EP-4738308-A2 - 5G-NR-V2X PLATOONING APPLICATION SERVICE COMMUNICATION METHOD

EP4738308A2EP 4738308 A2EP4738308 A2EP 4738308A2EP-4738308-A2

Abstract

Provided is a 5G-NR-V2X platooning application service communication method. A platooning communication method according to an embodiment may include: creating, by a lead vehicle, platooning according to negotiations with a follow vehicle; executing, by the lead vehicle, the created platooning with the follow vehicle; and withdrawing, by the lead vehicle, the follow vehicle from the platooning. Accordingly, platooning is enabled based on safe and accurate determination through clear information exchange between platooning vehicles or between platooning vehicles and infrastructures, and more efficient and effect platooning services are enabled through support of joining/disjoining between platooning groups.

Inventors

AN, BYOUNG MAN
JANG, SEONG HYUN
SHIN, DAE KYO
JANG, SOO HYUN
JANG, Jun Hyek
WANG, Yoo Seung

Assignees

Korea Electronics Technology Institute

Dates

Publication Date: 20260506
Application Date: 20251009

Claims (11)

A platooning communication method comprising: creating, by a lead vehicle, platooning according to negotiations with a follow vehicle; executing, by the lead vehicle, the created platooning with the follow vehicle; and withdrawing, by the lead vehicle, the follow vehicle from the platooning.
The platooning communication method of claim 1, wherein creating the platooning comprises: discovering, by the lead vehicle, a vehicle to join a platooning group; notifying, by the follow vehicle, the platooning group of the joining; determining, by the lead vehicle, to create the platooning group; negotiating, by the lead vehicle, with the follow vehicle about the platooning; and setting up, by the lead vehicle, the platooning according to negotiations, and creating the platooning.
The platooning communication method of claim 1, wherein withdrawing from the platooning comprises: requesting, by the lead vehicle, the follow vehicle to withdraw from the platooning group; accepting, by the follow vehicle, the withdrawal from the platooning group, and executing the withdrawal; and setting up, by the lead vehicle, platooning excluding the follow vehicle.
The platooning communication method of claim 1, further comprising: when it is recognized that a general vehicle changes lanes in front of the lead vehicle, braking, by the lead vehicle, by actuating a brake; notifying, by the lead vehicle, the follow vehicle of the emergency braking situation; braking, by the follow vehicle, by actuating a brake; and responding, by the follow vehicle, to the lead vehicle about completion of the braking.
The platooning communication method of claim 1, further comprising: controlling, by the lead vehicle, the platooning based on traffic light information and pedestrian information; controlling, by the follow vehicle, the vehicle under control by the lead vehicle; transmitting, by the lead vehicle, the pedestrian information and brake information to a C-ITS; and transmitting and sharing, by the C-ITS, the pedestrian information and brake information to and with other vehicles connected.
The platooning communication method of claim 5, wherein controlling further comprises: determining, by the lead vehicle, whether it is possible to pass an intersection based on a remaining signal time; when it is determined that it is possible to pass the intersection, instructing, by the lead vehicle, the follow vehicle to accelerate; when it is determined that it is impossible to pass the intersection within the remaining signal time, instructing, by the lead vehicle, the follow vehicle to brake; and when it is determined there is a vulnerable road user at the intersection, instructing, by the lead vehicle, the follow vehicle to brake.
The platooning communication method of claim 1, further comprising: transmitting, by a lead vehicle- A of a platooning group-A and a lead vehicle-B of a platooning group-B, information on the platooning groups to a control center; determining, by the control center, whether it is possible for the platooning group-B to join the platooning group-A; when it is determined that it is possible to join, notifying, by the control center, the lead vehicles-A, B of the platooning groups-A, B of a joining point and time; requesting, by the lead vehicle-A, the lead vehicle-B to join; controlling, by the lead vehicles-A, B, follow vehicles in order to let the platooning group-B join the platooning group-A; and controlling, by the lead vehicle-A of the platooning group A+B, platooning of the platooning group A+B.
The platooning communication method of claim 7, further comprising: requesting, by the lead vehicle-A, the control center to disjoin the platooning group-B from the joined platooning group A+B; when the disjoining from the joined platooning group A+B is determined, transmitting, by the control center to the lead vehicle-A of the joined platooning group A+B, a disjoining point and time of the joined platooning group A+B; requesting, by the lead vehicle-A, the lead vehicle-B of the platooning group-B to disjoin from the platooning; responding, by the lead vehicle-B, to the lead vehicle-A about the disjoining from the platooning group-B; and controlling, by the lead vehicles-A, B, follow vehicles in order to disjoin the platooning group-B.
The platooning communication method of claim 8, further comprising: when the disjoining is completed, transmitting, by the lead vehicle-A, B, a result of disjoining to the control center; and controlling, by the lead vehicles-A, B, the follow vehicles to perform respective platooning.
A platooning system comprising: a lead vehicle configured to create platooning according to negotiations with a follow vehicle, to execute the created platooning with the follow vehicle, and to withdraw the follow vehicle from the platooning; and a follow vehicle configured to negotiate with the lead vehicle with platooning, to execute the created platooning, and to withdraw from the platooning according to a request of the lead vehicle.
A platooning communication method comprising: transmitting, by a lead vehicle- A of a platooning group-A and a lead vehicle-B of a platooning group-B, information on the platooning groups to a control center; determining, by the control center, whether it is possible for the platooning group-B to join the platooning group-A; when it is determined that it is possible to join, notifying, by the control center, the lead vehicles-A, B of the platooning groups-A, B of a joining point and time; requesting, by the lead vehicle-A, the lead vehicle-B to join; controlling, by the lead vehicles-A, B, follow vehicles in order to let the platooning group-B join the platooning group-A; and controlling, by the lead vehicle-A of the platooning group A+B, platooning of the platooning group A+B.

Description

BACKGROUND FIELD The disclosure relates to a platooning protocol, and more particularly, to a communication method and system for performing platooning in a 5G-NR-V2X communication environment. DESCRIPTION OF RELATED ART Platooning refers to a method for driving several vehicles in a group, and requires efficient communication between a lead vehicle and a following vehicle. Safe platooning may be guaranteed by continuously collecting information on distances to neighboring vehicles, speeds, directions, etc. and sharing the information. In addition, through communication with roadside base stations, the performance of platooning may be optimized and additional services may be provided. Until now, the research and development of platooning technology has been limited to vehicles of specific manufacturers, specific national projects (cooperative-intelligent transport system (C-ITS) project, etc.). Accordingly, standardized protocols in driving environments are still being defined or are not supported, and there are restrictions on implementation, and vehicle manufacturers, research institutes, etc. are implementing protocols by defining themselves or are temporarily using extended areas of standards. Due to the characteristics of these technologies, they are used only by specific companies and require security, so that there are many parts that are not open to suit various service and they tend to be closed. SUMMARY The disclosure has been developed in order to solve the above-described problems, and an object of the disclosure is to provide a platooning communication method which enables accurate and safe platooning by exchanging standardized information between vehicles and between vehicles and infrastructures, and a platooning system applying the same. To achieve the above-described object, a platooning communication method according to an embodiment of the disclosure may include: creating, by a lead vehicle, platooning according to negotiations with a follow vehicle; executing, by the lead vehicle, the created platooning with the follow vehicle; and withdrawing, by the lead vehicle, the follow vehicle from the platooning. Creating the platooning may include: discovering, by the lead vehicle, a vehicle to join a platooning group; notifying, by the follow vehicle, the platooning group of the joining; determining, by the lead vehicle, to create the platooning group; negotiating, by the lead vehicle, with the follow vehicle about the platooning; and setting up, by the lead vehicle, the platooning according to negotiations, and creating the platooning. Withdrawing from the platooning may include: requesting, by the lead vehicle, the follow vehicle to withdraw from the platooning group; accepting, by the follow vehicle, the withdrawal from the platooning group, and executing the withdrawal; and setting up, by the lead vehicle, platooning excluding the follow vehicle. According to an embodiment, the platooning communication method may further include: when it is recognized that a general vehicle changes lanes in front of the lead vehicle, braking, by the lead vehicle, by actuating a brake; notifying, by the lead vehicle, the follow vehicle of the emergency braking situation; braking, by the follow vehicle, by actuating a brake; and responding, by the follow vehicle, to the lead vehicle about completion of the braking. According to an embodiment, the platooning communication method may further include: controlling, by the lead vehicle, the platooning based on traffic light information and pedestrian information; controlling, by the follow vehicle, the vehicle under control by the lead vehicle; transmitting, by the lead vehicle, the pedestrian information and brake information to a C-ITS; and transmitting and sharing, by the C-ITS, the pedestrian information and brake information to and with other vehicles connected. Controlling may further include: determining, by the lead vehicle, whether it is possible to pass an intersection based on a remaining signal time; when it is determined that it is possible to pass the intersection, instructing, by the lead vehicle, the follow vehicle to accelerate; when it is determined that it is impossible to pass the intersection within the remaining signal time, instructing, by the lead vehicle, the follow vehicle to brake; and, when it is determined there is a vulnerable road user at the intersection, instructing, by the lead vehicle, the follow vehicle to brake. According to an embodiment, the platooning communication method may further include: transmitting, by a lead vehicle- A of a platooning group-A and a lead vehicle-B of a platooning group-B, information on the platooning groups to a control center; determining, by the control center, whether it is possible for the platooning group-B to join the platooning group-A; when it is determined that it is possible to join, notifying, by the control center, the lead vehicles-A, B of the platooning groups-A, B of a joining point and