EP3227876A1 - Procédé de coordination des mouvements de véhicules formant un peloton - Google Patents

Procédé de coordination des mouvements de véhicules formant un peloton

Info

Publication number
EP3227876A1
EP3227876A1 EP14833192.9A EP14833192A EP3227876A1 EP 3227876 A1 EP3227876 A1 EP 3227876A1 EP 14833192 A EP14833192 A EP 14833192A EP 3227876 A1 EP3227876 A1 EP 3227876A1
Authority
EP
European Patent Office
Prior art keywords
vehicles
vehicle
platoon
data
driving maneuver
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP14833192.9A
Other languages
German (de)
English (en)
Inventor
Carsten KAUSCH
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Audi AG
Original Assignee
Audi AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Audi AG filed Critical Audi AG
Publication of EP3227876A1 publication Critical patent/EP3227876A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/22—Platooning, i.e. convoy of communicating vehicles

Definitions

  • the invention relates to a method for coordinating movements of vehicles forming a platoon.
  • vehicles in particular motor vehicles form a platoon in order to protect at least one of the vehicles, said one vehicle being a primary vehicle used to transport, for example, a VIP (Very Important Person) such a politician or a celebrity.
  • the primary vehicle is to be protected by the other vehicles being so-called secondary vehicles.
  • the secondary vehicles have the task to, for example, block other cars from the primary car so that a secure transport of the VIP can be realized.
  • the secondary vehicles are used to block crossings while the primary vehicle crosses the crossings.
  • a main task is to avoid a complete stop of the platoon.
  • the vehicles perform several driving maneuvers in which the vehicles can move in relation to each other at different speeds.
  • the invention relates to a method for coordinating movements of vehicles, in particular motor vehicles, forming a platoon, one of the vehicles being a primary vehicle to be protected by the other vehicles which are secondary vehicles of the platoon.
  • information data are received by the vehicles via a wireless data connection, the information data comprising position data indicative of respective positions of the vehicles.
  • the information data comprise movement data indicative of at least one driving maneuver to be performed by the vehicles.
  • the driving maneuver of the platoon indicated by the movement data is schematically displayed on at least one respective display unit of the respective vehicle.
  • respective displays of the vehicles can schematically display the driving maneuver on the basis of the received information data thereby communicating the driving maneuver to the respective drivers.
  • the driving maneuver is schematically displayed in such a way that respective symbols representing the vehicles of the platoon are displayed by the display unit, the symbols being moved in relation to each other thereby illustrating the driving maneuver, i.e. its procedure.
  • the information data comprise object data indicative of at least one object in the surroundings of the platoon.
  • the object is detected by an object detection system of at least one of the vehicles.
  • the object detection system comprises at least one sensor by means of which the object can be detected.
  • the vehicles can be provided with up-to-date object data, especially in real time so that the driving maneuver can be performed on the basis of detected objects in the surroundings of the platoon.
  • the vehicles receive traffic data indicative of a current traffic situation the vehicles are in.
  • the drivers can, for example, adapt the speeds and the movements of the vehicle to the current traffic situation while performing the driving maneuver.
  • the information data are provided by at least one data base to which the vehicles are wirelessly connected via the wireless data connection.
  • the vehicles can be provided with up-to-date real time data.
  • the vehicles share the same information basis on which the driving maneuver can be performed.
  • the information data are wirelessly exchanged between the wireless data connection. This means the vehicles share their information so that all vehicles of the platoon have the same information basis on which the driving maneuver can be performed.
  • the information data are directly exchanged between the vehicles via a wireless vehicle-to-vehicle data connection.
  • the information data are not transmitted from one of the vehicles via an intermediate server to the other vehicles, but the information data are directly transmitted from, for example, one of vehicles to the other vehicles of the platoon without redirecting the information data via an external server.
  • the vehicles can be provided with up-to-date data particularly fast, especially in real time so that the primary vehicle can be protected particularly efficiently and effectively.
  • Fig. 1 a schematic top view of vehicles forming a platoon, the vehicles performing a first driving maneuver on the basis of a method used to coordinate movements of the vehicles during the driving maneuver;
  • Fig. 2 a schematic top view of vehicles forming a platoon and performing a second driving maneuver
  • Fig. 3 a schematic top view of vehicles forming a platoon and performing a third driving maneuver.
  • Fig. 1 shows in a schematic top view three vehicles 10, 12 and 14 travelling along a road 16, the vehicles 10, 12 and 14 forming a platoon 18, wherein the vehicles 10, 12 and 14 and, thus, the platoon 18 move in a direction indicated by a directional arrows 20.
  • the vehicles 10, 12 and 14 are moving straight forward.
  • the vehicles 10, 12 and 14 perform a first driving maneuver in which the vehicles 10, 12, 14 which are configured as motor vehicles drive at respective and at least substantially constant distances dl and d2 from each other.
  • the first driving maneuver is also referred to as a classic front-rear protection while driving straight at high speed.
  • the vehicle 12 is a primary vehicle which is also referred to as a VIP vehicle since a very important person (VIP) is transported in the vehicle 12.
  • VIP very important person
  • the very important person is a celebrity or a politician to be protected from objects and other traffic participants.
  • the distance dl constitutes at least substantially two lengths of the vehicle 10
  • the distance d2 constitutes three lengths of the vehicle 14.
  • the other vehicles 10 and 14 are so-called secondary vehicles by means of which the vehicle 12 and, thus, the VIP are to be protected. Therein, the driving maneuver is preformed in order to protect the vehicle 12 while travelling along the road 16 effectively and efficiently.
  • the first driving maneuver is performed on the basis of a method for coordinating movements of the vehicles 10, 12 and 14 during said driving maneuver.
  • information data are received by the vehicles 10, 12 and 14 via a wireless data connection, the information data comprising position data indicative of respective positions of the vehicles 10, 12 and 14, and movement data indicative of a at least the first driving maneuver being performed by the vehicles 10, 12 and 14.
  • the received information data are displayed by respective displays of the vehicles 10, 12, 14 thereby schematically showing the first driving maneuver so that the first driving maneuver is visually communicated to the respective drivers of the vehicles 10, 12 and 14.
  • each driver knows, for example, the position of the other vehicles 10, 12 and 14 in relation to their own vehicle 10, 12 and 14 so that the drivers can precisely perform the first driving maneuver on the basis of the received information data.
  • the information data are provided by an external server having a data base in which the information data are stored, wherein the information data are wirelessly transmitted to the vehicles 10, 12 and 14 and received by the vehicles 10, 12 and 14.
  • At least one of the vehicles 10, 12 and 14 can provide the information data which are wirelessly transmitted to the respective other vehicles 10, 12 and 14.
  • the vehicles 10, 12 and 14 exchange the information data directly via a wireless car-to-car data connection, i.e. a wireless vehicle-to-vehicle data connection.
  • the information data are up-to-date and can be received by the vehicles 10, 12 and 14 at least substantially in real time. Since the respective drivers can perform the driving maneuver on the basis of the up-to-date information data collisions between the cars 10, 12 and 14 as well as collisions between objects such as other traffic participants and the vehicles 10, 12, 14 can be avoided so that the primary vehicle can be protected particularly effectively and efficiently.
  • Fig. 2 shows the platoon 18 which comprises not only the secondary vehicles in the form of the vehicles 10 and 14 and the primary vehicle in the form of the vehicle 12, but also further secondary vehicles 22, 24 and 26.
  • a second driving maneuver is performed by the platoon 18.
  • the second driving maneuver is also referred to as a left turn blocking since, in the second driving maneuver, the platoon 18 turns left at a crossing 28 while protecting the primary vehicle (vehicle 12).
  • a first step SI of the second driving maneuver the platoon 18 approaches the crossing 28 while driving straight at high speed.
  • a second step S2 the left turn is performed in such a way that the vehicles 10, 14 and 24 block roads 16, 30 and 32 opening into the crossing 28, wherein the vehicles 10, 14 and 24 are moving slowly.
  • the vehicles 22 and 12 are turning left at a high speed while the vehicle 22 is moving in front of the vehicle 12.
  • the vehicle 26 moves behind the vehicle 12 at high speed and performs the left turn as well thereby protecting the back of the primary vehicle.
  • a third step S3 the vehicles 10, 14 and 24 speed up so that the vehicle 10 moves between the vehicle 12 and the vehicle 22, and the vehicle 26 moves between the vehicle 10 and the vehicle 12.
  • a fourth step S4 the left turn is complete and the platoon 18 moves in an order shown in Fig. 2 along a road 34, wherein the platoon 18 travels straight at high speed.
  • the idea behind the second driving maneuver is to protect the primary vehicle and keep it in the platoon 18 without getting exposed to other traffic participants.
  • the second driving maneuver is performed on the basis of the received information data so that the driver of the vehicles 10, 12, 14, 24 and 26 can find their respective positions in the platoon 18 fast and easy so that the platoon 18 has its desired order in a fourth step S4. In other words, said position data are used to generate the correct and desired order of the platoon 18.
  • Fig. 3 illustrates a third driving maneuver which is also performed on the basis of said method.
  • the third driving maneuver is also referred to as a VIP-U-turn in which the platoon 18 performs a U-turn on the road 16.
  • a first step S I the platoon 18 travels straight at high speed on the road 16 in such a way that the primary vehicle is protected by the vehicle 10 towards the front. Moreover, the vehicle 12 is laterally protected by the vehicle 14. Moreover, the vehicles 24 and 26 are used to protect the vehicle 12 laterally and backwards. Moreover, there is a gap 36 between the vehicle 12 and the vehicle 26.
  • a second step S2 the vehicles 10 and 14 turn left, the vehicles 24 and 26 are temporarily stopped and the primary vehicle (vehicle 12) moves backwards.
  • a third step S3 the vehicles 10 and 14 are temporarily stopped to block the road 16 towards the front.
  • the vehicle 26 is stationary and the vehicle 24 moves backwards in front of the primary vehicle which makes a U-turn.
  • a fourth step S4 the vehicles 10, 12, 14, 24 and 26 are moved in such a way that the platoon 18 has its form which the platoon 18 had in the first step S I, wherein, in the fourth step S4, the vehicle 24 is in the position of the vehicle 10, the vehicle 26 is in the position of the vehicle 14, the vehicle 14 is in the position of the vehicle 24 and the vehicle 10 is in the position of the vehicle 26 so that the gap 36 now exists between the vehicle 12 and the vehicle 10 moving behind the vehicle 12.
  • the movements of the vehicles 10, 12, 14, 24 and 26, especially in the second and the third driving maneuver can be complicated.
  • the vehicles 10, 12, 14, 24 and 26 receive the information data which can be, for example, visually and/or haptically and/or acoustically communicated to the respective drivers, the drivers can perform the respective driving maneuvers fast and easy and find their respective positions in the platoon 18. In other words, by providing the vehicles 10, 12, 14, 24 and 26 with the information data the drivers cannot lose their orientation so that they can perform the respective driving maneuvers without fault.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un procédé de coordination des mouvements de véhicules (10, 12, 14, 24, 26) formant un peloton (18), un des véhicules (10, 12, 14, 24, 26) étant un véhicule primaire (12) à protéger par les autres véhicules (10, 14, 24, 26) qui sont des véhicules secondaires (10, 14, 24, 26) et, au cours dudit procédé, des données d'information étant reçues par les véhicules (10, 12, 14, 24, 26) via une connexion de données sans fil, les données d'information comportant des données de position indicatives de positions respectives des véhicules (10, 12, 14, 24, 26), et des données de mouvement indicatives d'au moins une manœuvre de conduite à effectuer par les véhicules (10, 12, 14, 24, 26).
EP14833192.9A 2014-12-05 2014-12-05 Procédé de coordination des mouvements de véhicules formant un peloton Ceased EP3227876A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2014/066620 WO2016087901A1 (fr) 2014-12-05 2014-12-05 Procédé de coordination des mouvements de véhicules formant un peloton

Publications (1)

Publication Number Publication Date
EP3227876A1 true EP3227876A1 (fr) 2017-10-11

Family

ID=52434877

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14833192.9A Ceased EP3227876A1 (fr) 2014-12-05 2014-12-05 Procédé de coordination des mouvements de véhicules formant un peloton

Country Status (3)

Country Link
EP (1) EP3227876A1 (fr)
CN (1) CN107004346A (fr)
WO (1) WO2016087901A1 (fr)

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US10520952B1 (en) 2011-07-06 2019-12-31 Peloton Technology, Inc. Devices, systems, and methods for transmitting vehicle data
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US11294396B2 (en) 2013-03-15 2022-04-05 Peloton Technology, Inc. System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles
EP3465371A4 (fr) 2016-05-31 2019-12-18 Peloton Technology Inc. Machine à états pour régulateur de peloton
US10921810B2 (en) 2016-08-02 2021-02-16 Pcms Holdings, Inc. System and method for optimizing autonomous vehicle capabilities in route planning
US10068485B2 (en) 2016-08-15 2018-09-04 Ford Global Technologies, Llc Platooning autonomous vehicle navigation sensory exchange
US10369998B2 (en) 2016-08-22 2019-08-06 Peloton Technology, Inc. Dynamic gap control for automated driving
JP6690056B2 (ja) 2016-08-22 2020-04-28 ぺロトン テクノロジー インコーポレイテッド 自動連続車両の制御システムアーキテクチャ
WO2018106774A1 (fr) 2016-12-08 2018-06-14 Pcms Holdings, Inc. Système et procédé de routage et de réorganisation d'un peloton de véhicules dans une ville intelligente
CN107798861B (zh) * 2017-11-30 2021-03-02 湖北汽车工业学院 一种车辆协作式编队行驶方法及系统
US10899323B2 (en) 2018-07-08 2021-01-26 Peloton Technology, Inc. Devices, systems, and methods for vehicle braking
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Also Published As

Publication number Publication date
CN107004346A (zh) 2017-08-01
WO2016087901A1 (fr) 2016-06-09

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