| CPC B60W 30/162 (2013.01) [B60Q 1/50 (2013.01); B60Q 5/00 (2013.01); B60W 50/14 (2013.01); G08G 1/22 (2013.01); B60W 2050/146 (2013.01); B60W 2540/215 (2020.02); B60W 2554/802 (2020.02); B60W 2554/804 (2020.02); B60W 2754/30 (2020.02); B60W 2754/50 (2020.02)] | 18 Claims |
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1. A platooning controller, comprising:
a processor configured to, when a cut-in vehicle cuts in a platooning line, perform a platooning control depending on an intention of a user of a host vehicle driving behind the cut-in vehicle to perform the platooning control and a driving situation with the cut-in vehicle; and
a storage storing the result of performing the platooning control performed by the processor and information about the driving situation,
wherein the processor receives, from the user, an input of whether to maintain a platooning state and transmits the input of the user to a leading vehicle,
wherein, in response to a determination that the cut-in vehicle cuts in the platooning line and that the intention of the user to perform the platooning control indicates maintaining the platooning state, the processor decelerates all platooning vehicles including the leading vehicle and the host vehicle to a minimum speed allowed by a speed limit of a road where the platooning vehicles are traveling to guide the cut-in vehicle to cut-out the platooning line,
wherein the processor controls the host vehicle using a smaller value between a target speed of the host vehicle behind the cut-in vehicle, the target speed being for maintaining a target inter-vehicle distance from the cut-in vehicle, and a setting speed of the host vehicle, the setting speed being synchronized with a speed of the leading vehicle,
wherein, in response to a determination that the cut-in vehicle does not cut out, the processor sets a distance value between a vehicle in front of the cut-in vehicle in the platooning line and the host vehicle driving behind the cut-in vehicle as an initial value,
wherein, when the cut-in vehicle cuts in front of the host vehicle in the platooning line, the processor determines whether the platooning controller is able to perform communication between all the platooning vehicles in the platooning line, and
wherein, in response to a determination that the processor cannot perform communication between all the platooning vehicles, the processor releases the platooning when another vehicle newly cuts in, when the user requests to release the platooning, when the cut-in vehicle brakes emergently, or when a distance value between the leading vehicle and the host vehicle is greater than or equal to a certain value.
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