Speed controller for platooning vehicle and method therefor
A speed controller for a leading vehicle includes: a communication device that receives a target acceleration and a current acceleration from a following vehicle; and a controller that predicts a time when the following vehicle brakes based on the received target acceleration and the received current acceleration when the leading vehicle coasts down, and increases a speed of the leading vehicle at the predicted time.
1. A speed controller for a leading vehicle, the speed controller comprising:
a communication device configured to receive a target acceleration and a current acceleration from a following vehicle; and
a controller configured to predict a time when the following vehicle brakes based on the received target acceleration and the received current acceleration, when the leading vehicle coasts down, and to increase a speed of the leading vehicle at the predicted time.
2. The speed controller of claim 1 , wherein the controller predicts a time when the target acceleration of the following vehicle is less than the current acceleration of the following vehicle as the time when the following vehicle brakes.
3. The speed controller of claim 1 , further comprising a sensor group configured to measure an accelerator position sensor (APS) value and a brake position sensor (BPS) value.
4. The speed controller of claim 3 , wherein the controller determines that the leading vehicle coasts down when the APS value is zero and the BPS value is zero.
5. The speed controller of claim 1 , wherein the controller determines that the leading vehicle coasts down, when a torque command value of a power unit of the leading vehicle, the torque command value being obtained over a vehicle network, is zero and when a braking command value is zero.
6. The speed controller of claim 1 , wherein the controller increases the speed of the leading vehicle within a reference range, when a preceding vehicle which is traveling on a same lane as the leading vehicle is spaced from the leading vehicle at a certain distance or when a speed of the preceding vehicle is greater than a reference value compared with the speed of the leading vehicle, in a state where a current speed of the leading vehicle is slower than a speed limit of a road.
7. A speed controller method for a platooning vehicle, the method comprising:
receiving a target acceleration and a current acceleration from a following vehicle;
predicting a time when the following vehicle brakes, based on the received target acceleration and the received current acceleration, when a leading vehicle coasts down; and
increasing a speed of the leading vehicle at the predicted time.
8. The method of claim 7 , wherein the predicting a time when the following vehicle brakes includes predicting a time when the target acceleration of the following vehicle is less than the current acceleration of the following vehicle as the time when the following vehicle brakes.
9. The method of claim 7 , further comprising obtaining an accelerator position sensor (APS) value and a brake position sensor (BPS) value.
10. The method of claim 9 , wherein the predicting a time when the following vehicle brakes includes determining that the leading vehicle coasts down when the APS value is zero and the BPS value is zero.
11. The method of claim 7 , wherein the predicting a time when the following vehicle brakes includes determining that the leading vehicle coasts down when a torque command value of a power unit of the leading vehicle is zero and when a braking command value is zero, the torque command value being obtained over a vehicle network.
12. The method of claim 7 , wherein the increasing a speed of the leading vehicle includes increasing the speed of the leading vehicle within a reference range, when a preceding vehicle which is traveling on a same lane as the leading vehicle is spaced from the leading vehicle at a certain distance or when a speed of the preceding vehicle is greater than a reference value compared with the speed of the leading vehicle, in a state where a current speed of the leading vehicle is slower than a speed limit of a road.
13. A speed controller for a leading vehicle, the speed controller comprising:
a communication device configured to receive information about a braking time from a following vehicle; and
a controller configured to determine, when the leading vehicle coasts down, a time when the following vehicle brakes based on the received information about the braking time, and to increase a speed of the leading vehicle at the determined time.
14. The speed controller of claim 13 , further comprising a sensor group configured to measure an accelerator position sensor (APS) value and a brake position sensor (BPS) value,
wherein the controller determines that the leading vehicle coasts down when the APS value is zero and the BPS value is zero.
15. The speed controller of claim 13 , wherein the controller determines that the leading vehicle coasts down when a torque command value of a power unit of the leading vehicle is zero and a braking command value is zero, the torque command value being obtained over a vehicle network.
16. The speed controller of claim 13 , wherein the controller increases the speed of the leading vehicle within a reference range when a preceding vehicle which is traveling on a same lane as the leading vehicle is spaced from the leading vehicle at a certain distance or when a speed of the preceding vehicle is greater than a reference value compared with the speed of the leading vehicle, in a state where a current speed of the leading vehicle is slower than a speed limit of a road.
17. A speed control method for a platooning vehicle, the method comprising:
receiving information about a braking time from a following vehicle;
determining a time when the following vehicle brakes, based on the received information about the braking time when a leading vehicle coasts down; and
increasing a speed of the leading vehicle at the determined time.
18. The method of claim 17 , wherein the determining a time when the following vehicle brakes includes determining that the leading vehicle coasts down when the APS value is zero and the BPS value is zero.
19. The method of claim 17 , wherein the determining a time when the following vehicle brakes includes determining that the leading vehicle coasts down when a torque command value of a power unit of the leading vehicle is zero and a braking command value is zero, the torque command value being obtained over a vehicle network.
20. The method of claim 17 , wherein the increasing a speed of the leading vehicle includes increasing the speed of the leading vehicle within a reference range, when a preceding vehicle which is traveling on a same lane as the leading vehicle is spaced from the leading vehicle at a certain distance or when a speed of the preceding vehicle is greater than a reference value compared with the speed of the leading vehicle, in a state where a current speed of the leading vehicle is slower than a speed limit of a road.