Abstract: An apparatus for controlling platooning includes a recognizing device to recognize front information of a vehicle by using at least one sensor, a communication device to support vehicle to vehicle communication, and a processor connected with the recognizing device and the communication device. The processor acquires information on a first line in front of the vehicle, through the recognizing device, receives information on a second line, which is transmitted from a preceding vehicle, through the communication device, generates information on a third line by using the information on the first line and the information on the second line, based on information on the preceding vehicle, generates information on a final line by using the information on the first line, the information on the second line, and the information on the third line, and plans a path for the platooning by utilizing the information on the final line.

Abstract: An apparatus for controlling platooning and a method for planning a path are provided. The apparatus includes: a communication device to receive information on a preceding vehicle from the preceding vehicle through Vehicle to Vehicle (V2V) communication; a recognition device to obtain information on an nth following vehicle through a sensor mounted in a vehicle body; and a processor to generate third line information by matching first line information, which is in the information on the preceding vehicle, to second line information, which is in the information on the nth following vehicle, and to plan a platooning path by utilizing the third line information.

Abstract: A platooning control apparatus may include a processor configured to detect the occurrence of acceleration and shifting of a vehicle in front of a host vehicle based on information received from the vehicle in front during platooning, and to set a feedforward control input value of a host vehicle to zero for controlling an inter-vehicle distance with the vehicle in front in a section in which the acceleration and the shifting of the vehicle in front occurs; and a storage configured to store data and algorithms driven by the processor.

Abstract: An apparatus for controlling platooning includes a recognizing device to recognize front information of a vehicle by using at least one sensor, a communication device to support vehicle to vehicle communication, and a processor connected with the recognizing device and the communication device. The processor acquires information on a first line in front of the vehicle, through the recognizing device, receives information on a second line, which is transmitted from a preceding vehicle, through the communication device, generates information on a third line by using the information on the first line and the information on the second line, based on information on the preceding vehicle, generates information on a final line by using the information on the first line, the information on the second line, and the information on the third line, and plans a path for the platooning by utilizing the information on the final line.

Abstract: A platooning control apparatus may include a processor configured to detect the occurrence of acceleration and shifting of a vehicle in front of a host vehicle based on information received from the vehicle in front during platooning, and to set a feedforward control input value of a host vehicle to zero for controlling an inter-vehicle distance with the vehicle in front in a section in which the acceleration and the shifting of the vehicle in front occurs; and a storage configured to store data and algorithms driven by the processor.

Abstract: An apparatus for controlling platooning and a method for planning a path are provided. The apparatus includes: a communication device to receive information on a preceding vehicle from the preceding vehicle through Vehicle to Vehicle (V2V) communication; a recognition device to obtain information on an nth following vehicle through a sensor mounted in a vehicle body; and a processor to generate third line information by matching first line information, which is in the information on the preceding vehicle, to second line information, which is in the information on the nth following vehicle, and to plan a platooning path by utilizing the third line information.

Abstract: The present disclosure provides a computer-implemented method for processing dynamic data by dynamic data processing device. The device comprises a homomorphic encryption module and a plurality of computing modules running in parallel. The method comprises carrying out, by the homomorphic encryption module, fully homomorphic encryption to dynamic data received from an object which generates the dynamic data; updating, by the computing module which is not in bootstrapping, the encrypted state variable; and carrying out, by the computing module which completes bootstrapping, the first update to the encrypted state variable. The first update to the encrypted state variable after completion of bootstrapping is carried out by x(t+Nboot)?ANbootx(t)+?j=0Nboot?1ANboot?1?jB(r(t+j)?y(t+j)).

Abstract: The present disclosure provides a computer-implemented method for processing dynamic data by dynamic data processing device. The device comprises a homomorphic encryption module and a plurality of computing modules running in parallel. The method comprises carrying out, by the homomorphic encryption module, fully homomorphic encryption to dynamic data received from an object which generates the dynamic data; updating, by the computing module which is not in bootstrapping, the encrypted state variable; and carrying out, by the computing module which completes bootstrapping, the first update to the encrypted state variable. The first update to the encrypted state variable after completion of bootstrapping is carried out by x(t+Nboot)?ANbootx(t)+?j=0Nboot?1ANboot?i?iB(r(t+j)?y(t+j)).