Apparatus for controlling platooning vehicle and method thereof
View Patent ↗An embodiment platooning control apparatus includes a processor and a memory storing data and algorithms driven by the processor, wherein the algorithms, when executed by the processor, cause the processor to predict a collision with a host vehicle of a plurality of platooning vehicles caused by a vehicle entering a collision prediction area of the host vehicle during platooning, and to determine a control strategy based on a collision situation to share it with remaining vehicles of the platooning vehicles.
1 . A platooning control apparatus comprising:
a processor; and
a memory storing data and algorithms driven by the processor, wherein the algorithms, when executed by the processor, cause the processor to:
predict potential collisions with a host vehicle or a different vehicle of a plurality of platooning vehicles caused by a vehicle, which is not among the plurality of platooning vehicles, entering a collision prediction area of the host vehicle or the different vehicle during platooning; and
determine a control strategy based on a collision situation to share the control strategy with remaining vehicles of the platooning vehicles,
wherein each of the plurality of platooning vehicles includes the platooning control apparatus, and execution of the algorithms by the processor further causes the processor to:
make a particular prediction, by the platooning control apparatus of a first following vehicle of the plurality of platooning vehicles, of a collision between a leading vehicle of the plurality of platooning vehicles and an abnormal driving vehicle that enters a leading vehicle collision prediction area corresponding to the leading vehicle,
wherein the control strategy, determined in response to the particular prediction, comprises:
the plurality of platooning vehicles being separated into a first platoon comprising the leading vehicle and a second platoon comprising the first following vehicle and a second following vehicle;
the first platoon comprising the leading vehicle performing a lane change to avoid the collision with the abnormal driving vehicle and to avoid a front vehicle driving in front of the leading vehicle; and
the second platoon comprising the first following vehicle and the second following vehicle performing a longitudinal deceleration to avoid the abnormal driving vehicle, and
wherein the control strategy determined in response to the particular prediction is executed by the first platoon comprising the leading vehicle and the second platoon comprising the first following vehicle and the second following vehicle.
2 . The platooning control apparatus of claim 1 , wherein the algorithms further cause the processor to set an area from a midpoint of an inter-vehicle distance between the host vehicle and a next forward vehicle of the plurality of platooning vehicles to a mid-point of an inter-vehicle distance between the host vehicle and a rear vehicle of the plurality of platooning vehicles as the collision prediction area.
3 . The platooning control apparatus of claim 1 , wherein the algorithms further cause the processor to:
determine whether the abnormal driving vehicle travels abnormally when the abnormal driving vehicle enters the collision prediction area; and
predict the collision with the abnormal driving vehicle when the abnormal driving vehicle is determined to travel abnormally and is detected in the collision prediction area.
4 . The platooning control apparatus of claim 1 , wherein the algorithms further cause the processor to determine whether collision avoidance is possible when another vehicle that interferes with driving of the plurality of platooning vehicles exists in the collision prediction area.
5 . The platooning control apparatus of claim 4 , wherein the algorithms further cause the processor to:
request full longitudinal braking to a rear vehicle of a collision target vehicle when the collision avoidance is impossible; and
control continued driving of the collision target vehicle.
6 . The platooning control apparatus of claim 5 , wherein the algorithms further cause the processor to:
notify following vehicles of the rear vehicle of the full longitudinal braking of the rear vehicle; and
request the rear vehicle to cut off a high voltage and fuel.
7 . The platooning control apparatus of claim 4 , wherein the algorithms further cause the processor to determine whether avoidance through deceleration is possible in response to a determination that the collision avoidance is possible.
8 . The platooning control apparatus of claim 7 , wherein the algorithms further cause the processor to:
request longitudinal deceleration to a rear vehicle of a collision target vehicle in response to a determination that the avoidance through deceleration is possible; and
control continued driving of the collision target vehicle.
9 . The platooning control apparatus of claim 7 , wherein the algorithms further cause the processor to determine whether the front vehicle exists in front of the leading vehicle of the plurality of platooning vehicles in a lane in which the plurality of platooning vehicles is currently traveling in response to a determination that the avoidance through deceleration is impossible.
10 . The platooning control apparatus of claim 9 , wherein the algorithms further cause the processor to request collision avoidance through front acceleration driving to the leading vehicle among the plurality of platooning vehicles when the front vehicle does not exist in front of the leading vehicle in response to prediction of the collision of the leading vehicle.
11 . The platooning control apparatus of claim 9 , wherein the algorithms further cause the processor to request collision avoidance through the lane change to the leading vehicle among the plurality of platooning vehicles in response to a determination that the front vehicle exists in front of the leading vehicle in response to the prediction of the collision of the leading vehicle.
12 . The platooning control apparatus of claim 9 , wherein, in response to a determination that a particular vehicle in front of a collision target vehicle is one of the plurality of platooning vehicles and a different prediction that a different collision will occur behind the collision target vehicle, the algorithms further cause the processor to classify the collision target vehicle and platooning vehicles of the plurality of platooning vehicles in front of the collision target vehicle as a front group.
13 . The platooning control apparatus of claim 12 , wherein the algorithms further cause the processor to:
request the platooning vehicles of the front group to avoid the collision by changing a lane of the front group when there is the another vehicle in front of the front group; or
request the platooning vehicles of the front group to avoid the collision by allowing the front group to accelerate when there is no other vehicle in front of the front group.
14 . The platooning control apparatus of claim 12 , wherein the algorithms further cause the processor to request the platooning vehicles of the front group to avoid the collision by reducing a distance between the leading vehicle and following vehicles except for the leading vehicle in the front group when there is the another vehicle in front of the front group.
15 . The platooning control apparatus of claim 12 , wherein the algorithms further cause the processor to:
classify following vehicles of the plurality of platooning vehicles located behind the front group as a rear group; and
set a frontmost vehicle of the rear group as a new leading vehicle.
16 . The platooning control apparatus of claim 1 , wherein the algorithms further cause the processor to:
perform longitudinal deceleration of the host vehicle;
notify rear vehicles of the longitudinal deceleration of the host vehicle;
transmit a deceleration amount of the host vehicle to the rear vehicles; and
report a driving situation to the leading vehicle.
17 . The platooning control apparatus of claim 1 , wherein the algorithms further cause the processor to:
perform longitudinal deceleration of the host vehicle;
notify rear vehicles of the longitudinal deceleration of the host vehicle; and
transmit a deceleration amount of the host vehicle to the rear vehicles.
18 . A platooning control method comprising:
making a prediction, by a platooning control apparatus of a first following vehicle of a plurality of platooning vehicles, of a collision between a leading vehicle of the plurality of platooning vehicles and an abnormal driving vehicle that enters a leading vehicle collision prediction area corresponding to the leading vehicle; and;
determining, by the platooning control apparatus, a control strategy based on the prediction,
wherein the control strategy comprises:
the plurality of platooning vehicles being separated into a first platoon comprising the leading vehicle and a second platoon comprising the first following vehicle and a second following vehicle;
the first platoon comprising the leading vehicle performing a lane change to avoid the collision with the abnormal driving vehicle and to avoid a front vehicle driving in front of the leading vehicle; and
the second platoon comprising the first following vehicle and the second following vehicle performing a longitudinal deceleration to avoid the abnormal driving vehicle, and
wherein the control strategy determined in response to the prediction is executed by the first platoon comprising the leading vehicle and the second platoon comprising the first following vehicle and the second following vehicle.