Vehicle platooning control apparatus that operates a vehicle using target speed and separation distance set based on driving speed-based fuel efficiency data
Disclosed is a vehicle platooning control apparatus including a vehicle speed setter configured to set a target speed of a platooning group based on driving-speed-based fuel economy data of a vehicle included in the platooning group, a distance setter configured to set a separation distance between the vehicle and a preceding vehicle based on the target speed set by the vehicle speed setter, and a driving controller configured to control driving of the vehicle based on the target speed set by the vehicle speed setter or the separation distance set by the distance setter.
1 . A vehicle platooning control apparatus, comprising:
one or more processors configured to execute instructions stored in a memory, thereby configuring the one or more processors to:
set a target speed of a platooning group based on driving speed-based fuel economy data of vehicles included in the platooning group;
set a separation distance between a vehicle included in the platooning group and a preceding vehicle based on a distance it takes the vehicle to stop at a time of braking of the vehicle driven at the target speed and a distance it takes the preceding vehicle driven at the target speed to stop at a time of braking;
adjust the separation distance based on a gradient of a road on which the platooning group or the vehicle is driven, by setting a distance interval equal to or greater than the separation distance and equal to or less than a product of the separation distance and a preset factor that increases in response to the gradient;
control speed of the vehicle included in the platooning group to follow the target speed set based on the driving speed-based fuel economy data and to maintain the separation distance set based on the target speed, wherein the one or more processors are configured to sum multiple fuel economy data collected from the platooning group and set a driving speed having a maximum fuel economy as the target speed of the platooning group; and
determine, at the target speed, a speed profile of the preceding vehicle and a speed profile of the vehicle included in the platooning group at a time of abrupt braking, wherein the speed profile of the vehicle included in the platooning group is set based on the target deceleration at the time of abrupt braking as a braking strategy, wherein compensated deceleration, in which the gradient of the road on which the platooning group or the vehicle included in the platooning group is driven, is reflected as target deceleration is calculated, and wherein the speed profile of the vehicle included in the platooning group is set based on the calculated compensated deceleration as the braking strategy, wherein slope deceleration a_θ is calculated by reflecting an estimated gradient θ through: a_θ=g*cos(θ), wherein target deceleration a_ctr is calculated by adding the slope deceleration a_θ having the estimated gradient θ reflected therein to target deceleration on the flatland a_req through: a_ctr=a_req+a_θ+tolerance value, and wherein the tolerance value is a value tuned for safety, to integrate each speed profile over time to obtain a stopping distance (S 2 , S 3 ), and to set the separation distance (d) to satisfy d≥S 3 −S 2 +α, where α is a tuning parameter representing a safety margin to account for differences in stopping distances between the preceding vehicle and the vehicle included in the platooning group.
2 . The vehicle platooning control apparatus according to claim 1 , wherein the one or more processors are further configured to:
monitor driving data of the vehicles and generate the driving speed-based fuel economy data based on the monitored driving data.
3 . The vehicle platooning control apparatus according to claim 1 , wherein the one or more processors are further configured to:
control speed of the vehicle based on the driving speed-based fuel economy data of the vehicle while maintaining a distance from the preceding vehicle within the distance interval.
4 . A processor-implemented vehicle platooning control method, the method comprising:
setting, by one or more processors, a target speed of a platooning group based on driving speed-based fuel economy data of vehicles included in the platooning group;
setting, by the one or more processors, a separation distance between a vehicle included in the platooning group and a preceding vehicle based on a distance it takes the vehicle to stop at a time of braking of the vehicle driven at the target speed and a distance it takes the preceding vehicle driven at the target speed to stop at a time of braking;
adjusting the separation distance based on a gradient of a road on which the platooning group or the vehicle is driven, by setting a distance interval equal to or greater than the separation distance and equal to or less than a product of the separation distance and a preset factor that increases in response to the gradient;
controlling, by the one or more processors, speed of the vehicle included in the platooning group to follow the target speed set based on the driving speed-based fuel economy data and to maintain the separation distance set based on the target speed; and
determining, at the target speed, a speed profile of the preceding vehicle and a speed profile of the vehicle included in the platooning group at a time of abrupt braking, wherein the speed profile of the vehicle included in the platooning group is set based on the target deceleration at the time of abrupt braking as a braking strategy, wherein compensated deceleration, in which the gradient of the road on which the platooning group or the vehicle included in the platooning group is driven, is reflected as target deceleration is calculated, and the speed profile of the vehicle included in the platooning group is set based on the calculated compensated deceleration as the braking strategy, wherein slope deceleration a_θ is calculated by reflecting an estimated gradient θ through: a_θ=g*cos(θ), wherein target deceleration a_ctr is calculated by adding the slope deceleration a_θ having the estimated gradient θ reflected therein to target deceleration on the flatland a_req through: a_ctr=a_req+a_θ+tolerance value, and wherein the tolerance value is a value tuned for safety, to integrate each speed profile over time to obtain a stopping distance (S 2 , S 3 ), and to set the separation distance (d) to satisfy d≥S 3 −S 2 +α, where α is a tuning parameter representing a safety margin to account for differences in stopping distances between the preceding vehicle and the vehicle included in the platooning group,
wherein the setting of the target speed of the platooning group comprises summing multiple fuel economy data collected from the platooning group and setting a driving speed having a maximum fuel economy as the target speed of the platooning group.
5 . The vehicle platooning control method according to claim 4 , further comprising:
monitoring driving data of the vehicle and generating the driving speed-based fuel economy data based on the monitored driving data.
6 . The vehicle platooning control method according to claim 4 , wherein the controlling of the speed of the vehicle comprises:
controlling the speed of the vehicle based on the driving speed-based fuel economy data of the vehicle while a distance from the preceding vehicle is maintained within the distance interval.