Platooning control method and system

Patent metadata

Field	Value
Publication number	US-12091008-B2
Application number	US-202117357289-A
Country	US
Kind code	B2
Filing date	Jun 24, 2021
Priority date	Jun 25, 2020
Publication date	Sep 17, 2024
Grant date	Sep 17, 2024

Abstract

A platooning control method includes: determining whether a preceding vehicle, which is located in front of a host vehicle, has entered a slope section when a plurality of vehicles are moving on a road, acquiring longitudinal distance information between the host vehicle and the preceding vehicle using a Dead-Reckoning (DR) sensor of the host vehicle upon determining that the preceding vehicle has entered the slope section, and performing platooning control by the host vehicle with the plurality of vehicles in the slope section using the longitudinal distance information acquired by the DR sensor and speed information.

First claim

What is claimed is:

1. A platooning control method comprising:
a slope entry determination step of a control device determining whether a preceding vehicle, which is located to be in front of a host vehicle, has entered a slope section when a plurality of vehicles including the host vehicle and the preceding vehicle are moving on a road;
a slope distance information calculation step of the control device acquiring longitudinal distance information between the host vehicle and the preceding vehicle using a sensor of the host vehicle upon determining that the preceding vehicle has entered the slope section; and
a slope driving control step of the control device performing platooning control of the plurality of vehicles, in which the host vehicle is involved, in the slope section using the longitudinal distance information acquired by the sensor and speed information,
wherein the slope driving control step includes, in response to determining that the host vehicle has entered a downward slope:
adjusting a deceleration amount of the host vehicle based on an inclination of the downward slope; and
reflecting the adjusted deceleration amount of the host vehicle in the platooning control,
wherein the adjusting a deceleration amount of the host vehicle further includes:
calculating a time to collision using a distance and a relative speed between the host vehicle and the preceding vehicle;
calculating a required deceleration value of the host vehicle that necessitates the relative speed between the host vehicle and the preceding vehicle to become zero, based on the calculated time to collision;
reflecting the inclination of the downward slope in the required deceleration value to compensate for the required deceleration value; and
calculating a target braking control value necessary to realize a required deceleration compensation value and transmitting the calculated target braking control value to be reflected in the platooning control.

2. The platooning control method according to claim 1 , wherein the slope entry determination step includes determining whether the preceding vehicle has entered the slope section using a pitch value of the preceding vehicle.

3. The platooning control method according to claim 2 , wherein the slope entry determination step further comprises:
in response to determining that a pitch value of a lead vehicle, which is located very front among platooning vehicles, is equal to or greater than a set value, determining whether the lead vehicle has entered the slope section using navigation information;
upon determining that the lead vehicle has entered the slope section, detecting the pitch value of each of the platooning vehicles; and
in response to determining that the pitch value of the preceding vehicle is equal to or greater than the set value, determining that the preceding vehicle has entered the slope section.

4. The platooning control method according to claim 1 , further comprising:
a slope exit determination step of determining whether the host vehicle has exited the slope section in the slope driving control step;
a flatland distance information calculation step of, upon determining that the host vehicle has exited the slope section, acquiring longitudinal distance information between the host vehicle and the preceding vehicle using a front sensor of the host vehicle; and
a flatland driving control step of performing platooning control by the host vehicle with the plurality of vehicles in a flatland section once the host vehicle has deviated from the slope section based on the longitudinal distance information acquired by the front sensor and the speed information.

5. The platooning control method according to claim 4 , wherein the slope exit determination step includes, in response to determining that the pitch value of the host vehicle is increased to the set value or more, is decreased to less than the set value, and then is increased again to the set value, determining that the host vehicle has exited the slope section.

6. The platooning control method according to claim 1 , further comprising:
a flatland distance information acquisition step of the control device acquiring longitudinal distance information between the host vehicle and the preceding vehicle using a front sensor of the host vehicle in response to determining that the preceding vehicle is on a flatland section; and
a flatland driving control step of the control device performing the platooning control in the flatland section based on the longitudinal distance information acquired by the front sensor and the speed information.

7. The platooning control method according to claim 1 , wherein the speed information is acquired by a Global Positioning System (GPS).

8. A platooning control system comprising a processor configured to:
determine whether a preceding vehicle, which is located to be in front of a host vehicle, has entered a slope section when a plurality of vehicles including the host vehicle and the preceding vehicle are moving on a road;
acquire longitudinal distance information between the host vehicle and the preceding vehicle using a sensor of the host vehicle upon determining that the preceding vehicle has entered the slope section, and
perform platooning control of the plurality of vehicles, in which the host vehicle is involved, in the slope section using the longitudinal distance information acquired by the sensor and speed information,
wherein, in response to determining that the host vehicle has entered a downward slope, the processor is further configured to adjust a deceleration amount of the host vehicle based on an inclination of the downward slope and to reflect the adjusted deceleration amount of the host vehicle in the platooning control,
wherein, in response to determining that the host vehicle has entered the downward slope, the processor:
calculates a time to collision using a distance and a relative speed between the host vehicle and the preceding vehicle,
calculates a required deceleration value of the host vehicle that necessitates the relative speed between the host vehicle and the preceding vehicle to become zero, based on the calculated time to collision,
reflects the inclination of the downward slope in the required deceleration value to compensate for the required deceleration value, and
calculates a target braking control value necessary to realize a required deceleration compensation value and transmit the calculated target braking control value to the driving controller to be reflected in the platooning control.

9. The platooning control system according to claim 8 , wherein the processor is configured to determine whether the preceding vehicle has entered the slope section using a pitch value of the preceding vehicle.

10. The platooning control system according to claim 8 , wherein the processor is further configured to:
in response to determining that a pitch value of a lead vehicle, which is located very front among platooning vehicles, is equal to or greater than a set value, determine whether the lead vehicle has entered the slope section using navigation information,
upon determining that the lead vehicle has entered the slope section, detect the pitch value of each of the platooning vehicles, and
in response to determining that the pitch value of the preceding vehicle is equal to or greater than the set value, determine that the preceding vehicle has entered the slope section.

11. The platooning control system according to claim 8 , wherein the processor is further configured to:
determine whether the preceding vehicle has exited the slope section,
upon determining that the preceding vehicle has exited the slope section

Assignees

• Hyundai Mobis Co Ltd

Inventors

• Park Seung Jin

Classifications

• B60W2556/50

  of positioning data, e.g. GPS [Global Positioning System] data · CPC title

• G01C21/12

  executed aboard the object being navigated; Dead reckoning · CPC title

• B60W2554/802

  Longitudinal distance · CPC title

• B60W2520/10

  Longitudinal speed · CPC title

• B60W2520/16

  Pitch · CPC title