DE102020119150A1 - Method and device for determining a sorting sequence for vehicles - Google Patents

Abstract

The invention relates to a method, a device and a driver assistance system for determining a coordinated sorting sequence for a number of vehicles on a defined route section, the method comprising the following steps: - detecting vehicle information for a number of vehicles. - determining an operating mode suitable for an upcoming or current route section for each vehicle based on the collected vehicle information, and- determining a sort order of the plurality of vehicles based on the determined appropriate mode of operation of each vehicle.

Description

The invention relates to a method and a correspondingly designed device for sorting vehicles.

Driver assistance systems are known from the prior art, which support the driver in certain situations, such as when driving on freeways, when maneuvering or when parking. At least in part, these systems have as a subordinate goal, in addition to supporting the driver, to keep energy consumption as low as possible while moving and to achieve maximum efficiency with consistent driving comfort. Although these assistance systems can implement the respective driving processes efficiently, an overall view of the traffic situation does not usually take place. In most cases, only the efficiency of the individual vehicle is considered, but not the efficiency of all vehicles involved.

From the US 9,672,734 B1 a system for determining an optimal lane to be traveled on in order to reduce the travel time is already known. Depending on the navigation data, a lane is selected so that the journey time is the shortest.

From the WO 2019/111979 A1 a method for driving a group of several vehicles in the same direction at a short distance (so-called platooning) is known, with the distance between the individual vehicles being calculated based on information on road conditions and individual vehicle parameters (e.g. gross weight of the vehicle, overtaking acceleration ability, deceleration/braking capacity or the current tire friction force) is specified.

The object of the invention is to provide a method and a correspondingly designed device which, with regard to energy efficiency, enables optimal vehicle guidance in certain driving situations.

The object is solved by the features of the independent patent claims. Advantageous embodiments are described in the dependent claims. It is pointed out that additional features of a patent claim dependent on an independent patent claim without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim can form a separate invention independent of the combination of all features of the independent patent claim, which can be made the subject of an independent claim, a divisional application or a subsequent application. This applies equally to the technical teachings described in the description, which can form an invention independent of the features of the independent patent claims.

The invention is based on the idea that the number of (partially) electrically driven vehicles will increase sharply in the future and at the same time the charging infrastructure cannot be provided sufficiently quickly. In order to still be able to achieve a high "electric range", vehicles with (partially) electric drives have an increased need for recuperation options during vehicle operation. The more energy is recuperated, the greater the electric range.

The invention is based on the finding that, in order to increase the recuperation possibilities during driving, the entire traffic environment must be considered and the driving behavior of the individual vehicles must be coordinated according to their requirements and possibilities.

• - Erfassen von Fahrzeuginformationen mehrerer Fahrzeuge,
• - Ermitteln einer für einen vorausliegenden oder aktuellen Streckenabschnitt geeigneten Betriebsart für jedes Fahrzeugs basierend auf den erfassten Fahrzeuginformationen, und
• - Ermitteln einer Sortierungsfolge der mehreren Fahrzeuge basierend auf der ermittelten geeigneten Betriebsart jedes Fahrzeugs.

Based on this finding, according to a first aspect, a method for determining a coordinated sorting sequence of several vehicles on a defined route section, in particular a route section with a gradient, is proposed with the following steps:

• - collecting vehicle information of multiple vehicles,
• - Determination of an operating mode suitable for an upcoming or current route section for each vehicle based on the detected vehicle information, and
• - determining a sorting order of the plurality of vehicles based on the determined appropriate mode of operation of each vehicle.

In the case of the plurality of vehicles, at least 2 vehicles, but advantageously more than 2 vehicles, are considered. It can also be provided that all vehicles in a specific environment of a single vehicle are considered or—as far as possible—that relevant vehicle information is recorded.

• - Rekuperierfähigkeit eines Fahrzeugs,
• - Segelfähigkeit eines Fahrzeugs,
• - aktuelle Geschwindigkeit,
• - Fahrzeugmasse,
• - Ladezustand der Batterie und/oder
• - Antriebsart.

The vehicle information to be recorded is advantageously at least one of the following vehicle information items:

• - recuperation capability of a vehicle,
• - sailing ability of a vehicle,
• - current speed,
• - vehicle mass,
• - Battery charge level and/or
• - type of drive.

In order to be able to determine a suitable operating mode, possible operating modes can be defined in advance, with only one operating mode being able to be determined as suitable for each vehicle from the previously defined operating modes.

• - Betriebsart 1: „prädestiniert segeln“ (mit maximaler Ausrolldistanz)
• - Betriebsart 2: „prädestiniert rekuperieren“ (mit maximaler Ladebedarf).

Based on the available information, the vehicles are advantageously clustered for an upcoming or current route section according to their determined suitable operating mode, ie all vehicles with the same or similar or with the same or similar operating mode are assigned to a defined vehicle group. Advantageously, a grouping according to the need for recuperation on the road (in terms of energy efficiency) can take place according to the following operating modes:

• - Operating mode 1: "predestined to sail" (with maximum coasting distance)
• - Operating mode 2: "Predestined recuperation" (with maximum charging requirement).

The number and type of sorting can advantageously also take place as a function of existing environmental parameters of the vehicle or vehicles. For example, an operating mode suitable for an upcoming or current route section can be determined for each vehicle based on the detected vehicle information and additionally available environmental parameters, in particular available information about the road gradient. As an alternative or in addition, the sorting sequence of the plurality of vehicles can be determined based on the determined suitable operating mode of each vehicle (with and without taking environmental parameters into account) and additionally existing (possibly further) environmental parameters. In addition to information about the gradient of the road, information about the number of lanes (single-lane or multi-lane road), the weather or information about the curvature of the road (radius) can also be used and evaluated.

In terms of sorting in the transverse direction, the sorting sequence can include an assignment of the vehicles to one of a plurality of lanes. In particular, in terms of sorting in the transverse direction, the vehicles can be assigned to a lane based on the determined suitable operating mode for a vehicle.

Alternatively or additionally, in a further advantageous embodiment of the invention, the sorting sequence in the sense of a sorting in the longitudinal direction can include a sorting of several vehicles (advantageously with the same suitable operating mode) in the longitudinal direction within a lane. In particular, in terms of sorting in the longitudinal direction, the vehicles can be sorted within a lane based on detected vehicle parameters relating to the ability of a vehicle to accelerate or decelerate in the relevant route section.

The sorting sequence is advantageously determined on the basis of the recuperation requirements determined, i.e. depending on the recuperation requirements of the respective vehicle, the vehicle is classified into a defined group or the vehicles are sorted directly. Additionally or alternatively, a possible sailing ability of the vehicles can be taken into account when determining the sorting sequence.

Once a sorting sequence has been determined, a further advantageous embodiment can provide for the outputting or transmission of a signal to cause the vehicle to be sorted/classified in accordance with the sorting sequence determined. This signal can, for example, contain information about the positioning within the sorting sequence and/or information about the determined suitable operating mode and/or information about the selection of the lane to be selected on the determined sorting sequence and/or information about a lane change, acceleration or deceleration include. Based on the information transmitted with the signal, a display can be activated in the respective vehicle (e.g. where it has to be classified or which driving task has to be carried out) or an at least partially automated control of the vehicle can be carried out to reach the determined position within the sorting sequence . At the same time or after reaching the position within the sorting sequence, you can switch to the determined suitable operating mode (manual or automated).

According to a further aspect of the invention, a device according to the invention for determining a coordinated sorting sequence of a plurality of vehicles on a defined route section is included

• - einer Erfassungseinheit zum Erfassen von Fahrzeuginformationen mehrerer Fahrzeuge,
• - einer ersten Ermittlungseinheit zum Ermitteln einer für einen vorausliegenden oder aktuellen Streckenabschnitt geeigneten Betriebsart für jedes Fahrzeugs basierend auf den erfassten Fahrzeuginformationen (und ggf. weiterer Umfeldinformationen), und
• - einer zweiten Ermittlungseinheit zum Ermitteln einer Sortierungsfolge der mehreren Fahrzeuge basierend auf der ermittelten geeigneten Betriebsart jedes Fahrzeugs

vorgesehen.

• - a recording unit for recording vehicle information of several vehicles,
• - A first determination unit for determining an operating mode suitable for an upcoming or current route section for each vehicle based on the detected Vehicle information (and possibly other environmental information), and
• - a second determination unit for determining a sorting order of the plurality of vehicles based on the determined appropriate mode of operation of each vehicle

intended.

The device is advantageously arranged outside the vehicle and is designed as a central processing unit that receives relevant data from vehicles and sends signals to vehicles. Ideally, the communication or the data exchange between the vehicle and the device takes place “over the air”.

According to a further aspect of the invention, a driver assistance system is provided in a vehicle, which sends signals relating to vehicle information to a device according to the invention (usually arranged outside the vehicle) and from the device a signal based on the determined sorting sequence, in particular a signal for initiating a sorting/classification of the vehicle according to the determined sorting sequence.

The above statements on the method according to the invention according to the first aspect of the invention also apply in a corresponding manner to the device according to the invention according to the second aspect of the invention, and to a correspondingly designed driver assistance system. Advantageous exemplary embodiments of the device according to the invention and of the assistance system that are not explicitly described here and in the patent claims correspond to the advantageous exemplary embodiments of the method according to the invention that are described above or in the patent claims.

• 1 ein Verkehrsszenario auf einer mehrspurigen, abschüssigen Autobahn,
• 2 eine beispielhafte Darstellung eines erfindungsgemäßen Fahrerassistenzsystems in Verbindung mit einer Vorrichtung zum Ermitteln einer Sortierreihenfolge, und
• 3 ein schematisches Ablaufdiagramm zur Darstellung des erfindungsgemäßen Verfahrens.

The invention is described below using an exemplary embodiment with the aid of the accompanying drawings. It shows:

• 1 a traffic scenario on a multi-lane, downhill highway,
• 2 an exemplary representation of a driver assistance system according to the invention in connection with a device for determining a sorting sequence, and
• 3 a schematic flowchart to illustrate the method according to the invention.

the 1 shows a traffic scenario on a downhill highway with 3 lanes (one way) FSI, FSm and FSr. Distributed over the lanes FSI, FSm and FSr are several vehicles L1, L2 and P1 - P5. At time t1, the vehicles L1, L2 and P1-P5 are at the positions shown here—not sorted. In order to be able to enable the most efficient driving style possible, the invention can be used to determine an energy-efficient sorting sequence for the sloping section of road ahead and information dependent on this can be transmitted to the vehicles, so that they can assume the determined sorting sequence manually or automatically (see time t2). .

• - Fahrzeuge, bei denen bei der Hangabfahrt ein Segeln möglich und sinnvoll erscheint (weil z. B. ein Rekuperieren nicht möglich oder sinnvoll ist)
• - Fahrzeuge, bei denen ein Rekuperien grundsätzlich möglich und bei der Hangabfahrt sinnvoll ist (weil z. B. der Ladezustand der Batterie bereits gering ist).
• - Fahrzeuge, die nicht segelfähig oder nicht rekuperationsfähig sind, oder ein Segeln oder Rekuperieren nicht sinnvoll ist.

The sorting sequence can be determined according to the following scheme: First, the vehicles are grouped into

• - Vehicles for which coasting appears possible and sensible when descending a slope (e.g. because recuperation is not possible or sensible)
• - Vehicles for which recuperation is fundamentally possible and makes sense when driving downhill (e.g. because the battery charge level is already low).
• - Vehicles that cannot sail or are not capable of recuperation, or sailing or recuperation does not make sense.

Depending on the number of vehicles per group and the number of lanes, the vehicles are assigned to the lanes. For example, it makes sense to allocate all vehicles for which sailing is possible and makes sense to the left lane. All vehicles with a high need for recuperation or vehicles that are only allowed to drive at a very low speed due to other restrictions (e.g. heavy transporters) are assigned to the right lane, all vehicles with a medium need for recuperation to the middle lane.

• - linke Fahrspur: Fahrzeuge mit höchstem Gewicht und höchster Ausrollgeschwindigkeit oder mit der höchsten Restgeschwindigkeit
• - mittlere Fahrspur: Fahrzeuge mit mittlerem Gewicht und mittlerer Ausrollgeschwindigkeit, mittlerer Restgeschwindigkeit bzw. mittlerem Batteriestatus und mittlerem Rekuperationsbedarf
• - rechte Fahrspur: Fahrzeug mit geringstem Gewicht bei geringster Ausrollgeschwindigkeit oder Fahrzeuge mit geringem Batteriestatus aber hoher Massenträgheit und hoher Notwendigkeit einer Rekuperation.

Alternatively, the following assignment can also be made:

• - left lane: Vehicles with the highest weight and the highest coasting speed or with the highest residual speed
• - middle lane: vehicles with middle weight and middle coasting speed, middle remaining speed or middle battery status and middle recuperation requirement
• - Right lane: Vehicle with the lowest weight at the lowest coasting speed or vehicles with a low battery status but high mass inertia and a high need for recuperation.

For each lane, the vehicles within the lane are sorted further. For example, in lanes where there are only vehicles where coasting makes sense, the sorting is carried out according to mass inertia, so that vehicles that “coast faster” are not impeded by vehicles that “coast slowly” and have to leave coasting mode .

For lanes in which there are vehicles where recuperation makes sense, the sorting sequence within the lane is determined based on the information provided by the individual vehicles on mass inertia and recuperation capacity.

The sorting sequence (incl. lane) is therefore selected on the basis of the vehicle properties, in particular the vehicle mass (to utilize potential energy in coasting mode or the mass inertia when utilizing the recuperation capacity). Among other things, the starting speed and the battery status are decisive. The battery status is important in order to support the recuperation of vehicles with a low charge status, if necessary.

Once the sorting sequence has been determined, the result or the information based on the result is transmitted to the respective vehicles. Based on this information, the vehicles are automatically grouped into the determined sorting sequence by changing lanes and overtaking. At the latest when the correct sorting sequence has been implemented in a lane, there is a change from the current operating mode to the previously determined suitable operating mode (e.g. coasting, recuperation, overrun (with and without braking intervention)).

the 2 shows a driver assistance system FAS for energy-efficient automated vehicle guidance, which is located in a vehicle. The ADAS driver assistance system sends relevant vehicle data, such as position, current speed, planned route, mass inertia, battery charge status, etc. via an interface - either using the transmission capability of a mobile phone or directly - using a so-called car-to-x communication interface a device V located outside the vehicle, which can be part of a so-called cloud system. The device comprises a detection unit (EE) for detecting vehicle information from a number of vehicles, a first determination unit (E1) for determining an operating mode suitable for an upcoming or current route section for each vehicle based on the detected vehicle information, and a second determination unit E2) for determining a Sort order of the plurality of vehicles based on each vehicle's determined appropriate mode of operation.

In detail, the device V uses the data from the vehicle, existing data from other vehicles that are in this area, and available environmental information (which is either also provided by the vehicles or stored at another location and made available to the device) to determine a sorting sequence of all vehicles that are in a defined area or are driving through a defined area ahead, optimized in terms of energy consumption. The device V sends this information about the sorting sequence—via the same or a different interface—back to the driver assistance system FAS in the vehicle. Based on the information available, the ADAS driver assistance system initiates automated activation of the vehicle by sending signals to vehicle control units A, so that the vehicle can be arranged at the intended point in the determined sorting sequence and changes to the determined suitable operating mode on which the sorting was based. To reach the determined position within the sorting sequence, the vehicle - depending on the requirement - automatically initiates lane changes, overtaking, acceleration or deceleration processes.

the 3 shows only a simplified representation of a flowchart for determining a sorting sequence, which can be implemented in the device V in the form of a sorting algorithm.

The method starts in step 10 with the acquisition of vehicle information from multiple vehicles. The information can be, for example, the position, current speed, planned route, inertia, battery charge level, possible operating modes, etc.

In the next step 20, an operating mode suitable for an upcoming or current section of road is determined for each vehicle based on the detected vehicle information. In the case of the operating modes, a distinction can be made, for example, between coasting operation, recuperation operation or overrun operation.

Then, in step 30, a sorting sequence for the multiple vehicles is determined based on the determined suitable operating mode of each vehicle by, based on the determined operating mode and other information such as B. inertia, recuperation capacity, road gradient, number of lanes, etc. is sorted in such a way that all vehicles are within range be able to drive through the route section as energy-efficiently as possible using the suitable operating mode determined.

As soon as the sorting sequence has been determined, in step 40 a signal is sent to the vehicle to cause the vehicle to be sorted or classified according to the determined sorting sequence.

The invention offers the advantage of meeting the need for recuperation on the roads in terms of energy efficiency, both on single-lane and multi-lane roads for all road gradients (both on the level and on sloping roads), and thus fuel consumption and energy consumption, especially when driving down reduce mountains and slopes.

The proposed system forms columns of vehicles on roads with gradients, which are divided into "predestined to sail" and "predestined to recuperate".

In particular when rolling downhill, the invention offers a considerable advantage if the sorting algorithm determines the sorting sequence based on the different recuperation needs of the vehicles. Among other things, the battery charge status is used as vehicle information to be evaluated. In contrast to the usual weight-based sorting algorithms, within the scope of the invention, the vehicles are sorted according to the determined need for recuperation. The braking energy can be adapted to the recuperation requirement. This means, for example, that a truck (high mass inertia) with a low need for recuperation with medium braking power and medium residual speed can drive in a column behind a coasting small car (no need for braking). Another example would be that two cars with different weight classes, but both with a high need for recuperation, line up one behind the other before a descent, in the order of the highest recuperation capacity, so that the vehicle in front recuperates to the maximum (without additional braking power), while the vehicle driving behind which has less recuperation capacity, also uses the vehicle brakes.

The exemplary embodiment shows that the vehicles are assigned to a lane (left, middle, right lane) according to a determined need for recuperation (none, low, medium, high). Within the lane, the sorting sequence is determined taking into account the recuperation performance (independent of weight).

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• US9672734B1 [0003]
• WO 2019/111979 A1 [0004]

Claims (10)

Method for determining a coordinated sorting sequence of several vehicles (L1, L2, P1 - P5) on a defined route section, comprising the following steps - Acquisition of vehicle information of multiple vehicles (L1, L2, P1 - P5)(10), - Determining an operating mode suitable for an upcoming or current route section for each vehicle (L1, L2, P1 - P5) based on the detected vehicle information (20), and - determining a sorting order of the plurality of vehicles (L1, L2, P1 - P5) based on the determined appropriate mode of operation of each vehicle (L1, L2, P1 - P5)(30). procedure after claim 1 , characterized in that the sorting sequence in the sense of a sorting in the transverse direction includes an assignment of the vehicles (L1, L2, P1 - P5) to one of several lanes (FSI, FSm, FSr). procedure after claim 2 , characterized in that in the sense of a sorting in the transverse direction, an assignment of the vehicles (L1, L2, P1 - P5) to a lane (FSI, FSm, FSr) based on the determined suitable operating mode for a vehicle (L1, L2, P1 - P5) takes place. Method according to one of the preceding claims, characterized in that the sorting sequence in the sense of a sorting in the longitudinal direction includes a sorting of several vehicles (L1, L2, P1 - P5) with the same suitable operating mode in the longitudinal direction within a lane (FSI, FSm, FSr). procedure after claim 4 , characterized in that the vehicles (L1, L2, P1 - P5) are sorted in the longitudinal direction within a lane (FSI, FSm, FSr) based on detected vehicle parameters relating to the recuperation capacity in the relevant route section. Method according to one of the preceding claims, characterized in that the determination of an operating mode suitable for an upcoming or current route section for each vehicle (L1, L2, P1 - P5) takes place on the basis of the detected vehicle information and existing environmental parameters, in particular existing information about the road gradient . Method according to one of the preceding claims, characterized in that the method comprises the following further step: - Sending out a signal to cause sorting/classification of the vehicle (L1, L2, P1 - P5) according to the ascertained sorting sequence (40). Method according to one of the preceding claims, characterized in that the vehicle information comprises at least one of the following items of information: - Recuperation capability of a vehicle - Sailing ability of a vehicle - Current speed - Vehicle mass - Battery charge status - Drive type. Device (V) for determining a coordinated sorting sequence of a plurality of vehicles (L1, L2, P1 - P5) on a defined route section - a detection unit (EE) for detecting vehicle information of multiple vehicles (L1, L2, P1 - P5), - A first determination unit (E1) for determining an operating mode suitable for an upcoming or current route section for each vehicle (L1, L2, P1 - P5) based on the detected vehicle information, and - A second determination unit (E2) for determining a sorting sequence of the plurality of vehicles (L1, L2, P1 - P5) based on the determined suitable operating mode of each vehicle (L1, L2, P1 - P5). Driver assistance system (FAS) for a vehicle that is designed to send a signal relating to vehicle information to a device (V). claim 9 to send and from the device (V) to receive a signal based on the determined sorting sequence.

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