SE539788C2 - A method and a system for controlling platooning operation when a vehicle is to leave the platoon - Google Patents

A method and a system for controlling platooning operation when a vehicle is to leave the platoon Download PDF

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Publication number
SE539788C2
SE539788C2 SE1650383A SE1650383A SE539788C2 SE 539788 C2 SE539788 C2 SE 539788C2 SE 1650383 A SE1650383 A SE 1650383A SE 1650383 A SE1650383 A SE 1650383A SE 539788 C2 SE539788 C2 SE 539788C2
Authority
SE
Sweden
Prior art keywords
platoon
leave
road
vehicle
determining
Prior art date
Application number
SE1650383A
Other languages
English (en)
Swedish (sv)
Other versions
SE1650383A1 (en
Inventor
Alam Assad
KJELLBERG Joakim
Norén Christoffer
Original Assignee
Scania Cv Ab
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 Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1650383A priority Critical patent/SE539788C2/en
Priority to PCT/SE2017/050227 priority patent/WO2017164792A1/fr
Priority to DE112017000910.3T priority patent/DE112017000910B4/de
Publication of SE1650383A1 publication Critical patent/SE1650383A1/en
Publication of SE539788C2 publication Critical patent/SE539788C2/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/695—Coordinated control of the position or course of two or more vehicles for maintaining a fixed relative position of the vehicles, e.g. for convoy travelling or formation flight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/10—Number of lanes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/55—External transmission of data to or from the vehicle using telemetry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
SE1650383A 2016-03-22 2016-03-22 A method and a system for controlling platooning operation when a vehicle is to leave the platoon SE539788C2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
SE1650383A SE539788C2 (en) 2016-03-22 2016-03-22 A method and a system for controlling platooning operation when a vehicle is to leave the platoon
PCT/SE2017/050227 WO2017164792A1 (fr) 2016-03-22 2017-03-09 Procédé et système pour commander une opération de circulation en peloton lorsqu'un véhicule est sur le point de quitter le peloton
DE112017000910.3T DE112017000910B4 (de) 2016-03-22 2017-03-09 Verfahren und System zur Steuerung eines Platooning-Betriebs, wenn ein Fahrzeug die Kolonne verlassen soll

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1650383A SE539788C2 (en) 2016-03-22 2016-03-22 A method and a system for controlling platooning operation when a vehicle is to leave the platoon

Publications (2)

Publication Number Publication Date
SE1650383A1 SE1650383A1 (en) 2017-09-23
SE539788C2 true SE539788C2 (en) 2017-11-28

Family

ID=59900692

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1650383A SE539788C2 (en) 2016-03-22 2016-03-22 A method and a system for controlling platooning operation when a vehicle is to leave the platoon

Country Status (3)

Country Link
DE (1) DE112017000910B4 (fr)
SE (1) SE539788C2 (fr)
WO (1) WO2017164792A1 (fr)

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018039134A1 (fr) 2016-08-22 2018-03-01 Peloton Technology, Inc. Architecture de système de commande de véhicules connectés automatisée
US11334092B2 (en) 2011-07-06 2022-05-17 Peloton Technology, Inc. Devices, systems, and methods for transmitting vehicle data
US10474166B2 (en) 2011-07-06 2019-11-12 Peloton Technology, Inc. System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles
US10520952B1 (en) 2011-07-06 2019-12-31 Peloton Technology, Inc. Devices, systems, and methods for transmitting vehicle data
US20170242443A1 (en) 2015-11-02 2017-08-24 Peloton Technology, Inc. Gap measurement for vehicle convoying
US9582006B2 (en) 2011-07-06 2017-02-28 Peloton Technology, Inc. Systems and methods for semi-autonomous convoying of vehicles
US10520581B2 (en) 2011-07-06 2019-12-31 Peloton Technology, Inc. Sensor fusion for autonomous or partially autonomous vehicle control
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
JP7005526B2 (ja) 2016-05-31 2022-01-21 ぺロトン テクノロジー インコーポレイテッド 隊列走行コントローラの状態マシン
US10369998B2 (en) 2016-08-22 2019-08-06 Peloton Technology, Inc. Dynamic gap control for automated driving
US10943490B2 (en) * 2017-10-31 2021-03-09 Cummins, Inc. Platoon system for vehicles
SE541386C2 (en) * 2017-12-15 2019-09-10 Scania Cv Ab Method and control arrangement for arranging driving order of a platoon
GB2570898B (en) * 2018-02-08 2023-04-19 Jaguar Land Rover Ltd A controller and a method for managing vehicles
US10899323B2 (en) 2018-07-08 2021-01-26 Peloton Technology, Inc. Devices, systems, and methods for vehicle braking
EP3614354A1 (fr) 2018-08-23 2020-02-26 Volkswagen Aktiengesellschaft Appareil, procédé et programme informatique pour un véhicule de tête et un véhicule d'un groupe de véhicules
EP3614357B1 (fr) 2018-08-23 2022-03-30 Volkswagen AG Véhicules, composant de réseau, appareils, procédés et programmes informatiques pour un véhicule, pour un véhicule de groupement et pour un composant de réseau
US10762791B2 (en) 2018-10-29 2020-09-01 Peloton Technology, Inc. Systems and methods for managing communications between vehicles
US11427196B2 (en) 2019-04-15 2022-08-30 Peloton Technology, Inc. Systems and methods for managing tractor-trailers
US11364898B2 (en) * 2019-04-22 2022-06-21 Robotic Research Opco, Llc Autonomous vehicle controlled crash
DE102019112662A1 (de) * 2019-05-15 2020-11-19 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Verfahren zum Auflösen einer elektronischen Kopplung einer Fahrzeugkolonne
DE102019004883A1 (de) * 2019-07-11 2021-01-14 Man Truck & Bus Se Vorrichtung zur Regelung einer Fahrgeschwindigkeit
US11895566B2 (en) 2021-05-12 2024-02-06 Qualcomm Incorporated Methods of operating a wireless data bus in vehicle platoons
KR20240013971A (ko) * 2022-07-22 2024-01-31 현대모비스 주식회사 차량 군집 제어 방법 및 장치

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3358403B2 (ja) * 1995-09-11 2002-12-16 トヨタ自動車株式会社 隊列走行制御装置
JP2001357491A (ja) * 2000-06-15 2001-12-26 Mazda Motor Corp 隊列走行統括制御装置及び隊列走行制御装置
ATE368916T1 (de) * 2005-01-14 2007-08-15 Alcatel Lucent Navigationsdienst
US8352112B2 (en) 2009-04-06 2013-01-08 GM Global Technology Operations LLC Autonomous vehicle management
JP5817777B2 (ja) * 2013-04-17 2015-11-18 株式会社デンソー 隊列走行システム
JP5737316B2 (ja) * 2013-04-17 2015-06-17 株式会社デンソー 隊列走行システム
SE537603C2 (sv) 2013-09-30 2015-07-21 Scania Cv Ab Metod och system för hantering av hinder för fordonståg
SE539861C2 (en) 2014-09-17 2017-12-27 Scania Cv Ab A device and a method for organizing a vehicle train, and a vehicle comprising the device

Also Published As

Publication number Publication date
WO2017164792A1 (fr) 2017-09-28
DE112017000910B4 (de) 2024-08-01
DE112017000910T5 (de) 2018-10-31
SE1650383A1 (en) 2017-09-23

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