CN108140310A - For vehicle monitoring and the device formed into columns, system and method - Google Patents

Abstract

For coordinate and control the vehicle of such as heavy truck come it is close follow after one another or for connect formed in a manner of convenient and safe queue and thus increasing the system and method for saving a large amount of fuel while safety.In embodiment, the Vehicle Controller in each vehicle and vehicle sensors interaction are to be monitored and controlled such as relative distance, relative acceleration/deceleration and speed.Various data are supplied to network operation center by the onboard system of vehicle, and in some embodiments, are forecast based on stroke and the vehicle suggestion for formation is received from NOC to the analysis of related roads, to identify the section that can be formed into columns.NOC also is able to provide traffic, road, weather or system update and various instructions.In some embodiments, mesh network capacity is configured to ensure that improved communication between vehicle and between NOC.

Description

For vehicle monitoring and the device formed into columns, system and method

Cross reference to related applications

The application is the conversion of U.S. Patent application S.N.62/210,374 that August in 2015 is submitted on the 26th.In addition, this Shen Please be the part continuation of the PCT application PCT/US14/30770 submitted on March 17th, 2014, which is March 5 in 2013 The U.S. Patent application S.N.61/792 that day submits, 304 conversion, and the still S.N.14/ submitted on May 30th, 2014 292,583 part is continued, S.N.14/292, and 583 be the S.N.13/542 submitted on July 5th, 2012, and 622, present 8, The divisional application of 744, No. 666 United States Patent (USP)s, 8,744, No. 666 United States Patent (USP)s transfer for submit on July 6th, 2011 61/ The conversion of 505, No. 076 provisional applications, all entitled " Systems and Methods for Semi- of application Autonomous Vehicular Convoying”.In addition, the application is the S.N.13/542 submitted on July 5th, 2012,627 Part continue, S.N.13/542,627 also then on July 6th, 2011 S.N.641/505 submitted, 076 conversion.Application People requires the benefit of priority to each in aforementioned application, wherein all applications are all incorporated by reference into the application.

Technical field

The application generally relates to improve method, system and the dress of the safety of vehicle, diagnosis, analysis and conservation of fuel system It puts, including but not limited to enables at least the second vehicle and safely followed with closely distance in a manner of automatically or semi-automatically First vehicle.More particularly it relates to realize the mesh network of above-mentioned target, vehicle monitoring and control system and vehicle Path system.

Background technology

The present invention relates to for enabling the vehicle to safely closely follow mutual system and method by partial automation. Close follow has significant conservation of fuel benefit, but usually uneasy when being carried out manually by driver after another vehicle Entirely.Currently, otherwise the longitudinal movement of vehicle during normal driving by controlling or being controlled by comfort system manually.Comfortable system The speed of system (such as adaptive learning algorithms) control vehicle, to make it for driving by making driving task partial automation It is happier or light for person.These systems are using range sensor and vehicle sensors and then control speed, so as to drawing The spacing that neck vehicle is kept constant.In general, these systems will not provide additional safety, and do not have to vehicle complete Control authority (for it can brake or accelerate completely), but it causes driving task to be more prone to really, and this is by driver Welcome.

During rare emergency, the acceleration and braking of vehicle can be controlled by active safety system.Some safety System is attempted through automatic braking vehicle (without driver input) or auxiliary driver's abrupt deceleration vehicle to avoid touching It hits actively to prevent accident.These systems do not increase convenience usually, and are only used in emergency, but it can be fully Control the longitudinal movement of vehicle.

Driver's being manually controlled in several aspects or even cannot match with the safety of current system.First, Manual drive person cannot safely keep close following distance.In fact, distance relatively short between vehicle is any to obtaining All be necessary for apparent conservation of fuel, if vehicle under the manual control of driver, this relatively short distance It can lead to unsafe condition, there is the risk that of a high price and destructive accident occurs.In addition, manual drive person is keeping It is reliable not as good as automatic system in terms of constant space.In addition, manual drive person would generally draw when attempting to keep constant spacing The swift and huge variation of instruction (such as accelerator pedal position) is played, this leads to loss of efficiency.

It is therefore evident that at least reliable and economic semi-automatic vehicle convoy system, there are urgent needs.This The semi-automatic vehicle convoy system improved a bit allows the vehicle to closely follow together in a manner of safe efficient, convenient.

For successful platooning, route is selected also to be necessary with caution.Although description highway and its are developed The various mapping algorithms of his road, but so far there are no develop be suitable for form into columns route.Therefore, it equally urgently needs Develop the method and system for identifying the suitable section that can carry out vehicle (including tractor trailer) formation safely.

Invention content

The system and method for various aspects including invention described herein are by the convenience of the prior art, security system The speciality controlled manually with reference to come provide it is safe and efficient convoy or formation scheme.The present invention is by the way that active vehicle is monitored It is combined with the communication technology to realize this target with the element of control, the convenience of enhancing and manually is being provided to driver While controlling the feature and function of vehicle, allow to lead the driver of vehicle and pursuit-type vehicle that all there is clearly its monitoring of environmental The understanding of Chu, including various visual displays.

In order to realize preceding aim and according to the present invention, provide the system and method escorted for semi-automatic vehicle.Tool For body, other than other things, system and method for the invention are provided for：1) closely following distance significantly to save Fuel saving；2) safety in the emergency maneuver event for leading vehicle；3) the component failure thing in system or a vehicle Safety in part；4) for identifying the companion's vehicle to form into columns with it and be suitable for carrying out safe formation for identifying Section efficient mechanism；5) intelligent sequencing is carried out to vehicle based on several standards；6) due to closely following as possible Other fuel economies optimize；7) ensure it is smooth, comfortable, accurately remain suitable for vehicle in running environment and queue follow away from From control algolithm；8) the robust fail-unsafe mechanical hardware carried on vehicle；9) robust electronic equipment and communication；10) it is The interests of driver and to ensure regularly, reliably to communicate with network operation center (for example being safeguarded by fleet manager) And carry out robust, various forms of communications between the vehicle in queue and around queue；With 11) auxiliary prevent with closely with With the other kinds of accident that pattern is unrelated.

Those skilled in the art will understand, and the various features of the present invention described herein can individually implement or group It closes and implements.The spy of the these and other of the present invention will be more fully described with reference to attached drawing in a specific embodiment below Sign.

Description of the drawings

In order to more clearly understand the present invention, will be retouched by way of illustrating with reference to appended attached drawing now Some embodiments are stated, wherein：

Figure 1A-Fig. 1 C show leading vehicle and follow or pursuit-type vehicle in three formation stages according to the present invention： It can use, in link, link.

Fig. 2 shows the embodiments at forward sight visual angle that pursuit-type vehicle is seen.

Fig. 3 shows the various communication linkages between formation vehicle, subject vehicle, wireless transceiver and network operation center.

Fig. 4 diagram central server (for example being maintained at NOC) determine link candidate when institute it is admissible it is various because Element.

Fig. 5 A illustrate the management that is used for carried on vehicle and communicate and be monitored and controlled various vehicle functions in simplified form Control system embodiment.

Fig. 5 B are shown in the algorithm run on the vehicle control syetem of Fig. 5 A in simplified form, and vehicle is led to pass through the algorithm To position close to following vehicle publication instruct and receive from its return data.

Fig. 6 is shown in various types of message for being sent between NOC and vehicle and in simplified form for onboard system With the simplification architecture of NOC.

Fig. 7 A illustrate the operation of formation monitoring system according to an embodiment of the invention, formation monitoring system in form of a block diagram Including the vehicle monitoring combined with one or more software layers and control system.

The implementation of Fig. 7 B vehicle monitoring of the pictorial image 7A and processor of control system, sensor and actuator in more detail Example and associated software layer.

The formation supervisory layers of Fig. 8 A pictorial image 7A in more detail.Fig. 8 B illustrate the vehicle control of the present invention from software function angle The operation of the embodiment of system processed.

Fig. 9 illustrates the embodiment of vehicle according to the invention data processing major loop in flow diagram form.

Figure 10 illustrates the embodiment of NOC vehicle communication management in flow diagram form.

In terms of the long-range coordination of Figure 11 A- Figure 11 B diagram present invention, including geography fence ability.

Figure 12 A- Figure 12 B illustrate the embodiment of process according to the present invention for coordinating and linking in flow diagram form, The considerations of including factor to being directed to vehicle.

Figure 13 diagrams are adapted for carrying out the reality of the software architecture of the stroke forecast function as one aspect of the present invention Apply example.

Figure 14 illustrates the embodiment of sequence for being matched for queue and finding and monitoring in flow diagram form.

Figure 15 A illustrate in flow diagram form for identify the section that can form into columns one aspect of the present invention embodiment.

Figure 15 B illustrate the process for identifying potential queue companion in flow diagram form.

Figure 16 A- Figure 16 E diagrams are used for as identification can authorize the purpose in the section formed into columns and to road and is directed to The embodiment for the process that formation route caused by a pair of of vehicle is segmented.

Figure 17 A illustrate to analyze the cost-benefit embodiment of queue.

The implementation for converging analysis and guiding of speed and direction of advance of Figure 17 B diagrams based on a pair of potential queue companion Example.

Figure 18 illustrates the processor-based system for capturing and calculating with the associated index of formation in form of a block diagram.

Specific embodiment

The present invention will be described in detail with reference to its several embodiment illustrated in attached drawing now.In the following description, Many details be set forth in order to provide thorough understanding of embodiments of the invention, including multiple and different aspects to the present invention Description, in some cases including one or more replacements.It it will be apparent for a person skilled in the art that can be not Implement to carry out the present invention in the case of all features disclosed herein.It can be more preferably geographical with reference to subsequent attached drawing and discussion Solve the feature and advantage of embodiment.

System and method the present invention relates to escorting for automatic and semi-automatic vehicle.Such system allows the vehicle to It is closely followed after one another in a manner of convenient, safety.For convenience of description, mentioned example in the description that follows Property vehicle generally will be large truck, but those skilled in the art will understand, many in feature described herein (if not all) many other types of vehicle is also applied to, and therefore, the disclosure and described herein At least some of embodiment be not limited to any certain types of vehicle.

With reference first to Figure 1A-Fig. 1 C, the three phases of queue are will appreciate that.In figure 1A, the vehicle A represented at 100 And the vehicle B represented at 105 is run independently of one another, but respectively can be used for linking.In some embodiments, 110 With 115 at the display for being respectively used to vehicle A and B that is represented illustrate in some instances state, with candidate companion's vehicle away from From and fuel consumption, but will more preferably understand in following article, can also show other data.In fig. ib, vehicle A and B It is substantial access to each other so that allow to link or be dissolved into queue.As explained in more detail below, usually in network operation The heart (if for example, vehicle be large truck, fleet management center) at selection link candidate.In such embodiments, NOC (network operation center) is same to the message of the suitable link candidate of each vehicle transmission identification and convenient for two drivers When reach target point so that it can form the information of queue.

Therefore, referring again to Figure 1B, vehicle A and B have been directed to point on the section suitable for formation at this point. As discussed in 8,744, No. 666 United States Patent (USP)s (it is incorporated herein by reference), and also discuss as explained in greater detail below , communication linkage is established when two vehicles are substantial access to, between them, and be located at front or lead processing system in truck System starts and rear or the similar process system in truck is followed to communicate.In embodiment, lead truck then to following The processing system of truck sends instruction, the acceleration of truck is for example followed with control and braking and bringing it to lead it is tight after truck The position of Mi Gensuijulichu.In embodiment, the processor in truck is led also to control the acceleration and braking for leading truck, with Ensure to follow truck that can be directed to safely after truck is led but be in the position of close following distance, such as 10 Foot is in the range of 60 feet.

Once truck is followed to be directed to formation position, lead vehicle that will keep at least acceleration to following truck Degree and the control of braking.At this point, vehicle is linked, as is shown in fig. 1C.However, at least some embodiments In, the driver of tail portion vehicle retains the control to steering so that tail portion vehicle is only run in a semi-autonomous manner.In other realities It applies in example, fully automated operation is carried out to tail portion vehicle.Those skilled in the art will understand, semi-automatic (semi- Automated it is) and automatic (automated) sometimes referred to as semi-autonomous (semi-autonomous) and autonomous (autonomous)。

When being linked, from the visual angle of tail portion vehicle front as shown in Fig. 2, be only the purpose that illustrates and again Using large truck as example.Truck 200 is led just to follow in front of truck, and display 210 shows to come to be mounted on and draw The visual angle of forward direction camera on card drawing vehicle.In some embodiments, it is possible to implement tactile and audio unit ensure to follow truck Driver be maintained at when forming into columns and lead the dead astern of truck.For example, if the driver of following vehicle redirect to from track Left side will start the voice signal positioned at left side to assist driver that vehicle is turned back to about the appropriate alignment for leading vehicle Orientation.Similarly, if the driver of following vehicle redirect to right side from track, the voice signal positioned at right side will be started. In some embodiments, the voice signal started can invert；That is, steering to the left can start the sound letter on right side Number, vice versa.If it is preferred that haptic stimulus, can set a pair in the seat or the two of steering wheel or driver (right side and left side) vibration source.Alternatively, single vibration source can be used in some embodiments.

When vehicle is in queue formation, for example, DSRC short-range communication link be enough each truck processor it Between carry out message communicating, but other wireless forms of communication can also be used, such as mobile phone.However, even in queue In formation, it is also useful for vehicle to keep the periodic communication with NOC.Will be discussed in detail in following article, various numbers NOC is sent to according to from each truck, including truck situation and performance, route change, local weather and other data.This allows vehicle Team operator manages truck maintenance and repair perspectively, and route is adjusted for weather problems or road construction, and identification is urgent Vehicle location in event, and manage various other analyses.

Fig. 3 diagrams are used for the embodiment of communication linkage that management message is sent in a system in accordance with the invention.More specifically For, Fig. 3 diagram managed using various communication protocols potential or current queue companion, one or more associated NOC, The embodiment that message between the wireless access point remotely accessed to NOC offers is sent.In addition, in the communication with NOC at one section In time it is unavailable in the case of, Fig. 3 diagram mesh network, message can by the mesh network between NOC and vehicle lead to Intermediate car is crossed to communicate.More specifically, as illustrated at 300, vehicle 100 is via DSRC or other are suitable wired Or wireless technology communicates with queue companion vehicle 105.In addition, for the major part in the route of vehicle 100, also via Mobile phone link 320 communicates with NOC310.Similarly, if do not interrupted in wireless link, vehicle 105 is via movement Telephone link 320 communicates with NOC 310.

However, what mobile phone communications were not always possible to, particularly in the vehicle for being driving through variation landform over long distances. In addition, mobile phone communications are relatively slow for the transmission of mass data, for example if use videograph or other high bands Wide function, the data that can be stored on vehicle.Therefore, in some embodiments, vehicle 100 and 105 is also equipped with as access Wi-Fi hotspot 330, Wi-Fi hotspot 330 then by illustrated wired paths at illustrated wireless link or 350 at 340 with NOC communicates.Along road and in operation center of fleet, fixed Wi-Fi hotspot is more and more common.In addition, 4G is based in vehicle LTE or the Wi-Fi hotspot of similar service be described.In some cases, Microcell and similar techniques can also Communication linkage is provided.

In some embodiments, it is also possible to use the relaying technique based on interim mesh network.For example, it is assumed that vehicle 100 It advances eastwards, and just by mobile phone and the good region of 300 connectivity of NOC, but just passes through and not wirelessly connect now The region of the general character.It is also supposed that the vehicle X shown in 360 westwards advances, and has not connect a period of time with NOC, but Wireless connectivity will be faster obtained again than truck 100.In at least some embodiments, i.e., convenient mobile phone or chain-like When connecing unavailable, NOC 310 is forecast based on stroke and knows the position of the reasonable accuracy of each vehicle of its monitoring (hereafter In discuss in more detail).Therefore, if NOC 310 needs to send information to vehicle X, NOC just still has and NOC in vehicle 100 Connectivity when to vehicle 100 send for vehicle X message.Then, when vehicle 100 and vehicle X close, vehicle 100 will The message of NOC is forwarded to vehicle X.Similarly, if vehicle 100 is needed to obtain data from NOC but not contacted with NOC currently, It can by its data forwarding to vehicle X, and when vehicle X retrieves the connectivity with NOC, vehicle X then by data again It is sent to NOC.

Those skilled in the art will understand, and in some embodiments, such wireless information transmission will be security purpose And encrypt, although in other embodiments may be really not so.Under appropriate security protection, it can also use not in fleet Vehicle under the management of operation forwards message.If for example, being properly provided as communicating with NOC, shown at 370 and 380 Vehicle Y and Z can via link 390 from vehicle A and B receive message be then forward it to NOC 310, can be by mark Quasi- agreement.In with the environment of a large amount of vehicles being equipped with for wireless connectivity, mesh network is created, and message can pass through net Shape network is transmitted to vehicle from vehicle, and is thus transmitted to NOC.Such mesh network also allows status message to be passed from vehicle It is delivered to vehicle so that the queue of such as vehicle 100 and 105 understands the state of surrounding vehicles.For example, the queue can know left side Vehicle need where to leave the road, this for example allow queue avoid making the vehicle be inserted between vehicle 100 and 105 or It is taken action in a manner of unexpected.Likewise it is possible to just allow to transport in the queue that emergency is communicated to vehicle A and B composition in advance Row safety increases.

By the above-mentioned understanding for the communication between formation and network and from vehicle to vehicle, can preferably understand extremely The operation of central server guided in some few embodiments and monitor vehicle 100,105 etc..Referring next to Fig. 4, can see To some in the central server of simplified block diagram form and its input.Central server 400 (individually or with each vehicle The system combination carried on 410,420) based on to vehicle location, destination, load, weather, traffic, type of vehicle, (whole is such as by one or more in rear car type, nearest link history, fuel price, driver history and other factors Shown in 430A-n), it forms into columns to be directed to or is simply determined and suggested for improvement operation.Central server and vehicle Loading system is all communicated by display 440 with driver.These communications can include link suggestion, condition of road surface, weather Problem, newer route information, traffic, potential vehicle maintenance issues and many other data.In some embodiments, chain The chance connect can occur independently of central server.In this case, it once identifying pairing, will incite somebody to action potential Paired communication is at least onboard system, and in most cases, although being not necessarily all situations, potential pairing is also led to Believe to central server.It is possible that one of central server or onboard system will conclude that this to being not suitable for linking, and And as shown at 450, link is revoked.

It, can be in vehicle just as submitted on March 17th, 2014 discussed in careful PCT application PCT/US14/30770 When moving determine link chance, but can also be in the car it is one or more static when (such as lorry parks, stop Cease station, weighing station, warehouse, garage etc.) determine link chance.It can also be carried by fleet manager or other associated personages Before calculate.It can be at the time of setting out or when a few houres or several days are planned or can be on the way in advance by Or it is not searched temporarily by system coordination function.

As mentioned above, many intelligence (intelligence) of whole system be centrally located server or Person is carried in system on each vehicle.However, onboard system includes the special function for vehicle to be controlled to run.For example, For large truck and most of vehicle, onboard system receives the various inputs of reflection current operating conditions, and based on from Those additional relevant informations that central server receives to control vehicle according at least acceleration/speed and braking.Therefore, such as Shown in Fig. 5 A, the embodiment of onboard system includes control processor 500, control processor 500 by connect (a) (usually but May not be CAN interface) it receives from such as trailer-mounted radar unit 505, video camera 510, laser detection and ranging (Lidar) list The input of member 515.Control processor can be configured in these units each and receive data.To inertia measurement sensor or Acceleration of the control processor on 1,2 or 3 axis is given in the connection (b) (it can be wireless) of gyroscope 520 Information and the slewing rate information around 1,2 or 3 axis.Although gyroscope is commonly used in such as slewing rate, It is that in some embodiments, accelerometer can substitute gyroscope.Multiple data links 530 (shown at (c), and amplify with Details at the lower part of Fig. 5 A is shown) provide about the correlation properties (including its acceleration) for leading truck 100 information or For to truck 105 is followed to provide the same or similar information.The brake valve and sensor 550 being connected in bus (d) provide Data in relation to brake pressure, and for applying pressure via the instruction from control processor 500.Via analog voltage or lead to Signal (CAN or other) is believed to send throttle commands 555.

Control processor, which performs, to be calculated to handle sensor information, from the information of GUI and any other data source, and really Correct actuator instruction group is determined to realize current goal (example：Keep the constant following distance with front vehicles).Such institute Show, data link includes one or more wireless links 535, such as mobile phone, DSRC etc..Data link 530 further includes Input (being shown at 540) from vehicle, the input usually (are represented via the control unit of engine of vehicle or ECU at 545 ) transmit (transmit) and usually provided by vehicular manufacturer.According to embodiment, control processor is filled with various inputs Put carry out two-way communication.

The operation of the onboard system or control unit for vehicle of the present invention can be preferably understood from Fig. 5 B, Fig. 5 B are directed to one General flow between the control unit for vehicle of vehicle that a implementation exemplifies two links.According to this embodiment, the two of operation Kind pattern may generally be implemented as：In the first mode, the control unit of front truck rearward truck control unit publication instruction, And those instructions are generally yielded and are deferred to, but can be ignored in appropriate circumstances, such as safety.In a second mode, front The control unit of truck to the second truck transmission data, trail truck and lead the data and lead card that truck sensed by notice The action that vehicle is taken.Then the control unit of the second truck is according to appropriate to take from the data run of front truck Action.As shown in 560, follow or trail truck forwards or truck is led to send the data about its operation.At 565, Truck is led to receive the data, and sensing movement and/or external object and/or communication input from pursuit-type vehicle.Then it leads Truck if run in the flrst mode, leads truck to the action of truck is led to make decision (shown in 570) Also make decision to the action of rear truck.Then, it is run according under first or second mode, truck is led to block to trailing Vehicle send instruction (580) (first mode) or to trail truck transmission data (585) (second mode).If in the first mould It is run under formula, the second truck, which receives, to be instructed and it is performed at 590, is alerted, in some embodiments the second truck It can select to ignore such instruction.If run under the second mode, the second truck receives data at 595 and determines to perform Which kind of action.Due to the control program for being used for two units be in some embodiments it is identical, in most of situation Under, no matter the control to the second truck caused by which kind of operational mode all will be identical.Finally, shown in 600, second The mobile communication that truck has taken it is to front truck so that each truck knows about the state of other trucies.This field skill Art personnel will understand, and not need to be all identical in each example for the control program of two vehicles.

In at least some embodiments, above procedure is substantially continuously repeated, such as once per second, to ensure each card Vehicle all obtains the current state of other trucies, and NOC obtains the current state of the two, even if so as to assist ensuring each truck Safety is remained to when being and being run under highway speeds with close formation and is predictably run.

In addition to the aforementioned input of the control processor to onboard system, in some embodiments, such as institute's on March 17th, 2014 It is more fully described in the PCT application PCT/US14/30770 of submission, it is possible to implement various warnings are as to control process Device or the input individually alerted and alert processor.Equally, also as described in same PCT application, due in other parameter Following vehicle would generally be positioned as by braking better vehicle in the case of equivalent, therefore can be implemented braking verification process and be come together When ensure that vehicle braking is working correct and assists in which vehicle should be led.

In at least some embodiments, reliable and secure formation is related to the cooperation between NOC and onboard system.Therefore, join According to Fig. 6, the interaction between function that NOC provided and the operation of onboard system can be understood at a high level.In order to establish queue, It is located at the NOC 601 in cloud (cloud) at least some embodiments to include link probe functionality 605 in brief, link and permitted It can device function 610 and reorder function 615.The output of function is transferred to onboard system 625 by communication gate 620.Vehicle-mounted system System 625 receives the information about the vehicle pairing determined by NOC with link potential from NOC 601, then when appropriate Between carry out link mandate, at 630 represent.In addition, onboard system receives risk consulting (at 635 represent), according to being projected Stroke route, risk consulting generally includes risk to vehicle.

For functional perspective, onboard system 625 includes one or more electronic control units or ECU, electronic control Unit or ECU management such as the various functions being discussed in greater detail with reference to Fig. 7 A.In order to make simplicity of explanation, only show to count in figure 6 According to ECU, and it is provided for data processing and telecommunication management.Those skilled in the art will understand, and ECU functions can divide From device in implement or be desirably integrated into other functions are also provided ECU in.It will understand, in most cases, such as ECU described herein is performed including controller or other processors and appropriate storage and other attachmentes as herein And particularly since Fig. 7 A type discussed in detail program instruction.In embodiment, data ECU 640 is managed WiFi, LTE and blue tooth interface (being represented at 645,650 and 655 respectively), and transfer and queue controller ECU functions 660 pairs To communication.Queue controller ECU functions are transferred via DSRC links 665 and other queue candidates and member's two-way communication, and And also to 670 output data of the display of driver.

In at least some embodiments, vehicle-mounted ECU function communicates with the CAN bus 730 of vehicle, offer and control of queue The connection of device 675, daily record controller 680, driver interface 685.As represented at 697, ECU is also to approach once per second Rate to NOC return vehicle location and health or " crumbs (breadcrumbs) " report.In addition, such as in 699 place generations Table, when the data link (such as WiFi) with suitable high bandwidth and low cost is available, ECU arrives its journal dump NOC.According to this embodiment, daily record can include all data (including video information) or can include the subset of the data. For example, in embodiment, journal dump can include some or all of CAN bus data (including SAE J1939 data), some Or all radars, laser detection and range unit and video data, some or all of GPS datas, some or all of DSRC data, And some or all of status datas for both radio systems.Those skilled in the art will understand, and not all This data are all transmitted in CAN bus, but can be connected via Ethernet, point-to-point connection or other suitable communication chains Fetch communication.

Referring next to Fig. 7 A, the embodiment of the system according to the present invention is shown with the reduced form of schematic block diagram, this shows Meaning block diagram shows hardware layer and hardware layer is caused to perform the software layer of invention function.Specifically, vehicle monitoring and control system 700 include one or more processors and the related hardware such as further described below in conjunction with Fig. 7 B.System 700 is via channel 705A to vehicle control layer 705 provide data and perform the instruction from vehicle control layer 705, and also via channel 710A to Formation supervisory layers 710 provide data and perform the instruction from formation supervisory layers 710.In addition, formation supervisory layers 710 are also via logical Road 710B communicates with vehicle control layer 705.Those skilled in the art will understand, and layer 705 and 710 is in the system that is shown as 700 Hardware layer hardware on the software layer that performs.

The hardware component comprising vehicle monitoring and control system 700 and itself and software can be preferably understood from Fig. 7 B The interactivity of layer 705 and 710.More specifically, in embodiment, vehicle monitoring and control system include one or more electricity Sub-control unit (ECU), electronic control unit are received under the control of vehicle control layer 705 and formation supervisory layers 710 and are come from The input of various sensors and to various actuators and other devices (for example, driver HMI and phone and DSRC transceiver) Output is provided.System 700 is also communicated by linking 715A with driver 715.System 700 also communicates with NOC 720, usually passes through Such as the wireless link shown in telephone signal tower 720A.

Although single ECU can perform all necessary functions at least some embodiments of the present invention, most of existing There are multiple ECU for vehicle, wherein each ECU has his own strong points.Therefore, as shown in shown embodiment in Fig. 7 B, multiple ECU 725A-725N includes the core of system 700 and in bus 730 with communicating with each other, and bus 730 is at least some embodiments In can be CAN bus, but according to the specific device linked, bus 730 can be different types of bus or even It can be point-to-point connection.In embodiment, ECU 725A-725N that are only representative and being not intended to represent detailed bill from Video sensor 735, GPS device 740, rear car (tailer) sensor 745, risk sensor 750 and front truck (tractor) pass Sensor 755 receives input.According to this embodiment, less, more or different sensors can be used.Bus 730 also allows ECU To 760 transmission of control signals of front truck actuator, to provide data to driver via HMI 765 and receive data from driver, And phone and DSRC transceiver 770 and 775 are managed respectively.In addition, bus 730 provides such link, from various sensings The data of device and ECU can be stored in by the link in data storage 780.The 725A-N of various ECU can include radar ECU 725A, braking/stabilization ECU 725B, adaptive learning algorithms ECU 725C, formation ECU725D, data link ECU 725E, HMI ECU 725F, DSRC ECU725G, Engine ECU 725H, instrument board ECU 725I, chassis ECU 725J, speed changer ECU 725K etc..As shown in 725M, other front trucks ECU can also be implemented, and can be simply real as shown in 725N Apply other rear cars ECU.Those skilled in the art will understand, and the software comprising vehicle control layer and formation supervisory layers can be distributed Between one, some or all of this ECU.

Referring next to Fig. 8 A, formation supervisory layers and itself and vehicle monitoring and control system can be understood in more detail 700 interaction.In addition to system 700, Fig. 8 A illustrate the various software functions of the embodiment of the present invention.The driving represented at 765 Person's HMI functions are directly interacted with vehicle driver, and the letter from system 700 and formation supervisory layers is presented to driver Breath, and serve as driver's instruction and selection (for example, to linking the reception of the selection or driver of companion to proposal link) Input mechanism.

NOC communication managers 800 are established and maintain the secure communication between vehicle and NOC, and for provide for The mechanism of message is reliably transmitted from NOC.NOC communication managers are received from vehicle monitoring function 805, Risk Monitoring function 810th, the input of software upgrading management function 815 and NOC itself.

Vehicle monitoring function 805 is based on the requirement from NOC 720 to from any of the source for being connected to bus 730 Vehicle-state is sampled and is filtered.NOC 720 is specified will to be provided any information and be provided with what interval or frequency, and It also specifies and how to handle data between data to be communicated back to NOC.Alternatively, processing locality can replace NOC.Risk Monitoring Device 810 in bus 730 " monitoring " vehicle trouble and by the communication of associated vehicle failure to NOC.Risk Monitoring device, which also receives, to be come from The risk alert of NOC, and based on its input (including vehicle-state and environmental aspect) to whether cancelling formation and authorizing and make this Ground determines.Risk Monitoring device is provided to empowerment management function 820 authorizes revocation, and also via HMI service functions 840 to driving Person sends risk warning.Software upgrading manager 815 makes a response version querying and provides the software on vehicle can be by It carries out long-range newer mechanism.

Plan link is negated, have adjusted tail clearance or changes the situation of condition for authorizing and being based on detecting Event in, Risk Monitoring device can locally cancel the link mandate from NOC.Such situation generally includes vehicle-state Problem or unfavorable environmental aspect.If the revocation of Risk Monitoring device is based on vehicle trouble or other state issues, the failure Or problem is also communicated to NOC so that NOC can account for it when estimation is related to the following link of vehicle.Lead to wind Other situations nearly cancelled can be derived from the problem of vehicle itself is external, for example, weather detected by other vehicles, traffic or Condition of road surface.According to this embodiment with specific situation, about external issues information can by other vehicle communications to NOC, It is subsequently sent to receive the vehicle of the link mandate or the information about external issues can be communicated directly to from other vehicles Receive the vehicle of the connection mandate.In any case, risk information is transmitted to Risk Monitoring device, Risk Monitoring by onboard system Device takes appropriate measure to cancel or changes the link that has authorized.

It in the case of the revocation not from Risk Monitoring device, discusses as explained in greater detail below, Authorization Manager 820 Via NOC communication managers, with reference to from the absolute position of vehicle location tracking function 825 (then being received from system 700), speed Degree and direction of advance information 800 receive and interpret the authorization packets from NOC, to assist in the formation companion's proposed by NOC The degree of approach.Authorization Manager sends the time of connection licensing status message and transmission to system 700, that is, formation companion approaches And the time of link can be started.Authorization Manager also sends selected form into columns together to inter-vehicular communication management function 830 The mark of companion, also, in some embodiments, to close control function 835 send the information about selected formation companion, Its position and the guiding for link.

Vehicle part communication manager 830 manages the interactive authentication of formation companion by providing safety certificate to system 700, Usually linked by DSRC (digital short range communication).In the embodiment with close control, close control function 835 is at two kinds It is run under pattern.When companion's vehicle DSRC apart from it is external when, if close control can be used, directly provided from NOC close to drawing It leads.Then, once having been set up the secure communications link with formation companion, at least some embodiments, close control work( The position provided using companion's vehicle and velocity information and local car tracing information can be linked by DSRC (such as from being The 700 lock-on states that are received of system and the data from vehicle location tracking function 825) sheet independently of NOC is provided Ground close control.According to this embodiment, guiding can include not supplying or supply mapping to driver, video and radar input, Some or all of other available data in track alignment and system.In some embodiments, driver uses this manually The data of sample carry out positioning vehicle to form into columns, and formation control device occupies vehicle and brings it to desired formation gap at that time.

HMI service functions 840 provide the meaning of one's words layer interacted for the driver with vehicle, and by the state from vehicle Information is converted to the related news to driver (including software layer).In addition, the processing of HMI service functions is from the defeated of driver Enter.HMI service modules provide display data to hardware is driven, (usually driver to be allowed to easily input in driver HMI Instruction, selection and other input touch-screen displays) on shown to driver.For the driver of following vehicle, show Show that device generally includes to lead the video flowing of the forward sight camera on vehicle.

Referring next to Fig. 8 B, under the linguistic context as the software function of overall system, it will be appreciated that described above Software function.In Fig. 8 A, the inter-vehicular communication function 830 of the management including communicating to DSRC is sent out to HMI service functions 840 Message is sent, HMI service functions 840 provide the interface to driver's function shown in 765.From the defeated of driver interface 765 Enter including the linking request based on driver to the selection of queue companion.It will understand, multiple potential queue companions will be present in On many routes, therefore give a variety of options of driver.However, in some embodiments and for some fleets, queue is same To be determined in queue operation with selection, for example, in multiple truck routines along same route towards same or neighbouring destination In the case of.In this case, the option of driver is to receive link or refusal link.

HMI service functions also provide the incoming event received from driver to supervisory layers 850, and receive and show from supervisory layers Data.In embodiment, HMI service functions include GUI 840A, video feed 840B, are physically entered 840C and audio input is defeated Go out 840D.Supervisory layers include url management function 850A, telephone communication management 850B and data storage and log in 850C.

Supervisory layers also to formation control device function 855 send connection authorize, and from the controller reception include DSRC states, The status message of failure and radar state.Formation control device 855 includes various functions, including gap adjustment (Gap Regulation) 855A, quality estimation 855B, braking health monitoring 855C, formation state 855D and troubleshooting 855E.Gap Adjust can include setting from lead vehicle to the distance of following vehicle or can include setting from lead the rear portion of vehicle to The time interval of the forepart of following vehicle.In either event, target be all ensure two vehicles it is safe while ensure Distance provides acceptable fuel economy benefit.

In order to perform aforementioned function, formation control device represents the input of the state of various front truck functions from front truck reception, It is usually shown at front truck sensing 860.In embodiment, those functions include radar data 860A, vision data 860B, thunder Up to data 860C, GPS location 860D, wheel velocity 860E, pedal position 860F, engine temperature 860G (from body, from starting Cabin or other suitable positions sensings), turn to 860H, inertia measurement 860I, brake pressure 860J, barometer and related day Gas senses 860K and is expressed as the combination 860L of this sensing data of sensor fusion.It is also provided in some embodiments His data, such as fuel level or remaining driving mileage.Formation control device and inter-vehicular communication module 830 about quality, position, Speed, torque/braking, gear and failure carry out two-way communication.More specifically, controller 855 is closed via DSRC link data In the data of other vehicles (including quality, position, speed, torque/on-position, gear and failure).As mentioned above, Formation control device provides status data, and also provide torque and braking instruction and shelves using these inputs to supervisory layers Position.In the case of no gear position sensor, gear selection can be based on engine speed and speed of tire rotations for manual Gearbox calculates.Gear in automatic transmission can directly be sensed from speed changer ECU.

Formation control device 855 is also from 865 reception state of front truck actuation function and fault message, and in embodiment, front truck causes Dynamic function 865 includes the function 865A-865F of steering, throttle, speed change, clutch and braking and the action of other drivers control (such as engine braking (jake brake) etc.).In at least some embodiments, driver's (functional block 765) can be to front truck Actuator block 865 provides all this inputs, but during link and when being linked as queue, and braking and throttle are all in formation control Under the control of device 855.Include forming into columns in some embodiments and indicate front truck instruction (indication) function 870 of 870A It is provided, and controls and be located on front truck and to the visible physical indicator of other vehicles close to queue.Physical indicator Usually it is activated, and can also be activated during link process when forming queue.

Fig. 9 is turned next to, the data processing being happened on vehicle may be better understood.When the vehicle is started, firmly Part is activated as shown in 900.Data/address bus processor using default configuration or if is configured from NOC quilts at 905 It receives and for active, then using the active arrangement, is registered to system.At 910, queue mandate " monitor " is opened Dynamic, function is to monitor the queue authorization messages from NOC.

Next, handling newest vehicular events data in step 915, verified to check whether later at 920 Queue authorization notification is received from NOC.If so, at 925, authority record is delivered by the software interface of such as API To controller.If being not received by queue mandate, just verified to determine whether to receive from NOC at step 930 To configuration change.Which kind of if so, implement new configuration and change to collect data from vehicle and report in " crumbs " message To NOC, and send and restart signal and be circulated back to step 905 to cause, wherein according to new configuration to data/address bus at Reason device is re-registered.

If receiving new configuration not yet, process proceeds to step 940, wherein being verified to check whether Past time enough causes position and the status information should to be sent to NOC.If not, process is circulated back to step 915. If so, position and status information or " crumbs " message are sent to NOC.This crumbs message is sent to the frequency of NOC It is limited at least some embodiments by the configuration parameter received from NOC, these parameters further define will be as the one of message Part is sent to the event data of NOC.In at least some embodiments, " crumbs " message by regular reporting to NOC, such as often Second is primary.In addition, in due course, the message of " I can be used for forming into columns " is also sent periodically NOC.

The embodiment of the process linked between Figure 10 diagrams management NOC and vehicle.Service such as step 1000 place at NOC Shown startup, and NOC waits for the connection (being shown at 1005) in known port from vehicle.Then NOC verifies truck And secured session (being shown at 1010) is opened, the publisher that then being created as shown in step 1015 has the function of Message Agent disappears Breath.Then publisher's thread is multiplied at 1020, publisher's connection at this time and network connection are passed to the thread.The thread is supervised Listen the message from vehicle, such as " crumbs " message or " I can be used for forming into columns " message (step 1025 place is shown).Once from Vehicle receives message, and as shown in step 1030, process recycles and NOC returns to the listening mode at step 1025 place.If That message does not occur in given time window, thread is terminated as shown in step 1035.

The procreation of publisher's thread is followed by, and substantially parallel with the execution of the thread, process is as shown in 1040 Create subscriber's message with Message Agent.Then subscriber's thread is multiplied at step 1045, and subscriber connection and Network connection is passed to the subscriber as shown in 1050.Queuing message is verified at 1055, and at 1060 Any queuing message is sent to vehicle.If without queuing message or if queuing message has been sent, Cheng Qian is crossed It enters step 1065 and waits for the arrival of news and be published to vehicle.Then process is circulated back to step 1060.Message in step 1060 not It can be sent in the event of truck and (be typically due to connecting fault), message is lined up at step 1070, and thread is in step It is terminated at 1075.

Referring next to Figure 11 A and Figure 11 B, people can preferably understand the process of coordination and connection to form queue. Figure 11 A show to coordinate and one embodiment of linking functions, are typically expressed as 1100.In process after step 1101 beginning, Receive one group of pairing that can be formed a team.The matched group is received from NOC at least some embodiments, and including potential team Arrange the list of companion.According to the availability of other vehicles or the priority according to fleet, can only be presented for driver single It forms into columns and selects, the selection is received or refuses.Alternatively, in some embodiments and for some vehicles, can form into columns companion Mark can be locally generated.In any time, authentication key is provided to start the secure communication between link companion.This Afterwards, the vehicle for being used as formation companion to coordinate in step 1110, driver or system identification, and such as 1122 places Show and propose to communicate to forming into columns, in some embodiments by being represented from received message.As shown in 1130, in any approach In, then another vehicle (" remote " vehicle) can receive (step 1124) this to having agreed to coordinate to carry out possible link Meaning.According to vehicle location, load weight, vehicle is equipped with and other factors, and the vehicle existed within link spacing can be by It is identified as the following vehicle 1142 available for linking or leads vehicle 1144 available for link.If these are all not so, system Back to coodination modes.Once the following vehicle available for coordination has received link, and 1152, and vehicle also receives Link, 1153 (with random orders) are then initiated to link.When linking completion, vehicle is linked now, and 1162.Similarly, one Denier can be used for that coordinates vehicle is led to receive link, and step 1154, then vehicle also receives link, step 1155, initiate link.When linking completion, the vehicle link as shown in step 1164 now.

In order to not only properly determine which vehicle is appropriate for link, also for properly determining which vehicle should When as leading that vehicle and which vehicle follow, certain vehicle features are important.It is shown in Figure 11 B on one side, In collect the characteristic of engine torque and acceleration, and vehicle matter is calculated in step 1170 in vehicle interior at step 1165 Amount.It is then possible to processing locality or the information in NOC processing are used for adjusting the gap between vehicle or are calculated for changing Method, as shown in step 1175.In addition, data can be used for choosing whether to be linked, step 1180, but at least some realities It applies in example it is also contemplated that other factors.When other factors can include for example proposed queue distance, duration, the same day Quarter, hours of service and related limitation, fuel level and driving range, fuel make up possibility, Service Level Agreement problem, vehicle Be located in given time destination it is for further use or safeguard needs, driver's dining and loosen rest, driver Amusement, driver's payment, traffic rules and system etc..If linked, one or more factors can be with assistant notification For the decision which vehicle should be led, step 1185.

Before it can form queue, and even before it can identify potential formation companion, the vehicle available for formation Route must be known at least part.As shown in Figure 12, this can offer completion in advance by generating vehicle travel.The process Started herein by receiving the location information of vehicle (the vehicle A specified).Location information can include longitudinal direction/lateral information, Either coordinate pair is plus speed and direction of advance or series or sequence of coordinate pair.As described in aforementioned figures GPS device is suitable for providing this information.

The process of Figure 12 is continued by being verified at step 1205 with determining whether the route of vehicle A is known.In many In the case of, route that vehicle (such as large commercial truck) is set along frequently repeating or fleet manager or other supervisors It advances.Therefore, in many cases, the route of particular vehicle is known and stores in the database, is generally held in NOC In, and it is at least some cases and locally available.However, if the route of vehicle A is not known, just in step Rapid 1210 pairs nearby scan for acceptable route of forming into columns.It is begged in more detail with reference to Figure 14 A- Figure 14 B and 15A- Figure 15 B By the process for identifying this route.

After the search at step 1210, verified at step 1215 at least one suitable to determine whether to have found The route used together in vehicle A.If it is not, then process temporarily ceases, as shown in step 1220.However, in most cases, It will recognize that at least one route of forming into columns.In this case, as shown in step 1225, then to wherein and when plus The route that enters to form into columns is determined for vehicle A is feasible.Then, connect in step 1230, the route starting position of vehicle A and time Goal pace with vehicle A is used to calculate vehicle A arrival identifications road in NOC or vehicle monitoring and control system 700 together The minimum and maximum time of specific path point on line.Based on those calculating, then generate vehicle A's during Local or Remote Stroke is forecast, as shown in step 1235.Other than the factor discussed above in relation to stroke forecast is established, some realities are being formulated The stroke for applying example gives the correct time one or more factors for being also contemplated for being discussed above in association with Figure 11 B in advance.In at least some embodiments In be stored in stroke forecast at NOC in can be used to search for potential formation companion, as discussed with reference to Figure 13.

If vehicle A route it is known that if from the database of known route take out route information.Then by vehicle A's Position is compared with known route, as shown in step 1245.If vehicle A is detached from route, to wherein at step 1250 Desired path when is rejoined to be determined for vehicle A is feasible.If rejoin be confirmed as it is feasible, such as step Shown in 1255, then the process is circulated back to step 1230, provides appropriate guiding to rejoin route for vehicle A, then Generate stroke forecast.If it is infeasible for vehicle A to rejoin route, which temporarily terminates in step 1260.In step Rapid 1220 or the termination at step 1260 place be temporary, this is because position of the possibility formed into columns with vehicle A on its route The change put and change, and at least some embodiments, the vehicle position that it has changed via crumbs message report.

Once being directed to vehicle A generates stroke forecast, it is possible to search for potential formation companion.This search and company One embodiment of termination process in figure 13 illustrates, can be considered as carrying out the process shown in Figure 11 A in some respects It illustrates.Since the process of Figure 13 receiving the queue request from vehicle A.In the request shown in step 1300 in processor Place receives, which is located in NOC at least some embodiments, but may also be located at other positions in other embodiments It puts.Then, as shown in step 1305, generation or (retrieve) stroke forecast (such as process from Figure 12 is returned to As a result).At step 1310, stroke forecast stored in the database at NOC is scanned for and (being shown at 1315), with Other stored forecast with similar route of identification.Based on these similarly routes, potential queue is generated in the processor The list of companion.

Sometimes, search does not identify potential queue companion, in this case, the verification carried out at step 1320 The result is that " no (no) ".In this event, if the stroke forecast of vehicle A is not yet stored, database will be added to In 1315, and notify driver that there is currently no formation possibilities.However, in most cases, will recognise that one or More potential formation companions so that at step 1320 verify the result is that "Yes".If so, the list quilt of potential companion Vehicle A is sent to, as shown in step 1330.According to this embodiment, queue proposal can also be sent simultaneously to what is identified Potential companion B₁、……、B_n, as shown in step 1335.In some cases, and as shown in step 1340, driver from List provided in step 1330 is selected, and is formed into columns and proposed that the driver for being sent only to vehicle A is selected Those companions.In some embodiments, fleet operator determines potential pairing, and driver only receives an option, the choosing Item can be accepted or rejected.At step 1345, the selection of vehicle A is returned to, the selection is usually by from the manual of driver Or audible instruction represents.From potential companion (such as vehicle B₁) response shown at step 1350.At step 1355 To forming into columns, the receiving proposed is verified.If do not received, as shown in step 1325, the stroke forecast of vehicle A is added (if being not yet stored) is to current stroke forecast data library.

In most cases, vehicle A and B₁Agree to, in this case, process proceeds to step 1360.Such as step Shown in 1360, in most cases, as discussed above in association with Fig. 8 A- Fig. 8 B, ratified by NOC transmit queues and needle To vehicle A and B₁The corresponding suggestion for converging action that will be taken.In addition, as shown in step 1365, for vehicle A and B₁'s Stroke forecast currently for forming into columns all unavailable from the database that current stroke is forecast due to being removed.In some embodiments In, allow the queue of more than two vehicle, in this case, vehicle A and B₁Stroke forecast be retained (maintain) exist In the database of current stroke forecast.

After approval queue, vehicle A and B₁Position monitored by NOC, including during the formation of queue and its later. In addition, NOC monitoring roads and other situations, such as traffic, weather, construction etc., to identify about vehicle A and B₁Queue Situation provides warning to two drivers and provides related data and instruction to the onboard system of each vehicle.This monitoring Continue to complete one of (step 1380) or driver disengaging (step 1385) at least up to the route that can form into columns, process exists later Stop at 1390.

Although the benefit formed into columns to be intended to link vehicle in the case of any possible, and not all section is all It is suitable for forming into columns.Therefore, before it can be authorized to this formation, it is desirable that vehicle is remotely assisted in order to link purpose It adjusts (as shown in fig. 14 a, wherein vehicle 1410 and 1420 can be potential queue partner to ratio), road is analyzed.Therefore, As shown in Figure 14 B, some sections can be appointed as being unsuitable for linking in the database of NOC.This geography fence can be with Exist for several reason, such as road construction, traffic, traffic control etc..Figure 15 A illustrate to identify the section that can form into columns Process one embodiment.The process splits into section to start by being based on any appropriate standard by road.Suitable standard An example be using milepost, but transverse direction/longitudinal data and several other standards can also be used.Then, assessment is every A section is to determine if the basic standard for meeting formation, as shown in step 1505.Basic standard can include speed and limit System, known construction, known traffic jam point, excessive upward slope or descending, weather or other environmental problems etc..

If the section examined meets general standard, process proceeds to step 1510, wherein can be special according to grade Standard assesses section.And not all embodiments all can service rating application specific standard.However, some fleets or other traffic administrations System can manage the vehicle of various grades or type.In this case, it is possible to carry out forming into columns in specific grade, and And the standard for being suitable for the queue in specific grade can be dramatically different with general standard.At some in this case, grade is special It can be limited with standard than general standard mentioned above less.For example, although general standard can be applied to large commercial Truck (" 18 wheel " grade), but fleet can include smaller van-type car or can handle slope or relatively large vehicle cannot locating The similar vehicles of other condition of road surface of reason.In such a case, it may be desirable to the sequence of inversion step 1505 and 1510, and Therefore will understand, the sequence shown in Figure 15 A is not intended to restricted.

If section does not meet rank application specific standard, section is added to the database for being only used for general standard, is such as walked Shown in rapid 1515.However, the section for meeting both general standard and rank application specific standard is added to including the special number of rank According to database.Then come in determine whether there is other sections to be analyzed, step 1525 before the process.If it does, mistake Journey is circulated back to step 1500 for lower a road section.If it does not, process terminates at step 1530.

The result that the process of Figure 15 A is generated allows stroke advance notice and the database in the section that can form into columns being compared. In some embodiments, the section that can form into columns will be incorporated into the stroke forecast as caused by the process of Figure 12.In other embodiment In, stroke forecast only includes route, determines the route and the section that can form into columns by appropriate processor in the steps afterwards The consistency of database.

It identifies that the companion that can potentially form into columns does not require nothing more than vehicle and advances along identical route, it is also required to be relatively close to It advances during synchronization along identical route.If for example, vehicle A preceding vehicles B mono- hour, and the plan without stopping, The loss of time that then vehicle A and vehicle B formation needs vehicle A to be subject to is too big, so that the queue cost of those vehicles may surpass Cross the benefit obtained.If however, such as vehicle A only preceding vehicles B mono- minute, then the income of formation can exceed that vehicle The time that A is lost, even if it is the unique vehicle regulated the speed to adapt to link.In the case where many formation are feasible, such as Step 1360 place is referred to that converging guiding will suggest that two vehicles are taken action.However, many commerial vehicles are (including many The ling-distance truck of fleet's operation) there is the supervisor of control vehicle maximum speed.In some vehicles, supervisor's setting can pass through CAN bus (being discussed at Fig. 7 B) access, and can be adjusted from NOC.Speed can be improved safely and legally in vehicle B In the case of, converging guiding can suggest that speed is adjusted to two vehicles.When vehicle B cannot improve speed, usual guide car A reduces speed to allow to link.

Referring still to Figure 15 B, analysis is performed to the time and route of vehicle A and B at step 1540 to 1555.Therefore, The stroke forecast of vehicle A is returned at 1540, and the first potential companion B is returned at step 1545₁Stroke forecast.Compare Go out the common section of forecast, shown at 1550.If there is enough common sections, timing standard is verified.It is if fixed When standard also indicate that potential formation companion, then, for the wherein only vehicle (such as ling-distance truck) comprising single rank Some embodiments, vehicle B₁It will be added in potential companion's list of vehicle A.In the vehicle by system administration different stage Some alternate embodiments in, carry out further verifying to determine whether vehicle is same grade at step 1560.It will The step of understanding, verifying grade can be carried out with random order.In addition, in some embodiments, according to scheduled standard pair Vehicle A and vehicle B₁The cost benefit of queue assessed, as shown in step 1565.Then, meet each to be applied The potential companion of test the list of potential companion is added at step 1570, then proceed to step 1575.

If potential pairing fails to comply with any one of these steps for the degree that step 1550 to 1565 is applied Acceptable standard, then the process of Figure 15 B proceed to step 1575, at step 1575, system verified with determine still have Other potential companions need evaluated.If it is, process is recycled to step 1545 for next potential companion.If it does not deposit In more potential companions, process terminates at step 1580.

Referring next to Figure 16 A- Figure 16 E, the visual characterization of highway division is provided to assist understanding compiling for a pair of of vehicle Team's identification in section and the generation for the route that can form into columns.Specifically, Figure 16 A show to split into the section 1600 of section, this In the case of, section is determined by various mileposts, such as 137.1,196.4,233.1 and 255.6.Then, such as institute in Figure 16 B Show, it is known that be unsuitable for form into columns smaller section 1605 and 1610 (such as at 1605 represent gug and 1610 at represent apply Work area domain) it is covered on the section 1600.Therefore, section 1600 can all form into columns other than section 1605 and 1610.

Next, the stroke forecast of vehicle A is applied to section 1600.As shown in fig. 16 c, vehicle A will be in the section On from milepost 137.1 advance to milepost 274.4, represented at 1615.Similarly, the stroke forecast of vehicle B is shown It will advance to 255.8 on the section from mark 123.6, show to represent in Figure 16 D and at 1620.By using identified Section for that can form into columns covers the stroke forecast of vehicle A and B, it can be seen that as shown in Figure 16, the road of forming into columns of vehicle A and B Line 1625 is from mark 137.1 to mark 255.8, other than the descending and construction area represented at 1605 and 1610.

Selection for the vehicle of formation can be mathematically indicated.For example, for the section of Figure 16 A-16E, under Face describes the result shown in Figure 16 E, it is assumed that milepost set of values represents the stroke of each truck on diagram section：

A=[137.1,274.4]

B=[123.6,255.8]

Calculate shared highway trip segment 23：

A ∩ B=[137.1,255.8]

Assuming that the milepost set of values in the section of forming into columns of diagram road：

P=[0,148.7] ∪ [151.3,231.4] ∪ [234.5,354.2]

Calculate the shared highway trip segment 23 that can be formed into columns：

A ∩ B ∩ P=[137.1,148.7] ∪ [151.3,231.4] ∪ [234.5,255.8]

If A ∩ B are sky, then two trucies do not share route.

If A ∩ B ∩ P are sky, then arbitrarily shared route can not all form into columns.

The total length of A ∩ B ∩ P represents the maximum result to form queue, that is, the quantity of the mileage of forming into columns of shared route.

Set representations also form the basis that can search for database for creating current queue chance, wherein, in embodiment, data Every record in library includes at least：

Motorway names, such as " N I-35W " (direction, system, number, optional descriptor)

The milepost numerical value of beginning and end

Minimum starts and maximum stamp expeced time (rough possibility filtering) terminated

Truck identifier, effective time ...

When determining whether to form queue, for driver, fleet operator or other systems operator, shape is assessed Cost-benefit into queue is also all valuable.Therefore, with reference to Figure 17 A, it is possible to understand that assess the one of the cost benefit of queue A little characteristics.As mentioned above, first it is destination arrival time for leading truck sacrifice.The other is each vehicle is with will The ability to form queue is run within the desired period for the speed asked and once queue, which has been formed, maintains the resistance to of queue Power.This leads to the assessment to remaining formation potential, and can be expressed as in embodiment relative to the section that can form into columns away from From.

In some respects, the decision of formation can be considered as " contract " between driver (and in many examples It is authorized by NOC).The contract substantially transfers each vehicle and maintains specific speed in specific time, links and ties up to realize Hold queue.This can be understood from Figure 17 B, wherein converging guiding suggest which kind of speed is maintained to come in spy to each driver Fixed being realized away from discrete time links.However, when situation changes for any vehicle, which can be discarded, and And it is revised converge assessment be more than any one of distance threshold or time restriction.

In addition, the formation maximizing the benefits of truck caravan is made to may mean that for specific truck to selection and non-optimal Formation companion.For four trucies in fleet, A, B, C and D are appointed as, there are three kinds of possible pairings.This can be in mathematics On be expressed as

A-B/C-D, A-C/B-D and A-D/B-C

Wherein len () represents total revenue function, and combinations of pairs can be expressed as：

len(A∩B∩P)>l_en(A ∩ C ∩ P) and len (A ∩ B ∩ P)>len(B∩D∩P)

len(A∩B∩P)+len(C∩D∩P)<len(A∩C∩P)+len(B∩D∩P)

It can be seen that at least some definition for len (), particular vehicle or vehicle are matched to generating maximum return To combination with all vehicles are generated with the pairing of greatest combined income and is differed.Therefore, in some embodiments, Ke Yi NOC levels rather than by individual vehicle come to pairing perform selection.This pairing can include above in association with Figure 11 B institutes easily One or more factors discussed, including distance, time, hours of service etc..

Referring next to Figure 18, the data for collecting the operation about specific truck and fleet's entirety can be preferably understood Embodiment.Various measurement data 1800A-n are provided (including car speed, fuel to central server or onboard system 1810 Consumption, historical data, braking information, gear information, driver's sensor, gap information, weather and slope, more only show Example).Server or other processors 1810 are calculated to measurement (during including per gallon mileage, driver's efficiency, saving, link Between, link availability and several variations) selection.Thus the measurement selected can be shown to driver 1820 or fleet management Person 1830 can be used for providing driver's excitation 1840.Via HMI interface various data can be shown to driver, than Such as, every mile of saving that driver is obtained.

In short, the present invention is provided to vehicle monitoring and the devices, systems, and methods formed into columns, include in some embodiments The various functions escorted for semi-automatic vehicle.The advantages of this system, includes closely following in a manner of safe efficient, convenient Ability and improved fuel economy together, better fleet management.

Although describing the present invention according to several embodiments, there is the variation fallen within the scope of the present invention, repair Change, arrange and substitute and is equivalent.In view of implement many alternatives of the process and apparatus of the present invention, it is intended that by power appended below Such variation, modification, arrangement and the replacement that sharp claim is construed to include falling in the true scope of the present invention are equal.

Claims (6)

1. at least acceleration of multiple vehicles and braking in order to control is configured in a kind of vehicle monitoring and control system, wherein, at least One following vehicle is followed with the arrangement of substantially linear after vehicle is led, and the vehicle monitoring and control system include：

At least one electronic control unit, including at least leading at least acceleration of vehicle and the processing of braking for controlling Device,

Multiple sensors are used to detect the forepart of following vehicle relative to the relative position at the rear portion for leading vehicle, described more A sensor includes at least two in camera, GPS, radar, laser detection and range unit,

At least one actuator, be used to increasing or reducing acceleration and braking and

Formation finder is run in response to the signal from the multiple sensor, to guide at least one electronic control Unit adjusts at least one actuator.

2. at least acceleration of multiple vehicles and braking in order to control is configured in a kind of vehicle monitoring and control system, wherein, at least One following vehicle is followed after vehicle is led, and the vehicle monitoring and control system include：

Remote server is used for the pairing for selecting to lead vehicle and at least one following vehicle, the remote server configuration For by unpaired message communication at least leading vehicle,

At least one of vehicle electronic control unit is led, including the processor for output control signal, the control Signal representative leads the desired acceleration of vehicle and braking at least described,

The receiver on vehicle is led, is configured to receive the unpaired message from the remote server,

Multiple sensors are used to detect the forepart of following vehicle relative to the relative position at the rear portion for leading vehicle, described more A sensor includes at least one of camera, GPS receiver, radar, laser detection and range unit, and generates and represent phase Output to position,

At least one actuator, in response to the control signal so that at least described lead vehicle according to the control signal Come accelerate or brake and

Control program, can in response to the pairing signal received from the remote server and the multiple sensor and It is run at least one electronic control unit, so that at least one electronic control unit is believed according to the pairing Number and at least one of the output for representing relative position export control signal.

3. a kind of method for managing multiple vehicles, the multiple vehicle configuration is makes at least one following vehicle on road The position led after vehicle is remained in, the described method comprises the following steps：

Sense the operation conditions of each following vehicle, wherein the operation conditions include position, wheel velocity, engine temperature, It is multiple in inertia measurement, brake pressure, steering, estimation quality and pedal position,

At least part in the operation conditions of each following vehicle sensed is communicated to processor,

It is led described in being determined in the processor according to the operation conditions of at least one following vehicle sensed Acceptable interval between vehicle and at least one following vehicle and

At least one of actuating air throttle, gear lever, clutch, brake or steering gear cause described at least one follow The personal distance between vehicle and at least one following vehicle is led described in vehicle holding.

4. a kind of be used to manage the method for vehicle route and pairing include the following steps to remote server registered vehicle：

Registered vehicle is configured in the processor,

Start queue mandate monitor program in the processor,

Current vehicular events data are handled in the processor,

Regularly configuration update or status message are received from remote server,

To the remote server offer be directed to registered vehicle state and event data and

The step of repeating the processing, receiving and provide, enables to be based at least partially on the vehicle-state and event Data manage vehicle route and pairing.

5. a kind of respond with the method for carrying out vehicle pairing in advance for generating stroke, include the following steps：

The location information for the first vehicle is received in the processor,

Determine for first vehicle route information whether can be obtained in memory associated with the processor and, If it is, the route information is returned,

If there is no the route information for first vehicle that can obtain in the memory, in the processor based on storage Route can be obtained known to one group in memory to determine the route information for first vehicle,

The position of first vehicle is compared with the route information in the processor,

The position and route information are based at least partially on together with expected speed to determine that first vehicle reaches route On specified path point the minimum and maximum time,

Generation for first vehicle stroke forecast and

By for the stroke of first vehicle forecast communication to teleprocessing unit, it is suitble to and first vehicle with identifying Other vehicles of pairing.

6. a kind of method for identifying potential queue companion includes the following steps：

The stroke forecast for the first vehicle is returned from memory associated with processor,

The stroke forecast at least the second vehicle is returned from memory associated with processor,

The stroke forecast of first vehicle and at least the second vehicle is compared to identification and first vehicle and at least The physics section that the stroke forecast of second vehicle shares,

Determining first vehicle and at least is offered in advance from first vehicle and at least stroke of the second vehicle in the processor Second vehicle whether can with for the acceptable time arrival path point of time standard and

Determining first vehicle and at least second vehicle are offered in advance whether in can be simultaneous from the stroke in the processor In the vehicle teams and groups of appearance.