of the present application will be described in detail. Figure 9 A flowchart illustrating a method of controlling the departure of a queue traveling vehicle in a hub according to some embodiments of the present application is shown.

[0122] Hereinafter, it is assumed that Figure 1 the hub device 100 performs Figure 9 the processes thereof. Furthermore, in the description of Figure 9 , operations described as being performed by a device can be understood to be controlled by the processor 140 of the hub device 100 for hub-to-hub queue traveling control.

[0123] Referring to Figure 9 , the hub device 100 checks the vehicle destination and the departure time (S301), and checks the state of the vehicle departing (S302). In this case, the hub device 100 can determine whether there is a vehicle that has not started in front of the vehicle departing.

[0124] The hub device 100 can determine whether adjustment of the parking position is required, i.e., whether the vehicles parked in the same row need to be moved (S303).

[0125] When adjustment of the parking position is required, the hub device 100 transmits the changed parking position to the vehicles (S304), and controls the vehicles to move to the changed parking position (S305).

[0126] Subsequently, the hub device 100 controls the vehicles to move to the driver's pickup position (S306), and after the driver gets on the vehicle, the vehicle moves to the destination (S307).

[0127] Accordingly, in some embodiments of the present application, vehicle safety can be enhanced by controlling the entry and exit of the hub to the hub. Also, in some embodiments of the present application, costs can be reduced and safety accidents in the parking section can be prevented by popularizing the unmanned driving mode in the parking section in the hub, and the parking efficiency can be maximized by minimizing the parking distance during parking control, so that the costs can be reduced. In some embodiments of the present application, the queue traveling vehicle group is created within the hub, so that the creation efficiency of the queue traveling vehicle group can be very high and the driving-related costs can be reduced.

[0128] Figure 10 A computing system of some embodiments of the present application is illustrated.

[0129] Reference Figure 10 The computing system 1000 includes at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, and a storage 1600 connected through a bus 1200, and a network interface 1700.

[0130] The processor 1100 can be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and / or the storage 1600. The memory 1300 and the storage 1600 can include various types of volatile or non-volatile storage media. For example, the memory 1300 can include a read-only memory (ROM) 1310 and a random access memory (RAM) 1320.

[0131] Accordingly, the steps of the methods or algorithms described in connection with the exemplary embodiments disclosed herein can be directly implemented by hardware, software modules executed by the processor 1100, or a combination of the two. The software modules can exist on a storage medium (i.e., the memory 1300 and / or the storage 1600), such as a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, and a CD-ROM.

[0132] An exemplary storage medium can be coupled to the processor 1100 so that the processor can read information from, and write information to, the storage medium. Alternatively, the storage medium can be integral to the processor 1100. The processor and the storage medium can reside in an application-specific integrated circuit (ASIC). The ASIC can reside in a user terminal. Alternatively, the processor and the storage medium can exist as separate components in the user terminal.

[0133] The above description is only an explanation of the technical idea of the present application, and those skilled in the art to which the present application pertains can make various modifications and changes without departing from the essential characteristics of the present application.

[0134] Therefore, the exemplary embodiments disclosed in the present application are intended to explain the technical idea of the present application, not to limit them, and the scope of the technical idea of the present application is not limited by the exemplary embodiments. The scope of protection of the present application should be interpreted by the appended claims, and all technical ideas falling within the equivalent scope of the claims should be interpreted as being included in the scope of protection of the present application.

Claims

1. A hub device comprising: A processor configured to control at least one of the vehicle’s entry, parking, or exit; as well as Storage devices configured to store data and algorithms driven by a processor. The processor is configured as follows: When the vehicle arrives at the hub's gate, after the driver leaves the vehicle, the system, based on automated driving control, moves the vehicle to its parking position within the hub. The processor is further configured as follows: Determine whether a vehicle arriving at a hub's gate is a vehicle moving to another hub or a last-mile vehicle, where the last-mile vehicle is an empty vehicle awaiting sale to a consumer; When a vehicle arriving at the hub gate is a last-mile vehicle, the vehicle is controlled to exit one by one from the exit leading to the last-mile segment. When a vehicle arriving at the hub gate is a vehicle moving to another hub, the vehicle is controlled to exit in a queue from the exit leading to the other hub.

2. The hub device according to claim 1, wherein, The processor is configured as follows: Create a queue travel plan; Before reaching the hub's gate, multiple vehicles are pre-registered in the queue waiting list by receiving vehicle and load information from multiple vehicles.

3. The hub device according to claim 2, wherein, The processor is configured as follows: When a vehicle arrives at the hub's gate, it is determined whether pre-entry approval for the vehicle has been granted based on the queue waiting list.

4. The hub device according to claim 2, wherein, The processor is configured as follows: Multiple routes to the destination are created based on the vehicle information of each vehicle; Send multiple paths to multiple vehicles; Create a queue driving plan based on at least one of the following: multiple routes selected from multiple vehicles, queue driving departure time, queue driving creation location, vehicle information of the vehicle group participating in the queue driving, or queue driving role information.

5. The hub device according to claim 1, wherein, The processor is configured as follows: Based on the departure time and role information of the queue, the parking positions of the vehicles participating in the queue are determined within the hub.

6. The hub device according to claim 1, wherein, The processor is configured as follows: When a vehicle arrives at its parking location within the hub, a fault diagnosis is performed.

7. The hub device according to claim 6, wherein, The processor is configured as follows: When the fault diagnosis results indicate that the vehicle is in a faulty state, control the vehicle to move it to the repair position in the hub.

8. The hub device according to claim 6, wherein, The processor is configured as follows: When the fault diagnosis result indicates that the vehicle is in a normal state, the vehicle's engine shutdown control is executed.

9. The hub device according to claim 8, wherein, The processor is configured as follows: After the vehicle is turned off, the vehicle door locks are activated.

10. The hub device according to claim 1, wherein, The processor is configured as follows: When it is determined that a vehicle needs to move to another hub, determine whether the vehicle is the lead vehicle.

11. The hub device according to claim 10, wherein, The processor is configured as follows: Once it is determined that the vehicle is the lead vehicle, determine whether there are parking spaces in the front area of ​​the row of parking spaces within the hub; When it is determined that there is a parking space in the front area of ​​the row of parking spaces within the hub, the parking position of the parking space in the front area of ​​the row of parking spaces within the hub is sent to the vehicle to control the vehicle to move to the parking space in the front area of ​​the row of parking spaces within the hub.

12. The hub device according to claim 10, wherein, The processor is configured as follows: When it is determined that there are no parking spaces in the front area of ​​the row of parking spaces within the hub; Determine if there are parking spaces behind the queuing group with the fastest departure time among the queuing groups that have completed queuing and parking.

13. The hub device according to claim 12, wherein, The processor is configured as follows: When it is determined that there is a parking space behind the convoy of vehicles with the fastest departure time, control the vehicle to move to the parking space behind the convoy of vehicles with the fastest departure time. Park your vehicle in a parking space behind the group of vehicles that will depart the fastest; After the convoy of vehicles with the fastest departure time leaves, the parking position of the vehicle is changed by controlling the vehicle to move to the area in front of the parking space where the convoy of vehicles with the fastest departure time is parked.

14. The hub device according to claim 12, wherein, The processor is configured as follows: When it is determined that there are no parking spaces behind the convoy of vehicles with the fastest departure time, control the vehicles to move to temporary waiting spaces.

15. The hub device according to claim 10, wherein, The processor is configured as follows: When a vehicle is following another vehicle, determine whether there are parking spaces in the area behind the vehicle group traveling in the same platoon as the vehicle. When it is determined that there is a parking space behind the vehicle in the same convoy, control the vehicle to move to the parking space behind the vehicle in the same convoy. When it is determined that there are no parking spaces behind the vehicle group traveling in the same platoon, the vehicle is moved to a temporary waiting space.

16. The hub device according to claim 1, wherein, The processor is configured as follows: When a vehicle arriving at the hub's gate is a last-mile vehicle, determine if there are parking spaces behind the queue of vehicles that have completed queuing and stopped, based on the area behind the queue of vehicles with the fastest departure time. When there is a parking space behind the convoy of vehicles with the fastest departure time, control the vehicle to move to the parking space behind the convoy of vehicles with the fastest departure time. Park your vehicle in the parking space behind the group of vehicles that will depart the fastest. After the convoy of vehicles with the fastest departure time leaves, the parking position of the vehicle is changed by controlling the vehicle to move to the area in front of the parking space where the convoy of vehicles with the fastest departure time is parked.

17. The hub device according to claim 1, wherein, The processor is configured as follows: Check the vehicle's destination and departure time; Determine if the vehicle's parking position needs to be adjusted to move out; When it is determined that the vehicle's parking position needs to be adjusted for exiting, the vehicle is controlled to move to the changed parking position by sending the changed parking position to the vehicle.

18. The hub device according to claim 17, wherein, The processor is configured as follows: When the vehicle leaves, control the vehicle to move to the driver's boarding position.

19. A queuing control method for controlling vehicles in a queuing, the method comprising: When a vehicle arrives at the hub's gate, determine whether prior approval for vehicle entry has been granted; Once pre-approval for entry is confirmed, the vehicle is moved to a parking position within the hub based on autonomous driving control after the driver leaves the vehicle. The system determines whether a vehicle arriving at a hub's gate is a vehicle moving to another hub or a "last-mile" vehicle, meaning an empty vehicle awaiting sale to a consumer. When a vehicle arriving at the hub gate is a last-mile vehicle, the vehicle is controlled to exit one by one from the exit leading to the last-mile segment. When a vehicle arriving at the hub gate is a vehicle moving to another hub, the vehicle is controlled to exit in a queue from the exit leading to the other hub.

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