DE102019201264A1 - A CONTROL DEVICE AND METHOD FOR MANAGING VEHICLES - Google Patents

Abstract

Control devices, systems and methods for managing energy efficiency to form a vehicle convoy, and vehicles comprising these control devices and / or systems are disclosed. To form a vehicle convoy, the convoy comprising at least a first vehicle and a second vehicle, a controller is configured to receive movement data for the first vehicle and the second vehicle and to receive power management circumstance data representative of a prevailing power management circumstance indicate the formation of the column between the first vehicle and the second vehicle. The control device determines an energy-efficient movement action for the first vehicle and / or the second vehicle for forming the column, depending on the received movement data and the received energy management circumstance data.

Description

TECHNICAL AREA

The present disclosure relates to a control apparatus and method for managing vehicles. Aspects of the invention relate to a control device for managing energy efficiency for forming a vehicle convoy, a system for managing energy efficiency for forming or dissolving a vehicle convoy, a vehicle including the control device and / or the system, and a method for managing energy efficiency to form or dissolve a vehicle convoy.

STATE OF THE ART

Cruise control in vehicles is known to maintain a constant speed within a narrow speed range without driver input for use. Adaptive cruise control methods are known which adapt the controlled speed to the circumstances. For example, if a vehicle in the same lane is moving slower than the adaptive cruise control vehicle, the cruise control may control the vehicle's main drive, such as a motor or electric traction motor and / or brakes, to drive the speed to that of the slower motor vehicle to adjust. For example, such cruise control systems may use radar to detect the position of adjacent vehicles.

Vehicle columns are also known in the art. These use control systems and methods to maintain a distance between the vehicles during maneuvers and acceleration / braking, yet still keep the vehicles within range of each other to maintain the integrity of the column. Some of these columns use adaptive cruise control systems and methods. In some cases, cooperative adaptive cruise control (CACC) is used; in addition to distance (eg radar) information between adjacent vehicles, additional Vehicle Vehicle (V2V) and / or Infrastructure Vehicle (I2V) information is used. For example, information from other vehicles (other than the adjacent vehicles) in the column, such as. B. information about target speed of the column, or about road conditions or obstacles are provided.

Some strategies for formation and dissolution (removal of one or more vehicles) of such columns are also known. However, such strategies may be rudimentary and concern only decisions about the formation / dissolution of a column, rather than, for example, how to proceed after the decision has been made.

The present invention aims to overcome the disadvantages associated with the prior art.

BRIEF SUMMARY OF THE INVENTION

Aspects and embodiments of the invention provide a control device for managing energy efficiency for forming a vehicle convoy, a system for managing energy efficiency for forming or dissolving a vehicle convoy, a vehicle comprising the control device and / or the system, and a method for managing energy efficiency for forming or dissolving a vehicle convoy as set forth in the appended claims.

According to one aspect of the present invention, there is provided a control apparatus for managing energy efficiency for forming a vehicle convoy, wherein a vehicle convoy includes at least a first vehicle and a second vehicle, wherein the control device is configured to generate movement data for the first vehicle and the second vehicle to recieve; Receive power management circumstance data indicating a prevailing power management circumstance with respect to the formation of the column between the first vehicle and the second vehicle; and in response to the received motion data and the received power management circumstance data, determining an energy-efficient move action for at least one of the first vehicle and the second vehicle to form the column.

Thus, power management data can be used in forming the tower, and thus column formation can be made more energy efficient. The motion action may be a relative motion action, a translation, or another motion action. The controller may receive or receive the corresponding data. Formation of the column may involve conversion of a column or vehicles to a column, or formation, remodeling, or reshaping or reconfiguration of the column.

The prevailing power management circumstance may be a power management feature or parameter for the convoy, or for the particular vehicle. It may be any such circumstance or feature which may lead to a change in the expected energy efficiency of column formation or the likely conservation of energy in education or, if considered, improve it. This may be an alternative to the usual considerations in forming columns, such as. As a speed of education, or a comfort of the vehicle user.

Optionally, the controller is configured to determine one or more allowable movement actions for the first vehicle and / or the second vehicle to form the column and to select the energy-efficient move action from the one or more allowable movement actions depending on the received motion data. The controller may then select the energy-efficient move action from the one or more allowable movement actions. The selected action may be designated as a motion action that is more energy efficient than one or more of the other allowed actions.

Suitably, the movement data for the first vehicle and the second vehicle relate to a relative movement between the first vehicle and the second vehicle. This can be a movement of one vehicle relative to the other.

In one embodiment, the first and second vehicle motion data includes position data and speed data for the first vehicle and the second vehicle.

Optionally, the power management circumstance data indicating the prevailing power management circumstance includes data indicating one or more of: a vehicle route; a route topography encountered by the first vehicle and the second vehicle; a route speed limit; a route infrastructure restriction; a vehicle capability status; a traffic condition; and a weather condition.

The vehicle capability status may be, for example, a range status (for example, a hybrid electric vehicle), or a battery status (in an electric vehicle).

In one embodiment, the vehicle capability status is a vehicle battery condition for a hybrid vehicle, and the controller is configured to determine the energy efficient movement action that includes maintaining a vehicle speed or slowing the vehicle by regenerative braking depending on the vehicle battery condition.

Suitably, the energy efficient movement action for the first vehicle or the second vehicle includes an instruction related to one or more of: a speed for the first vehicle or the second vehicle; an acceleration for the first vehicle or the second vehicle; and an operation mode for the first vehicle or the second vehicle. The instruction may relate to a given location or position at a given time for the first vehicle or the second vehicle. The energy efficient motion action can be determined to improve one or more of these factors for energy efficiency.

In one embodiment, the controller is configured to determine a path profile for the first vehicle or the second vehicle, the path profile comprising the energy-efficient motion action for the first vehicle or the second vehicle.

The path profile may therefore include an instruction to the vehicle, motion or change of motion (by controlling speed, position, acceleration and the like) and / or resulting movement (speed, position, et al.) In an energy efficient manner or manner improve energy efficiency. This may therefore be used by the user or control systems of the vehicle to direct the vehicle to form the column according to the track profile while improving energy efficiency.

Optionally, the controller is configured to communicate the energy efficient movement action for the first vehicle or the second vehicle to a user of the first vehicle or the second vehicle.

Alternatively, the controller is configured to use the energy-efficient move action to determine an autonomous move instruction for the first vehicle or the second vehicle.

According to another aspect of the present invention, there is provided a control device for managing energy efficiency for dissolving a vehicle convoy, wherein a vehicle convoy includes at least a first vehicle and a second vehicle, the control device being configured to generate transient data for the first vehicle and receive the second vehicle; Energy management circumstance data too receive a predominant power management circumstance with respect to the resolution of the column; and in response to the received motion data and the received power management circumstance data, determine an energy-efficient move action for at least one of the first vehicle or the second vehicle to dissolve the column.

This allows a similar consideration in terms of energy efficiency in the dissolution, termination, separation or separation of the column, such. B. Removing one or more vehicles, such as. B. the first or second vehicle, from the column.

In accordance with another aspect of the present invention, there is provided a system for managing energy efficiency to form or dissolve a vehicle convoy, the system comprising a controller according to any of the aspects or embodiments described above.

Suitably, the system comprises one or more of: a data storage device; a communication device; and a sensor, and a processor for processing data from one or more of: the data storage device; the communication device; and the sensor to determine the energy efficient movement action for the first vehicle to form or dissolve the column.

According to another aspect of the present invention, there is provided a vehicle including a control device or system according to any of the aspects or embodiments described above.

According to another aspect of the present invention, there is provided a method of managing energy efficiency to form a vehicle convoy, wherein a vehicle convoy includes at least a first vehicle and a second vehicle, the method comprising: receiving motive data for the first vehicle and the second vehicle; Receiving power management circumstance data indicating a prevailing power management circumstance with respect to the formation of the column between the first vehicle and the second vehicle; and determining, in response to the received motion data and the received power management circumstance data, an energy-efficient move action for the first vehicle and / or the second vehicle to form the column.

Optionally, the method includes determining, based on the received motion data, one or more allowable motion actions for the first vehicle and / or the second vehicle to form the column, and selecting the energy efficient motion action from the one or more allowable motion actions.

Suitably, the movement data for the first vehicle and the second vehicle relate to a relative movement between the first vehicle and the second vehicle.

In embodiments, the movement data for the first vehicle and the second vehicle includes position data and speed data for the first vehicle and the second vehicle.

Optionally, the data indicating the prevailing power management circumstance includes data indicating one or more of: a vehicle route; a route topography encountered by the first vehicle and the second vehicle; a route speed limit; a route infrastructure restriction; a vehicle capability status; a traffic condition; and a weather condition.

In one embodiment, the vehicle capability status is a vehicle battery condition for a hybrid vehicle, the method including, depending on the vehicle battery condition, determining the energy efficient movement action that is to maintain a vehicle speed; or slowing down the vehicle by means of regenerative braking.

Suitably, the energy efficient movement action for the first vehicle or the second vehicle includes an instruction related to one or more of: a speed for the first vehicle or the second vehicle; an acceleration for the first vehicle or the second vehicle; and an operation mode for the first vehicle or the second vehicle.

In embodiments, the controller includes determining a path profile for the first vehicle or the second vehicle, wherein the path profile comprises the energy-efficient motion action for the first vehicle or the second vehicle.

Optionally, the method includes communicating the energy efficient motion action for the first vehicle or second vehicle to a user of the first vehicle or the second vehicle.

Suitably, the method includes using the energy efficient move action to determine an autonomous move instruction for the first vehicle or the second vehicle.

According to another aspect of the present invention, there is provided a method of managing energy efficiency for dissolving a vehicle convoy, wherein a vehicle convoy includes at least a first vehicle and a second vehicle, the method comprising: receiving motive data for the first vehicle and the second vehicle; Receiving power management circumstance data indicating a prevailing power management circumstance with respect to the resolution of the column between the first vehicle and the second vehicle; and determining, in response to the received motion data and the received power management circumstance data, an energy-efficient move action for the first vehicle and / or the second vehicle for disintegrating the column.

According to another aspect of the present invention, there is provided a control apparatus for managing the formation of a vehicle convoy, wherein a convoy comprises at least a first vehicle and a second vehicle, the control apparatus being configured to transmit motion data for the first vehicle and the second vehicle receive; Receive data indicating a power management circumstance related to the formation of the column; and determine a movement action for the first vehicle and / or the second vehicle to form the column depending on the movement data and the data indicating the power management circumstance.

According to another aspect of the present invention, there is provided a control apparatus for managing energy efficiency for forming or dissolving a vehicle convoy, wherein a convoy includes at least a first vehicle and a second vehicle, wherein the control device is configured to generate movement data for the first vehicle and to receive the second vehicle; process the received motion data to determine an allowable movement action for the first vehicle to form or dissolve the column between the first vehicle and the second vehicle; Receive data indicating a prevailing power management circumstance with respect to the forming or dissolving of the column; and process the received motion data and the data indicating the prevailing power management circumstance to determine an energy-efficient move action for the first vehicle to form or dissolve the column.

According to another aspect of the present invention, there is provided a control apparatus for energy-efficient forming a convoy, the control apparatus comprising: an input configured to receive an indication of a preceding vehicle from a preceding vehicle and an indication of following vehicle from a following vehicle, wherein the information about the preceding vehicle and the indication for the subsequent vehicle indicate the intention to form the column; Position data of the preceding vehicle indicating a position of a preceding vehicle and position data of the following vehicle indicating a position of a following vehicle; a processor configured to determine a path for the preceding vehicle and the succeeding vehicle to form the column in dependence on the position data of the preceding vehicle and the position data of the following vehicle; and an output configured to output the path of the preceding vehicle to the preceding vehicle and the path of the subsequent vehicle to the subsequent vehicle, the column corresponding to the path of the preceding vehicle, the path of the subsequent vehicle, and the net energy consumption of the vehicles is formed during the formation of the column.

Further aspects of the invention include computer programs or computer program applications which, when loaded onto or executed by a computer or processor, cause the computer or processor to become a system or perform a method according to the aspects described above.

The processors or controllers described herein may suitably include a controller or computer device having one or more electronic processors. Thus, there may be a single processor or a single controller, or alternatively, various functions of the processor or controller may be implemented or hosted in various controllers or controllers. As used herein, the term "controller" or "processor" is to be understood to include both a single controller or processor and a plurality of controllers or processors that work together to specify any one specified Provide functionality. For example, a processing environment in a processor on board a vehicle, or in a Infrastructure environment, such as B. a remote or cloud server, or be distributed between the two.

To configure a processor or controller, an appropriate set of instructions may be provided that, when executed, cause the controller or computing device to implement the control techniques specified herein. The set of instructions may be suitably embedded in the one or more electronic processors. Alternatively, the set of instructions may be provided as software to be executed on the computing device.

It is expressly intended, within the scope of this application, that the various aspects, embodiments, examples and alternatives presented in the preceding paragraphs, in the claims and / or in the following description and drawings, and in particular, their individual features, be independent of each other or in any combination. This means that all embodiments and / or features of any embodiment can be combined in any manner and / or in any combination, provided that these features are not incompatible. The Applicant reserves the right to change any claim originally filed or to submit any new claim, including the right to alter any originally filed claim, in order to depend on and / or disregard any feature of any other claim although it was previously unclaimed in this way.

list of figures

• 1 ein Schaubild, das ein Fahrzeug veranschaulicht, das eine Steuervorrichtung zum Verwalten von Energieeffizienz zur Bildung einer Fahrzeug-Kolonne nach einer Ausführungsform der Erfindung aufweist;
• 2 ein Schaubild, das Schritte eines Verfahrens zum Verwalten von Energieeffizienz zur Bildung einer Fahrzeug-Kolonne nach einer Ausführungsform der Erfindung veranschaulicht;
• 3 ein Schaubild, das effiziente Bahnverwaltung nach einer Ausführungsform der Erfindung veranschaulicht;
• 4a ein Schaubild, das Schritte eines Verfahrens zum Verwalten von Energieeffizienz zur Bildung einer Fahrzeug-Kolonne nach einer Ausführungsform der Erfindung veranschaulicht;
• 4b ein Schaubild, das Merkmale einer Bestimmung eines Energieeffizienzprofils nach einer Ausführungsform der Erfindung veranschaulicht;
• 5a und 5b Schaubilder, die Kolonnenbildung nach Ausführungsformen der Erfindung veranschaulichen; und
• 6 ein Schaubild, das Komponenten eines Computersystems nach einer Ausführungsform der Erfindung veranschaulicht.

One or more embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

• 1 12 is a diagram illustrating a vehicle having a power management managing apparatus for forming a vehicle convoy according to an embodiment of the invention;
• 2 1 is a diagram illustrating steps of a method of managing energy efficiency for forming a vehicle convoy according to an embodiment of the invention;
• 3 a diagram illustrating efficient railroad management according to an embodiment of the invention;
• 4a 1 is a diagram illustrating steps of a method of managing energy efficiency for forming a vehicle convoy according to an embodiment of the invention;
• 4b a diagram illustrating features of determination of an energy efficiency profile according to an embodiment of the invention;
• 5a and 5b Charts illustrating column formation according to embodiments of the invention; and
• 6 a diagram illustrating components of a computer system according to an embodiment of the invention.

DETAILED DESCRIPTION

Embodiments of the invention provide methods and systems for improving energy efficiency in forming or disassembling vehicle columns, taking into account circumstances or parameters that increase energy efficiency during proposition or programming of motion for vehicles joining or leaving the column, or also potentially influence those who stay in the column. Once the desire to form a column has been identified, the methods and systems may determine the most energy-efficient manner, such as a subsequent vehicle unlocking a preceding vehicle. This can lead to improvements in energy conservation; Such improvements may be small for a single vehicle in some cases, but for potentially very large columns, energy saving across the column as a whole can be extremely significant, saving costs, complexity and possible emissions.

An example scenario is the approximation to a curve; if the preceding vehicle is approaching a curve on the road and needs to brake shortly, it is not energy efficient for the following vehicle to accelerate in front of the curve to catch up, only to have to brake again shortly thereafter. A more energy efficient approach would be to slow down the preceding vehicle more than is needed for the turn, or to forego accelerating away from the turn to give the following vehicle the opportunity to unlock.

One of the key elements of cooperative adaptive velocity (CACC) control systems is the formation of columns. Column formation is not a trivial activity given the number of variables involved and the dynamic nature of traffic situations. When about V2V (vehicle vehicle), 12V (infrastructure vehicle) and V21 (vehicle infrastructure), the scheduling required to form a column may be performed according to embodiments of the invention in a manner that improves energy. From an energy management strategy perspective, this offers significant opportunities for the ability to anticipate future events and thus to adjust vehicle speed and use of the propulsion system to enhance energy efficiency. In order for the vehicles to operate in CACC mode, the vehicles are typically in close proximity and undergo a process of mutual path planning to form a column. Considering predictive power management, the two vehicles are able to perform path planning in a more energy efficient manner.

1 is a graph that is a vehicle 100 illustrating a system according to an embodiment of the invention. The vehicle is in this case an automobile such. As a motor vehicle or SUV, but can also be any other type of user-managed or user-managed vehicle, such. A vessel, a large land vehicle or an autonomous or semi-autonomous vehicle.

The vehicle includes a controller or controller 114 ; it manages the reception of movement data and data associated with occurring power management circumstances, processes data, and determines energy efficient motion actions for the vehicle to form or dissolve a column. The vehicle also has a user communication and interface / interactivity system 108 on; this can provide communications to the user as well as receive input and feedback from the user.

The vehicle also includes a plurality of sensors and detection devices 104 and 122 that can be used to assess power management circumstances, incidents and events associated with the vehicle, and data about these events to the control device 114 so that the controller may use it to determine proposals for motion actions or instructions for the vehicle. For example, in the vehicle range or distance or depth sensors, such. As a radar, Lidar- or an ultrasonic sensor 104 contain. For example, the vehicle includes 100 front and rear sensors 104 ,

In this embodiment, the vehicle is an electric vehicle, and it is also a battery management device 110 provided a battery state or status of an alternative energy storage device such. B. one or more capacitors, monitor and display.

In other embodiments, the vehicle may be a hybrid vehicle that includes one or more electric motors and a combustion device, or a vehicle that is driven only by a combustion device. In this embodiment, the energy storage device may also include a reservoir for storing a fuel for burning in the combustion device.

The vehicle also includes a transceiver 112 in order to transmit or receive communications to the vehicle, for example to obtain information from other vehicles in the convoy (or those that potentially make them) via V2V, or from infrastructure transceivers ( 12V) to recieve. The transceiver 112 can also store location data signals, such as. As GNSS signals received and transmitted.

In order to enable more advanced embodiments involving itinerary planning for platooning, the vehicle is set up to either determine or receive information about its own location, location, and environment, such that this information is more complex Column formation calculations can be used. The control device 114 The vehicle includes an imaging component that stores map information. The map information may include, for example, road topography locations such. B. large, small towns and suburbs and attractions include. Geometric data can also be stored by the electronic map unit. The geometric data includes terrain data and in particular information about altitude changes and takes into account driving directions and speed limits. The terrain data may be stored locally or remotely accessible via a wireless network and may be provided by the transceiver unit 112 from an infrastructure transmitter ( 12V) or another vehicle (V2V) or be part of the stored map information.

The control device 114 may use this information to estimate or determine a path (or track or track profile) that the vehicle will follow (or will most likely follow). The path can be based on several options. For example, the user of the vehicle, such as the driver, may include a destination and other route information in a satellite navigation interface (" Satellite navigation device "). From this, the vehicle can determine with reasonable certainty the probable route the vehicle will follow. If a route is determined in advance, e.g. For example, when a satellite navigation device is used, the vehicle may follow it automatically (eg, in a fully autonomous motor vehicle), semi-automatically (eg, by a driver assistance function), or via navigation commands to a human driver.

If the driver does not use the satellite navigation device function, a probable route may be calculated based on electronic map information. For example, it is likely that a driver on a highway, highway or main road - possibly over a certain distance - remains on that road, and therefore the most likely route is relatively easy to predict.

The electronic map information may optionally be combined with information from vehicle sensors describing the vehicle condition. For example, a driver using an indicator, while slowing down at a certain point on the road, indicates that the driver is just turning in the direction indicated by the selection of the indicator.

In other embodiments, the vehicle-vehicle (V2V) and / or vehicle infrastructure (FIG. V21 ) Communications are used to estimate or determine the likely path of the vehicle. For example, when receiving a V2I communication indicating that the road ahead of the vehicle is locked, the motor vehicle may determine the probable route the driver takes to avoid the closed road.

In yet other embodiments, previous user behavior may be used as input for the estimation of the path. For example, if the user regularly drives to and from a workstation at approximately times, the motor vehicle may assume that the destination is his home or workstation when the user uses the vehicle during those times, and that the most likely route is to the user drives daily.

It should be noted that in some embodiments, the vehicle specific profile may include information that may include only one or other (or less) of the available variables. For example, the control device 114 from received GNSS signals, or from the sensors on the vehicle, determine that the vehicle has a current speed and / or acceleration; this can be used to determine a simple velocity profile that may be sufficient to allow for the formation of the vehicle.

It is understood that a control device 114 while being in the vehicle 100 is illustrated on one or more servers (such as a cloud server) or other computer (s) to which the vehicle 100 can be located remotely. Thus, the components of the controller described herein (such as the imaging component and map information) may be remotely located and / or stored.

2 FIG. 10 is a diagram illustrating steps of a method of managing energy efficiency for forming a vehicle convoy according to an embodiment of the invention. FIG. First, the control device receives 114 at 202 Transaction data for a first vehicle and a second vehicle to form a column. As noted above, this information may be simple, such as: Relative longitudinal speeds for the vehicles, but may also include additional information indicating lateral velocity or acceleration, location (eg, GNSS) data, and the like as described herein. The information may be received from the second vehicle, or from other vehicles in the convoy, or from infrastructure sources.

For example, V2V CACC is typically based on vehicle-vehicle cooperation, and in contrast, at 12V CACC, the infrastructure provides information or guidance to the CACC system (such as the set speed setpoint). In automated column formation (unlike CACC, but still applicable to embodiments of the invention), the information may be similar and from similar sources, but they may only be used to provide a vehicle tracking strategy with constant spacing, as opposed to typical use in CACC's Follows at a constant interval. Normally, CACC uses only velocity or longitudinal acceleration information, while automated column formation uses longitudinal and transverse information; both can be supported by embodiments of the invention.

In embodiments, the information received about the movement of the vehicles may be used to form, prior to energy considerations, an anticipated action or set of actions, the formation of columns between the first Vehicles could allow. This may allow for the choice among these possibilities of saving the most energy, ie being the most energy efficient.

It will be apparent to those skilled in the art that the energy efficient motion action may not be the motion action that has the absolute minimum power consumption for the convoy or the single vehicle, but may be further limited by computational or physical requirements to only reduce the energy expenditure of the efficient motion action To reduce comparison to other acceptable movement actions. It will be appreciated that the efficient movement action may be shown to the user of the vehicle under one or more other acceptable movement actions via a human machine interface (HMI) of the vehicle, whereby the user can select the most appropriate action for the current situation.

at 204 receives the control device 114 Data indicating a prevailing power management circumstance with respect to the formation of the column between the first vehicle and the second vehicle. It may be any such circumstance or characteristic which may lead to a change in the anticipated energy efficiency of column formation or the anticipated energy conservation of the formation or, if considered, to an improvement. For example, the data may indicate a route topography; there may be an approach to a grade, and it would be more energy efficient for the first or ego vehicle not to accelerate to catch up with the second vehicle or target vehicle (s) until the highest point of the grade is reached Consuming energy on the slope. The data can only show details of a route; If a vehicle is currently approaching a highway, it may be more energy efficient to form the column on the highway than on the access road.

The data may indicate a speed limit of the road; if a lower speed limit applies to a path that the ego vehicle is about to hit, it may be determined that the ego vehicle will delay an attempt to catch up with or approach the target vehicle at lower speeds save as it will soon be limited to a lower speed anyway.

The data may indicate a restriction of the route infrastructure or a local traffic condition; For example, a series of construction sites or a jam can be an obstacle to column formation, and it can be more energy efficient to wait until after construction sites have ended. Or if there is a speed limit on the construction sites, the ego vehicle can await the connection to the column until then.

The data may indicate a vehicle battery condition; if the battery state of charge is low (or high), the controller may determine that a lower (or higher) speed should be used to connect to the column. The data may indicate a weather condition; if it is already raining or raining, it may be more efficient to connect to the target vehicle or the column on a straight stretch of road, rather than at a bend where there may be less traction.

at 206 In accordance with the received motion data and the data indicative of the prevailing power management circumstance, the controller determines an energy-efficient move action for the first vehicle and / or the second vehicle to form the column. For example, the action may be for the first or ego vehicle, ie, for speeding up or slowing down for efficiency. Or it may happen that the second or target vehicle (or a column) is instructed to accelerate or slow down.

The instruction may refer to a speed or acceleration for the particular vehicle; a vehicle may receive an instruction to accelerate or decelerate or follow a given speed track or profile. The instruction may also or alternatively refer to an operating mode for the respective vehicle; the vehicle may be instructed to drive in a low or low power mode for connection to a convoy. For example, the controller may determine that the low power mode is providing sufficient speed to allow connection to the prospective target vehicle or column, thus instructing that it should be used to conserve energy.

In embodiments, the instruction or movement action may be communicated to the user of the vehicle. For example, the controller may determine that the user should accelerate or change lanes to join the column and show or display these instructions to the user (who may or may not follow them). If they are not followed then the control device may be the appropriate one Repeat follow-up movement action to form the column regularly.

Alternatively, the particular energy efficient motion action may be used in an autonomous motion statement for the vehicle. For example, an autonomous motion system may be programmed for the vehicle, with the velocity trajectory being determined to be energy efficient as the one for connection to the column.

In embodiments, the energy efficiency action may be determined (at least in part) based on the state of the powertrain or state of charge (SOC) of the vehicle. For example, in a hybrid electric vehicle, when the state of charge of the high voltage battery (HS) is high, a movement action allowing the vehicle to coast may be preferable. On the other hand, if the SOC is low, a motion action that promotes a more aggressive delay to recover energy and charge the HS battery may be preferable.

3 Fig. 12 is a diagram illustrating efficient rail management according to an embodiment of the invention. The target vehicle 302 so far is a first way 306 followed, which is estimated or determined as described above. The ego vehicle 304 is a way 308 followed. A likely speed behavior of the target vehicle may be based on a predicted path 310 of the target vehicle; this predicted path can also be determined as described above - by topography, geographic data, historical data, speed profile, and the like. The target vehicle may be detected and located with respect to the ego vehicle by the methods described above, such as V2V data, V21 data, or proximity sensor devices.

A controller may then provide the ego vehicle with a suitable prospective path 312 for connection to the target vehicle 302 on his predicted way 310 determine. The way 312 may be calculated in advance in any suitable or known manner. For example, if the ego vehicle 304 via wireless communication, such as As a V2V communication protocol, can communicate with the target vehicle, it can the pre-calculated way 310 receive and the predicted way 312 precompute or determine (for example, in the same ways as described above for determining the vehicle lanes) in any suitable manner.

Additionally or in other embodiments, a control device may be in the ego vehicle 304 the predicted way 310 self-predict, without receiving direct communication from the target vehicle. For example, it may use radar, lidar, video analysis, or other suitable engineering technique, or geographic information (such as map data) to determine the relative position of the target vehicle, and from there the anticipated path 310 and a suitable way 312 to connect. In other embodiments, the ego vehicle may simply assume that the target vehicle will travel indefinitely at its current speed and on the current road and, based on this, pre-calculate the likely path.

The likely speed behavior of the vehicles may be estimated in any suitable manner. For example, if the predicted path is a freeway, highway or main road, it can be concluded that the speed behavior of the first or second vehicle involves a constant speed. If the predicted path includes a sharp turn that requires the target vehicle to decelerate from a current speed, the likely speed behavior will include slowing for the turn and accelerating on the following straight road. Similarly, if the predicted path includes a change in the posted or statutory speed limit, the likely speed behavior is affected.

In embodiments of the invention, the control device may, after the probable path 312 (or a set of them), then determine which is the most energy-efficient of these paths, or whether there are energy-efficient motion actions that can be taken for the path or paths. For example, if only one route is available, determining the motion action may be easier - the prevailing circumstances (speed limit, weather, etc.) can simply be applied to the path alone. In the simplest case, the vehicle can easily determine that a low-energy mode for the prospective route 312 can be used, and thus apply this mode.

4a FIG. 10 is a diagram illustrating steps of a method of managing energy efficiency to form a vehicle convoy implemented by, for example, a control device according to an embodiment of the invention. First, the driver activates the column formation feature, which in this example is a CACC feature, not an automatic one Column formation feature is. The control device, the information such. B. V2V used, as described above, determines whether any vehicles are available to form a column. If not, the vehicle remains in an individual ACC mode (iACC) 406 ,

If so, it is determined whether the target vehicle is in front of or behind the ego vehicle. In the former case, a request will be made to connect (or form) a column 402 generated. If the prompt is not executed (eg, if the target vehicle is not responding, or the driver does not follow the displayed instructions), the vehicle reverts to iACC mode 412 , When the driver obeys the request to join a column, the controller checks 408 whether the target vehicle is in the same lane as the ego vehicle. If not, the driver is prompted to change lanes 414 , If this does not happen, the iACC mode will be used again 412 , If the driver accepts the lane change request, or if the vehicles were on the same lane, the systems begin the predictive power management process 424 (according to the methods described throughout), and column formation 426 , After the column has formed, the system is configured to inform other vehicles in the column that it has connected 428 , the information to other vehicles in the column 430 to close the gap to a vehicle that 432 (and possibly afterwards) drives, and the vehicle in front 434 to follow. If the driver overwrites the CACC feature, or disables following the column, or the Leader vehicle leaves the column, the other vehicles are informed 436 and iACC mode is used again 412 ,

In the case where the target vehicle is at the rear, a request to form a column is made 404 generated with the target vehicle behind, and the controller drives with predictive power management 410 and column formation 416 continued. After the column is formed with the target behind, now the ego vehicle leads the target vehicle. Therefore, the ego vehicle performs iACC 418 but also transmits information to other vehicles in the convoy 420 and informs the driver about other vehicles joining 422 , When the request to the driver expires, the iACC mode is used again 406 ,

4b FIG. 12 is a diagram illustrating features of determining an energy efficiency profile according to one embodiment of the invention. FIG. In embodiments of the invention employing C-ACC or automated column formation, at least one of the two eventualities illustrated in the drawings below may occur: a) vehicles equipped with column formation features in the same lane and planning to form a column; and b) vehicles equipped with column formation features in a plurality of lanes, which plan to form a column.

Strategies previously considered for path planning include requesting the driver to change lanes to allow the formation of a column in (b) or to adjust the longitudinal gap between the host and target vehicles (a). In embodiments, path planning takes into account techniques of predictive power management. As the vehicles communicate with each other, they form a column in an energy-enhanced manner. Predictive power management techniques utilize the variables, including road topology, traffic condition, e-Horizon technology speed limits, or vehicle infrastructure / vehicle information, to calculate the desired speed profile and operating mode (drive mode, hybrid status) for the vehicles ,

Embodiments of the invention may use V2V messages already transmitted for core CACC functionality, and V2l messages provide information about the environment in a particular horizon. By combining these with host vehicle information, optimization algorithms can calculate the most energy efficient way to form the column.

• für das Leit-/Zielfahrzeug - Radar und Bildgebungsinformationen, GNSS-Daten (wie z. B. GPS) und Geschwindigkeit des Fahrzeugs;
• Horizontdaten für das Leitfahrzeug (z. B. für einen Horizont von 5 km in Fahrtrichtung) - Phasen- und Standortdaten (wie z. B. Phasen, die im Verkehr auf der Straße stattfindet, oder auch in der Kolonne, die verwendet oder gerade angetroffen wird), Entfernung und Geschwindigkeit gegenüber anderen Fahrzeugen, beliebig geltende Geschwindigkeitsbeschränkungen, beliebige Verkehrsstaus, und die relevanten Spurinformationen;
• V2V-Daten für das Leitfahrzeug - Ampelphasen/Standort, Entfernung/ relative Geschwindigkeit zu anderen Fahrzeugen, variable Geschwindigkeitsbeschränkungen, Verkehrsstau; beliebige angetroffene Ampeln, weitere Daten wie für die Horizontdaten, die aber über V2V gesammelt wurden.

As in 4b shown, the system is for determination 452 the speed of the master or target passenger vehicle, but also to take account of energy efficiency considerations (which are similarly taken into account by the control device of the target vehicle or by an infrastructure control device for both vehicles), which have the following inputs:

• for the guidance / target vehicle - radar and imaging information, GNSS data (such as GPS) and vehicle speed;
• Horizon data for the Leader Vehicle (eg for a horizon of 5 km in the direction of travel) - Phase and location data (such as phases that occur in traffic on the road, or even in the convoy used or just encountered the distance and speed to other vehicles, any speed restrictions, any traffic congestion, and the relevant lane information;
• V2V data for the Leader Vehicle - traffic light phases / location, distance / relative speed to other vehicles, variable speed limits, traffic congestion; any traffic lights encountered, further data as for the horizon data, but collected via V2V.

This is used to determine the predicted speed trajectory of the Leader Vehicle. A similar determination by means of the same types of information is made for connection to the target or lead vehicle by the ego vehicle. These inputs are then provided 454 to determine the speed of the ego vehicle to connect to the column, resulting in a predicted speed path of the ego vehicle.

Regarding the 5a and 5b These provide some implementation examples for the embodiments described above. In a previously considered, in 5a illustrated system becomes the target vehicle 506 through the ego vehicle 502 in the same lane, and determines a predicted speed or orbit that the controller determines to have a high degree of acceleration (and therefore energy) 504 needed for the ego vehicle to unlock. The column then moves at the (lower) column speed 508 continue.

In one embodiment of the invention, as in 5b 3, the upcoming road curvature has been identified and recorded by the column formation controller (either by detection by the target or ego vehicle, or 12V information, or the like, as described above, eg, map information). The control device therefore takes into account the upcoming road curvature in forming the column. Instead of moving the ego vehicle to the target vehicle to get a column with the high in 5a shown speed 504 and then slow for the upcoming turn, the power management calculates a required speed at which the ego vehicle and the target vehicle must follow to form a column taking into account the upcoming road curvature. This leads to a lower approach speed 510 of the ego vehicle (and later unlocking the target vehicle), thereby conserving energy.

1. 1) durch Energieverwaltungstechniken, die den Fahrer anweisen, die Spur zu wechseln, und das bestimmte Geschwindigkeitsprofil bereitstellen, dem beispielsweise unter Berücksichtigung des Verkehrs und von Geschwindigkeitsbeschränkungen zu folgen ist; oder
2. 2) durch Energieverwaltungstechniken wird ein Geschwindigkeitsprofil berechnet, dem das Fahrzeug beispielsweise unter Berücksichtigung des Verkehrs und von Informationen über variable Geschwindigkeitsbeschränkungen zu folgen hat, wobei der Fahrer nur die Querbewegung des Fahrzeugs (Spurwechsel) steuert, und eine autonome Fahrzeugfunktion das Geschwindigkeitsprofil durchführt.

In a case where the vehicles are in different lanes, as in the above 4a As shown, the controller may prompt the driver to change lanes so that the vehicles may form a CACC column. However, the functionality introduced here will go one step further to assist the driver in one of two ways:

1. 1) by power management techniques that instruct the driver to change lanes and provide the particular speed profile to follow, for example, in consideration of traffic and speed limits; or
2. 2) by power management techniques, a speed profile is calculated which the vehicle has to follow, for example, in consideration of the traffic and information on variable speed limits, the driver controlling only the lateral movement of the vehicle (lane change) and an autonomous vehicle function performing the speed profile.

The embodiments described herein apply analogously to vehicles that are in a convoy, but where the convoy is to be disbanded or disconnected, or where the ego vehicle desires to leave it, such as leaving the convoy to depart from a freeway. Although the vehicle is already in the column, there are still improvements in terms of energy efficiency when leaving the column. If the column, for example, similar to the example in the 5a and 5b is about to hit a curve in the road, it can be determined by the control device that - since the speed of the column is about to be reduced - just after the turn is a suitable time for the column, the leader vehicle to approve, leave the column before the column returns to normal speed. Of course, this provision would have to be transmitted to the vehicles of the convoy via V2V or V21 (and 12V). If options exist for the departing vehicle (eg, whether to choose one of two exits), the controller may determine from the stored or received geographic or map data which would be the energy-efficient departure from the convoy for the ego vehicle.

6 is a diagram showing the components, structure and functionality of a computer system 600 according to an embodiment of the invention, the in 1 illustrated features of the control device or the computer management system 114 can provide.

The system 600 includes a processing environment 620 with processor 621 and memory 622 , with associated communication functionality 623 , The communication functionality may include a networking capability that enables communication with a network, such as the Internet. B. the vehicle bus, or directly with another device, such as the sensors (eg. 104 ) and others in 1 represented devices of the vehicle, and with the transceiver 112 , The memory 622 can store readable instructions to instruct the processor to perform the system functions. The processor 621 is an illustration of processing capability and may be provided in practice by multiple processors. A database 610 is provided which stores data as needed. This database can provide storage for which messages were triggered by what circumstances.

Within the processing environment 620 illustrated elements use the processor 621 and the memory 622 to provide functionality; For example, these elements may provide steps of embodiments of the invention, such as: B. receiving movement data for the first vehicle and the second vehicle; Receiving data indicative of a prevailing power management circumstance relating to formation of the cluster between the first vehicle and the second vehicle; and in response to the received motion data and the data indicating the prevailing power management circumstance, determining an energy-efficient move action for the first vehicle and / or the second vehicle to form the column.

A database management system 630 is in the processing environment 620 to provide the administrative functions for the database. The database management system can also have functions from other parts of the system 600 include, such. For example, the processor 621 , the memory 622 and the database 610 even.

The above with respect to 6 Computer devices may include one or more logic arrays, memories, analog circuits, digital circuits, software, firmware, and processors. The hardware and firmware components of the computing devices may include various specialized units, circuits, software, and interfaces for providing the functionality and features described herein. The processor (s) may be or include one or more microprocessors, application specific integrated circuits (ASICs), programmable logic devices (PLDs), and programmable logic arrays (PLAs). The memory 622 may be or include RAM, ROM, DRAM, SRAM, and MRAM, and may include firmware such as static data or fixed instructions, BIOS, system functions, configuration data, and other routines used during operation of the computing device / or the processor. As noted above, the processing environment may be externally hosted, such as a host. In a remote or cloud server.

Numerous modifications can be made to the above examples without departing from the scope of the present invention as defined in the appended claims.

Claims (14)

A control device for managing energy efficiency to form a vehicle convoy, wherein a vehicle convoy includes at least a first vehicle and a second vehicle, wherein the control device is configured to: Receiving movement data for the first vehicle and the second vehicle; Receive power management circumstance data indicating a prevailing power management circumstance with respect to formation of the column between the first vehicle and the second vehicle; and determine, in dependence on the received motion data and the received power management circumstance data, an energy-efficient move action for the first vehicle and / or the second vehicle to form the column. Control device after Claim 1 configured to determine one or more allowable movement actions for the first vehicle and / or the second vehicle to form the column and to select the energy efficient move action from the one or more allowable movement actions, depending on the received motion data. Control device after Claim 1 or Claim 2 wherein the movement data for the first vehicle and the second vehicle relate to a relative movement between the first vehicle and the second vehicle. Control device according to one of the preceding claims, wherein the movement data for the first vehicle and the second vehicle comprise position data and speed data for the first vehicle and the second vehicle. A control device according to any one of the preceding claims, wherein the power management circumstance data indicating the prevailing power management circumstance comprises data indicating one or more of: a vehicle route; a route topography encountered by the first vehicle and the second vehicle; a route speed limit; a route infrastructure restriction; one Vehicle health status; a traffic condition; and a weather condition. Control device after Claim 5 wherein the vehicle capability status is a vehicle battery condition for a hybrid vehicle, and wherein the controller is configured to determine, based on the vehicle battery condition, the energy efficient movement action that is to maintain a vehicle speed; or slowing down the vehicle by means of regenerative braking. The control device of claim 1, wherein the energy-efficient motion action for the first vehicle or the second vehicle includes an instruction related to one or more of the following: a speed for the first vehicle or the second vehicle; an acceleration for the first vehicle or the second vehicle; and an operation mode for the first vehicle or the second vehicle. A control device according to any one of the preceding claims, configured to determine a path profile for the first vehicle or the second vehicle, the path profile comprising the energy-efficient movement action for the first vehicle or the second vehicle. A control device according to any one of the preceding claims, configured to communicate the energy efficient movement action for the first vehicle or the second vehicle to a user of the first vehicle or the second vehicle. Control device according to one of Claims 1 to 8th configured to use the energy efficient movement action to determine an autonomous movement instruction for the first vehicle or the second vehicle. A control device for managing energy efficiency for dissolving a vehicle convoy, wherein a vehicle convoy comprises at least a first vehicle and a second vehicle, wherein the control device is configured to: Receiving movement data for the first vehicle and the second vehicle; Receiving power management circumstance data indicating a prevailing power management circumstance with respect to column resolution; and determine, in dependence on the received motion data and the received power management circumstance data, an energy-efficient movement action for the first vehicle and / or the second vehicle for the resolution of the column. A system for managing energy efficiency to form or dissolve a vehicle convoy, the system comprising a controller according to any one of the preceding claims, the system comprising: one or more of: a data storage device; a communication device; and a sensor, and a processor for processing data from one or more of the data storage device; the communication device; and the sensor to determine the energy efficient movement action for the first vehicle to form or dissolve the column. A vehicle comprising a control device or system according to any one of the preceding claims. A method of managing energy efficiency to form a vehicle convoy, wherein a vehicle convoy comprises at least a first vehicle and a second vehicle, the method comprising: Receiving movement data for the first vehicle and the second vehicle; Receiving power management circumstance data indicating a prevailing power management circumstance with respect to the formation of the column between the first vehicle and the second vehicle; and Determining, in response to the received motion data and the received power management circumstance data, an energy efficient move action for the first vehicle and / or the second vehicle to form the column.

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