Server, personal mobility and vehicle communication with the serve

Abstract

The present invention relates to a server and personal mobility and a vehicle that communicate with the server. The server of the present invention includes: a communication unit that communicates with a plurality of vehicles and a plurality of personal mobility devices; and a control unit that controls the transmission of layout information for the driving positions determined in the first and second stages to the plurality of vehicles and the plurality of personal mobility devices, by setting a geofence area based on size information of a plurality of vehicles and size information of a plurality of personal mobility devices during platooning, determining the driving positions of a plurality of vehicles within the geofence area set based on size information of a plurality of vehicles, determining the driving positions of a plurality of personal mobility devices within the geofence area set based on size information of a plurality of personal mobility devices.

Description

Technology Field

[0001] The present invention relates to a server that guides and monitors platoon driving, personal mobility and a vehicle that communicate with the server. Background Technology

[0002] Recently, due to environmental regulations and the increase in large cities, the development of single-person vehicles known as personal mobility is on the rise. These personal mobility devices are small, medium-to-short-distance mobility devices that combine electric charging and power technologies, and are also referred to as smart mobility or micro-mobility.

[0003] In other words, personal mobility does not emit environmental pollutants because it is powered by electricity.

[0004] In addition, personal mobility is gaining attention as a mobility device that is easy to carry and can resolve traffic congestion and parking problems.

[0005] These personal mobility devices can be owned by individuals, but they are also utilized through rentals via sharing services. In other words, users can rent and use personal mobility devices through sharing services.

[0006] In addition, users of personal mobility can also perform platooning using personal mobility together with other users of personal mobility. The problem to be solved

[0007] One aspect provides a server that sets and guides the driving positions of a vehicle and personal mobility on the road when the vehicle and personal mobility are driving together.

[0008] Another aspect provides personal mobility and vehicles that drive in a driving position set by the size of the vehicle and personal mobility. means of solving the problem

[0009] A server according to one aspect includes: a communication unit that communicates with a plurality of vehicles and a plurality of personal mobility devices; and a control unit that controls the transmission of layout information for the driving positions determined in the first and second stages to the plurality of vehicles and the plurality of personal mobility devices, by setting a geofence area based on size information of a plurality of vehicles and size information of a plurality of personal mobility devices during platooning, determining a driving position of a plurality of vehicles within the geofence area set based on size information of a plurality of vehicles, determining a driving position of a plurality of personal mobility devices within the geofence area set based on size information of a plurality of personal mobility devices.

[0010] The communication unit of the server receives size information of multiple vehicles and size information of multiple personal mobility devices.

[0011] The server further includes a storage unit that stores size information for each vehicle and size information for each personal mobility, and when the control unit receives identification information for each vehicle and identification information for each personal mobility through the communication unit, it checks the size information for each vehicle corresponding to the received identification information for each vehicle and the size information for each personal mobility corresponding to the identification information for each personal mobility from the information stored in the storage unit.

[0012] When the control unit of the server receives a platooning request signal and current location information from at least one vehicle or personal mobility, it transmits a platooning proposal signal to a vehicle and personal mobility that are within a certain distance from the current location among a plurality of vehicles and a plurality of personal mobilitys based on the received current location information, and determines the driving position of the vehicle or personal mobility that transmitted the approval signal for platooning.

[0013] When a vehicle and a personal mobility device are included among the targets for platooning, the control unit of the server determines whether the road at the current location is a road where both the vehicle and the personal mobility device can travel, based on current location information and map information.

[0014] The server's control unit determines whether the road at the current location is a road capable of autonomous driving based on current location information and map information during platooning.

[0015] When the control unit of the server places multiple vehicles in a geofence area to determine the driving position of multiple vehicles in the first step, it places the vehicles from the front area of ​​the right lane within the geofence area to the rear area, and then places the vehicles from the front area of ​​the left lane within the geofence area to the rear area.

[0016] The control unit of the server places the remaining vehicles starting from the front area of ​​the center lane within the geofence area when there are more vehicles to be placed after the placement of vehicles in the left and right lanes within the geofence area is completed.

[0017] When deploying multiple vehicles in a geofence area, the control unit of the server arranges them in order of vehicle size, from the largest vehicle to the smallest vehicle.

[0018] When the deployment of multiple vehicles is completed, the control unit of the server checks the remaining area within the geofence area and deploys multiple personal mobility vehicles in the identified remaining area.

[0019] The control unit of the server adjusts the driving position of the vehicle placed in the central lane within the geofence area based on the driving position of the personal mobility.

[0020] When the design mode is safe mode, the control unit of the server places multiple vehicles in the area corresponding to the boundary of the geofence area and places multiple personal mobility devices in the central area of ​​the geofence area.

[0021] When deploying multiple vehicles, the server's control unit arranges them in order of size, starting with the largest vehicle.

[0022] When the design mode is aerodynamic mode, the control unit of the server places multiple vehicles from the front area to the rear area of ​​the geofence area, arranged in order of size from the smallest vehicle to the largest vehicle, and places multiple personal mobility devices in the rear area of ​​the largest vehicle.

[0023] The control unit of the server places the vehicle smaller than the standard size in the area behind the largest vehicle if there is a vehicle smaller than the standard size, and places multiple personal mobility devices in the area behind the vehicle smaller than the standard size.

[0024] The control unit of the server places at least two personal mobility devices between adjacent vehicles on the left and right sides when the width of the lane within the geofence area is greater than or equal to the reference width.

[0025] The control unit of the server places one personal mobility vehicle in a lane where a vehicle of a predetermined size or smaller is placed if the number of lanes within the geofence area is less than a reference number.

[0026] The size information of each personal mobility on the server includes area size information for the safety area of ​​each personal mobility, and the size information of each vehicle includes area size information for the safety area of ​​each vehicle.

[0027] A personal mobility device according to another aspect includes: a communication unit that communicates with a server; a motor that rotates a wheel; and a control unit that controls the motor to move to a driving position determined by the server based on layout information and driving position information received from the server when performing a swarm mode, and controls the motor to drive to a destination while maintaining the driving position based on path information.

[0028] A vehicle according to another aspect includes: a communication unit communicating with a server; a power unit driving a plurality of wheels; and a control unit that controls the power unit to move to a driving position determined by the server based on layout information and driving position information received from the server when performing a platooning mode, and controls the power unit to drive to a destination while maintaining the driving position based on path information.

[0029] The vehicle further includes an image acquisition unit for acquiring an image of the road and an obstacle detection unit for detecting obstacles, and the control unit recognizes the driving position based on the acquired image of the road and obstacle information regarding the detected obstacles, and recognizes personal mobility and other vehicles performing platooning. Effects of the invention

[0030] The present invention can improve the driving safety of personal mobility and improve driving efficiency by determining the driving positions of the vehicle and personal mobility based on the size of the vehicle and the size of the personal mobility when the vehicle and personal mobility perform platooning together.

[0031] The present invention can increase aerodynamic efficiency and thereby improve fuel efficiency by determining the driving positions of the vehicle and personal mobility based on the size of the vehicle and the size of the personal mobility when the vehicle and personal mobility perform platooning together.

[0032] The present invention can improve the driving safety of personal mobility by determining the driving position of personal mobility as an area between vehicles when vehicles and personal mobility perform platooning together.

[0033] The present invention can improve the quality and marketability of personal mobility, further increase user satisfaction, and secure product competitiveness. Brief explanation of the drawing

[0034] Figure 1 is a configuration diagram of a platoon driving system according to an embodiment. FIGS. 2 and FIGS. 3 are example diagrams of a mobile body performing platooning in a platooning system according to an embodiment. FIG. 4 is an example diagram of a safety area of ​​a mobile body performing platooning in a platooning system according to an embodiment. Figure 5 is an example of a geofence area set by a server within a platoon driving system according to an embodiment. FIGS. 6a, 6b, and 6c are design example diagrams of a server layout within a platoon driving system according to an embodiment. FIGS. 6a, 6b, and 6c are design example diagrams of a server layout within a platoon driving system according to an embodiment. FIG. 7a is an example design diagram of a layout based on the lane width of a server in a platooning system according to an embodiment, and FIG. 7b is an example design diagram of a layout based on the number of lanes of a server in a platooning system according to an embodiment. FIG. 8 is an example design diagram of a layout based on the safety mode of a server within a platoon driving system according to an embodiment. FIG. 9 is a design example of a layout based on the aerodynamic mode of a server within a platoon driving system according to an embodiment. FIG. 10 is a control configuration diagram of personal mobility within a platoon driving system according to an embodiment. FIG. 11 is a control configuration diagram of a vehicle in a platoon driving system according to an embodiment. Specific details for implementing the invention

[0035] The present invention will be described in detail below with reference to the attached drawings.

[0036] Throughout the specification, the same reference numerals refer to the same components. This specification does not describe all elements of the embodiments, and general content in the art to which the invention pertains or content that overlaps between embodiments is omitted. The terms 'part, module, device' used in the specification may be implemented in software or hardware, and depending on the embodiments, a plurality of 'parts, modules, devices' may be implemented as a single component, or a single 'part, module, device' may include a plurality of components.

[0037] Throughout the specification, when a part is described as being "connected" to another part, this includes not only cases where they are directly connected but also cases where they are indirectly connected, and indirect connections include connections made via a wireless communication network.

[0038] Furthermore, when it is stated that a part "includes" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components.

[0039] The terms first, second, etc. are used to distinguish one component from another, and the components are not limited by the aforementioned terms.

[0040] Singular expressions include plural expressions unless there is an obvious exception in the context.

[0041] In each step, identification codes are used for convenience of explanation and do not describe the order of the steps; the steps may be performed differently from the specified order unless a specific order is clearly indicated in the context.

[0042] The operating principle and embodiments of the present invention will be described below with reference to the attached drawings.

[0043] FIG. 1 is a configuration diagram of a platoon driving system according to an embodiment, and will be explained with reference to FIG. 2, FIG. 3, FIG. 4 and FIG. 5.

[0044] FIGS. 2 and FIGS. 3 are example diagrams of a mobile body performing platooning in a platooning system according to an embodiment, FIG. 4 is an example diagram of a safety area of ​​a mobile body performing platooning in a platooning system according to an embodiment, and FIG. 5 is an example diagram of a geofence area set by a server within a platooning system according to an embodiment.

[0045] As illustrated in FIG. 1, a platoon driving system may include a server (1) and a plurality of moving bodies (2, 3) that control driving based on driving information transmitted from the server (1).

[0046] The server (1) may be a server of a company that manufactures and manages personal mobility (2), and may also be a server of a company that manufactures and manages a vehicle (1).

[0047] The server (1) may be a server of a sharing service provider, a server of a company that guides and controls platooning, or a server of a company that provides information for autonomous driving.

[0048] A plurality of mobile bodies (2, 3) are devices capable of driving manually or automatically, and may include personal mobility (2) and vehicles (3).

[0049] As shown in FIG. 2, personal mobility (2) is powered by a motor and a battery and may include a bike (2a) such as a scooter, an electric bicycle (2b), a two-wheeled kickboard (2c) and a one-wheeled kickboard (2d).

[0050] The personal mobility (2) can perform at least one of a manual driving mode, which drives based on commands entered by the user, and an autonomous driving mode, which drives autonomously to a destination.

[0051] A vehicle is a machine that drives its wheels for the purpose of transporting people or cargo, and depending on its use, it can be divided into passenger vehicles, which are used for personal use and mobility, and commercial vehicles, which are used for commercial purposes and the transportation of goods or people.

[0052] Here, commercial vehicles may include trucks, dump trucks, vans, forklifts, and special work vehicles that transport goods, and may include buses and taxis that transport people.

[0053] As shown in FIG. 3, vehicles can be classified according to size into large commercial vehicles (3a), medium commercial vehicles (3b), large passenger vehicles (3c), medium passenger vehicles (3d), and small passenger vehicles (3e).

[0054] Vehicles include internal combustion engine vehicles (conventional engine vehicles) that generate mechanical power by burning petroleum fuels such as gasoline and diesel and drive using this mechanical power, and eco-friendly vehicles that drive using electricity to improve fuel efficiency and reduce harmful gas emissions.

[0055] Eco-friendly vehicles include electric vehicles that include a rechargeable power unit, a battery, and a motor, and rotate the motor using electricity stored in the battery to drive the wheels using the rotation of the motor; hybrid vehicles that include an engine, a battery, and a motor, and drive by controlling the mechanical power of the engine and the electrical power of the motor; and hydrogen fuel cell vehicles.

[0056] The vehicle can perform at least one of a manual driving mode, which drives based on commands entered by a user, and an autonomous driving mode, which drives autonomously to a destination.

[0057] Personal mobility (2) and vehicle (3) can control autonomous driving based on path information and driving control information transmitted from server (1) when performing autonomous driving mode.

[0058] When performing a platoon driving mode, the personal mobility (2) and the vehicle (3) can determine their driving position among the vehicles performing platoon driving based on driving position information transmitted from the server (1), and control autonomous driving at the determined driving position.

[0059] The personal mobility vehicles performing platooning may be one or more, and the vehicles performing platooning may also be one or more.

[0060] Below, the specific configuration of a server (1) for guiding and controlling the platooning of personal mobility (2) and vehicles (3) is described.

[0061] As illustrated in FIG. 1, the server (1) includes a first input unit (110), a first display unit (120), a first control unit (130), a first storage unit (131), and a first communication unit (140). In addition, to distinguish between components with the same name among the server (1), personal mobility (2), and vehicle (3), 'first' is written on the components of the server (1), 'second' is written on the components of the personal mobility (2), and 'third' is written on the components of the vehicle (3).

[0062] The first input unit (110) receives user input. This first input unit (110) can receive user information of the personal mobility (2) for user registration, identification information of the personal mobility (2), user information of the vehicle (3), and identification information of the vehicle.

[0063] The first input unit (110) can receive identification information of personal mobility (2) and vehicles for autonomous driving or platooning, and can receive information of the origin and destination.

[0064] The first input unit (110) may include a button, key, switch, pedal, lever, jog dial (not shown), or touch pad.

[0065] The first input unit (110) may also receive a command to select a design mode when designing a layout for platoon driving. Here, the design mode may include a size mode, a safety mode, and an aerodynamic mode depending on the conditions considered important.

[0066] The first display unit (120) can display information about the personal mobility (2) and vehicle (3) performing platoon driving, information about the starting point and destination of the platoon driving, route information about the route of the platoon driving, and information about the total driving time, total driving distance, remaining time and remaining distance, etc.

[0067] The information of the personal mobility (2) and the vehicle (3) may include user information, identification information of the personal mobility (2), and identification information of the vehicle (3).

[0068] The first display unit (120) may also display layout information for group driving.

[0069] The first display unit (120) may also display a design mode when designing a layout for platoon driving.

[0070] When the first control unit (130) receives a platoon driving request signal from at least one mobile body, it transmits a platoon driving proposal signal to another mobile body based on the current location information of at least one mobile body. Here, at least one mobile body may be at least one personal mobility or at least one vehicle.

[0071] The first control unit (130) can transmit destination information along with the cluster driving request signal.

[0072] The first control unit (130) can transmit a group driving proposal signal to other vehicles traveling within a certain distance based on the current location information of at least one vehicle.

[0073] The first control unit (130) can transmit a platooning proposal signal to other vehicles capable of autonomous driving that are driving within a certain distance based on the current location information of at least one vehicle.

[0074] The first control unit (130) can identify other vehicles traveling within a certain distance based on the current location information of at least one vehicle and transmit a group driving proposal signal to other vehicles among the identified vehicles that have the same destination.

[0075] When the first control unit (130) receives a cluster driving request signal from at least one moving object, it is also possible to determine whether the road at the current location is a road where autonomous driving is possible based on the current location information and map information of at least one moving object.

[0076] The first control unit (130) determines whether there is another mobile body that has approved platooning in response to the transmission of a platooning proposal signal.

[0077] The first control unit (130) can determine whether platooning is possible on the road at the current location by corresponding to whether at least one moving body is a personal mobility or a vehicle and whether another moving body approved for platooning is a vehicle or a personal mobility.

[0078] For example, if at least one vehicle is a personal mobility and another vehicle that has approved platooning is a personal mobility, the first control unit (130) determines whether the road at the current location is a road that the personal mobility can drive on based on the current location information and map information of at least one vehicle.

[0079] If at least one moving object is a personal mobility device and another moving object approved for platooning is a vehicle, the first control unit (130) determines whether the road at the current location is a road where both personal mobility devices and vehicles can travel, based on the current location information and map information of at least one moving object.

[0080] If at least one moving object is a vehicle and another moving object that has approved platooning is a personal mobility device, the first control unit (130) determines whether the road at the current location is a road where both personal mobility devices and vehicles can travel, based on the current location information and map information of at least one moving object.

[0081] If at least one moving object is a vehicle and another moving object that has approved platooning is a vehicle, the first control unit (130) determines whether the road at the current location is a road that the vehicle can drive on based on the current location information and map information of at least one moving object.

[0082] A first control unit is described when both vehicles and personal mobility devices perform platooning.

[0083] The first control unit (130) checks road information within the route information based on route information from the current location (or starting point) to the destination, and based on the checked road information, if the road within the route is a road where both the vehicle and personal mobility that requested and approved platooning can drive and is capable of autonomous driving, and if both the vehicle and personal mobility that requested and approved platooning can perform autonomous driving mode, then it guides and controls platooning.

[0084] The first control unit (130) checks the identification information of the vehicle that requested and approved the platooning and the identification information of the personal mobility, respectively, obtains area size information for the safety area of ​​the vehicle based on the identified vehicle identification information, and obtains area size information for the safety area of ​​the personal mobility based on the identified personal mobility identification information.

[0085] As illustrated in FIG. 4, the first control unit (130) can obtain area size information for the safety area (A1) of a large commercial vehicle (3a), the safety area (A2) of a medium commercial vehicle (3b), the safety area (A3) of a large passenger car (3d), the safety area (A4) of a medium passenger car (3d), and the safety area (A5) of a small passenger car (3e).

[0086] The first control unit (130) can obtain area size information for the safety area (A6) of the bike (2a), the safety area (A7) of the electric bicycle (2b), the safety area (A8) of the two-wheeled kickboard (2c), and the safety area (A9) of the one-wheeled kickboard (2d).

[0087] The first control unit (130) can obtain the size of the personal mobility and the braking distance of the personal mobility based on the identification information of the personal mobility, and it is also possible to obtain area size information for the safety area of ​​the personal mobility based on the obtained size of the personal mobility and the braking distance of the personal mobility.

[0088] The first control unit (130) can obtain the size of the vehicle and the braking distance of the vehicle based on the identification information of the vehicle, and it is also possible to obtain area size information for the safety area of ​​the vehicle based on the obtained size of the vehicle and the braking distance of the vehicle.

[0089] For example, the area size when the braking distance of the personal mobility is short may be smaller than the area size when the braking distance of the personal mobility is long. Also, the area size when the braking distance of the vehicle is short may be smaller than the area size when the braking distance of the vehicle is long.

[0090] The first control unit (130) may obtain area size information corresponding to the identification information of a vehicle from the information stored in the first storage unit (131), and may also obtain area size information corresponding to the identification information of a personal mobility from the information stored in the first storage unit (131).

[0091] The first control unit (130) may also request the provision of area size information regarding the safety area of ​​the vehicle and personal mobility to perform platoon driving.

[0092] As illustrated in FIG. 5, the first control unit (130) sets a geofence area based on area size information for the safety area of ​​each vehicle to perform platoon driving and area size information for the safety area of ​​each personal mobility.

[0093] The first control unit (130) determines the driving positions of the vehicles to perform platoon driving in the set geofence area, and once the driving positions of the vehicles are determined, determines the driving positions of the personal mobilitys, thereby designing the layout of the vehicles for platoon driving.

[0094] The first control unit (130) can set a geofence area based on size information of multiple vehicles and size information of multiple personal mobility devices during platoon driving, determine the driving position of multiple vehicles within the geofence area set based on size information of multiple vehicles, determine the driving position of multiple personal mobility devices within the geofence area set based on size information of multiple personal mobility devices, and control the transmission of layout information for the driving positions determined in the first and second stages to multiple vehicles and multiple personal mobility devices.

[0095] The design of the layout of the moving bodies for platooning is explained with reference to FIGS. 6a, 6b, and 6c.

[0096] The following is an explanation assuming that the vehicles performing platoon driving are one large commercial vehicle (3a), two medium commercial vehicles (3b), three medium passenger cars (3d), three motorcycles (2a) and two two-wheeled kickboards (2c).

[0097] As illustrated in FIG. 6a, when designing the layout of the moving bodies, the first control unit (130) places a vehicle (3a) having the first largest safety area (A1) in the front area of ​​the right lane among the lanes within the geofence area, and places a vehicle (3b) having the second largest safety area (A2) in the front area of ​​the left lane.

[0098] The first control unit (130) determines whether another vehicle (3b') having a second largest safety area (A2) can be placed in the rear area of ​​the right lane if there is another vehicle (3b') having a second largest safety area (A2), and if it is determined that placement in the rear area of ​​the right lane is not possible, determines whether placement in the rear area of ​​the left lane is possible, and if it is determined that placement in the rear area of ​​the left lane is possible, places the other vehicle (3b') having a second largest safety area (A2) in the rear area of ​​the left lane.

[0099] The first control unit (130) compares the size of the rear area of ​​the right lane with the size of the safety area (A2), and if it is determined that the size of the rear area of ​​the right lane is smaller than the size of the safety area (A2), it can determine that the placement of another vehicle (3b) is impossible.

[0100] The rear area of ​​the right lane may be the area remaining after placing the vehicle (3a). That is, the rear area of ​​the right lane may be the area excluding the safety area (A1) among the right lane areas of the geofence.

[0101] The first control unit (130) compares the size of the rear area of ​​the left lane with the size of the safety area (A2), and if it is determined that the size of the rear area of ​​the left lane is larger than the size of the safety area (A2), it can determine that the placement of another vehicle (3b) is possible.

[0102] The first control unit (130) compares the third largest safety area (A4) with the remaining area of ​​the right lane and the remaining area of ​​the left lane among the geofence areas to determine whether a vehicle (3d) can be placed in the remaining area of ​​the right lane or the remaining area of ​​the left lane.

[0103] The first control unit (130) places the vehicle (3d) in the remaining area of ​​the right lane if it determines that the vehicle (3d) can be placed in the remaining area of ​​the right lane, and places the vehicle (3d) in the remaining area of ​​the left lane if it determines that the vehicle (3d) cannot be placed in the remaining area of ​​the right lane.

[0104] As illustrated in FIG. 6b, if the first control unit (130) determines that the vehicle (3d) cannot be placed in the remaining area of ​​the right lane or the remaining area of ​​the left lane, it places the vehicle (3d) having the third largest safety area (A4) in the front area of ​​the center lane among the geofence areas.

[0105] Here, there can be one or two central lanes.

[0106] The first control unit (130) places another vehicle (3d') having a third largest safety area (A4) in some of the remaining areas of the center lane if there is another vehicle (3d') having a third largest safety area (A4).

[0107] The first control unit (130) places another vehicle (3d'') in the remaining area of ​​the center lane if there is another vehicle (3d) having a third largest safety area (A4).

[0108] The first control unit (130) can obtain the driving positions of all vehicles once the placement of all vehicles in the geofence area is completed.

[0109] As illustrated in FIG. 6c, the first control unit (130) acquires the remaining area (EA1, EA2) of the geofence area where the vehicle is placed and places three bikes (2a) and two two-wheeled kickboards (2c) in the acquired remaining area. Here, the remaining area (EA1, EA2) where the vehicle is placed may be the left and right areas between the vehicles.

[0110] The first control unit (130) can sequentially arrange personal mobility devices with larger safety areas starting from the front area based on information regarding the safety area sizes of three bikes (2a) and two two-wheeled kickboards (2c).

[0111] The first control unit (130) can also adjust the driving position of the vehicle (2d, 2d', 2d'') placed in the center lane by a certain distance in the opposite direction to where the personal mobility is placed, taking into consideration the safety of the vehicle and personal mobility.

[0112] For example, when the first control unit (130) places the personal mobility in the remaining area (EA1) on the right, it can move the driving position of the vehicle (2d, 2d', 2d'') placed in the center lane to the right by a certain distance, and when the personal mobility is placed in the remaining area (EA2) on the right, it can move the driving position of the vehicle (2d, 2d', 2d'') placed in the center lane to the left by a certain distance.

[0113] The first control unit (130) can check the size of the rear of the left lane, the rear of the center lane, and the remaining area behind the left lane of the geofence area once all vehicles have been placed in the geofence area, and can also adjust the front-to-rear spacing of the vehicles placed in each lane based on the information regarding the checked size.

[0114] For example, the first control unit (130) can adjust the distance between vehicles (d') and vehicles (d'') placed in the center lane of the geofence area.

[0115] An example of designing the layout of moving bodies based on lane width and the number of lanes is explained with reference to FIGS. 7a and 7b.

[0116] As illustrated in FIG. 7a, the first control unit (130) obtains road lane width information based on map information and current location information, and if it is determined based on the obtained lane width information that the road lane width (W) is greater than or equal to a reference width, it is also possible to arrange personal mobility devices in two rows between vehicles placed in two adjacent lanes.

[0117] As illustrated in FIG. 7b, the first control unit (130) obtains road lane width information based on map information and current location information, and if it is determined based on the obtained road lane width information that the road lane width (W) is less than a standard width or the number of lanes is less than a standard number, personal mobility is placed in the rear area (EA3) remaining after being placed in the geofence area, and it is also possible to place it in two or more rows.

[0118] As illustrated in FIG. 7b, if the first control unit (130) determines that the number of lanes is less than a reference number, it is possible to identify a lane in which a vehicle having a safety area (e.g., A4) of less than a predetermined size is placed, and to place personal mobility in the identified lane and around it.

[0119] The first control unit (130) can design a layout based on the size of the vehicle and personal mobility performing platooning when the design mode selected during layout design is the size mode (see FIG. 6a, 6b, 6c, 7a, 7b).

[0120] An example of designing the layout of moving bodies in correspondence with the design mode is explained with reference to FIGS. 8 and 9.

[0121] As illustrated in FIG. 8, when the design mode selected during layout design is a safety mode, the first control unit (130) sets a geofence area based on the size of the vehicle and personal mobility performing platooning, and based on the area size information of the vehicle's safety area, places the vehicle from the front area to the rear area of ​​the right lane, and then places the vehicle from the front area to the rear area of ​​the left lane. Then, when the placement of all vehicles is completed, the first control unit (130) places the personal mobility in the central lane area of ​​the geofence area.

[0122] The first control unit (130) can place vehicles in the front area of ​​the center lane of the geofence area first, and then place vehicles in the rear area of ​​the center lane of the next geofence area, when there are more vehicles to be placed while vehicles are placed in the left lane and right lane of the geofence area.

[0123] That is, when the first control unit (130) selects a design mode during layout design, if the selected design mode is a safety mode, it places the vehicle on the edge side of the geofence area and places the personal mobility in the center of the geofence area.

[0124] The first control unit (130) can determine the driving positions of the vehicles and personal mobility devices performing platoon driving by completing the layout design.

[0125] As illustrated in FIG. 9, when the design mode selected during layout design is an aerodynamic mode, the first control unit (130) may arrange the vehicles and personal mobility based on the size information of the vehicles performing the swarm mode and the size information of the personal mobility, such that the smallest vehicle among the vehicles is placed at the very front, the largest vehicle is placed at the very rear, and the personal mobility is placed behind the largest vehicle.

[0126] Accordingly, by increasing aerodynamic efficiency, the fuel efficiency of platooning can also be improved.

[0127] In addition, the first control unit (130) can place the vehicle behind the largest vehicle if the vehicle size is less than the standard size, and can also place the personal mobility behind the vehicle less than the standard size. This allows the vehicle less than the standard size and the personal mobility to avoid the wind.

[0128] The first control unit (130) stores driving position information for the determined driving position when the driving position of the vehicle and personal mobility performing platoon driving is determined, and transmits the driving position information to the vehicle and personal mobility.

[0129] The first storage unit (131) stores user information of a registered user.

[0130] The first storage unit (131) may also store identification information of personal mobility (2) and vehicle identification information that each user possesses.

[0131] The identification information of the personal mobility (2) may further include type information, model information, and size information of the personal mobility. The size information of the personal mobility may include width, length, and height information.

[0132] The identification information of a vehicle may include vehicle type information, model information, and size information. The size information of the vehicle may include width, length, and height information.

[0133] The first storage unit (131) can store layout information, store information about the starting point and destination, and can also store path information for platoon driving.

[0134] The first storage unit (131) can store area size information for safety areas by size of personal mobility and area size information for safety areas by size of vehicle.

[0135] Here, the area size information by size of the personal mobility may vary depending on the braking distance of the personal mobility. The area size information by size of the vehicle may vary depending on the braking distance of the vehicle.

[0136] The area size information of the safety zone of the personal mobility is set according to the size of the personal mobility and the braking distance of the personal mobility, and may be pre-set information.

[0137] The area size information of the vehicle's safety zone is set according to the vehicle's size and braking distance, and may be pre-set information.

[0138] That is, the first storage unit (131) can store information on the size of the safety area for the size and braking distance of the personal mobility and information on the size of the safety area for the size and safety area of ​​the vehicle.

[0139] The first storage unit (131) can store area size information for safety areas by type of personal mobility and area size information for safety areas by type of vehicle.

[0140] The first storage unit (131) can store area size information for the safety area of ​​each model of personal mobility and area size information for the safety area of ​​each model of vehicle.

[0141] The first storage unit (131) stores map information, and it is also possible to store information on the lane width and number of lanes of the road within the map information, and it is also possible to store information on the standard lane width, standard number of lanes, and standard size of the vehicle.

[0142] The first storage unit (131) can receive and store identification information of vehicles performing platoon driving. Here, the vehicles performing platoon driving may be vehicles with the same destination from the current location (or starting point).

[0143] The first communication unit (140) can communicate with personal mobility and vehicles.

[0144] The first communication unit (140) can receive user information of personal mobility (2) for user registration, identification information of personal mobility (2), user information of vehicle (3), and identification information of vehicle.

[0145] The first communication unit (140) can receive identification information of personal mobility (2) and vehicles for autonomous driving or platooning, and can receive information of the origin and destination.

[0146] The first communication unit (140) may also communicate with a user terminal. The first communication unit (140) may receive user information of the personal mobility (2), identification information of the personal mobility (2), user information of the vehicle (3), and identification information of the vehicle transmitted from the user terminal.

[0147] The first communication unit (140) can transmit driving location information (i.e., layout information) to multiple personal mobility devices (2) and multiple vehicles (3) in response to a control command from the first control unit. That is, the first communication unit (140) can transmit driving location information to personal mobility devices (2) and vehicles (3) that perform group driving.

[0148] Such a server (1) can also communicate with vehicles and personal mobility through road infrastructure.

[0149] FIG. 10 is a control configuration diagram of a personal mobility device communicating with a server according to an embodiment.

[0150] The personal mobility device (2) may include a driving device, such as a power generating device, a braking device, and a steering device, for applying driving force and braking force to one or more wheels. The power generating device may include a battery and a motor.

[0151] The personal mobility (2) includes a user interface (210), a second control unit (220), a second storage unit (221), a second communication unit (230), a sound output unit (240), a lighting unit (250), and a driving unit (260).

[0152] The user interface (210) can receive operation commands for various functions performed in the personal mobility and display information about various functions performed in the personal mobility.

[0153] That is, the user interface (210) can receive user input for at least one of the navigation function, audio function, video function, radio function, web search function, broadcasting function (i.e., DMB function), and internet function, and can display information about at least one function that is in operation.

[0154] The user interface (210) may include a second input unit (211) and a second display unit (212).

[0155] The second input unit (211) can receive a driving on / off command, a command for a platoon driving mode, and a command for an autonomous driving mode.

[0156] The second input unit (211) can receive information about the destination.

[0157] The second input unit (211) can receive an approval command corresponding to a platoon driving proposal.

[0158] The second input unit (211) may include hardware devices such as various buttons, switches, keyboards, trackballs, sticks, etc.

[0159] Additionally, the second input unit (211) may include a device that is a GUI (Graphical User Interface), i.e., software, such as a touch pad for user input. The touch pad may be implemented as a touch screen panel (TSP) and may form a layered structure with the second display unit (212).

[0160] When performing a navigation function, the second display unit (212) can display at least one of map information, route information, current location information, driving speed information, destination information, and traffic information as an image. The second display unit (212) can display driving time, time remaining to the destination, current time, etc.

[0161] The second display unit (212) can display information corresponding to the platoon driving proposal.

[0162] The second display unit (212) can display layout information of moving bodies performing group driving and can display driving location information of personal mobility.

[0163] When a command for a platoon driving mode is received through the second input unit (211), the second control unit (220) can transmit a platoon driving request signal, identification information of personal mobility, and current location information to the server (1), and when an acceptance command is received in response to the platoon driving proposal, it can transmit an acceptance signal for the received acceptance command, identification information of personal mobility, and current location information to the server (1).

[0164] The second control unit (220) controls the display of the received layout information when layout information is received from the server (1), and can control movement from the current location to the driving location based on the received layout information, driving location information of the personal mobility, and current location information.

[0165] The second control unit (220) can check the received layout information and the identification information of other personal mobility devices in the vicinity and the identification information of a vehicle, and control movement from the current location to the driving location based on the identified identification information of other personal mobility devices and the identification information of a vehicle.

[0166] The second control unit (220) controls autonomous driving to the destination while maintaining its driving position among other vehicles performing platoon driving.

[0167] The second control unit (220) can control the power supplied to the motor by comparing the driving speed of the personal mobility (2) with the target speed.

[0168] When a navigation function is selected and destination information is input, the second control unit (220) generates route information based on current location information and destination information, matches the generated route information with map information, and controls the output of the matched map information and route information. When generating route information, the second control unit (220) can generate optimal route information by using traffic information.

[0169] The second control unit (220) may be implemented as a memory (not shown) that stores data for an algorithm or a program that reproduces the algorithm for controlling the operation of components within the personal mobility (2), and a processor (not shown) that performs the aforementioned operation using the data stored in the memory. In this case, the memory and the processor may each be implemented as separate chips. Alternatively, the memory and the processor may be implemented as a single chip.

[0170] The second storage unit (221) can store identification information of personal mobility.

[0171] The identification information of personal mobility may include model information, size information, and type information of personal mobility.

[0172] The second storage unit (221) may be implemented as at least one of a non-volatile memory device such as a cache, ROM (Read Only Memory), PROM (Programmable ROM), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), and flash memory, a volatile memory device such as RAM (Random Access Memory), or a storage medium such as a hard disk drive (HDD) and CD-ROM, but is not limited thereto. The second storage unit (221) may be a memory implemented as a separate chip from the processor described above in relation to the second control unit (220), or it may be implemented as a single chip with the processor.

[0173] The second communication unit (230) communicates with the server (1), other personal mobility devices, and vehicles (3).

[0174] The second communication unit (230) may further include a GPS receiver for obtaining the current location of the personal mobility (1).

[0175] A GPS (Global Positioning System) receiver may include an antenna module that receives signals from multiple GPS satellites, software that acquires a current location using distance and time information corresponding to the position signals of multiple GPS satellites, and an output unit that outputs the acquired vehicle location data.

[0176] The sound output unit (240) outputs a sound corresponding to a control command of the second control unit (220). This sound output unit (240) may include a speaker.

[0177] The sound output unit (240) can output navigation information as sound when performing the navigation function.

[0178] The lighting unit (250) may include at least one light source.

[0179] The lighting unit (250) can enable easy viewing of all information surrounding the personal mobility while keeping an eye on the forward view. This lighting unit (250) can perform not only lighting functions but also signaling and communication functions to other vehicles and pedestrians.

[0180] The lighting unit (250) can be positioned on the front and rear of the board of the personal mobility and may include a lighting light that illuminates the distant, near, and rear, and a signal light that indicates braking, turning direction, and emergency situation.

[0181] The driving unit (260) drives the motor in response to the control command of the second control unit (220).

[0182] Personal mobility may further include an image acquisition unit and an obstacle detection unit for acquiring road information for autonomous driving.

[0183] At least one component may be added or removed in response to the performance of the components of the personal mobility shown in FIG. 10. Additionally, it will be readily understood by those skilled in the art that the relative positions of the components may be changed in response to the performance or structure of the system.

[0184] Meanwhile, each component illustrated in Fig. 10 refers to a software and / or hardware component such as a Field Programmable Gate Array (FPGA) and an Application Specific Integrated Circuit (ASIC).

[0185] FIG. 11 is a control configuration diagram of a vehicle communicating with a server according to an embodiment.

[0186] The control configuration of an eco-friendly vehicle is explained as an example.

[0187] The vehicle (3) may include a driving device such as a power generating device, a braking device, and a steering device for applying driving force and braking force to a plurality of wheels. The power generating device may include a battery and a motor.

[0188] The vehicle (3) includes a user interface (310), a third control unit (320), a third storage unit (321), a third communication unit (330), a sound output unit (340), a driving unit (350), an image acquisition unit (360), and an obstacle detection unit (370).

[0189] The user interface (310) can receive operation commands for various functions performed in the vehicle and display information about various functions performed in the vehicle.

[0190] That is, the user interface (310) can receive user input for at least one of the navigation function, audio function, video function, radio function, web search function, broadcasting function (i.e., DMB function), and internet function, and can display information about at least one function that is in operation.

[0191] The user interface (310) may include a third input unit (311) and a third display unit (312).

[0192] The third input unit (311) can receive commands for manual driving mode, autonomous driving mode, ignition on / off command, and platoon driving mode. The third input unit (311) can receive information about a destination in navigation mode or autonomous driving mode.

[0193] The third input unit (311) can receive an approval command corresponding to a platoon driving proposal.

[0194] The third input unit (311) may include hardware devices such as various buttons, switches, keyboards, trackballs, sticks, etc.

[0195] Additionally, the third input unit (311) may include a device that is a GUI (Graphical User Interface), i.e., software, such as a touch pad for user input. The touch pad may be implemented as a touch screen panel (TSP) and form a layered structure with the third display unit (312).

[0196] When performing a navigation function, the third display unit (312) can display at least one of map information, route information, current location information, driving speed information, destination information, and traffic information as an image. The third display unit (312) can display driving time, time remaining to the destination, current time, etc.

[0197] The third display unit (312) can display information corresponding to the platoon driving proposal.

[0198] The third display unit (312) can display layout information of moving bodies performing group driving and can display driving location information of personal mobility.

[0199] The third control unit (320) can transmit a platoon driving request signal, vehicle identification information, and current location information to the server (1) when a command for a platoon driving mode is received through the third input unit (311), and can transmit a received approval command, vehicle identification information, and current location information to the server (1) when an acceptance command is received in response to the platoon driving proposal.

[0200] The third control unit (320) controls the display of the received layout information when layout information is received from the server (1), and can control movement from the current location to the driving location based on the received layout information, the driving location information of the vehicle, and the current location information of the vehicle.

[0201] The third control unit (320) can check the received layout information and the identification information of the surrounding personal mobility and the identification information of other vehicles, and control movement from the current location to the driving location based on the identified personal mobility and the identification information of other vehicles.

[0202] The third control unit (320) controls autonomous driving to the destination while maintaining its driving position among other vehicles performing platoon driving.

[0203] The third control unit (320) can control the power supplied to the motor by comparing the driving speed of the vehicle with the target speed.

[0204] The third control unit (320) generates route information based on current location information and destination information when a navigation mode or an autonomous driving mode is selected and destination information is input, matches the generated route information with map information, and controls the output of the matched map information and route information. The third control unit (320) can generate optimal route information by using traffic information when generating route information.

[0205] The third control unit (320) recognizes a lane based on an image acquired by an image acquisition unit during autonomous driving mode or platoon driving mode, and drives at a determined driving position among the lanes based on the information of the recognized lane and driving position information, and drives while maintaining a distance from an obstacle based on obstacle detection information detected by an obstacle detection unit.

[0206] The third control unit (320) can also recognize obstacles based on images acquired by the image acquisition unit during autonomous driving mode or platoon driving mode.

[0207] The third control unit (320) can recognize obstacles and lanes based on images acquired by the image acquisition unit during autonomous driving mode or platoon driving mode, and can also recognize the driving position of the vehicle based on information about the recognized obstacles, information about the lanes, and layout information.

[0208] The third control unit (320) may be implemented as a memory (not shown) that stores data for an algorithm or a program that reproduces the algorithm for controlling the operation of components within the vehicle, and a processor (not shown) that performs the aforementioned operation using the data stored in the memory. In this case, the memory and the processor may each be implemented as separate chips. Alternatively, the memory and the processor may be implemented as a single chip.

[0209] The third storage unit (321) can store identification information of the vehicle.

[0210] Vehicle identification information may include vehicle model information, size information, and type information.

[0211] The third storage unit (321) may be implemented as at least one of a non-volatile memory device such as a cache, ROM (Read Only Memory), PROM (Programmable ROM), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), and flash memory, a volatile memory device such as RAM (Random Access Memory), or a storage medium such as a hard disk drive (HDD) and CD-ROM, but is not limited thereto. The third storage unit (321) may be a memory implemented as a separate chip from the processor described above in relation to the third control unit (320), or it may be implemented as a single chip with the processor.

[0212] The third communication unit (330) communicates with the server (1), personal mobility and other vehicles.

[0213] The third communication unit (330) may further include a GPS receiver for obtaining the current location of the vehicle (1).

[0214] A GPS (Global Positioning System) receiver may include an antenna module that receives signals from multiple GPS satellites, software that acquires a current location using distance and time information corresponding to the position signals of multiple GPS satellites, and an output unit that outputs the acquired vehicle location data.

[0215] The sound output unit (340) outputs a sound corresponding to a control command of the third control unit (320). This sound output unit (240) may include a speaker.

[0216] The sound output unit (340) can output navigation information as sound when performing the navigation function and can output a warning sound for deviation from the driving position.

[0217] The driving unit (350) drives the motor in response to the control command of the third control unit (320).

[0218] The image acquisition unit (360) acquires an image of the road and transmits the acquired image to the third control unit (320). Here, the image of the road may be an image of the road in the forward direction based on the driving direction of the vehicle.

[0219] The image acquisition unit (360) is a camera and may include a CCD or CMOS image sensor.

[0220] The obstacle detection unit (370) detects the presence and distance of other vehicles, personal mobility devices, and other obstacles in the vicinity.

[0221] The obstacle detection unit (370) may include at least one of a LiDAR sensor, a LiDAR (Light Detection And Ranging) sensor, and an ultrasonic sensor.

[0222] At least one component may be added or removed in response to the performance of the components of the vehicle illustrated in FIG. 11. Additionally, it will be readily understood by those skilled in the art that the relative positions of the components may be changed in response to the performance or structure of the system.

[0223] Meanwhile, each component illustrated in Fig. 11 refers to a software and / or hardware component such as a Field Programmable Gate Array (FPGA) and an Application Specific Integrated Circuit (ASIC).

[0224] Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium that stores instructions executable by a computer. The instructions may be stored in the form of program code and, when executed by a processor, may generate a program module to perform the operation of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

[0225] Computer-readable recording media include all types of recording media that store instructions that can be decoded by a computer. Examples include ROM (Read Only Memory), RAM (Random Access Memory), magnetic tape, magnetic disk, flash memory, optical data storage devices, etc.

[0226] As described above, the disclosed embodiments have been explained with reference to the attached drawings. Those skilled in the art will understand that the present invention may be practiced in forms different from the disclosed embodiments without changing the technical spirit or essential features of the invention. The disclosed embodiments are illustrative and should not be interpreted restrictively. Explanation of the symbols

[0227] 1: Server 2: Personal Mobility 3: Vehicle 110: First input section 120: Second input unit 130: First control unit 131: 1st storage unit 140: 1st communication unit

Claims

Claim 1 A server comprising: a communication unit that communicates with a plurality of vehicles and a plurality of personal mobility devices; and a control unit that, during platooning, determines a safety area for each vehicle and personal mobility device based on size information and braking distance information of the plurality of vehicles and size information and braking distance information of the plurality of personal mobility devices, wherein each safety area has a smaller safety area as the braking distance is shorter, sets a geofence area corresponding to a lane based on the safety area, primarily determines the driving position of the plurality of vehicles within the set geofence area based on the safety area of ​​the plurality of vehicles, obtains a remaining area not occupied by the vehicle within the geofence area after determining the driving position of the vehicle, secondarily determines the driving position of the plurality of personal mobility devices within the remaining area based on the safety area of ​​the plurality of personal mobility devices, and controls the transmission of layout information regarding the driving positions determined in the first and second stages to the plurality of vehicles and the plurality of personal mobility devices. Claim 2 In claim 1, the communication unit is a server that receives size information of the plurality of vehicles and size information of the plurality of personal mobility devices. Claim 3 In claim 1, the system further includes a storage unit that stores size information for each vehicle and size information for each personal mobility, and the control unit is a server that, when identification information of each vehicle and identification information of each personal mobility are received through the communication unit, verifies the size information of each vehicle corresponding to the received identification information of each vehicle and the size information of each personal mobility corresponding to the identification information of each personal mobility from the information stored in the storage unit. Claim 4 In claim 1, the control unit, upon receiving a platooning request signal and current location information from at least one vehicle or personal mobility, transmits a platooning proposal signal to a vehicle and personal mobility existing within a certain distance from the current location among the plurality of vehicles and personal mobility based on the received current location information, and a server determining the driving location of the vehicle or personal mobility that transmitted the approval signal for platooning. Claim 5 In claim 4, the control unit is a server that determines whether the road at the current location is a road where both the vehicle and the personal mobility can travel, based on the current location information and map information, when the target performing platoon driving includes a vehicle and a personal mobility. Claim 6 In claim 4, the control unit is a server that determines whether the road at the current location is a road capable of autonomous driving based on the current location information and map information during platoon driving. Claim 7 In claim 1, the control unit is a server that, when placing the plurality of vehicles in the geofence area to primarily determine the driving position of the plurality of vehicles, places the vehicles from the front area to the rear area of ​​the right lane among the lanes within the geofence area, and then places the vehicles from the front area to the rear area of ​​the left lane among the lanes within the geofence area. Claim 8 In claim 7, the control unit is a server that places the remaining vehicles starting from the front area of ​​the center lane within the geofence area when there are more vehicles to be placed after the placement of vehicles in the left lane and the right lane within the geofence area is completed. Claim 9 In claim 8, the control unit is a server that arranges the plurality of vehicles in order of size from largest to smallest when arranging the vehicles in the geofence area. Claim 10 In claim 8, the control unit is a server that checks a remaining area within the geofence area when the placement of the plurality of vehicles is completed and places the plurality of personal mobility devices in the checked remaining area. Claim 11 In claim 10, the control unit is a server that adjusts the driving position of a vehicle placed in a central lane within the geofence area based on the driving position of the personal mobility. Claim 12 In claim 1, the control unit is a server that, when the design mode is a safety mode, places the plurality of vehicles in an area corresponding to the border of the geofence area and places the plurality of personal mobility devices in the central area of ​​the geofence area. Claim 13 In claim 12, the control unit is a server that arranges the plurality of vehicles in order of size, starting with the largest vehicle. Claim 14 In claim 1, the control unit is a server that, when the design mode is an aerodynamic mode, arranges a plurality of vehicles from the front area to the rear area of ​​the geofence area, arranged in order of size from the smallest vehicle to the largest vehicle, and arranges the plurality of personal mobility devices in the rear area of ​​the largest vehicle. Claim 15 In claim 14, the control unit is a server that, if a vehicle of a size smaller than a reference size exists, places the vehicle of a size smaller than the reference size in the rear area of ​​the largest vehicle, and places the plurality of personal mobility devices in the rear area of ​​the vehicle of a size smaller than the reference size. Claim 16 In claim 1, the control unit is a server that places at least two personal mobility devices between adjacent vehicles on the left and right sides if the width of the lane within the geofence area is greater than or equal to a reference width. Claim 17 In claim 1, the control unit is a server that places one personal mobility device in a lane where a vehicle of a size smaller than a predetermined size is placed, if the number of lanes within the geofence area is less than a reference number. Claim 18 In claim 1, the size information of each personal mobility includes area size information for the safety area of ​​each personal mobility, and the size information of each vehicle includes area size information for the safety area of ​​each vehicle. Claim 19 A personal mobility device comprising: a communication unit communicating with a server; a motor for rotating a wheel; and a control unit, wherein the control unit controls the motor to move to a driving position determined by considering a remaining area not occupied by a vehicle from the server based on layout information and driving position information received from the server when performing a swarm mode, and controls the motor to drive to a destination while maintaining the driving position based on path information, and receives from the server a safety area for each personal mobility device and a geofence area set to correspond to a lane based on the safety area, wherein the safety area is calculated based on size information and braking distance information of each vehicle and personal mobility device, and is set to have a smaller safety area as the braking distance is shorter. Claim 20 A vehicle comprising: a communication unit communicating with a server; a power unit driving a plurality of wheels; and a control unit, wherein the control unit controls the power unit to move to the driving position of the vehicle preferentially determined by the server to determine the driving position of the personal mobility in a remaining area not occupied by the vehicle based on layout information and driving position information received from the server when performing a swarm mode, and controls the power unit to drive to a destination while maintaining the driving position based on path information, and receives from the server a vehicle-specific safety area and a geofence area set to correspond to a lane based on the safety area, wherein the safety area is calculated based on size information and braking distance information of the vehicle and the personal mobility, respectively, and is set to have a smaller safety area as the braking distance is shorter. Claim 21 In claim 20, the vehicle further comprises an image acquisition unit for acquiring an image of a road and an obstacle detection unit for detecting obstacles, wherein the control unit recognizes a driving position and performs platooning based on obstacle information regarding the acquired image of the road and the detected obstacles, and recognizes a personal mobility vehicle and other vehicles.

Images