Cooperative driving procedure by which a following vehicle merges into or out of cooperative driving, and cooperative driving procedure by which a lead vehicle controls the merging into or out of cooperative driving.

Abstract

Cooperative driving procedure by which a following vehicle (210) exits a cooperative driving process, wherein the cooperative driving procedure comprises the following steps: Sending information about a merging request to a lead vehicle (221, 223, 225) by the following vehicle (210); Receiving information about exiting cooperative driving from the lead vehicle (221, 223, 225); when information about exiting cooperative driving is received, exiting cooperative driving by the following vehicle (210); Determine, based on a lateral distance from a lane line (240), whether the merging of the following vehicle (210) has been completed; and When the following vehicle (210) is within a predetermined distance of a predetermined target, it receives information from the lead vehicle (221, 223, 225) to identify whether the following vehicle (210) is merging.

Description

BACKGROUND OF THE INVENTION 1. Field of the invention

[0001] The present invention relates to a cooperative driving technology. 2. Description of the state of the art

[0002] Since information and communication technologies, or so-called ICT (Information & Communication Technologies), are being installed in vehicles, research is still being conducted into a cooperative intelligent transport system, or a so-called C-ITS (Cooperative Intelligent Transportation System).

[0003] Highly developed countries in terms of transport technology have demonstrated various C-ITS demonstration projects and services, and such services can be divided into a service that provides road safety information close to road accidents and a service that provides driving comfort information.

[0004] Meanwhile, the state of the art has focused on developing services limited to communication between infrastructure and vehicles using so-called WAVE (Wireless Access in Vehicular Environment) technology, designed for high-speed vehicle movement. This means that in existing communication services, a Road Side Unit (RSU), installed at the roadside, transmits traffic-related information to an On-Board Unit (OBU), or vehicles exchange data required for services such as the internet.

[0005] To manage the recently increasing volume of traffic and to maximize the utilization efficiency of a highway, a vehicle convoy or cooperative vehicle convoy technology, in which a large number of vehicles drive as a group while maintaining a small distance between each other, has been and continues to be researched and developed.

[0006] However, a cooperative vehicle driving technology that allows another vehicle to join or leave cooperative driving while cooperative vehicle driving is in progress has not yet been developed.

[0007] DE 11 2014 005 122 T5 describes a convoy control device comprising a communication section, a driving control section, and a union control section, wherein, when a vehicle is traveling in convoy, and the communication section has received request information from an independent vehicle not included in the convoy group of vehicles, to include the independent vehicle in the convoy, then the union control section determines a position relationship between a position of the convoy group and a position of the independent vehicle, and wherein, according to the determined position relationship, the union control section then performs a control action on the convoy group via the communication section, which serves to include the independent vehicle in the convoy group.

[0008] DE 696 21 535 T2 describes a control system for vehicles in a convoy that is capable of detecting the position of a vehicle within the convoy and reacting accordingly to a change, for example, when another vehicle leaves the convoy. When the system receives information that the vehicle ahead will leave the convoy, the convoy exit data is transmitted to the vehicle, which then transmits this data to the following vehicle.

[0009] DE 10 2014 224 645 A1 describes a vehicle control / regulating device that detects when the driver is unfit to drive. An unfit-to-drive condition is a state in which the driver is unable to operate the vehicle. When the emergency that the driver has reached this state is detected, the result of the detection is communicated. A lead vehicle, adapted to guide the vehicle based on this notification, is identified. An automatic following control / regulation is then initiated, causing the vehicle to automatically follow the lead vehicle.

[0010] US 2007 / 0164896A1 describes a control procedure using a communication function and a radar function. With a vehicle ahead, the distance between two vehicles is measured using the radar function, and depending on this distance, a hazard warning is issued to the driver or a pre-crash operation is performed. Additionally, by mutually communicating its position between vehicles using the communication function, the distance to a vehicle near the vehicle is measured, regardless of any obstructions, and based on this distance, a hazard warning is issued to the driver or a pre-crash operation is performed. OVERVIEW OF THE INVENTION

[0011] Against such a background, and in accordance with an aspect of the present invention, an object of the present invention is to provide a cooperative vehicle driving technology that allows joining and leaving cooperative driving during cooperative vehicle driving.

[0012] In accordance with the present invention, a cooperative driving method with the features of claim 1 and a cooperative driving method with the features of claim 4 are provided.

[0013] Advantageous further training opportunities arise from the dependent sub-requirements.

[0014] As described above, in accordance with the present invention it is possible to provide the cooperative vehicle driving technology to allow joining and leaving cooperative driving during cooperative vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above-mentioned and further tasks, features and advantages of the present invention will become more apparent from the following detailed description, which is given in conjunction with the accompanying drawings, wherein the drawings: Fig. 1A is a flowchart illustrating a cooperative driving procedure in accordance with an embodiment of the present invention; Fig. 1B illustrates a process of the cooperative driving procedure in accordance with the embodiment of the present invention; Fig. 2A and Fig. 2B illustrate the process of the cooperative driving procedure in accordance with the embodiment of the present invention; Fig. 3 illustrates an example of a process in a threading completion confirmation step in accordance with the embodiment of the present invention; Fig. 4 illustrates a further example of the process in the threading completion confirmation step in accordance with the embodiment of the present invention; Fig. 5A is a flowchart illustrating a cooperative driving procedure in accordance with another embodiment of the present invention; Fig. 5B illustrates a process of the cooperative driving procedure in accordance with the other embodiment of the present invention; Fig. 6 illustrates the process of the cooperative driving procedure in accordance with the other embodiment of the present invention; Fig. Figure 7 illustrates an example of a process in a threading completion confirmation step in accordance with the other embodiment of the present invention; Fig. 8A is a flowchart illustrating a cooperative driving procedure in accordance with a further embodiment of the present invention; Fig. 8B illustrates a process of the cooperative driving procedure in accordance with the further embodiment of the present invention; Fig. 9 illustrates an example of processes following a fourth transmission step in accordance with the further embodiment of the present invention; Fig. 10A and Fig. 10B Block diagrams are illustrating a cooperative driving device in accordance with an embodiment of the present invention; and Fig. 11 is a block diagram illustrating a cooperative driving device in accordance with another embodiment of the present invention. DETAILED DESCRIPTION OF THE EXEMPLARY EXECUTION FORMS

[0016] In the following, some embodiments of the present invention will be described in detail with reference to the accompanying illustrative drawings. When designating elements of the drawings with reference numerals, the same elements will be designated with the same reference numerals even if they are shown in different drawings. Furthermore, in the following description of the present invention, a detailed description of known functions and configurations integrated herein will be omitted if such a description might obscure the subject matter of the present invention.

[0017] Furthermore, terms such as a first, a second, A, B, (a), (b), or the like may be used here when describing components or parts of the present invention. None of these terms are used to define an essence, order, or sequence of a corresponding component or part, but are merely used to distinguish the corresponding component or part from one or more other components or parts.In cases where it is described that a certain structural element is "connected", "coupled", or "in contact" with another structural element, this should be interpreted to mean that another structural element can be "connected", "coupled", or "in contact" with the structural elements, as well as that the certain structural element is directly connected to or in direct contact with another structural element.

[0018] Fig. Figure 1A is a flowchart illustrating a cooperative driving procedure in accordance with an embodiment of the present invention, and Fig. Figure 1B illustrates a process of a cooperative driving procedure in accordance with an embodiment of the present invention.

[0019] With reference to Fig. 1A and Fig. 1B can be a cooperative driving method S100 in accordance with an embodiment of the present invention comprising a first transmit step S110 in which a following vehicle sends information about a merging request to a lead vehicle that is currently driving individually or cooperatively, a first receive step S120 for receiving information indicating whether merging is possible from the lead vehicle, which in step S120a determines whether the following vehicle can merge, a merging step S130 in which the following vehicle merges if the information indicating that merging is possible is received in step S120, a second transmit step S140 for sending information indicating that merging is currently being carried out to the lead vehicle, and a merging completion detection step S150 for determining whether the following vehicle has fully merged.based on a longitudinal distance from a first preceding vehicle or a lateral distance from a lane line, and comprising a merge completion step S160 to release or deactivate the sending of merge information by step S140 when step S150 determines that the merge has been completed.

[0020] In the first transmission step S110 and in the second transmission step S140, the following vehicle and the lead vehicle can use a V2X (Vehicle to Everything) communication technology, which includes a V2V (Vehicle to Vehicle) communication technology and a V2I (Vehicle to Infrastructure) communication technology.

[0021] The term "following vehicle" can refer to a vehicle that follows the lead vehicle in a cooperative manner. The lead vehicle can be a single vehicle, a vehicle driving cooperatively, or it can include vehicles traveling ahead, except for one vehicle at the very front.

[0022] This means that in the first transmission step S110, the following vehicle can send the merging request to the lead vehicle via V2X communication technology.

[0023] Although the present patent specification describes, for the sake of simplicity, a process in accordance with the present invention in which the sending / receiving of information is mainly carried out by an object that processes the sent / received information, in V2V communication a vehicle transmits the information round so that not only the object that processes the information, but also all vehicles that are within a communication range of the vehicle that sent the information, and the infrastructures can receive the information.

[0024] When the following vehicle sends the information about the merging request to the leading vehicle through the first transmission steps S110, the leading vehicle can determine in the first reception step S120 in step S120a whether the following vehicle can merge.

[0025] In the first receiving step S120, the lead vehicle can, for example, determine whether the following vehicle can merge based on a limit value according to a communication technology or a limit value according to a programming technology.

[0026] More precisely, for example, if the following vehicle merges and then, under a situation where a communication technology is used that has a possible communication range of 100 m between the lead vehicle and the following vehicle, it is determined that a gap between the lead vehicle and the following vehicle is 100 m or less, the lead vehicle can determine in the first receiving step S120 that the following vehicle can merge.

[0027] More precisely, for example, if under a situation where a programming technology authenticated for 10 or fewer cooperating vehicles including the lead vehicle is established, it is determined that the number of vehicles from the lead vehicle to the following vehicle wishing to merge is 10 or less, the lead vehicle can determine in the first receive step S120 that the following vehicle can merge.

[0028] If it is determined that the following vehicle can merge, the lead vehicle sends information indicating that merging is possible. Furthermore, the lead vehicle can send information to the following vehicle about a first preceding vehicle that is currently cooperating in front of a position where the following vehicle is merging.

[0029] For example, the lead vehicle can send information about the ID of the first preceding vehicle to the following vehicle. Here, the ID can be an identification number of the first preceding vehicle or a cooperative journey number based on the driving sequence of a cooperating vehicle.

[0030] Furthermore, the lead vehicle can also send information about the current location of the first vehicle ahead.

[0031] The first vehicle ahead is a vehicle that can perform V2V communication, and it sends the ID and current location of the first vehicle ahead to the surroundings of the first vehicle ahead during cooperative driving.

[0032] The following vehicle can identify the first preceding vehicle, which is currently cooperating in front of the position where the following vehicle is merging, based on the information received from the leading vehicle.

[0033] Furthermore, the following vehicle can identify a position to which it must move in order to merge during cooperative driving, based on the ID and location information of the first preceding vehicle, which is sent by the first preceding vehicle.

[0034] At this point, the following vehicle can display the position where the following vehicle is to merge and the location information of the first preceding vehicle through a display device inside the vehicle, based on the information received from the leading vehicle and the first preceding vehicle.

[0035] This means that the following vehicle can easily identify a path of movement for merging into cooperative driving by means of the locations of the following vehicle and the first preceding vehicle, which are displayed by the display device.

[0036] If the following vehicle receives the information indicating that merging is possible from the leading vehicle in step S120b, the following vehicle can merge into cooperative driving in the merging step S130, in which the following vehicle follows the leading vehicle.

[0037] Accordingly, the following vehicle can drive in the very last position, but the present invention is not limited to this, and the following vehicle can also drive between cooperating vehicles.

[0038] Here, when the following vehicle merges between the cooperatively driving vehicles, the lead vehicle can control or regulate a cooperative driving distance between the existing cooperatively driving vehicles before the following vehicle merges.

[0039] For example, the lead vehicle identifies the first vehicle ahead that is currently cooperating in front of the position where the following vehicle is merging, and a first vehicle behind that is currently cooperating behind the position where the following vehicle is merging.

[0040] Furthermore, the lead vehicle sends information about a request to change the cooperative driving distance from the first vehicle ahead to the first vehicle behind.

[0041] That is, in order to cause the following vehicle to merge between the first vehicle ahead and the first vehicle behind, the lead vehicle sends the information to instruct the first vehicle behind and the first vehicle ahead to drive cooperatively with an increased cooperative driving distance between them.

[0042] At this point, following vehicles that are currently cooperating behind the first following vehicle continue to operate cooperatively while maintaining the existing cooperative following distance. Accordingly, when the first following vehicle reduces its speed and increases the cooperative following distance from the first preceding vehicle, the following vehicles maintain the cooperative following distance while reducing their speed in a similar manner to the first following vehicle.

[0043] Once the following vehicle has fully merged between the first leading vehicle and the first following vehicle, the leading vehicle can again send information about a request to maintain the cooperative following distance to the first following vehicle in order to maintain the cooperative following distance between the following vehicle and the first following vehicle.

[0044] During the process of performing the threading step S130, the following vehicle can perform the second transmission step S140 to send information indicating that threading is currently in progress to the leading vehicle via V2X communication technology. That is, the second transmission step S140 can be performed simultaneously with the threading step S130.

[0045] In the merging completion determination step S150, it can be determined, based on the longitudinal distance from the lead vehicle and the lateral distance from the lane line, whether the following vehicle has fully merged.

[0046] For example, if a value generated by subtracting a second time (created by dividing the distance between the first and second vehicles ahead by the speed of the first vehicle ahead) from a first time (created by dividing the longitudinal distance between the following vehicle and the first vehicle ahead by the speed of the following vehicle) is equal to or less than a predetermined longitudinal threshold, then the merging completion determination step S150 can determine that the merging has been completed.

[0047] Here, the second vehicle ahead refers to a vehicle that is currently driving cooperatively in front of the first vehicle ahead, while maintaining a cooperative driving distance from the first vehicle ahead.

[0048] That is, if a value generated by subtracting a ratio of the distance from the second vehicle ahead to the speed of the first vehicle ahead from a ratio of the distance from the first vehicle ahead to the speed of the following vehicle lies within a predetermined range, then it can be determined that the merging of the following vehicle has been completed.

[0049] In the example above, determining the longitudinal direction serves only to improve accuracy, and the determination is not limited to the longitudinal direction. In another example, if the distance between the lane line crossed laterally by the following vehicle to merge into cooperative driving and the distance from the following vehicle's wheel is greater than or equal to a first transverse threshold value, the merging completion determination step S150 can indicate that merging has been completed.

[0050] Here, the lane line crossed by the following vehicle in order to merge refers to a lane line crossed by the following vehicle as it moves to the side, below the lane lines on which the lead vehicle is currently traveling.

[0051] If it is identified that the current location of the following vehicle is within a road intersection where the lead vehicle is currently driving, the following vehicle can detect lane lines through a sensor, such as a camera, installed on the opposite side to the direction in which the following vehicle is merging during cooperative driving, and measure a distance between the detected lane line and the wheel of the following vehicle.

[0052] In the other example above, the first cross threshold value can be determined based on a distance between the cooperating vehicle and the lane line. That is, if the cooperating vehicle is designed to travel with a 30 cm gap from the lane line, then the first cross threshold value can be 30 cm, or it can be 30 cm or more, or it can be 30 cm or less, reflecting an acceptable error.

[0053] In another example, if a value generated by subtracting a second time (created by dividing the distance between the first and second vehicles ahead by the speed of the first vehicle ahead) from a first time (created by dividing the distance between the following vehicle and the first vehicle ahead by the speed of the following vehicle) is equal to or less than a predetermined longitudinal threshold, and if a distance between the lane line crossed laterally by the following vehicle's wheel is equal to or greater than a first transverse threshold, then the merging completion detection step S150 can determine that merging has been completed. This complexly reflects the example described above as well as the other example.

[0054] Through the above-mentioned process, if the threading completion confirmation step S150 determines that the following vehicle has fully threaded in, the second transmission step S140 for sending the information indicating that threading is currently being carried out can be released or deactivated in the threading completion step S160.

[0055] As described above, based on the cooperative driving method S100, the following vehicle, in accordance with one embodiment of the present invention, can provide comfort to the driver of the following vehicle by following the lead vehicle, which is currently driving. Furthermore, the following vehicle can reduce fuel consumption by minimizing sudden unintended acceleration or braking, thereby improving fuel efficiency.

[0056] Furthermore, based on the cooperative driving method S100, in accordance with an embodiment of the present invention, the following vehicle can actively determine whether the following vehicle has fully merged into cooperative driving, and it does not have to perform an unnecessary operation after the merging into cooperative driving has been completed, thereby achieving a problem-solving effect, such as an operational delay due to the processing of more data than necessary.

[0057] Furthermore, based on the cooperative driving procedure in accordance with the present invention, the following vehicle can also receive information about a cooperative driving number from the lead vehicle, which assigns cooperative driving numbers based on the driving sequence after merging into cooperative driving in the first receiving step S120 in accordance with an embodiment of the present invention.

[0058] The cooperative driving method S100 in accordance with an embodiment of the present invention is described with reference to Fig. 2A to Fig. 4 will be described in detail.

[0059] Fig. 2A and Fig. Figure 2B illustrates a process of the cooperative driving procedure in accordance with an embodiment of the present invention, Fig. Figure 3 illustrates an example of a threading completion confirmation step in accordance with an embodiment of the present invention, and Fig. Figure 4 illustrates another example of the threading completion confirmation step in accordance with an embodiment of the present invention.

[0060] In a description of the cooperative driving method in accordance with an embodiment of the present invention with reference to Fig. 2A can send a follower vehicle 210a a merging request to lead vehicles 221, 223 and 225, which are currently driving cooperatively, through V2X communication technology in a merging request step.

[0061] In general, the following vehicle 210 can request to merge into cooperative driving by communicating with the lead vehicle 221, which is located at the head of the cooperatively driving lead vehicles 221, 223, and 225, but the present invention is not limited to this. That is, the following vehicle 210 can request to merge into cooperative driving by communicating with any vehicle corresponding to at least one of the cooperatively driving lead vehicles 221, 223, and 225, and it can establish contact or communication with that vehicle in the following steps. However, for the sake of simplicity, the following description will be based on the lead vehicle 221, which is located at the head of the lead vehicles 221, 223, and 225; however, the present invention is not limited to this.

[0062] Afterwards, in the first reception step, the following vehicle 210a can receive information indicating whether merging is possible from the vehicle 221 at the front, which has determined whether the following vehicle 210a can merge.

[0063] The determination by vehicle 221 at the front as to whether the following vehicle 210a can merge may be based on external factors, including a technical limit value.

[0064] In particular, for example, if the following vehicle has fully merged and if, in a situation where a communication technology is used that provides a range of 100 m in which communication is possible between the vehicle 221 at the front and the following vehicle 210, it is determined that a gap between the following vehicle 210b and the vehicle 221 at the front is 100 m or less, the vehicle 221 at the front can determine that the following vehicle 210a can merge into cooperative driving.

[0065] More precisely, if the vehicle 221 at the front is found to be 100 m or less, while the following vehicle 210a, which has not merged, is currently traveling along a first route 230, the following vehicle 210a can determine that it can merge into the cooperative driving.

[0066] In another example, the lead vehicle 221 can determine that the following vehicle 210a can merge because the number of vehicles from the lead vehicle 221 to the following vehicle 210 is 4 under a circumstance in which a programming technology for 10 cooperating vehicles including the lead vehicle 211 is authenticated.

[0067] If the lead vehicle 221 determines that the following vehicle 210a can join the cooperative driving of the lead vehicles 221, 223 and 225, the following vehicle 210a can join the cooperative driving of the lead vehicles 221, 223 and 225 along the first driving path 230 in a merging step.

[0068] This means that when the merging step is completed, the following vehicle 210b can follow the first preceding vehicle 225, which is one of the lead vehicles 221, 223 and 225.

[0069] During a process in which the following vehicle 210a merges along the first route 230 according to the merging step, the following vehicle 210a can perform a second transmission step to send information indicating that the merging is currently taking place to the preceding vehicle 221 via V2X communication technology. Here, the merging step and the second transmission step can start the process at the same time.

[0070] In the merging completion determination step, it can be determined, based on a longitudinal (Y) distance from the first preceding vehicle 225 and a lateral (X) distance from a lane line 240 during the process in which the following vehicle 210 merges along the first route 230 according to the merging step, whether the following vehicle 210 has fully merged.

[0071] In the meantime, although the example described above illustrates a case in which the following vehicle 210 merges at the outermost end of the cooperating vehicles, the following vehicle 210 can also merge between the cooperating vehicles.

[0072] Fig. Figure 2B illustrates a case in which the following vehicle 210 moves between the first preceding vehicle 224 and the first following vehicle 226 and joins the cooperative driving in a situation in which the leading vehicle 222, the first preceding vehicle 224 and the first following vehicle 226 are currently driving cooperatively.

[0073] With reference to Fig. 2B sends the following vehicle 210 information about a merge request regarding merging into cooperative driving, and the lead vehicle 222 receives the information about the merge request.

[0074] When the lead vehicle 222 receives the information about the merging request from the follow vehicle 210, the lead vehicle 222 determines, based on a range of distances in which cooperative driving is possible or on the basis of a number of vehicles that can drive cooperatively, whether the follow vehicle 210 can merge into cooperative driving.

[0075] Furthermore, if the lead vehicle 222 determines that the following vehicle 210 can join the cooperative driving, it can determine a joining point for the following vehicle 210 based on the current location of the following vehicle 210.

[0076] For example, in Fig. As illustrated in Figure 2B, if the following vehicle 210 makes the merging request in a state where the following vehicle 210 is located close between the first leading vehicle 224 and the first following vehicle 226, the lead vehicle 222 can determine that the following vehicle 210 is allowed to merge between the first leading vehicle 224 and the first following vehicle 226.

[0077] The lead vehicle 222 can send information indicating that merging is possible and information about the first preceding vehicle 224 to the following vehicle 210, allowing the following vehicle 210 to merge behind the first preceding vehicle 224.

[0078] At this point, before sending 210 the information indicating that merging is possible to the following vehicle, the lead vehicle 222 can send information to the first following vehicle 226 about a request to change a cooperative driving distance between the first leading vehicle 224 and the first following vehicle 226.

[0079] Alternatively, before sending information about a merging start request to the following vehicle 210 after sending the information indicating that merging is possible, the lead vehicle 222 can send the information about the request to change the cooperative driving distance to the first following vehicle 226.

[0080] This means that since the lead vehicle 222 controls or regulates the cooperative driving distance between the first preceding vehicle 224 and the first following vehicle 226, the following vehicle 210 can merge between the cooperatively driving vehicles.

[0081] Once the following vehicle 210 has completed merging into cooperative driving, the lead vehicle 222 can allow the first following vehicle 226 to drive cooperatively while maintaining the cooperative driving distance from the following vehicle 210. In a description referring to Fig. 3 can then, if equation (1) below is satisfied, in which a value is obtained by subtracting a second time (dT2) obtained by dividing a distance (D) Y2) between the first preceding vehicle 225 and the second preceding vehicle 223 is generated by a speed (V2) of the first preceding vehicle 225, by a first time (dT1) generated by dividing a distance (D Y1 ) between the following vehicle 210 and the first vehicle 225 is generated by a speed (V1) of the following vehicle 210, equal to or less than a predetermined longitudinal threshold value (Y) TH ) is, in a threading completion verification step in accordance with an embodiment, it is determined that the threading has been completed. dT1−dT2≤YTH

[0082] In equation (1) dT1 = (D Y1 / V1), dT2 = (D Y2 / V2), and Y TH It could be a timing error.

[0083] In a detailed description of equation (1), the calculated first time (dT1) is then when the following vehicle 210 is just traveling along the first path 230 from Fig. When vehicle 2A merges, the calculated first time (dT1) is always greater than the second time (dT2). In contrast, when the following vehicle 210 has fully merged and is currently driving cooperatively, the calculated first time (dT1) has the same value as the second time (dT2). According to this characteristic, if the value obtained by subtracting the second time (dT2) from the first time (dT1) is 0, this can mean that the following vehicle 210 has fully merged.

[0084] However, this corresponds to a situation according to an ideal process, and the value produced by subtracting the second time (dT2) from the first time (dT1) may be an error value that is not 0, due to a variable corresponding to a hardware process or an actual process, even though the following vehicle 210 has fully threaded in, and thus the time error (Y) TH ) reflect this.

[0085] With reference to Fig. 4 can then be achieved if equation (2) below is satisfied, in which a distance (D) X1 ) between the lane line 240, which the following vehicle 210 crosses to merge into cooperative driving, and the wheel of the following vehicle greater than or equal to a first transverse threshold value (X TH1 ) is, in the threading completion confirmation step, in accordance with another embodiment, it is determined that the threading has been completed. DX1≥XTH1

[0086] In equation (2) X TH1 = a * D X2 , and ,a' denotes an acceptable error rate, which can be a value between 0 and 1.

[0087] In a detailed description of equation (2), if the following vehicle 210 is traveling along the first route 230 from Fig. 2A threads in, the distance (D X1 ) between the lane line 240, which the following vehicle 210 crosses to merge into cooperative driving, and the wheel of the following vehicle 210, always a value that is smaller than a distance (D X2 ) between the crossed lane line 240 and the wheel of the cooperating, first preceding vehicle 225. Here the distance (D X1 ) can be defined as a positive value if the following vehicle 210 is on the left side of the lane line 240, and the distance (D) can be x1) is defined as a negative value if the following vehicle 210 is on the right side of the lane line 240.

[0088] In contrast, when the following vehicle 210 has fully merged and is currently driving cooperatively (210b of Fig. 2), the distance (D X1 ) between the crossed lane line 240 and the wheel of the following vehicle 210 the same value as the distance (D X2 ) between the crossed lane line 240 and the wheel of the cooperatively driving, first preceding vehicle 225.

[0089] According to such a characteristic, this can then occur when the distance (D X1 ) between the crossed lane line 240 and the wheel of the following vehicle 210 is the same as the distance (D X2) between the crossed lane line 240 and the wheel of the cooperating, first preceding vehicle 225, mean that the following vehicle 210 has fully merged.

[0090] But this corresponds to a situation according to an ideal process, and the distance (D X1 The distance (D) between the crossed lane line 240 and the wheel of the following vehicle 210 may not be the same as the distance due to a variable corresponding to a hardware operation or an actual operation. X2 ) between the crossed lane line 240 and the wheel of the cooperatively driving, first preceding vehicle 225, although the following vehicle 210 has fully merged, and thus the first transverse threshold value (X) TH1 ) be a value obtained by multiplying the distance (D X2) between the crossed lane line 240 and the wheel of the cooperatively driving, first preceding vehicle 225 with the acceptable error rate a is generated.

[0091] If, in the merging completion determination step, which can be carried out as described above, it is determined that the following vehicle 210 has fully merged into cooperative driving, the sending of the information indicating that the following vehicle 210 is currently merging can be released or deactivated by the second transmission step in the merging completion step.

[0092] In the cooperative driving procedure according to an embodiment of the present invention as described above, the following vehicle 210 can provide comfort to the driver of the following vehicle 210 by merging into the cooperative driving. Furthermore, the following vehicle 210 can reduce fuel consumption by minimizing sudden unintended acceleration or braking, thereby improving fuel efficiency.

[0093] Furthermore, in the cooperative driving procedure, the following vehicle 210 can actively determine, in accordance with one embodiment of the present invention, whether the following vehicle has fully merged into the cooperative driving process, and it does not have to perform any unnecessary operations after the merge into the cooperative driving process has been completed. That is to say, there is an effect of solving one problem by processing more data than necessary, and another problem that includes an operational delay due to the aforementioned issue.

[0094] Furthermore, in the cooperative driving procedure, the following vehicle 210 can, in accordance with the present invention, also receive information about a cooperative driving number from the lead vehicle, which assigns cooperative driving numbers based on the driving sequence, after merging into the cooperative driving in the first receiving step, according to an embodiment of the present invention, which refers to Fig. 2A to Fig. As described in section 4, received.

[0095] Fig. Figure 5A is a flowchart illustrating a cooperative driving procedure in accordance with another embodiment of the present invention, and Fig. Figure 5B illustrates a process of the cooperative driving procedure in accordance with the other embodiment of the present invention.

[0096] In comparison to the cooperative driving method S100 in accordance with the embodiment of the present invention, which is characterized by Fig. 1 to Fig. As described in section 4, the cooperative driving method can be implemented in accordance with the other embodiment of the present invention with reference to Fig. 5A and Fig. 5B further includes a third transmission step S510 to send an exit request to the lead vehicle and an exit completion confirmation step S520 to determine whether the following vehicle has completely exited the lane.

[0097] In the third transmission step S510, the following vehicle can send the exit request to the vehicle at the front via V2X communication technology, which is the same as in the first transmission step S110 and the second transmission step S140.

[0098] In the deceleration completion determination step S520, if a lateral distance between the lane line crossed by the following vehicle to decelerate and the wheel of the following vehicle is greater than or equal to a second lateral threshold value, it can be determined that the following vehicle has completely decelerated.

[0099] The cooperative driving method in accordance with the other embodiment of the present invention is described in detail with reference to Fig. 6 and Fig. 7 will be described.

[0100] Fig. Figure 6 illustrates a process of the cooperative driving procedure in accordance with the other embodiment of the present invention, and Fig. Figure 7 illustrates an example of a process of the threading completion confirmation step in accordance with the other embodiment of the present invention.

[0101] Fig. Figure 6 illustrates a situation in which the following vehicle follows the lead vehicles 221, 223 and 225 on the basis of the cooperative driving procedure in accordance with the embodiment of the present invention, which refers to Fig. 1 to Fig. As described in section 4, a first following vehicle 610 further follows the following vehicle 210 in order to drive cooperatively.

[0102] With reference to Fig. 6. The following vehicle 210b, which is currently driving cooperatively by applying the cooperative driving procedure in accordance with the embodiment of the present invention, can send an exit request to the vehicle 221 at the head in the third transmission step of the cooperative driving procedure in accordance with the embodiment of the present invention.

[0103] In the third transmission step, the following vehicle 210b can send information about the exit request to the vehicle 221 at the front via V2X communication technology.

[0104] Afterwards, the cooperatively driving follower vehicle 210b can become a follower vehicle 210c, which branches off along a second driving path 620.

[0105] In a description that refers to Fig. With reference to section 6, the following vehicle 210b and the following vehicle 210c can each correspond to a following vehicle that has not yet merged and a following vehicle that has completed the merging process, respectively. Fig. 7 can then, if equation (3) below is satisfied, in which a transverse distance (D) X3 ) between a lane line 710, which the following vehicle 210 crosses in order to merge, and the wheel of the following vehicle 210 greater than or equal to a second transverse threshold value (X TH2) is, in the detachment completion determination step of the following vehicle 210, which detaches along the second driving path 620, it is determined that the following vehicle has completely detached from cooperative driving. DX3≥XTH2

[0106] In equation (3) X TH2 a value corresponding to a predefined threading program.

[0107] Based on the cooperative driving method in accordance with the other embodiment of the present invention, which is characterized by Fig. 5 to Fig. As described in section 7, the following vehicle 210 can follow the leading vehicle 221, which is currently driving, in order to drive cooperatively, and it can disengage from cooperative driving as needed to provide convenience to the driver of the following vehicle 210. Furthermore, the following vehicle 210 can reduce fuel consumption by minimizing sudden unintended acceleration or braking, thereby improving fuel efficiency.

[0108] Fig. Figure 8A is a flowchart illustrating a cooperative driving procedure in accordance with a further embodiment of the present invention, and Fig. Figure 8B illustrates the cooperative driving procedure in accordance with the further embodiment of the present invention.

[0109] In comparison to the cooperative driving method S100 in accordance with the embodiment of the present invention, which is characterized by Fig. 1 to Fig. As described in section 4, the cooperative driving method can be implemented in accordance with the further embodiment of the present invention with reference to Fig. 8A and Fig. 8B further includes the third transmission step S510, in which the following vehicle sends the information about the exit request to the leading vehicle, the exit completion determination step S520 to determine whether the following vehicle has fully exited the lane, and a fourth transmission step S810 to send, when it is determined in step S520 that the exit has been completed, information about a request to maintain a cooperative following distance to following vehicles, including a first following vehicle.

[0110] The third transmission step S510 and the exit completion confirmation step S520 can be the same as the exit request step and the exit completion confirmation step of the cooperative driving method in accordance with the other embodiment of the present invention, which is described by Fig. 5 to Fig. 7 has been described.

[0111] After the fourth transmission step S810, the following vehicles, which include the first following vehicle, can maintain the cooperative driving distance by reducing the gap created due to the following vehicle pulling out.

[0112] This will be discussed in detail with reference to Fig. 9 will be described.

[0113] Fig. Figure 9 illustrates an example of processes following the fourth transmission step in accordance with a further embodiment of the present invention.

[0114] Fig. Figure 9 illustrates a state in which the following vehicle completely disengages from cooperative driving through the cooperative driving method in accordance with the other embodiment of the present invention, which is characterized by Fig. 5 to Fig. 7 has been described, has been threaded out.

[0115] With reference to Fig. 9 can be a distance (D Y3 ) between the first preceding vehicle 225 and the first following vehicle 610a, after the following vehicle 260 has pulled out, be as shown in equation (4). DY3=2*DY2+L

[0116] In equation (4) D denotes Y2 a cooperative driving distance between the lead vehicles 221, 223 and 225 and L denotes a length of the following vehicle 210.

[0117] After the fourth transmission step S810, the first following vehicle 610 can accelerate and perform acceleration control to maintain the distance (D). Y3 ), which is defined in equation (4), on the cooperative driving distance (D Y2 to reduce.

[0118] The acceleration control can be carried out according to a predefined program, and the program can, for example, be set so that it controls the distance (D). Y3 ) on the cooperative driving distance (D Y2 ) within a predetermined time. For this purpose, the first following vehicle 610 should detect a distance from the first preceding vehicle 225 by means of a device that includes a sensor.

[0119] In comparison to the cooperative driving method in accordance with the further embodiment of the present invention, which is characterized by Fig. 8A and Fig. 8B as well Fig. As described in section 9, the cooperative driving method in accordance with the present invention may further comprise a fifth transmission step for sending information about a request to assign a cooperative driving number based on the driving sequence, after the following vehicle has withdrawn from the cooperative driving.

[0120] For example, if in the exit completion determination step S520 it is determined that the following vehicle has fully exited the lane, then the information about the request to assign the cooperative journey number to the vehicle at the front can be sent in the fifth transmission step in order to assign cooperative journey numbers based on the driving sequence.

[0121] This means that the vehicle 221 at the front, the second vehicle ahead 223, the first vehicle ahead 225 and the first vehicle behind 610 can each be assigned a first number, a second number, a third number and a fourth number.

[0122] In each of the first transmit step, the second receive step, the threading step, the second transmit step, the threading completion confirmation step, and the threading completion step, the steps are those contained in the cooperative driving procedures that are defined by Fig. 1 to Fig. As described in section 9, the following vehicle 210 and the lead vehicles 221, 223 and 225 or the following vehicle 210 and the trailing vehicle 610 can exchange information about the step being carried out.

[0123] Accordingly, at least one driver from the following vehicle 210, the lead vehicles 221, 223 and 225, and the trailing vehicle 610 can recognize the step that is currently being performed. Therefore, the driver can recognize whether a problem has occurred in the software or hardware and address the problem.

[0124] The following describes a cooperative driving device, which is a device that performs the cooperative driving method in accordance with the present invention, which is characterized by Fig. 1 to Fig. As described in section 9, a brief description will be given.

[0125] Fig. 10A and Fig. Figure 10B are block diagrams illustrating a cooperative driving device in accordance with an embodiment of the present invention and including the elements for operating the following vehicle in the cooperative driving device.

[0126] With reference to Fig. 10A can comprise a cooperative driving device 1000 in accordance with an embodiment of the present invention, comprising a merging request transmitter 1010 for sending information about a merging request to a lead vehicle that is currently driving individually or cooperatively, a receiver 1020 for receiving information indicating whether merging is possible from the lead vehicle, and a controller 1030 for controlling or regulating, when the information indicating whether merging is possible is received, a steering device, an acceleration device, and a braking device for following the lead vehicle.

[0127] The threading request sender 1010 and the receiver 1020 can use a V2X (Vehicle to Everything) communication technology, which includes a V2V (Vehicle to Vehicle) communication technology and a V2I (Vehicle to Infrastructure) communication technology.

[0128] The term "following vehicle" can refer to a vehicle that follows the lead vehicle in a cooperative manner. The lead vehicle can be a single vehicle, a vehicle driving cooperatively, or it can include vehicles traveling ahead, excluding a vehicle at the very front.

[0129] This means that the threading request transmitter 1010 can send information about a threading request to the lead vehicle via V2X communication technology. Furthermore, the receiver 1020 can receive information from the lead vehicle, via V2X communication technology, indicating whether threading is possible.

[0130] When the information indicating that merging is possible is received from the lead vehicle, the controller 1030 can control a steering device, an acceleration device and a braking device to follow the lead vehicle.

[0131] For example, the 1030 controller can detect the outside of the vehicle using a sensor that scans the outside of the vehicle, it can generate a path along which the following vehicle moves behind the lead vehicle according to the detected outside of the vehicle, and it can then control the steering, acceleration and braking systems so that the movement along the path is carried out.

[0132] With reference to Fig. 10B, the cooperative driving device 1000 can further comprise an exit request transmitter 1040 for sending information about an exit request to the lead vehicle in accordance with another embodiment of the present invention.

[0133] Like the threading request transmitter 1010 and the receiver 1020, the threading request transmitter 1040 can also use V2X (Vehicle to Everything) communication technology, which includes V2V (Vehicle to Vehicle) communication technology and V2I (Vehicle to Infrastructure) communication technology.

[0134] This means that the exit request transmitter 1040 can send information about an exit request to the lead vehicle via V2X communication technology.

[0135] When the exit request transmitter 1040 sends the exit request information to the lead vehicle, the controller 1030 can control a steering device, an acceleration device and a braking device so that an exit from cooperative driving is carried out.

[0136] The controller 1030 in accordance with the other embodiment of the present invention can control the steering device, the acceleration device and the braking device in such a way that a movement is carried out along a travel path along which the following vehicle moves behind the leading vehicle according to the detected outside of the vehicle, and it can furthermore control the steering device, the acceleration device and the braking device in such a way that a movement is carried out along the travel path along which the following vehicle weaves out of the cooperative driving in accordance with the detected outside of the vehicle.

[0137] Fig. Figure 11 is a block diagram illustrating a cooperative driving device in accordance with another embodiment of the present invention and including elements for operating a guide vehicle in the cooperative driving device.

[0138] With reference to Fig. 11 comprises a cooperative driving device 1100 in accordance with an embodiment of the present invention, comprising a receiver 1120 for receiving information about a merging request from a following vehicle, a controller 1130 for determining whether the following vehicle can merge, and a transmitter 1110 for sending information indicating that merging is possible to the following vehicle.

[0139] The receiver 1120 can receive information about the merging request from the following vehicle and information about the merging request from the cooperating vehicle.

[0140] When the information about the merging request is received from the following vehicle, the controller 1130 determines whether the following vehicle can merge, and if the following vehicle can merge, it sends information indicating that merging is possible to the following vehicle via the transmitter 1110.

[0141] Furthermore, the controller 1130 can send information about a leading vehicle, which is currently cooperating in front of a position where the following vehicle is to merge, to the following vehicle. Since the information about the leading vehicle is sent to the following vehicle, the following vehicle can identify the merging position and merge into the cooperative driving process.

[0142] Once the following vehicle has fully merged, the controller resets or re-establishes cooperative vehicle numbers based on the driving sequence to include the following vehicle and sends the reset or re-established cooperative vehicle numbers to the cooperating vehicles.

[0143] Furthermore, the controller 1130 can send required driving information or control information to the cooperatively driving vehicles after the following vehicle has joined the cooperative driving process.

[0144] For example, if there is a vehicle among the cooperatively driving vehicles that is approaching a destination, the controller 1130 can send a message instructing the corresponding vehicle to disengage from cooperative driving.

[0145] Accordingly, the controller 1130 sends the message before receiving a merge request from the cooperating vehicle, and the cooperating vehicle can prepare the merge request.

[0146] When the controller 1130 receives the exit message from the following vehicle that has joined the cooperative driving, the controller 1130 sends information about the exit request of the following vehicle to the cooperatively driving vehicles.

[0147] Furthermore, the controller 1130 sends a message instructing a first following vehicle, which is currently cooperating behind the merging following vehicle, to maintain its current driving state while not closing the gap between vehicles when the following vehicle merges.

[0148] This means that even though the following vehicle is merging, the first following vehicle can continue to drive cooperatively while maintaining its current speed without closing the gap between vehicles.

[0149] Once the following vehicle has fully unchained, the controller 1130 can resend the message to the first following vehicle to maintain the cooperative driving distance, thus allowing the first following vehicle to drive while maintaining the cooperative driving distance from the vehicle that is currently in front of the first following vehicle.

[0150] Furthermore, the cooperative driving device, in accordance with the present invention, can perform all the processes of the cooperative driving method of the present invention, which is characterized by Fig. 1 to Fig. as described in section 9, carry out the steps described above.

[0151] The above description and the accompanying drawings provide an example of the technical idea of ​​the present invention for illustrative purposes only. Those skilled in the art in the field to which the present invention belongs will recognize that various modifications and changes in form, such as combination, separation, substitution, and configuration changes, are possible without departing from the essential features of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate the scope of protection of the technical idea of ​​the present invention, and the scope of protection of the present invention is not limited by the embodiment.The scope of protection of the present invention shall be interpreted on the basis of the attached claims in such a way that all technical ideas included in the scope of protection and equivalent to the claims shall belong to the present invention.

Claims

[1] Cooperative driving procedure by which a following vehicle (210) exits a cooperative driving process, wherein the cooperative driving procedure comprises the following steps: Sending information about a merging request to a lead vehicle (221, 223, 225) by the following vehicle (210); Receiving information about exiting cooperative driving from the lead vehicle (221, 223, 225); when information about exiting cooperative driving is received, exiting cooperative driving by the following vehicle (210); Determine, based on a lateral distance from a lane line (240), whether the merging of the following vehicle (210) has been completed; and When the following vehicle (210) is within a predetermined distance of a predetermined target, it receives information from the lead vehicle (221, 223, 225) to identify whether the following vehicle (210) is merging. [2] Cooperative driving method according to claim 1, wherein determining whether the exiting of the following vehicle (210) has been completed comprises determining that the exiting has been completed when a lateral distance between a lane line (240) crossed by the following vehicle (210) in order to exit, under lines of a lane (230) on which the lead vehicle (221, 223, 225) is currently driving, and a wheel of the following vehicle (210) is greater than or equal to a previously determined second lateral threshold value. [3] Cooperative driving method according to claim 1, which further comprises sending information about the completion of the exit of the following vehicle (210) to the lead vehicle (221, 223, 225) when it is determined that the exit of the following vehicle (210) has been completed. [4] Cooperative driving procedure by which a lead vehicle (221, 223, 225) controls the exit from a cooperative driving situation, wherein the cooperative driving procedure comprises the following steps: Receiving information about a merging request from a following vehicle (210) by the lead vehicle (221, 223, 225); Sending information about exiting cooperative driving from the following vehicle (210); Receiving information about the completion of the exit maneuver from the following vehicle (210), which has determined that the exit from cooperative driving has been completed; and If there is a following vehicle (210) within a predetermined distance of a predetermined target with respect to each following vehicle (210), send information to the following vehicle (210) to identify whether the following vehicle (210) is pulling out. [5] Cooperative driving method according to claim 4, further comprising the following steps: when the following vehicle (210) has completed its exit, resetting or re-setting cooperative journey numbers based on a journey sequence with the exception of the following vehicle (210); and Sending the reset or newly assigned cooperative ticket numbers. [6] Cooperative driving method according to claim 4, which further comprises, when the exiting of the following vehicle (210) has been completed, sending information about a request to maintain a cooperative driving distance to a following vehicle which is currently cooperatively driving behind a position at which the following vehicle (210) has exited.

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