DE102022205979A1 - Platooning control method and platooning control device - Google Patents

Abstract

The invention relates to a platooning control method for a platoon of platoon motor vehicles (P1, P2, P3), wherein a wear parameter (V) of a component of a motor vehicle (PE, P3) is provided, and wherein a first control parameter (SE) for the Motor vehicle (PE, P3) and / or a second control parameter (SP) for at least one of the platoon motor vehicles (P1, P2, P3) are determined depending on the wear parameter (V). The invention further relates to a corresponding platooning control device (6).

Description

The invention relates to a platooning control method for a platoon of several platoon motor vehicles. The invention further relates to a platooning control device for carrying out the method and a corresponding computer program.

Platooning, also known as “electronic drawbar” in German, is an assistance function for motor vehicles, especially for motor vehicles with the ability to drive autonomously. During platooning, several motor vehicles join together to form a platoon, i.e. a formation or a convoy. The (platoon) motor vehicles participating in the platoon, i.e. the motor vehicles that form the convoy, are in communication with one another, so that the platoon vehicles are in accordance with a specification specified, in particular by the platoon leader, i.e. by the front motor vehicle of the platoon in the direction of travel Speed can be controlled.

This allows the distance between the platoon motor vehicles to be advantageously chosen to be relatively small due to their communication, so that the platoon motor vehicles can drive in the slipstream of the platoon motor vehicle(s) in front. Fuel consumption or - in the case of electrically powered motor vehicles - energy consumption is reduced accordingly.

From the DE 10 2008 023 380 A1 a motor vehicle is known which has a driving assistance system for issuing a warning message and/or for intervening in a driving operation, with an activity of the driving assistance system taking place when a variable trigger threshold is exceeded. In order to increase active and passive traffic safety, other external circumstances, in particular influencing variables that have an influence on the driving behavior, the braking distance and, for example, the skid resistance of the motor vehicle, must be taken into account when driving.

Furthermore, in the DE 10 2017 207 915 A1 a driving assistance system for an ego vehicle is taught, which has the following: a receiver for receiving control parameters of a driving assistance function of the ego vehicle from a data source external to the vehicle, wherein the control parameters have been determined by evaluating wear prognosis data of a vehicle component and wherein the wear prognosis data have been determined through a statistical evaluation of a large number of vehicles that have the vehicle component and indicate the predicted wear of the vehicle component of the ego vehicle; and a driving assistance control unit coupled to the receiver, which is set up to adapt the driving assistance function of the ego vehicle based on the determined control parameters.

The invention is based on the object of specifying a particularly suitable platooning control method. In particular, the greatest possible safety and/or the highest possible efficiency of the motor vehicles participating in the platoon should be achieved. Furthermore, a platooning control device for carrying out the platooning control method, a motor vehicle with such a platooning control device and a corresponding computer program are to be specified.

With regard to the platooning control method, the task is solved according to the invention by the features of claim 1. With regard to the platooning control device, the task is solved with the features of claim 8, with regard to the motor vehicle with the features of claim 9 and with regard to the computer program with the features of claim 10 solved according to the invention. Advantageous refinements and further developments are the subject of the subclaims. The statements in connection with the method also apply mutatis mutandis to the platooning control device, to the motor vehicle and/or to the computer program, and vice versa.

The platooning control method (platooning control method) is intended to control a platoon of platoon motor vehicles. Here and below, the motor vehicles taking part in the platoon, i.e. the association or convoy of motor vehicles, in other words the motor vehicles forming the platoon, are referred to as “platoon motor vehicles” or “platoon vehicles”.

According to the method, a wear parameter of a component of a motor vehicle is provided. In particular, the wear parameter is provided by this motor vehicle. This motor vehicle is already part of the platoon, in other words this motor vehicle takes part in the platoon, in still other words this motor vehicle is a platoon motor vehicle. Alternatively, the motor vehicle is not yet part of the platoon, but has made a request to join the platoon and has preferably provided the wear parameter for this purpose.

The wear parameter of a (vehicle) component is understood to be a quantity or a value that characterizes the state of wear of this component. The Com ponente is expediently a component that influences a safety distance of the motor vehicle having the component to a motor vehicle or platoon motor vehicle in front. In particular, the component is a brake or a component thereof or, for example, a tire. In the case of a (vehicle) tire, the state of wear can be estimated or determined, for example, based on a tire pressure, a tire brand, a current mileage or the like.

According to the method, a first control parameter for the motor vehicle is also determined depending on the wear parameter. Alternatively or preferably additionally, a second parameter for one of the platooning motor vehicles, or expediently a second control parameter for each of the platooning motor vehicles, is determined depending on the wear parameter.

The first control parameter and/or the second control parameter are expediently additionally determined depending on a respective (further) wear parameter of a component of the platoon motor vehicles.

The first or second control parameter is or includes information that is used to control the respective motor vehicle with regard to its travel. For example, the control parameter is a value for a target speed, a target distance, a target longitudinal or a target lateral acceleration. Alternatively, the first or second control parameter is designed such that such a value can be derived from the respective control parameter or determined based on it.

For the determination of the first control parameter and/or the or each second control parameter, a table, a characteristic curve or a mathematical function is expediently stored in a memory of a platooning control device. Using the table, the characteristic curve or the mathematical function, the first control parameter or the second control parameter itself or a correction factor or a correction offset for a variable set based on the first control parameter or for the variable set based on the second control parameter, such as a distance between the platoon motor vehicle driving in front, which can be determined based on the wear parameter.

Particularly advantageously, safety for the platoon is increased due to the consideration of the wear of the component. For example, if there is comparatively high wear, especially on the brakes, the distance to the platoon motor vehicle in front is increased and/or a speed of the platoon motor vehicles is reduced.

According to an expedient development of the platooning control method, the arrangement of the platoon motor vehicles is determined depending on the wear parameter of the motor vehicle. The arrangement of the platoon motor vehicles is to be understood in particular as meaning their order in the platoon with regard to the direction of travel and/or a respective distance between the platoon motor vehicles.

The first control parameter and/or the second control parameter is expediently formed accordingly and output to the vehicle or to the respective platoon motor vehicle. In particular, the first and/or the second control parameter is or includes information or a value for the position of the respective platoon motor vehicle in the platoon. The position in the platoon means whether the respective motor vehicle is arranged first, second, third, etc. with regard to the direction of travel in the convoy.

According to an advantageous development of the platooning control method, when the motor vehicle is connected to the platoon, in other words when the motor vehicle is admitted to the platoon in response to its request and this joins the convoy, and / or when one of the platoon motor vehicles leaves Platoon the arrangement of the platoon vehicles in the platoon, i.e. in particular their order and their distance from one another, is adjusted depending on the wear parameter. When connecting the motor vehicle to the platoon or when leaving the motor vehicle from the platoon, due to wear on the component, a change in the arrangement of the platoon motor vehicles can occur in a smaller distance between the platoon motor vehicles and / or in a smaller fuel or energy consumption of the platoon -Motor vehicles result. The optimized arrangement of the platoon motor vehicles is expediently determined using an optimization method or an optimization algorithm, with the wear parameter and/or a minimum distance specified or determined for the safety of the platoon motor vehicles being taken into account when optimizing the arrangement.

With regard to the safety of the platoon or the platoon vehicles, wear of the component (represented by the wear parameter) has an effect for different environmental conditions, such as wet road/dry road, and/or different Road surfaces vary accordingly. For example, greater wear on a tire on wet roads poses a greater risk of an accident involving platoon motor vehicles than on dry roads.

Due to this, the arrangement of the platoon vehicles in the platoon is additionally or alternatively adjusted depending on the wear parameter when the environmental conditions of the platoon change. For this purpose, at least one of the platoon motor vehicles and/or the motor vehicle expediently comprises a sensor, for example a rain sensor or an optical sensor for detecting a change in the road surface, or a means for receiving weather data and/or for receiving navigation data to take the course of the road into account . An influence of the wear parameter on the determination of the arrangement of the platoon motor vehicles, in particular their distance from one another, can be adapted to this for different environmental conditions.

The arrangement of the platoon vehicles is expediently determined in an analogous manner using an optimization method or an optimization algorithm. In particular, a minimum distance (safety distance) is determined depending on the wear parameter and/or depending on an environmental parameter representing the environmental conditions.

The first control parameter and/or the second control parameter is expediently formed in accordance with the change in the platoon composition or in accordance with the change in the environmental conditions and output to the respective platoon motor vehicle.

In particular, if no wear parameter can be provided for the component by one of the platoon motor vehicles, or by a motor vehicle that has made a request to be connected to the platoon, according to an expedient embodiment of the method, the wear parameter or a replacement wear parameter is based on one estimated by statistical analysis. For this evaluation, (population) wear parameters are used that were provided by a large number of motor vehicles for such a component. These population wear parameters or the result of statistical evaluation (carried out externally to the platooning control device) are expediently stored in a memory of the platooning control device or were transmitted to it in advance. For example, a machine learning algorithm is used for the estimation.

For example, to estimate the wear parameter or the replacement wear parameter, an average is formed from those population wear parameters whose components lie in a predetermined age range. The first and/or the second control parameter is then expediently determined depending on the wear parameter or the substitute wear parameter, for example using a table, characteristic curve or mathematical function.

In summary, a statistical evaluation of population wear parameters of the component of a large number of motor vehicles that have such a component is used to determine the first control parameter and/or the second control parameter.

According to an advantageous embodiment, the first and/or the second control parameter is further determined depending on a further vehicle parameter. Such a further vehicle parameter is, for example, the weight of the motor vehicle, in particular its total weight, i.e. the empty weight of the motor vehicle and the weight of a payload and/or passengers. In particular, it is provided that for higher weight a distance of the platoon vehicle to the platoon vehicle in front is increased and/or for lower weight of the respective platoon motor vehicle the distance of the platoon vehicle to the platoon vehicle in front is reduced. In this way, safety is advantageously increased and/or fuel or energy consumption is reduced.

According to an expedient embodiment of the method, if the motor vehicle has not yet joined the platoon, it is determined depending on the wear parameter provided by the platoon whether the motor vehicle is allowed to join the platoon or whether the corresponding request is rejected. If wear corresponding to the wear parameter is comparatively large, then when this motor vehicle is included in the platoon, a distance would have to be chosen to be correspondingly large to ensure sufficient safety, in which case air resistance would then be disadvantageously increased. In order to ensure the highest possible level of safety and/or the lowest possible fuel or energy consumption of the platoon motor vehicle, connecting the motor vehicle can therefore be rejected. For this purpose, a threshold value for the wear parameter is expediently specified or determined, whereby the motor vehicle is not allowed to join the platoon if the threshold value is exceeded.

Alternatively, if the motor vehicle is a platoon vehicle and expediently if another motor vehicle joins the platoon, if another platoon motor vehicle leaves the platoon and/or if the environmental conditions change, it is determined depending on the wear parameter of the platoon whether the (platoon) motor vehicle may remain in the platoon or whether it must leave the platoon. For example, if wear is comparatively high and the environmental conditions change due to the onset of rain, a distance to the platoon vehicle in front would have to be chosen to be sufficiently large to ensure sufficient safety, in which case air resistance would then be disadvantageously increased. In order to ensure the highest possible level of safety and/or the lowest possible fuel or energy consumption for the other platoon vehicles, this vehicle must leave the platoon. For this purpose, a threshold value for the wear parameter, which is dependent in particular on the environmental conditions and/or on the arrangement of the platoon vehicles, is expediently specified, with the motor vehicle having to leave the platoon when the threshold value is exceeded.

In an advantageous development, the first control parameter and/or the second control parameter is determined depending on expected wear for the component of the motor vehicle. In particular, the first and/or the or each second control parameter is determined such that expected wear on the component of the motor vehicle is minimized due to the arrangement of the platoon motor vehicles. The expected wear is expediently determined using a table or a characteristic curve or a mathematical function, the table, the characteristic curve or the function representing the expected wear depending on the arrangement of the platoon vehicles.

Another aspect of the invention relates to a platooning control device for the platooning control method. For this purpose, the platooning control device is intended and set up to receive a wear parameter from a motor vehicle (external to the platooning control device) and a first control parameter for the motor vehicle and / or - if the motor vehicle has not yet joined the platoon - a second Control parameters for one of the platoon motor vehicles and / or - if the motor vehicle is a platoon motor vehicle - to determine a second control parameter for another platoon motor vehicle. Furthermore, the platooning control device is intended and set up to output the first control parameter to the motor vehicle and/or the second control parameter to the (possibly further) platoon motor vehicle.

Another aspect of the invention relates to a computer program for the platooning control device. This therefore includes commands which, when executed by the platooning control device, cause a first control parameter for the motor vehicle and/or a second control parameter for a platoon motor vehicle to be determined depending on a wear parameter received from a motor vehicle, and that the first control parameter to the motor vehicle and / or the second control parameter is output to the platoon motor vehicle.

• - die Anordnung der Platoon-Kraftfahrzeuge in Abhängigkeit des Verschleißparameters zu bestimmen,
• - beim Anschließen des Kraftfahrzeugs an das Platoon, beim Verlassen des Kraftfahrzeugs vom Platoon, und/oder bei einer Änderung der Umgebungsbedingung die Anordnung der Platoon-Kraftfahrzeuge in Abhängigkeit des Verschleißparameters durch ausgeben eines entsprechenden ersten und/oder zweiten Steuerparameter anzupassen,
• - für die Bestimmung des ersten Steuerparameters und/oder des zweiten Steuerparameters eine statistische Auswertung von Populations-Verschleißparametern zu verwenden,
• - den erste Steuerparameter und/oder den zweite Steuerparameter in Abhängigkeit eines weiteren Fahrzeugparameters des Kraftfahrzeugs zu bestimmen,
• - in Abhängigkeit des Verschleißparameters zu bestimmen, ob sich das Kraftfahrzeug dem Platoon anschließen darf, oder ob das Platoon-Kraftfahrzeug im Platoon verbleiben darf, und/oder
• - den erste Steuerparameter und/oder den zweiten Steuerparameter in Abhängigkeit eines erwarteten Verschleißes für die oder für eine weitere Komponente des Kraftfahrzeugs zu bestimmen.

The platooning control device is expediently provided and set up in accordance with the platooning control method,

• - to determine the arrangement of the platoon motor vehicles depending on the wear parameter,
• - when connecting the motor vehicle to the platoon, when leaving the motor vehicle from the platoon, and/or when the environmental conditions change, adjust the arrangement of the platoon motor vehicles depending on the wear parameter by outputting a corresponding first and/or second control parameter,
• - to use a statistical evaluation of population wear parameters to determine the first control parameter and/or the second control parameter,
• - to determine the first control parameter and/or the second control parameter depending on a further vehicle parameter of the motor vehicle,
• - depending on the wear parameter, to determine whether the motor vehicle may join the platoon or whether the platoon motor vehicle may remain in the platoon, and/or
• - to determine the first control parameter and/or the second control parameter depending on expected wear for the or for another component of the motor vehicle.

For this purpose, the computer program suitably includes commands which, when executed by the platooning control device, bring this about.

For example, the platooning control device is stationary, in other words the platoon ning control device immobile, i.e. stationary. However, a further aspect of the invention relates to a motor vehicle which has a platooning control device in one of the variants shown above. In particular, this motor vehicle is suitable as a host vehicle, in particular the vehicle leading the platoon (the platoon leader).

Alternatively or preferably additionally, the motor vehicle has a control unit which is provided and set up to output the wear parameter of a component of the motor vehicle to a platooning control device (in particular external to the vehicle), and a first control parameter, in particular for driving, from the platooning control device to recieve. The control unit is also expediently intended and set up to control a drive according to the control parameter.

• 1 anhand eines Flussdiagramms einen Verfahrensablauf eines Platooning-Steuerungsverfahrens, bei dem von einem Kraftfahrzeug ein Verschleißparameter zur Bestimmung eines Steuerparameters bereitgestellt wird, und
• 2 schematisch ein Platoon aus mehreren Platoon-Kraftfahrzeugen, wobei das Platoon gemäß des Platooning-Steuerungsverfahrens der 1 betrieben wird.

Exemplary embodiments of the invention are explained in more detail below with reference to a drawing. Show in it:

• 1 based on a flowchart, a process sequence of a platooning control method in which a motor vehicle provides a wear parameter for determining a control parameter, and
• 2 schematically a platoon made up of several platoon motor vehicles, the platoon being in accordance with the platooning control method of 1 is operated.

Corresponding parts and sizes are always provided with the same reference numbers in all figures.

In the 1 a flowchart is shown which represents a platooning control method for a platoon P of platoon motor vehicles P ₁ , P ₂ , P ₃ (platoon vehicles P1, P2, P3).

Here, in a first step I, a wear parameter V, which represents the state of wear of a component 2 of the platoon motor vehicle P ₃ , is provided by one of the platoon motor vehicles (here, for example, the platoon motor vehicle P ₃ ) and is provided by a control unit 4 of the platoon motor vehicle. Motor vehicle P ₃ is output or sent to a platooning control device 6. Alternatively and dash-dotted in the 2 indicated, the motor vehicle P _E providing the wear parameter V is not yet part of the platoon P. In this case, the motor vehicle P _E sends the provided wear parameter V to its component 2 in the course of or after a request to join the platoon P, i.e. in the course of or after the Request to connect the motor vehicle P _E to the platoon P.

The platooning control device 6 is according to that in the 2 illustrated embodiment of one of the platoon motor vehicles, here as an example the platoon leader P ₁ . For example, this platooning control device 6 is part of the control unit 4 of the platoon leader P ₁ . However, according to an alternative not shown, the platooning control device 6 is arranged in a stationary manner and is designed separately from the platoon motor vehicles P1, P2 and P3.

At best, in a subsequent second step II, the wear parameter V is received by the control device 6 and a first control parameter S _E for the motor vehicle P _E and/or a second control parameter S _P for one of the platoon motor vehicles P ₁ , P ₂ , P ₃ or expediently a second control parameter S _P for the platoon motor vehicles P ₁ , P ₂ , P ₃ is determined depending on the wear parameter V. For this purpose, a computer program C is stored in a memory 8 of the control device 6, which includes commands that do this when the commands are executed by the platooning control device 6. The control device 6 further comprises (in a manner not shown) a means for receiving the wear parameter and for sending the first control parameter S _E and/or the second control parameter S _P.

Appropriately, the respective control parameter S _E , S _P is additionally determined in an analogous manner depending on a wear parameter V` of component 2 of the other platoon motor vehicles P ₂ , P ₁ .

Additionally or alternatively to this, the first control parameter S _E and/or the second control parameter S _P is determined as a function of an expected wear for the component 2 of the motor vehicle P _E and/or as a function of an expected wear for the component 2 of the platoon motor vehicle P _1, P ₂ and/or P ₃ is determined. The expected wear can depend in particular on the type of component, the position in the platoon, the speed, the intended route, the speed and/or the acceleration of the motor vehicle P _E or the respective platooning motor vehicle P ₁ , P ₂ , P ₃ can be determined. Preferably, the first and/or the second control parameters S _E and S _P are formed such that the expected wear is minimal, in particular for a predetermined platoon speed.

Additionally or alternatively to this, the first control parameter S _E and/or the second control parameter S _P is determined as a function of a further vehicle parameter F of the motor vehicle P _E or the platoon motor vehicle P ₃ . For this the vehicle parameter F is also sent to the control device 6. In particular, the vehicle parameter F is a total weight or a weight of a payload or information about air resistance when driving.

Additionally or alternatively, the determination of the first control parameter S _E and/or the second control parameter S _P is used, in particular if the motor vehicle P _E or at least one of the platoon motor vehicles P ₁ , P ₂ , P ₃ does not have a wear parameter V or V` provides a statistical evaluation of population wear parameters V _P used for this. Each of the population wear parameters V _P corresponds to the wear parameter V of the component 2 of one of a large number of motor vehicles that has such a component 2. The population wear parameters V _P or, alternatively, the result of their statistical evaluation are expediently stored in the memory 8 of the platooning control device 6. The population wear parameters V _P are updated, for example, by recording the wear parameter to the population wear parameters V _P when a motor vehicle, whose wear parameter is not yet part of the population wear parameters V _P , sends this wear parameter to the platooning control device 6.

In particular, a (substitute) wear parameter is determined as a result of the statistical evaluation, for which purpose, for example, an average value of a specific subset of the population wear parameters V _P is formed. The determination of the first and/or the second control parameter S _E , S _P then takes place depending on the result of the statistical evaluation as wear parameters V or V` or depending on the result of the statistical evaluation and the wear parameter V provided.

Additionally or alternatively, the first control parameter S _E and/or the second control parameter S _P is determined depending on an environmental condition, for example the weather or the type and/or the condition of the road. The environment of the platoon P is expediently detected using a sensor (not shown) of the motor vehicle P _E or one of the platoon motor vehicles P ₁ , P ₂ , P ₃ and the ambient condition is determined therefrom, or information is obtained from an external device provided from which the environmental condition is determined.

To determine the control parameters S _E and/or S _P , a table or a table, a characteristic curve or a characteristic curve, a function or a function is stored in the memory 8 of the control device 6, which table(s), which Characteristic curve(s) or which function(s) determine the relationship between the first control parameter S _E or the second control parameter S _P and the wear parameter V, the result of the statistical evaluation of the population wear parameters V _P , the vehicle parameter F, the environmental condition, and/or the expected wear of component 2. Alternatively, an algorithm, in particular a machine learning algorithm, is stored on the memory 8 of the platooning control device 6, by means of which the first control parameter S _E and / or the second control parameter S _P based on the wear parameter V, based on the result of the statistical evaluation Population wear parameter V _P is determined based on the vehicle parameter F, based on the environmental condition and/or based on the expected wear of component 2. In this case, the computer program C preferably includes the algorithm.

The first and/or the second control parameter S _E , S _P is or includes information that is used to control the respective motor vehicle with regard to its travel and/or with regard to its arrangement in the platoon P. For example, the first and/or the second control parameter S _E , S _P is or includes a value for a target speed, a target distance to the platoon motor vehicle P ₁ , P ₂ in front, a target longitudinal or a target lateral acceleration. Further, for example, the first and/or the second control parameter S _E , S _P is or includes a value about the position to be taken or intended in the order of the motor vehicle P _E or the platoon motor vehicle P ₁ to P ₃ in the platoon P. Alternatively, this the first and second control parameters S _E , S _P are designed such that such a value can be derived from the respective control parameter S _E , S _P or can be determined based on this.

In summary, the arrangement of the platoon motor vehicles is specified in this way based on the first control parameter S _E and/or based on the second control parameter S _P depending on the wear parameter V.

In step III, the first control parameter S _E is output to the motor vehicle P _E and/or the second control parameter S _P to the platoon motor vehicle P ₃ and here additionally a further second control parameter S _P is output to the platoon motor vehicles P ₁ , P ₂ , sent in particular. For this purpose, the computer program C includes commands that cause this when these commands are executed by the control device 6. Furthermore, the motor vehicle P _E according to the first Control parameter SE, the platoon motor vehicle P ₃ is operated in accordance with the second control parameter S _P and/or the further platoon motor vehicles P ₁ , P ₂ are operated in accordance with the further second control parameter S _P. In this case, for the motor vehicle P _E or for the respective platoon motor vehicle P ₁ , P ₂ , P ₃ in particular a speed, an acceleration, a position within the platoon P and / or a distance of the motor vehicle PE from the platoon motor vehicle in front P ₁ to P ₃ set.

Furthermore, depending on the wear parameter V and/or the wear parameter V`, it is determined whether the motor vehicle P <sub>E</sub> , which is not yet part of the platoon P, is allowed to join the platoon P, i.e. whether its request to join the platoon is rejected or agreed becomes. For this purpose, for example, the wear parameter P provided by the motor vehicle P <sub>E</sub> is compared with a threshold value specified or determined by the platooning control device 6, which represents the approval or rejection of the request to join the platoon. This (first) threshold value is determined, for example, by the platooning control device 6 based on the vehicle parameters F of the platoon motor vehicles P1, P <sub>2</sub> , P <sub>3</sub> or the motor vehicle P <sub>E</sub> , the wear parameters V or V` of the platoon motor vehicles P ₁ . P ₂ , P ₃ or the wear parameter V of the motor vehicle P _E , and/or a predetermined maximum fuel or energy consumption of the platoon motor vehicles P ₁ , P ₂ , P ₃ . If this first threshold is exceeded, the request is rejected. The control parameter S _E is then formed in such a way that it includes corresponding information or a corresponding value that represents the rejection or approval (permission) for the connection of the motor vehicle P _E to the platoon P.

In this way, a comparatively high distance between the motor vehicle P _E and the platoon motor vehicle P ₁ , P ₂ , or P ₃ preceding it can be avoided if the component 2 of the motor vehicle P _E has a comparatively high level of wear.

Furthermore, depending on the wear parameter V and/or the wear parameter V`, it is determined whether a platoon motor vehicle P <sub>1</sub> , P <sub>2</sub> or P <sub>3</sub> has to leave the platoon P. For this purpose, a threshold value for the wear parameter V or V` of its component 2 is determined in an analogous manner for the respective platoon motor vehicle. For example, this (second) threshold value is determined by the platooning control device 6 based on the vehicle parameters F of the platoon motor vehicles P ₁ , P ₂ , P ₃ or the motor vehicle P _E , the wear parameters V or V` of the platoon motor vehicles P ₁ . P ₂ , P ₃ or the wear parameter V of the motor vehicle P _E , and/or a predetermined maximum fuel or energy consumption of the platoon motor vehicles P ₁ , P ₂ , P ₃ . If this second threshold value is exceeded, the respective platoon motor vehicle P ₁ , P ₂ , or P ₃ must leave the platoon P. The second control parameter S _P is then formed in such a way that it includes corresponding information or a corresponding value that represents the request of the respective platoon motor vehicle P ₁ , P ₂ , P ₃ to leave the platoon P.

In this way - especially if the composition of the platoon P or the environmental conditions change (see also step IV) - a comparatively high distance between the platoon motor vehicles P ₁ , P ₂ , P ₃ can be avoided if component 2 of the respective platoon motor vehicles P ₁ , P ₂ , or P ₃ has a comparatively high level of wear. The determination of whether the respective platoon motor vehicles P ₁ , P ₂ , or P ₃ may remain in the platoon P is carried out, for example, at regular time intervals (including, for example, after step IV or V).

In step IV, the composition of the platoon P changes. In other words, a motor vehicle, for example the motor vehicle P _E , joins the platoon P, or one of the platoon motor vehicles P ₁ , P ₂ , or P ₃ leaves the platoon P. Additionally or alternatively, an environmental condition of platoon P changes in step IV, for example it begins to rain.

In these cases, the arrangement of the platoon motor vehicles (P ₁ , P ₂ , P ₃ ) may be adjusted in accordance with the change (step V). For this purpose, the control parameters S _E and/or S _P are expediently determined again depending on the wear parameter V of the motor vehicle P _E and/or depending on the wear parameters V or V` of the platoon motor vehicles P ₁ , P ₂ , P ₃ and sent to the motor vehicle P _E or sent to the respective platoon motor vehicle P ₁ , P ₂ , P ₃ and the motor vehicle P _E or the respective platoon motor vehicle P ₁ , P ₂ , P ₃ operated accordingly.

The platooning control method can, for example, be carried out in at least one of the platoon motor vehicles P ₁ , P ₂ , P ₃ if the corresponding platoon motor vehicle P ₁ , P ₂ , P ₃ is designed as a high-performance ego vehicle. It may be necessary to take into account the potential duration of the platoon using route data from the ego vehicles, for example in order to optimize reorganization and calculation. Alternatively, it is also conceivable, for example, that the platooning control The method is carried out by a control center external to the vehicle, which is coupled in terms of signals to at least one of the platoon motor vehicles P ₁ , P ₂ , P ₃ .

The sensor setup of the platoon motor vehicle P ₁ , P ₂ , P ₃ can be different. As a result, predictive environment detection varies along the route, so that external sources are preferably used. In other words, the requirements of the platoon motor vehicle P ₁ , P ₂ , P ₃ against each other are included and taken into account in the platooning control method.

The invention is not limited to the exemplary embodiments described above. Rather, within the scope of the claims, other variants of the invention can also be derived by a person skilled in the art without departing from the subject matter of the invention. In particular, all of the individual features described in connection with the exemplary embodiments and/or in the claims can also be combined with one another in other ways without departing from the subject matter of the invention.

Reference symbol list

2

component

4

Control unit

6

Platooning control device

8th

Storage

C

Computer program

F

Vehicle parameters

P

Platoon

P.E

motor vehicle

P1, P2, P3

Platoon motor vehicle

SE

first control parameter

SP

second control parameter

v

Wear parameters

VP

Population attrition parameters

I

Providing and sending the wear parameter

II

Determine a first and/or a second control parameter

III

Sending the first and/or the second control parameter

IV

Change in platoon composition and/or environmental conditions

v

Adjusting the layout of the platoon motor vehicles

QUOTES INCLUDED IN THE DESCRIPTION

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Cited patent literature

• DE 102008023380 A1 [0004]
• DE 102017207915 A1 [0005]

Claims (10)

Platooning control method for a platoon of platoon motor vehicles (P ₁ , P ₂ , P ₃ ), - wherein a wear parameter (V) of a component of a motor vehicle (P _E , P ₃ ) is provided, and - wherein a first control parameter (p _E ) for the motor vehicle (P _E , P ₃ ) and/or a second control parameter (S _P ) for at least one of the platoon motor vehicles (P ₁ , P ₂ , P ₃ ) are determined depending on the wear parameter (V). Platooning control procedures Claim 1 , characterized in that the arrangement of the platoon motor vehicles (P ₁ , P ₂ , P ₃ ) is determined depending on the wear parameter (V). Platooning control procedures Claim 1 or 2 , characterized in that when connecting the motor vehicle (P _E ) to the platoon (P), when leaving one of the platoon motor vehicles (P ₁ , P ₂ , P ₃ ) from the platoon (P), and / or when changing the Ambient condition the arrangement of the platoon motor vehicles (P ₁ , P ₂ , P ₃ ) is adjusted depending on the wear parameter (V). Platooning control method according to one of the Claims 1 until 3 , characterized in that a statistical evaluation of population wear parameters (V _P ) is used to determine the first control parameter (S _E ) and / or the second control parameter (S _P ), which corresponds to the wear parameters (V) of the component (2) correspond to a variety of motor vehicles. Platooning control method according to one of the Claims 1 until 4 , characterized in that the first control parameter (S _E ) and/or the second control parameter (S _P ) is determined as a function of a further vehicle parameter (F) of the motor vehicle (P _E , P ₃ ). Platooning control method according to one of the Claims 1 until 5 , characterized in that depending on the wear parameter (V), it is determined whether the motor vehicle (P _E ) is allowed to join the platoon (P) or whether the motor vehicle (P ₃ ) is allowed to remain in the platoon. Platooning control method according to one of the Claims 1 until 6 , characterized in that the first control parameter (S _E ) and/or the second control parameter (S _P ) is determined depending on expected wear for the component (2) of the motor vehicle (P _E , P ₃ ). Platooning control device (6), which is intended and set up to - receive a wear parameter (V) from a motor vehicle (P _E , P ₃ ), - a first control parameter (SE) for the motor vehicle (P _E , P ₃ ) and/or to determine a second control parameter (S _P ) for a platoon motor vehicle (P ₁ , P ₂ , P ₃ ) depending on the wear parameter (V), and - the first control parameter (S _E ) and the motor vehicle (P _E , P ₃ ) and/or the second control parameter to the platoon motor vehicle (P ₁ , P ₂ , P ₃ ). Motor vehicle (KFZE) with a platooning control device (6). Claim 8 . Computer program (C), comprising commands which, when executed by the platooning control device (6), cause - depending on a wear parameter (V) received from a motor vehicle (P _E , P ₃ ), a first control parameter (S _E ) for the motor vehicle (P _E , P ₃ ) and/or a second control parameter (S _P ) is determined for a platoon motor vehicle (P ₁ , P ₂ , P ₃ ), and - that the first control parameter (S _E ) is sent to the motor vehicle (P _E , P ₃ ) and/or the second control parameter (S _P ) is output to the platoon motor vehicle (P ₁ , P ₂ , P ₃ ).

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