EP3535171A4 - Gap measurement for vehicle convoying - Google Patents

Gap measurement for vehicle convoying Download PDF

Info

Publication number
EP3535171A4
EP3535171A4 EP17867739.9A EP17867739A EP3535171A4 EP 3535171 A4 EP3535171 A4 EP 3535171A4 EP 17867739 A EP17867739 A EP 17867739A EP 3535171 A4 EP3535171 A4 EP 3535171A4
Authority
EP
European Patent Office
Prior art keywords
gap measurement
vehicle convoying
convoying
vehicle
gap
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.)
Withdrawn
Application number
EP17867739.9A
Other languages
German (de)
French (fr)
Other versions
EP3535171A1 (en
Inventor
Austin B. Schuh
Stephen M. Erlien
Stephan Pleines
John L. Jacobs
Joshua P. Switkes
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.)
Peloton Technology Inc
Original Assignee
Peloton Technology Inc
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
Priority claimed from PCT/US2016/060167 external-priority patent/WO2017070714A1/en
Priority claimed from US15/590,715 external-priority patent/US20170242443A1/en
Priority claimed from US15/590,803 external-priority patent/US10520581B2/en
Application filed by Peloton Technology Inc filed Critical Peloton Technology Inc
Publication of EP3535171A1 publication Critical patent/EP3535171A1/en
Publication of EP3535171A4 publication Critical patent/EP3535171A4/en
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/66—Sonar tracking systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/66—Tracking systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9318—Controlling the steering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/93185—Controlling the brakes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9319—Controlling the accelerator
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
EP17867739.9A 2016-11-02 2017-10-26 Gap measurement for vehicle convoying Withdrawn EP3535171A4 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
PCT/US2016/060167 WO2017070714A1 (en) 2015-09-15 2016-11-02 Vehicle identification and location using senor fusion and inter-vehicle communication
US15/590,715 US20170242443A1 (en) 2015-11-02 2017-05-09 Gap measurement for vehicle convoying
US15/590,803 US10520581B2 (en) 2011-07-06 2017-05-09 Sensor fusion for autonomous or partially autonomous vehicle control
PCT/US2017/058477 WO2018085107A1 (en) 2016-11-02 2017-10-26 Gap measurement for vehicle convoying

Publications (2)

Publication Number Publication Date
EP3535171A1 EP3535171A1 (en) 2019-09-11
EP3535171A4 true EP3535171A4 (en) 2019-11-27

Family

ID=62076265

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17867739.9A Withdrawn EP3535171A4 (en) 2016-11-02 2017-10-26 Gap measurement for vehicle convoying

Country Status (5)

Country Link
EP (1) EP3535171A4 (en)
JP (2) JP7152395B2 (en)
CN (2) CN116203551A (en)
CA (1) CA3042647C (en)
WO (1) WO2018085107A1 (en)

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US10520952B1 (en) 2011-07-06 2019-12-31 Peloton Technology, Inc. Devices, systems, and methods for transmitting vehicle data
US20170242443A1 (en) 2015-11-02 2017-08-24 Peloton Technology, Inc. Gap measurement for vehicle convoying
US11334092B2 (en) 2011-07-06 2022-05-17 Peloton Technology, Inc. Devices, systems, and methods for transmitting vehicle data
US9582006B2 (en) 2011-07-06 2017-02-28 Peloton Technology, Inc. Systems and methods for semi-autonomous convoying of vehicles
US10899323B2 (en) 2018-07-08 2021-01-26 Peloton Technology, Inc. Devices, systems, and methods for vehicle braking
US10762791B2 (en) 2018-10-29 2020-09-01 Peloton Technology, Inc. Systems and methods for managing communications between vehicles
JP7486139B2 (en) * 2018-12-10 2024-05-17 パナソニックＩｐマネジメント株式会社 Information system and information transmission method
DE102018222686A1 (en) * 2018-12-20 2020-06-25 Robert Bosch Gmbh Evaluation of location measurements of an environment sensor for a motor vehicle
US11427196B2 (en) 2019-04-15 2022-08-30 Peloton Technology, Inc. Systems and methods for managing tractor-trailers
US11932173B2 (en) 2019-06-14 2024-03-19 Stack Av Co. Mirror pod environmental sensor arrangement for autonomous vehicle enabling compensation for uneven road camber
US11124132B2 (en) 2019-06-14 2021-09-21 Locomation, Inc. Mirror pod environmental sensor arrangement for autonomous vehicle
EP4045363A1 (en) * 2019-10-16 2022-08-24 Locomation, Inc. Behaviors that reduce demand on autonomous follower vehicles
US20220398850A1 (en) * 2019-11-15 2022-12-15 Sumitomo Electric Industries, Ltd. Information generation device, information generation method, and non-transitory computer-readable storage medium
KR20210075675A (en) * 2019-12-13 2021-06-23 현대자동차주식회사 Platooning control apparatus and path planning method thereof
KR102323483B1 (en) * 2020-04-13 2021-11-10 주식회사 만도모빌리티솔루션즈 Smart cruise control system and method thereof
DE102020127776B4 (en) 2020-10-22 2023-10-26 Valeo Schalter Und Sensoren Gmbh Method for determining a length of an object in an environment of a motor vehicle using an assistance system, computer program product, computer-readable storage medium and assistance system
US20230136374A1 (en) * 2021-10-28 2023-05-04 Toyota Motor Engineering & Manufacturing North America, Inc. Monitoring a traffic condition of stopped or slow moving vehicles
CN114200454B (en) * 2022-02-16 2022-05-10 南京慧尔视智能科技有限公司 Method for determining drivable area and related device
WO2024065671A1 (en) * 2022-09-30 2024-04-04 华为技术有限公司 Platooning control method and apparatus, and intelligent driving device
CN115798211B (en) * 2022-11-21 2023-09-22 长安大学 Control method, system, equipment and medium for preventing network bus from being separated and mixed
CN116540234B (en) * 2023-04-25 2024-03-29 广州优保爱驾科技有限公司 Microwave radar blind spot monitoring system

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WO2017070714A1 (en) * 2015-09-15 2017-04-27 Peloton Technology, Inc. Vehicle identification and location using senor fusion and inter-vehicle communication

Also Published As

Publication number Publication date
CA3042647A1 (en) 2018-05-11
WO2018085107A1 (en) 2018-05-11
JP7461431B2 (en) 2024-04-03
JP2023002564A (en) 2023-01-10
JP2020500367A (en) 2020-01-09
JP7152395B2 (en) 2022-10-12
CN110418745A (en) 2019-11-05
CA3042647C (en) 2019-11-26
CN110418745B (en) 2023-01-13
CN116203551A (en) 2023-06-02
EP3535171A1 (en) 2019-09-11

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