KR-102962102-B1 - DRIVING CONTROL APPARATUS AND METHOD FOR VEHICLE PLATOONING

KR102962102B1KR 102962102 B1KR102962102 B1KR 102962102B1KR-102962102-B1

Abstract

The present invention relates to a platoon driving control device and method, comprising a communication unit that supports wireless communication between a vehicle and a vehicle ahead, and a processing unit connected to the communication unit, wherein the processing unit monitors the communication performance between the vehicle and the vehicle ahead during platoon driving and selectively applies a first longitudinal control logic or a second longitudinal control logic based on the communication performance to control the behavior of the vehicle.

Inventors

홍정기

Assignees

현대자동차주식회사
기아 주식회사

Dates

Publication Date: 20260512
Application Date: 20200908

Claims (20)

A communication unit that supports wireless communication between a vehicle and a vehicle ahead; and It includes a processing unit connected to the above communication unit, and The above processing unit is, Monitoring the communication performance between the vehicle and the vehicle ahead during platooning, and Control the behavior of the vehicle by selectively applying a first longitudinal control logic or a second longitudinal control logic based on the above communication performance, When the above first longitudinal control logic is selectively applied, Adjust the pre-stored gain map by applying the established first time gap, and A platooning control device characterized by controlling the response speed of a vehicle to a vehicle ahead by determining a gain value according to the distance between vehicles by referring to an adjusted gain map.
In claim 1, The above processing unit is, Count the messages received from the aforementioned vehicle ahead during a set period of time to calculate the number of received messages, and Calculate the number of normal messages among the received messages for which no error was detected, and A platooning control device characterized by calculating a communication performance index using the number of received messages and the number of normal messages.
In claim 2, The above communication performance index is, A platoon driving control device characterized by the ratio of the number of normal messages to the number of received messages.
In claim 2, The above processing unit is, A platooning control device characterized by determining fuel efficiency specialized strategy activation when the above communication performance index is greater than or equal to a first reference performance index and less than a second reference performance index.
In claim 4, The above processing unit is, A platoon driving control device characterized by adjusting a pre-stored gain map based on the first longitudinal control logic when the above fuel efficiency specialized strategy activation is determined.
In claim 5, The above processing unit is, A platooning control device characterized by applying a first time gap to adjust the inter-vehicle distance interval in which the response speed of the vehicle is maintained at or below a predetermined reference response speed.
In claim 5, The above processing unit is, A platooning control device characterized by determining a gain value based on the distance between the vehicle and the vehicle ahead based on an adjusted gain map, and controlling the acceleration or deceleration of the vehicle using the determined gain value and a control error.
In claim 4, The above processing unit is, A platooning control device characterized by determining to apply an expanded fuel efficiency specialized strategy when the above communication performance index is greater than or equal to the above second standard performance index.
In claim 8, The above processing unit is, A platooning control device characterized by extending the distance interval between vehicles by applying a second time gap when the expanded application of the above fuel efficiency specialized strategy is decided.
In claim 4, The above processing unit is, A platooning control device characterized by performing vehicle control based on the second longitudinal control logic when the communication performance index is less than the first reference performance index.
A step of monitoring communication performance between a vehicle and a vehicle ahead during platooning; and The method includes a step of controlling the behavior of the vehicle by selectively applying a first longitudinal control logic or a second longitudinal control logic based on the communication performance described above. The step of controlling the behavior of the above vehicle is, When the above-mentioned first longitudinal control logic is optionally applied, a step of adjusting a pre-stored gain map by applying a predetermined first time gap; and A platooning control method characterized by including a step of controlling the response speed of a vehicle to a vehicle ahead by determining a gain value according to the distance between vehicles by referring to an adjusted gain map.
In claim 11, The above monitoring step is, A step of calculating the number of received messages by counting messages received from the aforementioned vehicle ahead during a predetermined time; A step of calculating the number of normal messages among the received messages for which no error was detected; and A platoon driving control method characterized by including a step of calculating a communication performance index using the number of received messages and the number of normal messages.
In claim 12, The above communication performance index is, A platoon driving control method characterized by the ratio of the number of normal messages to the number of received messages.
In claim 12, The step of controlling the behavior of the above vehicle is, A step of checking whether the above communication performance index is greater than or equal to a first reference performance index; and A platoon driving control method characterized by including a step of determining the activation of a fuel efficiency specialized strategy when the communication performance index is greater than or equal to the first reference performance index.
In claim 14, The step of controlling the behavior of the above vehicle is, A platoon driving control method characterized by further including the step of adjusting a pre-stored gain map based on the first longitudinal control logic when the above fuel efficiency specialized strategy activation is determined.
In claim 15, The step of adjusting the above-mentioned stored gain map is, A platoon driving control method characterized by including a step of adjusting the inter-vehicle distance interval in which the response speed of the vehicle is maintained at or below a predetermined reference response speed by applying a first time gap.
In claim 15, The step of controlling the behavior of the above vehicle is, A step of determining a gain value based on the distance between the vehicle and the front vehicle based on an adjusted gain map; and A platoon driving control method characterized by further including a step of controlling the acceleration or deceleration of the vehicle using a determined gain value and a control error.
In claim 15, The step of controlling the behavior of the above vehicle is, A platooning control method characterized by further including a step of determining to expand the application of a fuel efficiency specialized strategy when the above communication performance index is greater than or equal to a second standard performance index.
In claim 18, The step of controlling the behavior of the above vehicle is, A platooning control method characterized by further including a step of extending the distance interval between vehicles by applying a second time gap when it is decided to expand the application of the above fuel efficiency specialized strategy.
In claim 14, The step of controlling the behavior of the above vehicle is, A platooning control method characterized by further including the step of performing vehicle control based on the second longitudinal control logic when the communication performance index is less than the first reference performance index.

Description

Driving Control Apparatus and Method for Vehicle Platooning The present invention relates to a platoon driving control device and method. Platooning is a driving method in which multiple vehicles drive together, maintaining a fixed distance from the lead vehicle by exchanging movement and situational information through real-time communication. One of the primary objectives of platooning is to improve fuel efficiency by significantly reducing the distance between vehicles, thereby decreasing air resistance for trailing vehicles. To maximize fuel efficiency, air resistance on the rear vehicle must be reduced, and to reduce air resistance, the distance between vehicles must be minimized. Conventional Smart Cruise Control (SCC) is map-set to increase the gain value of the required acceleration to better respond to the behavior of the vehicle ahead for safety as the distance between vehicles is reduced. Consequently, when the distance between the vehicle and the vehicle ahead is reduced to improve fuel efficiency, the gain value of the required acceleration increases. If the gain value of the required acceleration is high, the vehicle behind reacts sensitively to the speed oscillations of the vehicle ahead—which occur due to vehicle control characteristics—leading to frequent acceleration and braking, which can reduce fuel efficiency. FIG. 1 is a block diagram illustrating a platoon driving control device according to embodiments of the present invention. FIG. 2 is a diagram illustrating the operation of a first longitudinal control logic according to embodiments of the present invention. FIG. 3 is a diagram illustrating the operation of a second longitudinal control logic according to embodiments of the present invention. Figure 4 is a graph illustrating response characteristics according to communication performance according to embodiments of the present invention. FIG. 5 is a flowchart illustrating a platoon driving control method according to embodiments of the present invention. FIG. 6 is a flowchart illustrating a communication performance monitoring method according to embodiments 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 pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this application. Typically, platooning refers to driving in a platoon consisting of one leading vehicle (LV) and one or more following vehicles (FV). In this specification, the leading vehicle (LV) refers to the vehicle at the very front of the platooning vehicle convoy (platooning convoy), the following vehicle (FV) refers to the vehicle following the leading vehicle (LV), the tail end vehicle refers to the vehicle at the very back of the platooning convoy, and the preceding vehicle refers to the vehicle immediately in front of the vehicle (host vehicle). The present invention relates to a technology that improves the fuel efficiency of a vehicle by controlling the responsiveness (response speed) of the vehicle to the vehicle in front, by considering the communication performance (state) between the vehicle and the vehicle immediately in front during platooning. FIG. 1 is a block diagram illustrating a platoon driving control device according to embodiments of the present invention. FIG. 2 is a diagram for explaining the operation of a first longitudinal control logic according to embodiments of the present invention, and FIG. 3 is a diagram for explaining the operation of a second longitudinal control logic according to embodiments of the present invention. The platooning control device (100) is mounted on a vehicle and serves to control the vehicle's behavior during platooning. The platooning control device (100) can be implemented