| CPC G08G 1/22 (2013.01) [B60W 30/165 (2013.01); G05D 1/0295 (2013.01); G08G 1/163 (2013.01); B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 30/12 (2013.01); B60W 2050/0075 (2013.01); B60W 2050/046 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2556/65 (2020.02); G05D 1/0278 (2013.01)] | 7 Claims |
|
1. A platooning control apparatus comprising:
a navigation unit configured to guide an ego vehicle to a destination set by a driver;
a driving module configured to drive the ego vehicle; and
a control unit configured to primarily select a set of platooning groups from among a plurality of platooning groups which has been formed by comparing the destination set in the navigation unit with destinations received from each of leader vehicles of the plurality of platooning groups, each of the primarily selected set of platooning groups including each leader vehicle, wherein the primarily selected set of platooning groups includes platooning groups having a same destination as the destination set and platooning groups of which the destination is closest to the destination set in the navigation unit,
analyze platooning information received from leader vehicles of the primarily selected set of platooning groups, the platooning information including vehicle information and accumulated platooning distances of the leader vehicles of the primarily selected set of platooning groups,
select a platooning group from the primarily selected set of platooning groups based on analysis result and a number of platooning groups in the primarily selected set of platooning groups,
determine a plurality of joining points that the ego vehicle joins the selected platooning group based on a location of the ego vehicle and select a joint point among a plurality of joining points by applying weights to a distance to each of the joining points from the location of the ego vehicle, the traffic condition information and the accident risk of each of the joining point and the cost to each of the joining point, and then control the driving module to drive the ego vehicle to join the selected platooning group,
wherein when the ego vehicle is an autonomous vehicle, the control unit is configured to control the ego vehicle to autonomously follow a leader vehicle of the selected platooning group, wherein when the ego vehicle reaches a location within a range in which the ego vehicle can perform short range communication with the leader vehicle of the selected platooning group after arriving at the joining point, the control unit controls an approval handling unit to pay for a fee to platooning, and request the leader vehicle of the selected platooning group to approve joining of the selected platooning group,
wherein when the ego vehicle joins the selected platooning group, the control unit generates leaving points to leave the selected platooning group, and controls the navigation unit to select a leaving point which has a lowest accident risk among the leaving points,
when the ego vehicle reaches a point within a preset distance from the leaving point or an estimated time of arrival at the leaving point falls within a preset time, the control unit controls a user interface unit to inform that the ego vehicle will arrive at the leaving point.
|