DE102017219696A1 - Method and system for maneuvering multiple vehicles in a cluster - Google Patents

Abstract

One aspect of the invention relates to a method for maneuvering a plurality of vehicles in a cluster, the method comprising: determining a cluster formation depending on the vehicle dimensions of the cluster vehicles and the travel area available for driving; Assigning a cluster position for each of the cluster vehicles according to the determined cluster formation; Taking the respective assigned cluster position by the cluster vehicles, wherein one or more cluster vehicles that are not in their respective assigned cluster position rank to assume their respective assigned cluster positions; Determining a leader vehicle from the cluster vehicles; and maneuvering the cluster by orienting the cluster vehicles at the leader vehicle; wherein the cluster formation and / or the cluster positions are selected such that the driving surface available for driving is at most densely populated with the cluster vehicles.

Description

The invention relates to a method and system for maneuvering multiple vehicles in a cluster.

Systems are known for vehicles that cause a vehicle to follow a fore vehicle. An example of this is an automatic vehicle tracking system, as described in the patent US 5,572,449 is described. In this case, the trajectory of the vehicle in front is followed and at the same time the distance between the vehicle and its front vehicle is regulated.

Furthermore, there are concepts that concern the convoy vehicle management, ie the control of vehicles within a convoy. The column of vehicles is formed and controlled in terms of maximum fuel efficiency.

However, the concepts described above are not aimed at reducing congestion. However, congestion is increasing, especially in urban areas, because the road network is not being developed to the extent that the traffic volume is increasing. Therefore, an efficient use of the available traffic space would be desirable.

The invention is therefore based on the object of specifying a method and a system for maneuvering a plurality of vehicles in a cluster, with which an efficient use of the available traffic space is ensured.

The object is solved by the features of the independent claims. Advantageous embodiments are described in the dependent claims. It should be noted that additional features of a claim dependent on an independent claim without the features of the independent claim or only in combination with a subset of the features of the independent claim may form a separate invention independent of the combination of all features of the independent claim, the subject of an independent claim, a divisional application or a subsequent application. This applies equally to technical teachings described in the specification, which may form an independent invention of the features of the independent claims.

• - Bestimmen einer Clusterformation in Abhängigkeit von den Fahrzeugabmessungen der Cluster-Fahrzeuge und der zum Befahren zur Verfügung stehenden Fahrfläche;
• - Zuweisen einer Clusterposition für jedes der Cluster-Fahrzeuge entsprechend der bestimmten Clusterformation;
• - Einnehmen der jeweiligen zugewiesenen Clusterposition durch die Cluster-Fahrzeuge, wobei ein Cluster-Fahrzeug oder mehrere Cluster-Fahrzeuge, die sich nicht auf ihrer jeweiligen zugewiesenen Clusterposition befinden, rangieren, um ihre jeweiligen zugewiesenen Clusterpositionen einzunehmen;
• - Bestimmen eines Leitfahrzeuges aus den Cluster-Fahrzeugen; und
• - Manövrieren des Clusters, indem die Cluster-Fahrzeuge sich an dem Leitfahrzeug orientieren;
• - wobei die Clusterformation und/oder die Clusterpositionen in Abhängigkeit der Änderung der Umgebung des Clusters verändert werden.

A first aspect of the invention relates to a method of maneuvering multiple vehicles in a cluster, the method comprising:

• Determining a cluster formation as a function of the vehicle dimensions of the cluster vehicles and the driving surface available for driving;
• Assigning a cluster position for each of the cluster vehicles according to the determined cluster formation;
• - taking the respective assigned cluster position by the cluster vehicles, wherein one cluster vehicle or several cluster vehicles, which are not in their respective assigned cluster position, rank to occupy their respective assigned cluster positions;
• Determining a master vehicle from the cluster vehicles; and
• Maneuvering the cluster by orienting the cluster vehicles at the host vehicle;
• - Wherein the cluster formation and / or the cluster positions are changed as a function of the change in the environment of the cluster.

• - eine Steuervorrichtung, die dazu eingerichtet ist, eine Clusterformation in Abhängigkeit von den Fahrzeugabmessungen der Cluster-Fahrzeuge und der zum Befahren zur Verfügung stehenden Fahrfläche zu bestimmen, jedem der Cluster-Fahrzeuge eine Clusterposition entsprechend der bestimmten Clusterformation zuzuweisen und ein Leitfahrzeug aus den Cluster-Fahrzeugen zu bestimmen;
• - eine Positionseinnahmevorrichtung, die dazu eingerichtet ist, die Einnahme der jeweiligen zugewiesenen Clusterposition durch die Cluster-Fahrzeuge zu steuern, wobei ein Cluster-Fahrzeug oder mehrere Cluster-Fahrzeuge, die sich nicht auf ihrer jeweiligen zugewiesenen Clusterposition befinden, rangieren, um ihre jeweiligen zugewiesenen Clusterpositionen einzunehmen;
• - Manövriervorrichtung, die dazu eingerichtet ist, das Cluster zu manövrieren, indem die Cluster-Fahrzeuge sich an dem Leitfahrzeug orientieren;
• - wobei die Steuervorrichtung und/oder die Positionseinnahmevorrichtung dazu eingerichtet ist bzw. sind, die Clusterformation und/oder die Clusterpositionen in Abhängigkeit der Änderung der Umgebung des Clusters zu verändern.

A second aspect of the invention relates to a system for maneuvering multiple vehicles in a cluster, the system comprising:

• a control device which is set up to determine a cluster formation as a function of the vehicle dimensions of the cluster vehicles and of the running area available for driving, to assign to each of the cluster vehicles a cluster position corresponding to the determined cluster formation and a host vehicle from the cluster cluster To determine vehicles;
• a position acquisition device configured to control the taking of the respective assigned cluster position by the cluster vehicles, wherein one or more cluster vehicles that are not in their respective assigned cluster position rank to their respective assigned one To occupy cluster positions;
• - Maneuvering device, which is adapted to maneuver the cluster by the cluster vehicles are based on the Leitfahrzeug;
• - Wherein the control device and / or the position acquisition device is set up to change the cluster formation and / or the cluster positions in response to the change in the environment of the cluster.

Although this document refers to "a lead vehicle", it should not be ruled out that it may also be "at least one lead vehicle", ie, for example, "several lead vehicles".

In the context of the present document, the term "maneuvering a plurality of vehicles in a cluster" refers to the guiding and / or controlling and / or steering and / or piloting of several vehicles in a vehicle network to a location and / or along a route and / or along understood a route. A cluster is therefore a group of at least two vehicles that travel together in a coordinated manner. In the context of this document, the vehicles that are in the vehicle network are called cluster vehicles. The cluster vehicles usually have the same destination or partial destination and / or want to cover the same route or partial route. Furthermore, the vehicles that have already been identified as vehicles associated with the cluster, for example, because they have the same destination but have not yet assumed their respective cluster position, are also referred to as cluster vehicles.

Which formation the cluster takes depends on various factors. A cluster formation is understood to be a special arrangement of at least two cluster vehicles. The cluster formation may include the outer shape that forms the cluster as well as the arrangement of the individual cluster vehicles relative to each other within the cluster.

When determining the cluster formation, the vehicle dimensions of the individual cluster vehicles and the travel area available for driving are taken into account. By vehicle dimensions are meant in particular the external dimensions, such as the width, the length and the height. The driving surface available for driving comprises one or more traffic structures on which vehicles can move from one location to another. The driving surface available for driving is formed, in particular, from one or more lanes. Depending on the embodiment, the driving surface available for driving may also be formed, in addition to the roadway (s), by at least one of the following: one or more edge strips, one or more side strips, one or more banquets, one or more cycle paths, one or more walkways, one or more parking areas or parking spaces, one or more stops, one or more hard shoulders and one or more restricted traffic areas. Preferably, the driving surface available for driving has a paved surface, such as an asphalt concrete surface, a cement concrete surface, a pavement surface and / or a compacted ballast surface.

In other words, the driving surface available for driving, that is, for example, the width and number of available lanes, as well as the vehicle dimensions of the cluster vehicles are determined for determining the cluster formation, and the arrangement of the cluster vehicles is determined accordingly.

The cluster formation can be changed depending on the change in the environment of the cluster. This means that the cluster formation does not always have to remain the same, but can be adapted to the environment of the cluster during the maneuvering process. The term "environment" in the context of this document refers to the external influences acting on the cluster. The term "environment" includes situations arising from road traffic, such as a construction site, an upcoming overtaking maneuver, an exit, a traffic light, a traffic jam, etc. The term "environment" also includes situations caused by the weather, such as Rain or fog affecting the landscape surrounding the cluster, such as mountains or desert, etc. As soon as the environment changes, it may be necessary to change the cluster formation. The decision as to whether a change in cluster formation is necessary when the environment changes is made by the controller. Thus, there may be situations that are associated with a change in the environment, but do not result in a change in cluster formation.

Optionally, the cluster formation is additionally determined as a function of the actual positions and / or the routing paths of the cluster vehicles. In other words, the actual positions of the cluster vehicles are first determined; This is preferably done before the cluster vehicles have taken their cluster position. This means that an actual position of the cluster vehicle can be located outside the cluster formation, because the cluster positions are taken only after determining the cluster formation. Additionally or alternatively, the possibly necessary shunting paths of the individual cluster vehicles are taken into account when determining the cluster formation. This may mean, for example, that possible cluster formations are compared with one another from the point of view of minimizing the necessary shunting routes of the cluster vehicles. Preferably, then the cluster formation is selected, in which the least maneuvering of the cluster vehicles incurred.

The above-described operations for determining a cluster formation are performed by a control device. The control device can be arranged in or on a cluster vehicle or outside the vehicle, for example in a computer center, a data processing center, a traffic control center, a server or on a cloud. The determination of the cluster formation in the lead vehicle is preferably carried out.

If a cluster formation is determined, each cluster vehicle is assigned a corresponding cluster location. To assign a corresponding cluster location to each cluster vehicle, each cluster vehicle may have a communication device that receives the corresponding cluster location. Preferably, the corresponding cluster position is sent from the control device described above to the respective communication device. The communication may be wired (e.g., via a USB interface) or wireless (e.g., Bluetooth, WLAN, cellular). The corresponding cluster position is preferably assigned to the respective cluster vehicle by the lead vehicle or by the control device arranged in the lead vehicle.

Alternatively or in addition to changing the cluster formation, the cluster positions may be changed depending on the change in the environment of the cluster. This means that the cluster positions do not always have to remain the same, but can be adapted to the environment of the cluster during the maneuvering process. Once the environment changes, it may be necessary to change cluster locations. The decision as to whether a change in cluster positions is necessary when the environment changes is made by the controller. Thus, there may be situations that are associated with a change in the environment, but do not result in a change in cluster locations.

After receiving the corresponding cluster position, a decision is made as to whether the respective cluster vehicle already occupies its corresponding cluster position or whether a maneuver is necessary in order to assume the corresponding cluster position. This decision is made in a location capture device which is located either in each of the cluster vehicles or in one of the cluster vehicles or outside the vehicle by a central device, for example in a data center and / or on a server and / or in a cloud , If it has been decided that the respective cluster vehicle has to be allocated to its assigned cluster position, then a shunting trajectory is calculated. The maneuvering trajectory can be determined by the position taking device. The control of the shunting operation of the respective cluster vehicle can also be performed by the position taking device. Alternatively or additionally, the control of the shunting operation may be carried out by the control device described above. The assignment process is performed by the above-described control device. The required shunting operations of the cluster vehicles can be carried out either consecutively or simultaneously.

The shunting operations are preferably carried out with the aid of sensor systems arranged in or on the cluster vehicles.

In the context of the present document, a sensor system is understood as meaning a system having one or more sensors, wherein the sensor system comprises at least one of the following devices: ultrasonic sensor, radar sensor, lidar sensor and / or camera. The sensor data recorded by the sensor system can originate from one of the aforementioned devices or from a combination of several of the aforementioned devices (sensor data fusion). Advantageously, the sensor system is integrated in a driver assistance system of the respective cluster vehicle and can be used for the respective actions of the method for maneuvering a plurality of vehicles in a cluster.

The cluster locations within the cluster formation may include a Leader Vehicle Position and one or more Follower Vehicle Positions. The leader vehicle position is occupied by determining a leader vehicle from the cluster vehicles. The determining of the leader vehicle may be prior to determining a cluster formation and / or prior to assigning a cluster position and / or before taking the respective assigned cluster position.

The cluster is finally maneuvered by orienting the cluster vehicles to the Leader Vehicle. The lead vehicle can take on the task of defining a route to which the individual cluster vehicles, preferably the following vehicles, follow. Furthermore, the leader vehicle can take over the task of maneuvering the individual cluster vehicles along the defined route. Preferably, the lead vehicle has a sensor system by means of which the cluster vehicles are maneuvered.

The term follower vehicle is understood in the present document to mean a vehicle which follows another vehicle, preferably the leader vehicle. However, the term "consequences" should not be understood as a local arrangement of the follower vehicle with respect to the host vehicle. This means, in particular, that a follower vehicle does not necessarily have to be arranged behind a leader vehicle but, for example, can be arranged next to or slightly offset or in front of the leader vehicle.

A follower vehicle position is thus not necessarily a position that lies behind the leader vehicle, but rather describes the property of the follower vehicle to follow the leader vehicle.

When maneuvering, the cluster acts as a solid unit. However, this does not mean that always all cluster vehicles travel together in the same direction or at the same speed or along the same trajectory. Maneuvering may include performing maneuvering steps. In this case, the maneuvering steps can be carried out by one cluster vehicle after another executing the maneuvering steps or all the cluster vehicles simultaneously execute the respective maneuvering steps.

To maneuver the cluster vehicles can receive maneuver signals, which are then implemented in the respective cluster vehicle accordingly. The receiving of the maneuver signals may be done by a communication device arranged in or on the respective cluster vehicle as described above. The master vehicle preferably transmits the maneuver signals to the cluster vehicles, preferably to the following vehicles, or to the communication device of the respective cluster vehicle or of the respective following vehicle. The maneuver signals comprise at least one of the following information: information regarding the cluster route, information regarding the route of the respective cluster vehicle, information regarding the speed of the respective cluster vehicle, information regarding the distance between a cluster vehicle and one or more adjacent ones Cluster vehicles, information regarding the direction of travel of the respective cluster vehicle, information regarding the cluster position of the respective cluster vehicle, information regarding a steering movement of the respective cluster vehicle, etc.

Preferably, the maneuvering signals for one or more cluster vehicles are updated if a different starting situation results and / or one or more cluster vehicles deviate from the previously transmitted maneuver signal (desired situation). Such maneuver signals suitable for updating and / or correcting include at least one of the following information: information regarding an acceleration pulse of the respective cluster vehicle, information regarding a braking pulse of the respective cluster vehicle, information regarding a steering correction angle of the respective cluster vehicle, Etc.

In other words, the cluster vehicles are steered and corrected by the host vehicle (s) with respect to their position, direction of travel, speed and steering commands. As a result, the roadway width or the existing road surface is better utilized thereby, which ultimately reduces congestion.

By means of the above-described method or system for maneuvering a plurality of vehicles in a cluster, the driving surface available for driving, in particular the roadway width, can be optimally utilized, whereby the flux density of the vehicles is increased and finally the congestion or the traffic jam length are reduced can. Furthermore, it can reduce CO ₂ emissions while increasing ride comfort.

According to one embodiment, changing the cluster formation and / or the cluster positions comprises compacting the cluster, wherein the compacting comprises increasing the occupancy density of the driving surface available for driving by the cluster vehicles.

Advantageously, increasing the occupancy density comprises achieving a maximum density population density of the driving surface available for driving through the cluster vehicles. A maximum density of the driving surface available for driving can be achieved by keeping the distances between the cluster vehicles to a minimum. By far this means the distance between a cluster vehicle and the preceding or following cluster vehicle or the distance between two adjacent cluster vehicles. A maximally dense occupation of the driving surface available for driving can be achieved, for example, by the cluster vehicles not sticking to the predetermined lanes, but can be maneuvered independently of the existing lanes. Thus, the most compact cluster formation is achieved. A compact cluster formation means a cluster formation in which the distances between the cluster vehicles are kept as low as possible.

According to one embodiment, increasing the occupancy density of the driving surface available for driving is performed independently of predetermined lanes and / or predetermined minimum distances between the cluster vehicles.

In other words, the cluster vehicles may be distributed over the lanes so that more than one vehicle may occupy a lane. In addition, the cluster vehicles may be arranged so that lane boundaries are exceeded by one or more cluster vehicles. In other words, a cluster vehicle does not have to travel within the lane specified by lane boundaries, but may, for example, move so that a lane boundary is located below the vehicle. The cluster vehicles can be arranged so that they move closer together and / or behind each other than would be the case if predetermined minimum distances were observed.

Advantageously, the maximum density of the driving surface available for driving is carried out independently of predetermined lanes and / or predetermined minimum distances between the cluster vehicles.

In accordance with another embodiment, increasing the occupancy density of the driving surface available for driving includes reducing the lateral distance between a clustered vehicle and its adjacent clustered vehicle (s). With lateral distance here is the distance in the direction of travel right or left of the vehicle located between a cluster vehicle and its adjacent cluster vehicle or its adjacent cluster vehicles meant. The fact that the cluster vehicles can drive closer together in this way, the occupation density of the cluster is larger and the area that requires the cluster on the available driving surface, smaller.

Preferably, increasing the population density of the driving surface available for driving comprises reducing the lateral distance and / or the forward and / or rearward travel distance between a clustered vehicle and its adjacent cluster vehicle (s) , In this way, the population density of the cluster can be further increased and the area required by the cluster on the driving surface available for driving can be further reduced.

In accordance with another embodiment, reducing the lateral distance between a clustered vehicle and its adjacent clustered vehicle or vehicles includes collapsing at least one exterior mirror of at least one of the clustered vehicles. This further reduces the distance to be maintained between the individual cluster vehicles. This results in a more compact cluster formation and efficient utilization of the driving surface available for driving.

According to a further embodiment, the change of the environment of the cluster comprises at least one of the following situations on the driving surface available for driving: road constriction, construction site, preceding vehicle, accident and obstacle.

According to a further embodiment, the cluster formation is selected such that the sum of the shunting paths of the cluster vehicles required for taking the respective cluster positions is minimal. The cluster formation is thus determined not only as a function of the vehicle dimensions of the cluster vehicles and the driving surface available for driving, but also as a function of the sum of the required maneuvering paths of the cluster vehicles. An attempt is made to find a cluster formation in which as many cluster vehicles as possible need little or no maneuvering in order to move from their actual position to the respective cluster position.

According to a further embodiment, in left-hand traffic, the cluster vehicle is determined as the lead vehicle on the left-most front cluster position in the direction of travel and, in right-hand traffic, the cluster vehicle is determined as the lead vehicle on the right-most frontmost cluster position in the direction of travel. By selecting one of the foremost cluster vehicles as a leader vehicle, the cluster vehicles following behind (follower vehicles) can orient themselves in a simple manner on the leader vehicle.

Preferably, the cluster vehicles at the edge of the road or only the lead vehicle on a device with digital high-precision GPS for positioning and / or a high-resolution camera, for example, to detect the lane marking on. With the aid of the described device and / or high-resolution camera, it is possible for the cluster vehicle (s) on the roadway edge or the lead vehicle to follow exactly the roadside. The follower vehicles may then orient themselves to the host vehicle by means of near range sensors, for example ultrasound sensors. For example, the following vehicles to each other take a minimum distance in width. This constellation is a cost effective case because not every cluster vehicle needs to be equipped with a digital high precision GPS device and / or a high resolution camera to be maneuvered in the cluster.

According to a further embodiment, the cluster vehicle, which has the highest degree of automation, is determined as a leader vehicle.

The term "degree of automation" is understood in the context of the document driving with automated longitudinal or transverse guidance or autonomous driving with automated longitudinal and transverse guidance. Exemplary levels of automation are assisted, semi-automated, highly automated or fully automated driving, in which case the degree of automation is mentioned in ascending order. These degrees of automation were defined by the Federal Highway Research Institute (BASt) (see BASt publication "Research compact", issue 11/2012). In assisted driving, the driver performs the longitudinal or transverse guidance permanently, while the system assumes the other function within certain limits. In Partial Automated Driving (TAF), the system performs longitudinal and lateral guidance for a period of time and / or in specific situations, with the driver having to permanently monitor the system as in assisted driving. In highly automated driving (HAF), the system takes over the longitudinal and transverse guidance for a certain period of time, without the driver having to permanently monitor the system; However, the driver must be able to take over the vehicle guidance in a certain time. In fully automated driving (VAF), the system can automatically handle driving in all situations for a specific application; no driver is required for this application. The above four degrees of automation according to the definition of BASt correspond to SAE levels 1 to 4 of the SAE J3016 (SAE - Society of Automotive Engineering) standard. For example, according to the BASt, highly automated driving (HAF) complies with Level 3 of the SAE J3016 standard. Furthermore, the SAE level 5 is provided in SAE J3016 as the highest degree of automation, which is not included in the definition of BASt. SAE level 5 is driverless driving, which allows the system to automatically handle all situations like a human driver throughout the journey; a driver is generally no longer required.

Advantageously, the lead vehicle, for example, if it requires a change in the environment, be changed. For example, another cluster vehicle (or follower vehicle) may then be selected as the Leader Vehicle and the original Leader Vehicle then becomes a cluster vehicle.

The above statements regarding the method according to the invention for maneuvering a plurality of vehicles in a cluster according to the first aspect of the invention also apply correspondingly to the system according to the invention for maneuvering a plurality of vehicles in a cluster according to the second aspect of the invention; advantageous embodiments of the system according to the invention correspond to the described advantageous embodiments of the method according to the invention. At this point, not explicitly described advantageous embodiments of the system according to the invention correspond to the described advantageous embodiments of the method according to the invention.

With regard to further technical features and advantages of the system according to the invention for maneuvering a plurality of vehicles in a cluster, reference is made to the explanations in connection with the method according to the invention for maneuvering a plurality of vehicles in a cluster, the figures and the description of the figures.

• 1 a bis 1c zeigen ein System bzw. ein Verfahren zum Manövrieren von mehreren Fahrzeugen in einem Cluster gemäß einer Ausführungsform.
• 2a und 2b zeigen ein System bzw. ein Verfahren zum Manövrieren von mehreren Fahrzeugen in einem Cluster gemäß einer Ausführungsform.
• 3a und 3b zeigen ein System bzw. ein Verfahren zum Manövrieren von mehreren Fahrzeugen in einem Cluster gemäß einer Ausführungsform.

In the following, the invention is explained in more detail by means of examples with reference to the following figures:

• 1 a to 1c show a system or method for maneuvering multiple vehicles in a cluster according to one embodiment.
• 2a and 2 B show a system or method for maneuvering multiple vehicles in a cluster according to one embodiment.
• 3a and 3b show a system or method for maneuvering multiple vehicles in a cluster according to one embodiment.

In 1a nine vehicles F are shown, each driving on their respective lane in the direction of their respective destination. The lanes are due to lane boundaries 1 separated from each other. In the 1a to 1c extends the driving surface available for driving 5 across the entire width of all pictured lanes. In 1b are the in 1a pictured nine vehicles F divided into five cluster vehicles C and four vehicles F , The cluster vehicles C have agreed with each other, for example, a common car-to-car communication method (eg, via WLAN, mobile phone, etc.) that they want to cover a particular leg together and therefore have a cluster together. Among the cluster vehicles C then becomes a cluster vehicle C determines which the lead vehicle LF should be. In the present embodiment, it is assumed that left-hand traffic prevails. Therefore, that is with the numeral 1 designated cluster vehicle C as a lead vehicle LF selected. For the determination of a cluster formation 2 For example, the vehicle dimensions of the clustered vehicles C are determined by each clustered vehicle C his vehicle length L and its vehicle width B For example, via a common car-to-car communication method (eg, via WLAN, mobile phone, etc.), to the host vehicle LF sends. In 1b However, this is only an example of the cluster vehicle with the number 1 shown. The lead vehicle LF has a control device (not shown) that controls the vehicle dimensions of the clustered vehicles C receives. Furthermore, the leader vehicle LF a measuring device (not shown), for example a sensor system with ultrasonic sensors, by means of which the driving surface available for driving 5 is measured. In the present embodiment, the driving surface available for driving extends 5 over all three illustrated lanes. The measured data determined by the measuring device with regard to the driving surface available for driving 5 are also to the control device of the Leitfahrzeugs LF Posted. Alternatively, the data with regard to the available driving surface 5 can be taken from a digital map, in the lead vehicle LF is available. The controller determines using the data regarding the vehicle dimensions of the cluster vehicles C and the driving surface available for driving 5 a cluster formation 2 for the cluster vehicles C , Depending on the cluster formation determined by the control device 2 becomes every cluster vehicle C a cluster position CP ( CP1 - CP5 ). The individual cluster vehicles C receive the respective cluster position CP ( CP1 - CP5 ) via a communication device (not shown). Due to the received cluster position CP ( CP1 - CP5 ) determines whether the respective cluster vehicle C must make a shunt to the respective cluster position CP ( CP1 - CP5 ) to get. If a maneuvering operation has to be carried out, then the maneuvering direction 3 and the maneuvering path and, optionally, the maneuvering speed. This calculation is either by the communication device of the respective cluster vehicle C or the control device of the lead vehicle LF or a position capture device, either in each of the cluster vehicles C or in one of the cluster vehicles C or external to the vehicle. Finally take the cluster vehicles C their respective assigned cluster positions CP ( CP1 - CP5 ) and are finally according to the cluster formation 2 positioned as in 1c shown.

2a shows a cluster formation 2 of five cluster vehicles C showing their respective cluster positions CP ( CP1 - CP5 ), where one of the cluster vehicles C the lead vehicle LF is. Like the in 1c shown cluster formation, which extends in 2a shown cluster formation 2 over three lanes. In 2a is an obstacle 4 shown on the right outer lane. The lead vehicle LF can by its (not shown) measuring device, such as a sensor system, or its (not shown) communication device, the obstacle 4 recognize and forward this information to the (not shown) control device. As the environment of the cluster changes, the cluster formation becomes 2 and / or the cluster positions CP adjusted accordingly. As for the embodiment of 1a to 1c also described at the in 2a and 2 B illustrated embodiment, a cluster formation 2 ' for the cluster vehicles C certainly. This will be the new cluster formation 2 ' for the cluster vehicles C using data regarding the vehicle dimensions of the cluster vehicles C and the driving surface available for driving 5 and using the data regarding the changed environment, ie the obstacle 4 , certainly. As in 2 B is not only the cluster formation 2 ' adapted to the changed environment, but also the participating in the cluster vehicles have changed. Before the cluster the obstacle 4 achieved (s. 2a) , are vehicles 1 to 5 as cluster vehicles C organizes and occupies cluster positions CP1 - CP5 , For the new cluster formation 2 ' The vehicles organize themselves in such a way that when passing the obstacle 4 Vehicles 1,2, 3,4, 5 and 7 now cluster vehicles C are while vehicles 6 . 8th and 9 not in the cluster, ie as individual vehicles. Depending on the new cluster formation 2 ' becomes each (new) cluster vehicle C a cluster position CP1 - CP6 (S. 2 B) assigned. The individual cluster vehicles C receive the respective cluster position CP via a (not shown) communication device. Due to the received cluster position CP ( CP1 - CP6 ) determines whether the respective cluster vehicle C must make a shunt to the respective cluster position CP ( CP1 - CP6 ) to get. If a maneuvering operation has to be carried out, then the maneuvering direction 3 (S. 2a) and the maneuvering path and, optionally, the maneuvering speed. With the new cluster formation 2 ' can the cluster around the obstacle 4 be maneuvered around. Also with this cluster formation 2 ' become the six cluster vehicles C arranged over two lanes of traffic. This will be the driving to Available driving surface 5 optimally through the cluster vehicles C exploited.

In 3a is a cluster formation 2 with nine cluster vehicles C on nine cluster positions CP1 - CP9 displayed. Approaching an emergency vehicle RF the cluster, so must a rescue lane (s. 3b) through the cluster vehicles C be formed. The information that a rescue vehicle RF can approach the cluster, for example, by the leader vehicle LF be received. Subsequently, by the leader vehicle LF a new cluster formation 2 ' with corresponding new cluster positions CP1 - CP6 calculated. The cluster formation 2 ' , which forms a rescue lane, includes only six cluster vehicles C (Vehicles 1, 2, 4, 5, 6 and 9), while vehicles 7, 8 and 10 represent individual vehicles that do not belong to the cluster. The individual cluster vehicles C receive the respective cluster position CP for example via a (not shown) communication device. Due to the received cluster position CP ( CP1 - CP6 ) determines whether the respective cluster vehicle C must make a shunt to the respective cluster position CP ( CP1 - CP6 ) to get. If a maneuvering operation has to be carried out, then the maneuvering direction 3 (S. 3a) and the maneuvering path and, optionally, the maneuvering speed. These calculations are preferably done by the Leader Vehicle LF carried out. As in the comparison of cluster formation 2 in 3a and cluster formation 2 ' in 3b The two-lane cluster was extended to three lanes by forming the lifeline, with three vehicles (Vehicles 7, 8, and 10) leaving the original cluster. By changing the cluster formation and the cluster positions, it is possible that the rescue vehicle RF can drive through the rescue lane formed in the cluster.

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

• US 5572449 [0002]

Claims (18)

A method of maneuvering multiple vehicles in a cluster, the method comprising: Determining a cluster formation (2) as a function of the vehicle dimensions of the cluster vehicles (C) and the driving surface (5) available for driving; Assigning a cluster position (CP) to each of the cluster vehicles (C) corresponding to the determined cluster formation (2); Assuming the respective assigned cluster position (CP) by the cluster vehicles (C), wherein a cluster vehicle (C) or several cluster vehicles (C), which are not located on their respective assigned cluster position (CP), rank take their respective assigned cluster positions (CP); Determining a master vehicle (LF) from the cluster vehicles (C); and Maneuvering the cluster by orienting the cluster vehicles (C) on the leader vehicle (LF); wherein the cluster formation (2) and / or the cluster positions (CP) are changed as a function of the change in the environment of the cluster. Method according to Claim 1 wherein a change in the cluster formation (2) and / or the cluster positions (CP) comprises compacting the cluster, wherein the compacting comprises increasing the occupancy density of the driving surface (5) available for driving by the cluster vehicles (C). Method according to Claim 2 wherein increasing the occupancy density of the driving surface (5) available for driving is performed independently of predetermined lanes and / or predetermined minimum distances between the cluster vehicles (C). Method according to Claim 2 or 3 wherein increasing the occupancy density of the driving surface (5) available for driving comprises reducing the lateral distance between a clustered vehicle (C) and its adjacent clustered vehicle (C) and its adjacent clustered vehicles (C). Method according to Claim 4 wherein reducing the lateral distance between a clustered vehicle (C) and its adjacent clustered vehicle (C) or its adjacent clustered vehicles (C) includes folding in at least one exterior mirror of at least one of the clustered vehicles (C) , Method according to one of the preceding claims, wherein the change of the environment of the cluster comprises at least one of the following situations on the driving surface (5) available for driving: road constriction, construction site, preceding vehicle, accident and obstacle. Method according to one of the preceding claims, wherein the cluster formation (2) is selected such that the sum of the shunting paths of the cluster vehicles (C) required for taking the respective cluster positions (CP) is minimal. Method according to one of the preceding claims, wherein in left-hand traffic, the cluster vehicle (C) on the left in the direction of the leftmost cluster position (CP) as Leitfahrzeug (LF) is determined and in right-hand traffic, the cluster vehicle (C) on the right in front in the direction of travel Cluster position (CP) is determined as Leitfahrzeug (LF). Method according to one of the preceding claims, wherein the cluster vehicle (C) having the highest degree of automation is determined as a leader vehicle (LF). A system for maneuvering multiple vehicles in a cluster, the system comprising: a control device adapted to to determine a cluster formation (2) as a function of the vehicle dimensions of the cluster vehicles (C) and the driving surface (5) available for driving on, allocating to each of the cluster vehicles (C) a cluster position (CP) corresponding to the particular cluster formation (2) and to determine a master vehicle (LF) from the cluster vehicles (C); a position acquisition device configured to control the taking of the respective assigned cluster position (CP) by the cluster vehicles (C), wherein one cluster vehicle (C) or more cluster vehicles (C) that are not on their respective assigned cluster location (CP) are ranked to occupy their respective assigned cluster locations (CP); and a maneuvering device arranged to maneuver the cluster by orienting the cluster vehicles (C) on the leader vehicle (LF); wherein the control device and / or the position acquisition device is set up to change the cluster formation (2) and / or the cluster positions (CP) depending on the change in the environment of the cluster. System after Claim 10 wherein a change in the cluster formation (2) and / or the cluster positions (CP) comprises compacting the cluster, wherein the compacting comprises increasing the occupancy density of the driving surface (5) available for driving by the cluster vehicles (C). System after Claim 11 wherein increasing the occupancy density of the driving surface (5) available for driving is independent of predetermined lanes and / or predetermined minimum distances between the cluster vehicles (C). System after Claim 11 or 12 wherein increasing the occupancy density of the driving surface (5) available for driving comprises reducing the lateral distance between a clustered vehicle (C) and its adjacent clustered vehicle (C) and its adjacent clustered vehicles (C). System after Claim 13 wherein reducing the lateral distance between a clustered vehicle (C) and its adjacent clustered vehicle (C) or its adjacent clustered vehicles (C) includes folding in at least one exterior mirror of at least one of the clustered vehicles (C) , System according to one of Claims 10 to 14 wherein the change of the environment of the cluster comprises at least one of the following situations on the driving surface (5) available for driving: road constriction, construction site, preceding vehicle, accident and obstacle. System according to one of Claims 10 to 15 wherein the control device is further configured to select the cluster formation (2) such that the sum of the shunting paths of the cluster vehicles (C) required to occupy the respective cluster positions (CP) is minimal. System according to one of Claims 10 to 16 , wherein the control device is further adapted to determine the cluster vehicle (C) on the left in the direction of travel leftmost cluster position (CP) as Leitfahrzeug (LF) for left-hand traffic and right-hand traffic the cluster vehicle (C) on the right in the direction of travel leading cluster position (CP) as lead vehicle (LF). System according to one of Claims 10 to 17 , wherein the control device is further configured to determine the cluster vehicle (C), which has the highest degree of automation, as a lead vehicle (LF).

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