DE102017010429A1 - Method of forming a loosely coupled vehicle body - Google Patents

Abstract

The invention relates to a method for forming a loosely coupled vehicle body (1) from a first motor vehicle (8) and at least one second motor vehicle (2, 4a, 4b, 4c, 6) or for integration of a first motor vehicle (8) in a loosely coupled Vehicle association to which at least one second motor vehicle (2, 4a, 4b, 4c, 6) is already attached, wherein a direct or indirect vehicle-to-vehicle communication between the motor vehicle in the association (8) and the at least one second motor vehicle (2 , 4a, 4b, 4c, 6) and / or vehicle-to-X communication between the first motor vehicle (8) and an infrastructure (X) external to the vehicle group (1). The invention provides that power, status and / or functional data about the power, the state and / or the functionality of at least one assembly of the first motor vehicle (8) are generated, and that the initialization message the Leistungsge-, state and / or functionality data of the at least one subassembly of the first motor vehicle (8), and that the acceptance message and / or the disapproval message is formed depending on the performance, status and / or operational data of the at least one subassembly of the first motor vehicle (8) ( become).

Description

The invention relates to a method for forming a loosely coupled vehicle body from a first motor vehicle and at least one second motor vehicle or for incorporation of a first motor vehicle in a loosely coupled vehicle body, the at least one second motor vehicle is already affiliated, according to the preamble of claim 1.

Such a loosely coupled vehicle body comprises at least a first and a last and possibly medium-sized motor vehicles. It is known, motor vehicles coupled electronically, distance and cross-regulated as close as possible to drive one behind the other. The respective following motor vehicle is optically oriented on the motor vehicle ahead. All motor vehicles are equipped with sensors for blind spot and rear space monitoring and lane orientation as well as means for at least vehicle-to-vehicle communication. Such loosely coupled vehicle or vehicle body panels are generally referred to in the literature as "platoon".

The vehicles are coupled via appropriate driver assistance systems for automatic distance control (also known as ACC systems - Adaptive Cruise Control) not mechanically but electronically coupled. For this purpose, the current distance of the vehicle in front can be determined via a sensor in the vehicle behind it and the distance to a predetermined desired value, for. B. 8 m, are regulated. Radar sensors or lidar sensors can be used for distance measurement, for example.

With narrow column travel during journeys starting from approx. 80 km / h the air resistances of the column vehicles can be reduced by up to 30%. In this case, distances in the range of 8 m to 20 m between the preceding vehicle and the following motor vehicle are typically favorable in order to achieve a significant reduction of the air resistance. The smaller the distances between the motor vehicles involved, the smaller the air resistance of the individual motor vehicles. To significantly reduce air resistance due to the small distances higher demands on the driver assistance systems for automatic distance maintenance.

Exemplary methods for the electronic coupling of vehicles via driver assistance systems are known in DE 10 2007 046 765 A1 or EP 1 569 183 A2 rubbed.

• - Einhalten eines kurzen Längsabstands der beteiligten Fahrzeuge untereinander (z.B. 8m - 20m) mit einer definierten Toleranz.
• - Automatische Querführung der Folgefahrzeuge möglichst exakt in der Spur des Führungsfahrzeugs.
• - Sicherstellen der Stabilität des Fahrzeugverbands, d.h. insbesondere Vermeiden des „Ziehharmonika-Effekts“ (Kettenstabilität - string stability), der nicht nur zu einem erhöhten Verbrauch führt, sondern auch die Gefahr von Auffahrunfällen signifikant erhöht. Die Kettenstabilität ist dabei für Längs- und Querführung einzuhalten.
• - Kleine Änderungen in der Geschwindigkeit der vorausfahrenden Kraftfahrzeuge des Fahrzeugverbands dürfen nicht von den nachfolgenden Kraftfahrzeugen verstärkt ausgeführt werden.
• - Für die Führung in Querrichtung darf es bei den nachfolgenden Kraftfahrzeugen nicht zu einem Schneiden von Kurven und damit zu einem Verlassen der Fahrspur kommen.
• - Ausreichend schnelle Bremsreaktion der Folgefahrzeuge bei starkem Bremsen des Führungsfahrzeugs zur Vermeidung von Auffahrunfällen.

The following requirements apply to the control and regulation of a vehicle association:

• - Maintaining a short longitudinal distance between the vehicles involved (eg 8m - 20m) with a defined tolerance.
• - Automatic lateral guidance of the following vehicles as accurately as possible in the lane of the leading vehicle.
• - Ensuring the stability of the vehicle body, ie in particular avoiding the "accordion effect" (chain stability - string stability), which not only leads to increased consumption, but also significantly increases the risk of rear-end collisions. The chain stability is to be observed for longitudinal and transverse guidance.
• - Small changes in the speed of the vehicles in front of the vehicle association must not be exacerbated by the following motor vehicles.
• - For the leadership in the transverse direction may not come in the following vehicles to a cutting of curves and thus to leave the lane.
• - Sufficiently fast braking reaction of the following vehicles with heavy braking of the leading vehicle to avoid rear-end collisions.

Due to different technical equipment and characteristics of vehicles involved in a vehicle association, such as e.g. Engine performance, performance of the service or service brake, vehicle configuration, load condition and tire characteristics of the enzelfahrzeuge compliance with the above requirements is often difficult.

A generic method is in DE 10 2007 024 877 A1 described, wherein the vehicle identification data identify the vehicles of the vehicle association and a vehicle-to-vehicle communication between vehicles of the vehicle association. In this case, a first vehicle initiates the formation of the vehicle association via a vehicle-to-vehicle communication device by sending an initialization message to surrounding vehicles, the surrounding vehicles accepting the initiation of the vehicle association by sending an acceptance message or a reject message to the first vehicle based on the received initialization message or reject. Thus, it can be prevented that motor vehicles are included in a vehicle body, which is actually of at least a part of the vehicles of the Vehicle Association not be desired in the vehicle association.

The present invention has for its object to further develop a method of the type described above such that the safety and the economy in the operation of vehicle assemblies consisting of loosely coupled vehicles is increased.

Dese object solved by the features of claim 1.

Disclosure of the invention

1. a) eine Fahrzeug-zu-Fahrzeug-Kommunikation zwischen dem ersten Kraftfahrzeug und dem wenigstens einen zweiten Kraftfahrzeug und/oder eine Fahrzeug-zu-X-Kommunikation zwischen dem ersten Kraftfahrzeug und einer in Bezug auf den Fahrzeugverband externen Infrastruktur erfolgt, und wobei
2. b) das erste Fahrzeug die Bildung des Fahrzeugverbands oder seine Angliederung an den Fahrzeugverband durch Aussendung einer Initialisierungsnachricht an das wenigstens eine zweite Kraftfahrzeug und/oder an die Infrastruktur initiiert, und
3. c) das wenigstens eine zweite Kraftfahrzeug und/oder die Infrastruktur auf der Basis der Initialisierungsnachricht die Bildung des Fahrzeugverbands oder die Angliederung des ersten Kraftfahrzeugs an den Fahrzeugverband durch Aussendung einer Akzeptanznachricht akzeptiert oder durch Aussenden einer Ablehnungsnachricht an das erste Kraftfahrzeug ablehnt,

The invention relates to a method for forming a loosely coupled vehicle body of a first motor vehicle and at least one second motor vehicle or for incorporation of a first motor vehicle in a loosely coupled vehicle body, the at least one second motor vehicle is already affiliated, wherein

1. a) a vehicle-to-vehicle communication between the first motor vehicle and the at least one second motor vehicle and / or a vehicle-to-X communication between the first motor vehicle and an external infrastructure with respect to the vehicle association takes place, and wherein
2. b) the first vehicle initiates the formation of the vehicle association or its affiliation with the vehicle association by sending an initialization message to the at least one second motor vehicle and / or to the infrastructure, and
3. c) the at least one second motor vehicle and / or the infrastructure on the basis of the initialization message accepted the formation of the vehicle association or the affiliation of the first motor vehicle to the vehicle association by sending an acceptance message or rejects by sending a reject message to the first motor vehicle,

An external infrastructure is to be understood as meaning a mobile or stationary unit or structure, which is arranged externally or outside the vehicle association and is provided with the necessary authority, the formation of a vehicle group consisting of loosely coupled motor vehicles or an integration of the first motor vehicle to allow or reject an existing vehicle association of loosely coupled motor vehicles. Such an external infrastructure may, in particular, be a public, public or local authority. The communication between a motor vehicle and such an infrastructure is carried out by a so-called. Vehicle-to-X communication.

• d) Leistungs-, Zustands- und/oder Funktionstüchtigkeitsdaten über die Leistung, den Zustand und/oder über die Funktionstüchtigkeit von wenigstens einer Baugruppe des ersten Kraftfahrzeugs erzeugt werden, und dass
• e) die Initialisierungsnachricht die Leistungs-, Zustands- und/oder Funktionstüchtigkeitsdaten der wenigstens einen Baugruppe des ersten Kraftfahrzeugs beinhaltet, und dass
• f) die Akzeptanznachricht und/oder die Ablehnungsnachricht abhängig von den Leistungs-, Zustands- und/oder Funktionstüchtigkeitsdaten der wenigstens einen Baugruppe des ersten Kraftfahrzeugs gebildet wird (werden).

According to the invention, it is provided that

• d) power, condition and / or performance data on the performance, the condition and / or the functionality of at least one assembly of the first motor vehicle are generated, and that
• e) the initialization message includes the performance, status and / or functionality data of the at least one assembly of the first motor vehicle, and that
• f) the acceptance message and / or the refusal message is (are) formed depending on the performance, status and / or functionality data of the at least one assembly of the first motor vehicle.

The term "assembly of the first motor vehicle" should be broad and include individual components as well as built from a variety of components complex assemblies. In particular, such an assembly should be understood to mean an assembly which, with regard to operating the first motor vehicle within a vehicle group of vehicles connected loosely together, represents an assembly which is relevant from a safety or economic point of view and which has an influence on the safety and / or economy of the vehicle Operation of such a vehicle association.

A safety-relevant module represents, for example, the service brake device and an economically relevant subassembly of the first motor vehicle, for example the prime mover. Thus, if, for example, the braking capacity of the first motor vehicle is too low to carry out emergency braking triggered by a leading vehicle of the vehicle association with a certain minimum delay, this is so because of the risk of a rear-end collision of the first motor vehicle on the motor vehicle driving ahead is a safety-relevant aspect, which leads to the emission of a refusal message. If, for example, the drive power of the first motor vehicle is too low, for example, or the load is too great, so that the first motor vehicle can follow the motor vehicle association at a predefined speed, for example along an incline, this can also be a reason for emitting under (time) economic aspects a refusal message. From the economic point of view, for example, an insufficient energy reserve for the prime mover and, associated therewith, too short a range of the first motor vehicle are also incurred. Below, further examples of assemblies of the first motor vehicle are cited, their performance, condition and / or functionality an influence on it have whether an acceptance message or a refusal message is formed and sent out.

The performance, state and / or functional data of the at least one module of the first motor vehicle then form an index or parameter for the vehicle column capability of the first motor vehicle or on the basis of the performance, status and / or functional data of the at least one module of the first Motor vehicle is an index or characteristic for the vehicle crew capability of the first motor vehicle formed.

Preferably, therefore, the acceptance message and / or the refusal message is / are formed depending on whether the performance, status and / or functionality data of the at least one assembly of the first motor vehicle exceeds or falls below at least one predefined threshold value.

In other words, the acceptance or rejection for the formation of the vehicle association or for the incorporation of the first motor vehicle into the vehicle association depends on the performance, status and / or functional data of at least one module of the first motor vehicle. This assembly may have particular effects on safe and / or economical operation of the vehicle association, but is not limited to these two aspects.

Should it turn out, therefore, that the performance, state and / or functional data of at least one module of the first motor vehicle point to a state of this module, which is a formation of a vehicle association of the first motor vehicle and another, at least one second motor vehicle or an integration of the If the first motor vehicle in the vehicle group appears to be unsuitable or dangerous in various aspects, such a formation or incorporation may be rejected in the form of a refusal message then generated. In addition, measures may be taken to prevent such formation or incorporation.

The method according to the invention consequently increases at least the safety and economy of an operation of vehicle assemblies formed from loosely coupled motor vehicles, because no motor vehicles are permitted in the vehicle bodies in which assemblies that are relevant for a smooth operation of a vehicle body are defective, worn or failed.

The measures listed in the dependent claims advantageous refinements and improvements of the first aspect of the invention are possible.

1. a) eine Antriebsmaschine des ersten Kraftfahrzeugs, welche beispielsweise eine Brennkraftmaschine und/oder einen Elektromotor sowie Anbauteile wie Einspritzanlage, Abgasnachbehandlungs- und Abgasreinigungsanlage umfasst,
2. b) eine elektrische Lenkeinrichtung des ersten Kraftfahrzeugs, welche beispielsweise eine elektronische Lenksteuerung, einen elektrischen Lenksteller und einen Lenkradwinkelsensor umfasst,
3. c) eine Betriebsbremseinrichtung des ersten Kraftfahrzeugs, welche beispielsweise eine elektro-pneumatische oder elektro-hydraulische oder elektro-mechanische Betriebsbremseinrichtung ist und einen Signalerzeuger zur Erzeugung eines Betriebsbremsanforderungssignals, ein elektronisches Betriebsbremssteuergerät sowie wenigstens einen elektrisch betätigbaren Betriebsbremsaktuator umfasst,
4. d) eine Parkbremseinrichtung des ersten Kraftfahrzeugs, welche beispielsweise eine elektro-pneumatische oder elektro-hydraulische oder elektro-mechanische Parkbremseinrichtung ist und einen Signalerzeuger zur Erzeugung eines Parkbremsanforderungssignals, ein elektronisches Parkbremssteuergerät sowie wenigstens einen elektrisch betätigbaren Parkbremsaktuator umfasst,
5. e) eine Speichereinrichtung, welche Antriebsenergie für die Antriebsmaschine des ersten Kraftfahrzeugs speichert, welche beispielsweise im Falle einer Brennkraftmaschine als Antriebseinrichtung einen Tank für Benzin oder Diesel und im Falle eines Elektromotors als Antriebseinrichtung eine Batterie oder einen Akkumulator zur Speicherung von elektrischer Energie umfasst,
6. f) eine Fahrzeug-zu-Fahrzeug-Kommunikationseinrichtung, welche beispielsweise eine Sende- und Empfangseinrichtung für eine Fahrzeug-zu-Fahrzeug-Kommunikation umfasst,
7. g) eine Fahrzeug-zu-X-Kommunikationseinrichtung, welche beispielsweise eine Sende- und Empfangseinrichtung für eine Fahrzeug-zu-X-Kommunikation umfasst,
8. h) eine Beleuchtungseinrichtung des ersten Kraftfahrzeugs, welche beispielsweise Rückleuchten, Hauptscheinwerfer, Tagfahrlicht, Bremsleuchten, Rückfahrleuchten und/oder Seitenleuchten umfasst,
9. i) eine Personenrückhalteeinrichtung des ersten Kraftfahrzeugs, welche beispielsweise jeweils einen Gurt für den Fahrer und für mit dem Kraftfahrzeug beförderte Personen umfasst,
10. j) eine Airbag-Einrichtung des ersten Kraftfahrzeugs, welche beispielsweise einen Fahrerairbag, einen Beifahrerairbag und evtl. Seitenairbags umfasst,
11. k) eine Reifendruckkontrolleinrichtung des ersten Kraftfahrzeugs, welche beispielsweise Reifendrucksensoren umfasst, welche den Reifendruck reifenweise erfassen und an eine elektronische Reifendruckauswerteeinrichtung melden,
12. l) eine Abstandsfolgeregelungseinrichtung (ACC) des ersten Kraftfahrzeugs, welche beispielsweise eine Abstands- und Geschwindigkeitssensorik sowie ein elektronisches Steuergerät umfasst, welches auf der Basis von der von der Abstands- und Geschwindigkeitssensorik erfassten Relativabstand und/oder erfassten Relativgeschwindigkeit zu einem vorausfahrenden Kraftfahrzeug einen bestimmten Relativabstand und/oder eine bestimmte Relativgeschwindigkeit einregelt,
13. m) eine Fahrzeugfolgeeinrichtung, durch welche das erste Fahrzeug einer durch ein voraus fahrendes Fahrzeug oder durch den Fahrzeugverband vorgegebenen Trajektorie automatisch nachfolgt,
14. n) eine redundante Einrichtung, welche eine Redundanz für den Fall des Ausfalls oder Fehlers in wenigstens einer der vorstehenden Einrichtungen gemäß Buchstaben a) bis m) bildet.

According to a preferred embodiment of the at least one module of the first motor vehicle, via which the power, status and / or functional data are generated, at least one of the following (safety-relevant) modules comprises:

1. a) an engine of the first motor vehicle, which includes, for example, an internal combustion engine and / or an electric motor and attachments such as injection system, exhaust aftertreatment and emission control system,
2. b) an electrical steering device of the first motor vehicle, which comprises, for example, an electronic steering control, an electric steering actuator and a steering wheel angle sensor,
3. c) a service brake device of the first motor vehicle, which is, for example, an electro-pneumatic or electro-hydraulic or electro-mechanical service brake device and comprises a signal generator for generating a service brake request signal, an electronic service brake control device and at least one electrically operable service brake actuator,
4. d) a parking brake device of the first motor vehicle, which is, for example, an electro-pneumatic or electro-hydraulic or electro-mechanical parking brake device and comprises a signal generator for generating a parking brake request signal, an electronic parking brake control device and at least one electrically actuatable parking brake actuator,
5. e) a memory device, which stores drive energy for the prime mover of the first motor vehicle, which comprises, for example, in the case of an internal combustion engine as drive means a tank for gasoline or diesel and in the case of an electric motor as drive means a battery or a storage battery for storing electrical energy,
6. f) a vehicle-to-vehicle communication device comprising, for example, a transmission and reception device for a vehicle-to-vehicle communication,
7. g) a vehicle-to-X communication device comprising, for example, a transmission and reception device for a vehicle-to-X communication,
8. h) a lighting device of the first motor vehicle, which, for example Taillights, headlamps, daytime running lights, brake lights, reversing lights and / or side lights,
9. i) a passenger restraint device of the first motor vehicle, which comprises, for example, in each case a belt for the driver and for persons carried by the motor vehicle,
10. j) an airbag device of the first motor vehicle, which comprises, for example, a driver airbag, a front passenger airbag and possibly side airbags,
11. k) a tire pressure monitoring device of the first motor vehicle, which comprises tire pressure sensors, for example, which detect the tire pressure in tires and report them to an electronic tire pressure evaluation device,
12. l) a distance sequence control device (ACC) of the first motor vehicle, which includes, for example, a distance and speed sensor and an electronic control unit, which on the basis of the detected by the distance and speed sensor relative distance and / or detected relative speed to a preceding motor vehicle a certain relative distance and / or regulates a certain relative speed,
13. m) a vehicle following device, by means of which the first vehicle automatically follows a trajectory predetermined by a preceding vehicle or by the vehicle association,
14. n) a redundant device, which forms a redundancy in the event of failure or fault in at least one of the above devices according to letters a) to m).

The above list of assemblies relevant to the operation of the first motor vehicle within a vehicle group of mutually loosely connected motor vehicles is not exhaustive.

For example, in the case of a) a prime mover of the first motor vehicle have a fault or defect, which causes the maximum speed of the first motor vehicle is reduced so far that driving in the vehicle association with a higher travel speed provided there is not possible, so would first vehicle the vehicle association can not follow or the cruising speed of the vehicle association would have to be reduced.

For example, if in case b) the electric steering device of the first motor vehicle have a fault or defect, which means that the first motor vehicle in a turn situation can not turn together with the second motor vehicle or with the vehicle association, so could a common ride within a vehicle association not take place.

If, for example, in case c) the service brake device of the first motor vehicle has a fault or defect, this could lead to a reduced braking effect. In particular, an achievable by the service brake device of the first motor vehicle maximum delay, for example, be less than a minimum delay, which is specified or required when driving within a loosely coupled vehicle body, whereby a minimum relative distance of the first motor vehicle could not be maintained to a driving within the vehicle association motor vehicle when the vehicle association is about to cause an abrupt emergency stop.

If, for example, in case d) in combination with the case n), a parking brake device of the first motor vehicle forms a redundancy for a faulty or failed service brake device of the first motor vehicle, when the first motor vehicle is in motion, and then also has a fault or defect, then This could lead to a reduced redundant braking effect, which in an operation of the first motor vehicle within a motor vehicle association has the disadvantages and consequences already described above in connection with a defective service brake device. Furthermore, the case d) is also conceivable insulated in which the vehicle convoy or the vehicle body is to be parked for some time on a slope and then at a defective parking brake device of the first motor vehicle there is a risk that the first motor vehicle comes rolling.

If, for example, in the case of e) a memory device which stores drive energy for the prime mover of the first motor vehicle stores too low a level or storage level of drive energy, this can lead to the joint drive of the vehicle association being interrupted in the case of a first vehicle attached to the vehicle group must be to increase the level or the memory level of the memory device again.

If in case f) a vehicle-to-vehicle communication device has a fault or defect, then a vehicle-to-vehicle communication would be between the first motor vehicle and impossible or restricted at least one further motor vehicle of the vehicle association. The same applies to the case g) for a defective or defective vehicle-to-X communication device, because then no more communication between the first motor vehicle and the structure X is possible.

In case h), i. a defective lighting device, in particular the backs of the first motor vehicle and if the first motor vehicle forms the last vehicle in the vehicle convoy, recognition of the vehicle convoy would no longer be ensured by other road users. Furthermore, the lighting device could also form part of a vehicle-to-vehicle communication device, in which case this would also be impossible or restricted.

In the case i), ie if a passenger restraint device of the first motor vehicle, which comprises, for example, in each case a belt for the driver and for persons carried with the motor vehicle, is defective, injuries could occur during emergency braking of the vehicle group. The same applies in the case j) for a defective airbag device of the first motor vehicle, which includes, for example, a driver's airbag, a front passenger airbag and possibly side airbags.

In the case k) a tire pressure monitoring device of the first motor vehicle is defective, a deviation of the tire pressures from predetermined target values is no longer detected, which can have a negative effect on the side guide and the braking distance of the first motor vehicle within the vehicle convoy.

The cases l) and m), namely a defective distance control device (ACC) or a defective vehicle following device of the first motor vehicle make it generally impossible for the first motor vehicle to integrate into the vehicle association, which is why these cases are particularly serious in terms of their consequences, which is why here Generation and sending a rejection message is particularly required.

Case n), in which a redundant device forms a redundancy in the case of failure or fault in at least one of the above devices according to letters a) to m), can occur, for example, when in the case of an electro-pneumatic service brake device, for example, a pure pneumatic service brake device forms a redundancy for the electro-pneumatic service brake device and then has an error. In this case, incorporation or affiliation of the first motor vehicle to or into the vehicle crew would entail certain safety risks.

As described above in the examples, therefore, the acceptance message and / or the refusal message can be formed depending on whether the performance, status and / or functionality data of the at least one assembly of the first motor vehicle exceeds or falls below at least one predetermined threshold value , For example, a minimum availability of the service brake device and / or a minimum delay can be achieved by the service brake device of the first motor vehicle.

1. a) Daten betreffend den momentanen Verschleißzustand der wenigstens einen Baugruppe,
2. b) Daten betreffend den momentanen Beladungszustand des ersten Kraftfahrzeugs,
3. c) Daten betreffend die maximale Leistung der Antriebsmaschine des ersten Kraftfahrzeugs,
4. d) Daten betreffend die maximal mögliche Beschleunigung und/oder die maximal mögliche Verzögerung des ersten Kraftfahrzeugs.

In particular, the performance, status and / or functionality data of the at least one assembly of the first motor vehicle may include at least the following data:

1. a) data relating to the current state of wear of the at least one module,
2. b) data relating to the instantaneous loading state of the first motor vehicle,
3. c) data concerning the maximum power of the prime mover of the first motor vehicle,
4. d) data concerning the maximum possible acceleration and / or the maximum possible deceleration of the first motor vehicle.

In particular, a combination of different performance, status and / or functional data of the at least one module of the first motor vehicle can be decisive for the generation of an acceptance or a rejection message. For example, too low a maximum possible deceleration of the first motor vehicle in combination with a high load can become an intolerable risk to the vehicle crew. Also, a high load in combination with a too low maximum power of the prime mover of the first motor vehicle may impede a drive of the vehicle crew when driving uphill.

According to a further development, the power, status and / or functional data of the at least one module of the first motor vehicle can be generated on the basis of sensor signals of at least one sensor of the first motor vehicle assigned to at least one module.

For example, brake lining wear sensors can be provided which generate signals corresponding to the instantaneous wear of brake linings of the service brake device of the first motor vehicle, on the basis of which (wear state data of the service brake device is generated Threshold to high wear of the brake pads of the service brake device of the first motor vehicle could then result, for example in a generation of a rejection message, because due to which a too low braking power or maximum deceleration of the first motor vehicle is to be expected. In connection with a pressure-medium-operated service brake device, the pressure signals of at least one pressure sensor could also be used to generate performance, status and / or functional data of the service brake device if this at least one pressure sensor detects, for example, the brake pressure generated in the course of previous braking.

Generally conceivable are any type of sensors which are suitable for supplying power, status and / or functional data of the at least one subassembly of the first motor vehicle.

According to a particularly preferable refinement, the performance, status and / or functional data of the at least one module can be stored in a fixed data memory of the first motor vehicle or sent to an external data memory of the infrastructure outside the first motor vehicle and stored there. Consequently, a kind of "history" of the power, status and / or functional data and in particular of wear data of the at least one module is then recorded in the respective memory. The performance, status and / or functional data of the at least one module can then be read from the data memory and transmitted within the initialization message.

On the basis of the performance, state and / or functional data of the at least one subassembly of the first motor vehicle, a categorization with regard to the ability to participate of the first motor vehicle in a loosely coupled vehicle group or with respect to the vehicle column capability of the first motor vehicle can be made.

The categorization may include graded categories, where the categorization may include at least the following categories: "eligible", "partially eligible", "not eligible".

The at least one second motor vehicle, to which the initialization message of the first motor vehicle is sent, for example directly or indirectly (via the infrastructure), may in particular already be attached to a loose train of motor vehicles.

Furthermore, the second motor vehicle, to which the initialization message of the first motor vehicle is sent, for example, directly or indirectly (via the infrastructure), in particular the leading vehicle, i. form the foremost motor vehicle of an already formed loose vehicle association of motor vehicles.

In the event that a reject message is sent out to the first motor vehicle in response to the initialization message, measures can be taken to prevent the loose vehicle group from forming the first motor vehicle and the at least one second motor vehicle or an affiliation of the first motor vehicle with the loose vehicle group , These measures can be, for example, that the first motor vehicle is not included in the vehicle sequence control of the vehicle convoy and thus can not participate in the vehicle convoy.

list of figures

• 1 eine schematische Seitenansicht eines Fahrzeugverbands aus miteinander lose gekoppelten Kraftfahrzeugen;
• 2 eine schematische Draufsicht des Fahrzeugverbands von 1;
• 3 ein Ablaufschema eines Verfahrens zur Eingliederung eines Kraftfahrzeugs in den Fahrzeugverband.

An embodiment of the invention is illustrated in the drawing and explained in more detail in the following description. In the drawing shows

• 1 a schematic side view of a vehicle association of loosely coupled vehicles;
• 2 a schematic plan view of the vehicle association of 1 ;
• 3 a flowchart of a method for incorporation of a motor vehicle in the vehicle association.

Description of the embodiment

In 1 represents a schematic side view of a vehicle association 1 from each other loosely coupled vehicles according to a preferred embodiment. The vehicle association 1 includes a leader vehicle 2 as the foremost vehicle and other motor vehicles 4a . 4b . 4c in the middle as well as a last motor vehicle 6 , Instead of the illustrated five motor vehicles 2 . 4a . 4b . 4c . 6 can the vehicle association 1 also include more or less motor vehicles. 2 represents the top view of the vehicle body 1 as he drives along a left turn.

In the embodiment, it is the motor vehicles 2 . 4a . 4b . 4c . 6 to heavy commercial vehicles, each with an electrically controllable and here, for example, designed as an internal combustion engine prime mover, an electrically controllable electro-pneumatic service brake device, an electrically controllable electro-pneumatic parking brake device and an electrically controllable steering direction.

The vehicles of the vehicle association can exchange data via a vehicle-to-vehicle communication device. In the present case, this is a wireless vehicle-to-vehicle communication device, in which each of the motor vehicles is equipped in each case with a transmitting device and with a receiving device. Alternatively, the vehicle-to-vehicle communication device can also be designed as a laser or infrared transmitting and receiving device.

In addition, a wireless vehicle-to-infrastructure communication device may also be provided, which in each case in the motor vehicles 2 . 4 . 6 is installed and also comprise a transmitting device and a receiving device. This can be any of the motor vehicles 2 . 4 . 6 communicate with an external, mobile or stationary infrastructure.

Each of the motor vehicles 2 . 4a . 4b . 4c . 6 is equipped with a known vehicle-tracking device, which a longitudinal distance of the motor vehicles 2 . 4a . 4b . 4c . 6 to a certain value d regulates and it allows the motor vehicles 4a . 4b . 4c . 6 the leader vehicle 2 each spaced apart by the distance d can follow. For this purpose, corresponding sensor devices in motor vehicles 2 . 4a . 4b . 4c . 6 which generate, for example, distance and speed data transmitted via the vehicle-to-vehicle communication devices of the motor vehicles 2 . 4a . 4b . 4c . 6 be replaced. In addition, each of the vehicles 2 . 4a . 4b . 4c . 6 equipped with an electronic control unit in which the control and regulation routines of the vehicle following control are implemented.

The vehicle follow-up control device therefore includes per motor vehicle 2 . 4a . 4b . 4c . 6 a transmitting device and a receiving device of the vehicle-to-vehicle communication device, a sensor device, an electronic control device and at least one electrically controllable drive machine, an electrically controllable service brake device and an electrically controllable steering direction as actuators.

Due to the distance and speed data, which are received in each case by the electronic control unit of the vehicle following regulation, an automatic electrical actuation of the electrical steering devices, the electro-pneumatic braking devices and the electrically controllable drive machines then takes place within the framework of the vehicle sequence control system 1 affiliated motor vehicle 2 . 4a . 4b . 4c . 6 by electrical control signals to one by the leading vehicle 2 predetermined target trajectory, here, for example, along a left turn equally spaced follow (see 2 ).

A sixth, so far not yet to the vehicle association 1 affiliated motor vehicle 8th is also equipped with equipment that allows a vehicle speed control and which therefore as the motor vehicles 2 . 4a . 4b . 4c . 6 of the vehicle association 1 a transmitting device and a receiving device of the vehicle-to-vehicle communication device, a sensor device, an electronic control device and at least one electrically controllable drive machine, an electrically controllable service brake device and an electrically controllable steering direction as actuators. Furthermore, there may also be a device on board, which is a vehicle-to-vehicle X Communication, ie a communication between the sixth motor vehicle 8th and an external infrastructure X ,

Furthermore, the sixth vehicle 8th equipped with a sensor device, which performance, state and / or functional data (LZF data) on the performance, the condition and / or the functionality of at least one assembly of the sixth motor vehicle 8th recorded and read into a, for example onboard data storage. For example, the performance, condition and / or performance data here includes wear data on the instantaneous wear of brake pads of a disc brake device of the sixth motor vehicle 8th , These wear data are then, for example, constantly or at intervals in the data memory of the sixth motor vehicle 8th read in, then always updated values.

It is now assumed that the driver of the sixth motor vehicle 8th this to the existing vehicle association 1 would like to affiliate. A flow chart of a method for incorporating a sixth motor vehicle 8th in the loosely coupled vehicle body 1 is in 3 specified.

For this purpose sends the sixth motor vehicle 8th via its vehicle-to-vehicle communication device in one step 100 an initialization message to, for example, the leader vehicle 2 of the vehicle association 1 , This can be done in particular by the sixth motor vehicle 8th the Initialisierungsnachricht first to the hitherto last fifth motor vehicle 6 of the vehicle association 1 which sends this initialization message via its vehicle-to-vehicle Communication device to the fourth motor vehicle 4c forwards. From there, the initialization message about the third motor vehicle 4b and the second motor vehicle 4a to the leader vehicle 2 forwarded, which here alone, for example, the decision-making authority has whether the sixth motor vehicle 8th at the vehicle association 1 may or may not affiliate. The communication path is in 2 through the arrows 10 symbolizes.

For this purpose, an electronics of the leading vehicle 2 equipped with a decision logic, which on the basis or depending on performance, state and / or functionality data on the performance, the condition and / or the functionality of at least one assembly of the sixth motor vehicle 8th , which are included in the initialization message, decides whether to generate an acceptance message or the rejection message on the initialization message and to the sixth motor vehicle 8th is sent back via the vehicle-to-vehicle communication.

The acceptance message would therefore mean that an arrival or inclusion of the sixth motor vehicle 8th on or in the existing vehicle association 1 is accepted and a refusal message is the opposite.

That of the sixth motor vehicle 8th The power, status and / or functional data (LZF data) transmitted as part of the initialization message contains the wear data on the instantaneous wear of brake linings of the disc brake device of the sixth motor vehicle 8th which for sending the initialization message from the data memory of the sixth motor vehicle 8th be read out.

This wear data (LZF data) is then in one step 200 checked by the decision logic in the leading vehicle to see if they are allowed. In the example, the current wear of the brake pads, for example, the disc brake devices on the front axle of the sixth motor vehicle 8th compared with a stored approved upper limit. In the example, the wear amount of the brake pads exceeds the approved upper limit, indicating insufficient brake performance of the disc brake devices and emergency braking of the vehicle body 1 in which the sixth motor vehicle 8th integrated, could be dangerous. Consequently, the result of the comparison is negative (N). As a result, the lead vehicle sends 2 in this case according to step 300 a refusal message via the communication path already described above back to the sixth motor vehicle 8th ,

In the other case, so if the wear of the disc brake devices of the sixth motor vehicle 8th the permissible limit has not yet been exceeded, the wear data in step 200 permissible (J), allowing the leader vehicle 2 in step 400 an acceptance message to the sixth motor vehicle 8th sends, whereupon this to the vehicle association 1 may affiliate.

The decision-making authority can take place in the leading vehicle instead 2 alone in another or in each motor vehicle 4a . 4b . 4c or 6 of the vehicle association 1 to be available. Alternatively, it is also conceivable that the decision-making authority on a possible affiliation of the sixth motor vehicle 8th to the vehicle association 1 is implemented in the external infrastructure, for example in a server of a road traffic authority, which is based on sending the initialization message via the vehicle-to-vehicle X Communication by the sixth motor vehicle 8th then the acceptance message or the refusal message to the sixth motor vehicle 8th sends.

The wear measure or the state of wear of the disc brake devices of the sixth motor vehicle 8th is merely an example of performance, status and / or health data to be communicated along with the initialization message.

Conceivable are any performance, state and / or functional data and their combination with each other of any components and assemblies of the sixth motor vehicle 8th which with regard to a formation, integration or affiliation of the sixth motor vehicle 8th in or to the vehicle association 1 play a role. This does not include, for example, data relating to the current load state of the sixth motor vehicle 8th , Data on the maximum power of the prime mover of the sixth motor vehicle 8th or also data concerning the maximum possible acceleration and / or the maximum possible deceleration of the sixth motor vehicle 8th , These data may be due to previous braking and acceleration operations of the sixth motor vehicle 8th be determined by corresponding sensors and then stored in the data memory, to then be sent out together with the initialization message.

In the event that the initialization message in step 400 a refusal message to the sixth motor vehicle 8th can be sent out in step 500 Measures are taken which an affiliation of the sixth motor vehicle 8th to the vehicle association 1 prevent. These measures may be, for example, that the sixth motor vehicle 8th not in the vehicle following regulations of the vehicle association 1 is recorded by, for example, a required data exchange on the vehicle-to-vehicle communication with the sixth motor vehicle 8th is prevented.

It is clear that each of the motor vehicles 2 . 4a . 4b . 4c . 6 , which previously already in the vehicle association 1 was incorporated, the above described and in 3 had to go through the procedure described, so that this ensures that all on a vehicle body 1 Affiliated motor vehicles must meet certain minimum requirements in terms of performance, condition and / or functionality data of their components and assemblies. That's why each of the cars had to 2 . 4a . 4b . 4c . 6 send out an initialization message containing this data.

If initially no vehicle association 1 exists and only the driver of a future leader vehicle 2 a vehicle association 1 with other vehicles 4a . 4b . 4c . 4d Of course, it must be checked if the leading vehicle 2 even meet the minimum requirements, which according to the in 3 to the ability of a motor vehicle to integrate into a vehicle body 1 be put. This may be the future leader vehicle 2 the initialization message about the vehicle-to-vehicle X For example, communication to the external infrastructure X then send an acceptance or refusal message to the future leader vehicle 2 returns.

LIST OF REFERENCE NUMBERS

1

vehicle Association

2

lead vehicle

4a

second motor vehicle

4b

third motor vehicle

4c

fourth motor vehicle

6

last motor vehicle

8th

sixth motor vehicle

10

communication

X

infrastructure

QUOTES INCLUDE IN THE DESCRIPTION

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

Cited patent literature

• DE 102007046765 A1 [0005]
• EP 1569183 A2 [0005]
• DE 102007024877 A1 [0008]

Claims (11)

A method for forming a loosely coupled vehicle body (1) from a first motor vehicle (8) and at least a second motor vehicle (2, 4a, 4b, 4c, 6) or for incorporation of a first motor vehicle (8) in a loosely coupled vehicle body, the at least a second motor vehicle (2, 4a, 4b, 4c, 6) is already attached, wherein a) a direct or indirect vehicle-to-vehicle communication between the motor vehicles in the association (8) and the at least one second motor vehicle (2, 4a , 4b, 4c, 6) and / or vehicle-to-X communication between the first motor vehicle (8) and an infrastructure (X) external to the vehicle body (1), and b) the first vehicle Forming the vehicle association or its affiliation with the vehicle association by sending an initialization message to the at least one second motor vehicle and / or infrastructure (X) initiated, and c) the at least one second motor vehicle (2, 4a, 4b , 4c, 6) and / or the infrastructure (X) on the basis of the initialization message the formation of the vehicle association (1) or the affiliation of the first motor vehicle (8) to the vehicle association (1) by sending an acceptance message to the first motor vehicle (8 ) or rejected by sending a refusal message to the first motor vehicle (8), characterized in that d) performance, condition and / or functionality data on the performance, the condition and / or the functionality of at least one assembly of the first motor vehicle (8) and that e) the initialization message includes the performance, status and / or functionality data of the at least one subassembly of the first motor vehicle (8), and f) the acceptance message and / or the refusal message depends on the performance , State and / or functional data of the at least one module of the first motor vehicle (8) is (are) formed. Method according to Claim 1 , Characterized in that the at least one module of the first motor vehicle (8), via which the power, status and / or functionality of data are produced from the following components include at least: a) a prime mover of the first motor vehicle (8), b) an electrical steering device of the first motor vehicle (8), c) a service brake device of the first motor vehicle (8), d) a parking brake device of the first motor vehicle (8), e) a memory device which stores drive energy for the prime mover of the first motor vehicle (8), f) a vehicle-to-vehicle communication device, g) a vehicle-to-X communication device of the first motor vehicle (8), h) a lighting device of the first motor vehicle (8), i) a passenger restraint device of the first motor vehicle (8), j) an airbag device of the first motor vehicle (8), k) a tire pressure monitoring device of the first motor vehicle (8), l) a distance sequence control of the first motor vehicle (8), m) a vehicle following device by which the first motor vehicle (8) automatically follows a trajectory predetermined by the at least one second motor vehicle (2, 4a, 4b, 4c) or by the vehicle body (1), n) a redundant device, which forms a redundancy in the event of failure or fault in at least one of the above devices according to letters a) to m). Method according to one of the preceding claims, characterized in that the power, state and / or functional data of the at least one module of the first motor vehicle (8) contain at least the following data: a) data relating to the current state of wear of the at least one module, b ) Data relating to the instantaneous load state of the first motor vehicle (8), c) data relating to the maximum power of the prime mover of the first motor vehicle (8), d) data relating to the maximum possible acceleration and / or the maximum possible deceleration of the first motor vehicle (8) , Method according to one of the preceding claims, characterized in that the acceptance message and / or the refusal message is formed depending on whether the performance, state and / or functionality data of the at least one module of the first motor vehicle (8) at least one predetermined Exceed or fall below the limit. Method according to one of the preceding claims, characterized in that the power, state and / or functional data of the at least one module of the first motor vehicle (8) are generated on the basis of sensor signals of one of the at least one module associated sensor device of the first motor vehicle (8). Method according to one of the preceding claims, characterized in that the performance, state and / or functionality data of the at least one module in a fixed data storage of the first motor vehicle (8) are stored or to an external data memory of the infrastructure (X) outside of the first Motor vehicle (8) are sent and stored there. Method according to one of the preceding claims, characterized in that on the basis of the performance, state and / or functionality data of the at least one module of the first motor vehicle (8) a categorization with regard to a participation capacity of the first motor vehicle (8) on a loosely coupled vehicle body (1). Method according to Claim 7 , characterized in that the categorization includes tiered categories, the categorization including at least the following categories: "eligible", "partially eligible", "not eligible". Method according to one of the preceding claims, characterized in that the at least one second motor vehicle (2, 4a, 4b, 4c, 6) is already affiliated with a loosely coupled vehicle body (1). Method according to Claim 9 , characterized in that the second motor vehicle (2) forms the leading vehicle of an already formed loosely coupled vehicle body (1). Method according to one of the preceding claims, characterized in that, in the event that a rejection message to the first motor vehicle (8) is sent out to the initialization message, measures are taken which form the loosely coupled vehicle body (1) from the first motor vehicle (8) and the at least one second motor vehicle (2, 4a, 4b, 4c, 6) or an affiliation of the first motor vehicle (8) to the loosely coupled vehicle body (1).

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