Apparatus for controlling vehicle platooning and method thereof

Patent metadata

Field	Value
Publication number	US-11073840-B2
Application number	US-201916393384-A
Country	US
Kind code	B2
Filing date	Apr 24, 2019
Priority date	Nov 15, 2018
Publication date	Jul 27, 2021
Grant date	Jul 27, 2021

Abstract

Disclosed are an apparatus for controlling vehicle platooning and a method thereof. The apparatus includes a communication device that receives estimated acceleration from a leading vehicle, a radar sensor that measures acceleration of a preceding vehicle, and a controller that calculates corrected acceleration by using the estimated acceleration received from the leading vehicle and the acceleration (hereinafter, referred to as a measured acceleration) of the preceding vehicle measured by the radar sensor and controls the vehicle platooning based on the corrected acceleration.

First claim

What is claimed is:

1. An apparatus for controlling vehicle platooning, the apparatus comprising:
a communication device configured to receive estimated acceleration from a leading vehicle;
a radar sensor configured to measure acceleration of a preceding vehicle; and
a controller configured to calculate a corrected acceleration by using the estimated acceleration received from the leading vehicle and the measured acceleration of the preceding vehicle and to control the vehicle platooning based on the corrected acceleration;
wherein the controller is configured to give weights to the estimated acceleration and the measured acceleration, respectively, to calculate the corrected acceleration; and
wherein the weights given to the estimated acceleration and the measured acceleration are based upon an error of an inter-vehicle distance.

2. The apparatus of claim 1 , wherein the controller is configured to divide a sum of a result of multiplying the estimated acceleration by an estimated weight and a result of multiplying the measured acceleration by a measured weight by a sum of the estimated weight and the measured weight, thereby calculating the corrected acceleration.

3. The apparatus of claim 2 , wherein the controller is configured to give a greater weight to the measured acceleration than the estimated acceleration when an error of an inter-vehicle distance is included in a first section.

4. The apparatus of claim 3 , wherein the estimated acceleration is estimated based on an engine torque corresponding to an accelerator position sensor (APS) value and an engine revolution per minute (RPM).

5. The apparatus of claim 2 , wherein the controller is configured to give a same weight to the estimated acceleration and the measured acceleration when an error of an inter-vehicle distance is included in a second section.

6. The apparatus of claim 5 , wherein the estimated acceleration is estimated based on an engine torque corresponding to an accelerator position sensor (APS) value and an engine revolution per minute (RPM).

7. The apparatus of claim 2 , wherein the controller is configured to give a greater weight to the estimated acceleration than the measured acceleration when an error of an inter-vehicle distance is included in a third section.

8. The apparatus of claim 7 , wherein the estimated acceleration is estimated based on an engine torque corresponding to an accelerator position sensor (APS) value and an engine revolution per minute (RPM).

9. An apparatus for controlling vehicle platooning, the apparatus comprising:
a communication device configured to receive estimated acceleration from a leading vehicle, wherein the estimated acceleration is estimated based on an engine torque corresponding to an accelerator position sensor (APS) value and an engine revolution per minute (RPM);
a radar sensor configured to measure acceleration of a preceding vehicle; and
a controller configured to calculate a corrected acceleration by using the estimated acceleration received from the leading vehicle and the measured acceleration of the preceding vehicle and to control the vehicle platooning based on the corrected acceleration.

10. The apparatus of claim 9 , wherein the estimated acceleration is estimated based on the engine torque corresponding to the accelerator position sensor (APS) value and the engine revolution per minute (RPM) and a torque applied to a wheel by a hydraulic pressure corresponding to a brake position sensor (BPS) value.

11. A method of controlling vehicle platooning, the method comprising:
receiving estimated acceleration from a leading vehicle;
measuring, by a radar sensor, acceleration of a preceding vehicle;
calculating corrected acceleration by using the estimated acceleration received and the measured acceleration of the preceding vehicle; and
controlling the vehicle platooning based on the corrected acceleration calculated;
wherein calculating the corrected acceleration comprises giving weights to the estimated acceleration and the measured acceleration, respectively, to calculate the corrected acceleration; and
wherein the weights given to the estimated acceleration and the measured acceleration are based upon an error of an inter-vehicle distance.

12. The method of claim 11 , wherein calculating the corrected acceleration comprises dividing a sum of a result of multiplying the estimated acceleration by an estimated weight and a result of multiplying the measured acceleration by a measured weight by a sum of the estimated weight and the measured weight, thereby calculating the corrected acceleration.

13. The method of claim 12 , wherein calculating the corrected acceleration comprises giving a greater weight to the measured acceleration than the estimated acceleration when an error of an inter-vehicle distance is included in a first section.

14. The method of claim 12 , wherein calculating the corrected acceleration comprises giving a same weight to the estimated acceleration and the measured acceleration when an error of an inter-vehicle distance is included in a second section.

15. The method of claim 14 , wherein the estimated acceleration is estimated based on an engine torque corresponding to an accelerator position sensor (APS) value and an engine revolution per minute (RPM).

16. The method of claim 12 , wherein calculating the corrected acceleration comprises giving a greater weight to the estimated acceleration than the measured acceleration when an error of an inter-vehicle distance is included in a third section.

17. The method of claim 16 , wherein the estimated acceleration is estimated based on an engine torque corresponding to an accelerator position sensor (APS) value and an engine revolution per minute (RPM).

18. The method of claim 11 , wherein the estimated acceleration is estimated based on an engine torque corresponding to an accelerator position sensor (APS) value and an engine revolution per minute (RPM).

19. The method of claim 18 , wherein the estimated acceleration is estimated based on the engine torque corresponding to the accelerator position sensor (APS) value and the engine revolution per minute (RPM) and a torque applied to a wheel by a hydraulic pressure corresponding to a brake position sensor (BPS) value.

20. The method of claim 13 , wherein the estimated acceleration is estimated based on an engine torque corresponding to an accelerator position sensor (APS) value and an engine revolution per minute (RPM).

Assignees

• Hyundai Motor Co Ltd
• Kia Motors Corp
• Univ Korea Res & Bus Found

Inventors

• Park Hong Gi
• Wi Hyoung Jong
• Hong Dae Hie

Classifications

• B60W2420/506

  Inductive sensors, i.e. passive wheel sensors · CPC title

• B60W2556/45

  External transmission of data to or from the vehicle · CPC title

• B60W2510/0657

  Engine torque · CPC title

• B60W2540/12

  Brake pedal position · CPC title

• G08G1/0965

  responding to signals from another vehicle, e.g. emergency vehicle · CPC title