KR20200047501A - Apparatus and method for controlling speed in cacc system - Google Patents

Abstract

The present invention relates to an apparatus and a method for controlling the speed of a vehicle based on information on a plurality of preceding vehicles driving in the same lane obtained using V2X (Vehicle to Everything) communication. A cooperative adaptive cruise control (CACC) system that controls a vehicle's driving speed is a communication unit that receives vehicle information, including location and driving information, from surrounding vehicles, and uses sensors provided in the host vehicle. An information collecting unit that collects vehicle information of the vehicle and vehicle information of the host vehicle, determines a preceding vehicle and a preceding vehicle using sensors provided in the host vehicle, and communicates vehicle information and communication units of the preceding vehicle and the preceding vehicle The target vehicle (hereinafter referred to as the first target vehicle) and the target vehicle for following the own vehicle based on the vehicle information of the surrounding vehicles acquired in To follow the target vehicle may comprise a controller for selecting (the second target vehicle), and controls the running speed of the self-vehicle based on the velocity information of the selected first target vehicle and the second target vehicle.
The present invention can provide a safe driving environment for the driver by determining the driving speed of the host vehicle using the driving information of the first target vehicle and the second target vehicle.

Description

Speed control device and method of cooperative adaptive cruise control system {APPARATUS AND METHOD FOR CONTROLLING SPEED IN CACC SYSTEM}

The present invention relates to a speed control device and method in a cooperative adaptive cruise control (CACC) system, and more specifically, a plurality of vehicles traveling in the same lane obtained using V2X (Vehicle to Everything) communication It relates to an apparatus and method for controlling the speed of the vehicle based on the information on the preceding vehicle.

The adaptive cruise control (ACC) system is a system that automatically runs at a speed below a driver's set speed, but maintains the distance between the target vehicles at a predetermined distance or more, and / or It provides a tracking function that maintains an interval to prevent collision with a target vehicle in front obtained by the position measurement sensor, or a cruise function that automatically drives at a speed set by the driver.

This CACC system has the convenience that the driver does not need to continuously operate the Excel in order to adjust the driving speed of the vehicle, maintains a certain distance from the target vehicle, and prevents the vehicle from driving at a speed higher than the set speed for safe driving. Can be oriented.

Meanwhile, the CACC system is a system that improves ACC performance by adding V2X communication to the above-described ACC system, receives a speed limit of a road through a vehicle to infrastructure (V2I), and uses the same lane through a vehicle to vehicle (V2V). After receiving information on the target vehicle to be driven, the ACC performance may be improved based on this.

However, the conventional CACC system has a problem that frequent acceleration or sudden departure occurs because the speed of the host vehicle is adjusted based on the speed of the target vehicle after setting the preceding vehicle immediately before the host vehicle as the target vehicle. .

The present invention provides a CACC system and a control method for determining a driving speed based on driving information of a preceding vehicle and a preceding vehicle.

A cooperative adaptive cruise control (CACC) system provided in the host vehicle according to the present invention and controlling the driving speed of the host vehicle according to the present invention for achieving the above object is a vehicle including location and driving information from surrounding vehicles A communication unit that receives information, an information collecting unit that collects vehicle information of surrounding vehicles and vehicle information of the own vehicle using sensors provided in the own vehicle, and a preceding vehicle and a preceding vehicle using sensors provided in the own vehicle. The target vehicle (hereinafter referred to as the first target vehicle) and the target vehicle for tracking the host vehicle based on the vehicle information of the preceding vehicle and the preceding vehicle and the vehicle information of the surrounding vehicles acquired by the communication unit The target vehicle (hereinafter referred to as the second target vehicle) is selected, and the owner of the host vehicle is based on the selected speed information of the first target vehicle and the second target vehicle. It may comprise a control unit for controlling the speed. In addition, the CACC system may further include a driving unit for controlling throttle and brake, and / or a DVI unit for informing the driver of status information of the cooperative adaptive cruise control system, wherein the control unit is driven at the speed of the host vehicle. The control unit may be controlled to control.

Looking in more detail, the control unit determines the preceding vehicle and the preceding vehicle using the state management unit that manages the state of the cooperative adaptive cruise control system, and the sensors provided in the host vehicle, and determines the preceding vehicle and the preceding vehicle. Selecting a target vehicle (hereinafter referred to as a first target vehicle) and a target vehicle following the target vehicle (hereinafter referred to as a second target vehicle) based on vehicle information and vehicle information of surrounding vehicles acquired by the communication unit. A target vehicle selection unit, and a driving management unit that controls the driving speed of the host vehicle based on the selected speed information of the first target vehicle and the second target vehicle, and the state management unit includes a coordinated adaptive cruise control system This does not operate in an OFF state, but a standby state in which the vehicle operates but does not control the driving speed of the host vehicle, and interest interest connected by V2V communication. There is an ACC active state that controls the driving speed of the own vehicle using only the information obtained from the own vehicle without a vehicle in the station, and a surrounding vehicle in a region of interest connected by V2V communication, acquired through the V2V communication One of the cooperative active states for controlling the traveling speed of the host vehicle using information from the surrounding vehicle and information obtained from the host vehicle displays the status of the coordinated adaptive cruise control system, and the information collector detects an object in front The target vehicle selection unit may determine the presence of a preceding vehicle and a preceding vehicle driving the same lane as the driving lane of the host vehicle based on the detection result of the distance sensor.

In addition, the target vehicle selection unit determines, as the preceding vehicle, an object on the driving lane of the host vehicle having a width equal to or greater than a predetermined first reference width according to the detection result of the distance sensor, or the curvature of the driving lane of the host vehicle. If it is smaller than the predetermined reference curvature, the object having a width greater than or equal to the second reference width for a predetermined reference time is determined as the preceding vehicle, or among the objects having a width greater than or equal to the second reference width, during the reference time An object having an increased width may be determined as the preceding vehicle. In addition, the target vehicle selection unit may obtain the second reference width based on the distance from the front object and the position of the preceding vehicle, and if the curvature of the driving lane is greater than or equal to a predetermined reference curvature, the distance sensor When a plurality of surfaces are detected and an object having a width greater than or equal to the second reference width can be determined as the preceding vehicle, or when a plurality of objects having a width greater than or equal to the second reference width is detected by the distance sensor, the The object closest to the preceding vehicle may be determined as the preceding vehicle.

In addition, the driving management unit may control the host vehicle to travel according to any one of a first driving speed corresponding to the driving information of the first target vehicle and a second driving speed corresponding to the driving information of the second target vehicle. Or the vehicle can be controlled to travel according to a smaller value among the first driving speed and the second driving speed, or if the curvature of the driving lane of the own vehicle is smaller than a predetermined first reference curvature, When the driving lane of the host vehicle of the first target vehicle deviates, the host vehicle may be controlled to travel at a driving speed determined according to driving information of the first target vehicle and the second target vehicle. In addition, it is possible to determine whether to deviate from the driving lane of the host vehicle of the first target vehicle by using the speed and position of the first target vehicle obtained from the sensing result of the distance sensor.

Here, the distance sensor may include a lidar.

In addition, the information collecting unit further includes a camera that acquires a front image, and the target vehicle selection unit may obtain information of a lane in which the host vehicle is driving from the front image acquired by the camera.

A speed control method of a cooperative adaptive cruise control (CACC) system provided in a host vehicle according to the present invention and controlling a driving speed of the host vehicle according to the present invention for achieving the above object is performed using a V2V communication. Obtaining vehicle information, determining a preceding vehicle and a preceding vehicle using a sensor of the host vehicle, comparing vehicle information of the surrounding vehicle with vehicle information of the preceding vehicle and the preceding vehicle, and selecting the first target vehicle and Determining a second target vehicle, determining driving speed of the own vehicle using the first target vehicle and the driving information of the second target vehicle, and controlling the own vehicle according to the determined driving speed It may include steps.

Looking in more detail, the step of determining the preceding vehicle and the preceding vehicle using the sensor of the host vehicle includes detecting a front object and driving in the same lane as the driving lane of the host vehicle based on the detection result. Determining a preceding vehicle, and determining the preceding vehicle by using the determined position of the preceding vehicle, furthermore, determining the preceding vehicle, the predetermined first, according to the detection result The object on the driving lane of the own vehicle having a width equal to or greater than a reference width is determined as the preceding vehicle, or the object on the driving lane of the own vehicle having a width greater than or equal to the second reference width obtained by the position of the preceding vehicle is selected as the preceding vehicle. If it is determined as a preceding vehicle or the curvature of the driving lane is smaller than a predetermined reference curvature, the predetermined criterion An object having a width greater than or equal to the second reference width for a time is determined as the preceding vehicle, or an object having a width greater than or equal to the second reference width is increased as the preceding vehicle. Or, the step of acquiring the second reference width based on the distance from the front object and the position of the preceding vehicle and the object on the driving lane of the own vehicle having a width equal to or greater than the obtained second reference width Determining the preceding vehicle or if the curvature of the driving lane is greater than or equal to a predetermined reference curvature, an object having a plurality of surfaces and having a width greater than or equal to the second reference width is determined as the preceding vehicle, or When a plurality of objects having a width equal to or greater than the second reference width are detected, the line closest to the object closest to the preceding vehicle It can be determined by the vehicle.

And determining the driving speed of the host vehicle by using the driving information of the first target vehicle and the second target vehicle is obtaining a first driving speed corresponding to the driving information of the first target vehicle, the And obtaining a second driving speed corresponding to the driving information of the second target vehicle, and determining the driving speed of the host vehicle according to any one of the first driving speed and the second driving speed. In addition, the step of determining the traveling speed of the own vehicle according to any one of the first traveling speed and the second traveling speed may include a smaller value of the first traveling speed and the second traveling speed of the own vehicle. It may be a step determined by the driving speed.

In addition, the step of determining the traveling speed of the host vehicle using the driving information of the first target vehicle and the second target vehicle, if the curvature of the lane on which the host vehicle travels is smaller than a predetermined first reference curvature, Determining whether the first target vehicle deviates from a lane on which the host vehicle travels, and when it is determined that the first target vehicle deviates from a lane on which the host vehicle runs, the first target vehicle and the second And determining the driving speed of the host vehicle using the driving information of the target vehicle. In addition, determining whether the first target vehicle deviates from the lane on which the host vehicle travels is the first. And determining whether to leave the lane in which the host vehicle of the first target vehicle runs using the speed and position of the target vehicle.

And the step of sensing the distance to the front object includes the step of sensing the distance to the front object using a lidar, and determines the preceding vehicle and the preceding vehicle using the sensor of the host vehicle. The step of acquiring may further include the step of acquiring a front image and determining a driving lane of the host vehicle from the front image.

In the present invention, by performing the CACC system, by determining the driving speed of the host vehicle using the driving information of the first target vehicle and the second target vehicle, it is possible to further improve the safety of driving, and in particular, the first target vehicle. 2 When a target vehicle is traveling at a low speed, even when a sudden lane of the first target vehicle is changed, it is possible to provide a safe driving environment to the driver by determining the driving speed according to the driving information of the second target vehicle.

1 is an exemplary view of a CACC system 300 to which the present invention is applied.
2 is a diagram showing a region of interest (ROI) of the CACC system 300 on a straight road.
3 is a block diagram of a CACC system 300 according to an embodiment of the present invention.
4 is a view showing a state transition diagram of the CACC system 300 according to an embodiment of the present invention.
5 is a view for explaining a driving speed control process of the CACC system 300 according to an embodiment of the present invention.
6A and 6B are diagrams for explaining the detection results of the preceding vehicle Cp1 and the preceding vehicle Cp2 according to the position of the preceding vehicle Cp1.
7 is a diagram illustrating a case in which the preceding vehicle Cp1 is being changed to the right by a lane.
8 is a view for explaining the detection results of the preceding vehicle and the preceding vehicle according to the position of the preceding vehicle with respect to the curved driving lane.
9 is a flowchart for controlling the driving speed of the host vehicle in the CACC system 300 according to an embodiment of the present invention.
10 is a flowchart of determining a preceding vehicle and a preceding vehicle using a sensor of a host vehicle in the CACC system 300 according to an embodiment of the present invention.
11 is a flowchart of determining a preceding vehicle and a preceding vehicle using a sensor of a host vehicle in the CACC system 300 for a straight driving lane according to an embodiment of the present invention.
12 is a flowchart for determining a preceding vehicle and a preceding vehicle using a sensor of a host vehicle in the CACC system 300 for a curved driving lane according to an embodiment of the present invention.

In order to clearly describe the present invention, parts irrelevant to the description are omitted, and the same reference numerals are assigned to the same or similar elements throughout the specification.

Throughout the specification, when a part is "connected" to another part, this includes not only "directly connected" but also "electrically connected" with another element in between. . In addition, when a part is said to "include" a certain component, this means that other components may be further included instead of excluding other components, unless specifically stated otherwise.

When one part is said to be "above" another part, it may be directly on top of the other part or another part may be involved in between. In contrast, if one part is said to be "just above" another part, no other part is involved in between.

Terms such as first, second and third are used to describe various parts, components, regions, layers and / or sections, but are not limited thereto. These terms are only used to distinguish one part, component, region, layer or section from another part, component, region, layer or section. Accordingly, a first portion, component, region, layer or section described below may be referred to as a second portion, component, region, layer or section without departing from the scope of the present invention.

The terminology used herein is only for referring to a specific embodiment, and is not intended to limit the present invention. The singular forms used herein include plural forms unless the phrases clearly indicate the opposite. As used herein, the meaning of “comprising” embodies a particular property, region, integer, step, action, element, and / or component, and the presence or presence of other properties, regions, integers, steps, action, element, and / or component. It does not exclude addition.

Terms referring to relative spaces such as "below", "above", etc. may be used to more easily describe the relationship of one part to another part shown in the drawings. These terms are intended to include other meanings or actions of the device in use with the meanings intended in the drawings. For example, if the device in the figure is turned over, some parts described as being "below" other parts are described as being "above" other parts. Thus, the exemplary term “below” includes both the up and down directions. The device can be rotated 90 degrees or rotated at different angles, and terms indicating relative space are also interpreted accordingly.

Although not defined differently, all terms including technical terms and scientific terms used herein have the same meaning as those generally understood by those skilled in the art to which the present invention pertains. Commonly used dictionary-defined terms are further interpreted as having meanings consistent with related technical documents and currently disclosed contents, and are not interpreted as ideal or very official meanings unless defined.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art to which the present invention pertains can easily practice. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein.

First, terms that can be used in the present specification are defined.

Forward vehicle: A vehicle in front of the own vehicle, moving in the same direction along the same road as the own vehicle.

Far-forward vehicle: A vehicle in front of a preceding vehicle, moving in the same direction along the same road as the host vehicle and preceding vehicle.

Clearance: the distance between the end of the preceding vehicle and the front of the host vehicle.

Region of Interest: An area in which potential vehicles of interest and target vehicles, which will be described later, exist, which can influence the control of the CACC system provided in the host vehicle.

Potential Vehicle of Interest: A vehicle that exists in the region of interest and performs V2V communication with the host vehicle.

Target Vehicle: A vehicle that is followed by the host vehicle, which may or may not be connected to the host vehicle via V2V communication.

Time gap: A value calculated by the speed of the host vehicle and the distance between the preceding vehicle. Time gap = interval / speed

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is an exemplary view of a CACC system to which the present invention is applied.

As shown in FIG. 1, the CACC system 300 applied to the present invention has a wireless communication function with front vehicles and / or infrastructure to enhance the sensing ability of the conventional ACC system. System. CACC system 300 may receive the speed limit, time gap (time gap from the vehicle ahead), and other standard messages from the road-side equipment (RSE) 10 using V2I communication. have. That is, the vehicle CACC system 300 may receive information such as a set speed or time gap recommended from a local traffic control system through V2I communication. In addition, the CACC system 300 receives surrounding vehicle information including driving information (speed and acceleration) of the surrounding vehicle 20 through V2V communication with at least one or more surrounding vehicles 20 or surroundings own vehicle information. It can be delivered to the vehicle 20. In addition, it is possible to obtain vehicle information that may exist in the front using conventional sensors.

At this time, the driving vehicle information is a vehicle identifier (ID) that can be distinguished from other vehicles, vehicle type, size, brake performance, total vehicle weight, including the vehicle's resources, latitude, longitude, and height of the vehicle displayed in three dimensions. It may include the position, the progress angle of the vehicle, the vehicle speed, acceleration, yaw rate, brake state, throttle position, steering angle, etc. measured based on the north-north direction.

In addition, the CACC system 300 can receive a set speed or time gap from a driver through a driver vehicle interface (DVI) 60, and can inform the driver of status information of the CACC system 300. In addition, the CACC system 300 may acquire vehicle information 50 from various sensors or control devices inside the vehicle. Thus, the CACC system 300 can control the speed of the vehicle by controlling the throttle or brake based on various data collected in the above-described manner.

As described above, by acquiring information by V2V communication and / or V2I communication, the CACC system 300 can more accurately control the time gap with the vehicle in front while maintaining a smooth ride feeling, and the speed change by the plurality of vehicles in front It has the advantage of being able to respond much faster and setting a shorter time gap without compromising safety or driver's stability.

2 is a diagram showing a region of interest (ROI) of the CACC system 300 on a straight road.

The CACC system 300 may be interested only in surrounding vehicles entering the region of interest. Information coming from a vehicle outside the region of interest may be information that has little meaning in controlling the vehicle. Therefore, it is possible to reduce the load on the CACC system 300 by controlling only the information from the vehicle in the region of interest.

Referring to FIG. 2, the region of interest is 32 m long by 16 m each from the left and right relative to the center of the vehicle on which the CACC system 300 is mounted, and can be set up to 250 m in the front and 100 m in the rear centering the driver's seat. have. If it is a curved road, the region of interest set on the straight road can be set by bending it according to the curvature of the curved road.

In addition, the CACC system 300 may set a target vehicle and a potential vehicle of interest (PVOI). The target vehicle refers to a vehicle in front of which the host vehicle equipped with the CACC system 300 is following. That is, the CACC system 300 uses a distance maintained from the target vehicle when calculating the time gap, and the target vehicle to keep the time gap constant also becomes the target vehicle. A potential vehicle of interest refers to a vehicle that is in the region of interest and is connected to the CACC system 300 through V2V communication. A potential vehicle of interest may be a vehicle that can affect the speed control of the host vehicle equipped with the CACC system 300. Potential vehicles of interest may be vehicles that are expected to join the lanes of the own vehicle from the next lane, vehicles that are in the same lane as the target vehicle, and that are in front of the target vehicle. have.

3 is a block diagram of a CACC system 300 according to an embodiment of the present invention.

Referring to FIG. 3, the CACC system 300 according to the present invention may include an information collection unit 310, a communication unit 320, a DVI unit 340, and a control unit 330, and the control unit 330 is in a state. The management unit 331 may include a driving management unit 333 and a target vehicle selection unit 335.

The communication unit 320 may receive a road speed limit, a time gap (time gap from a vehicle in front), and other standard messages from the RSE 10 based on V2I communication. That is, the CACC system 300 of the vehicle may be provided with information on road, traffic, weather, and life as well as setting speed or time gap information recommended from the local traffic control system through V2I communication. In addition, the communication unit 320 receives surrounding vehicle information including driving information (speed and acceleration) of the surrounding vehicle 20 through V2V communication with at least one or more surrounding vehicles 20 or transmits the own vehicle information to the surrounding vehicle ( 20). In particular, in this case, not only the driving information of the surrounding vehicle 20 but also the identifier information or driving information of the preceding vehicle may be provided. When the surrounding vehicle provides only the identifier information, it is possible to obtain vehicle information on the preceding vehicle of the surrounding vehicle that sent the identifier information by using information from the surrounding vehicle having the identifier information. Therefore, the own vehicle can acquire vehicle information for the target vehicle and the vehicle preceding the target vehicle. Meanwhile, when only the identifier information is transmitted, it may have an advantage that the amount of data transmitted by each vehicle can be reduced.

In addition, the information collection unit 310 may collect information about the surrounding environment collected using the information of the own vehicle and the sensors necessary for the control of the CACC system 300. The information of the own vehicle may include the driving speed, throttle, brake control information, etc. of the own vehicle, and the surrounding environment information may include information about the surrounding vehicle 20 collected through the sensor. In particular, when a target vehicle is present in front of the host vehicle, the driving speed and the separation distance of the target vehicle may be calculated based on radar, lidar, etc., and collected as environment information.

The DVI unit 340 may accept setting information input from the driver through the driver-vehicle interface, and may be generated by the CACC system 300 and the CACC system 300 status information. Information that needs to be notified to the driver, such as warning information, can be transmitted to the driver. As an example, the driver may input the target speed and / or target time gap through the DVI unit 340, and the CACC system 300 controls the host vehicle to operate in accordance with the input target speed and / or target time gap. can do. As another example, as described later, the CACC system 300 may inform the driver of the status information such as whether the CACC system 300 is in an off state, in a standby state, or in an active state through the DVI unit 340.

In addition, a driving unit (not shown) may be further included. The driving unit may control throttle and / or brake according to a control signal of the driving management unit 333 of the control unit 330 to be described later.

The control unit 330 may control the driving speed of the host vehicle based on the information obtained from the information collection unit 310 and the communication unit 320. That is, the control unit 330 selects a target vehicle to follow the host vehicle based on the vehicle information of the surrounding vehicles acquired by the communication unit 320 and the driving information of the preceding vehicle collected by the information collecting unit 310, and if If the target vehicle for tracking the host vehicle is not selected, the driving speed of the host vehicle can be controlled based on the target speed given to the host vehicle, and if the target vehicle for tracking the host vehicle is selected, the speed of the target vehicle The driving speed of the own vehicle can be controlled based on the information, the speed information of the own vehicle, and the target time gap. At this time, the target speed and the target time gap may be set by the user, but differently, the target speed and the target time gap are automatically based on the information obtained by the CACC system 300 from the information collection unit 310 and the communication unit 320. Can also be set according to the situation.

The control unit 330 for performing the above-described functions may further include a state management unit 331, a driving management unit 333, and a target vehicle selection unit 335.

The target vehicle selection unit 335 may select a potential vehicle of interest and a target vehicle based on vehicle information of a plurality of peripheral vehicles 20 coming through the communication unit 320. A potential vehicle of interest refers to a surrounding vehicle existing in the above-mentioned region of interest. Based on the location information received from the surrounding vehicle and the location information of the host vehicle, if the surrounding vehicle is within the region of interest, a potential vehicle of interest can be selected and registered. . In addition, a target vehicle can be selected from among the vehicles of potential interest, the vehicle immediately preceding the host vehicle. In particular, in the case of a target vehicle, it is necessary to be verified with a very high reliability, and the following three conditions can be verified based on the information of the preceding vehicle collected through the information collection unit 310 to select the target vehicle. .

1: Select potential vehicles of interest (hereinafter referred to as the first group of potential vehicles) that operate in the same lane as the lane of the host vehicle using the location information of the potential vehicle of interest.

2: Presence range information received from each potential interest vehicle of the first potential interest vehicle group is from a range measured by the sensor (0.1 times the range measured by the sensor) or (0.7 times the length of each potential interest vehicle) A potential vehicle of interest (hereinafter referred to as a second group of potential vehicles) existing within a larger value is selected. At this time, if the length of the potential vehicle of interest is unknown (0.7 times the length of each potential vehicle of interest), it can be 3.3 meters.

3: Select a potential interest vehicle (third potential interest vehicle group) in which the difference between the speed information received from each potential interest vehicle of the second potential interest vehicle group and the speed measured by the sensor is within 1 m / s.

The third potential interest vehicle group selected through verification of the above three conditions generally includes only one potential interest vehicle, but when two or more potential interest vehicles are included, each potential interest of the third potential interest vehicle group Based on the location information of the vehicle, the target vehicle can be selected as the potential vehicle of interest in the nearest location.

The above-described condition verification may be more accurate verification if the accumulated sample data is compared and judged rather than by comparing one sample data.

As an example, after calculating a correlation coefficient based on Equation 1 and Equation 2 below, it may be determined whether the target vehicle is based on the correlation coefficient.

Here, N is the number of samples for measuring the change in speed and acceleration, V _TV (N) is the speed in the Nth sample of the target vehicle calculated based on radar, V _i (N) is received from the surrounding vehicle (i) The speed in the Nth sample among driving information, a _i (N) is the acceleration in the Nth sample among driving information received from the surrounding vehicle (i), Δt is the sample value based on the driving information received from the surrounding vehicle (i) And the time difference between the radar-based velocity sample value.

Here, -1 < r < 1 is satisfied, and the closer r is to 1, the higher the correlation, and thus can be verified by the target vehicle.

When the target vehicle selection unit 335 determines whether a target vehicle or a potential vehicle of interest exists, the information can be transmitted to the status management unit 331 and / or the driving management unit 333 to be used according to the purpose of each function.

The state management unit 331 may manage the state of the CACC system 300. The CACC system 300 may be in an off state, a standby state, or an active state depending on the state of the host vehicle, the target vehicle and / or the existence of a potential vehicle of interest.

4 is a view showing a state transition diagram of the CACC system 300 according to an embodiment of the present invention.

Referring to FIG. 4, the CACC system 300 is in an OFF state 400 in which the CACC system 300 is not operating, a standby state 500 in operation but not controlling the driving speed of the host vehicle, and It may include an active state 600 for controlling the running speed of the host vehicle. In particular, the active state 600 is connected by V2V communication with the ACC active state 610 that controls the driving speed of the own vehicle using only the information obtained from the own vehicle without a vehicle in the region of interest connected by V2V communication. There is a surrounding vehicle in the region of interest, and includes a cooperative active state 620 for controlling the driving speed of the own vehicle using information from the surrounding vehicle obtained through the V2V communication and information obtained from the own vehicle. You can.

The off state 400 is a state in which the CACC system 300 is not operating. That is, in the off state 400, the CACC system 300 does not perform any function. The ignition of the host vehicle may be turned off or may be manually shifted to the off state 400 by the driver.

The standby state 500 is a state in which the CACC system 300 is waiting to be activated. In the standby state 500, the CACC system 300 does not perform speed control. The CACC system 300 may automatically transition from the off state 400 to the standby state after completing the self-diagnosis when the starting of the host vehicle is turned on, or manually off the state by the driver's operation (400) ) To the standby state 200. In addition, when the driver's manual control input, such as brake or throttle control, comes in from the active state 600, the device may transition to the standby state 500.

The active state 600 is a state in which the CACC system 300 is activated to perform speed control. The active state 600 is operated as the ACC active state 610 when there is no potential vehicle of interest or target vehicle connected by V2V communication, and cooperatively active state when there is a potential vehicle of interest or target vehicle connected by V2V communication ( 620). The CACC system 300 may transition to the active state 600 when the speed of the host vehicle in the standby state 500 becomes higher than a predetermined speed (hereinafter, the first speed). And when the speed of the host vehicle in the active state 600 falls below the first speed, the CACC system 300 may be inhibited from accelerating or transition to the standby state 500.

The CACC system 300 may first operate in the ACC active state 610 when transitioning to the active state 600. In the ACC active state 610, speed control (Cruise Control) may be performed according to the maximum speed set as in the conventional ACC system, or tracking control may be performed when a vehicle is present in the front. In the ACC active state 610, if there is a potential interest vehicle or target vehicle connected by V2V communication, and data received from the potential interest vehicle or target vehicle is valid, it may transition to the cooperative active state 620. Here, verifying that the data is valid is, as an embodiment, the sensor of the host vehicle received through the information collecting unit 310, the potential vehicle of interest or target vehicle information received using V2V communication through the communication unit 320. If it matches the obtained vehicle information, the data can be verified as valid. The verification may be performed by the target vehicle selection unit 335.

In addition, if the potential vehicle of interest and the target vehicle do not exist in the cooperative active state 620, the ACC may transition to the active state 610, and ACC is active even when V2V communication is not performed or only invalid data is received. It may transition to state 610.

The cooperative active state 620 of the CACC system 300 may include a non-follow mode (621), a close-follow mode (622), and a follow mode (623). . The non-following mode 621 is a mode that operates when the potential vehicle of interest is connected by V2V communication but the target vehicle does not exist, and the speed control of the host vehicle by the CACC system 300 is data received from the potential vehicle of interest. Can be affected by

Proximity tracking mode 622 is a mode that operates when there is a target vehicle connected by V2V communication, and the speed control of the host vehicle by the CACC system 300 at this time is based on information coming from the connected target vehicle and potential vehicles of interest. Can be affected.

The following mode 330 is a mode that operates when the target vehicle exists but is not connected by V2V communication. In this case, the target vehicle can be detected by the sensor of the host vehicle, and the information is collected by the information collecting unit 310. Can be obtained from At this time, the speed control of the host vehicle by the CACC system 300 may be influenced by information coming from a potential vehicle of interest and a target vehicle sensed by a sensor.

The CACC system 300 can operate in one of the three modes described above in the cooperative active state 620, and the three modes described above determine whether the target vehicle exists and whether the target vehicle is connected by V2V communication. It can be decided accordingly.

That is, referring to FIG. 4, in the cooperative active state 620, the target vehicle does not exist in the region of interest, but when the potential vehicle of interest exists, transitions to the non-following mode 621 (A), and the target vehicle connected by V2V communication If it does exist, transition to the proximity tracking mode 622 (B), and if the target vehicle not connected by V2V communication exists in the region of interest, and at the same time, if the potential vehicle of interest exists in the region of interest, the mode of transition (B) is Transition (C) is possible.

If none of the connected target vehicles and potential vehicles of interest exist, it may transition to the ACC active state 610.

The maximum and minimum requirements that can be controlled in the active state 600 of the CACC system 300 can be defined as shown in Table 1 below for each mode.

Target vehicle existence Target Vehicle Connection PVOI presence CACC mode Ieast
Time gap Maximum
Deceleration Maximum
Acceleration Whether to use the data received through V2V communication no no no ACC active state: speed control mode 0.8 s 3.5 m / s ^ 2 2.0 m / s ^ 2 not used yes no no ACC active state: tracking mode 0.8 s 3.5 m / s ^ 2 2.0 m / s ^ 2 not used no no yes Cooperative active status:
Non-following mode 0.8 s 3.5 m / s ^ 2 2.0 m / s ^ 2 use yes yes no Cooperative active status:
Proximity tracking mode 0.5 s 5 m / s ^ 2 2.75 m / s ^ 2 use yes yes yes Cooperative active status:
Proximity tracking mode 0.5 s 5 m / s ^ 2 2.75 m / s ^ 2 use yes no yes Cooperative active status:
Tracking Mode 0.8 s 3.5 m / s ^ 2 2.0 m / s ^ 2 use

Referring to Table 1, the CACC system 300 cannot set 0.5s or less as the minimum time gap, cannot control deceleration more than 5m / s ^ 2 by controlling the maximum brake, and 2.75m / s ^ by controlling the throttle. Acceleration control of 2 or more cannot be performed.

Referring again to FIG. 3, the state management unit 331 manages the state of the CACC system 300 according to the above-described method, and when the CACC system 300 is in the active state, the driving management unit 333 travels at the speed of the own vehicle. Can be controlled. In the case of the CACC system 300, the driving speed is generally controlled to be driven according to a target speed set by the driver. However, when the target vehicle is present, the driving speed can be controlled to follow the target vehicle.

The driving management unit 333 may control the driving speed of the host vehicle based on the state information by the state management unit 331 and the presence or absence of the target vehicle and / or potential vehicles of interest from the target vehicle selection unit 335. In particular, in order to promote a safer driving environment for the driver, the driving speed may be controlled using not only the target vehicle of the host vehicle 700 but also the driving information of the target vehicle of the target vehicle.

Hereinafter, the driving control considering the driving information of the target vehicle of the target vehicle in the CACC system 300 will be described in more detail with reference to FIG. 5.

5 is a view for explaining a driving speed control process of the CACC system 300 according to an embodiment of the present invention.

Referring to FIG. 5, the driving lanes of the same lane form the order of the head vehicle Cp2, the preceding vehicle Cp1 which can be the target vehicle of the host vehicle 700, and the host vehicle 700. Here, the head vehicle Cp2 may be a target vehicle of the preceding vehicle Cp1. Here, since the vehicle Cp3 does not drive the same lane as the host vehicle 700, it may be a potential vehicle of interest, but not a target vehicle.

Vehicles 700, Cp1, Cp2, and Cp3 may exchange driving information with each other through V2V communication. In particular, each vehicle may transmit an identifier (ID) for its target vehicle together when transmitting its own driving information. That is, the vehicle Cp2 transmits only its own driving information since the preceding target vehicle does not exist, and if the vehicle Cp2 becomes the target vehicle of the vehicle Cp1, the vehicle Cp1 is confident in its driving information. An identifier (eg, ID-2) for a target vehicle may be transmitted together. Accordingly, the host vehicle 700 may receive the identifier (eg ID-2) information of the vehicle Cp2 that is the target vehicle of the vehicle Cp1 together with the driving information of the vehicle Cp1 that is the target vehicle. Then, the driving management unit 333 of the CACC system 300 mounted on the host vehicle 700 can use the received identifier information to know the target vehicle Cp2 of the target vehicle Cp1, and receive it from the vehicle Cp1. The driving speed of the host vehicle 700 may be controlled using the driving information and the driving information received from the vehicle Cp2.

Here, the point to be looked at a little more is the target vehicle selection unit 335 for the correct selection of the target vehicle, the data from the surrounding vehicle received from the communication unit 320 and the preceding vehicle information collected by the information collection unit 310 It is used together. That is, the target vehicle can be selected only when the two pieces of information match or meet the above-described verification conditions. In particular, when the speed is controlled based on the driving information of the target vehicle as well as the driving information of the target vehicle, the target vehicle of the target vehicle must also be accurately identified.

Hereinafter, a method of verifying the target vehicle (first target vehicle) of the host vehicle and the target vehicle (second target vehicle) of the target vehicle will be described in more detail. Among the information required by the target vehicle selection unit 335, the surrounding vehicle information received through the communication unit 320 can be obtained immediately when connected by V2V communication. In the present invention, in particular, the first target vehicle by the information collection unit 310 The collection of the preceding vehicle information that can be the preceding vehicle and the second target vehicle can be described in more detail.

The information collecting unit 310 may use a camera and / or a distance sensor 311 to collect information of the preceding vehicle and the preceding vehicle.

The camera may acquire a front image to determine the driving lane W of the host vehicle 700. The front image acquired by the camera may include a lane (W) driving the own vehicle and a lane (L) forming the lane. The camera may be installed on the front of the vehicle, and may include an imaging sensor such as a charge coupled device (CCD) or a complementary (CMOS).

The distance sensor 311 includes an object positioned in front of the host vehicle 700, for example, a preceding vehicle Cp1 and a leading vehicle Cp2 traveling in front of the host vehicle 700, structures installed around the road, and the like. It can detect stationary objects, vehicles approaching from the opposite lane. Furthermore, the distance sensor 311 may detect a distance from an object in front of the host vehicle 700, and in the case of a moving object, speed and acceleration.

To this end, the distance sensor 311 may be implemented with a radar or light detection and ranging (LiDAR). If the distance sensor 311 is implemented as a lidar, the distance sensor 311 may irradiate a laser to a predetermined area in front and receive a laser reflected from the front object. After receiving the laser, the distance sensor 311 can detect physical properties such as distance, speed, shape, etc. from the front object from a change in the intensity and frequency of the laser and a change in polarization state. Hereinafter, for convenience of description, it is assumed that the distance sensor 311 is implemented as a lidar.

6A and 6B are diagrams for explaining the detection results of the preceding vehicle Cp1 and the preceding vehicle Cp2 according to the position of the preceding vehicle Cp1, and the hatched area irradiates the laser with the distance sensor 311. Area.

If the preceding vehicle Cp1 and the preceding vehicle Cp2 exist on the driving lane W as shown in FIG. 5, the distance sensor 311 of the host vehicle 700 irradiates the laser toward the preceding vehicle. (Cp1) can be detected. When the preceding vehicle Cp1 travels in the same direction as the traveling direction of the host vehicle 700, the distance sensor 311 may detect the rear surface of the preceding vehicle Cp1. In addition, when the preceding vehicle Cp1 is located in the traveling path of the irradiated laser, the distance sensor 311 may not detect the preceding vehicle Cp2 obscured by the preceding vehicle Cp1.

Meanwhile, the preceding vehicle Cp1 may leave the driving lane W to change the lane. Referring to FIG. 6A, the preceding vehicle Cp1 may exit the driving lane W to change the lane to the right. As a result, the distance sensor 311 can detect a part of the rear of the preceding vehicle Cp1 being changed to the lane and the rear of the preceding vehicle Cp2 located in front of the preceding vehicle Cp1. In FIG. 6A, d1 refers to the rear area of the preceding vehicle Cp1 detected by the distance sensor 311, and d2 refers to the rear area of the preceding vehicle Cp2 detected by the distance sensor 311. You can.

Here, d2 may be changed by the position of the preceding vehicle Cp1. FIG. 6B illustrates a case in which the preceding vehicle Cp1 moves further to the right than in FIG. 6A. At this time, it can be seen that the rear area of the preceding vehicle Cp2 sensed by the distance sensor 311 is different from the case of FIG. 6A.

The detection result of the distance sensor 311 may be used by the target vehicle selection unit 335 to determine the existence of the first target vehicle Cp1 and the preceding vehicle Cp2.

The target vehicle selection unit 335 may determine the presence of the preceding vehicle Cp1 and the preceding vehicle Cp2 driving the same lane as the driving lane W based on the detection result of the distance sensor 311. As described above, since the preceding vehicle Cp1 and the preceding vehicle Cp2 must travel in the same lane as the driving lane W, the target vehicle selection unit 335 may first determine the driving lane W.

To this end, the target vehicle selection unit 335 may use the front image acquired by the camera 200. The target vehicle selection unit 335 may process the front image to clarify the lane L from the front image. Through this, the target vehicle selection unit 335 may extract the left and right lanes L closest to the center of the front image, and determine the lanes they form as the driving lanes W.

When the driving lane (W) is determined, the target vehicle selection unit 335 includes the preceding vehicle (Cp1), or the preceding vehicle (object) located in the driving lane (W) among the front objects sensed by the distance sensor (311). Cp2). Specifically, the target vehicle selection unit 335 may first determine the existence of the preceding vehicle Cp1, and then determine the existence of the preceding vehicle Cp2 using the determined position of the preceding vehicle Cp1.

In order to determine the preceding vehicle Cp1, the target vehicle selection unit 335 may use a predetermined first reference width. Here, the first reference width may mean a minimum width that can be determined by the preceding vehicle Cp1 among the objects sensed by the distance sensor 311. The first reference width may be stored in advance in a storage unit to be described later, or may be determined in advance by a user input or calculation by the target vehicle selection unit 335.

If the preceding vehicle Cp1 travels in the same direction as the traveling direction of the host vehicle 700, or if the traveling direction of the preceding vehicle Cp1 does not deviate significantly from the traveling direction of the host vehicle 700, the distance sensor 311 leads. It is possible to detect the rear of the vehicle Cp2. Referring to FIG. 6A, the distance sensor 311 may detect the rear area d1 of the preceding vehicle Cp1, and d1 may appear in a straight line shape. At this time, the length of d1 may mean the width of the preceding vehicle Cp1.

On the other hand, if the preceding vehicle Cp1 is largely deviated from the driving direction of the host vehicle 700, the distance sensor 311 may detect a part of the rear and side surfaces of the preceding vehicle Cp1. Referring to FIG. 6B, the distance sensor 311 may detect the rear area and the partial side area d1 of the preceding vehicle Cp1, and d1 may appear in an L-shape. At this time, the length of any one of the two straight lines forming the L-shaped d1 may mean the width of the preceding vehicle Cp1.

Accordingly, the target vehicle selection unit 335 may determine the existence of the preceding vehicle Cp1 by confirming that the width of the detected object on the driving lane W is equal to or greater than the first reference width. Specifically, the target vehicle selection unit 335 may check whether the width of the object detected in the order nearest to the front is greater than or equal to the first reference width. As a result, the target vehicle selection unit 335 may determine the closest object from the front having a width equal to or greater than the first reference width as the preceding vehicle Cp1.

When the preceding vehicle Cp1 is determined, the target vehicle selection unit 335 may determine the preceding vehicle Cp2 based on the position of the preceding vehicle Cp1. 6A and 6B, since the detection area d2 of the preceding vehicle Cp2 varies according to the position of the preceding vehicle Cp1, the target vehicle selection unit 335 depends on the determined position of the preceding vehicle Cp1. The leading vehicle Cp2 can be determined.

Specifically, the target vehicle selection unit 335 may determine an object having a width greater than or equal to a second reference width determined according to the position of the preceding vehicle Cp1 as the preceding vehicle Cp2. To this end, the target vehicle selection unit 335 may first determine the second reference width using the position of the preceding vehicle Cp1.

FIG. 7 illustrates a case in which the preceding vehicle Cp1 is being changed to the right side and describes a method of determining the second reference width with reference to this. In FIG. 7, the position of the distance sensor 311 irradiated with the laser is the origin It is assumed that.

First, the target vehicle selection unit 335 acquires the left rear corner coordinates P1 (preV_x, preV_y) of the preceding vehicle Cp1. 6A, when the sensing area d1 of the preceding vehicle Cp1 is sensed as a straight line, the target vehicle selection unit 335 may set the left end of the straight line d1 as P1. Alternatively, as illustrated in FIG. 6B, when the sensing area d1 of the preceding vehicle Cp1 is detected in the L-shape, the target vehicle selection unit 335 may set the vertex of d1 to P1.

Next, the target vehicle selection unit 335 assumes when the preceding vehicle Cp2 is located on the rightmost side of the driving lane W, and the left rear corner coordinates P2 (pre_preV_x, pre_preV_y) of the preceding vehicle Cp2 ).

After obtaining P1 and P2, the target vehicle selection unit 335 may acquire an intersection P3 (intersect_x, intersect_y) between a straight line passing through P1 and X = pre_preV_x from the origin.

Finally, the target vehicle selection unit 335 may determine the distance between P2 and P3 as the second reference width k. Specifically, the target vehicle selection unit 335 may obtain the second reference width k according to Equation (3).

Here, k means the second reference width, intersect_x means the x coordinate of P3, and pre_preV_x means the x coordinate of P2.

So far, it has been described on the premise that the preceding vehicle Cp1 changes the lane to the right, but when the preceding vehicle Cp1 changes to the left, the second reference width can be obtained in a similar manner.

After acquiring the second reference width, the target vehicle selection unit 335 may determine an object having a second reference width or more among the detected objects on the driving lane W as the preceding vehicle Cp2. The target vehicle selection unit 335 of the host vehicle 700 according to an embodiment may determine an object having a second reference width or higher as the preceding vehicle Cp2 at one point.

In addition, the target vehicle selection unit 335 of the host vehicle 700 according to another embodiment may determine an object maintaining a width equal to or greater than the second reference width for a predetermined reference time as the preceding vehicle Cp2. Through this, it is possible to increase the determination accuracy of the preceding vehicle Cp2.

In particular, the target vehicle selection unit 335 may determine an object having a width greater than or equal to the second reference width for a predetermined reference time, and an object having an increased width to be sensed as the preceding vehicle Cp2. As shown in FIGS. 6A and 6B, as the preceding vehicle Cp1 changes to a lane, the detection area d2 of the preceding vehicle Cp2 may increase. Accordingly, by considering whether the width is increased, the target vehicle selection unit 335 may more easily determine the existence of the preceding vehicle Cp2 when the driving lane W of the preceding vehicle Cp1 is deviated.

In addition, when a plurality of objects having a width greater than or equal to the second reference width is detected, the target vehicle selection unit 335 may determine the object closest to the determined preceding vehicle Cp1 as the preceding vehicle Cp2. As described above, since the preceding vehicle Cp2 should be the target vehicle of the preceding vehicle Cp1, the target vehicle selection unit 335 is directly in front of the preceding vehicle Cp1 among objects having a width greater than or equal to the second reference width. The object located at can be determined as the preceding vehicle (Cp2).

When the preceding vehicle Cp1 and the preceding vehicle Cp2 are determined, the target vehicle selection unit 335 uses the information of the surrounding vehicles acquired through the communication unit 320 and the sensors of the host vehicle 700 as described above. When the above-described verification is performed using the collected information of the preceding vehicle Cp1 and the preceding vehicle Cp2, it is possible to increase the reliability of selection by determining the first target vehicle and the second target vehicle.

When the first target vehicle Cp1 and the second target vehicle Cp2 are selected by the target vehicle selection unit 335, the driving management unit 333 includes the first target vehicle Cp1 and the second target vehicle Cp2. The driving unit may be controlled to travel at a driving speed determined according to driving information. Here, the driving information may include all information related to driving, such as speed, acceleration, and position.

To this end, the driving management unit 333 collects the first driving speed corresponding to the driving information of the first target vehicle Cp1 and the second driving speed corresponding to the driving information of the second target vehicle Cp2. ) And / or through the communication unit 320. Specifically, the driving management unit 333 may obtain a first driving speed capable of maintaining a first safety distance from the first target vehicle Cp1 and a second safety distance from the second target vehicle Cp2. 2 You can get the driving speed.

Finally, the driving management unit 333 may control the driving unit to travel according to one of the first driving speed and the second driving speed. Specifically, the driving management unit 333 may control the driving unit to travel according to a smaller value among the first driving speed and the second driving speed.

Through this, the CACC system 300 according to the disclosed embodiment allows the own vehicle 700 to travel while maintaining a safe distance in relation to the second target vehicle Cp2 even if the first target vehicle Cp1 deviates from the lane. Can be controlled.

On the other hand, the driving management unit 333 is the driving speed determined based on the driving information of the first target vehicle Cp1 and the second target vehicle Cp2 only when the driving lane W of the first target vehicle Cp1 deviates. The driving unit can be controlled to travel. In order to determine whether the first target vehicle Cp1 deviates from the driving lane W, the driving management unit 333 may use the speed and position of the first target vehicle Cp1. Specifically, the driving management unit 333 may determine whether to leave the lane using the speed and position of the first target vehicle Cp1 with respect to the lane L forming the driving lane W obtained through the front image. .

Through this, the host vehicle 700 according to the disclosed embodiment may determine a driving speed adaptive to whether the first target vehicle Cp1 deviates from the lane.

So far, the description has been made on the premise that the driving lane W has a straight line or a similar curvature to the straight line. Alternatively, even when the driving lane W has a large curvature, the target vehicle selection unit 335 may similarly detect the preceding vehicle and the preceding vehicle to select the first target vehicle and the second target vehicle.

8 is a view for explaining the detection results of the preceding vehicle and the preceding vehicle according to the position of the preceding vehicle with respect to the curved driving lane.

Compared to the straight driving lane W, the own vehicle 700 driving the curved driving lane W may have a greater risk of an accident. Therefore, when traveling in the curved driving lane W, the own vehicle 700 needs to determine the driving speed in consideration of the driving speed of the preceding vehicle Cp2 as well as the preceding vehicle Cp1.

When the driving lane W is determined, the target vehicle selection unit 335 may determine whether the curvature of the driving lane W is greater than or equal to a predetermined reference curvature. Here, the predetermined reference curvature may mean the minimum curvature of the curved driving lane W.

If the curvature of the driving lane W is equal to or greater than a predetermined reference curvature, the target vehicle selection unit 335 may determine the preceding vehicle Cp2 in a manner corresponding to the curved driving lane W. After determining the preceding vehicle Cp1 according to the method described with reference to FIGS. 6A and 6B and FIG. 7, the target vehicle selection unit 335 selects an object having a plurality of surfaces detected by a distance sensor among objects having a second reference width or more. It can be determined by the preceding vehicle (Cp2).

Referring to FIG. 8, when driving on a curved driving lane W, the sensing area d2 of the preceding vehicle Cp2 by the distance sensor may be formed in an L shape. In other words, in the curved driving lane W, the distance sensor may sense the rear surface and one side of the second target vehicle Cp2 together.

In this way, when the target vehicle selection unit 335 detects the preceding vehicle Cp1 and the preceding vehicle Cp2, and selects the first target vehicle and the second target vehicle based on this, the driving management unit 333 The driving speed may be determined according to the method described above.

As described above, by considering the curvature of the driving lane W, the host vehicle 700 according to the disclosed embodiment may determine the driving speed for securing a safe distance even when driving in a curved lane.

Referring back to FIG. 3, information used for the control of the host vehicle 700 may be stored in advance in a storage unit (not shown). For example, a first reference width used to determine the preceding vehicle Cp1 may be previously stored in the storage unit. Also, an algorithm for obtaining a second reference width used to determine the preceding vehicle Cp2 may be previously stored in the storage unit. In addition, the reference curvature used to determine the curved driving lane W may be previously stored in the storage unit, or the aforementioned reference time may be stored in advance.

9 is a flowchart for controlling the driving speed of the host vehicle in the CACC system 300 according to an embodiment of the present invention.

Referring to FIG. 9, the CACC system 300 may acquire vehicle information of a surrounding vehicle using V2V communication (S100). The vehicle information may include location information, speed, and acceleration by GPS, and in addition, information about a road on which each surrounding vehicle is driving.

In addition, the CACC system 300 may determine a preceding vehicle and a preceding vehicle traveling in front of the host vehicle 700 using a camera, a distance sensor, etc. attached to the host vehicle 700 (S200). In addition, the first target vehicle and the second target vehicle may be determined by comparing the preceding vehicle and the preceding vehicle determined using the sensors of the own vehicle and the surrounding vehicle information obtained through V2V communication (S300). Here, the first target vehicle becomes the target vehicle that the host vehicle 700 follows, and the second target vehicle becomes the target vehicle that the first target vehicle follows. The CACC system 300 determines the driving speed of the host vehicle using the driving information of the first target vehicle and the second target vehicle (S400) after determining the first target vehicle and the second target vehicle in this way (S400). Accordingly, it is possible to control the driving of the host vehicle (S500). Here, the driving information may be all information related to the first target vehicle and the second target vehicle including speed, acceleration position, and the like.

The CACC system 300 according to the embodiment disclosed in the above-described method can secure safety in consideration of both the first target vehicle Cp1 and the second target vehicle Cp2.

10 is a flowchart of determining a preceding vehicle and a preceding vehicle using a sensor of a host vehicle in the CACC system 300 according to an embodiment of the present invention.

The CACC system 300 may first determine the driving lane W using the front image (S210). Specifically, the CACC system 300 may acquire a front image including lane information using a camera through the information collecting unit 310 and determine a driving lane W by extracting a lane through image processing You can.

When the driving lane W is determined, the CACC system 300 may determine the preceding vehicle driving the driving lane W using the detection result of the distance sensor 311 (S220). To this end, the CACC system 300 may determine, as the preceding vehicle Cp1, an object having a predetermined first reference width or higher among objects on the driving lane W sensed by the distance sensor 311.

Then, the CACC system 300 may determine the preceding vehicle Cp2 driving the driving lane W using the determined position of the preceding vehicle Cp1 (S230). To this end, the CACC system 300 May obtain a second reference width corresponding to the position of the preceding vehicle Cp1. After acquiring the second reference width, the CACC system 300 may determine an object having a second reference width or more among the objects on the driving lane W sensed by the distance sensor 311 as the preceding vehicle Cp2.

The CACC system 300 determines the first target vehicle and the second target vehicle by comparing the determined preceding vehicle Cp1 and the preceding vehicle Cp2 with information of the surrounding vehicle obtained through the communication unit 320 (S300). can do.

Hereinafter, the control method of the CACC system 300 will be described in detail by distinguishing the case where the driving lane W is a straight line and a curved line.

11 is a flowchart of determining a preceding vehicle and a preceding vehicle using a sensor of a host vehicle in the CACC system 300 for a straight driving lane according to an embodiment of the present invention.

Referring to FIG. 11, the CACC system 300 may determine the driving lane W using the front image (S210). Specifically, the CACC system 300 uses the camera to front the image including lane information. A driving lane W may be determined by extracting a lane through image processing.

When the driving lane W is determined, the CACC system 300 may determine the preceding vehicle Cp1 driving the driving lane W using the detection result of the distance sensor 311 (S220). To this end, the CACC system 300 may determine, as the preceding vehicle Cp1, an object having a predetermined first reference width or higher among objects on the driving lane W sensed by the distance sensor 311.

The CACC system 300 may determine the minimum reference width, that is, the second reference width, which can be determined as the preceding vehicle Cp2, using the determined position of the preceding vehicle Cp1 (S231). As described with reference to FIG. 7, the CACC system 300 may check the positions of the distance sensors 311 as origins, and confirm the positions of P1, P2, and P3, and confirm the second reference width according to Equation (1).

When the second reference width is confirmed, the CACC system 300 may identify an object having a reference width or more among objects detected by the distance sensor 311 (S232). Further, the CACC system 300 may check whether the object identified during the reference time has a width equal to or greater than the second reference width (S233).

If the object identified during the reference time does not have a width equal to or greater than the second reference width, the CACC system 300 ends without determining the identified object as the preceding vehicle.

On the other hand, if the object identified during the reference time has a width equal to or greater than the second reference width, the CACC system 300 may determine the identified object as the preceding vehicle Cp2 (S234).

12 is a flowchart for determining a preceding vehicle and a preceding vehicle using a sensor of a host vehicle in the CACC system 300 for a curved driving lane according to an embodiment of the present invention.

Referring to FIG. 12, the CACC system 300 may determine the driving lane W using the front image (S210). Specifically, the CACC system 300 uses the camera to front image including lane information. A driving lane W may be determined by extracting a lane through image processing.

When the driving lane W is determined, the CACC system 300 may determine the preceding vehicle Cp1 driving the driving lane W using the detection result of the distance sensor 311 (S220). To this end, the CACC system 300 may determine, as the preceding vehicle Cp1, an object having a predetermined first reference width or higher among objects on the driving lane W sensed by the distance sensor 311.

The CACC system 300 may determine the minimum reference width, that is, the second reference width, which can be determined as the preceding vehicle Cp2, using the determined position of the preceding vehicle Cp1 (S231). As described with reference to FIG. 7, the CACC system 300 may check the positions of the distance sensors 311 as origins, and confirm the positions of P1, P2, and P3, and confirm the second reference width according to Equation (1).

When the second reference width is confirmed, the CACC system 300 may identify an object having a reference width or more among objects detected by the distance sensor 311 (S232). Further, the CACC system 300 may check whether a plurality of surfaces of the identified object are detected by the distance sensor 311 (S235).

If a plurality of surfaces of the identified object are not detected, the CACC system 300 ends without determining the identified object as a preceding vehicle.

On the other hand, if a plurality of surfaces of the identified object are not detected, the CACC system 300 may determine the identified object as the preceding vehicle Cp2 (S234).

As described above, the CACC system proposed in the present invention may provide a safe driving environment to the driver by controlling the speed in consideration of not only the first target vehicle but also the second target vehicle that is the target vehicle of the first target vehicle.

On the other hand, it should be understood that this specification uses CACC as an example for convenience of description. It should be understood that CACC is only one of several ADAS functions, and the CACC implementation presented by the present invention can also be used to implement other related ADAS functions. For example, the methods presented in the present invention include CACC, Adaptive Cruise Control (ACC), Lane Change Decision Aid System (LCAS), Lane Departure Warning System (LDWS), Lane Keeping Assistance System (LKAS), and Road Boundary Departure (RBDPS). Prevention System, PDCMS (Pedestrian Detection and Collision Mitigation System), CSWS (Curve Speed Warning System), FVCWS (Forward Vehicle Collision Warning System), LSF (Low Speed Following), etc. It can also be used to implement a combination of.

In one or more exemplary embodiments, the described functions may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, these functions may be stored or transmitted as one or more instructions or codes on a computer readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. The storage medium can be any available medium that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can transmit or store desired program code in the form of RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage device, or command or data structure. And any other media that can be accessed by a computer. Also, any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio and microwave, Wireless technologies such as fiber optic cable, twisted pair, DSL, or infrared, radio and microwave are included in the definition of the medium. Disks (disks and discs) as used herein include compact discs (CDs), laser discs, optical discs, digital versatile discs (DVDs), floppy discs, and Blu-ray discs. Discs are played back optically by laser. Combinations of the above should also be included within the scope of computer readable media.

When embodiments are implemented as program code or code segments, a code segment is a procedure, function, subprogram, program, routine, subroutine, module, software package, class, or instruction, data structures, or program statement It should be appreciated that any combination of these can be represented. The code segment can be coupled to other code segments or hardware circuitry by passing and / or receiving information, data, arguments, parameters or memory content. Information, arguments, parameters, data, etc. may be delivered, sent or transmitted using any suitable means including memory sharing, message delivery, token delivery, network transmission, and the like. Additionally, in some aspects the steps and / or actions of a method or algorithm are one or these of codes and / or instructions on a machine-readable medium and / or computer-readable medium that can be incorporated into a computer program product. It can reside as any combination or set of.

In implementation in software, the techniques described herein may be implemented in modules (eg, procedures, functions, etc.) that perform the functions described herein. The software codes can be stored in memory units and executed by processors. The memory unit may be implemented within the processor or external to the processor, in which case the memory unit may be communicatively coupled to the processor by various means as is known.

In a hardware implementation, processing units include one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, It may be implemented in a controller, microcontroller, microprocessor, other electronic units designed to perform the functions described herein, or a combination thereof.

What has been described above includes examples of one or more embodiments. Of course, it is not possible to describe all possible combinations of components or methods for the purpose of describing the above-described embodiments, but those skilled in the art can recognize that many additional combinations and substitutions of various embodiments are possible. Accordingly, the described embodiments are intended to cover all alternatives, modifications and variations that are within the spirit and scope of the appended claims. Moreover, for the extent to which the term “comprises” is used in the description or claims, these terms are similar to “consisting of” as the term “consisting of” is interpreted when used as a transitional word in the claims. It is included in the formula.

As used herein, the terms “infer” or “inference” generally refer to the process of determining or reasoning about the state of a system, environment and / or user from a set of observations captured by events and / or data. Speak. Inference can be used to identify a particular situation or action, or can generate a probability distribution over states, for example. Inference can be probabilistic, that is, the calculation of the probability distribution for corresponding states based on consideration of data and events. Inference can also refer to techniques used to construct higher level events from a set of events and / or data. This inference is based on a set of observed events and / or new events or actions from stored event data, whether events are closely correlated in time, and whether events and data come from one or several events and data sources. Let estimate.

Moreover, as used in this application, the terms "component", "module", "system", etc. are not limited to this, but are related to a computer, such as hardware, firmware, a combination of hardware and software, software, or running software. It contains entities. For example, a component may be, but is not limited to, a process executing on a processor, a processor, an object, an executable thread of execution, a program, and / or a computer. For example, both an application running on a computing device and a computing device may be components. One or more components can reside within a process and / or thread of execution, and components can be centralized on one computer and / or distributed between two or more computers. In addition, these components can execute from various computer readable media storing various data structures. Components are compliant with signals having one or more data packets (e.g., data from any component that interacts with other components of the local system, distributed system, and / or other systems via signals, such as the Internet). Etc. can communicate by local and / or remote processes.

10: Rode Side Equipment (RSE)
300: CACC system
310: information collection department
320: communication unit
330: control unit
331: State management department
333: driving management department
335: target vehicle selection unit

Claims (14)

A cooperative adaptive cruise control (CACC) system provided in the own vehicle and controlling the driving speed of the own vehicle,
A communication unit for acquiring vehicle information of surrounding vehicles using vehicle-to-vehicle (V2V) communication;
An information collecting unit for acquiring vehicle information of surrounding vehicles and vehicle information of the own vehicle using sensors provided in the own vehicle;
A control unit for selecting a target vehicle for following the host vehicle based on the vehicle information of the surrounding vehicles and the vehicle information of the host vehicle, and controlling a driving speed of the host vehicle based on the selected vehicle speed information; Including,
The control unit,
Selecting a first potential vehicle group of interest including vehicles present in the same lane as the host vehicle,
Among the vehicles in the first potentially interested vehicle group, vehicles that exist within a certain distance from the host vehicle using the V2V communication and the sensors are selected as the second potentially interested vehicle group,
Among the vehicles in the second potential vehicle group of interest, a vehicle having a difference between a vehicle speed obtained through the V2V communication and a vehicle speed obtained through the sensors is less than a preset value, and is selected as a third potential vehicle group of interest. and,
Selecting at least one vehicle in the third potential vehicle group of interest as the target vehicle,
Cooperative adaptive cruise control system. According to claim 1,
Further comprising a drive for controlling the throttle and brake,
The control unit controls the driving unit to control the driving speed of the host vehicle,
Cooperative adaptive cruise control system. According to claim 1,
Further comprising a DVI unit that can inform the driver of the state information of the coordinated adaptive cruise control system,
Cooperative adaptive cruise control system. According to claim 1, The control unit,
A state management unit that manages the state of the cooperative adaptive cruise control system;
A target vehicle selecting unit selecting the target vehicle based on vehicle information of the surrounding vehicles and vehicle information of the own vehicle; And
A driving management unit that controls the driving speed of the host vehicle based on the speed information of the target vehicle; Containing,
Cooperative adaptive cruise control system. According to claim 4,
The state management unit is in an off state in which the coordinated adaptive cruise control system is not operated, a standby state in which operation is performed but does not control the driving speed of the host vehicle, and there is no vehicle in the region of interest connected by V2V communication. There is an ACC active state that controls the driving speed of the host vehicle using only the information obtained from and a surrounding vehicle in a region of interest connected by V2V communication, and information from the surrounding vehicle acquired through the V2V communication Displaying the state of the cooperative adaptive cruise control system as one of the cooperative active states for controlling the traveling speed of the host vehicle using information obtained from the vehicle,
Cooperative adaptive cruise control system. According to claim 4,
The information collecting unit includes a distance sensor for detecting an object in front,
The target vehicle selection unit determines the presence of a vehicle driving on the same lane as the driving lane of the host vehicle based on the detection result of the distance sensor,
Cooperative adaptive cruise control system. The method of claim 6,
The target vehicle selection unit determines an object on the driving lane of the own vehicle having a width equal to or greater than a first predetermined reference width as a preceding vehicle of the own vehicle, according to the detection result of the distance sensor,
Cooperative adaptive cruise control system. The method of claim 6,
The distance sensor includes a lidar,
Cooperative adaptive cruise control system. The method of claim 6,
The information collecting unit further includes a camera that acquires a front image,
The target vehicle selection unit acquires information of a lane in which the host vehicle is running from a front image obtained by the camera,
Cooperative adaptive cruise control system. As a speed control method of a cooperative adaptive cruise control (CACC) system provided in the own vehicle and controlling the driving speed of the own vehicle,
Obtaining vehicle information of a surrounding vehicle using V2V communication;
Obtaining vehicle information of a surrounding vehicle and vehicle information of the own vehicle using a sensor of the own vehicle;
Selecting a target vehicle for following the own vehicle based on the vehicle information of the surrounding vehicle and the vehicle information of the own vehicle;
Determining a driving speed of the host vehicle using the driving information of the target vehicle; And
And controlling the own vehicle according to the determined driving speed.
The step of determining the target vehicle is:
Selecting a first potential vehicle group of interest including vehicles present in the same lane as the host vehicle;
Selecting, among the vehicles in the first potential interest vehicle group, vehicles that exist within a certain distance using the V2V communication and a sensor of the own vehicle as a second potential interest vehicle group;
Among the vehicles in the second potential vehicle group of interest, a vehicle having a difference between a vehicle speed obtained through the V2V communication and a vehicle speed obtained through the sensor is less than a preset value, and is selected as a third potential vehicle group of interest. To do; And
And selecting at least one vehicle in the third potential vehicle group of interest as the target vehicle.
CACC system speed control method. The method of claim 10,
Detecting an object ahead; And
Further comprising the step of determining the preceding vehicle driving in the same lane as the driving lane of the host vehicle based on the detection result,
CACC system speed control method. The method of claim 11,
Determining the preceding vehicle,
According to the detection result of the step of detecting the front object, the object on the driving lane of the host vehicle having a width greater than or equal to a predetermined first reference width is determined as the preceding vehicle,
CACC system speed control method. The method of claim 11,
The step of sensing the distance from the front object,
Comprising the step of detecting the distance to the front object using a lidar (Lidar),
CACC system speed control method. The method of claim 11,
Obtaining a front image; And
Further comprising the step of determining the driving lane of the host vehicle from the front image;
CACC system speed control method.

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