Cooperative driving control device and method therefor
The present disclosure relates to a cooperative driving control technology, by which the set speed of an automatic cruise system of follower vehicles, other than a foremost vehicle, among cooperative driving vehicles is set to be higher by a certain value than the driving speed of the leader vehicle, and the headway time of a vehicle immediately after a departing vehicle is increased during a departure period of the follower vehicle, thereby enabling the departing vehicle to quickly and completely depart and preventing a collision between vehicles during the period.
1. A cooperative driving control device that is a device for controlling vehicle cooperative driving of a cooperative driving group comprising a leader vehicle and at least one follower vehicle and is disposed in the leader vehicle, the device comprising:
a set speed controller configured to generate a set speed indication message, which sets a set speed of an automatic cruise system of the follower vehicle comprised in the cooperative driving group to be higher by a first set value than a current driving speed of the leader vehicle, and to transmit the set speed indication message to the follower vehicle; and
a departure controller configured to generate and transmit a headway time change request message, which sets a target headway time of a vehicle immediately after a departing vehicle to be longer than a default headway time for cooperative driving until departure is completed, when it is identified that one of the follower vehicle starts departing.
2. The device of claim 1 , wherein the target headway time is twice or more the default headway time.
3. The device of claim 2 , wherein the first set value is 5 to 10% of the current driving speed of the leader vehicle.
4. A cooperative driving control device that is a device for controlling vehicle cooperative driving of a cooperative driving group comprising a leader vehicle and at least one follower vehicle and is disposed in one of the follower vehicle, the device comprising:
a set speed setter configured to set a set speed of an automatic cruise system to be higher by a first set value than a driving speed of the leader vehicle according to a set speed indication message when receiving the set speed indication message from the leader vehicle; and
a headway time adjuster configured to set a target headway time to be longer than a default headway time for cooperative driving by a departure completion time of a departing vehicle that departs immediately ahead when receiving the headway time change request message from the leader vehicle.
5. The device of claim 4 , wherein the target headway time is twice or more the default headway time.
6. The device of claim 5 , wherein the first set value is 5 to 10% of the current driving speed of the leader vehicle.
7. A cooperative driving control method by a cooperative driving control device disposed in a leader vehicle in a cooperative driving system for controlling vehicle cooperative driving of a cooperative driving group comprising the leader vehicle and at least one follower vehicle, the method comprising:
generating and transmitting, to the follower vehicle, a set speed indication message, which sets a set speed of an automatic cruise system of the follower vehicle comprised in the cooperative driving group to be higher by a first set value than a current driving speed of the leader vehicle;
identifying that one of the follower vehicle starts departing; and
generating and transmitting a headway time change request message, which sets a target headway time of a vehicle immediately after a departing vehicle to be longer than a default headway time for cooperative driving until departure of the departing follower vehicle is completed.
8. The method of claim 7 , further comprising:
generating and transmitting a headway time return message to restore the target headway time of the vehicle immediately after the departing vehicle to the default headway time for cooperative driving immediately after the departure is completed.
9. The method of claim 8 , wherein the target headway time is twice or more the default headway time.
10. The method of claim 9 , wherein the first set value is 5 to 10% of the current driving speed of the leader vehicle.