DE102019132900A1 - Method for operating vehicles - Google Patents

Abstract

The present disclosure relates to a method of operating vehicles. The method includes operating a vehicle as an individual vehicle; coupling the vehicle to at least one other vehicle to form a vehicle platoon; moving the platoon of vehicles; decoupling the vehicle from the at least one other vehicle; and operating the decoupled vehicle as an individual vehicle.

Description

The present disclosure relates to a method for operating vehicles and a storage medium for carrying out the method. The present disclosure relates in particular to a grouping of automatically driving vehicles to form a vehicle convoy.

State of the art

Driver assistance systems for automated driving are becoming increasingly important. Automated driving can be done with different degrees of automation. Exemplary degrees of automation are assisted, partially automated, highly automated or fully automated driving. These degrees of automation were defined by the Federal Highway Research Institute (BASt) (see BASt publication “Research compact”, edition 11/2012). For example, the vehicles with level 4 are fully autonomous in city operation.

Automated vehicles can generally increase efficiency in road traffic and, for example, avoid traffic jams. However, increasing efficiency in road traffic is only just beginning and has not yet been exhausted.

Disclosure of the invention

It is an object of the present disclosure to specify a method for operating vehicles and a storage medium for carrying out the method. In particular, it is an object of the present disclosure to provide a method and a storage medium for carrying out the method that _{enable energy savings and / or time savings and / or CO 2} savings when transporting people from an individual starting point to an individual destination.

This problem is solved by the subject matter of the independent claims. Advantageous refinements are given in the subclaims.

According to an independent aspect of the present disclosure, a method for operating vehicles, in particular automated vehicles, is specified. The method includes coupling a vehicle to at least one other vehicle to form a convoy of vehicles.

In some embodiments, which can be combined with other embodiments described here, the method further comprises operating a vehicle as an individual vehicle; coupling the vehicle to at least one other vehicle to form a vehicle platoon; moving the vehicle convoy, in particular along a predetermined route or predetermined partial route; decoupling the vehicle from the at least one other vehicle; and operating the decoupled vehicle as an individual vehicle.

According to the invention, vehicles, and in particular vehicles that drive automatically, are flexibly grouped in columns. For example, a vehicle can drive from a starting point to a destination, a section of the route being covered in the procession. Part of the total distance before and / or after the convoy journey is covered by private transport. This means that an owner of the vehicle can use the advantages of _{traveling in a convoy (e.g. special lanes, energy savings, CO 2} savings, etc.) and still be transported directly from their individual starting point to their individual destination in their own vehicle.

The term “vehicle” includes cars, trucks, buses, mobile homes, motorcycles, etc. that are used to transport people, goods, etc. In particular, the term includes motor vehicles for passenger transport.

The term “individual vehicle” refers to a vehicle that is self-controlled and operates independently of other vehicles. In particular, the term relates to individual traffic, with the individual vehicle or its owner being able to decide essentially freely about times and routes. Individual transport is in contrast to public transport and private non-public transport.

The term "column of vehicles" refers to the collective movement of vehicles in the column. For example, the column of vehicles can include a lead vehicle which the other vehicles of the column of vehicles follow. These other vehicles can therefore also be referred to as “follow-up vehicles”. The following vehicles can be externally controlled by the lead vehicle and thus operate as a function of the lead vehicle. The convoy of vehicles therefore does not represent individual transport, but is similar to public transport, where times and routes are specified.

The term “coupling” encompasses a mechanical coupling as well as a contactless coupling of the vehicles in the vehicle fleet. The mechanical coupling can take place by suitable means on the vehicles, for example analogously to a trailer coupling. The contactless coupling can be an electronic coupling. For example, an automated driving function of a vehicle be set up to follow a vehicle ahead of the vehicle fleet at a predetermined distance. The predetermined distance can be a small distance, such as 2 m or less, Im or less, or even 0.5 m or less.

The at least one other vehicle preferably comprises a guide vehicle. The lead vehicle can drive at the head of the column of vehicles. However, the present disclosure is not limited to this, and the lead vehicle may be located at any position within the platoon of vehicles. The lead vehicle takes the lead over the other vehicles in the vehicle convoy, i.e. the vehicles behind.

The lead vehicle can be an autonomous vehicle. Alternatively, the lead vehicle can be controlled manually, i.e. have a driver.

The following vehicles can be directly externally controlled by the lead vehicle. "Direct" means that the lead vehicle takes control of an automated driving function of the following vehicles and / or issues driving instructions to the automated driving function of the following vehicles (e.g. route, speed, etc.). Alternatively, the following vehicles can be indirectly controlled externally by the lead vehicle. "Indirectly" means that the automated driving function of the following vehicles independently follows the lead vehicle or the vehicle in front.

Preferably, the movement of the vehicle column further comprises driving along a predetermined route or a predetermined partial route. The predetermined route or predetermined partial route can be fixed in time.

The driver of the vehicle can couple himself to the convoy in order to cover the predetermined route or predetermined partial distance in the convoy of vehicles. In particular, the vehicle can drive from a starting point to a destination, a section of the route being covered in the vehicle convoy. Part of the total distance before and / or after the convoy journey is covered by private transport. This means that an owner of the vehicle can use the advantages of traveling in a convoy (e.g. special lanes, energy savings, slipstream, fewer stop-and-go processes, etc.) and still be transported directly from their individual starting point to their individual destination in their own vehicle become.

The movement of the column of vehicles preferably includes stopping the column of vehicles at at least one stopping point along the predetermined route or predetermined partial route. The at least one stopping point can be provided so that vehicles can couple to the column of vehicles and / or vehicles can decouple from the column of vehicles. In other words, the convoy of vehicles can be flexible.

The convoy of vehicles is preferably moved on a street and / or a bus lane. In particular, dedicated roads and / or lanes can be provided for the column of vehicles, so that the vehicles of the column of vehicles have a time advantage compared to individual traffic.

The vehicles of the vehicle convoy, and in particular the lead vehicle and the at least one following vehicle, can include a driver assistance system for automated driving.

In the context of the document, the term “automated driving” can be understood to mean driving with automated longitudinal or lateral guidance or autonomous driving with automated longitudinal and lateral guidance. The automated driving can be, for example, driving on the motorway for a longer period of time or driving for a limited time as part of parking or maneuvering. The term “automated driving” includes automated driving with any degree of automation. Exemplary degrees of automation are assisted, partially automated, highly automated or fully automated driving. These degrees of automation were defined by the Federal Highway Research Institute (BASt) (see BASt publication “Research compact”, edition 11/2012).

With assisted driving, the driver continuously performs the longitudinal or lateral guidance, while the system takes on the other function within certain limits. With partially automated driving (TAF), the system takes over the longitudinal and lateral guidance for a certain period of time and / or in specific situations, whereby the driver has to constantly monitor the system as with assisted driving. With highly automated driving (HAF), the system takes over the longitudinal and lateral guidance for a certain period of time without the driver having to permanently monitor the system; however, the driver must be able to take control of the vehicle within a certain period of time. With fully automated driving (VAF), the system can automatically cope with driving in all situations for a specific application; a driver is no longer required for this application.

The four degrees of automation mentioned above correspond to SAE levels 1 to 4 of the SAE J3016 standard (SAE - Society of Automotive Engineering). For example, highly automated driving (HAF) Level 3 corresponds to the SAE J3016 standard. In addition, SAE J3016 provides SAE level 5 as the highest degree of automation, which is not included in the definition of BASt. SAE level 5 corresponds to driverless driving, in which the system can automatically cope with all situations like a human driver during the entire journey; a driver is generally no longer required.

With automated driving, the longitudinal and / or lateral guidance of the vehicle takes place automatically. The driver assistance system therefore takes over the control of the vehicle. For this purpose, the driver assistance system controls the drive, the transmission, the hydraulic service brake and the steering via intermediate units.

In order to plan and carry out automated driving, information about the surroundings from an environment sensor system that observes the vehicle's surroundings is received by the driver assistance system. In particular, the vehicle can include at least one environment sensor which is set up to record environment data that indicate the vehicle environment. The at least one environmental sensor can include, for example, a LiDAR system, one or more radar systems, one or more laser scanners and / or one or more cameras.

According to a further independent aspect of the present disclosure, which can be combined with the aspects described above, a method for operating vehicles is specified. The method includes coupling a vehicle to at least one other vehicle in order to form a vehicle convoy, and / or driving two or more vehicles in a vehicle convoy.

The column of vehicles preferably includes the two or more vehicles, the two or more vehicles including a lead vehicle and at least one follower vehicle.

The method preferably further comprises determining an energy saving and / or a CO ₂ saving for the at least one following vehicle in the vehicle convoy compared to operation as an individual vehicle. For example, an amount based on the energy saving and / or CO ₂ saving can be credited to the lead vehicle and / or the at least one following vehicle can be charged.

The at least one following vehicle is preferably credited with a length of stay in the vehicle column on a time account. This is an advantage, for example, if the following vehicle is a truck. The length of time spent in the column of vehicles or the coupled travel time can be credited to the truck driver as a break time, for example in order to comply with legal regulations.

Preferably, the at least one following vehicle is calculated for a period of time in the vehicle convoy or an amount that corresponds to a distance of the joint journey in the convoy. The calculation of the duration can be done, for example, in the form of a time lump sum. The calculation according to the route length can be per kilometer. The lead vehicle or an operator of the lead vehicle can thus be rewarded.

According to a further independent aspect of the present disclosure, which can be combined with the aspects described above, a method for operating vehicles is specified. The method comprises coupling a vehicle to at least one other vehicle in order to form a vehicle convoy and / or decoupling a vehicle from at least one other vehicle in a vehicle convoy.

The lead vehicle can preferably indicate readiness for coupling visually and / or via wireless communication. For example, the lead vehicle can transmit the readiness for coupling to vehicles that are potentially ready to be coupled. The visual display can take place by means of an illuminated display, e.g. similar to a taxi sign on the roof of the lead vehicle.

In some embodiments, the vehicle that is potentially ready to be coupled and / or a mobile terminal device of its owner can be equipped with software for the procession, and in particular for agreeing the coupling and / or decoupling. The software can be configured, for example, as an app in the vehicle and / or on the mobile device of its owner. For example, the owner of the vehicle that is potentially ready to be coupled can see that a column of vehicles or their lead vehicle is ready to be coupled and can use the app to send a request for coupling.

The term mobile device includes in particular smartphones, but also other mobile telephones or cell phones, personal digital assistants (PDAs), tablet PCs, notebooks, smart watches and all current and future electronic devices that are equipped with a technology for loading and running apps are.

The lead vehicle preferably transmits data relating to a coupling to vehicles that are potentially ready to be coupled. The data can be from be selected from the group which comprises position data and / or route data and / or destination data and / or suitability data, or which consists of these.

The position data can be position data of the vehicle convoy or the lead vehicle. In particular, the position data can indicate a location at which coupling to the vehicle convoy is possible. For example, the position data can indicate the aforementioned stop of the vehicle convoy.

The route data can specify a predetermined route that the vehicle convoy or the lead vehicle travels. The predetermined route can lead along a predetermined route, similar to public (local) traffic.

The suitability data can relate to the coupling of the vehicles. In particular, the suitability data can indicate a specification of the coupling or coupling possibilities. Vehicles that are potentially ready to be coupled can thus determine whether they are compatible for coupling.

A vehicle that is potentially ready to be coupled preferably determines a route or partial route that can be covered with the lead vehicle. Based on this, the vehicle ready to be coupled can send a coupling request to the lead vehicle. For example, an occupant of the vehicle that is potentially ready to be coupled can specify a destination. The vehicle and / or the app described above can then determine whether at least a section of the route to the destination can be carried out in a convoy of vehicles. If a suitable vehicle convoy is determined, a corresponding coupling request can be sent to the vehicle fleet, and in particular its lead vehicle.

The lead vehicle preferably takes over control of the vehicle ready for coupling before a coupling process and / or during a coupling process and / or after a coupling process. For example, the lead vehicle can transmit instructions to the driver assistance system for automated driving of the vehicle that is ready to be coupled.

The vehicles of the vehicle convoy, in particular the lead vehicle and the at least one following vehicle, can each be provided with a communication module. In particular, each of the following vehicles can include a communication module in order to communicate with the lead vehicle. Optionally, at least some of the following vehicles can be set up to communicate with one another.

The communication of a following vehicle with the leading vehicle can be related to coupling the following vehicle to the vehicle column (e.g. to the leading vehicle or a vehicle following the vehicle column), decoupling from the vehicle column (e.g. from the leading vehicle or a vehicle following the vehicle column) and / or controlling the following vehicle by the lead vehicle while driving in the vehicle convoy. However, the present disclosure is not limited to this and the communication of a follower vehicle with the lead vehicle may relate to other aspects, such as payment, time credit, etc.

The following vehicles can communicate with one another in terms of coupling the following vehicle to the vehicle convoy (e.g. two following vehicles) and / or decoupling them from the vehicle convoy. However, the present disclosure is not limited to this, and the communication between the following vehicles can relate to other possible aspects, such as, for example, communication between the occupants of the following vehicles.

The vehicles communicate with one another by means of the respective communication modules, which are capable of, for example, in a mobile network via local networks or Local Area Networks (LANs), such as wireless LAN (WiFi / WLAN), or via wide area networks Area Networks (WANs) such as Global System for Mobile Communication (GSM), General Package Radio Service (GPRS), Enhanced Data Rates for Global Evolution (EDGE), Universal Mobile Telecommunications System (UMTS), High Speed Downlink / Uplink Packet Access ( HSDPA, HSUPA), Long-Term Evolution (LTE), or World Wide Interoperability for Microwave Access (WIMAX) to communicate wirelessly. Communication via other current or future communication technologies, e.g. 5G mobile radio systems, is possible.

In addition or as an alternative, the vehicles can communicate with one another using other communication technologies.

In some embodiments, wired communication can be implemented, particularly when the vehicles are coupled to one another.

According to a further independent aspect, a software (SW) program is specified. The software program can be set up to be executed on one or more processors, and thereby the in this document to carry out the described method for operating vehicles.

According to a further independent aspect, a storage medium is specified. The storage medium can comprise a SW program which is set up to be executed on one or more processors and thereby to execute the method described in this document for operating vehicles.

Figure list

• 1A schematisch eine Fahrzeugkolonne mit einem einkoppelnden Fahrzeug gemäß Ausführungsformen der vorliegenden Offenbarung,
• 1B schematisch eine Fahrzeugkolonne mit einem entkoppelnden Fahrzeug gemäß Ausführungsformen der vorliegenden Offenbarung,
• 2 ein Flussdiagram eines Verfahrens zum Betreiben von Fahrzeugen gemäß Ausführungsformen der vorliegenden Offenbarung, und
• 3 schematisch ein Fahrassistenzsystem zum automatisierten Fahren gemäß Ausführungsformen der vorliegenden Offenbarung.

Exemplary embodiments of the disclosure are shown in the figures and are described in more detail below. Show it:

• 1A schematically a vehicle convoy with a coupling vehicle according to embodiments of the present disclosure,
• 1B schematically a column of vehicles with a decoupling vehicle according to embodiments of the present disclosure,
• 2 a flow diagram of a method for operating vehicles according to embodiments of the present disclosure, and
• 3rd schematically a driver assistance system for automated driving according to embodiments of the present disclosure.

Embodiments of the disclosure

Unless otherwise noted, the same reference symbols are used below for elements that are the same and have the same effect.

1A shows schematically a vehicle convoy with a coupling vehicle 103 in accordance with embodiments of the present disclosure. 1B shows schematically a vehicle column with a decoupling vehicle 104 in accordance with embodiments of the present disclosure. 2 shows a flow diagram of a method 200 for operating vehicles in accordance with embodiments of the present disclosure.

The procedure 200 can be implemented by appropriate software that can be executed by one or more processors (e.g. a CPU).

The procedure 200 includes in the block 210 operating a vehicle as an individual vehicle; in the block 220 coupling the vehicle with at least one other vehicle in order to form a vehicle convoy (see FIG 1A) ; in the block 230 moving the platoon of vehicles; in the block 240 decoupling of the vehicle from the at least one other vehicle (see 1B) ; and in the block 250 an operation of the decoupled vehicle as an individual vehicle or in individual traffic.

The motorcade 100 is a chain of two or more vehicles coupled together. The motorcade 100 includes a guide vehicle 101 and at least one follower vehicle 102 . The lead vehicle 101 can be at the head of the motorcade 100 drive. However, the present disclosure is not limited to this and the guided vehicle 101 can be at any position within the vehicle convoy 100 be arranged. The lead vehicle 101 takes the lead over the other vehicles in the convoy 100 , ie the following vehicles 102 .

The follow-up vehicles 102 can through the lead vehicle 101 be directly externally controlled. "Direct" means that the lead vehicle 101 the control of an automated driving function of the following vehicles 102 takes over. Alternatively, the following vehicles 102 by the lead vehicle 101 be indirectly externally controlled. "Indirect" means that the automated driving function of the following vehicles 102 the lead vehicle 101 follows independently.

For example, an automated driving function of the at least one following vehicle can be used 102 be set up to avoid a vehicle in front of the vehicle fleet 100 to follow at a predetermined distance. The predetermined distance can be, for example, 2 m or less, Im or less, or even 0.5 m or less.

This is how the vehicles in the vehicle fleet operate 100 not as individual vehicles, since in particular the at least one following vehicle 102 not independent of other vehicles in the vehicle fleet 100 operated on.

The vehicles of the convoy 100 , and especially the lead vehicle 101 and the at least one follower vehicle 102 , can include a driver assistance system for automated driving. An automated driving vehicle steers and / or brakes and / or accelerates independently based on a driving strategy. The driving strategy can be determined based on environmental data from the environmental sensors, road conditions, traffic conditions, weather conditions, etc. The specific driving strategy is implemented by the drive, steering and / or brakes.

The follow-up vehicles 102 the vehicle fleet 100 can be similar vehicles. For example, the following vehicles 102 be set up to transport occupants. In particular, are the following vehicles 102 also set up for individual operation or individual transport.

In some embodiments, which can be combined with other embodiments described herein, the followers are vehicles 102 the vehicle fleet 100 autonomous ODM (On Demand Mobility) vehicles.

The lead vehicle 101 can be a vehicle specially equipped for this function. In particular, the lead vehicle 101 only have functionalities that are required for operation as a lead vehicle. For example, the lead vehicle 101 not be set up for the transport of people and / or not for individual operation or individual transport.

In some embodiments, the convoy is driving 100 a predetermined route or a predetermined partial route. The predetermined route or predetermined partial route can be predetermined in terms of time and / or route, similar to the case of local public transport.

The driver of the (following) vehicle 102, 103 can approach the convoy of vehicles 100 couple to the predetermined route or predetermined partial route in the vehicle convoy 100 put back. In particular, the vehicle 102 Drive from an individual starting point to an individual destination, with a section in the vehicle convoy 100 is covered.

In some embodiments, part of the total route can be covered in individual traffic before and / or after the journey in a convoy (that is, from the individual starting point to the individual destination). This means that an owner of the vehicle can use the advantages of traveling in a convoy (e.g. special lanes, energy savings, slipstream, fewer stop-and-go processes, etc.) and still be transported directly from their individual starting point to their individual destination in their own vehicle become.

Typically the motorcade can 100 stop at at least one stop along the predetermined route or predetermined partial route, similar to a bus, a tram or a train. The at least one stopping point can be provided so that vehicles can join the vehicle convoy 100 pair (see 1A) and / or vehicles from the convoy 100 decouple (see 1B) can. In other words, it is the convoy of vehicles 100 flexible. In particular, the advantages of private transport can be combined with the advantages of public transport

According to some embodiments of the present disclosure, individual vehicles for the “first mile” and / or “last mile” join or disengage from the vehicle convoy and travel part of their route with the vehicle convoy.

While driving in the convoy 100 For example, the vehicles can move on a street and / or a bus lane. In particular, for the motorcade 100 Dedicated roads and / or lanes can be provided so that the vehicles of the vehicle convoy 100 have a time advantage compared to individual transport.

The convoy can be implemented, for example, at events and / or events. In particular, a type of gondola operation can be implemented with the embodiments of the present disclosure. In this case, the vehicles (unlike the train / gondola, whose infrastructure is not passable for others), can use gaps in routes and / or leave them in place in order not to obstruct or block other traffic, in particular individual traffic. This means that normal roads can be used for the convoy journey according to the invention.

In some embodiments, an (ego) vehicle, such as the lead vehicle 101 or a follower vehicle 102 that is in front of another follower vehicle 102 in the convoy of vehicles 100 drives, offer other vehicles a coupling option, whereby, for example, savings can be calculated from the driving data via an electronic system. These savings can be attributed to the (ego) vehicle, such as the lead vehicle 101 , credited and / or the following vehicle 102 be calculated.

For example, the method includes 200 in some embodiments further determining an energy saving and / or a CO ₂ saving for the at least one following vehicle 102 in the convoy of vehicles 100 compared to operating as an individual vehicle. Here the lead vehicle 101 an amount or bonus based on the energy saving and / or CO ₂ saving is credited to and / or the at least one following vehicle 102 will be billed or debited.

Additionally or alternatively, the at least one following vehicle 102 a length of stay in the vehicle convoy 100 be credited to a time account. This is advantageous, for example, when the following vehicle 102 is a truck. The length of stay in the convoy of vehicles 100 or the coupled travel time can be credited to the truck driver as a break time, for example in order to comply with legal regulations.

Additionally or alternatively, the at least one following vehicle 102 a period of time in the vehicle convoy 100 or an amount corresponding to the length of the journey together in the convoy of vehicles 100 is calculated. The calculation of the duration can be done, for example, in the form of a time flat rate. The calculation according to the route length can be per kilometer. This allows the lead vehicle 101 or an operator of the lead vehicle 101 be rewarded.

In some embodiments, the lead vehicle 101 or the owner can be credited with an amount calculated from the distance traveled, for example by means of an online payment system. Additionally or alternatively, CO ₂ budgets can be offset or offset.

Referring to the 1A in some embodiments is used to couple your own vehicle 103 to a lead vehicle 101 or another follower vehicle 102 the motorcade 100 firstly, the leading vehicle offering the offer 101 and, secondly, a coupling process is carried out manually or (partially) autonomously.

For example, the lead vehicle 101 indicate readiness for coupling visually and / or via wireless communication. For example, the lead vehicle 101 the willingness to be coupled to vehicles that are potentially ready to be coupled, such as the vehicle 103 , to transfer. The visual display can take place by means of an illuminated display, for example similar to a taxi sign on the roof.

In some embodiments, the potentially docking vehicle may 103 and / or a mobile terminal whose owner can be equipped with software for the procession, and in particular for agreeing the coupling and / or decoupling. The software can be configured, for example, as an app in the vehicle and / or on the mobile device of its owner. For example, the owner of the vehicle that is potentially ready to be coupled 103 the willingness of a column of vehicles or their lead vehicle to be coupled 101 and use the app to send a request for a pairing.

Typically, the lead vehicle transmits 101 Data relating to a coupling to the vehicle that is potentially ready to be coupled 103 . The data can be selected from the group which comprises position data and / or route data and / or destination data and / or suitability data, or which consists of these.

The position data can position data of the vehicle convoy 100 or the lead vehicle 101 be. In particular, the position data can indicate a location at which coupling to the vehicle convoy 100 is possible. For example, the position data can be the aforementioned stop of the vehicle convoy 100 specify.

The route data can specify a predetermined route that the vehicle convoy 100 or the lead vehicle 101 departs. The predetermined route can lead along a predetermined route, similar to public transport.

The suitability data can relate to the coupling of the vehicles. In particular, the suitability data can indicate a specification of the coupling or coupling possibilities. Vehicles that are potentially ready to be coupled can thus determine whether they are compatible for coupling.

In some embodiments, the lead vehicle is transmitting 101 a digital signal with a suitability and / or authorization for a coupling, driving data and / or a navigation destination. In the potential following vehicle 103 the potentially possible common travel time and / or travel route can be calculated and optionally displayed by comparing the navigation destinations. If this is, for example, below a threshold value, the coupling can be refused.

For example, determines the vehicle that is potentially ready to be coupled 103 a route or part of the route with the lead vehicle or the convoy of vehicles 100 is retractable. The vehicle ready to be coupled 103 can send a coupling request to the lead vehicle based on this 101 send.

For example, an occupant of the potentially ready-to-couple vehicle 103 specify a destination. It can then go through the vehicle 103 and / or it can be determined by means of the app described above whether at least a section of the route to the destination can be carried out in a convoy of vehicles. If a suitable vehicle convoy is determined, a corresponding coupling request can be sent to the vehicle fleet, and in particular its lead vehicle.

In some embodiments, the lead vehicle takes over 101 control of the vehicle that is ready to be coupled 103 before and / or during and / or after a coupling process. For example, the lead vehicle 101 Instructions to the driver assistance system for automated driving of the vehicle that is ready to be coupled 103 to perform the pairing process. According to some embodiments, display electronics and / or an app can accompany the coupling process.

In detail, a suitable vehicle can be behind the lead vehicle 101 line up. The coupling process can be started in the vehicle within the legally stipulated interval, for example via an app or internal electronics. The first thing to do is the readiness of the lead vehicle 101 be confirmed, for example, by the lead driver or the autonomous lead vehicle. In the second step, the lead vehicle 101 control of the following vehicle 103 take.

The coupling process is typically carried out in the lead vehicle 101 and / or follower vehicle 103 signaled to the outside. The lead vehicle is optional 101 the road between the two vehicles is illuminated accordingly by laser and the route is marked as blocked with a cross or something similar.

In the second step, the following vehicles can 103 from the lead vehicle 101 automatically brought closer in order to reduce the distance to a minimum (e.g. 1m). The lead vehicle 101 can be equipped with a simple rearward-facing distance sensor for this purpose. During this time, the "coupling process" signal and the driver of the following vehicle can be active 103 can monitor the process. If the distance is reduced accordingly, the lead vehicle can 101 complete the pairing process automatically. Both drivers can then get the status displayed and optionally confirm it.

The completed coupling can be signaled to the outside world. The readiness for coupling can be offered by the following vehicle to other drivers if the following vehicle is suitable for this (e.g. distance sensor to the rear).

Referring to the 1B can decoupling from the vehicle convoy 100 analogue, such as using the app or internal electronics. For example, a driver signals his desire to uncouple his vehicle 104 . Both drivers can confirm this and the distance between the veering vehicle 104 as well as the vehicle in front 101 and / or the following vehicle 102 is automatically enlarged, for example.

Both drivers can confirm the completion of the decoupling process again, whereupon the following vehicle 104 can continue driving independently. Are there other coupled vehicles in the convoy, as in the example of 1B is shown shortened the lead vehicle 101 the gap and closes the resulting gap analogous to the coupling process. The coupled remaining columns can receive a corresponding signal to monitor the process.

3rd shows schematically a driver assistance system 300 for automated driving according to embodiments of the present disclosure.

With automated driving, the vehicle is guided longitudinally and laterally 10 automatically. The driver assistance system 300 So takes over the vehicle guidance. The driver assistance system controls this 300 the drive 20th , The gear 22nd , the hydraulic service brake 24 and the steering 26th via intermediate units, not shown.

The vehicle 10 may be the lead vehicle and / or the at least one follower vehicle according to the embodiments of the present disclosure.

To plan and implement automated driving, information about the surroundings is provided by an environmental sensor system that monitors the surroundings of the vehicle from the driver assistance system 300 accepted. In particular, the vehicle can have at least one environment sensor 12th which is set up to record environmental data indicating the vehicle surroundings. The at least one environmental sensor 12th can for example comprise a LiDAR system, one or more radar systems, one or more laser scanners and / or one or more cameras.

According to the embodiments of the present disclosure, vehicles, and in particular automated vehicles, are flexibly grouped in columns. For example, a vehicle can drive from a starting point to a destination, a section of the route being covered in the procession. Part of the total distance before and / or after the convoy journey is covered by private transport. This means that an owner of the vehicle can use the advantages of _{traveling in a convoy (e.g. special lanes, energy savings, CO 2} savings, etc.) and still be transported directly from their individual starting point to their individual destination in their own vehicle.

Although the invention has been illustrated and explained in more detail by preferred exemplary embodiments, the invention is not restricted by the disclosed examples and other variations can be derived from them by the person skilled in the art without departing from the scope of protection of the invention. It is therefore clear that there is a multitude of possible variations. It is also clear that embodiments cited by way of example really only represent examples that are not to be interpreted in any way as a limitation, for example, of the scope of protection, the possible applications or the configuration of the invention. Rather, the preceding description and the description of the figures enable the person skilled in the art to specifically implement the exemplary embodiments, whereby the person skilled in the art, with knowledge of the disclosed inventive concept, can make various changes, for example with regard to the function or the arrangement of individual elements mentioned in an exemplary embodiment, without the To leave the scope of protection that is defined by the claims and their legal equivalents, such as further explanations in the description.

Claims (16)

A method (200) for operating vehicles comprising: Operating (210) a vehicle as an individual vehicle; Coupling (220) the vehicle with at least one other vehicle to form a convoy of vehicles; Moving (230) the platoon of vehicles; Decoupling (240) the vehicle from the at least one other vehicle; and Operating (250) the decoupled vehicle as an individual vehicle. The method (200) according to Claim 1 , wherein the at least one other vehicle comprises a guide vehicle, in particular wherein the guide vehicle is an autonomous vehicle or a manually driven vehicle. The method (200) according to Claim 1 or 2 , wherein the moving of the vehicle column comprises: traveling a predetermined route or a predetermined partial route. The method (200) according to Claim 3 wherein moving the convoy comprises: stopping the convoy at at least one stopping point along the predetermined route or predetermined partial route. The method (200) according to one of the Claims 1 to 4th , further comprising: coupling at least one further vehicle to the vehicle convoy; and / or decoupling of at least one vehicle from the vehicle convoy. The method (200) according to one of the Claims 1 to 5 , wherein the movement of the vehicle column takes place on a street and / or a bus lane. The method (200) according to one of the Claims 1 to 6th wherein the vehicle platoon comprises two or more vehicles, wherein the two or more vehicles comprise a lead vehicle and at least one follower vehicle. The method (200) according to Claim 7 , further comprising: determining an energy saving for the at least one following vehicle in the vehicle column in comparison to operation as an individual vehicle. The method (200) according to Claim 8 , an amount based on the energy saving being credited to the leading vehicle and being charged to the at least one following vehicle. The method (200) according to one of the Claims 7 to 9 , the at least one following vehicle being credited with a time spent in the vehicle column on a time account. The method (200) according to one of the Claims 7 to 10 , wherein the at least one following vehicle is calculated for a period of time in the vehicle convoy or an amount that corresponds to a distance of the joint journey in the convoy. The method (200) according to one of the Claims 6 to 11 , the lead vehicle indicating readiness for coupling visually and / or via wireless communication. The method (200) according to Claim 12 , wherein the lead vehicle transmits data to vehicles that are potentially ready to be coupled, the data being selected from the group consisting of position data, route data, destination data, suitability data, and a combination thereof. The method (200) according to Claim 13 , wherein a vehicle that is potentially ready to be coupled determines a route or partial route that can be covered with the lead vehicle, and based thereon sends a coupling request to the lead vehicle. The method (200) according to Claim 14 , the lead vehicle taking control of the vehicle ready for coupling before, during and / or after a coupling process. A storage medium, comprising a software program which is set up to be executed on one or more processors, and thereby the method (200) according to one of the Claims 1 to 15th to execute.

Images