| CPC G05D 1/0295 (2013.01) [B60W 60/001 (2020.02); G08G 1/22 (2013.01); B60W 2556/65 (2020.02)] | 14 Claims |
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1. A platooning control device comprising:
a learning device configured to perform reinforcement learning on the basis of image information and a feedback signal and to control a pertinent vehicle to follow a traveling trajectory of a front vehicle according to a result of the reinforcement learning; and
a compensation determination unit configured to receive a coordinate of a control point regarding the traveling trajectory of the front vehicle from the front vehicle and to compare a coordinate of the pertinent vehicle with the coordinate of the control point, thereby generating the feedback signal,
wherein the image information comprises front image information output from a front camera of the pertinent vehicle and rear image information output from a rear camera of the front vehicle,
the learning device determines an overlapping part between a rear image of the front vehicle and a front image of the pertinent vehicle on the basis of the front image information and the rear image information, and determines a degree of overlapping between the rear image and the front image according to learning data regarding the reinforcement learning,
the feedback signal indicates one of positive feedback and negative feedback regarding whether the pertinent vehicle follows the traveling trajectory of the front vehicle, and
the control point corresponds to a point for controlling the shape of a spline curve corresponding to the traveling trajectory of the front vehicle, the spline curve corresponding to a smooth curve for expressing the traveling trajectory of the front vehicle by using a spline function.
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