BR102018009046A2 - METHOD AND SYSTEM FOR CONTROLING VEHICLE TRAINING DURING VEHICLE DIRECTION - Google Patents

Abstract

The present invention relates to a method for controlling vehicle formation (f) during vehicle steering. the method comprises the steps of: detecting (112, 114, 116) distances to at least one adjacent vehicle from the vehicle formation (f) so as to create successive sets of virtual marks of at least one adjacent vehicle; comparing information from a created set of virtual tags to corresponding information from a subsequently created set of virtual tags; and controlling mutual positions (l1, d1, l2, d2) of vehicle formation vehicles (1, 2, 3) (f) on the basis of comparisons to provide determined vehicle formation training (f). The present invention also relates to a system for controlling vehicle formation during vehicle steering. The present invention also relates to a vehicle formation, a computer program and a computer readable media.

Description

“METHOD AND SYSTEM FOR CONTROLING VEHICLE TRAINING DURING VEHICLE DIRECTION”

TECHNICAL FIELD [0001] The invention relates to a method for controlling vehicle formation while driving vehicles according to the preamble of claim 1. The invention also relates to a system for controlling vehicle formation while driving vehicles . The invention also relates to vehicle formation. The invention, moreover, concerns a computer program and computer-readable media.

BACKGROUND TECHNIQUE [0002] In certain situations, it is desirable to drive vehicles in a certain formation. For example, when removing snow from snow-covered areas, a platoon of snow plow vehicles is normally used, the platoon of snow plow vehicles being arranged to remove snow in a certain formation to efficiently remove snow. Such a vehicle formation normally has a front vehicle and rear vehicles with a certain lateral displacement in relation to the vehicle in front. In order to clean snow efficiently, the platoon of vehicles needs to drive in a specific formation.

[0003] During the so-called platoon formation, vehicles are being driven in a platoon on a road in a formation with a front vehicle and rear vehicles essentially aligned with the vehicle in front, the vehicle platoon driving at a certain distance from each other to reduce air resistance to the rear vehicles in order to reduce fuel consumption.

[0004] US201005688 reveals snow removal with snowplow vehicle driving in formations.

[0005] There is a need to improve the control of a vehicle formation while driving vehicles.

OBJECTIVES OF THE INVENTION [0006] An objective of the present invention is to provide a method for controlling vehicle formation during vehicle driving that is efficient and accurate.

Petition 870180036500, of 05/04/2018, p. 9/44

2/28 [0007] Another objective of the present invention is to provide an efficient and accurate system for controlling vehicle formation during vehicle steering. SUMMARY OF THE INVENTION [0008] These and other objectives, evident from the following description, are obtained by a method, a system, a vehicle formation, a computer program and a computer-readable media, as set out in the attached independent claims. Preferred modalities of the method and the system are defined in attached dependent claims.

[0009] Specifically, an objective of the invention is achieved by a method to control vehicle formation during vehicle driving. Vehicle training comprises at least two vehicles. The method comprises the steps of: detecting, by means of detection means on board at least one of at least two vehicles, distances to at least one vehicle adjacent to the vehicle formation in order to create successive sets of virtual marks of at least an adjacent vehicle; compare information from a created set of virtual brands with corresponding information from a subsequently created set of virtual brands; and to control the mutual positions of the vehicle training vehicles based on comparisons in order to provide specific vehicle training training.

[0010] By creating successive sets of virtual vehicle brands in this way and comparing information from a created set of virtual brands with corresponding information from a subsequently created set of virtual brands during the formation of vehicles, the efficient and accurate determination of vehicle positions the formation of vehicles in relation to each other is facilitated. By then controlling the mutual positions of the vehicles in the vehicle formation based on the comparisons in order to provide a specific formation of the vehicle formation, such determined formation can be efficiently and precisely obtained and, depending on the situation, maintained or adapted.

[0011] For detecting in this way, by means of detection means, for example, at least one laser scanner and / or at least one camera, on board

Petition 870180036500, of 05/04/2018, p. 10/44

3/28 at least one of at least two vehicles, distances to at least one vehicle adjacent to the vehicle formation to create successive sets of virtual vehicle marks without the need for expensive positioning / location devices such as GOS Real-time kinematics (RTK ) are necessary.

[0012] By detecting in this way, by means of the detection means, for example, at least one laser scanner and / or at least one camera, on board at least one of at least two vehicles, distances to at least one vehicle adjacent to the formation of vehicles to create successive sets of virtual vehicle marks, redundancy with other location systems, if available, are obtained.

[0013] For thereby detecting, by means of detection means, for example, at least one laser scanner / LIDAR and / or at least one camera, on board at least one of at least two vehicles, distances up to at least a vehicle adjacent to the formation of technical vehicles to facilitate creating and comparing successive sets of virtual vehicle brands such as LIDAR odometry, visual odometry and simultaneous Mapping and Location (SLAM) based on a Kalman filter whose techniques are very efficient and do not require a lot of power computing.

[0014] One or more autonomous vehicles can advantageously be used in the formation of vehicles.

[0015] The step of detecting, by means of detection means on board at least one of at least two vehicles, distances to at least one vehicle adjacent to the vehicle formation in order to create successive sets of virtual marks of at least one adjacent vehicle runs intermittently.

[0016] Distances to at least one vehicle adjacent to the vehicle formation are, according to a mode detected at a certain frequency, for example, a frequency in the range of 10-50 Hz. Distances to at least one vehicle adjacent to the vehicle formation vehicles, can be detected at any suitable frequency to facilitate the determination of mutual vehicle positions in a vehicle formation based on the comparison of virtual brands with successively created virtual brands.

Petition 870180036500, of 05/04/2018, p. 11/44

4/28 [0017] Information, that is, characteristics of a set of virtual marks with corresponding information, that is, characteristics of a subsequently created set of virtual marks during vehicle steering are compared intermittently.

[0018] The method thus comprises the step of creating successive sets of virtual marks based on information from the detection medium on board the vehicle by intermittently detecting distances to at least one vehicle adjacent to the vehicle formation. The step of creating successive sets of virtual marks based on information from the vehicle's on-board detection medium intermittently detecting distances to at least one vehicle adjacent to the vehicle formation is performed by means of virtual mark creation. The means of creating virtual brands can be any suitable means to process signals / data that represent the detected range / directions to at least one vehicle adjacent to the vehicle formation. The means of creating virtual brands can, according to a modality, be understood in the detection medium. The means of creating virtual brands can, according to one modality, be an electronic control unit operatively connected to the detection means.

[0019] According to an embodiment of the method, the step of detecting distances to at least one adjacent vehicle of the vehicle formation in order to create successive sets of virtual marks comprises detecting extension and heading in relation to at least one adjacent vehicle of the vehicle formation. vehicles.

[0020] In this way, extension and / or heading in relation to at least one vehicle adjacent to the vehicle formation are detected by means of the detection means. In this way, the distance and angle to at least one vehicle adjacent to the vehicle formation is detected by means of detection means. The detection means to detect distances / extension / course to at least one vehicle adjacent to the vehicle formation, for example, one or more laser scanners / LIDAR's and / or one or more cameras such as stereo cameras, are configured to detect intermittently by the least one vehicle adjacent to the vehicle formation during vehicle formation direction by means of, in each

Petition 870180036500, of 05/04/2018, p. 12/44

5/28 detection time, disperse a large number of signals / beams directed to at least one vehicle adjacent to the vehicle formation, that is, determine the distance and angle of each signal / beams and create a set of virtual marks for that moment specific detection method. The set of virtual brands is, according to one modality, a two-dimensional set of virtual brands. The set of virtual brands is, according to another modality, a three-dimensional set of virtual brands. The set of virtual marks may, according to one modality, be a so-called point cloud, for example, a two-dimensional point cloud or a three-dimensional point cloud.

[0021] The large number of beams can be any suitable number of beams per detection time to create a set of virtual marks. The large number of beams is according to a modality in the range of 100-20000 beams per moment of detection to create a set of virtual marks. Such a large number of beams is according to a modality greater than 500 beams per moment of detection. The large number of beams can have any suitable dispersion angle, for example 180 degrees, in which the detection means, for example, one or more detector on board a vehicle, is directed so that a set of signals / beams scattered will reach and thereby detect the surface of at least one vehicle adjacent to the vehicle formation to create a set of virtual marks.

[0022] The step of comparing information from a created set of virtual tags with corresponding information from a subsequently created set of virtual tags can be performed by any suitable means of comparison comprising any suitable processor unit, control unit or the like. The means of comparison may comprise an external means of comparison disposed external to the vehicles of vehicle formation and operatively connected to the vehicles of vehicle formation to receive information from virtual brands successively created. The means of comparison may comprise means of internal comparison arranged on board the respective vehicle of the vehicle formation. The means of comparison may comprise means for performing a scan marriage.

Petition 870180036500, of 05/04/2018, p. 13/44

6/28 [0023] The step of controlling mutual vehicle positions of the vehicle formation based on comparisons in order to provide a determined vehicle formation formation is carried out by any suitable means of control. The control means comprises, according to one modality, electronic control units on board vehicles of vehicle formation.

[0024] The step of controlling mutual positions of the vehicles in the vehicle formation based on the comparisons in order to provide a determined formation of the vehicle formation is performed by means of any suitable control means comprising the step of controlling speed and / or direction of one or more of the vehicles in the vehicle formation.

[0025] The control means comprises, according to one modality, means to control the speed of one or more of the vehicles of the vehicle formation. The means for controlling the speed can be comprised of electronic control units arranged on board the respective vehicle of the vehicle formation.

[0026] The control means comprises, according to a modality, means to control the direction of one or more of the vehicles in the vehicle formation. The means for controlling steering can be understood in electronic control units arranged on board the respective vehicle of the vehicle formation.

[0027] Information regarding detected distances, comparisons of a set of virtual marks with corresponding information from a subsequently created set of virtual marks, and / or control of the vehicle's mutual positions of vehicle formation based on comparisons is in accordance with a modality communicated between training vehicles and vehicles in a vehicle-to-vehicle communication arrangement.

[0028] Information regarding detected distances, comparisons of a set of virtual marks with corresponding information from a subsequently created set of virtual marks and / or control of mutual positions of the vehicles in the vehicle formation based on the comparisons are in accordance with a modality communicated to the vehicles of the vehicle formation in a vehicle communication arrangement for infrastructure.

Petition 870180036500, of 05/04/2018, p. 14/44

7/28 [0029] According to one method of the method, the step of controlling mutual positions of the vehicles of the vehicle formation based on the comparisons comprises the step of controlling the relative positions of each individual vehicle of the vehicle formation based on the control of the positions other vehicles in the vehicle training to provide the determined vehicle training training.

[0030] By controlling, in this way, the relative positions of each individual vehicle in the vehicle formation based on the control of the positions of the other vehicles of the vehicle formation in order to provide the determined formation of the vehicle formation efficient control of the mutual positions of the vehicles to efficiently and precisely obtain a specific vehicle formation, for example to maintain a vehicle formation efficiently and precisely.

[0031] Thus, if one or more of a vehicle in the vehicle formation deviates from a specific position in relation to an adjacent vehicle, an adjustment of the position of one or more vehicles and / or other vehicles in the vehicle formation may affect the formation determined vehicle formation, in which, according to this modality, care is taken with the relative positions of each individual vehicle when controlling the mutual positions of the vehicles based on comparisons of information from the information of a set of virtual brands with corresponding information from a subsequently created set of virtual brands during vehicle formation direction.

[0032] Vehicle formation is thus treated as a single unit in which the control of mutual vehicle positions depends on the control and consequently the position of each individual vehicle in the vehicle formation.

[0033] As mentioned above, for detecting, by means of detection means, for example, at least one laser scanner / LIDAR and / or at least one camera, on board at least one of at least two vehicles, distances up to at least one vehicle adjacent to the formation of technical vehicles to facilitate the creation and comparison of successive sets of virtual vehicle marks such as LIDAR odometry, visual odometry and simultaneous mapping and location (SLAM)

Petition 870180036500, of 05/04/2018, p. 15/44

8/28 based on Kalman filter whose techniques are very efficient and do not require a lot of computing power. According to one modality, the ego movement of each vehicle in the vehicle formation is tracked by combining odometry technology based on LIDAR scanning marriage and / or visual odometry technology, with limitation of non-holonomic vehicle movement, that is, due to the vehicle structure, in each instance of time, the movement of the vehicle is rotating around the instantaneous center of rotation (ICR).

[0034] For thereby detecting, by means of the detection means, for example, at least one laser scanner / LIDAR and / or at least one camera, on board at least one of at least two vehicles, distances up to at least a vehicle adjacent to the vehicle formation to create the successive sets of virtual vehicle marks, location information of the current vehicle with respect to other vehicles in the formation to easily maintain or adapt the vehicle formation is obtained. The known distance between virtual marks on a neighboring vehicle provides scale information for visual odometry. A multi-vehicle SLAM algorithm based on an extended Kalman filter (EKF) is according to a modality used to merge information from successive sets created from virtual brands to improve the estimation of the location of the entire vehicle formation and the relative position of each individual vehicle in vehicle formation. This is to ensure that the entire vehicle training is proceeding as planned and, where applicable, training is well maintained.

[0035] According to a modality of the method virtual marks created from a vehicle comprise virtual marks from one or more of: left side of the vehicle, right side of the vehicle, rear side of the vehicle and front side of the vehicle.

[0036] According to an embodiment of the method, the means of detection on board a vehicle comprises at least one laser scanner and / or at least one camera. [0037] Specifically, an objective of the invention is achieved by a system to control vehicle formation during vehicle steering. Vehicle training comprises at least two vehicles. The system comprises means of detection on board at least one of at least two vehicles arranged for

Petition 870180036500, of 05/04/2018, p. 16/44

9/28 detecting distances to at least one adjacent vehicle from the vehicle formation in order to create successive sets of virtual marks from at least one adjacent vehicle. The system also comprises a means of comparing information from a set of virtual brands created with corresponding information from a subsequently created set of virtual brands; and means for controlling vehicle vehicle training mutual positions based on comparisons in order to provide specific vehicle training training.

[0038] According to a system modality the means to control mutual positions of the vehicles of the vehicle formation based on the comparisons comprises means to control the relative positions of each individual vehicle of the vehicle formation based on the control of the positions of the other vehicles of the vehicle vehicle training in order to provide specific vehicle training training.

[0039] In accordance with a system modality, virtual marks created from a vehicle comprise virtual marks of one or more of: left side of the vehicle, right side of the vehicle, rear side of the vehicle and front side of the vehicle.

[0040] According to a system modality, the detection means on board a vehicle comprises at least one laser scanner and / or at least one camera.

[0041] The system according to the invention has the advantages according to the claims of the corresponding method.

[0042] Specifically, an objective of the invention is achieved by forming a vehicle comprising a system as set out here.

[0043] Specifically, an objective of the invention is achieved by a computer program to control a formation of vehicles during vehicle driving, the 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 explained here.

[0044] Specifically, an objective of the invention is achieved by a readable medium

Petition 870180036500, of 05/04/2018, p. 17/44

10/28 on a computer comprising instructions that, when executed by a computer, cause the computer to perform the method as explained here. BRIEF DESCRIPTION OF THE DRAWINGS [0045] For a better understanding of the present invention, reference is made to the following detailed description when read in combination with the accompanying drawings, in which similar reference characters refer to similar parts from the beginning to the end of the various views, and in which:

[0046] Figure 1 schematically illustrates a vehicle formation performing a snow removal operation to clear a snow-covered area from snow;

[0047] Figure 2 schematically illustrates a block diagram of a system for controlling vehicle formation during vehicle steering according to an embodiment of the present invention;

[0048] Figure 3 schematically illustrates a block diagram of a method for controlling vehicle formation during vehicle steering according to an embodiment of the present invention; and [0049] Figure 4 schematically illustrates a computer according to an embodiment of the present invention.

DETAILED DESCRIPTION [0050] Next, the term "link" refers to a communication link that can be a physical connector, such as an optoelectronic communication wire, or a non-physical connector such as a wireless connection, for example, a link radio or microwave.

[0051] In the following, the term "vehicle training" refers to any type of training in the formation of any type of vehicles. The term "vehicle formation" can refer to a snow-plow vehicle formation driving in a suitable snow removal formation, for example, removing snow to clear an area of snow, comprising a front vehicle and rear vehicles with a certain displacement lateral to the vehicle in front. The term "vehicle formation" can refer to driving along a road by performing the so-called platoon formation in which vehicles drive in a platoon with a front vehicle and rear vehicles essentially aligned with the vehicle in front. The term

Petition 870180036500, of 05/04/2018, p. 18/44

11/28 “vehicle formation” can refer to a formation in which vehicles drive side by side, for example, any type of military formation. One or more of the vehicles in the vehicle formation may be an autonomous vehicle.

[0052] Hereinafter the term "determined formation" refers to any formation during the direction of the vehicle formation comprising a predetermined formation determined before the direction and an adapted formation comprising a determined change from an originally determined / current formation of the vehicle formation.

[0053] Figure 1 schematically illustrates a vehicle formation that performs a snow removal operation to clear a snow-covered area of snow. [0054] Vehicle formation F comprises three snow plow vehicles 1, 2, 3 performing a snow removal operation to clear a snow-covered area A, from snow, vehicles 1,2,3 driving in a certain snow formation vehicle F.

[0055] Vehicle formation F comprises a front vehicle 1 and two rear vehicles 2, 3. Vehicle formation F thus comprises a first snowplow vehicle 1, the front vehicle 1 constituting a second snowplow vehicle 2 constituting a rear vehicle 2 in relation to the first vehicle and a third snow plow vehicle 3 constituting a rear vehicle in relation to the first snow plow vehicle 1 and second snow plow vehicle 2. The second snow plow vehicle 2 constitutes a vehicle front in relation to the third snow plow vehicle 3.

[0056] The first snow plow vehicle (from the English, plow vehicle) 1 has a plow (from the English, plow) 1a arranged in front of the vehicle. The second snow plow vehicle 2 has a plow 2a arranged in front of the vehicle. The third snow plow vehicle 3 has a plow 3a arranged in front of the vehicle.

[0057] The formation of F vehicles is driving in a determined formation. The determined formation comprises the second snow plow vehicle 2 driving at a distance D1 behind the first snow plow vehicle 1 and in a lateral position L1 in relation to the first snow plow vehicle 1. The determined formation also comprises the third snow plow vehicle snow 3 driving at a distance D2 behind the second snow plow vehicle 2 and in a lateral position L2 in relation to the second snow plow vehicle

Petition 870180036500, of 05/04/2018, p. 19/44

12/28

2.

[0058] The formation of F vehicles carrying out a snow removal operation to clean the snow-covered area A, from the snow, is controlled according to the method and system as exposed here. According to one embodiment the formation of vehicles F comprises system 1 or parts of system 1 according to the present invention, as described with reference to figure 2 below. System 1 comprises a control arrangement 100, which may comprise one or more electronic control units, the snow plow vehicles 1,2,3 being operatively connected to the control arrangement 100 via links.

[0059] System 1 comprises a first detector 112 arranged on board the first vehicle 1. The first detector 112 on board the first vehicle 1 is arranged to intermittently detect distances to the second vehicle 2 behind the first vehicle 1.

[0060] The system comprises a second detector 114 arranged on board the second vehicle 2. The second detector 114 on board the second vehicle 2 is arranged to intermittently detect distances to the first vehicle 1.

[0061] The system comprises a third detector 116 arranged on board the second vehicle 3. The third detector 116 on board the third vehicle 3 is arranged to intermittently detect distances to the second vehicle 2.

[0062] The first detector 112 can be a laser scanner or a camera, for example, stereo camera, configured to determine the extent / heading. The second detector 114 can be a laser scanner or a camera, for example, a stereo camera, configured for span / heading determination. The third detector 116 can be a laser scanner or a camera, for example, a stereo camera, configured for span / heading determination.

[0063] The first detector 112 on board the first vehicle 1 is arranged to intermittently detect distances to the second vehicle 2 in order to create sets of virtual marks of the second vehicle 2. The first detector 112 detects the surface / parts of the surface of the second vehicle 2 in order to create successive sets of virtual marks of the second vehicle 2 for detecting extension and heading in

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13/28 in relation to the second vehicle 2.

[0064] The second detector 114 on board the second vehicle 2 is arranged to intermittently detect distances to the second vehicle 2 in order to create sets of virtual marks of the first vehicle 1. The second detector 114 detects the surface / parts of the surface of the first vehicle 1 in order to create successive sets of virtual marks of the first vehicle 1 by detecting extension and heading in relation to the first vehicle 1.

[0065] The third detector 116 on board the third vehicle 3 is arranged to intermittently detect distances to the second vehicle 2 in order to create sets of virtual marks of the second vehicle 2. The third detector 116 detects the surface / parts of the surface of the second vehicle 2 in order to create successive sets of virtual marks of the second vehicle 2 for detecting extension and heading in relation to the second vehicle 2.

[0066] The first detector 112 to detect extension / course arranged on board the first vehicle 1 intermittently detects the second vehicle 2 by means of, at each moment of detection, dispersing a large number of beams / signals directed to the second vehicle 2 which is reached by a set of beams B1 of the large number of beams, and determines the extension and direction, that is, distance and angle, of each beam / signal, to create a set of virtual marks for that specific detection moment.

[0067] The second detector 114 to detect extension / course disposed on board of the second vehicle 2 intermittently detects the first vehicle 1 by means of, at each moment of detection, dispersing a large number of beams / signals directed to the first vehicle 1 which is reached by a set of beams B2 of the large number of beams, and determines the extension and direction, that is, the distance and angle of each beam / signal, to create a set of virtual marks for that specific detection moment.

[0068] The third detector 116 for detecting extension / course disposed on board of the third vehicle 3 intermittently detects the second vehicle 2 by means of, at each moment of detection, dispersing a large number of beams / signals directed to the

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14/28 second vehicle 2 that is hit by a set of beams B3 of the large number of beams and determines the extension and direction, that is, distance and angle, of each beam / signal, to create a set of virtual marks for that moment of specific detection.

[0069] The large number of beams can be any suitable number of beams per detection time to create a set of virtual marks. The large number of beams is in accordance with a modality in the range of 100-20000 beams per detection moment to create a set of virtual marks. The large number of beams is according to a modality greater than 500 beams per detection moment. The large number of beams can have any suitable dispersion angle, for example 180 degrees, in which the detection means, for example, one or more detector on board a vehicle, is oriented so that a set of signals / beams scattered will reach and thereby detect the surface of at least one vehicle adjacent to the vehicle formation to create a set of virtual marks.

[0070] Information from the set of virtual brands created is compared with corresponding information from a subsequently created set of virtual brands, this being done intermittently, for example, at a certain frequency, during the direction of vehicle formation. The comparison can be carried out using control arrangement 100 or another suitable means of comparison. The comparison can advantageously be performed using techniques to facilitate the comparison of the successive sets of virtual vehicle brands 1,2, 3 comprising LIDAR odometry, simultaneous Mapping and Location (SLAM) based on Kalman filter, whose techniques are very efficient and do not require much computing power.

[0071] Mutual positions of vehicles from vehicle formation F are controlled based on comparisons in order to provide a determined formation of vehicle formation. The control of mutual positions of the formation of F vehicles can be carried out by means of the control arrangement 100 or other suitable control means. The control is according to a mode executed automatically.

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15/28 [0072] The control of mutual positions of vehicle formation comprises controlling the speed of vehicles 1, 2, 3 of vehicle formation F. The control of mutual positions of vehicle formation comprises control of vehicle direction

1,2,3 of F vehicle formation.

[0073] Figure 2 schematically illustrates a block diagram of a system I for controlling vehicle formation during vehicle steering according to an embodiment of the present invention. Vehicle training comprises at least two vehicles.

[0074] System I comprises a control arrangement 100. Control arrangement 100 may comprise one or more electronic control units. The control arrangement 100 may comprise one or more electronic control units in the respective vehicle of the vehicle formation.

[0075] System I comprises detection means 110 on board at least one of at least two vehicles arranged to detect distances to at least one vehicle adjacent to the vehicle formation in order to create successive sets of virtual marks of at least one vehicle adjacent.

[0076] In accordance with a system modality I virtual brands created from a vehicle comprise virtual marks from one or more of the: left side of the vehicle, right side of the vehicle, rear side of the vehicle and front side of the vehicle.

[0077] According to a system I modality, the detection means on board a vehicle comprises at least one laser scanner and / or at least one camera.

[0078] The detection means 110 comprises one or more detectors 112,114,116 configured for determining the length / course of vehicles of the vehicle formation and being arranged on board one or more of the vehicles. The detection means 110 comprises one or more detectors 112, 114, 116 configured to facilitate the creation of successive sets of virtual brands of at least adjacent vehicles / vehicles. One or more detectors 112, 114, 116 are shown in figure 2 as a first detector 112 arranged on board a vehicle of the vehicle formation to intermittently detect distances to at least one adjacent vehicle of the vehicle.

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16/28 formation, a second detector 114 arranged on board a vehicle of the vehicle formation to detect distances intermittently to at least one adjacent vehicle of the formation and a third detector 116 arranged on board a vehicle of the vehicle formation to detect distances intermittently up to at least one vehicle adjacent to the formation. A vehicle in the vehicle formation may have one or more detectors arranged on board the vehicle. Detectors need to be on board a sufficient number of vehicles in the vehicle formation to detect the positions of each vehicle in relation to at least one adjacent vehicle in the vehicle formation.

[0079] According to a system I modality, the detection means 110 on board the vehicle comprises at least one laser scanner / LIDAR and / or at least one camera, the detection means 110 being configured to determine distances from the vehicle on which the detection means is arranged to another vehicle / vehicles of the vehicle formation. Thus, one or more detectors 112,114,116 can be one or more laser scanners and / or one or more cameras.

[0080] At least one camera is according to one mode a stereo camera. At least one laser scanner and / or at least one camera can be arranged in any suitable mode on a vehicle of the vehicle formation, for example, arranged on the chassis of a vehicle, and oriented so that distances to at least one adjacent vehicle vehicle formation, can be detected. [0081] The detection means on board at least one of at least two vehicles of the vehicle formation can already be detection means on board the vehicle / vehicles which, in addition to what were intended, can be used for system I to control a vehicle formation while driving the vehicles, the existing detection means being, for example, at least a laser scanner and / or at least one camera.

[0082] The detection means 110 on board the vehicle arranged to intermittently detect distances to at least one adjacent vehicle of the vehicle formation in order to create successive sets of virtual marks of at least one adjacent vehicle is arranged to detect distances and angles up to The

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17/28 vehicle / vehicle surface during vehicle formation direction.

[0083] The detection means 110 on board at least one of at least two vehicles of the vehicle formation is arranged to intermittently detect distances to at least one adjacent vehicle of the vehicle formation in order to create successive sets of virtual brands of at least least one adjacent vehicle. Detection means 110 detects the surface / parts of the vehicle / vehicles surface in order to create successive sets of virtual vehicle / vehicle marks by detecting extension and heading in relation to the vehicle / vehicles.

[0084] Detection means 110 to detect extension / course arranged on board at least one of at least two vehicles of the vehicle formation intermittently detects vehicle / vehicles by means of, at each moment of detection, dispersing a large number of beams / signs oriented towards the vehicle / vehicles that is / are reached by a set of beams of the large number of beams and determines length and direction, that is, distance and angle, of each beam / signal, to create a set of virtual marks for that specific detection time.

[0085] The large number of beams can be any number of beams per detection moment to create a set of virtual marks. The large number of beams is according to a modality in the range of 100-20000 beams per moment of detection to create a set of virtual marks. The large number of beams is according to a modality greater than 500 beams per detection moment. The large number of beams can have any suitable dispersion angle, for example 180 degrees, in which the detection means, for example, one or more detector on board a vehicle, is oriented so that a set of signals / beams scattered will reach and thereby detect the surface of at least one vehicle adjacent to the vehicle formation to create a set of virtual marks.

[0086] According to a modality, system I comprises means for creating virtual tag 120 to create successive sets of virtual tags based on information from one or more detectors 112, 114, 116 of the detection means

110 on board at least one of at least two vehicles in the vehicle formation

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18/28 intermittently detecting at least adjacent vehicle / vehicles. The virtual branding means 120 can be any suitable means to process signals / data representing extension / directions detected for the vehicle / vehicles. The virtual tag creation means 120 can, according to a modality, be comprised in the detection means 110.0 means of creating point cloud can, according to a modality be a control arrangement 100 operatively connected to the detection means 110.

[0087] System I comprises means 130 for comparing information from a created set of virtual tags with corresponding information from a subsequently created set of virtual tags.

[0088] Means 130 for comparing information from a created set of virtual tags with corresponding information from a subsequently created set of virtual tags may comprise any processing means suitable for comparing information from a created set of virtual tags with corresponding information from a set subsequently created from virtual brands during vehicle formation direction comprising, for example, processing data that represent such information / characteristics for such comparison. The means 130 for comparing information from a created set of virtual marks with corresponding information from a subsequently created set of virtual marks during vehicle formation direction is according to a modality, comprised in the control arrangement 100.

[0089] The means 130 for comparing information from a created set of virtual marks with corresponding information from a subsequently created set of virtual marks during vehicle formation direction may comprise an external comparison means disposed external to the vehicles of vehicle formation and operably connected to vehicle training vehicles to receive successively created virtual brand information. The external means of comparison may comprise a server, processor, computer or similar unit. The means of comparison may comprise means of internal comparison arranged on board the respective vehicle of the vehicle formation. The means 130 for

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19/28 comparison can comprise means to perform scan marriage.

[0090] System I comprises means 140 for controlling mutual vehicle positions of vehicle training based on comparisons in order to provide specific vehicle training training.

[0091] According to a system I modality, means 140 for controlling mutual positions of the vehicles of the vehicle formation based on the comparisons comprises means 140a for controlling the relative positions of each individual vehicle of the vehicle formation based on the control of the positions of the vehicles. other vehicle training vehicles in order to provide specific vehicle training training.

[0092] The means 140 for controlling mutual positions of the vehicles of the vehicle formation comprises, according to one embodiment, means 142 for controlling the speed of one or more of the vehicles of the vehicle formation. The means 142 for controlling the speed can be comprised in electronic control units arranged on board the respective vehicle of the vehicle formation.

[0093] The means 140 for controlling mutual positions of the vehicles of the vehicle formation comprises, according to one embodiment, means 144 for controlling the direction of one or more of the vehicles of the vehicle formation. The means 144 for controlling steering can be comprised of electronic control units arranged on board the respective vehicle of the vehicle formation.

[0094] Information regarding detected distances, comparisons of a set of virtual marks with corresponding information from a subsequently created set of virtual marks, and / or control of the vehicle's mutual positions of the vehicle formation based on the comparisons are in accordance with a mode arranged to be communicated between vehicles in the vehicle formation in a vehicle-to-vehicle communication arrangement. System I comprises, according to one embodiment, a vehicle-to-vehicle communication arrangement, not shown.

[0095] Information regarding detected distances, comparisons of a set of virtual brands with corresponding information from a set

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20/28 subsequently created of virtual brands, and / or control of mutual positions of the vehicles of the vehicle formation based on the comparisons are according to a modality arranged to be communicated between the vehicles of the vehicle formation in a vehicle communication arrangement for infrastructure. System I comprises, according to one modality, a vehicle to infrastructure communication arrangement, not shown.

[0096] By detecting, in this way, by means of detection means 110, for example, at least one laser scanner / LIDAR and / or at least one camera, on board at least one of at least two vehicles, distances up to at least one vehicle adjacent to the vehicle formation to create successive sets of virtual vehicle marks, location information of the current vehicle with respect to other vehicles in the formation to easily maintain or adapt the vehicle formation, is obtained. The known distance between virtual marks on a neighboring vehicle provides scale information for visual odometry. A multi-vehicle SI_AM algorithm based on an extended Kalman filter (EKF) is according to a modality used to merge information from successive sets created from virtual brands to improve the estimation of the location of the entire vehicle formation and the relative position of each individual vehicle in vehicle formation. This is to ensure that the entire vehicle training is proceeding as planned and, where applicable, training is well maintained.

[0097] Control arrangement 100 is operatively connected to detection means 110 on board at least one of at least two vehicles arranged to detect distances to at least one vehicle adjacent to the vehicle formation in order to create successive sets of virtual marks of at least one adjacent vehicle via a link 10. Control arrangement 100 is via link 10 arranged to receive a signal from the sensing means 110 representing data for detected distances to at least one adjacent vehicle of the vehicle formation. [0098] The control arrangement 100 is operatively connected to the first detector 112 through a link 12.0 The control arrangement 100 is through link 10 arranged to receive a signal from the first detector 112 representing data for

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21/28 distances detected to at least one vehicle adjacent to the vehicle formation. [0099] The control array 100 is operatively connected to the second detector 114 via a link 12. The control array 100 is via link 10 arranged to receive a signal from the second detector 114 representing data for detected distances up to at least a vehicle adjacent to the vehicle formation. [0100] The control array 100 is operatively connected to the third detector 116 via a link 12.0 The control array 100 is through link 10 arranged to receive a signal from the third detector 116 representing data for detected distances up to at least one vehicle adjacent to vehicle formation.

[0101] Control arrangement 100 is operatively connected to the virtual tag creation means 120 to create successive sets of virtual tags via a link 20a. The control arrangement 100 is via link 20a arranged to send a signal to the medium 120 representing data on detected distances to at least one vehicle adjacent to the vehicle formation.

[0102] Control arrangement 100 is operatively connected to the virtual tag creation medium 120 to create successive sets of virtual tags via a link 20b. Control arrangement 100 is via link 20a arranged to receive a signal from medium 120 representing data about created sets of virtual tags.

[0103] Control arrangement 100 is operatively connected to medium 130 to compare information from a created set of virtual tags with corresponding information from a subsequently created set of virtual tags via a link 30a. The control arrangement 100 is via the link 30a arranged to send signals to the medium 130 representing data about information from successively created sets of virtual marks.

[0104] Control arrangement 100 is operatively connected to medium 130 to compare information from a created set of virtual tags with corresponding information from a subsequently created set of virtual tags via a link 30b. Control arrangement 100 is via link 20b arranged to receive signals from medium 130 representing data on information comparisons

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22/28 of subsequently created sets of virtual brands.

[0105] The control arrangement 100 is operatively connected to the medium 140 to control mutual positions of the vehicles in the vehicle formation based on comparisons in order to provide a determined formation of the vehicle formation through a link 40. The control arrangement 100 it is through the link 40 arranged to send signals to the medium 140 representing data on controlling mutual positions of the vehicles of the vehicle formation based on the comparisons in order to provide a determined formation of the vehicle formation.

[0106] The control arrangement 100 is operatively connected to the means 140a to control relative positions of each individual vehicle in the vehicle formation based on the control of the positions of the other vehicles of the vehicle formation in order to provide the determined formation of the vehicle formation through a 40a link. The control arrangement 100 is via the link 40a arranged to send signals to the medium 140a representing data on controlling the relative positions of each individual vehicle of the vehicle formation based on the control of the positions of the other vehicles of the vehicle formation in order to provide the determined formation of vehicle formation.

[0107] Figure 3 schematically illustrates a block diagram of a method for controlling vehicle formation during vehicle steering according to an embodiment of the present invention. Vehicle training comprises at least two vehicles.

[0108] According to the modality, the method for controlling a vehicle formation during vehicle steering comprises an S1 stage. In this stage, distances to at least one adjacent vehicle from the vehicle formation are detected by means of detection means on board at least one of at least two vehicles in order to create successive sets of virtual marks of at least one adjacent vehicle.

[0109] According to the modality, the method for controlling a vehicle formation during vehicle steering comprises an S2 stage. In this stage, information from a set of virtual brands created is compared with

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23/28 corresponding information from a subsequently created set of virtual brands.

[0110] According to the modality, the method for controlling a vehicle formation during vehicle steering comprises an S3 stage. At this stage, mutual positions of the vehicles in the vehicle formation are controlled based on the comparisons in order to provide a specific formation of the vehicle formation.

[0111] The step of detecting, by means of detection means on board at least one of at least two vehicles, distances to at least one vehicle adjacent to the vehicle formation in order to create successive sets of virtual vehicle marks is performed intermittently.

[0112] Distances to at least one vehicle adjacent to the vehicle formation are according to a modality detected at a certain frequency, for example, a frequency in the range of 10-50 Hz. Distances to at least one vehicle adjacent to the vehicle formation can be detected at any suitable frequency to facilitate determining mutual vehicle positions of a vehicle formation based on comparison of created virtual brands with successively created virtual brands.

[0113] Information, that is, characteristics, of a set of virtual marks with corresponding information, that is, characteristics, of a subsequently created set of virtual marks during vehicle steering are compared intermittently.

[0114] The method thus comprises the step of creating successive sets of virtual marks based on information from the vehicle's on-board detection medium by intermittently detecting distances to at least one vehicle adjacent to the vehicle formation.

[0115] The detection means to detect distances / extension / course to at least one vehicle adjacent to the vehicle formation, for example, one or more laser scanners / LIDAR's and / or one or more cameras such as stereo cameras, are configured for intermittently detect at least one vehicle adjacent to the

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24/28 vehicle formation during vehicle formation direction by dispersing a large number of signals / beams directed at at least one vehicle adjacent to the vehicle formation at each detection time, that is, determining the distance and angle each signal / beam and create a set of virtual marks for that specific detection moment.

[0116] The large number of beams can be any suitable number of beams per detection time to create a set of virtual marks with any suitable dispersion angle. The large number of beams is, according to a modality comprised in the range of 100-20000 beams per moment of detection to create a set of virtual marks.

[0117] The step of comparing information from a created set of virtual tags with corresponding information from a subsequently created set of virtual tags can be performed using any suitable means of comparison comprising any suitable processor unit, control unit or the like.

[0118] The step of controlling mutual positions of the vehicles in the vehicle formation based on the comparisons in order to provide a specific formation of the vehicle formation is, according to one modality, performed automatically.

[0119] The step of controlling mutual vehicle positions for vehicle training based on comparisons in order to provide specific vehicle training training is performed through any suitable control means. The control means comprises, according to one modality, electronic control units on board vehicles of vehicle formation.

[0120] The step of controlling mutual positions of the vehicles in the vehicle formation based on the comparisons in order to provide a determined formation of the vehicle formation is performed by means of any suitable control means comprising the step of controlling speed and / or direction one or more of the vehicles in the vehicle formation.

[0121] According to a method modality, the step of controlling positions

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25/28 mutual vehicle training vehicles based on comparisons comprises the step of controlling the relative positions of each individual vehicle training vehicle based on the control of the positions of the other vehicle training vehicles in order to provide the determined training of the vehicle. vehicle formation.

[0122] Thus, if one or more vehicles in the vehicle formation deviates from a specified position in relation to an adjacent vehicle, a position adjustment of one or more vehicles and / or other vehicles in the vehicle formation may affect the determined formation of the vehicle. vehicle formation, in which, according to this modality, care is taken with the relative positions of each individual vehicle when controlling the mutual positions of the vehicles based on the comparisons of information from the information of a set of virtual brands with corresponding information of a subsequently created set of virtual brands during vehicle formation direction.

[0123] Vehicle formation is thus treated as a single unit in which the control of mutual vehicle positions depends on the control and consequently the position of each individual vehicle in the vehicle formation.

[0124] For detecting, by means of detection means, for example, at least one laser scanner / LIDAR and / or at least one camera, on board at least one of at least two vehicles, distances to at least one vehicle adjacent to the formation of technical vehicles to facilitate the creation and comparison of successive sets of virtual vehicle brands such as LIDAR odometry, visual odometry and simultaneous Mapping and Location (SLAM) based on a Kalman filter whose techniques are very efficient and do not require much power. computing. According to one modality, the ego movement of each vehicle in the vehicle formation is tracked by combining odometry technology based on LIDAR scanning marriage and / or visual odometry technology, with limitation of non-holonomic vehicle movement.

[0125] In accordance with a modality of the method virtual marks created from a vehicle comprise virtual marks from one or more of: left side of the vehicle,

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26/28 right side of the vehicle, rear side of the vehicle and front side of the vehicle.

[0126] With reference to figure 4, a diagram of an apparatus 500 is shown. The control unit 100 described with reference to figure 2 may, according to one embodiment, comprise apparatus 500. Apparatus 500 comprises a non-volatile memory 520, a data processing device 510 and a read / write memory 550. Memory non-volatile 520 has a first portion of memory 530 in which a computer program, such as an operating system, is stored to control the function of the device 500. In addition, the device 500 comprises a bus controller, a serial communication port, l / O medium, an A / D converter, an input and transmission unit of the date time, an event counter and an interrupt controller (not shown). Non-volatile memory 520 also has a second portion of memory 540.

[0127] A computer program P is provided comprising routines to control vehicle formation during vehicle driving. Vehicle training comprises at least two vehicles. Program P comprises routines to detect, by means of detection means on board at least one of at least two vehicles, distances to at least one vehicle adjacent to the vehicle formation in order to create successive sets of virtual marks of at least one adjacent vehicle. The P program comprises routines for comparing information from a created set of virtual tags with corresponding information from a subsequently created set of virtual tags. The P program comprises routines for controlling mutual vehicle positions for vehicle training based on comparisons in order to provide specific vehicle training training. Routines for controlling mutual positions of vehicle training vehicles based on comparisons comprise routines for controlling relative positions of each individual vehicle in vehicle training based on controlling the positions of other vehicles in vehicle training in order to provide the determined training vehicle formation. The computer program P can be stored in an executable mode or in a compressed condition in a separate memory 560 and / or in read / write memory 550.

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27/28 [0128] When it is said that the data processing device 510 performs a certain function, it should be understood that the data processing device 510 executes a certain part of the program that is stored in separate memory 560, or a certain part of the program which is stored in read / write memory 550.

[0129] The data processing device 510 can communicate with a data communication port 599 via 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 over a data bus 511. Read / write memory 550 is adapted for communication with data processing device 510 over a data bus 514. data communication port 599, for example, links connected to control units 100 can be connected.

[0130] When data is received on data port 599, it is temporarily stored in the second portion of memory 540. When the incoming data received has been temporarily stored, data processing device 510 is configured to perform code execution in a mode described above. The signals received at data port 599 can be used by apparatus 500 to detect, via the on-board detection means at least one of at least two vehicles, distances to at least one vehicle adjacent to the vehicle formation in order to create sets successive virtual brands of at least one adjacent vehicle. The signals received at data port 599 can be used by apparatus 500 to compare information from a created set of virtual tags with corresponding information from a subsequently created set of virtual tags. The signals received at the data port 599 can be used by the apparatus 500 to control mutual positions of the vehicles in the vehicle formation based on the comparisons in order to provide a determined vehicle formation formation. The signals used to control vehicle formation vehicle positions based on comparisons comprise signals used to control relative positions of each individual vehicle formation vehicle.

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28/28 vehicles based on the control of the positions of other vehicles in the vehicle formation in order to provide the determined formation of the vehicle formation. The signals received at the data port 599 can be used by the apparatus 500 to control mutual positions of the vehicles in the vehicle formation based on comparisons in order to provide a determined vehicle formation formation.

[0131] Parts of the methods described here can be performed by the device 500 using data processing device 510 running the program stored in separate memory 560 or read / write memory 550. When the device 500 runs the program, parts of the methods described here are performed. [0132] The above description of the preferred embodiments of the present invention has been provided for purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations will be evident for professionals skilled in the art. The modalities have been chosen and described to better explain the principles of the invention and their practical applications, thereby allowing others skilled in the art to understand the invention for various modalities and with the various modifications as suitable for the specific use considered.

Claims (11)

1. Method for controlling vehicle formation (F) during vehicle steering, vehicle formation comprising at least two vehicles (1,2, 3), characterized by the steps of: - detect (S1), by means of detection means (110) on board at least one of at least two vehicles, distances to at least one vehicle adjacent to the vehicle formation (F) in order to create successive sets of virtual marks at least one adjacent vehicle; - compare (S2) information from a created set of virtual brands with corresponding information from a subsequently created set of virtual brands; and - control (S3) mutual positions (L1, D1, L2, D2) of the vehicles (1, 2, 3) of said vehicle formation (F) based on said comparisons in order to provide a determined formation of vehicle formation ( F). 2. Method according to claim 1, characterized by the fact that the step of controlling mutual vehicle positions (1, 2, 3) of vehicle formation based on comparisons comprises the step of controlling the relative positions of each individual vehicle (1,2, 3) of vehicle formation (F) based on the control of the positions of other vehicles of vehicle formation in order to provide the determined formation of vehicle formation (F). 3. Method according to claim 1 or 2, characterized by the fact that virtual marks created from a vehicle comprise virtual marks from one or more of: left side of the vehicle, right side of the vehicle, rear side of the vehicle and front side of the vehicle. Method according to any one of claims 1 to 3, characterized in that the detection means (110) on board a vehicle comprises at least one laser scanner and / or at least one camera. 5. System (I) for controlling vehicle formation (F) while driving vehicles, vehicle formation (F) comprising at least two vehicles (1,2, 3), characterized by detection (110) on board at least one of at least Petition 870180036500, of 05/04/2018, p. 37/44 2/3 minus two vehicles arranged to detect distances to at least one adjacent vehicle from the vehicle formation (F) in order to create successive sets of virtual marks from at least one adjacent vehicle; means (130) for comparing information from a created set of virtual tags with corresponding information from a subsequently created set of virtual tags; and means (140) for controlling mutual positions (L1, D1, L2, D2) of the vehicles (1, 2, 3) of the vehicle formation (F) based on the comparisons in order to provide a determined vehicle formation formation ( F). 6. System according to claim 5, characterized by the fact that the means (140) for controlling mutual positions of the vehicles of the vehicle formation (F) based on the comparisons comprises means (140a) for controlling the relative positions of each vehicle individual (1,2, 3) of the vehicle formation (F) based on the control of the positions of the other vehicles of the vehicle formation (F) in order to provide the determined formation of the vehicle formation (F). 7. System according to claim 5 or 6, characterized by the fact that virtual marks created from a vehicle comprise virtual marks of one or more of: left side of the vehicle, right side of the vehicle, rear side of the vehicle and front side of the vehicle. System according to any one of claims 5 to 7, characterized in that the detection means on board a vehicle comprises at least one laser scanner and / or at least one camera. 9. Vehicle formation (F1) characterized by the fact that it comprises a system (I) according to any one of claims 5-8. 10. Computer program (P) to control vehicle formation during vehicle driving, the computer program (P) characterized by the fact that it comprises program code that, when run on an electronic control unit (100) or another computer (500) connected to the electronic control unit (100), causes the electronic control unit to perform the steps as defined in any of claims 1 to 4. 11. Computer-readable media characterized by understanding Petition 870180036500, of 05/04/2018, p. 38/44 3/3 instructions that, when executed by a computer, cause the computer to execute the method, as defined in any one of claims 1 to 4.