CN109070893A - The method and system of the risk of the vehicle of queue will be left for determination - Google Patents
The method and system of the risk of the vehicle of queue will be left for determination Download PDFInfo
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- CN109070893A CN109070893A CN201780024931.7A CN201780024931A CN109070893A CN 109070893 A CN109070893 A CN 109070893A CN 201780024931 A CN201780024931 A CN 201780024931A CN 109070893 A CN109070893 A CN 109070893A
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000004590 computer program Methods 0.000 claims abstract description 17
- 230000004888 barrier function Effects 0.000 claims description 34
- 238000001514 detection method Methods 0.000 claims description 2
- 238000004891 communication Methods 0.000 description 31
- 230000000007 visual effect Effects 0.000 description 15
- 230000006870 function Effects 0.000 description 11
- 238000005265 energy consumption Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
- G05D1/0061—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements for transition from automatic pilot to manual pilot and vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
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- G05D1/221—
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- G05D1/43—
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- G05D1/646—
-
- G05D1/69—
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- G05D1/692—
-
- G05D1/81—
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- G05D2109/10—
Abstract
The present invention relates to a kind of for controlling the method for lining up operation of the queue (P1) of the vehicle (1,2,3,4,5,6) along road (R), and each vehicle has the operator of manually-operated vehicle.This method includes the steps that the possible cause that may generate risk when the vehicle determined in queue (P1) from one or more vehicles in queue leaves queue (P1) to the vehicle.This method is further comprising the steps of: the warning for leaving the queue (P1) is provided to the operator of one or more vehicles of queue (P1) in the case where determination may generate the possible cause of risk to queue (P1) is left；The information that queue (P1) can be left safely is provided in the case where determining may not generate the possible cause of risk to queue (P1) is left to the operator of one or more vehicles of queue (P1).The invention further relates to a kind of for controlling the system for lining up operation along road of the queue of vehicle.The invention further relates to a kind of queues.The invention further relates to a kind of computer programs and a kind of computer program product.
Description
Technical field
The present invention relates to a kind of queues as described in the preamble for being used to control vehicle according to claim 1 along road
The method for lining up operation on road.The invention further relates to it is a kind of for control the queue of vehicle along road line up operation be
System.The invention further relates to a kind of vehicles.The invention further relates to a kind of computer programs and a kind of computer program product.
Background technique
Vehicle (such as heavy vehicle) constantly seeks the method for reducing energy consumption, to reduce energy cost and reduce discharge.
A kind of method for reducing energy consumption is that multiple vehicles are operated in chain type formation, also referred to as lines up or operate vehicle in fleet
?.
Line up by obtaining the advantages of reducing air drag using the small distance operation between the vehicle in queue.Just
In normal situation, the speed of the air drag and vehicle of vehicle it is square proportional.By that can be reduced close to front vehicles
The effect of air drag.Therefore, pass through the multiple vehicles of (here shown as queue or lining up) operation, Ke Yitong in chain type formation
It crosses automatic control system and obtains significant fuel reduction.
The known problem of queue is when the vehicle of queue is wanted to leave queue.The member for leaving the queue of queue will produce
Gap between raw subsequent vehicle and front truck.
In order to reduce gap, front vehicles need to reduce its speed or subsequent vehicle needs to increase its speed, or
Both persons combination.Gap subsequent vehicle will be caused due to increased air drag and using additional energy, and if they
Need to increase its speed to catch up with queue, then more very.This will will affect the energy consumption of queue, and can also affect on when driving
Between and brake wear.
Line up the known method of operation in the presence of control, wherein the vehicle of queue is left in consideration.
US20140107867, which discloses the vehicle in queue, can apply leaving queue.Each vehicle of queue can detecte
The case where corresponding side of corresponding vehicle, wherein such letter can be communicated between vehicle in vehicle to vehicle communication arrangement
Breath.Next leading vehicle can determine whether vehicle may exit off queue.
However, it is necessary to which the queue for improving control vehicle along road lines up to operate.
Goal of the invention
A purpose of the invention be to provide it is a kind of for control the queue of vehicle along road line up operation method,
This method facilitate with the vehicle in queue be intended to the case where leaving queue it is associated safety and efficiently drive.
It is a further object of the present invention to provide it is a kind of for control the queue of vehicle along road line up operation be
System, the system facilitate with the vehicle in queue be intended to the case where leaving queue it is associated safety and efficiently drive.
Summary of the invention
The these and other objects shown from being described below by the method as described in accompanying independent claim,
System, vehicle, computer program and computer program product are realized.This method is limited in accompanying independent claim and is
The preferred embodiment of system.
Specifically, the purpose of the present invention is by a kind of for controlling the side for lining up operation along road of the queue of vehicle
Method realizes that each vehicle has the operator of manually-operated vehicle.This method includes one or more vehicles from queue
A step of determining vehicle in the queue may generate the possible cause of risk to the vehicle when leaving queue.This method is also wrapped
Include following steps: in the case where determination may generate the possible cause of risk to queue is left to one or more vehicles of queue
Operator the warning for leaving the queue is provided；It may be not former to the possibility for leaving queue generation risk determining
The information that queue can be left safely is provided because in the case where to the operator of one or more vehicles of queue.
According to an embodiment, this method includes the steps that the vehicle in determining queue leaves the intention of queue.
According to an embodiment, it depends on whether to have determined that vehicle is intended to leave queue, one to queue is provided
Or the operator of multiple vehicles provides the step of warning for leaving the queue.
According to an embodiment, warning can also be provided, irrespective of whether having determined that one or more vehicles are intended to
Leave queue.
According to an embodiment, the risk that warning can depend on leaving queue is classified.Warning may include and can
It can be to information related the reason of leaving queue generation risk.
According to an embodiment, it depends on whether to have determined that vehicle is intended to leave queue, one to queue is provided
Or the operator of multiple vehicles provides the step of can leaving the information of queue safely.According to an embodiment, it can also provide
Such information, irrespective of whether having determined that one or more vehicles are intended to leave queue.
The step of providing the warning for leaving the queue to the operator of one or more vehicles of queue can be
Any suitable warning, such as via the visual alert of display unit (display unit in the instrument group of such as vehicle),
Audible alert (alarm, speech message etc.) and/or tactile alert (vibration etc. of steering wheel).To one of queue or
The operator of multiple vehicles provides the existing man-machine boundary that the step of warning for leaving the queue can use corresponding vehicle
Face HMI, to help to optimize safety in a cost efficient manner.
It can determine that in any suitable manner the vehicle in queue leaves the intention of queue.A vehicle in queue from
Open queue be intended to can be for example in vehicle to vehicle communication arrangement from being intended to leave the vehicle communication of queue to queue
Other vehicles.The intention that a vehicle in queue leaves queue can be for example in infrastructure to vehicle communication arrangement from outside
Sources traffic.The intention that a vehicle in queue leaves queue can be extracted from the plan route of the vehicle of queue, that is, cause from
Open the plan route of the vehicle for being intended to leave queue of queue.The intention that a vehicle in queue leaves queue, which can be, to be come from
It is intended to any suitable signal of the vehicle left.
In this way in the case where determination may generate the possible cause of risk to queue is left to one of queue or
The operator of multiple vehicles provides the warning for leaving the queue and may not generate wind to queue is left determining
The information that queue can be left safely is provided in the case where the possible cause of danger to the operator of one or more vehicles of queue,
Facilitate to the vehicle in queue be intended to the case where leaving queue it is relevant safety and efficiently drive.Thus, it is intended that
The vehicle left will recognize the risk left and therefore can be to avoid leaving or leave in view of the situation, this improves peace
Quan Xing, and determine safety leave in the case where leave queue vehicle need not strategic point increase it is relevant to leaving away from
From this is to help to optimize energy consumption.
According to an embodiment of this method, from one or more vehicles in queue determine a vehicle in the queue from
The step of possible cause of risk may be generated on the vehicle when opening queue include detecting that there may be influence the upper of the queue
The step of stating the possibility barrier of reason.Thus, it is possible to quickly and efficiently provide for without departing from queue with barrier
The information of the reason of form, this further increases safety.
Barrier, which may include in the case that a vehicle in the queue leaves queue, to generate risk to the vehicle
Any barrier, such as outside road user, including exterior vehicle (being not belonging to the vehicle of queue), pedestrian, animal, road
On object etc..It can be with the barrier of external vehicle form and have pulled up in one or more lanes and/or go out with road
The relevant vehicle of mouth.Barrier may include have been moved off queue and due to for example in the prompt in road exit etc. and
One of vehicle of the queue of stopping, such as the first vehicle of queue of many vehicles, wherein another vehicle in queue more posteriorly
It is intended to leave queue.
According to an embodiment of this method, the step for detecting possible barrier includes using the one of queue
Or multiple vehicle on-boards onboard sensor function the step of.
Onboard sensor function may include the sensor unit with the forward sight visual field, for detecting the obstacle of queue fronts
Object.According to an embodiment, at least leading vehicle is provided at least one forward sight onboard sensor unit.
Onboard sensor function may include being arranged to provide the sensor unit in the visual field of observation side, for detecting team
The barrier of the one or both sides of column.The barrier of the side of queue is detected using sensor unit in this way, further
Safety is improved, especially for due to a large amount of vehicles and/or long vehicle in such as queue (such as with the truck of trailer)
With the relatively long queue longitudinally extended.
Onboard sensor function may include the sensor unit with the backsight visual field, for detecting the obstacle at queue rear
Object.According to an embodiment, the end vehicle of at least queue is provided at least one backsight onboard sensor unit.
According to an embodiment of this method, from one or more vehicles in queue determine a vehicle in the queue from
The step of possible cause of risk may be generated to the vehicle when opening queue includes the length and/or vehicle number for considering the queue
The step of amount.Length, such as the barrier of the side by detecting queue are considered in this way, further increase safety.
According to an embodiment of this method, provided to the operator of one or more vehicles of queue described for leaving
The step of warning of queue, includes the steps that the feature for considering to leave.
The feature left may include leaving any feature of queue.The feature left may include by entering road
It exports and leaves.The feature left may include since the speed of queue is too slow or too fast left, wherein the feature left can
To be related to changing into lane into the lane of the side for travelling lane along which in queue extension or travelled in queue
The lane that the opposite side in lane along which extends.The feature left may include leaving so that another queue is added.
Consider to provide the police for leaving the queue with the operator of one or more vehicles to queue in this way
Accuse the relevant feature left, be further improved with the vehicle in queue be intended to the case where leaving queue it is relevant safe and
It is efficient to drive because some feature (such as leaving so as to inlet channel way outlet) without departing from the reason of be due to that will constitute
Risk may not be brought in the case where the barrier for the risk that the opposite side of queue is left.
Including considering that the operator of the one or more vehicles to queue for the feature left is provided for leaving the team
The step of warning of column may include providing specified which feature left/which is characterized in relative warning.Therefore, alert
Announcement, which can specify, leaves composition risk in the side of queue, and it is safe for leaving in the opposite side of queue.
As a result, in the case where the feature left is not related to the specific reasons without departing from queue, vehicle can safely from
Queue is opened, but regardless of the specific reasons.Therefore, in the case where keeping safety, lining up for queue will be more efficient.
Specifically, a purpose of the invention by it is a kind of for control the queue of vehicle along road line up operation
System realizes that each vehicle has the operator of manually-operated vehicle.The system includes for from one or more in queue
A vehicle determines the device that may generate the possible cause of risk when a vehicle in the queue leaves queue to the vehicle.This is
System further include for determination may to leave queue generate risk possible cause in the case where to queue one or more
The operator of vehicle provides the device for leaving the warning of the queue；And for determine may be to not leaving queue
Queue can be left safely by providing in the case where generating the possible cause of risk to the operator of one or more vehicles of queue
Information device.
According to the embodiment of the system, for determining a vehicle in the queue from one or more vehicles in queue
The device for the possible cause that risk may be generated on the vehicle when leaving queue includes that there may be influence the team for detecting
The device of the possibility barrier of the above-mentioned reason of column.
According to the embodiment of the system, the described device for detecting possible barrier includes the institute for using queue
State the device of the onboard sensor function of one or more vehicle on-boards.
According to the embodiment of the system, for determining a vehicle in the queue from one or more vehicles in queue
The device for the possible cause that risk may be generated to the vehicle when leaving queue includes the length for considering the queue
Device and/or the vehicle fleet size for considering the queue device.
According to the embodiment of the system, the operator for one or more vehicles to queue is provided for leaving
The device for stating the warning of queue includes the device of the feature for considering to leave.
For control vehicle queue along road line up operation system be adapted for carrying out method as described herein.
According to corresponding claim to a method, the system according to the present invention is had the advantage that.
Specifically, a purpose of the invention is realized by a kind of queue including system as described herein.
Specifically, a purpose of the invention by it is a kind of for control the queue of vehicle along road line up operation
Computer program realizes that the computer program includes program code, and the program code is when in electronic control unit or connection
Electronic control unit is made to execute method as described herein when running on to another computer of electronic control unit.
Specifically, a purpose of the invention is realized by a kind of computer program product, the computer program product packet
Include the digital storage media of storage computer program.
Detailed description of the invention
For a better understanding of the present invention, when read in conjunction with the accompanying drawings, with reference to following specific embodiments, wherein identical
Appended drawing reference refers to identical part in several views, and wherein:
Fig. 1 a-b schematically shows the queue of the vehicle according to the present invention along road driving；
Fig. 2 schematically shows the column along road of the queue for controlling vehicle of embodiment according to the present invention
The block diagram of the system of team's operation；
Fig. 3 schematically shows the column along road of the queue for controlling vehicle of embodiment according to the present invention
The block diagram of the method for team's operation；And
Fig. 4 schematically shows the computer of embodiment according to the present invention.
Specific embodiment
Hereinafter, term " link " refers to communication link, can be physical connector (such as photoelectric communication line)
Or non-physical connections device (being such as wirelessly connected, such as radio or microwave link).
Hereinafter, term " energy consumption " refers to the energy of one or more vehicles consumption of queue.Term " energy
Consumption " includes the energy consumption due to caused by the driving device of vehicle.The driving device of vehicle can be internal combustion engine, in this feelings
Under condition, energy consumption includes fuel consumption.The driving device of vehicle may include for hybrid vehicle or electric vehicle
Motor, in this case, energy consumption include power consumption.
Fig. 1 a-b schematically shows the queue P1 of the vehicle 1,2,3,4,5,6 according to the present invention along road R traveling.
There are two lane L1, L2 and the queue P1 travelled in right lane L1 for road R tool.
Queue P1 has six vehicles 1 travelling at a distance from each other according to this embodiment, and 2,3,4,5,6, with
Just optimize energy consumption.
Queue P1 has certain total length.Queue P1 include/is connected to system I, for controlling the queue along road
Line up operate.
Queue P1 is the queue operated completely by operator.
System I includes for determining a vehicle in the queue from one or more vehicles 1,2,3,4,5,6 in queue P1
The device 110 of the possible cause of risk may be generated when leaving queue P1 to the vehicle.
Device 110 may include any suitable sensor unit for determining above-mentioned reason.Reason may include
The barrier of road.Device 110 may include being arranged to provide the sensor unit of forward sight visual field F.Device 110 may include cloth
Be set to provide observation side the visual field for detect external cause (such as road user of the one or both sides including queue
Object) sensor unit, and/or be used to detect the sensor unit at queue rear with the backsight visual field.
In fig. 2 a, the sensing that the device 110 of the barrier in front of queue P1 is detected for providing forward sight visual field F is utilized
Device unit detects barrier O on the road in the L2 of lane.
Vehicle 5 is intended to leave queue P1, wherein the feature left includes changing the lane to lane L2, to be more than queue
P1。
Since object O is present in the lane L2 of queue fronts, this may generate risk to queue P1 is left, therefore to meaning
Figure provides the warning for leaving queue P1 in at least operator for the vehicle 5 for leaving queue P1.Here it is considered that the spy left
Sign, that is, the vehicle 5 for being intended to leave queue P1 are intended to leave queue P1, so that the vehicle will be with object O determining in this way
Collision.
In figure 2b, vehicle 5 is just intended to leave queue P1, wherein the feature left includes the road into front of queue P1
Way outlet L1e.
At road way outlet L1e, vehicle V1, V2, V3 just establish troop, the troop may constitute the vehicle of queue P1 not from
The reason of opening queue.It is arranged to provide the sensor unit inspection of the device 110 of one or more vehicles of the queue in the right view visual field
Survey troop's situation.
Due to may be to the troop in the road way outlet L1e in front of the queue P1 for leaving queue P1 generation risk,
Therefore warning for leaving queue P1 is provided at least operator for being intended to leave the vehicle 5 of queue P1.Here it is considered that
The feature left, that is, the vehicle 5 for being intended to leave queue P1 is intended to leave queue P1, so that the vehicle will go out into road
Mouth L1e.In addition, it is contemplated that the length of the P1 of queue and the vehicle fleet size of queue, because vehicle 5 is that have relatively more vehicle
One of the last one of relatively long queue, this helps to detect side, to determine the possible cause occurred at once.Therefore,
The foundation of troop can be in queue P1 by starting when road way outlet P1e.Vehicle 5 still may exit off queue P1, but know
Such case and action appropriate can be taken.
Fig. 2 schematically shows the system I for lining up operation along road of the queue for controlling vehicle.
System I includes electronic control unit 100.Electronic control unit 100 may include that one or more electronic controls are single
Member.Electronic control unit 100 may include one or more electronic control units in the corresponding vehicle of queue.
System I can when including for leaving queue from the determining vehicle in the queue of one or more vehicles in queue
The device 110 of the possible cause of risk can be generated to the vehicle.
It may be to the vehicle when for determining that a vehicle in the queue leaves queue from one or more vehicles in queue
Generate risk possible cause device 110 include for detect there may be influence the queue the reason of possibility obstacle
The device 112 of object.
Device 112 for detecting possible barrier includes one or more of vehicle on-boards for using queue
The device of onboard sensor function.
It may be to the vehicle when for determining that a vehicle in the queue leaves queue from one or more vehicles in queue
The device 110 of the possible cause for generating risk includes device 114 for considering the length of queue.For considering queue
The device 114 of length include device for determining the length of queue.For determining that the device of length of queue may include
The device of the distance between corresponding vehicle for determining queue, it is all the apparatus may include any suitable range sensor
Such as radar cell, camera unit and/or laser scanner unit.For determining that the device of the length of queue may include being used for
The device for determining the length of the corresponding vehicle of queue, the apparatus may include the storing data of corresponding vehicle, the storing data packets
Include the length of vehicle.
It may be to the vehicle when for determining that a vehicle in the queue leaves queue from one or more vehicles in queue
The device 110 of the possible cause for generating risk includes device 116 for considering the vehicle fleet size of the queue.According to
One embodiment, for considering that the device 116 of vehicle fleet size of the queue includes dress for determining the vehicle fleet size of queue
It sets, the apparatus may include the sensor devices and/or communication device for communicating between vehicle.
The system includes in the case where determination may generate the possible cause of risk to queue is left to one of queue
Or the operator of multiple vehicles provides the device 120 for leaving the warning of the queue.
In the case where determination may generate the possible cause of risk to queue is left to one or more vehicles of queue
Operator to provide the device 120 of warning for leaving the queue include sighting device for visual alert.According to one
Embodiment, the sighting device for visual alert include one or more display units, such as on instrument board, windshield
Head-up display etc., for showing the warning, which includes and the wind due to caused by wheel wells and current external condition
The related information in danger.
According to an embodiment, the device 120 for providing warning includes that (such as alarm, voice disappears for aural alert
Breath etc.) audio unit.
According to an embodiment, the device 120 for providing warning includes haptic device, such as vibration/mobile operator
Seat, steering wheel, gas pedal, brake pedal etc., to cause to operator for leaving the attention of queue.Haptic device
Can be the supplement for sighting device and/or audio unit, so as to cause vehicle operator attention.
Operator for from one or more vehicles to queue provides the device 120 for leaving the warning of the queue
It may be constructed the existing Human machine interface of corresponding vehicle, to help to optimize safety in a cost efficient manner.
According to an embodiment, the device 120 for providing warning includes that vehicle to vehicle communication is arranged.Implement according to one
Mode, for provide warning device 120 according to be included in vehicle to vehicle communication arrangement in.
Operator for from one or more vehicles to the queue provides the dress for leaving the warning of the queue
Set 120 include the feature for considering to leave device 122.For considering that the device 122 for the feature left includes for determining
The device 122a for the feature of queue left.
The feature left may include leaving any feature of queue.The feature left may include by entering road
It exports and leaves.The feature left may include since the speed of queue is too slow or too fast left, wherein the feature left can
To be related to changing into lane into the lane of the side for travelling lane along which in queue extension or travelled in queue
The lane that the opposite side in lane along which extends.The feature left may include leaving so that another queue is added.
According to an embodiment, for determining that the device 122a for the feature of queue left includes feature for will leave
Communicate the communication device of other vehicles of queue.Communication device can be for communicating any suitable logical of the feature left
T unit, communication device, which is, for example, vehicle, to be arranged to vehicle communication, such as device described below 140.
The system includes in the case where determining may not generate the possible cause of risk to queue is left to queue
The operator of one or more vehicles provides the device 130 that can leave the information of queue safely.
According to an embodiment, the device 130 for providing information includes in the device 120 for providing warning or wrapping
It includes for providing the device 120 of warning.
Device 130 for providing information may include any suitable sighting device and/or audio unit and/or tactile
Device.
Operator for from one or more vehicles to queue provides the device 130 for leaving the information of the queue
It may be constructed the existing Human machine interface of corresponding vehicle, to help to optimize safety in a cost efficient manner.
According to an embodiment, the device 130 for providing information includes that vehicle to vehicle communication is arranged.Implement according to one
Mode, the device 130 for providing information are included in vehicle into vehicle communication arrangement.
System I include for vehicle to vehicle communication arrangement V2V between the vehicle of queue communication-related information
Device 140, the information placement at in the case where determination may generate the possible cause of risk to queue is left to team
The operator of one or more vehicles of column provides the warning for leaving the queue；It may be to not leaving queue determining
Queue can be left safely by providing in the case where generating the possible cause of risk to the operator of one or more vehicles of queue
Information.
Other vehicles may include single with the device 200 of the communication information, such as one or more electronic controls for receiving
Member etc..
Electronic control unit 100 is operably connected to via link 10 for true from one or more vehicles in queue
A fixed vehicle in the queue may generate the device 110 of the possible cause of risk to the vehicle when leaving queue.Electronic control
Unit 100 is arranged to receive the signal from described device 110 via link 10, and signal expression is used for may be in queue
Vehicle generates the data of the reason of risk.
Electronic control unit 100 is operably connected to that there may be influence the queue for detecting via link 12
The device 112 of the possibility barrier of above-mentioned reason.Electronic control unit 100 is arranged to receive via link 12 from described device
112 signal, the signal are indicated for there may be the data of the barrier for the above-mentioned reason for influencing the queue.
Electronic control unit 100 is operably connected to the dress for considering the vehicle fleet size of the queue via link 16
Set 116.Electronic control unit 100 is arranged to receive the signal from described device 116 via link 14, and signal expression is used for
The data of the vehicle fleet size of the queue.
Electronic control unit 100 is operably connected to the operation to one or more vehicles of queue via link 20a
Person provides the device 120 for leaving the warning of the queue, which includes the device 120 of the feature for considering to leave.
Electronic control unit 100 is arranged to send signal to described device 120 via link 20a, which indicates for may be to wanting
Leave the data for the reason of vehicle in the queue of queue generates risk.
Electronic control unit 100 is operably connected to via link 20b for one or more vehicles to queue
Operator provides the device 120 for leaving the warning of the queue.Electronic control unit 100 is arranged to connect via link 20b
Receive the signal from described device 120, the signal indicate for operator from one or more vehicles to queue provide for
Leave the data of the warning of the queue.
Electronic control unit 100 is operably connected to the device 122 of the feature for considering to leave via link 22.Electricity
Sub-control unit 100 is arranged to receive the signal from described device 122 via link 22, which indicates the spy for leaving
The data of sign.
Electronic control unit 100 is operably connected to via link 30a and may not generate to queue is left determining
The letter that queue can be left safely is provided in the case where the possible cause of risk to the operator of one or more vehicles of queue
The device 130 of breath.Electronic control unit 100 is arranged to send signal to described device 130 via link 30a, which indicates
Data for the vehicle low-risk in the queue to queue to be left.
Electronic control unit 100 is operably connected to via link 30b and may not generate to queue is left determining
The letter that queue can be left safely is provided in the case where the possible cause of risk to the operator of one or more vehicles of queue
The device 130 of breath.Electronic control unit 100 is arranged to receive the signal from described device 130, the signal via link 30b
It is represented to the data of the information that can leave queue safely of the operator of one or more vehicles of queue.
Electronic control unit 100 is operably connected to via link 80 in vehicle to vehicle V2V communication arrangement
The device 140 of communication-related information between the vehicle of queue.Electronic control unit 100 is arranged to via link 40a to described
Device 140 sends signal, which indicates in the case where determination may be to the possible cause for leaving queue generation risk
To the data of the warning for leaving the queue of the operator of one or more vehicles of queue；And for not having in determination
It is possible that leave queue generate risk possible cause in the case where to queue one or more vehicles operator can
To leave the data of the information of queue safely.
Electronic control unit 100 is operably connected to via link 80 in vehicle to vehicle V2V communication arrangement
The device 140 of communication-related information between the vehicle of queue.Electronic control unit 100 is arranged to receive via link 40a
From the signal of described device 140, the signal indicate for determination may to leave queue generate risk possible cause feelings
To the data of the warning for leaving the queue of the operator of one or more vehicles of queue under condition；And for true
It is fixed not may to the possible cause for leaving queue and generating risk in the case where to queue one or more vehicles operator
The information that can leave queue safely data.
For the device 140 of communication-related information to pass through between the vehicle of queue in vehicle to vehicle V2V communication arrangement
Device 200 for communicating and (sending and/or receive information) is operably connected to by link, device 200 is for queue
One or more vehicles device.Device 140 is arranged to send and/or received from described device 200 via the link
Signal, the signal indicate for determination may to leave queue generate risk possible cause in the case where give queue one
The data of the warning for leaving the queue of the operator of a or multiple vehicles；And for determine not may to from
Opening the operator that queue generates in the case where the possible cause of risk to one or more vehicles of queue can leave safely
The data of the information of queue.
Fig. 3 schematically shows the column along road of the queue for controlling vehicle of embodiment according to the present invention
The block diagram of the method for team's operation.
According to the embodiment, the queue for controlling vehicle along the method for lining up operation of road includes step
S1.It in this step, may be to this when determining that a vehicle in the queue leaves queue from one or more vehicles in queue
The possible cause of vehicle generation risk.
According to the embodiment, the queue for controlling vehicle along the method for lining up operation of road includes step
S2.In this step, in the case where determination may generate the possible cause of risk to queue is left to one or more of queue
The operator of a vehicle provides the warning for leaving the queue.
According to the embodiment, the queue for controlling vehicle along the method for lining up operation of road includes step
S3.In this step, in the case where determining may not generate the possible cause of risk to queue is left to one of queue
Or the operator of multiple vehicles provides the information that can leave queue safely.
According to an embodiment, this method includes the steps that vehicle in determining queue leaves the intention of queue.
According to an embodiment, it depends on whether to have determined that vehicle is intended to leave queue, one to queue is provided
Or the operator of multiple vehicles provides the step of warning for leaving the queue.
According to an embodiment, warning can also be provided, irrespective of whether having determined that one or more vehicles are intended to
Leave queue.
According to an embodiment, the risk that warning can depend on leaving queue is classified.Warning may include and can
It can be to information related the reason of leaving queue generation risk.
According to an embodiment, it depends on whether to have determined that vehicle is intended to leave queue, one to queue is provided
Or the operator of multiple vehicles provides the step of can leaving the information of queue safely.According to an embodiment, it can also provide
Such information, irrespective of whether having determined that one or more vehicles are intended to leave queue.
The step of providing the warning for leaving the queue to the operator of one or more vehicles of queue can be
Any suitable warning, such as via the visual alert of display unit (display unit in the instrument group of such as vehicle),
Audible alert (alarm, speech message etc.) and/or tactile alert (vibration etc. of steering wheel).To one of queue or
The operator of multiple vehicles provides the existing man-machine boundary that the step of warning for leaving the queue can use corresponding vehicle
Face HMI, to help to optimize safety in a cost efficient manner.
It can determine that in any suitable manner the vehicle in queue leaves the intention of queue.A vehicle in queue from
Open queue be intended to can be for example in vehicle to vehicle communication arrangement from being intended to leave the vehicle communication of queue to queue
Other vehicles.The intention that a vehicle in queue leaves queue can be for example in infrastructure to vehicle communication arrangement from outside
Sources traffic.The intention that a vehicle in queue leaves queue can be extracted from the plan route of the vehicle of queue, that is, cause from
Open the plan route of the vehicle for being intended to leave queue of queue.The intention that a vehicle in queue leaves queue, which can be, to be come from
It is intended to any suitable signal of the vehicle left.
According to an embodiment of this method, from one or more vehicles in queue determine a vehicle in the queue from
The step of possible cause of risk may be generated on the vehicle when opening queue include detecting that there may be influence the upper of the queue
The step of stating the possibility barrier of reason.
Barrier, which may include in the case that a vehicle in the queue leaves queue, to generate risk to the vehicle
Any barrier, such as outside road user, including exterior vehicle (being not belonging to the vehicle of queue), pedestrian, animal, road
On object etc..It can be with the barrier of external vehicle form and have pulled up in one or more lanes and/or go out with road
The relevant vehicle of mouth.Barrier may include have been moved off queue and due to for example in the prompt in road exit etc. and
One of vehicle of the queue of stopping, such as the first vehicle of queue of many vehicles, wherein another vehicle in queue more posteriorly
It is intended to leave queue.
According to an embodiment of this method, the step for detecting possible barrier includes using the one of queue
Or multiple vehicle on-boards onboard sensor function the step of.
Onboard sensor unit may include the sensor unit with the forward sight visual field, for detecting the obstacle of queue fronts
Object.According to an embodiment, at least leading vehicle is provided at least one forward sight onboard sensor unit.
Onboard sensor unit may include being arranged to provide the sensor unit in the visual field of observation side, for detecting team
The barrier of the one or both sides of column.
Onboard sensor unit may include the sensor unit with the backsight visual field, for detecting the obstacle at queue rear
Object.According to an embodiment, the end vehicle of at least queue is provided at least one backsight onboard sensor unit.
According to an embodiment of this method, from one or more vehicles in queue determine a vehicle in the queue from
The step of possible cause of risk may be generated to the vehicle when opening queue includes the length and/or vehicle number for considering the queue
The step of amount.
According to an embodiment of this method, provided to the operator of one or more vehicles of queue described for leaving
The step of warning of queue, includes the steps that the feature for considering to leave.
The feature left may include leaving any feature of queue.The feature left may include by entering road
It exports and leaves.The feature left may include since the speed of queue is too slow or too fast left, wherein the feature left can
To be related to changing into lane into the lane of the side for travelling lane along which in queue extension or travelled in queue
The lane that the opposite side in lane along which extends.The feature left may include leaving so that another queue is added.
Including considering that the operator of the one or more vehicles to queue for the feature left is provided for leaving the team
The step of warning of column may include providing specified which feature left/which is characterized in relative warning.Therefore, alert
Announcement, which can specify, leaves composition risk in the side of queue, and it is safe for leaving in the opposite side of queue.
With reference to Fig. 4, the figure of equipment 500 is shown.According to an embodiment, it can wrap with reference to Fig. 2 control unit 100 described
Include equipment 500.Equipment 500 includes nonvolatile memory 520, data processing equipment 510 and read/writable memory device 550.It is non-volatile
Property memory 520 have first memory part 530, wherein storage computer program (such as operating system), for control set
Standby 500 function.In addition, equipment 500 include bus control unit, communication port, I/O device, A/D converter, when every other day
Phase input and transmission unit, event counter and interrupt control unit (not shown).Nonvolatile memory 520 also has second to deposit
Reservoir portion 540.
There is provided a kind of computer program P comprising for controlling the journey for lining up operation along road of the queue of vehicle
Sequence.Program P includes the routine that a vehicle for determining in queue leaves the intention of queue.Program P includes for from queue
One or more vehicles determine the possible cause that may generate risk when a vehicle in the queue leaves queue to the vehicle
Routine.Program P include in the case where determination may generate the possible cause of risk to queue is left to the one of queue
The operator of a or multiple vehicles provides the routine for leaving the warning of the queue.Program P includes for not having in determination
May to leave queue generate risk possible cause in the case where to queue one or more vehicles operator provide can
To leave the routine of the information of queue safely.For from one or more vehicles in queue determine a vehicle in the queue from
The routine for the possible cause that risk may be generated on the vehicle when opening queue includes that there may be influence the queue for detecting
Above-mentioned reason possibility barrier routine.Routine for detecting possible barrier includes described one for using queue
The routine of the onboard sensor function of a or multiple vehicle on-boards.For determining from one or more vehicles in queue in queue
In the routine of the vehicle possible cause that may generate risk to the vehicle when leaving queue include described for considering
The length of queue and/or the routine of vehicle fleet size.Operator for from one or more vehicles to queue is provided for leaving
The routine of the warning of the queue includes the routine of the feature for considering to leave.Computer program P can be with executable side
Formula is stored in individual memory 560 and/or read/writable memory device 550 with the state of compression.
When claim data processing equipment 510 executes some function, it should be understood that data processing equipment 510 executes storage
Some part of program in individual memory 560, or some portion of program being stored in read/writable memory device 550
Point.
Data processing equipment 510 can be communicated by means of data/address bus 515 with data communication port 599.It is non-volatile to deposit
Reservoir 520 is suitable for communicating via data/address bus 512 with data processing equipment 510.Individual memory 560 is suitable for total via data
Line 511 is communicated with data processing equipment 510.Read/writable memory device 550 is suitable for via data/address bus 514 and data processing equipment 510
Communication.Such as it is connected to the link of control unit 100 and may be coupled to data communication port 599.
When receiving data in data port 599, it is temporarily stored in second memory part 540.When being connect
When the input data of receipts has been temporarily stored, data processing equipment 510 is arranged to execute code in the above described manner.In data terminal
Received signal can determine a vehicle in the queue by one or more vehicles that equipment 500 is used for from queue on mouth 599
The possible cause of risk may be generated when leaving queue to the vehicle.Received signal can be by setting in data port 599
Standby 500 are used for one or more vehicles in the case where determination may generate the possible cause of risk to queue is left to queue
Operator the warning for leaving the queue is provided.Received signal can be used for by equipment 500 in data port 599
In the case where determining may not generate the possible cause of risk to queue is left to the behaviour of one or more vehicles of queue
Author provides the information that can leave queue safely.For determining a vehicle in the queue from one or more vehicles in queue
The signal for the possible cause that risk may be generated the vehicle when leaving queue include that there may be described in influence for reason detection
The signal of the possibility barrier of the above-mentioned reason of queue.Signal for detecting possible barrier includes the institute for using queue
State the signal of the onboard sensor function of one or more vehicle on-boards.For being determined from one or more vehicles in queue
It includes for considering that a vehicle in queue, which may generate the signal of the possible cause of risk to the vehicle when leaving queue,
The length of the queue and/or the signal of vehicle fleet size.For operator from one or more vehicles to queue provide for
The signal for leaving the warning of the queue includes the routine of the feature for considering to leave.
The a part of of method described herein can be stored in individual memory 560 or read/write store by means of operation
The data processing equipment 510 of program in device 550 is executed by equipment 500.When equipment 500 runs program, execute here
A part of the method for description.
The foregoing description to the preferred embodiment of the present invention has been provided for the purpose of showing and describsion.It is not
It is intended to exhaustion or limits the invention to disclosed precise forms.It is apparent that many modifications and variations are for art technology
It is obvious for personnel.Selection and description embodiment be in order to best explain the principle and its practical application of the present invention,
So that others skilled in the art are it will be appreciated that various embodiments of the invention and having and being suitable for expected spy
Determine the various modifications of purposes.
Claims (13)
1. one kind is used to control the queue (P1) of vehicle (1,2,3,4,5,6) along the method for lining up operation of road (R), each
Vehicle has the operator of manually-operated vehicle, and the method includes determining from one or more vehicles in queue in queue
(P1) the step of vehicle in may generate the possible cause of risk to the vehicle when leaving queue (P1), it is characterised in that with
Lower step:
In the case where determination may generate the possible cause of risk to queue (P1) is left to the one or more of queue (P1)
The operator of vehicle provides the warning for leaving the queue (P1)；
In the case where determining may not generate the possible cause of risk to queue (P1) is left to one of queue (P1) or
The operator of multiple vehicles provides the information that can leave queue (P1) safely.
2. according to the method described in claim 1, wherein true from one or more vehicles (1,2,3,4,5,6) in queue (P1)
The step of vehicle being scheduled in queue (P1) may generate the possible cause of risk to the vehicle when leaving queue (P1) include
Detect the step of there may be the possibility barriers for the above-mentioned reason for influencing the queue (P1).
3. according to the method described in claim 2, the step for wherein detecting possible barrier includes using queue (P1)
The step of onboard sensor function of one or more of vehicle on-boards.
4. method according to any one of claim 1-3, wherein being determined from one or more vehicles in queue (P1)
A step of vehicle in queue (P1) may generate the possible cause of risk to the vehicle when leaving queue (P1) is wrapped
The step of including the vehicle fleet size of the length and/or the queue that consider the queue (P1).
5. method according to any one of claim 1-3, wherein the operation of one or more vehicles to queue (P1)
Person provides the step of warning for leaving the queue (P1) and includes the steps that considering the feature left.
6. the system for lining up operation along road (R) of queue (P1) of the one kind for controlling vehicle (1,2,3,4,5,6)
(I), each vehicle has the operator of manually-operated vehicle, and the system comprises be used for from one or more of queue (P1)
Vehicle determines the dress that may generate the possible cause of risk when the vehicle in queue (P1) leaves queue (P1) to the vehicle
Set (110), which is characterized in that in the case where determination may generate the possible cause of risk to queue (P1) is left to team
The operator for arranging one or more vehicles of (P1) provides the device (120) for leaving the warning of the queue (P1)；And
For in the case where determining may not generate the possible cause of risk to queue (P1) is left to one of queue (P1) or
The operator of multiple vehicles provides the device (130) that can leave the information of queue (P1) safely.
7. system according to claim 6, wherein determining for one or more vehicles from queue (P1) in queue
(P1) device (110) for the possible cause that the vehicle in may generate risk to the vehicle when leaving queue (P1) includes being used for
There may be the devices (112) of the possibility barrier for the above-mentioned reason for influencing the queue (P1) for detection.
8. system according to claim 7, wherein the device (112) for detecting possible barrier includes for using team
Arrange the device of the onboard sensor function of one or more of vehicle on-boards of (P1).
9. system a method according to any one of claims 6-8, wherein for one or more vehicles from queue (P1)
Determine the dress that may generate the possible cause of risk when the vehicle in queue (P1) leaves queue (P1) to the vehicle
Setting (110) includes the device (114) for considering the length of the queue (P1) and/or the vehicle number for considering the queue
The device (116) of amount.
10. the system according to any one of claim 6-9, wherein for one or more vehicles to queue (P1)
The device (120) of warning of operator's offer for leaving the queue (P1) includes the device of the feature for considering to leave
(122)。
11. a kind of queue (P1) of vehicle (1,2,2,4,5,6), including the system according to any one of claim 6-10
(I)。
12. a kind of for controlling the computer program (P) for lining up operation along road of the queue of vehicle, the computer journey
Sequence (P) includes program code, and said program code is worked as in electronic control unit (100) or is connected to electronic control unit (100)
Another computer (500) on make electronic control unit execute step described in -5 according to claim 1 when running.
13. a kind of computer program product, the stored digital including storing computer program according to claim 12 is situated between
Matter.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1650545A SE540620C2 (en) | 2016-04-22 | 2016-04-22 | Method and system for determining risks for vehicles about leaving a platoon |
| SE1650545-5 | 2016-04-22 | ||
| PCT/SE2017/050380 WO2017184062A1 (en) | 2016-04-22 | 2017-04-13 | Method and system for determining risks for vehicles about to leave a platoon |
Publications (1)
| Publication Number | Publication Date |
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| CN109070893A true CN109070893A (en) | 2018-12-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201780024931.7A Pending CN109070893A (en) | 2016-04-22 | 2017-04-13 | The method and system of the risk of the vehicle of queue will be left for determination |
Country Status (4)
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|---|---|
| EP (1) | EP3445627A4 (en) |
| CN (1) | CN109070893A (en) |
| SE (1) | SE540620C2 (en) |
| WO (1) | WO2017184062A1 (en) |
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| US8744666B2 (en) | 2011-07-06 | 2014-06-03 | Peloton Technology, Inc. | Systems and methods for semi-autonomous vehicular convoys |
| US10520581B2 (en) | 2011-07-06 | 2019-12-31 | Peloton Technology, Inc. | Sensor fusion for autonomous or partially autonomous vehicle control |
| US11334092B2 (en) | 2011-07-06 | 2022-05-17 | Peloton Technology, Inc. | Devices, systems, and methods for transmitting vehicle data |
| US20170242443A1 (en) | 2015-11-02 | 2017-08-24 | Peloton Technology, Inc. | Gap measurement for vehicle convoying |
| US10520952B1 (en) | 2011-07-06 | 2019-12-31 | Peloton Technology, Inc. | Devices, systems, and methods for transmitting vehicle data |
| WO2018039134A1 (en) | 2016-08-22 | 2018-03-01 | Peloton Technology, Inc. | Automated connected vehicle control system architecture |
| US20180210463A1 (en) | 2013-03-15 | 2018-07-26 | Peloton Technology, Inc. | System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles |
| US11294396B2 (en) | 2013-03-15 | 2022-04-05 | Peloton Technology, Inc. | System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles |
| JP7005526B2 (en) | 2016-05-31 | 2022-01-21 | ぺロトン テクノロジー インコーポレイテッド | State machine of platooning controller |
| US10369998B2 (en) | 2016-08-22 | 2019-08-06 | Peloton Technology, Inc. | Dynamic gap control for automated driving |
| JP2019159428A (en) * | 2018-03-07 | 2019-09-19 | 本田技研工業株式会社 | Vehicle control device, vehicle control method and program |
| US10899323B2 (en) | 2018-07-08 | 2021-01-26 | Peloton Technology, Inc. | Devices, systems, and methods for vehicle braking |
| US10762791B2 (en) | 2018-10-29 | 2020-09-01 | Peloton Technology, Inc. | Systems and methods for managing communications between vehicles |
| US11427196B2 (en) | 2019-04-15 | 2022-08-30 | Peloton Technology, Inc. | Systems and methods for managing tractor-trailers |
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Also Published As
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| WO2017184062A1 (en) | 2017-10-26 |
| EP3445627A1 (en) | 2019-02-27 |
| SE540620C2 (en) | 2018-10-02 |
| SE1650545A1 (en) | 2017-10-23 |
| EP3445627A4 (en) | 2019-10-09 |
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Application publication date: 20181221 |