WO2017164792A1 - Procédé et système pour commander une opération de circulation en peloton lorsqu'un véhicule est sur le point de quitter le peloton - Google Patents

Procédé et système pour commander une opération de circulation en peloton lorsqu'un véhicule est sur le point de quitter le peloton Download PDF

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Publication number
WO2017164792A1
WO2017164792A1 PCT/SE2017/050227 SE2017050227W WO2017164792A1 WO 2017164792 A1 WO2017164792 A1 WO 2017164792A1 SE 2017050227 W SE2017050227 W SE 2017050227W WO 2017164792 A1 WO2017164792 A1 WO 2017164792A1
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WO
WIPO (PCT)
Prior art keywords
platoon
leave
road
vehicle
determining
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
PCT/SE2017/050227
Other languages
English (en)
Inventor
Assad ALAM
Joakim KJELLBERG
Christoffer NORÉN
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.)
Scania CV AB
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 DE112017000910.3T priority Critical patent/DE112017000910B4/de
Publication of WO2017164792A1 publication Critical patent/WO2017164792A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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

Definitions

  • the invention relates to a method for controlling platooning operation of a platoon of vehicles along a road according to the preamble of claim 1 .
  • the invention also relates to a system for controlling platooning operation of a platoon of vehicles along a road.
  • the invention also relates to a vehicle.
  • the invention in addition relates to a computer program and a computer program product.
  • Vehicles such as heavy vehicles are continuously looking at ways to reduce energy consumption to reduce energy costs and also to lower emissions.
  • One way of reducing energy consumption is to operate several vehicles in a chain formation, also known as platooning or operating vehicles in a convoy.
  • Platooning takes advantage of a reduced air drag by operating with small distances between vehicles in the platoon. Under normal circumstances the air drag of a vehicle is proportional to the square of the velocity of the vehicle. By staying close to a forward vehicle, an effect of reduced air drag can be obtained. Hence, by operating several vehicles in a chain formation, here denoted as platoon or platooning, a substantial fuel reduction can be obtained through automated control systems.
  • a known problem for platoons is when a vehicle of the platoon wants to the leave the platoon.
  • a member in the platoon leaving the platoon will create a gap between the subsequent and preceding vehicles.
  • the preceding vehicles need to lower their speed or the subsequent vehicles need to increase their speed or a combination of both.
  • the gap will cause the subsequent vehicles to use extra energy due to the increased air drag and even more if they need to increase their speed to catch up with the platoon. This will affect the energy consumption for the platoon and may also affect travelling time and brake wear.
  • WO2015047174 discloses a strategy for recreating a platoon when a vehicle has left the platoon, where parameters affecting the fuel consumption are taken into consideration.
  • An object of the present invention is to provide a method for controlling platooning operation of a platoon of vehicles along a road which facilitates optimizing the total energy consumption of the platoon in connection to a vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon.
  • Another object of the present invention is to provide a system for controlling platooning operation of a platoon of vehicles along a road which facilitates optimizing the total energy consumption of the platoon in connection to a vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon.
  • an object of the invention is achieved by a method for controlling platooning operation of a platoon of vehicles along a road.
  • the method comprises the step of determining the intention of a vehicle in the platoon to leave the platoon.
  • the method further comprises the steps of: determining external characteristics comprising configuration of the road and/or weather conditions; and determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon based upon said external characteristics so as to optimize the energy consumption in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon.
  • the optimization of the energy consumption in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon is according to an embodiment optimization of the total energy consumption of the platoon in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon.
  • the optimization of the energy consumption in connection to said vehicle in the platoon leaving the platoon could also be for the vehicle leaving the platoon.
  • the determined suitable position along said road for said vehicle intending to leave the platoon to leave the platoon based upon said external characteristics may further be to optimize emissions, i.e. minimize emissions.
  • the intention of a vehicle in the platoon to leave the platoon may be determined in any suitable way.
  • the intention of a vehicle in the platoon to leave the platoon may be communicated from the vehicle intending to leave the platoon to the other vehicles of the platoon e.g. within a vehicle-to-vehicle communication arrangement.
  • the intention of a vehicle in the platoon to leave the platoon may be communicated from an external source e.g. within an infrastructure-to-vehicle communication arrangement.
  • the intention of a vehicle in the platoon to leave the platoon may be extracted from a planned route of the vehicles of the platoon, the planned route of the vehicle intending to leave the platoon leading to a leaving of the platoon.
  • the intention of a vehicle in the platoon to leave the platoon may be any suitable signal from the vehicle intending to leave.
  • the step of determining external characteristics thus comprises according to an embodiment the step of determining the configuration of the road along which the platoon is travelling.
  • the step of determining external characteristics thus comprises according to an embodiment the step of determining the weather conditions in connection to the road along which the platoon is travelling.
  • the configuration of the road along which the platoon is travelling may comprise one or more of: road exits along the road, the topography of the road comprising uphill slopes and downhill slopes, curves of the road and their trajectory, number of lanes and change of number of lanes, roundabouts along the road, and/or traffic lights and/or stop signs along the road.
  • the configuration of the road along which the platoon is travelling may further comprise road conditions along the road comprising one or more of: ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, said conditions comprising conditions along the road on the lane on which the platoon is travelling and lanes adjacent to the lane along which the platoon is travelling and possible difference of conditions of the lane along which the platoon is travelling and adjacent lanes.
  • the configuration of the road along which the platoon is travelling may comprise temporary obstacles on the road such as road construction, an accident on the road and/or other obstacles affecting driving of the platoon and leaving of the platoon.
  • determined weather conditions may comprise one or more of: wind conditions comprising wind speed and wind direction, precipitation comprising rain and extent of rain, and/or snow and extent of snow, and/or hail and extent of hail, current temperature, or the like.
  • a suitable position for the vehicle to leave the platoon may thus depend on such external characteristics resulting in the actual position along the road where the vehicle should leave the platoon and thus the timing when the vehicle should leave the platoon may differ from when the vehicle has decided to leave the platoon/could leave the platoon.
  • the timing and position along the road where the vehicle should leave the platoon should be where the total energy consumption of the platoon, i.e. the including the energy consumption of the vehicle leaving the platoon, is optimized, i.e. minimized.
  • the most suitable position for leaving the platoon is likely not in connection to the road exit as exiting the road at the road exit likely will require a reduction of speed of the vehicle of the platoon leaving the platoon, and hence also the platoon should the leaving be performed in connection to the road exit.
  • the leaving should take place at a positon along the road prior to the road exit that will not require a reduction of speed for the remaining vehicles of the platoon.
  • the downward slope could be a suitable place for leaving the platoon as the down slope could be utilized by the remaining trailing vehicles to close the gap the vehicle/vehicles having had positions in the platoon ahead of the vehicle leaving the platoon. If a vehicle of the platoon intends to leave the platoon with the intention to join another platoon leaving of the platoon needs to be performed taking the platoon which the leaving vehicle is intended to join into consideration.
  • the method comprises the step of: determining the character of the leaving of the platoon, wherein the step of determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking the character of the leaving into consideration.
  • the total energy consumption of the platoon may be further optimized in that different characters of leaving may require different suitable positions for leaving and rearranging the platoon in order to optimize total energy consumption for the platoon.
  • the character of the leaving may comprise any character of leaving the platoon.
  • the character of the leaving may comprise one or more of: leaving by entering an exit from the road, leaving due to speed of the platoon being too slow or too fast, and leaving to join another platoon.
  • the method comprises the step of determining the position in the platoon of said vehicle intending to leave said platoon, wherein the step of determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking said position in the platoon of said vehicle intending to leave said platoon into consideration.
  • the total energy consumption of the platoon may be further optimized in that different positions in the platoon may require different suitable positions for leaving and rearranging the platoon in order to optimize total energy consumption for the platoon.
  • There may be a different suitable position if the vehicle intending to leave the platoon is the leading vehicle, an intermediate vehicle or the last vehicle. Depending on external characteristics, the character of the leaving and the planned route of the platoon the leading vehicle may leave at an earlier stage than the intermediate vehicle/vehicles and the last vehicle may leave at a later stage.
  • the method comprises the step of determining the characteristics of the different vehicles of the platoon, wherein the step of determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking said characteristics of the different vehicles of the platoon into consideration.
  • Characteristics of a vehicle may comprise weight, dimensions, driveability, type of vehicle or the like.
  • the method comprises the step of determining the current position of the platoon, wherein the step of determining the configuration of the road along which the platoon is travelling comprises the step of extracting map information of the extension of the road along which the platoon is travelling as a basis for determining said suitable position along said road for said vehicle intending to leave the platoon to leave the platoon.
  • Determining the current position of the platoon comprises according to an embodiment using a Global Navigation Satellite System, GNSS, e.g. a global positioning system, GPS, for continuously determining the position of the platoon.
  • GNSS Global Navigation Satellite System
  • the extracted map information of the extension of the road along which the platoon is travelling comprises using any suitable map extracting unit.
  • the configuration of the road along which the platoon is travelling may comprise road exits along the road, the topography of the road comprising uphill slopes and downhill slopes, curves of the road and their trajectory, number of lanes and change of number of lanes, roundabouts along the road, and/or traffic lights and/or stop signs along the road.
  • the method comprises the steps of: communicating relevant information between the vehicles of the platoon and, when desired, other relevant vehicles within a vehicle-to-vehicle communication arrangement, and/or communicating information between vehicles of the platoon and infrastructure within a vehicle-to-infrastructure arrangement, said information being provided for consideration when deciding on suitable position along the road for said vehicle intending to leave the platoon to leave the platoon.
  • Relevant information may comprise information about road conditions along the road comprising ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, said conditions comprising conditions along the road on the lane on which the platoon is travelling and lanes adjacent to the lane along which the platoon is travelling and possible difference of conditions of the lane along which the platoon is travelling and adjacent lanes.
  • Relevant information may comprise information about temporary obstacles on the road such as road construction, an accident on the road and/or other obstacles affecting driving of the platoon and leaving of the platoon.
  • Relevant information may comprise information about planned route for the respective vehicles.
  • Relevant information may comprise information about intention to leave the platoon from the vehicle intending to leave the platoon.
  • Relevant information may comprise information about character of the leaving of the platoon from the vehicle intending to leave the platoon.
  • Relevant information may comprise information about the characteristics of the respective vehicles of the platoon.
  • said information comprising information about road conditions along the road comprising ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, and/or information about temporary obstacles on the road such as road construction, an accident on the road and/or other obstacles affecting driving of the platoon and leaving of the platoon, determination of suitable positions for leaving and rearranging the platoon in order to optimize total energy consumption for the platoon is facilitated.
  • said information comprising information about road conditions along the road comprising ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, and/or any relevant weather conditions, and/or information about temporary obstacles on the road such as road construction, an accident on the road and/or other obstacles affecting driving of the platoon and leaving of the platoon, determination of suitable positions for leaving and rearranging the platoon in order to optimize total energy consumption for the platoon is facilitated.
  • a thus determined suitable position along said road for said vehicle intending to leave the platoon to leave the platoon is presented to the platoon.
  • the method comprises according to an embodiment the step of presenting to the platoon suitable position along said road for said vehicle intending to leave the platoon to leave the platoon.
  • the step of presenting a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon is presented to the operator of the vehicle intending to leave the platoon.
  • the step of presenting a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon is presented to the operator of one or more of the other vehicles of the platoon.
  • the step of presenting a suitable position along said road for said vehicle intending to leave the platoon may comprise visual presentation and/or acoustic presentation and/or tactile presentation.
  • the step of presenting a suitable position along said road for said vehicle intending to leave the platoon may be provided by communicating said relevant information between the vehicles of the platoon within the vehicle-to- vehicle communication arrangement, and/or communicating information between vehicles of the platoon and infrastructure within a vehicle-to- infrastructure arrangement.
  • a system for controlling platooning operation of a platoon of vehicles along a road comprises means for determining the intention of a vehicle in the platoon to leave the platoon.
  • the system further comprises means for determining external characteristics comprising means for determining the configuration of the road and/or means for determining weather conditions; and means for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon based upon said external characteristics so as to optimize the energy consumption in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon.
  • the means for determining external characteristics thus according to an embodiment comprises means for determining the configuration of the road along which the platoon is travelling.
  • the means for determining external characteristics thus according to an embodiment comprises means for determining the weather conditions in connection to the road along which the platoon is travelling.
  • the system comprises means for determining the character of the leaving of the platoon, wherein the means for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises means for taking the character of the leaving into consideration.
  • the system comprises means for determining the position in the platoon of said vehicle intending to leave said platoon, wherein the means for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises means for taking said position in the platoon of said vehicle intending to leave said platoon into consideration.
  • the system comprises means for determining the characteristics of the different vehicles of the platoon, wherein the means for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises means for taking said characteristics of the different vehicles of the platoon into consideration.
  • the system comprises means for determining the current position of the platoon, wherein the means for determining the configuration of the road along which the platoon is travelling comprises means for extracting map information of the extension of the road along which the platoon is travelling as a basis for determining said suitable position along said road for said vehicle intending to leave the platoon to leave the platoon.
  • the system comprises means for communicating relevant information between the vehicles of the platoon and, when desired, other relevant vehicles within a vehicle-to-vehicle communication arrangement, and/or means for communicating information between vehicles of the platoon and infrastructure within a vehicle-to- infrastructure arrangement, said information being arranged to be provided for consideration when deciding on suitable position along the road for said vehicle intending to leave the platoon to leave the platoon.
  • the system comprises means for of presenting to the platoon suitable position along said road for said vehicle intending to leave the platoon to leave the platoon.
  • the means may comprise visual means and/or acoustic means and/or tactile means.
  • the means for presenting to the platoon suitable position along said road for said vehicle intending to leave the platoon to leave the platoon is according to an embodiment comprised in said means for communicating relevant information between the vehicles of the platoon within a vehicle-to-vehicle communication arrangement, and/or said means for communicating information between vehicles of the platoon and infrastructure within a vehicle-to-infrastructure arrangement.
  • the system for controlling platooning operation of a platoon of vehicles along a road is adapted to perform the methods as set out herein.
  • the system according to the invention has the advantages according to the corresponding method claims.
  • an object of the invention is achieved by a vehicle comprising a system as set out herein.
  • a computer program for controlling platooning operation of a platoon of vehicles along a road said computer program comprising program code which, when run on an electronic control unit or another computer connected to the electronic control unit, causes the electronic control unit to perform methods as set out herein.
  • a computer program product comprising a digital storage medium storing the computer program.
  • Fig. 1 a-d schematically illustrates a platoon of vehicles travelling along a road according to the present invention
  • Fig. 2 schematically illustrates a block diagram of a system for controlling platooning operation of a platoon of vehicles along a road according to an embodiment of the present invention
  • Fig. 3 schematically illustrates a block diagram of a method for controlling platooning operation of a platoon of vehicles along a road according to an embodiment of the present invention
  • Fig. 4 schematically illustrates a computer according to an embodiment of the present invention.
  • link refers to a communication link which may be a physical connector, such as an optoelectronic communication wire, or a non- physical connector such as a wireless connection, for example a radio or microwave link.
  • the term “energy consumption” refers to the energy consumed by one or more vehicles of the platoon.
  • the term “energy consumption” comprises the energy consumption due to the driving means of the vehicle.
  • the driving means of the vehicle may be an internal combustion engine in which case the energy consumption comprises fuel consumption.
  • the driving means of the vehicle may comprise an electric machine for a hybrid vehicle or an electric vehicle, in which case the energy consumption comprises electric energy consumption.
  • Fig. 1 a-d schematically illustrates a platoon P1 of vehicles 1 , 2, 3, 4 travelling along a road R according to the present invention.
  • the road R has two lanes L1 , L2 and the platoon P1 travelling in the right lane L1 .
  • the intention of a vehicle in the platoon P1 to leave the platoon P1 is determined.
  • External characteristics comprising configuration of the road and/or weather conditions are also determined.
  • Determining a suitable position along said road R for said vehicle intending to leave the platoon to leave the platoon P1 comprises taking the character of the leaving into consideration. In fig. 1 a-d the vehicle 3 being in an intermediate position is the vehicle intending to leave the platoon P1 .
  • the method comprises the step of: determining the character of the leaving of the platoon, the character of the leaving comprising one or more of: leaving by entering an exit from the road, leaving due to speed of the platoon being too slow or too fast, and leaving to join another platoon, wherein the step of determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking the character of the leaving into consideration.
  • Fig. 1 a schematically illustrates a plan view of a platoon P1 of vehicles 1 , 2, 3, 4 travelling along a road R according to the present invention.
  • the vehicle 3 is intending to leave and the character of the leaving is leaving by entering the exit Li e from the road.
  • the leaving should take place at a positon along the road prior to the road exit that will not require a reduction of speed for the remaining vehicles of the platoon.
  • Fig. 1 b schematically illustrates a plan view of a platoon P1 of vehicles 1 , 2, 3, 4 travelling along a road R according to the present invention.
  • the platoon P1 is travelling in the right lane L1 and another platoon P2 is approaching and here travelling in the left lane a certain distance behind the platoon P1 .
  • the vehicle 3 is intending to leave and the character of the leaving is to join the other platoon P2.
  • the leaving of the platoon P1 needs to be performed taking the platoon P2 which the leaving vehicle is intended to join into consideration.
  • Fig. 1 c schematically illustrates a plan view of a platoon P1 of vehicles 1 , 2, 3, 4 travelling along a road R according to the present invention.
  • the platoon P1 is travelling in the right lane L1 and a certain distance ahead of the platoon P1 the configuration of the road R is such that the right and left lanes L1 , L2 transfer into one lane L1 .
  • the vehicle 3 is intending to leave and the character of the leaving may be the speed of the platoon P1 being too slow or too fast.
  • the leaving of the platoon P1 needs to be performed taking the reduction of the lanes L1 , L2 into only one lane L1 into consideration such that the leaving take place prior to the reduction of lanes into only one lane.
  • Fig. 1 d schematically illustrates a side view of a platoon P1 of vehicles 1 , 2, 3, 4 travelling along a road R according to the present invention.
  • Fig. 2 schematically illustrates a system I for controlling platooning operation of a platoon of vehicles along a road.
  • the system I comprises an electronic control unit 100.
  • the electronic control unit 100 may comprise one or more electronic control units.
  • the electronic control unit 100 may comprise one or more electronic control units in the respective vehicle of the platoon.
  • the system I comprises means 1 10 for determining the intention of a vehicle in the platoon to leave the platoon.
  • the means 1 10 for determining the intention of a vehicle in the platoon to leave the platoon may be any suitable means.
  • the means 1 10 for determining the intention of a vehicle in the platoon to leave the platoon may be any suitable communication means for communicating from the vehicle intending to leave the platoon to the other vehicles of the platoon, the communication means e.g. being a vehicle-to- vehicle communication arrangement, e.g. the means 180 described below.
  • the means 1 10 for determining the intention of a vehicle in the platoon to leave the platoon may comprise a communication means for communicating within an infrastructure-to-vehicle communication arrangement, e.g.
  • the means 1 10 for determining the intention of a vehicle in the platoon to leave the platoon may comprise means for extracting information from a planned route of the vehicles of the platoon, the planned route of the vehicle intending to leave the platoon leading to a leaving of the platoon.
  • the means 1 10 for determining the intention of a vehicle in the platoon to leave the platoon may be any means for providing a suitable signal from the vehicle intending to leave.
  • the system I comprises means 120 for determining a current position of the platoon.
  • the means 120 for determining the position of the platoon comprises according to an embodiment a Global Navigation Satellite System, GNSS, e.g. a global positioning system, GPS, for continuously determining the position of the platoon along the road on which it is travelling.
  • GNSS Global Navigation Satellite System
  • GPS global positioning system
  • the system I comprises means 130 for determining external characteristics comprising configuration of the road and/or weather conditions.
  • the means 130 for determining external characteristics thus according to an embodiment comprises means 132 for determining the configuration of the road along which the platoon is travelling.
  • the means 132 for determining the configuration of the road along which the platoon is travelling comprises means 132a for extracting map information of the extension of the road along which the platoon is travelling as a basis for determining said suitable position along said road for said vehicle intending to leave the platoon to leave the platoon.
  • the means 132a for extracting map information of the extension of the road along which the platoon is travelling is used so as to determine suitable positions along said road for said vehicle intending to leave the platoon to leave the platoon.
  • the means 132a for extracting map information of the extension of the road along which the platoon is travelling so as to determine suitable positions along said road for said vehicle intending to leave the platoon to leave the platoon comprises according to an embodiment a map information unit comprising map data comprising information about the extension of the road along which the platoon is travelling comprising information about suitable positions along said road for said vehicle intending to leave the platoon to leave the platoon.
  • the means 132a for extracting map information of the extension of the road along which the platoon is travelling and thus extracting information about the configuration of the road may be configured to extract information comprising road exits along the road, the topography of the road comprising uphill slopes and downhill slopes, curves of the road and their trajectory, number of lanes and change of number of lanes, roundabouts along the road, and/or traffic lights and/or stop signs along the road.
  • the means 132 for determining the configuration of the road along which the platoon is travelling comprises communication means 132b for receiving information about road conditions along the road.
  • the communication means 132b may be arranged to receive information about road conditions comprising ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, said conditions comprising conditions along the road on the lane on which the platoon is travelling and lanes adjacent to the lane along which the platoon is travelling and possible difference of conditions of the lane along which the platoon is travelling and adjacent lanes.
  • the communication means 132b may be arranged to receive information about temporary obstacles on the road such as road construction, an accident on the road and/or other obstacles affecting driving of the platoon and leaving of the platoon.
  • the communication means 132b may comprise a communication means for communicating within an infrastructure-to-vehicle communication arrangement, e.g. the means 190 described below.
  • the communication means 132b is according to an embodiment comprised in or comprises the means 190.
  • the means for determining external characteristics thus according to an embodiment comprises means 134 for determining the weather conditions in connection to the road along which the platoon is travelling.
  • the means 134 for determining the weather conditions in connection to the road along which the platoon is travelling may comprise any suitable means for determining weather conditions.
  • the means 134 for determining the weather conditions in connection to the road along which the platoon is travelling comprises one or more weather sensor units.
  • the weather sensor units may comprise one or more wind sensor units.
  • the weather sensor units may comprise one or more rain sensor units.
  • the weather sensor units may comprise one or more temperature sensor units.
  • the means 134 for determining the weather conditions in connection to the road along which the platoon is travelling comprises according to an embodiment means for extracting external weather data from one or more external weather data units comprising any suitable external server unit.
  • the means 134 for determining the weather conditions in connection to the road along which the platoon is travelling comprises one or more external weather data units.
  • the system I comprises means 140 for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon based upon said external characteristics so as to optimize the total energy consumption of the platoon in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon.
  • the system I comprises means 150 for determining the character of the leaving of the platoon, wherein the means 140 for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking the character of the leaving into consideration.
  • the character of the leaving may comprise any character of leaving the platoon.
  • the character of the leaving may comprise one or more of: leaving by entering an exit from the road, leaving due to speed of the platoon being too slow or too fast, and leaving to join another platoon.
  • the means 150 for determining the character of the leaving of the platoon comprises according to an embodiment communication means for communicating the character of the leaving to the other vehicle of the platoon and where applicable to another platoon and where applicable to other external receivers such as an external server unit.
  • the communication means may be any suitable communication means for communicating the character of the leaving, the communication means e.g. being a vehicle-to- vehicle communication arrangement, e.g. the means 180 described below.
  • the means 140 for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises means 142 for taking said character of the leaving of the platoon into consideration.
  • the system I comprises means 160 for determining the position in the platoon of said vehicle intending to leave said platoon.
  • the means 160 for determining the position in the platoon of said vehicle intending to leave said platoon may comprise any suitable means comprising e.g. any suitable detection means arranged on one or more of the vehicles of the platoon such as one or more camera units for detecting the other vehicles of the platoon so as to determine the position in the platoon of the vehicle intending to leave said platoon.
  • the means 160 for determining the position in the platoon of said vehicle intending to leave said platoon may comprise any suitable means comprising means for determining the position of the respective vehicle such as one or more Global Navigation Satellite Systems, GNSS, e.g. global positioning systems, GPS so as to determine the position in the platoon of the vehicle intending to leave said platoon.
  • GNSS Global Navigation Satellite Systems
  • the means 140 for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises means 144 for taking said position in the platoon of said vehicle intending to leave said platoon into consideration.
  • the system I comprises means 170 for determining the characteristics of the different vehicles of the platoon.
  • the means 170 for determining the characteristics of the different vehicles of the platoon may comprise any suitable detection units for detecting characteristics of the vehicle such as weigh detection units for detecting the weight of the different vehicles of the platoon, detecting units such as camera units or Lidar units for detecting the dimensions and/or types of the respective vehicles.
  • the means 170 for determining the characteristics of the different vehicles of the platoon may comprise extracting means for extracting stored data of information about the respective vehicles of the platoon.
  • the system I may thus comprise storage means for storing information about characteristics of the different vehicles of the platoon, the storage means comprising internal storage means arranged in the respective vehicle and/or external storage means.
  • the means 140 for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises means 146 for taking said characteristics of the different vehicles of the platoon into consideration.
  • the system I comprises means 180 for communicating relevant information between the vehicles of the platoon and, when desired, other relevant vehicles within a vehicle-to-vehicle communication arrangement V2V, said information being arranged to be provided for consideration when deciding on suitable position along the road for said vehicle intending to leave the platoon to leave the platoon.
  • the means 180 for communicating relevant information between the vehicles of the platoon and, when desired, other relevant vehicles within a vehicle-to- vehicle communication arrangement V2V comprises means 182 for communicating relevant information between the vehicles of the platoon.
  • the means 180 for communicating relevant information between the vehicles of the platoon and, when desired, other relevant vehicles within a vehicle-to- vehicle communication arrangement V2V comprises means 184 for communicating relevant information between platoon and other relevant vehicles.
  • the other vehicle/vehicles may comprise means 200 for receiving and communicating information, e.g. one or more electronic control units or the like.
  • the system I comprises means 190 for communicating information between vehicles of the platoon and infrastructure within a vehicle-to-infrastructure arrangement V2I, said information being arranged to be provided for consideration when deciding on suitable position along the road for said vehicle intending to leave the platoon to leave the platoon.
  • the infrastructure may comprise means 300 for receiving and communicating information, e.g. one or more electronic control units, one or more server units or the like.
  • the electronic control unit 100 is operably connected to the means 1 10 for determining the intention of a vehicle in the platoon to leave the platoon via a link 10.
  • the electronic control unit 100 is via the link 10 arranged to receive a signal from said means 1 10 representing data about a vehicle in the platoon to leave the platoon.
  • the electronic control unit 100 is operably connected to the means 120 for determining a current position of the platoon via a link 20.
  • the electronic control unit 100 is via the link 20 arranged to receive a signal from said means 120 representing data about current position of the platoon.
  • the electronic control unit 100 is operably connected to the means 130 for determining external characteristics comprising configuration of the road and/or weather conditions via a link 30.
  • the electronic control unit 100 is via the link 30 arranged to receive a signal from said means 130 representing data about external characteristics comprising configuration of the road and/or weather conditions.
  • the electronic control unit 100 is operably connected to the means 132 for determining the configuration of the road along which the platoon is travelling via a link 32.
  • the electronic control unit 100 is via the link 32 arranged to receive a signal from said means 132 representing data about configuration of the road.
  • the electronic control unit 100 is operably connected to the means 132a for extracting map information of the extension of the road along which the platoon is travelling via a link 32a.
  • the electronic control unit 100 is via the link 32a arranged to receive a signal from said means 132a representing data about the extension of the road.
  • the electronic control unit 100 is operably connected to the means 132b for receiving information about road conditions along the road via a link 32b.
  • the electronic control unit 100 is via the link 32b arranged to receive a signal from said means 132b representing data about road conditions along the road.
  • the electronic control unit 100 is operably connected to the means 134 for determining the weather conditions in connection to the road along which the platoon is travelling via a link 34.
  • the electronic control unit 100 is via the link 34 arranged to receive a signal from said means 134 representing data about weather conditions in connection to the road along which the platoon is travelling.
  • the electronic control unit 100 is operably connected to the means 140 for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon based upon said external characteristics so as to optimize the energy consumption in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon via a link 40a.
  • the electronic control unit 100 is via the link 40a arranged to send a signal to said means 140 representing data about external characteristics comprising data of configuration of the road and/or data of weather conditions.
  • the electronic control unit 100 is operably connected to the means 150 for determining the character of the leaving of the platoon via a link 50.
  • the electronic control unit 100 is via the link 50 arranged to receive a signal from said means 150 representing data about the character of the leaving of the platoon.
  • the electronic control unit 100 is operably connected to the means 160 for determining the position in the platoon of said vehicle intending to leave said platoon via a link 60.
  • the electronic control unit 100 is via the link 60 arranged to receive a signal from said means 160 representing data about the position in the platoon of said vehicle intending to leave said platoon.
  • the electronic control unit 100 is operably connected to the means 170 for determining the characteristics of the different vehicles of the platoon via a link 70.
  • the electronic control unit 100 is via the link 70 arranged to receive a signal from said means 170 representing data about the characteristics of the different vehicles of the platoon.
  • the electronic control unit 100 is operably connected to the means 142 for taking the character of the leaving of the platoon into consideration via a link
  • the electronic control unit 100 is via the link 42 arranged to send a signal to said means 142 representing data about character of the leaving of the platoon.
  • the electronic control unit 100 is operably connected to the means 144 for taking the position in the platoon of said vehicle intending to leave said platoon into consideration via a link 44.
  • the electronic control unit 100 is via the link 44 arranged to send a signal to said means 144 representing data about the position in the platoon of said vehicle intending to leave said platoon.
  • the electronic control unit 100 is operably connected to the means 146 for taking the characteristics of the different vehicles of the platoon into consideration via a link 46.
  • the electronic control unit 100 is via the link 46 arranged to send a signal to said means 146 representing data about characteristics of the different vehicles of the platoon.
  • the electronic control unit 100 is operably connected to the means 140 for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon based upon said external characteristics so as to optimize the total energy consumption of the platoon in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon via a link 40b.
  • the electronic control unit 100 is via the link 40b arranged to receive a signal from said means 140 representing data about suitable position along said road for said vehicle intending to leave the platoon to leave the platoon.
  • the electronic control unit 100 is operably connected to the means 180 for communicating relevant information between the vehicles of the platoon and, when desired, other relevant vehicles within a vehicle-to-vehicle V2V communication arrangement via a link 80.
  • the electronic control unit 100 is via the link 80 arranged to send a signal to said means 180 representing data about planned route for the respective vehicles and/or data about intention to leave the platoon from the vehicle intending to leave the platoon and/or data about character of the leaving of the platoon from the vehicle intending to leave the platoon and/or data about the characteristics of the respective vehicles of the platoon.
  • the electronic control unit 100 is via the link 80 arranged to send a signal to said means 180 representing data about configuration of the road comprising e.g. data about conditions of the road.
  • the electronic control unit 100 is via the link 80 arranged to send a signal to said means 180 representing data about suitable position along said road for said vehicle intending to leave the platoon to leave the platoon.
  • the electronic control unit 100 is operably connected to the means 180 for communicating relevant information between the vehicles of the platoon and, when desired, other relevant vehicles within a vehicle-to-vehicle V2V communication arrangement via a link 80.
  • the electronic control unit 100 is via the link 80 arranged to receive a signal from said means 180 representing data about planned route for the respective vehicles and/or data about intention to leave the platoon from the vehicle intending to leave the platoon and/or data about character of the leaving of the platoon from the vehicle intending to leave the platoon and/or data about the characteristics of the respective vehicles of the platoon.
  • the electronic control unit 100 is via the link 80 arranged to receive a signal from said means 180 representing data about configuration of the road comprising e.g. data about conditions of the road.
  • the electronic control unit 100 is via the link 80 arranged to receive a signal from said means 180 representing data about suitable position along said road for said vehicle intending to leave the platoon to leave the platoon.
  • the means 180 for communicating relevant information between the vehicles of the platoon and, when desired, other relevant vehicles within a vehicle-to- vehicle V2V communication arrangement is operably connected to means 200 for communicating, i.e. sending and/or receiving information via links, the means 200 being means for one or more vehicles, such vehicles being external vehicles and/or other vehicles of the platoon.
  • the means 180 is via said link arranged to send and/or receive data representing about suitable position along said road for said vehicle intending to leave the platoon to leave the platoon.
  • the electronic control unit 100 is operably connected to the means 190 for communicating information between vehicles of the platoon and infrastructure within a vehicle-to-infrastructure arrangement V2I via a link 90.
  • the electronic control unit 100 is via the link 90 arranged to receive a signal from said means 190 representing data about configuration of the road comprising e.g. data about conditions of the road.
  • the means 190 for communicating information between vehicles of the platoon and infrastructure within a vehicle-to-infrastructure arrangement V2I is operably connected to means 300 for communicating, i.e. sending and/or receiving information via links.
  • the system I comprises means for presenting to the platoon suitable position along said road for said vehicle intending to leave the platoon to leave the platoon.
  • the means may comprise visual means and/or acoustic means and/or tactile means.
  • the means for presenting to the platoon suitable position along said road for said vehicle intending to leave the platoon to leave the platoon is according to an embodiment comprised in said means 180 for communicating relevant information between the vehicles of the platoon within a vehicle-to-vehicle communication arrangement V2V, and/or said means 190 for communicating information between vehicles of the platoon and infrastructure within a vehicle-to-infrastructure arrangement V2I.
  • Fig. 3 schematically illustrates a block diagram of a method for controlling platooning operation of a platoon of vehicles along a road according to an embodiment of the present invention.
  • the method for controlling platooning operation of a platoon of vehicles along a road comprises a step S1 .
  • the intention of a vehicle in the platoon to leave the platoon is determined.
  • the method for controlling platooning operation of a platoon of vehicles along a road comprises a step S2.
  • external characteristics comprising configuration of the road and/or weather conditions are determined.
  • the method for controlling platooning operation of a platoon of vehicles along a road comprises a step S3.
  • a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon is determined based upon said external characteristics so as to optimize the energy consumption in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon.
  • the optimization of the energy consumption in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon is according to an embodiment optimization of the total energy consumption of the platoon in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon.
  • the optimization of the energy consumption in connection to said vehicle in the platoon leaving the platoon could also be for the vehicle leaving the platoon.
  • the intention of a vehicle in the platoon to leave the platoon may be determined in any suitable way.
  • the intention of a vehicle in the platoon to leave the platoon may be communicated from the vehicle intending to leave the platoon to the other vehicles of the platoon e.g.
  • the intention of a vehicle in the platoon to leave the platoon may be communicated from an external source e.g. within an infrastructure-to-vehicle communication arrangement.
  • the intention of a vehicle in the platoon to leave the platoon may be extracted from a planned route of the vehicles of the platoon, the planned route of the vehicle intending to leave the platoon leading to a leaving of the platoon.
  • the intention of a vehicle in the platoon to leave the platoon may be any suitable signal from the vehicle intending to leave.
  • the step of determining external characteristics thus comprises according to an embodiment the step of determining the configuration of the road along which the platoon is travelling.
  • the step of determining external characteristics thus comprises according to an embodiment the step of determining the weather conditions in connection to the road along which the platoon is travelling.
  • the configuration of the road along which the platoon is travelling may comprise one or more of: road exits along the road, the topography of the road comprising uphill slopes and downhill slopes, curves of the road and their trajectory, number of lanes and change of number of lanes, roundabouts along the road, and traffic lights and/or stop signs along the road.
  • the configuration of the road along which the platoon is travelling may further comprise road conditions along the road comprising one or more of: ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, said conditions comprising conditions along the road on the lane on which the platoon is travelling and lanes adjacent to the lane along which the platoon is travelling and possible difference of conditions of the lane along which the platoon is travelling and adjacent lanes.
  • the configuration of the road along which the platoon is travelling may comprise temporary obstacles on the road such as road construction, an accident on the road and/or other obstacles affecting driving of the platoon and leaving of the platoon.
  • determined weather conditions may comprise one or more of: wind conditions comprising wind speed and wind direction, precipitation comprising rain and extent of rain, and/or snow and extent of snow, and/or hail and extent of hail, current temperature, or the like.
  • a suitable position for the vehicle to leave the platoon may thus depend on such external characteristics resulting in the actual position along the road where the vehicle should leave the platoon and thus the timing when the vehicle should leave the platoon may differ from when the vehicle has decided to leave the platoon/could leave the platoon.
  • the timing and position along the road where the vehicle should leave the platoon should be where the total energy consumption of the platoon, i.e. the including the energy consumption of the vehicle leaving the platoon, is optimized, i.e. minimized.
  • the method comprises the step of: determining the character of the leaving of the platoon, wherein the step of determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking the character of the leaving into consideration.
  • the character of the leaving may comprise any character of leaving the platoon.
  • the character of the leaving may comprise one or more of: leaving by entering an exit from the road, leaving due to speed of the platoon being too slow or too fast, and leaving to join another platoon.
  • the method comprises the step of determining the position in the platoon of said vehicle intending to leave said platoon, wherein the step of determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking said position in the platoon of said vehicle intending to leave said platoon into consideration.
  • the method comprises the step of determining the characteristics of the different vehicles of the platoon, wherein the step of determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking said characteristics of the different vehicles of the platoon into consideration.
  • Characteristics of a vehicle may comprise weight, dimensions, driveability, type of vehicle or the like.
  • the method comprises the step of determining the current position of the platoon, wherein the step of determining the configuration of the road along which the platoon is travelling comprises the step of extracting map information of the extension of the road along which the platoon is travelling as a basis for determining said suitable position along said road for said vehicle intending to leave the platoon to leave the platoon.
  • Determining the current position of the platoon comprises according to an embodiment using a Global Navigation Satellite System, GNSS, e.g. a global positioning system, GPS, for continuously determining the position of the platoon.
  • GNSS Global Navigation Satellite System
  • the extracted map information of the extension of the road along which the platoon is travelling comprises using any suitable map extracting unit.
  • the method comprises the steps of: communicating relevant information between the vehicles of the platoon and, when desired, other relevant vehicles within a vehicle-to-vehicle communication arrangement, and/or communicating information between vehicles of the platoon and infrastructure within a vehicle-to-infrastructure arrangement, said information being provided for consideration when deciding on suitable position along the road for said vehicle intending to leave the platoon to leave the platoon.
  • Relevant information may comprise information about road conditions along the road comprising ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, said conditions comprising conditions along the road on the lane on which the platoon is travelling and lanes adjacent to the lane along which the platoon is travelling and possible difference of conditions of the lane along which the platoon is travelling and adjacent lanes.
  • Relevant information may comprise information about temporary obstacles on the road such as road construction, an accident on the road and/or other obstacles affecting driving of the platoon and leaving of the platoon.
  • Relevant information may comprise information about planned route for the respective vehicles.
  • Relevant information may comprise information about intention to leave the platoon from the vehicle intending to leave the platoon.
  • Relevant information may comprise information about character of the leaving of the platoon from the vehicle intending to leave the platoon.
  • Relevant information may comprise information about the characteristics of the respective vehicles of the platoon.
  • a thus determined suitable position along said road for said vehicle intending to leave the platoon to leave the platoon is presented to the platoon.
  • the method comprises according to an embodiment the step of presenting to the platoon suitable position along said road for said vehicle intending to leave the platoon to leave the platoon.
  • the step of presenting a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon is presented to the operator of the vehicle intending to leave the platoon.
  • the step of presenting a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon is presented to the operator of one or more of the other vehicles of the platoon.
  • the step of presenting a suitable position along said road for said vehicle intending to leave the platoon may comprise visual presentation and/or acoustic presentation and/or tactile presentation.
  • the step of presenting a suitable position along said road for said vehicle intending to leave the platoon may be provided by communicating said relevant information between the vehicles of the platoon within the vehicle-to- vehicle communication arrangement, and/or communicating information between vehicles of the platoon and infrastructure within a vehicle-to- infrastructure arrangement.
  • Apparatus 500 comprises a non- volatile memory 520, a data processing device 510 and a read/write memory 550.
  • Non-volatile memory 520 has a first memory portion 530 wherein a computer program, such as an operating system, is stored for controlling the function of apparatus 500.
  • apparatus 500 comprises a bus controller, a serial communication port, l/O-means, an A/D-converter, a time date entry and transmission unit, an event counter and an interrupt controller (not shown).
  • Non-volatile memory 520 also has a second memory portion 540.
  • a computer program P comprising routines for controlling platooning operation of a platoon of vehicles along a road.
  • the program P comprises routines for determining the intention of a vehicle in the platoon to leave the platoon.
  • the program P comprises routines for determining external characteristics comprising configuration of the road and/or weather conditions.
  • the program P comprises routines for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon based upon said external characteristics so as to optimize the energy consumption in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon.
  • the program P comprises routines for determining the character of the leaving of the platoon, wherein the step of determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking the character of the leaving into consideration.
  • the program P comprises routines for determining the position in the platoon of said vehicle intending to leave said platoon, wherein the routines for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking said position in the platoon of said vehicle intending to leave said platoon into consideration.
  • the program P comprises routines for determining the characteristics of the different vehicles of the platoon, wherein the routines for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking said characteristics of the different vehicles of the platoon into consideration.
  • the program P comprises routines for determining the current position of the platoon, wherein the routines for determining the configuration of the road along which the platoon is travelling comprises routines for extracting map information of the extension of the road along which the platoon is travelling when determining said suitable position along said road for said vehicle intending to leave the platoon to leave the platoon.
  • the program P comprises routines for communicating relevant information between the vehicles of the platoon and, when desired, other relevant vehicles within a vehicle-to-vehicle communication arrangement, and/or communicating information between vehicles of the platoon and infrastructure within a vehicle-to-infrastructure arrangement, said information being provided for consideration when deciding on suitable position along the road for said vehicle intending to leave the platoon to leave the platoon.
  • the computer program P may be stored in an executable manner or in a compressed condition in a separate memory 560 and/or in read/write memory 550.
  • Data processing device 510 may communicate with a data communications port 599 by means of a data bus 515.
  • Non-volatile memory 520 is adapted for communication with data processing device 510 via a data bus 512.
  • Separate memory 560 is adapted for communication with data processing device 510 via a data bus 51 1 .
  • Read/write memory 550 is adapted for communication with data processing device 510 via a data bus 514. To the data communications port 599 e.g. the links connected to the control units 100 may be connected.
  • data processing device 510 When data is received on data port 599 it is temporarily stored in second memory portion 540. When the received input data has been temporarily stored, data processing device 510 is set up to perform execution of code in a manner described above.
  • the signals received on data port 599 can be used by apparatus 500 for determining the intention of a vehicle in the platoon to leave the platoon.
  • the signals received on data port 599 can be used by apparatus 500 for determining external characteristics comprising configuration of the road and/or weather conditions.
  • the signals received on data port 599 can be used by apparatus 500 for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon based upon said external characteristics so as to optimize the energy consumption in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon.
  • the signals received on data port 599 can be used by apparatus 500 for determining the character of the leaving of the platoon, wherein the signals used for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking the character of the leaving into consideration.
  • the signals received on data port 599 can be used by apparatus 500 for determining the position in the platoon of said vehicle intending to leave said platoon, wherein the signals used for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking said position in the platoon of said vehicle intending to leave said platoon into consideration.
  • the signals received on data port 599 can be used by apparatus 500 for determining the characteristics of the different vehicles of the platoon, wherein the signals used for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking said characteristics of the different vehicles of the platoon into consideration.
  • the signals received on data port 599 can be used by apparatus 500 for determining the current position of the platoon, wherein the signals used for determining the configuration of the road along which the platoon is travelling comprises signals used for extracting map information of the extension of the road along which the platoon is travelling when determining said suitable position along said road for said vehicle intending to leave the platoon to leave the platoon.
  • the signals received on data port 599 can be used by apparatus 500 for communicating relevant information between the vehicles of the platoon and, when desired, other relevant vehicles within a vehicle-to-vehicle communication arrangement, and/or communicating information between vehicles of the platoon and infrastructure within a vehicle-to-infrastructure arrangement, said information being provided for consideration when deciding on suitable position along the road for said vehicle intending to leave the platoon to leave the platoon.
  • Parts of the methods described herein can be performed by apparatus 500 by means of data processing device 510 running the program stored in separate memory 560 or read/write memory 550. When apparatus 500 runs the program, parts of the methods described herein are executed.

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Abstract

La présente invention concerne un procédé de commande de l'opération de circulation en peloton d'un peloton (P1) de véhicules (1, 2, 3, 4) le long d'une route (R). Le procédé comprend l'étape consistant à déterminer (S1) l'intention d'un véhicule dans le peloton (P1) de quitter le peloton (P1). Le procédé comprend en outre les étapes consistant : à déterminer (S2) des caractéristiques externes comprenant la configuration de la route et/ou des conditions météorologiques; et à déterminer (S3) une position le long de ladite route qui est appropriée pour permettre audit véhicule ayant l'intention de quitter le peloton (P1) de quitter le peloton (P1) sur la base desdites caractéristiques externes de manière à optimiser la consommation d'énergie relative audit véhicule dans le peloton (P1) quittant le peloton (P1) et à réarranger ledit peloton (P1) après que ledit véhicule a quitté le peloton (P1). La présente invention concerne également un système de commande de l'opération de circulation en peloton d'un peloton (P1) de véhicules le long d'une route (R). La présente invention concerne également un peloton (P1). La présente invention concerne également un programme informatique et un produit-programme informatique.
PCT/SE2017/050227 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 Ceased WO2017164792A1 (fr)

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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

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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
SE1650383-1 2016-03-22

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EP3614357A1 (fr) 2018-08-23 2020-02-26 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
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
US10762791B2 (en) 2018-10-29 2020-09-01 Peloton Technology, Inc. Systems and methods for managing communications between vehicles
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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
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WO2021004986A1 (fr) * 2019-07-11 2021-01-14 Man Truck & Bus Se Procédé de régulation d'une vitesse de déplacement
US11895566B2 (en) 2021-05-12 2024-02-06 Qualcomm Incorporated Methods of operating a wireless data bus in vehicle platoons
EP4310811A1 (fr) * 2022-07-22 2024-01-24 Hyundai Mobis Co., Ltd. Dispositif et procédé de commande de peloton de véhicules
US20250166511A1 (en) * 2023-11-17 2025-05-22 Ford Global Technologies, Llc Caravan route feedback and control system

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SE1650383A1 (en) 2017-09-23
DE112017000910T5 (de) 2018-10-31
SE539788C2 (en) 2017-11-28
DE112017000910B4 (de) 2024-08-01

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