Device for controlling column formation and method for planning a path for it

Abstract

Device (100) for controlling column formation, the device comprising: a detection device (120) which is configured to detect front information of a vehicle using at least one sensor; a communication device (110) that is configured to support vehicle-to-vehicle (V2V) communication; and a processor (150) connected to the detection device (120) and the communication device (110), wherein the processor (150) is configured to: To capture information about a first line in front of the vehicle using the detection device (120); Receiving information via a second line transmitted by a preceding vehicle via the communication device (110); Coordinate transformation of the information about the second line, based on a vehicle coordinate system, using information about the vehicle ahead, Generating information about a third line using information about the first line and information about the second line based on information about the vehicle ahead; Generating information about a final line using the information about the first line, the information about the second line, and the information about the third line; and Planning a path for column formation using information about the final line, where the processor (150) is configured to: to generate the information about the third line by approximating a straight line or a curved line in order to connect an endpoint of the information about the first line with a starting point of the information about the second line.

Description

TECHNICAL AREA

[0001] The present disclosure relates to a device for controlling column formation and a method for planning a path for it. BACKGROUND

[0002] The statements in this section provide only background information relating to the present disclosure and may not represent prior art.

[0003] Convoy formation means that a leading vehicle (LV) and at least one following vehicle (FV) travel in a convoy (group). In convoy formation, the following vehicle maintains a specific distance from the vehicle in front, using sensor technology that includes radar and a camera. Convoy formation has the advantage of saving fuel by minimizing air resistance, as the following vehicle closely follows the vehicle in front.

[0004] A vehicle performing convoy formation uses its camera to detect a line ahead and follows it, utilizing the information it has gathered. However, in convoy formation, the line actually detected by the vehicle is very short because the distance to the vehicle in front is small and the line is obscured by the trailer of the vehicle ahead. Consequently, the vehicle cannot accurately determine the line's location. To overcome this, the vehicle ahead typically transmits information about a previously detected line to the vehicle, supplementing the information that cannot be captured due to the short distance between vehicles during convoy formation.The vehicle's motion should be calculated at times when the vehicle in question and the vehicle ahead pass the same point, and the calculated motion should be corrected using a characteristic environmental object. This method can introduce errors due to time differences between the calculated points in time. Furthermore, errors can accumulate in the later stages of a chain where multiple vehicles are traveling simultaneously.

[0005] Document US 2020 / 0409391A1 is known. According to one embodiment, a second ADV receives a vehicle status and an initial perception result from a first ADV via a vehicle-to-vehicle connection. The initial perception result includes one or more obstacles perceived by the first ADV. The second ADV performs a perception process to perceive a driving environment connected to the second ADV, thereby generating a second perception result. The first perception result of the first ADV and the second perception result of the second ADV are combined to generate a third perception result. Based on the vehicle status of the first ADV and the third perception result, a trajectory is planned to cause the second ADV to follow the first ADV in a convoy.

[0006] Furthermore, the documents DE 10 2018 114 808 A1 and DE 10 2020 209 362 A1 are known. SUMMARY

[0007] One aspect of the present disclosure provides a device for controlling convoy formation and a method for planning a path therefor, which are suitable for estimating information about a line by using real-time information from a preceding vehicle, and for planning a path for convoy formation using the estimated information about the line, even when the distance between vehicles during convoy formation is significantly short.

[0008] The technical problems to be solved by the present concept according to the invention are not limited to the problems mentioned above, and all other technical problems not mentioned herein will be clearly understood by the person skilled in the art, to whom the present disclosure is addressed, from the following description.

[0009] According to the invention, a device for controlling convoy formation comprises a detection device for detecting front information of a vehicle using at least one sensor, a communication device for supporting vehicle-to-vehicle (V2V) communication, and a processor connected to the detection device and the communication device.The processor can acquire information about a first line in front of the vehicle using the detection device, receive information about a second line transmitted by a preceding vehicle via the communication device, transform the coordinates of the information about the second line based on a vehicle coordinate system using the information about the preceding vehicle, generate information about a third line using the information about the first line and the information about the second line based on information about the preceding vehicle, generate information about a final line using the information about the first line, the information about the second line and the information about the third line and plan a path for convoy formation using the information about the final line.Furthermore, the processor is configured to generate the information about the third line by approximating a straight line or a curved line in order to connect an endpoint of the information about the first line with a starting point of the information about the second line.

[0010] The information about the vehicle ahead may include a distance between the vehicle and the vehicle ahead, a position of the center of a rear surface of the vehicle ahead, an angle of the rear surface of the vehicle ahead detected by the detection device, a tractor unit length, a trailer length, and a refraction angle between a tractor unit and a trailer transmitted by the vehicle ahead.

[0011] The processor can generate the information about the final line by integrating the information about the first line, the information about the second line, and the information about the third line based on the vehicle coordinate system.

[0012] The device may further include vehicle control to control the lateral behavior of the vehicle in order to follow a line based on the path for column formation.

[0013] The detection device may also include at least one front camera, one AVM camera, one front radar and / or one refraction angle sensor.

[0014] The processor can transmit information about the first line, a refraction angle of the vehicle, and vehicle specification information to a following vehicle via the communication device.

[0015] In another embodiment of the present disclosure, a method for planning a path of a convoy control device comprises acquiring information about a first line in front of a vehicle by at least one sensor installed in the vehicle, receiving information about a second line transmitted by a preceding vehicle through vehicle-to-vehicle (V2V) communication, generating information about a third line using the information about the first line and the information about the second line based on information about the preceding vehicle, generating information about a final line using the information about the first line, the information about the second line and the information about the third line, and planning a path for convoy formation using the information about the final line.Generating the information about the third line involves: transforming the coordinates of the information about the second line based on a vehicle coordinate system using the information about the vehicle ahead, and generating the information about the third line by approximating a straight line or a curved line to connect an endpoint of the information about the first line with a starting point of the information about the second line.

[0016] The acquisition of information about the first line may further include the acquisition of information about the vehicle ahead, including a distance between the vehicle and the vehicle ahead, a position of the center of a rear surface of the vehicle ahead, and an angle of the rear surface of the vehicle ahead, using at least one sensor.

[0017] Receiving information via the second line can include receiving the tractor length, trailer length, and angle of refraction between the tractor and trailer from the vehicle ahead.

[0018] Generating the information about the final line can involve generating the information about the final line by integrating the information about the first line, the information about the second line, and the information about the third line based on the vehicle coordinate system.

[0019] The procedure further includes lateral steering of the vehicle by a vehicle control system to follow a line based on the path for convoy formation.

[0020] The procedure also includes transmitting information about the first line, a refraction angle of the vehicle and specification information of the vehicle via V2V communication to a following vehicle.

[0021] Further areas of application will become apparent from the description given herein. It should be understood that the description and the specific examples serve only for illustration and are not intended to limit the scope of this disclosure. DRAWINGS

[0022] To better understand the disclosure, various embodiments are now described by way of example, with reference to the accompanying drawings, in which: Fig. 1 represents a block diagram of a device for controlling column formation in an embodiment of the present disclosure; Fig. 2 is a block diagram that represents a detection device of Fig. 1 represents; Fig. 3 is a view that represents the operation of a device for controlling column formation in an embodiment of the present disclosure; Fig. 4 is a view which represents a method for capturing information for tracing a line in an embodiment of the present disclosure; Fig. 5 is a view which represents the relationship between vehicle coordinate systems in one embodiment of the present disclosure; Fig. 6 is a view which represents the coordinate transformation of information about a second line in an embodiment of the present disclosure; Fig. 7 is a view which represents the coordinate transformation of information about a first line in an embodiment of the present disclosure; Fig. 8 is a view which represents the coordinate transformation of information about a third line in an embodiment of the present disclosure; Fig. 9 is a view which represents the coordinate transformation of information about a final line in one embodiment of the present disclosure; Fig. 10 is a flowchart that represents a method for planning a path of a device for controlling column formation in an embodiment of the present disclosure; and Fig. 11 is a block diagram representing a computer system for executing the method for planning a path for column formation in an embodiment of the present disclosure.

[0023] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present disclosure in any way. DETAILED DESCRIPTION

[0024] The following description is merely exemplary and is not intended to limit the present disclosure, application, or use. It should be understood that in the drawings, corresponding reference numerals point to identical or corresponding parts and features.

[0025] Some embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. When adding reference numerals to the components of each drawing, it should be noted that an identical or equivalent component is designated with the same numeral even if it is shown in other drawings. Furthermore, in the following description of some embodiments of the present disclosure, a detailed description of known features or functions is omitted in order not to unnecessarily obscure the essential nature of the present disclosure.

[0026] In describing certain embodiments of this disclosure, terms such as first, second, "A", "B", (a), (b) and the like may be used. These terms serve only to distinguish one component from another and do not restrict the nature, sequence, or order of the individual components. Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as they are generally understood by a person skilled in the art in the field to which this disclosure is addressed.Such terms, as defined in a commonly used dictionary, are to be interpreted as having a meaning that corresponds to the contextual meanings in the relevant field of technology, and are not to be interpreted as having an ideal or overly formal meaning, unless they are clearly defined as such in the present disclosure.

[0027] In this description, the foremost vehicle in a series of vehicles traveling in a convoy is referred to as the "leading vehicle," a vehicle following the leading vehicle is referred to as the "following vehicle," a vehicle positioned in front of the leading vehicle is referred to as the "front vehicle," a vehicle positioned directly in front of the leading vehicle is referred to as the "ahead vehicle," and the leading and following vehicles together are referred to as the "convoy vehicles." In the coordinate system, the center of a vehicle's front end (front face) or rear end (rear face) is defined as the "origin point," the vehicle's longitudinal direction as the "X-axis," and the vehicle's lateral direction as the "Y-axis." A line refers to a line connecting central points of lanes.

[0028] Fig. Figure 1 shows a block diagram of a device for controlling column formation in some embodiments of the present disclosure, and Fig. 2 is a block diagram that shows a detection device of Fig. 1 shows.

[0029] A convoy control device 100 can be installed in a vehicle capable of autonomous driving to plan a path and control the behavior of the vehicles so that the vehicle travels along the planned path. The convoy control device 100 can comprise a communication device 110, a detection device 120, a memory 130, a vehicle control unit 140, and a processor 150, as shown in Fig. 1 shown.

[0030] The communication device 110 can support communication with another vehicle in a convoy via vehicle-to-vehicle (V2V) communication. The communication device 110 can receive information (data) transmitted by a leading vehicle (FVn-1) via V2V communication. Furthermore, the communication device 110 can transmit information about the following vehicle via V2V communication. In addition, the communication device 110 can support communication with electronic control units in a vehicle via an on-board network (IVN). The IVN can include a Controller Area Network (CAN), FlexRay, Media Oriented Systems Transport (MOST), Local Interconnect Network (LIN), and / or Ethernet. The communication device 110 can include a communication processor, a communication circuit, an antenna, and / or a transceiver.

[0031] The detection device 120 can use at least one sensor to detect information (line information) about a front line, information about a vehicle ahead, and / or information about the environment. With reference to Fig. 2. The detection device 120 can comprise a detection section 121 and a sensor fusion section 123. The detection section 121 acquires front data (front information) via a front camera 1211, an all-around camera (AVM) 1212, a front radar 1213, and / or a refraction angle sensor 1214. The sensor fusion section 123 can output information (line information) about a line in front of the vehicle, information about the status of the vehicle ahead, and / or the vehicle's refraction angle by fusing the front data acquired by the detection section 121. The line information can include the line's curvature, its curvature rate, its heading angle, its offset, and / or its effective line length.In this case, the heading angle refers to a rotation angle (an angle between an X-axis and the line) of the line, based on the X-axis of a vehicle coordinate system, and the offset refers to a distance between the center of the vehicle along the Y-axis and the center (i.e., the midpoint between the lines) of a lane in which the vehicle is traveling. Information about the status of the vehicle ahead may include the distance between the vehicle and the vehicle ahead and / or information about the tail angle of the vehicle ahead.

[0032] In other words, the detection device 120 can detect information about the line in front of the vehicle using the front camera 1211 and / or the AVM camera 1212. The detection device 120 can measure the distance between the vehicle and the vehicle ahead using the front radar 1213. The detection device 120 can measure an angle (i.e., the angle of the rear surface of the vehicle ahead) formed between the front surface of the vehicle and the rear surface of the vehicle ahead using the front camera 1211. The detection device 120 can measure an angle (i.e., the angle of refraction of the vehicle) formed between the tractor unit and the trailer using the angle of refraction sensor 1214.Although some embodiments of the present disclosure are described as measuring the refraction angle of the vehicle using the refraction angle sensor 1214, the present disclosure is not limited to this. For example, the refraction angle can be estimated (calculated) using a different type of sensor. The detection device 120 can comprise at least one processor (not shown) and a memory (not shown). The memory (not shown) can be a non-volatile storage medium for storing instructions that are executed by a processor.

[0033] Memory 130 can store a program for operating processor 150, and processor 150 can store input and / or output data. Memory 130 can store a line detection algorithm, a path planning algorithm, a following-control algorithm, and / or an autonomous-drive control algorithm. Memory 130 can store map information, vehicle specification information, and / or various setting information. Memory 130 can be implemented with at least one storage medium (recording medium) such as flash memory, a hard disk, a Secure Digital (SD) card, random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), programmable read-only memory (PROM), electrically erasable and programmable ROM (EEPROM), erasable and programmable ROM (EPROM), a register, and / or a buffer.

[0034] The vehicle control unit 140 can receive information about a path for convoy formation from the processor 150. Based on this path information, the vehicle control unit 140 can steer the vehicle laterally to follow the line. The vehicle control unit 140 can control the vehicle's lateral behavior by controlling a steering device, a power device, and / or a braking device.

[0035] The processor 150 can control the overall operation of the device 100 for controlling column formation. The processor 150 can comprise at least one application-specific integrated circuit (ASIC), a digital signal processor (DSP), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), a central processing unit (CPU), microcontrollers, and / or microprocessors.

[0036] The processor 150 can use the detection device 120 to acquire information (first line information) about the line ahead of the vehicle and information about the status of the vehicle ahead. Additionally, the processor 150 can receive vehicle specification information, vehicle status information, and / or line information (second line information) transmitted by the vehicle ahead via the communication device 110. The vehicle specification information can include vehicle length, tractor length, and / or trailer length. The vehicle status information can include the vehicle's angle of refraction.

[0037] The Processor 150 can generate complete lane information in real time by integrating the information received from the vehicle ahead with the initial lane information. The Processor 150 can then coordinate-transform the second lane information using the specifications and status of the vehicle ahead. Finally, the Processor 150 can generate third lane information by approximating a line (third lane) obscured by the vehicle ahead, based on the initial lane information and the coordinate-transformed second lane information, to either a straight or curved line, and then reconfiguring the lane.The processor 150 can generate the information (final line information) about a final line based on the vehicle coordinate system by using the first line information, the coordinate-transformed second line information, and the third line information.

[0038] Based on the latest line information, processor 150 can generate a path for column formation. Processor 150 can then transmit the planned column formation path to the vehicle control unit 140.

[0039] The processor 150 can transmit the vehicle specification information stored in the memory 130 and the line information and refraction angle of the vehicle, which are detected using the detection device 120, to the following vehicle via the communication device 110.

[0040] Fig. Figure 3 is a view illustrating the operation of a device for controlling column formation in some embodiments of the present disclosure. In some embodiments of the present disclosure, for the sake of simplicity, the leading vehicle “FVn-1” of the vehicle “FVn” is used as a leading vehicle of a chain.

[0041] The processor 150 of the device 100 for controlling column formation, which is mounted in the vehicle “FVn”, can acquire the information (i.e., the first line information) about a first line ③ based on the vehicle coordinate system using the detection device 120. The processor 150 can acquire information about the position (X R , Y R ) the rear surface of the trailer of the preceding vehicle “FVn-1” and information about the rear surface angle θ 23 detect the trailer using the detection device 120.

[0042] The processor 150 can receive the specification information and status information of the preceding vehicle "FVn-1" via the communication device 110. In other words, the processor 150 can receive information about the tractor length "L1", the trailer length "L2", and the angle of refraction "Φ" between the tractor and the trailer.

[0043] Furthermore, the processor 150 can receive information (i.e., second line information) about the second line ① via the communication device 110, which is transmitted by the preceding vehicle “FVn-1”. The second line information is line information detected by sensors mounted on the preceding vehicle “FVn-1”.

[0044] The Processor 150 can transform the second line information based on the vehicle coordinate system by using information about the lengths “L1” and “L2”, the angle of refraction, the position (X) R , Y R ) the tail surface and the tail surface angle “θ 23 “ of the preceding vehicle “FVn-1”. Processor 150 can generate information about a third line by approximating the third line ②, which is formed by connecting an endpoint of the first line with a starting point of the second line, to a straight or curved line.

[0045] The Processor 150 can calculate information about a final line by integrating the information about the first line, the information about the second line, and the information about the third line based on the vehicle coordinate system.

[0046] Fig. Figure 4 is a view that presents a method for acquiring information for tracing a line in some embodiments of the present disclosure.

[0047] The vehicle “FVn” can acquire information about the first line ③ (i.e., the first line information) using the front camera 1211. The first line information can include the offset, heading angle, curvature, curvature rate, and effective line length of the first line ③ based on the vehicle coordinate system (X3, Y3).

[0048] The vehicle “FVn” can change position (X R , Y R ) detect the rear surface of the vehicle ahead using the front camera 1211 and the front radar 1213. The position (X R , Y R ) of the rear surface of the preceding vehicle is an origin point of a rear coordinate system (X2, Y2) of the preceding vehicle based on the vehicle coordinate system.

[0049] The vehicle "FVn" can estimate the position of the trailer through visual and / or image processing using the front camera 1211 and / or Light Detection and Ranging (LiDAR). In other words, the vehicle "FVn" can detect the angle of the rear surface of the vehicle ahead, i.e., the trailer. The rear surface angle of the vehicle ahead is the angle formed between a Y2 coordinate axis and a Y3 coordinate axis.

[0050] The vehicle "FVn" can receive vehicle specification information from the preceding vehicle "FVn-1" via V2V communication. This vehicle specification information can include the tractor unit length "L1" and the trailer length "L2" of the preceding vehicle.

[0051] Vehicle "FVn" can receive the refraction angle Φ of the preceding vehicle "FVn-1", which is transmitted by the preceding vehicle "FVn-1" via V2V communication. The preceding vehicle "FVn-1" can measure the refraction angle of the preceding vehicle "FVn-1" directly using its refraction angle sensor or estimate the refraction angle Φ using a rear-view camera or rear-view radar. The refraction angle Φ of the preceding vehicle "FVn-1" is equal to an angle θ. 12 , which is formed between an X1 coordinate axis and an X2 coordinate axis.

[0052] Vehicle "FVn" can calculate the position of the front end of the preceding vehicle "FVn-1", i.e., the tractor unit. The position of the front end of the preceding vehicle "FVn-1" is the origin of a front coordinate system (X1, Y1) of the preceding vehicle "FVn-1" based on a rear coordinate system (X2, Y2) of the preceding vehicle "FVn-1". Vehicle "FVn" can calculate the length of the tractor unit "L1", the length of the trailer "L2", and the angle of refraction Φ, which it obtains from the preceding vehicle "FVn-1".

[0053] Vehicle "FVn" can receive information about the second line from the preceding vehicle "FVn-1" via V2V communication. The preceding vehicle "FVn-1" can acquire information about the line (i.e., the second line information) in front of it using a sensor (e.g., a front camera) and transmit this information to vehicle "FVn". The information about the second line can include the offset, heading angle, curvature, curvature rate, and effective line length ① based on the front coordinate system (X1, Y1) of the preceding vehicle "FVn-1".

[0054] Vehicle "FVn" can calculate the information about the third line 2 of a straight or curved line to connect a starting point of the second line 2 with an endpoint of the first line 3. Vehicle "FVn" can calculate the starting point of the second line 3 by transforming the coordinates of the second line 3 from the vehicle's own coordinate system (X3, Y3) using the front coordinate system (X1, Y1) of the preceding vehicle "FVn-1". Vehicle "FVn" can calculate the endpoint of the first line 3 from the information of the first line, again using the vehicle's own coordinate system (X3, Y3).

[0055] The vehicle "FVn" can obtain information about the third line by calculating a polynomial that approximates a straight line passing through the starting point of the second line ① and the endpoint of the first line ③. The vehicle "FVn" can generate the final line information by integrating the information from the first, second, and third lines based on the vehicle coordinate systems (X3, Y3). The vehicle "FVn" can calculate the offset, heading angle, curvature, and rate of curvature of the final line by approximating it with a third-order polynomial.

[0056] Fig. Figure 5 is a view which represents the relationship between vehicle coordinate systems in some embodiments of the present disclosure.

[0057] Referring to Fig. 5. An origin point of the front coordinate system (X1, Y1) of the preceding vehicle "FVn-1" can be translated based on the rear coordinate system (X2, Y2) of the preceding vehicle "FVn-1" and transformed into a position (L2+L1cosϕ,L1sinϕ) based on the coordinate system (X2, Y2). The translated coordinate system (X1, Y1) is rotated and rotated by Φ (= θ). 12 ) is transformed so that the coordinate system (X1, Y1) is adapted to the coordinate system (X2, Y2). In this case, Φ is an angle formed between an X1 axis and an X2 axis.

[0058] The origin point of the coordinate system (X2, Y2) can be moved on the basis of the coordinate system (X3, Y3) and placed in a position (X R , Y R ) based on the coordinate system (X3, Y3). The translated coordinate system (X2, Y2) can be transformed by θ 23The coordinate system (X2, Y2) is rotated and transformed so that it is adapted to the coordinate system (X3, Y3). The angle θ 23 is the angle between the X2 axis and the X3 axis.

[0059] Fig. Figure 6 is a view which represents the coordinate transformation of information about a second line in some embodiments of the present disclosure.

[0060] The processor 150 can transform the information (i.e., the information of the second line) about the second line ①, based on the coordinate system (X1, Y1), into coordinate information based on the coordinate system (X2, Y2). The second line ①, based on the coordinate system (X1, Y1), can be expressed as in Equation 1. y1=α13x13+α12x12+α11x1+α10

[0061] If the effective line length is l1, points (x) can be o1,1 , y o1,1 ), ... , (x o1,n , y o1,n), ... , and (x o1,N , y o1,N ) are extracted on the effective line. In this case, 0 = x o1,1 ≤ ... ≤ x o1,n ≤ ... ≤ x o1,N = l1 is fulfilled.

[0062] Processor 150 can transform points on the effective line of the second line ① into points based on the coordinate system (X2, Y2). First, Processor 150 can rotate the second line ① and transform it into a line based on the coordinate system (X2, Y2). Processor 150 can rotate and transform the second line ① using Equation 2. [xr1,nyr1,n]=[cos ϕ−sin ϕsin ϕcos ϕ][xo1,nyo1,n]

[0063] Next, processor 150 can translate the rotated and transformed second line ① into a line based on the coordinate system (X2, Y2). Processor 150 can translate the second line ①, which was rotated and transformed by [Equation 3] and [Equation 4]. xt1,n=xr1,n+L2+L1 cos ϕ yt1,n=yr1,n+L1 sin ϕ

[0064] The processor 150 can generate second line information (x t1,1 , y t1,1 ), ... , (x t1,n , y t1,n ), ..., and (x t1,N , y t1,N ) coordinate-transformed based on the coordinate system (X2, Y2).

[0065] Additionally, the processor 150 can rotate the second line information, which has been coordinate-transformed based on the coordinate system (X2, Y2) by equation 5, and transform it into a line based on the coordinate system (X3, Y3). [xp1,nyp1,n]=[cos θ23−sin θ23sin θ23cos θ23][xt1,nyt1,n]

[0066] The Processor 150 can translate the second line information, which is rotationally transformed based on the coordinate system (X3, Y3), into a line based on the coordinate system (X3, Y3). In this case, the Processor 150 can translate the second line information, which is rotated and transformed based on the coordinate system (X3, Y3), into a line based on the coordinate system (X3, Y3) using Equations 6 and 7. x1,n=xp1,n+XR y1,n=yp1,n+YR

[0067] The processor 150 can generate (extract) the second line information (x 1,1 , y 1,1 ), ..., (x 1,n , y 1,n ), ... , and (x 1,N , y 1,N ) coordinate-transformed based on the coordinate system (X3, Y3).

[0068] Fig. Figure 7 is a view which represents the coordinate transformation of information about a first line in some embodiments of the present disclosure.

[0069] The processor 150 can extract information (i.e., first line information) about the first line ③ based on the coordinate system (X3, Y3) using the detection device 120. The first line information can be expressed as in equation 8. y3=α33x33+α32x32+α31x3+α30

[0070] If the effective line length of the first line is "l3", points (x) can be formed. 3,1 , y 3,1 ), ..., (x 3,k , y 3,k ), ..., and (x 3,K , y 3,K ) are extracted on the effective line. In this case, 0 = x 3,1 ≤ ... ≤ x 3,k ≤ ... ≤ x 3,K = l3 is fulfilled.

[0071] Fig. Figure 8 is a view which represents the coordinate transformation of information about a third line in some embodiments of the present disclosure.

[0072] The processor 150 can generate information (i.e., the third line information) about the third line ② based on the coordinate system (X3, Y3) using the information from the first line and the information from the second line. The processor 150 can generate a straight line or a curved line (i.e., the third line ②) by setting the starting point of the third line ② to the endpoint (x3, Y3). 3,K , y 3,K ) of the first line ③ and the endpoint of the third line ② to the starting point (x 1,1 , y 1,1 ) of the second line ①. In other words, the third line ② is a straight line (or a curved line) that defines the endpoint (x 3,K , y3) of the first line Φ with the starting point (x 1,1 , y 1,1) connects the second line ①. The third line ② can be expressed as a polynomial as in equation 9. y2=y1,1−y3,Kx1,1−x3,K(x2−x3,K)+y3,K

[0073] In this case, the effective line area of ​​the third line is x 3,K ≤ x2 ≤ x 1,1 The processor 150 can score points (x 2,1 , y 2,1 ), ... , (x 2,j , y 2,j ), ... ,and (x 2,J , y 2,J ) extract on the effective line. In this case, x 3,K = x 2,1 ≤ ... ≤ x 2,j ≤ ... ≤ x 2,J = x 1,1 fulfilled.

[0074] Fig. Figure 9 is a view which represents the coordinate transformation of information about a final line in some embodiments of the present disclosure.

[0075] The Processor 150 can generate final line information ①+②+③ by integrating the first line information, the second line information, and the third line information based on the coordinate system (X3, Y3). The Processor 150 can compute, through regression analysis, a polynomial that most closely approximates the points along the first line ③, the second line ①, and the third line ②. The final line can be expressed as in Equation 10. y=α3x3+α2x2+α1x+α0

[0076] In equation 10, α0, α1, α2 and α3 each denote an offset, a course angle, a curvature and a rate of curvature.

[0077] Processor 150 can plan the column formation path using equation 10. Processor 150 can then transmit the planned column formation path to the vehicle control unit 140.

[0078] Fig. Figure 10 is a flowchart that represents a method for planning a path of a device for controlling column formation according to embodiments of the present disclosure.

[0079] The processor 150 can acquire initial line information using at least one sensor (S110) mounted in the vehicle. In other words, the detection device 120 can detect a line in front of the vehicle using the front camera 1211 and / or the AVM camera 1212. The detection device 120 can transmit information (i.e., the initial line information) about the detected line to the processor 150. The processor 150 can acquire information about the vehicle ahead via the detection device 120. The detection device 120 can detect the position of the center of a rear surface of the vehicle ahead and the distance between the vehicle and the vehicle ahead by using the front camera 1211 and the front radar 1213.The detection device 120 can transmit information about the position of the center of the rear surface of the vehicle ahead and the distance between the vehicle and the vehicle ahead to the processor 150 as information about the vehicle ahead.

[0080] The Processor 150 can receive information about the vehicle ahead via V2V communication (S120). The Processor 150 can receive vehicle specification information and / or vehicle status information transmitted by the vehicle ahead via the Communication Unit 110. The vehicle specification information (specification information of the vehicle ahead) can include the length of the vehicle ahead, the length of the tractor unit, and / or the length of the trailer. The status information (status information of the vehicle ahead) can include the angle of refraction of the vehicle ahead.

[0081] The processor 150 can receive second line information from the preceding vehicle via V2V communication (S130). The preceding vehicle can detect the second line using sensors mounted in its body and can transmit information about the detected second line via V2V communication. The processor 150 can receive information about the second line via the communication device 110.

[0082] Processor 150 can calculate information about the third line based on information about the first line and information about the second line (S140). Processor 150 can coordinate-transform the second line information based on the vehicle coordinate system, using information about the vehicle ahead. Processor 150 can generate the third line information using the coordinate-transformed information from the first line and the second line. In other words, Processor 150 can generate the third line by approximating a straight line or a curved line that passes through an endpoint of the first line and a starting point of the second line.

[0083] The processor 150 can generate the information about the final line by using the information about the first line, the information about the second line, and the information about the third line (S150). The processor 150 can generate the information about the final line using the first line information, the second line information (which has been coordinate-transformed), and the third line information.

[0084] Based on the final line information (S160), processor 150 can plan a path for convoy formation. Processor 150 can transmit the planned path for convoy formation to vehicle control 140. Vehicle control 140 can then control the vehicle's lateral behavior to ensure it follows the path for convoy formation.

[0085] Fig. Figure 11 is a block diagram showing a computer system for executing the method for planning a path for column formation according to embodiments of the present disclosure.

[0086] Referring to Fig. 11. A computer system 1000 may include at least one processor 1100, one memory 1300, one user interface input device 1400, one user interface output device 1500, one memory 1600 and one network interface 1700, which are connected to each other via a bus 1200.

[0087] The processor 1100 can be a central processing unit (CPU) or a semiconductor device for processing instructions stored in memory 1300 and / or memory 1600. Both memory 1300 and memory 1600 can include various types of volatile or non-volatile storage media. For example, memory 1300 can include read-only memory (ROM; see 1310) and random-access memory (RAM; see 1320).

[0088] This allows the operations of the methods or algorithms described in some embodiments of the present disclosure to be implemented directly with a hardware module, a software module, or combinations thereof, executed by the processor 1100. The software module may reside on a storage medium (i.e., the memory 1300 and / or the memory 1600), such as RAM, flash memory, ROM, erasable and programmable ROM (EPROM), electrical EPROM (EEPROM), a register, a hard disk, a removable disk, or a compact disc ROM (CD-ROM). The exemplary storage medium may be connected to the processor 1100. The processor 1100 can read information from the storage medium and write information to the storage medium. Alternatively, the storage medium may be integrated into the processor 1100.The 1100 processor and the storage medium can be contained within an application-specific integrated circuit (ASIC). The ASIC can be located in a user terminal. Alternatively, the 1100 processor and the storage medium can be separate components of the user's terminal device.

[0089] According to the present disclosure, as described above, information about the line can be estimated by using real-time information from the vehicle ahead during platoon formation. Accordingly, information about the line can be provided with higher reliability by reducing the errors accumulated in the rear section of the chain.

[0090] Furthermore, according to the present disclosure, the path to convoy formation can be planned based on information about the line, which is estimated using real-time information from the vehicle ahead. Accordingly, the vehicle can drive safely even when the distance between vehicles is very small, while maintaining a line.

[0091] Although the present disclosure has been described in several embodiments and in the accompanying drawings, it is not limited thereto, but can be modified and altered by a person skilled in the art in various ways without departing from the spirit and scope of the present disclosure as claimed in the following claims. The exemplary embodiments of the present disclosure therefore serve to illustrate the spirit and scope of the present disclosure, but not to limit it, so that the spirit and scope of the present disclosure are not limited by the embodiments of the present disclosure. The scope of the present disclosure should be interpreted on the basis of the accompanying claims, and all technical ideas within the scope corresponding to the claims should be included in the scope of the present disclosure. REPRESENTATIVE FIGURE: FIG. 1 100 DEVICE 110 COMMUNICATION EQUIPMENT 120 DETECTION DEVICE 121 COVERAGE AREA 1211 FRONT CAMERA 1212 AVM camera 1213 FRONT TRADAR 1214 Refraction Angle Sensor 123 Sensor Fusion Section 130 STORAGE 140 VEHICLE CONTROL 150 PROCESSOR 1000 COMPUTER SYSTEM 1100 PROCESSOR 1200 BUS 1300 STORAGE 1400 USER INTERFACE INPUT DEVICE 1500 USER INTERFACE OUTPUT DEVICE 1600 STORAGE 1700 NETWORK INTERFACE

Claims

[1] Device (100) for controlling column formation, the device comprising: a detection device (120) which is configured to detect front information of a vehicle using at least one sensor; a communication device (110) that is configured to support vehicle-to-vehicle (V2V) communication; and a processor (150) connected to the detection device (120) and the communication device (110), wherein the processor (150) is configured to: To capture information about a first line in front of the vehicle using the detection device (120); Receiving information via a second line transmitted by a preceding vehicle via the communication device (110); Coordinate transformation of the information about the second line, based on a vehicle coordinate system, using information about the vehicle ahead, Generating information about a third line using information about the first line and information about the second line based on information about the vehicle ahead; Generating information about a final line using the information about the first line, the information about the second line, and the information about the third line; and Planning a path for column formation using information about the final line, where the processor (150) is configured to: to generate the information about the third line by approximating a straight line or a curved line in order to connect an endpoint of the information about the first line with a starting point of the information about the second line. [2] Device according to claim 1, wherein the information about the preceding vehicle comprises: a distance between the vehicle and the vehicle ahead, a position of the center of a rear surface of the vehicle ahead, an angle of the rear surface of the vehicle ahead detected by the detection device, a tractor unit length, a trailer length and a refraction angle between a tractor unit and a trailer transmitted by the vehicle ahead. [3] Device according to any of the preceding claims, wherein the processor (150) is configured to: to generate the information about the final line by integrating the information about the first line, the information about the second line and the information about the third line based on the vehicle coordinate system. [4] Device according to one of the preceding claims, further comprising: A vehicle control system that is configured to control the lateral behavior of the vehicle so that it follows a line based on the path for convoy formation. [5] Device according to one of the preceding claims, wherein the detection device further comprises: at least one front camera (1211), one surround view camera (AVM) (1212), one front radar (1213) and / or one refractive index sensor (1214). [6] Device according to any of the preceding claims, wherein the processor (150) is configured to: to transmit information about the first line, a refraction angle of the vehicle and specification information of the vehicle via the communication device (110) to a following vehicle. [7] Method for planning a path of a device (100) for controlling column formation, comprising: Capturing information about a first line in front of a vehicle by means of at least one sensor installed in the vehicle; Receiving information via a second line transmitted by a preceding vehicle through vehicle-to-vehicle (V2V) communication; Generating information about a third line by using the information about the first line and the information about the second line based on information about the vehicle ahead; Generating information about a final line using the information about the first line, the information about the second line, and the information about the third line; and Planning a path for column formation using information about the final line, generating the information via the third line includes: Coordinate transformation of the information about the second line based on a vehicle coordinate system using information about the vehicle ahead; and Generating information about the third line by approximating a straight line or a curved line to connect an endpoint of the information about the first line with a starting point of the information about the second line. [8] Method according to claim 7, wherein the acquisition of information about the first line comprises: Acquiring information about the vehicle ahead, including a distance between the vehicle and the vehicle ahead, a position of the center of a rear surface of the vehicle ahead, and an angle of the rear surface of the vehicle ahead, using at least one sensor. [9] The method of claim 7, wherein receiving the information via the second line comprises: Receiving a tractor length, a trailer length and a refraction angle between a tractor and a trailer from the vehicle ahead. [10] Method according to claim 7, wherein generating the information about the final line comprises: Generating information about the final line by integrating information about the first line, information about the second line, and information about the third line based on the vehicle coordinate system. [11] Method according to claim 7, further comprising: Lateral steering of the vehicle by a vehicle control system to follow a line based on the path for convoy formation. [12] Method according to claim 7, further comprising: Transmitting information about the first line, a refraction angle of the vehicle and vehicle specification information via V2V communication to a following vehicle.

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