US 11,940,814 B2
Cooperative driving method based on driving negotiation and apparatus for the same
Yoo-Seung Song, Daejeon (KR); Joo-Young Kim, Daejeon (KR); Kyoung-Wook Min, Sejong-si (KR); Yong-Woo Jo, Daejeon (KR); and Jeong-Dan Choi, Daejeon (KR)
Assigned to ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE, Daejeon (KR)
Filed by ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE, Daejeon (KR)
Filed on Nov. 22, 2021, as Appl. No. 17/532,089.
Claims priority of application No. 10-2021-0109621 (KR), filed on Aug. 19, 2021.
Prior Publication US 2023/0056581 A1, Feb. 23, 2023
Int. Cl. G05D 1/02 (2020.01); B60W 60/00 (2020.01); G05D 1/00 (2006.01); H04W 4/44 (2018.01); H04W 4/46 (2018.01)
CPC G05D 1/0291 (2013.01) [B60W 60/0015 (2020.02); G05D 1/0289 (2013.01); H04W 4/44 (2018.02); H04W 4/46 (2018.02); B60W 2556/50 (2020.02); B60W 2556/65 (2020.02); G05D 2201/0213 (2013.01)] 14 Claims
OG exemplary drawing
 
8. A cooperative driving apparatus, comprising:
a processor for determining whether cooperative driving is possible in consideration of a driving mission of a requesting vehicle that requests cooperative driving with neighboring vehicles, when it is determined that cooperative driving is possible, setting a responding vehicle from which cooperative driving is to be requested among the neighboring vehicles, performing driving negotiation between the requesting vehicle and the responding vehicle based on a driving negotiation protocol, and when the driving negotiation is completed, performing cooperative driving by providing driving guidance information for vehicle control to at least one of the requesting vehicle and the responding vehicle; and
a memory for storing the driving guidance information
wherein the processor receives vehicle reaction information in which control corresponding to the driving guidance information is reflected from at least one of the requesting vehicle and the responding vehicle, and continuously provides the driving guidance information considering the vehicle reaction information until the driving mission is completed.