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KR-102962099-B1 - Apparatus for controlling platooning, system having the same and method thereof

KR102962099B1KR 102962099 B1KR102962099 B1KR 102962099B1KR-102962099-B1

Abstract

The present invention relates to a platoon driving control device, a system including the same, and a method thereof. A platoon driving control device according to one embodiment of the present invention comprises: a processor that determines the possibility of a collision occurring during platoon driving and, if the possibility of a collision exists, determines whether to operate an ABS ( Anti-Lock Brake System) and performs collision avoidance control or braking control according to whether the ABS is operated; and a storage unit that stores data obtained by the processor and an algorithm driven by the processor. The processor may include, when collision avoidance control is possible during the ABS operation, calculating the amount of braking pressure reduction according to vehicle speed, vehicle weight, and road surface condition, and controlling partial braking according to the amount of braking pressure reduction.

Inventors

  • 김정완

Assignees

  • 현대자동차주식회사
  • 기아 주식회사

Dates

Publication Date
20260512
Application Date
20200805

Claims (20)

  1. A processor that determines the possibility of a collision occurring during platooning, and if the possibility of a collision exists, determines whether to operate the ABS ( Anti-Lock Brake System) and performs collision avoidance control or braking control according to whether the ABS is operated; and A storage unit that stores data obtained by the above processor and an algorithm driven by the above processor; The above processor is, When collision avoidance control is possible during the above ABS operation Calculate the amount of braking pressure reduction based on vehicle speed, vehicle weight, and road surface condition, and control uneven braking based on the amount of braking pressure reduction. A platoon driving control device characterized by maintaining steering control when the above-mentioned ABS is not operating and controlling the increase in braking pressure of the vehicle wheels according to an abnormal braking force curve.
  2. In claim 1, The above processor is, A platoon driving control device characterized by determining the condition of the road surface based on speed recovery force, the vehicle speed, and the vehicle weight.
  3. In claim 1, The above storage unit is, A road surface judgment map that stores speed recovery power matched to the vehicle speed and the condition of the road surface according to vehicle weight, and A pressure reduction setting map that stores the pressure reduction amount matched to the vehicle speed and road surface condition according to the vehicle weight. A swarm driving control device characterized by this storage.
  4. In claim 1, The above processor is, When collision avoidance control is possible during the above ABS operation A platoon driving control device characterized by following vehicles controlling their avoidance direction in a zigzag pattern based on a leading vehicle.
  5. In claim 1, The above processor is, When collision avoidance control is possible during the above ABS operation A platoon driving control device characterized by maintaining the ABS control by applying the highest road surface friction coefficient to the inside wheel during turning, and performing partial braking by reducing the braking pressure applied to the outside wheel during turning.
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  7. In claim 1, The above processor is, A platoon driving control device characterized by increasing the braking pressure applied to the front wheels of the vehicle and decreasing the braking pressure applied to the rear wheels according to the above-mentioned abnormal braking force diagram when the deceleration of the vehicle increases.
  8. In claim 1, The above processor is, In cases where collision avoidance control is impossible during the above ABS operation, A platoon driving control device characterized by performing slip control of the vehicle wheels to maintain steering control and minimize the braking distance of the vehicle wheels.
  9. In claim 1, The above processor is, A platoon driving control device characterized by inducing a side collision of the vehicle by controlling collision avoidance control and left wheel slip and right wheel slip when the above-mentioned possibility of a vehicle collision exists.
  10. In claim 1, The above processor is, A platoon driving control device characterized by calculating the stopping braking distance of the preceding vehicle and the stopping braking distance of the child vehicle using the deceleration of the preceding vehicle and the deceleration of the child vehicle, and determining the possibility of collision using the stopping braking distance of the preceding vehicle and the stopping braking distance of the child vehicle.
  11. A platoon driving control device that determines the possibility of a collision occurring during platoon driving, and if the possibility of a collision exists, determines whether to operate the ABS ( Anti-Lock Brake System) and performs collision avoidance control or braking control according to whether the ABS is operated; and A communication device that transmits collision avoidance control and braking control commands received from the above-mentioned platoon driving control device to the platoon driving vehicles; comprising The above-mentioned swarm driving control device is, When collision avoidance control is possible during the above ABS operation Calculate the amount of braking pressure reduction based on vehicle speed, vehicle weight, and road surface condition, and control uneven braking based on the amount of braking pressure reduction. A vehicle system characterized by maintaining steering control when the above-mentioned ABS is not operating and controlling the increase in braking pressure of the vehicle wheels according to an abnormal braking force curve.
  12. In claim 11, The above-mentioned swarm driving control device is, A vehicle system characterized by determining the condition of the road surface based on speed recovery, the vehicle speed, and the vehicle weight.
  13. In claim 11, The above-mentioned swarm driving control device is, When collision avoidance control is possible during the above ABS operation A vehicle system characterized by following vehicles controlling their avoidance direction in a zigzag pattern based on a preceding vehicle.
  14. In claim 11, The above-mentioned swarm driving control device is, When collision avoidance control is possible during the above ABS operation A vehicle system characterized by maintaining the ABS control by applying the highest road surface friction coefficient to the inside wheel during turning, and performing partial braking by reducing the braking pressure applied to the outside wheel during turning.
  15. A step for determining the possibility of a collision occurring during platooning; A step of determining whether to operate the ABS ( Anti-Lock Brake System) when the above-mentioned possibility of collision exists; A step of performing collision avoidance control or braking control depending on whether the above ABS is activated; and The method includes the step of transmitting collision avoidance control and braking control commands to the platoon of vehicles; The step of performing collision avoidance control or braking control depending on whether the above ABS is activated is, A step of maintaining steering control when the above ABS is not operating and controlling the increase in braking pressure of the vehicle wheels according to the abnormal braking force curve. A platoon driving control method characterized by including
  16. In claim 15, The step of determining the possibility of a collision occurring during the above-mentioned platooning is: A step of calculating the stopping braking distance of the preceding vehicle and the stopping braking distance of the said vehicle using the deceleration of the preceding vehicle and the deceleration of the said vehicle, and determining the possibility of collision using the stopping braking distance of the preceding vehicle and the stopping braking distance of the said vehicle. A platoon driving control method characterized by including
  17. In claim 15, The step of performing collision avoidance control or braking control depending on whether the above ABS is activated is, A step for determining the road surface condition based on speed recovery, vehicle speed, and vehicle weight A platoon driving control method characterized by including
  18. In claim 15, The step of performing collision avoidance control or braking control depending on whether the above ABS is activated is, When collision avoidance control is possible during the above ABS operation A stage where following vehicles control their avoidance direction in a zigzag pattern based on the leading vehicle. A platoon driving control method characterized by including
  19. In claim 15, The step of performing collision avoidance control or braking control depending on whether the above ABS is activated is, When collision avoidance control is possible during the above ABS operation A step of maintaining the ABS control by applying the highest road surface friction coefficient to the inside wheel during turning, and performing partial braking by reducing the braking pressure applied to the outside wheel during turning. A platoon driving control method characterized by including
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Description

Apparatus for controlling platooning, system having the same and method thereof The present invention relates to a platoon driving control device, a system including the same, and a method thereof, and more specifically, to a technology for controlling so that continuous collision displacement does not occur in the lead vehicle upon collision with a vehicle ahead. Platooning is a technology that enables autonomous driving in which multiple vehicles are arranged in a line at designated intervals. During platooning, the leading vehicle, which is located at the forefront of the platoon, can control one or more following vehicles that follow it. To improve fuel efficiency during such platooning, a short distance between vehicles must be maintained to minimize the risk of non-member vehicles cutting into the formation and to reduce air resistance. However, maintaining such a short distance makes it difficult to rule out the possibility of a collision during emergency braking in the event of a dangerous situation ahead. Therefore, there is a trend toward developing numerous technologies to maintain safety while keeping the distance between vehicles close. However, despite these technological advancements, collisions between vehicles in a platoon caused by external factors such as changes in road friction, gradients, and brake deterioration cannot be completely eliminated. Furthermore, for heavy vehicles like trucks, collision energy due to inertia is also significant. In such cases, if the lead vehicle is pushed forward due to the accumulated impact force, a major accident involving other vehicles may occur. FIG. 1 is a block diagram showing the configuration of a vehicle system including a platoon driving control device according to one embodiment of the present invention. FIG. 2 is a diagram showing the operation flow of a swarm driving control device according to one embodiment of the present invention. FIG. 3 is a flowchart illustrating a collision determination method of a platoon driving control device according to one embodiment of the present invention. FIG. 4 is a drawing showing a collision example screen of a platoon driving vehicle according to one embodiment of the present invention. FIG. 5 is a flowchart for specifically explaining a pressure boosting control method when ABS is not operated after collision detection according to one embodiment of the present invention. FIG. 6 is a graph showing an ideal braking force curve according to one embodiment of the present invention. FIG. 7 is a flowchart for specifically explaining a control method when avoidance control is not possible when ABS is operated after collision detection according to an embodiment of the present invention. FIG. 8 is a diagram illustrating avoidance control of a platooning vehicle according to one embodiment of the present invention. FIG. 9 is a flowchart illustrating the unavoidable control of a platoon driving vehicle according to one embodiment of the present invention. FIGS. 10a, FIGS. 10b, FIGS. 10c, and FIGS. 10d are drawings illustrating an example of optimal frictional force control using a Mu slip curve according to an embodiment of the present invention. FIGS. 11a and FIGS. 11b are drawings for illustrating the direction of travel of a vehicle according to an embodiment of the present invention. FIG. 12 is an example screen of a road surface judgment map according to one embodiment of the present invention. FIG. 13 is an example screen of a road surface judgment map according to one embodiment of the present invention. FIG. 14 is a flowchart for specifically explaining a vehicle control method for reducing collision energy during emergency braking while driving in a platoon according to one embodiment of the present invention. FIG. 15 illustrates a computing system according to one embodiment of the present invention. Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that in assigning reference numerals to the components of each drawing, the same components are given the same reference numeral whenever possible, even if they are shown in different drawings. Furthermore, in describing the embodiments of the present invention, if it is determined that a detailed description of related known components or functions would hinder understanding of the embodiments of the present invention, such detailed description is omitted. In describing the components of the embodiments of the present invention, terms such as first, second, A, B, (a), (b), etc., may be used. These terms are intended merely to distinguish the components from other components, and the essence, order, or sequence of the components is not limited by the terms. Furthermore, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present invention pertai