5G-NR-V2X Platooning Application Service Communication Method

Abstract

This invention provides a platooning communication method that enables accurate and safe platooning through standardized information exchange between vehicles and between vehicles and infrastructure, and a platooning system that applies this method. [Solution] A platooning application service communication method for 5G-NR-V2X is provided. The platooning communication method includes the steps of: the lead vehicle generating a platooning based on negotiations with the following vehicles; the lead vehicle executing the generated platooning with the following vehicles; and the lead vehicle withdrawing the following vehicles from the platooning. This enables safe and accurate platooning based on sound judgment through clear information exchange between vehicles in a platooning, or between vehicles in a platooning and the infrastructure, and supports integration / separation between platooning groups, thereby enabling a more efficient and effective platooning service.

Description

Technical Field

[0001] The present invention relates to a cluster driving protocol, and more particularly, to a communication method and system for performing platoon driving in a 5G-NR-V2X communication environment.

Background Art

[0002] Platoon driving is a driving method in which several vehicles move in a row, and efficient communication between the leading vehicle and the following vehicles that follow it is required. Therefore, by continuously collecting and sharing information such as the distance, speed, and direction of surrounding vehicles, safe platoon driving can be ensured. In addition, through communication with roadside base stations, the performance of platoon driving can be optimized and further services can be provided.

[0003] So far, platoon driving technology has been limited to vehicles of specific manufacturers and specific national projects (such as C-ITS projects), and research and development have been carried out. Therefore, since a standardized protocol in the driving environment has not been defined or there are parts that cannot be handled, there are limitations in realization. Vehicle manufacturers, research institutions, etc. define it themselves to realize the protocol, or temporarily use the extended area of the standard for utilization.

[0004] Such technology is only used by limited operators due to characteristics, and there are security problems. Therefore, there are many parts that are not open to be suitable for various services, and it is undeniable that there is a closed tendency.

Summary of the Invention

Problems to be Solved by the Invention

[0005] Therefore, the present invention has been made in view of the above problems, and an object of the present invention is to provide a platoon driving communication method that enables accurate and safe platoon driving through standardized information exchange between vehicles and between vehicles and infrastructure, and a platoon driving system to which the same is applied.

Means for Solving the Problems

[0006] A convoy driving communication method according to one embodiment of the present invention for achieving the above objective includes the steps of: the leading vehicle generating a convoy driving plan according to the content of negotiations with the following vehicles; the leading vehicle executing the generated convoy driving plan with the following vehicles; and the leading vehicle withdrawing the following vehicles from the convoy driving plan.

[0007] The steps for generating a platoon may include: the lead vehicle searching for vehicles to join the platoon group; the following vehicles notifying the lead vehicle of their intention to join the platoon group; the lead vehicle deciding to generate a platoon group; the lead vehicle negotiating with the following vehicles regarding matters concerning the platoon; and the lead vehicle setting up the platoon according to the negotiated details and generating the platoon.

[0008] The steps for removing a vehicle from a convoy may include: the lead vehicle requesting the following vehicle to leave the convoy group; the following vehicle accepting and executing the request to leave the convoy group; and the lead vehicle setting up a convoy that excludes the following vehicle.

[0009] A platooning communication method according to an embodiment of the present invention may further include the steps of: when the lead vehicle recognizes that another vehicle is changing lanes in front of it, the lead vehicle activates its brakes and applies the brakes; the lead vehicle notifies the following vehicle of the emergency braking situation; the following vehicle activates its brakes and applies the brakes; and the following vehicle responds to the lead vehicle that the brakes have been applied.

[0010] A platooning communication method according to an embodiment of the present invention may further include the steps of: the lead vehicle controlling platooning based on signal information and pedestrian information; the following vehicles controlling the vehicles under the control of the lead vehicle; the lead vehicle transmitting pedestrian information and brake information to the C-ITS; and the C-ITS transmitting and sharing the pedestrian information and brake information with other connected vehicles.

[0011] The control steps may further include: the lead vehicle determining whether it is permissible to pass through the intersection based on the remaining time of the signal; if it is determined that it is permissible to pass through the intersection, the lead vehicle instructing the following vehicle to accelerate; if it is determined that it is not permissible to pass through the intersection with the remaining time of the signal, the lead vehicle instructing the following vehicle to brake; and if it is determined that there are vulnerable road users at the intersection, the lead vehicle instructing the following vehicle to brake.

[0012] A platooning communication method according to an embodiment of the present invention may further include the steps of: the lead vehicle-A of platooning group-A and the lead vehicle-B of platooning group-B transmitting information about the platooning groups to a control center; the control center determining whether platooning group-B can join platooning group-A; if it is determined that joining is possible, the control center notifying the lead vehicles-A and B of platooning groups-A and B of the joining point and time; the lead vehicle-A requesting to join lead vehicle-B; the lead vehicles-A and B controlling the following vehicles in order to allow platooning group-B to join platooning group-A; and the lead vehicle-A of platooning group (A+B) controlling the platooning of platooning group (A+B).

[0013] A platooning communication method according to an embodiment of the present invention may further include the steps of: leading vehicle-A requesting the control center to separate platooning group B from the merged platooning group (A+B); when the control center decides to separate the merged platooning group (A+B), transmitting the separation point and time of the merged platooning group (A+B) to the leading vehicle-A of the merged platooning group (A+B); leading vehicle-A requesting the leading vehicle-B of platooning group-B to leave the platooning; leading vehicle-B responding to leading vehicle-A regarding the departure of platooning group-B; and leading vehicles-A and B controlling the following vehicles in order to allow platooning group-B to leave.

[0014] The platooning communication method according to an embodiment of the present invention may further include the steps of: when separation is complete, the leading vehicles A and B transmit the separation result to a control center; and the leading vehicles A and B control the following vehicles for their respective platooning operations.

[0015] Another embodiment of the present invention provides a platooning system which includes a lead vehicle that generates a platooning plan according to negotiations with following vehicles, executes the generated platooning plan with the following vehicles, and causes the following vehicles to withdraw from the platooning plan, and a following vehicle that negotiates the details of the platooning plan with the lead vehicle, executes the generated platooning plan, and withdraws from the platooning plan at the request of the following vehicles.

[0016] A platooning communication method according to yet another embodiment of the present invention further includes the steps of: the lead vehicle-A of platooning group-A and the lead vehicle-B of platooning group-B transmitting information about the platooning groups to a control center; the control center determining whether platooning group-B can join platooning group-A; if it is determined that joining is possible, the control center notifying the lead vehicles-A and B of platooning groups-A and B of the joining point and time; the lead vehicle-A requesting the lead vehicle-B to join; the lead vehicles-A and B controlling the following vehicles in order to allow platooning group-B to join platooning group-A; and the lead vehicle-A of platooning group (A+B) controlling the platooning of platooning group (A+B). [Effects of the Invention]

[0017] As described above, according to the present invention, safe and accurate platooning is possible through clear information exchange between vehicles traveling in a platoon, or between vehicles traveling in a platoon and infrastructure.

[0018] Furthermore, according to the embodiments of the present invention, it is possible to support the integration / separation of platooning groups, thereby enabling the provision of a more efficient and effective platooning service. [Brief explanation of the drawing]

[0019] [Figure 1] It is a diagram showing a queue running participation / execution / group method according to an embodiment of the present invention. [Figure 2] It is a diagram showing a queue running control method when a general vehicle changes lanes according to another embodiment of the present invention. [Figure 3] It is a diagram showing a queue running control method at an intersection based on signal information and pedestrian information according to yet another embodiment of the present invention. [Figure 4] It is a diagram showing a queue running group merging method utilizing a control center and a roadside base station according to yet another embodiment of the present invention. [Figure 5] It is a diagram showing a queue running group merging method utilizing a control center and a roadside base station according to yet another embodiment of the present invention. [Figure 6] It is a diagram showing a queue running group merging method utilizing a control center and a roadside base station according to another embodiment of the present invention.

Mode for Carrying Out the Invention

[0020] Hereinafter, the present invention will be described in more detail with reference to the drawings.

[0021] In an embodiment of the present invention, a queue running application system communication method is disclosed. It is a technology related to a communication protocol that enables more effective and stable queue running in communication environments such as 5G-Uu and 5G-NR-V2X, which have been actively researched, developed, and commercialized in recent years.

[0022] FIG. 1 is a diagram for explaining a queue running communication method according to an embodiment of the present invention. In FIG. 1, assumptions about participating in a queue running group, carrying out queue running, and withdrawing from the queue running group are shown in detail.

[0023] As shown in the figure, first, the lead vehicle (LV) generates platooning based on the negotiation content with the following vehicle (FV) (S110). The generation of platooning is carried out through the process of: 1) the lead vehicle (LV) searches for vehicles participating in the platooning group; 2) when the following vehicle (FV) notifies its participation in the platooning group; 3) the lead vehicle (LV) determines the generation of the platooning group; 4) after the lead vehicle (LV) negotiates matters regarding platooning with the following vehicle (FV); 5) the lead vehicle (LV) sets the platooning according to the negotiation content and generates the platooning.

[0024] Next, the lead vehicle (LV) and the following vehicle (FV) execute the platooning generated in step S110 (S120). On the other hand, if necessary, the lead vehicle (LV) can cause the following vehicle (FV) to withdraw from the platooning (S130). The withdrawal from the platooning is carried out through the process of: 1) when the lead vehicle (LV) requests the following vehicle (FV) to withdraw from the platooning group; 2) the following vehicle (FV) accommodates / executes the withdrawal from the platooning group; 3) the lead vehicle (LV) sets the platooning excluding the following vehicle (FV).

[0025] FIG. 2 is a diagram for explaining a platooning communication method according to another embodiment of the present invention. In FIG. 2, when a general vehicle changes lanes, the process of controlling the platooning is shown in detail.

[0026] As shown in the figure, when a general vehicle recognizes that a vehicle in front of it changes lanes (S210), the lead vehicle (LV) activates the brakes to apply the brakes (S220) and notifies the following vehicle (FV) of the emergency braking situation (S230). In FIG. 2, the message transmitted by the lead vehicle (LV) to the following vehicle (FV) is shown as PTLP (PlaTooning Lead Protocol) Data.

[0027] Then, the following vehicle (FV) activates its brakes and applies them (S240), and responds to the leading vehicle (LV) that braking is complete (S250). In Figure 2, the message transmitted by the following vehicle (FV) to the leading vehicle (LV) is shown as PTFP (PlaTooning Follow Protocol) Data.

[0028] Figure 3 is a diagram illustrating a platooning communication method according to yet another embodiment of the present invention. Figure 3 shows in detail the process of controlling platooning at an intersection based on signal information and pedestrian information.

[0029] As shown in the diagram, the C-ITS (Cooperative-Intelligent Transport System) acquires signal information and transmits it to the lead vehicle (LV) of the platooning group (S310). The signal information is acquired from the connected signal and includes information on the signal status (red, green) and the remaining time for the signal.

[0030] Then, the lead vehicle (LV) controls the platooning based on the signal information received from step S310 and the pedestrian information it has acquired (S320), and the following vehicles (FV) control the vehicles based on the control performed by the lead vehicle (LV) in step S320 (S330). Platooning control is performed in the following two parts.

[0031] Firstly, the system utilizes signal information to control the following vehicle (FV). Specifically, the lead vehicle (LV) 1) determines whether it is possible to pass through the intersection based on the remaining time of the signal, and 2) if it is determined that it is possible to pass through the intersection, it instructs the following vehicle (FV) to accelerate so that it can pass through the intersection quickly.

[0032] Secondly, in addition to signal information, pedestrian information is further utilized to control following vehicles (FV). Specifically, if the lead vehicle (LV) determines that there are vulnerable road users at the intersection, it will instruct the following vehicle (FV) to brake. Furthermore, if the lead vehicle (LV) determines that it cannot pass through the intersection within the remaining time of the signal, it will also instruct the following vehicle (FV) to brake.

[0033] Meanwhile, the lead vehicle (LV) transmits pedestrian information and brake information to the C-ITS (S340), and the C-ITS transmits and shares the pedestrian information and brake information received at the step to another connected vehicle (S350).

[0034] Figure 4 is a diagram illustrating a platooning communication method according to yet another embodiment of the present invention. Figure 4 shows in detail the process of platooning groups merging using a control center and roadside base stations.

[0035] As shown in the diagram, first, the lead vehicle (LV-A) of platooning group (A) and the lead vehicle (LV-B) of platooning group (B) transmit information about the platooning group to the control center via a roadside base station (Road Side Unit: RSU) (S410). The information about the platooning group includes the current position, route, and speed of the platooning group.

[0036] Based on the information received via step S410, which includes the current position, route, and speed of the platooning groups (A and B), the control center determines whether platooning group (B) can merge with platooning group (A) (S420).

[0037] If it is determined in step S420 that merging is possible, the control center notifies the lead vehicles (LV-A, B) of the platooning group (A, B) of the merging point and time (S430). The merging point and time are predicted by the control center based on the current position, route, and speed of the platooning group (A, B).

[0038] Then, the lead vehicle (LV-A) of convoy group (A) requests to merge with the lead vehicle (LV-B) of convoy group (B), and the lead vehicle (LV-B) of convoy group (B) responds to the lead vehicle (LV-A) of convoy group (A) agreeing to merge (S440).

[0039] Next, the lead vehicles (LV-A, B) of the convoy groups (A, B) control the following vehicles (FV) in order to merge convoy group (B) with convoy group (A) (S450).

[0040] Once the merge is complete, the lead vehicle (LV-A) of platooning group (A) transmits information about the merged platooning group (A+B) to the control center via the base station (RSU) (S460). The information about the merged platooning group (A+B) includes information about the current position, route, and speed of the merged platooning group (A+B).

[0041] Figures 5 and 6 illustrate a platooning communication method according to yet another embodiment of the invention. Figures 5 and 6 show in detail the process of a platooning group leaving the control center and a roadside base station.

[0042] As shown in the diagram, the platooning of the platooning group (A+B) is controlled around the lead vehicle (LV-A) of the platooning group (A+B) that merged first (S510). The lead vehicle (LV-A) then transmits information about the merged platooning group (A+B) to the control center via the base station (S520).

[0043] Meanwhile, the lead vehicle (LV-A) can request the control center, via the base station, to separate / depart from the merged platoon group (A+B) (S530). The control center then decides whether or not to separate the merged platoon group (A+B) based on the information about the merged platoon group (A+B) (S540).

[0044] When it is decided to separate the merged platoon group (A+B), the control center transmits the separation point and time of the merged platoon group (A+B) to the lead vehicle (LV-A) of the merged platoon group (A+B) (S550).

[0045] Then, the lead vehicle (LV-A) of platooning group (A) requests the lead vehicle (LV-B) of platooning group (B) to leave the platoon, and the lead vehicle (LV-B) responds to the lead vehicle (LV-A) regarding the departure of platooning group (B) (S560).

[0046] Next, as shown in Figure 6, the lead vehicles (LV-A, B) of the platooning groups (A, B) control the following vehicles (FV) to allow platooning group (B) to depart (S570). Once the departure is complete, the lead vehicles (LV-A, B) of the platooning groups (A, B) transmit the departure result to the control center via the base station (S580) and transmit information for each of the separated platooning groups (A, B) (S590).

[0047] The control center then transmits the received response to the lead vehicles (LV-A, B) of the platooning groups (A, B) (S600), and the lead vehicles (LV-A, B) of the platooning groups (A, B) control the following vehicles (FV) for their respective platooning operations (S610).

[0048] Up to this point, we have explained in detail the communication method for platooning applications, citing preferred embodiments.

[0049] In the above embodiment, clear information exchange between platooning vehicles, or between platooning vehicles and infrastructure, enables safe and accurate platooning based on sound judgment, and supports integration / separation between platooning groups, thereby enabling more efficient and effective platooning services.

[0050] On the other hand, the technical ideas of the present invention can also be applied to computer-readable recording media incorporating a computer program that performs the functions of the apparatus and method according to this embodiment. Furthermore, the technical ideas of various embodiments of the present invention may be realized in computer-readable code format recorded on a computer-readable recording medium. A computer-readable recording medium can be any data storage device that can be read by a computer and store data. For example, a computer-readable recording medium may be ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical disk, hard disk drive, etc. Furthermore, computer-readable code or program stored on a computer-readable recording medium may be transmitted via a network connected between computers.

[0051] Although preferred embodiments of the present invention have been described in detail above with reference to the attached drawings, the present invention is not limited to these embodiments. It is clear to any person with ordinary skill in the art to which the present invention belongs that various modifications or alterations can be conceived within the scope of the technical intent described in the claims, and these are also understood to fall within the technical scope of the present invention.

Claims

1. The lead vehicle generates a convoy formation based on the details of negotiations with the following vehicles. The lead vehicle performs a platooning maneuver with the following vehicles, The lead vehicle takes the step of removing the following vehicles from the convoy. A platooning communication method characterized by including the following:

2. The step of generating a convoy is, The lead vehicle searches for vehicles to join the convoy group, The following vehicle notifies the other vehicle of its intention to join the convoy, The lead vehicle decides to form a convoy group, The lead vehicle negotiates with the following vehicles regarding matters concerning platooning, The lead vehicle sets up the platoon formation according to the negotiation details and generates the platoon formation. The convoy driving communication method according to claim 1, characterized by including the following:

3. The steps to remove a vehicle from a convoy are: The lead vehicle requests the following vehicles to leave the convoy, The following steps involve the following vehicle accommodating and carrying out the withdrawal from the convoy group, The lead vehicle sets up a platoon formation that excludes the following vehicles. The convoy driving communication method according to claim 1, characterized by including the following:

4. When the lead vehicle recognizes that another vehicle is changing lanes in front of it, it applies the brakes and takes the following steps: The lead vehicle notifies the following vehicles of the emergency braking situation, The following vehicle applies the brakes, and The following vehicle responds to the leading vehicle that the brakes have been applied. The convoy driving communication method according to claim 1, further comprising the following:

5. The lead vehicle controls the platooning based on signal information and pedestrian information, The following steps involve the following vehicle controlling the vehicle through the control of the leading vehicle, The lead vehicle transmits pedestrian information and brake information to the C-ITS, C-ITS involves the steps of transmitting and sharing pedestrian information and brake information to another connected vehicle. The convoy driving communication method according to claim 1, further comprising the following:

6. The control steps are: The lead vehicle makes a decision on whether or not to proceed through the intersection based on the remaining time on the signal, Once it is determined that it is possible to pass through the intersection, the lead vehicle instructs the following vehicles to accelerate. If it is determined that it is impossible to pass through the intersection within the remaining time of the signal, the lead vehicle instructs the following vehicles to brake. If it is determined that there is a vulnerable road user at the intersection, the lead vehicle will instruct the following vehicles to brake. The convoy driving communication method according to claim 5, further comprising the following:

7. The first step involves the lead vehicle A of platoon group A and the lead vehicle B of platoon group B transmitting information about the platoon groups to the control center. The control center determines whether platooning group B can merge with platooning group A, If it is determined that merging is possible, the control center notifies the lead vehicles of platoon groups A and B, A and B, of the merging point and time. The first step is for lead vehicle A to request to merge with lead vehicle B, The leading vehicles A and B control the following vehicles in order to merge convoy group B into convoy group A, The leading vehicle A of the convoy group (A+B) controls the convoy driving of the convoy group (A+B). The convoy driving communication method according to claim 1, further comprising the following:

8. The first step is for the lead vehicle A to request the control center to separate convoy group B from the merged convoy group (A + B), When it is decided that the merged platoon group (A+B) will separate, the control center transmits the separation point and time of the merged platoon group (A+B) to the lead vehicle A of the merged platoon group (A+B), The first step is for the lead vehicle A to request the lead vehicle B of the convoy group B to leave the convoy, The first step is for lead vehicle B to respond to lead vehicle A regarding the departure of convoy group B, The leading vehicles A and B control the following vehicles in order for group B to leave the convoy. The convoy driving communication method according to claim 7, further comprising the following:

9. Once the departure is complete, the lead vehicles A and B transmit the departure result to the control center. The lead vehicles, A and B, control the following vehicles for their respective convoy driving procedures. The convoy driving communication method according to claim 8, further comprising the following:

10. Depending on the negotiations with the following vehicles, the lead vehicle generates a convoy, executes the generated convoy with the following vehicles, and removes the following vehicles from the convoy. Negotiate the platoon formation details with the lead vehicle, execute the generated platoon formation, and allow following vehicles to leave the platoon formation at their request. A platooning system characterized by including the following:

11. The first step involves the lead vehicle A of platoon group A and the lead vehicle B of platoon group B transmitting information about the platoon groups to the control center. The control center determines whether platooning group B can merge with platooning group A, If it is determined that merging is possible, the control center notifies the lead vehicles of platoon groups A and B, A and B, of the merging point and time. The first step is for lead vehicle A to request to merge with lead vehicle B, The leading vehicles A and B control the following vehicles in order to merge convoy group B into convoy group A, The leading vehicle A of the convoy group (A+B) controls the convoy driving of the convoy group (A+B). A platooning communication method characterized by further comprising the following.

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