DEVICE AND METHOD FOR CONTROLLING THE STEERING OF A PLATOONING VEHICLE

Abstract

Device (40) for controlling the steering of a platooning vehicle, comprising the device (40): a sensor (42) which is configured to measure a distance from the center of the overall width of a lead vehicle (LV) tractor to a left lane and a distance from the center of the overall width of the LV tractor to a right lane, a communication device (43) which is configured to receive from a following vehicle (FV) data regarding a distance from the center of the total width of an LV trailer to the left lane and data regarding a distance from the center of the total width of the LV trailer to the right lane, and a control device (45) which is configured to control the steering of the LV tractor on the basis of the measured distance from the center of the overall width of the LV tractor to the left lane and the measured distance from the center of the overall width of the LV tractor to the right lane, the received data regarding the distance from the center of the overall width of an LV trailer to the left lane and the received data regarding the distance from the center of the overall width of the LV trailer to the right lane, as well as on the basis of a vehicle width of the LV tractor.

Description

TECHNICAL AREA

[0001] The present invention relates to a device and a method for controlling the steering of a platooning vehicle. BACKGROUND

[0002] In general, platooning (also called "computer-controlled convoy driving" or "electronic drawbar," whereby the term "platooning" can also be described, for example, as "computer-controlled convoy driving with a small vehicle-to-vehicle distance") is used to prevent a vehicle from separating from accompanying vehicles when most drivers do not know the road to the destination and when one driver does know the road, when people want to travel to the destination using a specific route from several possible routes because there is a person who knows a shortcut through a side street, when people are traveling without a specific destination in order to search for a good place, or when people pass an unplanned stop, such as a rest area, while traveling to the destination.

[0003] Platooning involves several vehicles traveling together while maintaining a minimum safety distance. When platooning is employed, air resistance from following vehicles can be reduced, thus improving fuel economy, the risk of accidents can be lowered, and driver comfort can be increased. The distance between vehicles can be reduced to increase the number of vehicles using the road by a factor of three to five.

[0004] Recently, technologies have been developed that are capable of performing platooning of respective vehicles in the state in which a driver is neither in a following vehicle following a leading vehicle, nor in the leading vehicle itself.

[0005] Conventional platooning vehicle steering technology is applied to integrated vehicles, such as sedans, vans, or trucks. However, in the case of a vehicle like a semi-trailer truck, where the tractor unit and trailer are connected by a coupling, the trailer will angle relative to the tractor unit when traveling on a curved road (e.g., around a bend), making conventional techniques difficult to apply.

[0006] In other words, with a semi-trailer truck, the type (size) of the trailer attached to the tractor unit and the angle at which it turns on a curved road often change with the weight of the cargo being transported on the trailer. Consequently, the conventional technology of steering the tractor unit to keep it centered on the road does not prevent the trailer from veering off the curved road.

[0007] Furthermore, WO 2017 / 196 195 A1 discloses a device for controlling the steering of a platooning vehicle, comprising: a sensor configured to measure a distance from the center of the overall width of a lead vehicle (LV) tractor to a left lane and a distance from the center of the overall width of the LV tractor to a right lane, and a distance from the center of the overall width of an LV trailer to the left lane and a distance from the center of the overall width of the LV trailer to the right lane, and a control device configured to control the steering of the LV tractor based on the measured distance from the center of the overall width of the LV tractor to the left lane and the measured distance from the center of the overall width of the LV tractor to the right lane.to control the measured distance from the center of the total width of an LV trailer to the left lane and the measured distance from the center of the total width of the LV trailer to the right lane, as well as the vehicle width of the LV tractor unit.

[0008] Further devices and methods for controlling the steering of a platooning vehicle and relevant techniques are known from DE 10 2016 123 876 A1 and DE 10 2017 202 556 A1. EXPLANATION

[0009] The present invention was made to solve the aforementioned problems which arise in the prior art, while retaining the advantages achieved by the prior art intact.

[0010] One aspect of the present invention: The invention provides a device and a method for controlling the steering of a platooning vehicle to prevent a trailer from leaving the road on a curved road, e.g. in a curve, by controlling the steering of a tractor unit taking into account a distance between the center of the total width of the trailer and a left lane and a distance between the center of the total width of the trailer and a right lane.

[0011] The technical problems to be solved by the present inventive concept are not limited to the problems disclosed in this description, and any further technical problems not mentioned herein will be clearly and unambiguously understood by those skilled in the art to which the present invention belongs from the following description.

[0012] The present invention provides a device for controlling the steering of a platooning vehicle according to claim 1, a method for controlling the steering of a platooning vehicle according to claim 7, and a further device for controlling the steering of a platooning vehicle according to claim 13. Advantageous embodiments are described in the dependent claims.

[0013] According to the present invention, the device can further include a navigation system configured to provide information about the direction of rotation (e.g., the direction of turning or the direction of curvature) and the curvature (e.g., the radius of curvature, etc.) of a road on which the vehicle is traveling. The control unit can be configured to control the steering of the vehicle's tractor unit when the curvature is less than a reference value.

[0014] The control unit can be configured to apply different steering control offsets (SCOs) depending on whether the road on which the LV is traveling is a left-curving road (e.g., left turn) or a right-curving road (e.g., right turn).

[0015] The present invention allows the method to further comprise: providing, by means of a navigation device of the LV, information about the direction of rotation and curvature of a road on which the LV is traveling. Steering of the LV tractor can then be controlled when the curvature is less than a reference value.

[0016] Controlling the steering of the LV tractor unit can involve: Applying a first steering control offset SCO Links , if a road on which the LV is traveling is a left-curving road, and applying a second steering control offset SCORechts , if the road on which the LV is traveling is a road that curves to the right. present invention: SHORT DESCRIPTION OF THE DRAWINGS

[0017] The above and further objectives, features and advantages of the present disclosure will be more clearly understood from the following description when taken in conjunction with the accompanying drawings: Fig. Figure 1 is a drawing depicting a platooning environment to which an embodiment of the present invention is applied. Fig. Figure 2 is a block diagram representing a platooning system included in a vehicle to which an embodiment of the present invention is applied. Fig. Figure 3 is a block diagram representing a platooning control unit of a platooning system contained in a vehicle to which an embodiment of the present invention is applied. Fig. Figure 4 is a block diagram representing a configuration of a steering control device of a platooning vehicle according to an embodiment of the present invention. Fig. Figure 5 is a drawing which illustrates the definition of variables used to calculate a steering control offset (SCO) according to an embodiment of the present invention, and Fig. Figure 6 is a flowchart which illustrates a method for controlling the steering of a platooning vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0018] Embodiments of the present invention are described in detail below with reference to the accompanying drawings. The addition of reference numerals to elements in each drawing, even if the same elements are shown in different drawings, indicates that the same elements have the same reference numerals. If a detailed description of related, well-known structures or functions would obscure the core of an embodiment of the present invention, it will be omitted when describing that embodiment.

[0019] In describing elements of embodiments of the present invention, the terms 1st, 2nd, first, second, A, B, (a), (b), and the like may be used herein. These terms are used merely to distinguish one element from another and do not restrict the corresponding elements or indicate any order or precedence between them. Unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as generally understood by a person skilled in the art to which this disclosure belongs.Terms such as those found in a commonly used dictionary should be interpreted as having meanings equal to the context-dependent meanings in the relevant technical field and should not be interpreted as having ideal or overly formal meanings unless it is clearly defined in the present invention that they do.

[0020] In one embodiment of the present invention, a semi-trailer truck is collectively defined as a vehicle whose tractor unit and trailer (e.g., semi-trailer) are connected to each other by a (fifth) coupling. The trailer refers to a cargo-carrying vehicle without its own propulsion source, and the tractor unit refers to a vehicle with its own propulsion source that pulls the trailer.

[0021] Fig. Figure 1 is a drawing which depicts a platooning environment to which an embodiment of the present invention is applied.

[0022] As in Fig. As shown in Figure 1, the platooning environment to which an embodiment of the present invention is applied can specify a situation in which a following vehicle (abbreviated FV - where FV is derived from the English “following vehicle”) follows a leading or preceding vehicle (abbreviated LV, where LV is derived from the English “leading vehicle”).

[0023] The vehicle-railway (LV) and the vehicle-railway (FV) can send and receive a variety of driving information via vehicle-to-vehicle (V2V) communication. In particular, the LV can send braking information, speed information, steering information, or similar driving information to the FV. The FV can measure the distance from the center of the LV's total width to a left lane (e.g., the distance from the center of the LV's total width to a lane marking of a left lane, especially one adjacent to the LV tractor's lane) and the distance from the center of the LV's total width to a right lane (e.g., the distance from the center of the LV's total width to a lane marking of a right lane, especially one adjacent to the LV tractor's lane). In this case, the FV can measure the distance using a rear-end image of the LV, acquired using its camera, or it can measure the distance using its radar.The FV can use the camera and radar in a mutually complementary way to measure the distance.

[0024] One embodiment of the present invention is illustrated by the fact that the LV and the FV are articulated lorries. However, the embodiments are not limited to this.

[0025] Fig. Figure 2 is a block diagram representing a platooning system included in a vehicle to which an embodiment of the present invention is applied.

[0026] As in Fig. As shown in Figure 2, the platooning system contained in the vehicle to which an embodiment of the present invention is applied can comprise a global positioning system (GPS) receiver 110, a detection device 120, a communication device 130, a driver switch 140, a platooning control device 200, a lighting control device 310, a motor device 320, a braking device 330 and a display device 340, and the platooning system can exchange weather forecast information and platooning information with a control center 400, e.g. send to and / or receive from the control center 400.

[0027] The GPS receiver 110 can receive GPS information and transmit this information to the platooning control unit 200. The platooning control unit 200 can then determine the position of its own vehicle (host vehicle).

[0028] The detection device 120 can detect road conditions, weather conditions, or similar information and may include a camera 121 and a radar 122. The detection device 120 can be controlled by the platooning control unit 200. In snowy or rainy conditions, the platooning control unit 200 can deactivate the camera 121, as there is a high probability of errors occurring in the camera 121's image data. The platooning control unit 200 can then determine road conditions and weather conditions using only the data from the radar 122. Furthermore, the detection device 120 can obtain relative distances between vehicles, relative speeds between vehicles, lane information, or similar information and transmit this information to the platooning control unit 200.

[0029] The communication device 130 can perform V2V communication and can exchange information related to platooning, weather forecast information or the like with the control center 400, e.g. send to it and / or receive from it.

[0030] The driver switch 140 can be a module for entering and accepting a platooning request. When a platooning-related consent request, such as a platooning level and platooning order, is received from a lead vehicle or the control center 400, the driver can activate / deactivate the driver switch 140 and indicate their opinion. If the driver activates the driver switch 140, the platooning control unit 200 can determine that the driver accepts platooning (i.e., forming and driving in a computer-controlled column or convoy).

[0031] Furthermore, information related to a vehicle cargo container, or information about a map and traffic situations, can be entered into the Platooning Control Unit 200.

[0032] When a command to operate a vehicle light for platooning control is received from the platooning control unit 200, the light control unit 310 can operate a light. In other words, the light control unit 310 can operate a light in accordance with a direction indicator signal, a brake signal, a platooning mode signal, or the like.

[0033] When an acceleration command is received from the platooning control unit 200, the motor unit 320 can accelerate the vehicle.

[0034] When a deceleration command is received from the platooning control unit 200, the braking unit 330 can decelerate the vehicle.

[0035] The 340 display unit can show platooning situation information, such as whether a column or convoy is to be formed, information about a lead vehicle, and information about the distance between vehicles (vehicle-to-vehicle distance), and can include an instrument cluster, a head-up display (HUD), a navigation device, an audio, video, navigation (AVN) system, or the like. Fig. Figure 2 illustrates one embodiment as the structure for displaying platooning situation information on the display device 340, which is designed independently of the platooning control device 200. However, embodiments are not limited to this. For example, a display device can be included in the platooning control device 200 to display the platooning situation information.

[0036] The display device 340 can include at least one liquid crystal display (LCD), thin-film transistor LCD (TFT-LCD), light-emitting diode (LED) display, organic light-emitting diode (OLED) display, active-matrix OLED (AMOLED) display, flexible display, curved display, and three-dimensional (3D) display. Some of these can be implemented as transparent displays, designed as either a transparent or semi-transparent type to allow the outside / environment to be seen.

[0037] The platooning control unit 200 can determine a weather environment based on weather forecast information received from the control center 400 or weather information acquired by the detection unit 120 and can determine a platooning level depending on the weather environment, thereby controlling the platooning (e.g. computer-controlled column or convoy driving).

[0038] As in Fig. As shown in Figure 3, the platooning control device 200 can include a communication unit 210, a memory 220, a control unit 230, a platooning path generation device 240, a weather environment detection device 250, a platooning sequence control unit 260, a platooning stage control unit 270, a road level detection device 280 and a platooning control unit 290.

[0039] The communication unit 210 can perform communication with a vehicle-to-vehicle device via CAN (CAN = Controller Area Network) or similar.

[0040] Memory 220 can store information sent and received via vehicle-to-vehicle communication, information calculated in the platooning control unit 200, or similar information.

[0041] The Memory 220 can have at least one type of storage medium, such as flash memory, hard disk memory, micro memory, card memory (e.g., an SD card (SD = Secure Digital) or an XD card (XD = eXtreme Digital)), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), erasable programmable read-only memory (PROM), electrically erasable programmable read-only memory (EEPROM), magnetic RAM (MRAM), a magnetic disk, and an optical disk.

[0042] The control unit 230 can control the overall operation of each component of the platooning control device 200.

[0043] The Platooning Path Generation Device 240 can generate a platooning path which has a point where the platoon (e.g., the computer-controlled column / convoy) starts, a point where the platoon assembles, and a point where the platoon arrives when the platoon is formed.

[0044] The Weather Environment Determination Unit 250 can determine the weather environment on the platooning path. In other words, the Weather Environment Determination Unit 250 can receive weather forecast information from the Control Center 400 or obtain weather information using the measurement results from the vehicle's Data Acquisition Unit 120 and can determine a weather environment condition and road condition (road surface condition) according to the weather environment condition. For example, if, according to the weather forecast information, it is snowing or raining on a platooning path or at a platooning time, the Weather Environment Determination Unit 250 can determine that a poor weather environment exists.

[0045] The Platooning Order Control Unit 260 can determine a platooning order based on the weather environment. In other words, under normal weather conditions, the Platooning Order Control Unit 260 can consider one or more factors, including payload weight, platooning path, fuel consumption, or braking force, in a complex manner to determine the platooning order. For example, the Platooning Order Control Unit 260 might select a vehicle with weak braking force and poor fuel consumption, or a vehicle with a heavy payload, as the lead vehicle, and might place a vehicle with strong braking force and a light payload behind the platoon because it can respond quickly to emergency braking.

[0046] In adverse weather conditions such as snow or rain, the Platooning Order Control Unit 260 can determine a platooning order based on braking force. In other words, in adverse weather conditions, the Platooning Order Control Unit 260 can select a vehicle with the weakest braking force as the lead vehicle and a vehicle with the next weakest braking force as the first following vehicle immediately behind the lead vehicle. The order of subsequent following vehicles can be determined according to weak braking force. As a result, if a road surface is wet due to snow, rain, or similar conditions, a platooning order can be determined according to weak braking force (e.g.,(with increasing vehicle braking force from the leading vehicle to the last vehicle of the platoon), since a braking distance is long.

[0047] The Platooning Stage Control Unit 270 can determine a platooning stage. In this case, the platooning stage can be determined taking into account numerous typical conditions, such as the number of platooning vehicles (e.g., computer-controlled column-driving or computer-controlled convoy vehicles – hereinafter also referred to as platooning vehicles), the payload weight of the platooning vehicles, the platooning path spacing, and whether there is a road construction site. The platooning stage can be classified, for example, into a first stage, Stage 1, in which no platooning takes place; a second stage, Stage 2, in which only a longitudinal vehicle spacing (e.g., longitudinal distance between vehicles or longitudinal vehicle-to-vehicle distance) is controlled during platooning; or a third stage, Stage 3, in which a longitudinal vehicle spacing, a lateral vehicle spacing (e.g.,Lateral distance between vehicles (or side-vehicle-to-vehicle distance) and steering during platooning can be controlled. In other words, the Platooning Stage Control Unit 270 can identify a situation in which platooning is not possible (e.g., very bad weather conditions or the like) as the first stage; a condition in which platooning is possible, but only longitudinal steering is possible because lateral steering is dangerous, as the second stage; and a good weather environment as the third stage, which is capable of performing all platooning-related steering functions.

[0048] The platooning stage control unit 270 can determine a platooning stage depending on the road level determined by the road level detection device 280.

[0049] The Road Level Determination Device 280 can determine a lane condition or road level based on measured weather information or road information. In this case, the Road Level Determination Device 280 can detect the lane condition from camera image data. The Road Level Determination Device 280 can determine the road level using one or more of the results of snow or rain detection by a vehicle sensor (a detection device), a slip ratio from an electronic stability control (ESC), or the lane condition of a road. Furthermore, the Road Level Determination Device 280 can determine the lane condition of the road on a platooning path when the platooning stage is the third stage.

[0050] The platooning control unit 290 can control the platooning depending on the platooning stage determined by the platooning stage control unit 270. In this case, controlling the platooning can involve controlling a vehicle's speed, longitudinal distance between vehicles, lateral distance between vehicles, or the like. The platooning control unit 290 may fail to perform platooning if the platooning stage is the first stage, and may perform longitudinal control if the platooning stage is the second stage. It may also perform longitudinal control, lateral control, steering control, or the like if the platooning stage is the third stage.

[0051] The platooning control unit 290 can further control lateral and longitudinal vehicle spacing depending on the result of the lane condition or road level determination by the road level detection device 280, as well as the platooning stage. In other words, the platooning control unit 290 can maintain inter-lane driving regardless of the behavior of a vehicle when the lane condition is good (greater than or equal to a first reference value), and can perform vehicle following control to track the vehicle when the lane condition is poor (less than a first reference value). In this case, the platooning control unit 290 can follow the path, speed, or other characteristics of the vehicle by means of a vehicle following lane and the radar 122, which is minimally affected by weather conditions.

[0052] The Platooning Control Unit 290 can set a longitudinal vehicle spacing to a first distance value (e.g., 10 m) when the road surface is good (greater than or equal to a second reference value) and can set the longitudinal vehicle spacing to a second distance value (e.g., 20 m), which is greater than the first distance value, when the road surface is poor (less than the second reference value) to ensure safety during emergency braking. If the platooning stage is the second stage for performing only longitudinal control, or if the road surface is poor (lower than the second reference value), the Platooning Control Unit 290 can deactivate a front or side-view camera on the vehicle.In other words, if the platooning level is the second level and if the road level is poor, the platooning control unit 290 may turn off camera 121 because camera 121 incorrectly detects a front object and has a negative impact on the platooning.

[0053] Fig. Figure 4 is a block diagram illustrating a configuration of a device for controlling the steering of a platooning vehicle according to an embodiment of the present invention. For better understanding, in Fig. Figure 4 illustrates one embodiment in which a device for controlling the steering of a platooning vehicle according to an embodiment of the present invention is provided in a long-range vehicle (LV). However, embodiments are not limited to this. For example, the device for controlling the steering of a platooning vehicle according to an embodiment of the present invention may be provided in a forward-wheel vehicle (FV).

[0054] As in Fig. As shown in Figure 4, a device 40 for controlling the steering of a platooning vehicle according to one embodiment of the present invention can comprise a navigation device 41, a distance sensor 42, a V2V communication device 42, a steering device 44, and a control device 45. The components can be integrated into a single device such that the device 40 for controlling the steering of a platooning vehicle according to one embodiment of the present invention is implemented. Some of the components can be omitted such that the device 40 for controlling the steering of a platooning vehicle according to one embodiment of the present invention is (still) implemented.

[0055] When considering the components, the navigation device 41 can initially provide information about a curved lane (e.g., a curve created by the lane) of a road on which a vehicle is traveling. The information about the curved lane can include the direction of rotation (e.g., the direction of the curve) and the curvature (e.g., the radius of curvature, etc.) of the road.

[0056] The navigation device 41 may include: a global positioning (GPS) module for receiving a GPS signal from a satellite and generating its initial location data based on the received GPS signal; a dead reckoning (DR) sensor for generating secondary location data based on the direction of travel and speed of the LV; a storage device (data storage) for storing map data and a variety of information; and a map matching device for generating an estimated location of the LV based on the initial and secondary location data.for matching the estimated location with a connecting route (a map matching link or a map matching road) in the map data stored in the storage device and for outputting the matched map information (the result of matching with the map), a communication device for carrying out radio communication (e.g. telephone communication) via a radio communication network, a control device for generating navigation information based on the matched map information (the result of matching with the map) or for generating and sending information about a condition (e.g. a hazard condition or a fault condition) of a surrounding vehicle or for receiving condition information of a host vehicle from the surrounding vehicle,A display device for showing a navigation map contained in the navigation information (including information about an area of ​​interest) or for displaying information about the status of the host vehicle, and an audio output device for outputting navigation voice information contained in the navigation information (a navigation voice message). The communication device may include a hands-free system with a Bluetooth module.

[0057] The distance sensor 42 can be a sensor mounted on the front of a tractor unit, which measures the distance from the center of the tractor unit's total width to a left lane and the distance from the center of the tractor unit's total width to a right lane. The distance sensor 42 can be implemented as a radar, an ultrasonic sensor, or a similar device.

[0058] The distance sensor 42 can measure a distance from the center of the total width of a trailer (e.g. semi-trailer) to the left lane and a distance from the center of the total width of the trailer to the right lane using a radar or ultrasonic sensor provided at the rear of the trailer.

[0059] The V2V communication device 43 can communicate with an FV driving directly behind the LV and can receive data from the FV regarding the distance (distance data) from the center of the total width of the LV's trailer to the left lane and data regarding the distance from the center of the LV's trailer to the right lane.

[0060] The steering device 44 can control the steering of the LV based on a steering control offset (SCO, derived from the English “steering control offset”) determined by the control device 45.

[0061] The control unit 45 can perform overall control such that the components carry out their function(s) in the normal manner. Such a control unit 45 can be implemented in the form of hardware or software, or in the form of a combination of hardware and software. Preferably, but not limited to, the control unit 45 can be implemented as a microprocessor.

[0062] The control unit 45 can control the steering of the tractor taking into account the distance from the center of the total width of the trailer to the left lane and the distance from the center of the total width of the trailer to the right lane, in order to prevent the trailer from leaving the roadway on a curved road (e.g. in a bend).

[0063] In other words, the control unit 45 can control the steering of the tractor based on the direction of rotation and the curvature of the road, which are obtained by means of the navigation unit 41. For example, the control unit 45 can determine whether the road on which the tractor is currently traveling is a curved road (e.g., a bend). If the road is curved, the control unit 45 can determine whether the road curves to the left (e.g., a left turn) or to the right (e.g., a right turn) and determine the degree of curvature.

[0064] Furthermore, it is preferred that the control unit 45 controls the steering of the tractor when the curvature is less than a reference value (e.g., when the radius of the road is less than a threshold value (e.g., 300 m)). However, embodiments are not limited to this.

[0065] It is further preferred that the control unit 45 does not control the steering of the tractor unit during a lane change. In this case, the control unit 45 can determine whether a lane change is being carried out based on the switching on / off of a direction indicator light (turn signal light).

[0066] Furthermore, the control unit can apply 45 different SCOs depending on whether the road on which the LV is traveling is a left-curved or right-curved road. A detailed description of this is provided below with reference to Fig. 5 is indicated.

[0067] Fig. Figure 5 is a drawing illustrating the definition of variables used to calculate a steering control offset (SCO) according to an embodiment of the present invention. Fig. Reference 5 indicates a tractor unit with reference numeral "510" and a trailer with reference numeral "520". Reference numeral "VW" refers to the vehicle width of the tractor unit (510) and the vehicle width of the trailer (520). In this case, the vehicle width of the tractor unit (510) and the vehicle width of the trailer (520) can be the same.

[0068] Reference sign “FL” indicates a distance from the center 511 of the overall width of the tractor 510 to a left lane, and reference sign “FR” indicates a distance from the center 511 of the overall width of the tractor 510 to a right lane. Reference sign “RL” indicates a distance from the center 521 of the overall width of the trailer 520 to the left lane, and reference sign “RR” indicates a distance from the center 521 of the overall width of the trailer 520 to the right lane.

[0069] If a road on which an LV is traveling is a left-curving road, a control device 45 of Fig. 4 a SCO Links adjust based on the following equation (1). SCOLinks=(1−2RL−VW2RR−VW)(FR−VW2)if RL <RR

[0070] In this case, if RL ≥ RR, there is no need to adjust the SCO.

[0071] If the road on which the LV is traveling is a right-curving road, the control unit 45 can initiate an SCO. Rechts adjust based on the following equation (2). SCORight=(1−2RR−VW2RL−VW)(FL−VW2)if RR <RL

[0072] In this case, if RR ≥ RL, there is no need to adjust the SCO.

[0073] The control unit 45, however, can have its own memory and can store the vehicle width of a tractor unit of the LV.

[0074] Fig. Figure 6 is a flowchart which illustrates a method for controlling the steering of a platooning vehicle according to an embodiment of the present invention.

[0075] First, in process 601, a distance sensor 42 can be used. Fig. 4. Measure a distance from the center of the total width of an LV tractor to a left lane and a distance from the center of the total width of an LV tractor to a right lane.

[0076] In process 602, a V2V communication device 43 can be used. Fig. 4. Data regarding the distance from the center of the total width of an LV trailer to the left lane and data regarding the distance from the center of the total width of the LV trailer to the right lane were received.

[0077] In process 603, the control unit 45 can be Fig.4. Steering the LV tractor unit based on the measured distance from the center of the LV tractor unit's overall width to the left lane and the measured distance from the center of the LV tractor unit's overall width to the right lane, the received data regarding the distance from the center of the LV trailer's overall width to the left lane and the received data regarding the distance from the center of the LV trailer's overall width to the right lane, and the previously stored information about the LV tractor unit's vehicle width. If a road on which an LV is traveling is a left-curving road, the control unit 45 can, in this case, apply a SCO. Links adjust based on the above equation (1). If the road on which the LV is traveling is a right-curving road, the control unit 45 can adjust an SCO. Rechts adjust based on the above equation (2).

[0078] Through such processes, an embodiment of the present invention can prevent, regardless of the type, size, weight or the like of the trailer, a rear end (a rear wheel) of the trailer of the semi-trailer truck performing platooning from leaving the road on a curved road (e.g. in a curve).

[0079] The device and method for controlling the steering of the platooning vehicle can prevent the trailer from leaving the road on a curved road by controlling the steering of the tractor unit taking into account a distance between the center of the total width of the trailer and a left lane and a distance between the center of the total width of the trailer and a right lane.

[0080] Although the present invention has been described above with reference to exemplary embodiments and the accompanying drawings, the present invention is not limited to these.

Claims

[1] Device (40) for controlling the steering of a platooning vehicle, comprising the device (40): a sensor (42) which is configured to measure a distance from the center of the overall width of a lead vehicle (LV) tractor to a left lane and a distance from the center of the overall width of the LV tractor to a right lane, a communication device (43) which is configured to receive from a following vehicle (FV) data regarding a distance from the center of the total width of an LV trailer to the left lane and data regarding a distance from the center of the total width of the LV trailer to the right lane, and a control device (45) which is configured to control the steering of the LV tractor on the basis of the measured distance from the center of the overall width of the LV tractor to the left lane and the measured distance from the center of the overall width of the LV tractor to the right lane, the received data regarding the distance from the center of the overall width of an LV trailer to the left lane and the received data regarding the distance from the center of the overall width of the LV trailer to the right lane, as well as on the basis of a vehicle width of the LV tractor. [2] Device according to claim 1, further comprising: a navigation device (41) which is configured to provide information about the direction of rotation and curvature of a road on which the LV is traveling. [3] Device according to claim 2, wherein the control device (45) is configured to: to control the steering of the LV tractor when the curvature is smaller than a reference value. [4] Device according to any one of claims 1 to 3, wherein the control device (45) is configured to: to apply different steering control offsets (SCOs) depending on whether a road is a left-curving road or a right-curving road. [5] Device according to claim 4, wherein the control device (45) is configured to: if the road is the one that curves to the left, a SCO Links to adjust based on the equation SCOLinks=(1−2RL−VW2RR−VW)(FR−VW2)if RL <RR, where VW specifies the vehicle width of the tractor unit (510), FL specifies the distance from the center (511) of the total width of the tractor unit (510) to the left lane, FR specifies the distance from the center (511) of the total width of the tractor unit (510) to the right lane, RL specifies the distance from the center (521) of the total width of the trailer (520) to the left lane, and RR specifies the distance from the center (521) of the total width of the trailer (520) to the right lane. [6] Device according to claim 4 or 5, wherein the control device (45) is configured to: If the road is the one that curves to the right, then an SCO Rechts to adjust based on the equation SCORight=(1−2RR−VW2RL−VW)(FL−VW2)if RR <RL where VW specifies the vehicle width of the tractor unit (510), FL specifies the distance from the center (511) of the total width of the tractor unit (510) to the left lane, FR specifies the distance from the center (511) of the total width of the tractor unit (510) to the right lane, RL specifies the distance from the center (521) of the total width of the trailer (520) to the left lane, and RR specifies the distance from the center (521) of the total width of the trailer (520) to the right lane. [7] Method for controlling the steering of a platooning vehicle, comprising the method: Measuring (601), using a sensor (42) of the LV, a distance from the center of a total width of a leading vehicle (LV) tractor to a left lane and a distance from the center of the total width of the LV tractor to a right lane, Received (602) from a vehicle by means of a communication device (43) of the vehicle, of data relating to a distance from the center of a total width of a vehicle trailer to the left lane and of data relating to a distance from the center of the total width of the vehicle trailer to the right lane, and Control (603) by means of a control device (45) of the LV, the steering of the LV tractor based on the measured distance from the center of the total width of the LV tractor to the left lane and the measured distance from the center of the total width of the LV tractor to the right lane, the received data regarding the distance from the center of the total width of an LV trailer to the left lane and the received data regarding the distance from the center of the total width of the LV trailer to the right lane, and based on a vehicle width of the LV tractor. [8] Method according to claim 7, further comprising: Providing, by means of a navigation device (41) of the LV, information about the direction of rotation and curvature of a road on which the LV is traveling. [9] Method according to claim 8, wherein the control (603) of the steering of the LV tractor is carried out when the curvature is smaller than a reference value. [10] Method according to any one of claims 7 to 9, wherein the control (603) of the steering of the LV tractor comprises: Applying a first steering control offset (SCO) Links ), if a road is a left-curving road, and Applying a second steering control offset (SCO) Rechts ), if the road is a right-curving road. [11] Method according to claim 10, wherein the first steering control offset (SCO) Links ) is obtained based on the equation SCOLinks=(1−2RL−VW2RR−VW)(FR−VW2)if RL <RR, where VW specifies the vehicle width of the tractor unit (510), FL specifies the distance from the center (511) of the total width of the tractor unit (510) to the left lane, FR specifies the distance from the center (511) of the total width of the tractor unit (510) to the right lane, RL specifies the distance from the center (521) of the total width of the trailer (520) to the left lane, and RR specifies the distance from the center (521) of the total width of the trailer (520) to the right lane. [12] Method according to claim 10 or 11, wherein the second steering control offset (SCO) Rechts ) is obtained based on the equation SCORight=(1−2RR−VW2RL−VW)(FL−VW2)if RR <RL where VW specifies the vehicle width of the tractor unit (510), FL specifies the distance from the center (511) of the total width of the tractor unit (510) to the left lane, FR specifies the distance from the center (511) of the total width of the tractor unit (510) to the right lane, RL specifies the distance from the center (521) of the total width of the trailer (520) to the left lane, and RR specifies the distance from the center (521) of the total width of the trailer (520) to the right lane. [13] Device for controlling the steering of a platooning vehicle, comprising the device: a sensor which is configured to measure a distance from the center of the overall width of a lead vehicle (LV) tractor unit to a left lane and a distance from the center of the overall width of the LV tractor unit to a right lane, and a distance from the center of the overall width of an LV trailer to the left lane and a distance from the center of the overall width of the LV trailer to the right lane, and a control device which is designed to control the steering of the LV tractor unit based on the measured distance from the center of the overall width of the LV tractor unit to the left lane and the measured distance from the center of the overall width of the LV tractor unit to the right lane, the measured distance from the center of the overall width of an LV trailer to the left lane and the measured distance from the center of the overall width of the LV trailer to the right lane, as well as a vehicle width of the LV tractor unit, and a navigation device which is designed to provide information about the direction of rotation and curvature of a road on which the vehicle is traveling. [14] Device according to claim 13, wherein the control device is configured for this purpose: to control the steering of the LV tractor when the curvature is smaller than a reference value. [15] Device according to any one of claims 13 to 14, wherein the control device is configured to: to apply different steering control offsets (SCOs) depending on whether a road is a left-curving road or a right-curving road. [16] Device according to claim 15, wherein the control device is configured for this purpose: if the road is the one that curves to the left, a SCO Links to adjust based on the equation SCOLinks=(1−2RL−VW2RR−VW)(FR−VW2)if RL <RR, where VW specifies the vehicle width of the tractor unit (510), FL specifies the distance from the center (511) of the total width of the tractor unit (510) to the left lane, FR specifies the distance from the center (511) of the total width of the tractor unit (510) to the right lane, RL specifies the distance from the center (521) of the total width of the trailer (520) to the left lane, and RR specifies the distance from the center (521) of the total width of the trailer (520) to the right lane. [17] Device according to claim 15 or 16, wherein the control device is configured for this purpose: If the road is the one that curves to the right, then an SCO Rechts to adjust based on the equation SCORight=(1−2RR−VW2RL−VW)(FL−VW2)if RR <rlwhere VW specifies the vehicle width of the tractor unit (510), FL specifies the distance from the center (511) of the total width of the tractor unit (510) to the left lane, FR specifies the distance from the center (511) of the total width of the tractor unit (510) to the right lane, RL specifies the distance from the center (521) of the total width of the trailer (520) to the left lane, and RR specifies the distance from the center (521) of the total width of the trailer (520) to the right lane.< / rl

Images