EP1975901A1 - System und Verfahren für das Ausbreiten von Verkehrsdaten von Fahrzeug zum Fahrzeug mittels Funkwellen - Google Patents

System und Verfahren für das Ausbreiten von Verkehrsdaten von Fahrzeug zum Fahrzeug mittels Funkwellen Download PDF

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Publication number
EP1975901A1
EP1975901A1 EP07462004A EP07462004A EP1975901A1 EP 1975901 A1 EP1975901 A1 EP 1975901A1 EP 07462004 A EP07462004 A EP 07462004A EP 07462004 A EP07462004 A EP 07462004A EP 1975901 A1 EP1975901 A1 EP 1975901A1
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EP
European Patent Office
Prior art keywords
vehicle
message
road
description information
location
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP07462004A
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English (en)
French (fr)
Other versions
EP1975901B1 (de
Inventor
Attila Bay Zoltán Foundation For Applied Research Török
Lóránt Bay Zoltán Foundation For Applied Research Vajda
Péter Laborczi
Géza Gordos
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bay Zoltan Alkalmazott Kutatasi Kozalapitvany
Original Assignee
Bay Zoltan Alkalmazott Kutatasi Kozalapitvany
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bay Zoltan Alkalmazott Kutatasi Kozalapitvany filed Critical Bay Zoltan Alkalmazott Kutatasi Kozalapitvany
Priority to EP07462004A priority Critical patent/EP1975901B1/de
Priority to AT07462004T priority patent/ATE426878T1/de
Priority to DE602007000780T priority patent/DE602007000780D1/de
Publication of EP1975901A1 publication Critical patent/EP1975901A1/de
Application granted granted Critical
Publication of EP1975901B1 publication Critical patent/EP1975901B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking

Definitions

  • the present invention generally relates to a system and a method for radio wave based vehicle-to-vehicle spreading of road traffic information.
  • the invention further relates to a computer program for carrying out the method according to the invention, as well as a computer program product containing such a computer product.
  • the present invention relates to an ad-hoc radio communication network in which all of the vehicles are provided with a radio transmitter, a radio receiver and location positioning means for identifying the location of the vehicle by absolute coordinates.
  • ITS Intelligent Transportation Systems
  • One of the most important functions of these systems is to prevent road traffic accidents.
  • These systems may, however, play an important role also in spreading of road traffic information and in the coordination of the motion of incidentally formed vehicle convoys.
  • communication between the vehicles is typically managed by a message spreading protocol. Because of the message spreading data transmission, these systems have the basic requirement of keeping the extent of flooding of the communication medium on a minimum level.
  • the extent of flooding is not minimal due to the air line distance between the vehicles, said distance being measured (computed) in a simple way, typically based on GPS (Global Positioning System) coordinates, since the actual topology of the road network is not taken into account for setting the message forwarding timers.
  • GPS Global Positioning System
  • the present invention is based on the recognition that during spreading the messages, instead of performing a preliminary routing for the message forwards, an ad-hoc communication network is formed of the vehicles, one vehicle being within the radio range of another one, wherein messages are forwarded by flooding the network in such a way that the message forwarding timer of each vehicle is set to a value rather defined as a function of the road distance between the vehicles than the distance measured (computed) along air line therebetween. It is most preferred that the message forwarding timer of the vehicles is set to a value that is inversely proportional to the road distance between the particular vehicles.
  • the message forwarding mechanism becomes dependent on the circumstances, which, as compared to the prior art methods, provides an extra information allowing a significant reduction of the number of messages required for the minimal flooding of the network.
  • a method for radio wave based vehicle-to-vehicle spreading of road traffic information wherein each of the vehicles is equipped with a radio transmitter, a radio receiver, a location positioning device and a message forwarding timer.
  • the method comprises the steps of:
  • a system for radio wave based vehicle-to-vehicle spreading of road traffic information wherein each of the vehicles is provided with a radio transmitter, a radio receiver, a location positioning device and a message forwarding timer.
  • the system comprises at least one first vehicle and at least one second vehicle, wherein a first vehicle is equipped with means for recognizing a road traffic event on a section of the road on which it is travelling; means for generating a piece of road traffic information relating to the recognized road traffic event; means for generating a first road trajectory description information including at least data for the identification of said road section; and means for generating a first message containing at least a unique identifier of said message, said piece of road traffic information, the location of the message sending vehicle determined by its location positioning device and said first road trajectory description information; whereas a second vehicle is equipped with means for recognizing the travel of the particular second vehicle on said road section, based on the first road trajectory description information and the location of said particular second vehicle, determined by its location positioning device; means for determining the road distance between said particular second vehicle and the message sending first or second vehicle, based on the location of said particular second vehicle determined by its location positioning device, and the first road trajectory description information; and means for setting the message forwarding timer of said particular second vehicle to a
  • a computer program comprising instructions that, when executed by a computer or processor device forming a part of a first and/or second vehicle of the system according to the invention, enables the computer or processor device to perform any embodiment of the methods according to the invention.
  • Fig. 1 a shows a road section 105 with respect to which a vehicle 101 intends to transmit a piece of road traffic information for other vehicles 102, 103, 104 travelling behind it, said vehicles having an air line distance d12, d13, d14 from the vehicle 101, respectively.
  • Each of the vehicles 101, 102, 103 has a radio zone (transmission range) 11, 12, 13, respectively.
  • the message sent by the vehicle 101 is first forwarded by the vehicle 102 out of the vehicles receiving said message, as d12 > d13, that is the vehicle 102 has the greatest air line distance from the vehicle 101 within its radio zone 11.
  • the message is forwarded by the vehicle 103, since - except the vehicle 101 sending the message - this is the only vehicle that receives the transmission of the vehicle 102.
  • the transmission of the vehicle 103 is, however, also received by the vehicle 104 behind it, thus the message reaches the vehicle 104, too.
  • three message transmissions were needed for flooding of the ad-hoc network formed of the vehicles 101-104.
  • the vehicle that is responsible for forwarding the message is selected based on rather the distance between the vehicles measured (computed) along the road than the distance measured (computed) along air line therebetween. It is assumed for it, however, that every vehicle knows the more or less exact shape of at least the way it has already made, or preferably the actual topology and the absolute positions of the complete road network.
  • absolute position or the description of a road section by absolute data means that the particular descriptive parameters of a road section are specified by absolute coordinates originating from a location positioning system like GSM, GPS, Galileo, etc., or other identifiers referring to such absolute coordinates.
  • the message sent by the vehicle 101 shown in Fig. 1 a is first forwarded by the vehicle 103, since along the road, the vehicle 103 out of the vehicles 102, 103 receiving the transmission of the vehicle 101 has the greater distance from the vehicle 101, therefore its message forwarding timer will be set to the smaller value.
  • the transmission of the vehicle 103 is received also by the vehicle 104, since both of them are within the radio zone 14 of the vehicle 104.
  • the message has reached all of the vehicles of the ad-hoc network formed of the vehicles 101-104. In this example, it was enough as few as two message transmissions for flooding the network.
  • the message forward timing based on the conventional method of measuring air line distances produces the same result as the message forward timing based on measuring the distances along the road. Additionally, one can easily understand that in case of a more complicated road section with even more bends or with branches, the method according to the invention significantly reduces the number of message transmissions required for flooding the ad-hoc network formed of vehicles travelling on a particular road section.
  • Fig. 1b also illustrates a road section 115 with a sharp bend.
  • vehicles 111, 112, 113 and 114 are travelling, when the vehicle 111 of them recognizes a road traffic event, in relation to which it desires to deliver road traffic information to the vehicles 112, 113, 114 travelling behind it.
  • each of the vehicles 111, 112, 113 has a radio zone 21, 22, 23, respectively.
  • the application of either of a conventional method and the method according to the invention guarantees that first, the vehicle 113 forwards the message transmitted by the vehicle 111. Thereby the message forward process would theoretically stop, since the transmission of the vehicle 113 is received only by vehicles that have already received the former transmission as well. However, on the road section 115, a critical zone 120 (framed with a dashed line) arises into which the message sent by the vehicle 111 will not reach if the conventional flooding based on the measurement of air line distances is used.
  • each of the vehicles 111-113 knows the actual shape and location of the particular road section 115, therefore the vehicle 112 can recognize that the road section 115 has a part not covered by the aggregate radio zone of all former message transmissions, i.e. by a unified area of the radio zones 21 and 23, while said part of the road section is at least partly - or even entirely - within its own radio zone 22. Consequently, this part of the road section forms a critical zone 120. It is obvious that to this end, each of the vehicles 111-113 has to know the aggregate area covered by the radio zones of all vehicles that have transmitted beforehand.
  • this aggregate area may be easily determined from the absolute positions of the vehicles that have sent a message, the applied radio frequency, the transmission power and other known ambient conditions.
  • the vehicle 112 subsequently to the recognition of the critical zone 120, the vehicle 112 is also allowed to forward the message of the vehicle 111 within a predetermined period of time after the transmission of the vehicle 113, whereby said message reaches the vehicle 114 travelling in the critical zone 120, too.
  • flooding of the ad-hoc network formed of the vehicles 111-114 becomes complete, that is the message has been delivered to each of the vehicles forming the network.
  • the method for radio wave based vehicle-to-vehicle spreading of road traffic information comprises the following main steps.
  • a road traffic event occurred on a road section of the way made by a first vehicle 101, 111 is recognized by the first vehicle 101, 111, said road traffic event typically being a kind of emergency, e.g. an accident causing a congested traffic or a road bottleneck, fog, smog, icy conditions, etc., or any other traffic event like travelling time, traffic jam, information on road defects (e.g. dangerous pot-holes), etc.
  • a kind of emergency e.g. an accident causing a congested traffic or a road bottleneck, fog, smog, icy conditions, etc.
  • any other traffic event like travelling time, traffic jam, information on road defects (e.g. dangerous pot-holes), etc.
  • a piece of information associated with the road traffic event is generated by the first vehicle 101, 111, said piece of information typically containing a description of the event, the exact location of the event (which is generally the same as the location of the first vehicle 101, 111 at the moment of the recognition of the event), the time of the occurrence of the event or the duration thereof, as well as other important information, e.g. data of the recommended by-pass road. It is obvious for a person skilled in the art that said piece of traffic information may further contain several other kinds of data or information as well.
  • a first road trajectory description information is generated by the first vehicle 101, 111 in step S220, said first road trajectory description information containing at least data for identifying said road section.
  • the road trajectory description information of said road section comprises descriptive data originating from an on-board navigation system. If a vehicle is not provided with an on-board navigation system or with other device in which a description of the road network is pre-stored, the road trajectory description information may be produced by said vehicle itself, at least with respect to the way made by it up to that moment. In such a case, the road trajectory description information contains road trajectory descriptive data recorded during the travel of said vehicle.
  • the road trajectory description information contains road trajectory descriptive data recorded during the travel of the vehicle
  • the road trajectory is described by sampling the location of the vehicle with a predetermined frequency by means of the location positioning device of the vehicle, and then to the sampled points, at least one parameterizable spline-curve is fitted.
  • the road trajectory is preferably defined by absolute position values identifying one or more point of said road section, and the actual values of the parameters of the at least one spline-curve.
  • the road trajectory description information When the road section referred to in the road traffic information is in relation to a single road, the road trajectory description information describes a single continuous (straight or curved) line. However, when the road section referred to in the road traffic information is in relation to a plurality of connecting roads, for example a main road and a secondary road connected thereto, or a road section comprising a cross-roads, the road trajectory description information may describe a plurality of continuous, branching (straight or curved) lines.
  • a first message is generated by the first vehicle 101, 111, said first message containing at least said piece of road traffic information, the location of the vehicle sending the first message, wherein its location is determined by its location positioning device, and the first road trajectory description information.
  • the first message is transmitted by message spreading from the first vehicle 101, 111 in step S235.
  • the location of the message sending vehicle is always specified by the absolute location of the vehicle actually sending said message, in the moment of the message sending (which may be either a first transmission or a forward during the spreading process).
  • the first message also contains an own unique identifier of the message so that the message can be identified upon the reception thereof.
  • the transmission technique of radio message spreading is well known for a person skilled in the art, moreover, it is not part of the invention, therefore its detailed description is omitted.
  • the method will finish in step S235, or in a preferred embodiment, the method will continue with the re-transmission of the message.
  • Step S240 When in the radio zone of the first vehicle 101, 111, there is a second vehicle that is receiving the first message, the first message is received, in step S240 shown in Fig. 2b , by at least one second vehicle 102-104, 112, 113, and subsequently, in step S250, it is determined, by at least one second vehicle 102-104, 112, 113, from at least the first road trajectory description information specified in the first message and the location of said second vehicle 102-104, 112, 113 determined by its location positioning device, whether said second vehicle 102-104, 112, 113 is travelling on the road section identified in the first message.
  • Step S250 is preferably executed only by those vehicles out of the vehicles receiving the first message that have not forwarded said first message yet. Messages having previously sent by a particular vehicle are recognized by said vehicle through managing a registry of the unique message identifiers.
  • At least one second vehicle 102-104, 112, 113 travelling on said road section and receiving the first message determines its road distance from the first or second vehicle 101, 103, 111, 113 sending the message, based on the location of the first or second vehicle 101, 103, 111, 113 sending the first message, wherein said location is specified in the first message, the location of said second vehicle 102-104, 112, 113 and the road trajectory description information.
  • the message forwarding timer of all second vehicles 102-104, 112, 113 travelling on said road section and receiving the first message is set, in step S270, to a value as a function of the road distance between the particular second vehicle 102-104, 112, 113 and the first or second vehicle 101, 103, 111, 113 sending the first message, preferably to a value being inversely proportional to said distance.
  • the first message is forwarded by radio message spreading from at least one second vehicle 103, 113 when the message forwarding timer of said second vehicle 103, 113 has expired.
  • the first message is only forwarded from a second vehicle 103, 113, in a preferred embodiment of the method according to the invention, if before the expiration of its message forwarding timer, no forward of the first message by another vehicle was detected.
  • each of the vehicles should have a message re-transmission timer, the value of which is set to a predetermined value upon sending or forwarding a message.
  • the value of the message re-transmission timer is determined so that it should be greater than the greatest possible value of the message forwarding timer.
  • the vehicle that has sent a message does not detect the transmission of any other vehicle till the expiration of its message re-transmission timer, it means that no other vehicle was travelling within its radio zone at the moment of transmission of the first message, or the transmissions of other vehicles might have collided - e.g. for certain reasons described below - and therefore they could not be received.
  • the message is re-transmitted after the expiration of the message re-transmission timer in order to increase reliability of the method.
  • a second vehicle may also receive the first message forwarded by another second vehicle, i.e. in step S240 of the method, the first message may arrive either from a first vehicle that has generated the message, or from a second vehicle that takes part in the spreading of the first message. Flooding of the ad-hoc network formed of vehicles is due to this kind of feed-back.
  • a preferred embodiment of the method according to the invention also comprises the following steps illustrated in Fig. 3a .
  • step S300 upon the reception of the first message, an aggregate radio zone covered by all previous transmissions of the first message is determined, and in step S31 0, based on said road section and the aggregate radio zone of the first message, at least one of the second vehicles recognizes that a part of said road section forms a critical zone, at least a part of which extends outside the aggregate radio zone of the first message, but within the radio zone of said second vehicle.
  • the message forwarding timer of the at least one second vehicle recognizing the critical zone is set to a predetermined value, and in step S330, the first message is additionally forwarded by this second vehicle as well when its message forwarding timer has expired.
  • the predetermined value to which the message forwarding timer of said second vehicle is set is preferably smaller than the minimum value of the message forwarding timer in the normal operation of the message transmission, wherein said value is inversely proportional to the road distance between the particular vehicles. Consequently, a transmission directed into a critical zone always anticipates the possible normal transmission of the first message.
  • the road section associated with the road traffic event may include not only a single road, but even a plurality of connecting roads as well.
  • the normal operation of the method according to the invention guarantees that the first message will be propagated along all of the connecting roads at the same time due to the multiplication of the first message, which further increases the efficiency of flooding.
  • the special case may often occur wherein the road trajectory recorded by the first vehicle itself during its travel describes a path in which one or more other road is connected to the road section associated with the road traffic event.
  • the first vehicle has no information relating to such connecting roads at all, the first message does not contain any data relating to said connecting roads in the first road trajectory description information, thus the road traffic information cannot reach the vehicles travelling along this road section towards the location of the traffic event and being interested in that event.
  • a second vehicle travelling on a connecting road and receiving the first message recognizes that it is travelling on a road section not identified by the first road trajectory description information of the first message but connected to the road section identified by the first road trajectory description information.
  • a second road trajectory description information is generated by this second vehicle, said second road trajectory description information containing data for identifying a road section which is partly coincident with the road section specified by the first road trajectory description information.
  • a second message is also generated by said second vehicle, wherein said second message contains at least the road traffic information of the first message, the location of the vehicle sending the second message, wherein its location is determined by its location positioning device, and the second road trajectory description information.
  • step S380 the second message is sent by said second vehicle in the same way as a first message.
  • step S390 the second message is received by at least one further second vehicle travelling within the radio zone of the former second vehicle sending the second message, on a connecting road specified in the second message.
  • step S395 the second message is re-transmitted and/or forwarded, in the same way as a first message, by at least one further second vehicle travelling on the road section specified by the second road trajectory description information.
  • the second message carries the same road traffic information as that one carried by the first message, but the road section associated with the traffic event is partly different in the second message, therefore the second message tends to be propagated along the connecting road independently of the first message.
  • the second message is spread for the vehicles travelling on the road section specified by the second road trajectory description information in the same manner as a first message is spread.
  • An alternative embodiment of the method according to the invention further comprises the step of presenting the road traffic information of the first message for the driver of each second vehicle in a visible, audible or other sensible way.
  • Audible presentation of the road traffic information may be carried out, for example, by announcing the information by human voice by using an appropriate electronic device, e.g. through loudspeakers accommodated in the passenger room.
  • Visible presentation of the road traffic information may be carried out, for example, by displaying it in a textual and/or graphical form on the dashboard or on the display of an on-board navigation system.
  • an automatic intervention into the driving of the second vehicle receiving the message is performed based on the first and/or second message (with keeping the driving safety in view), by means of a suitably programmed processor device.
  • said intervention may include braking down the vehicle, switching on the emergency stop lights, switching on the headlamps, etc.
  • the system 400 comprises vehicles 101-104, 111-114, each of said vehicles being provided with a radio transmitter 401, a radio receiver 402, a location positioning device 403 and a message forwarding timer 404. As shown in Fig.
  • the system 400 comprises at least one first vehicle 101, 111 equipped with means 410 for recognizing a road traffic event on a section of the road along it is travelling, means 412 for generating a piece of road traffic information relating to the recognized road traffic event, means 414 for generating a first road trajectory description information including at least data for the identification of at least said road section and means 416 for generating a first message containing at least said piece of road traffic information, location of the message sending vehicle determined by its location positioning device 403, and the first road trajectory description information.
  • the first vehicle 101, 111 operates as the source of the road traffic information.
  • the system 400 further comprises at least one second vehicle 102-104, 112-114 equipped with means 420 for recognizing the travel of the particular second vehicle 102-104, 112-114 on said road section, based on the first road trajectory description information and the location of said particular second vehicle 102-104, 112-114 determined by its location positioning device, means 422 for determining the road distance between said particular second vehicle 102-104, 112-114 and the message sending first or second vehicle 101-104, 111-114, based on the location of said particular second vehicle 102-104, 112-114 determined by its location positioning device 403 and the first road trajectory description information, and means 424 for setting the message forwarding timer 404 of said particular second vehicle 102-104, 112-114 to a value as a function of the road distance between said particular second vehicle 102-104, 112-114 and the message sending first or second vehicle 101-104, 111-114.
  • the message forwarding timer is set by said means 424 to a value being inverse
  • Fig. 4 illustrates only one first vehicle and one second vehicle, it is obvious that the system according to the invention may comprise any number of first vehicle and second vehicle.
  • a preferred embodiment of the system 400 comprises at least one second vehicle 102-104, 111-114 further equipped with means for determining an aggregate radio zone covered by all of the previous transmissions of a particular first message, means for recognizing a critical zone based on the road section identified by the road traffic information of the first message and the aggregate radio zone associated with said particular first message, means for setting the message forwarding timer 404 of said second vehicle 102-104, 112-114 to a predetermined value, and means for initiating, after expiration of its message forwarding timer 403, the forward of the first message independently of the transmissions of other vehicles.
  • At least one of the second vehicles 102-104, 112-114 may further comprise means for recognizing a situation wherein said particular second vehicle 102-104, 112-114 is travelling on a road section not specified by the first road trajectory description information of the first message but connected to said road section specified by the first road trajectory description information, means for generating a second road trajectory description information containing data for the identification of a road section partly coincident with the road section specified by the first road trajectory description information, means for generating a second message containing at least the road traffic information of the first message, the location of said particular second vehicle 102-104, 112-114 determined by its location positioning device and the second road trajectory description information, and means for initiating the transmission of the second message from said particular second vehicle 102-104, 111-114 in the same way as a first message.
  • a second vehicle 102-104, 112-114 may comprise means for presenting the road traffic information of the first message for the driver of the vehicle in a visible or audible way and/or means for performing automatic intervention into the driving of the vehicle in response to the first message and/or the second message.
  • the various means 410-424 used in the system 400 according to the invention may be implemented separately, in a partly or entirely integrated form, or by software and/or by hardware.
  • the means out of said means 410-424 that are actually used in a vehicle are preferably integrated in a single processor device being suitably programmed.
  • the present invention also relates to a computer program comprising instructions that, when executed by a computer or a processor device arranged in a first vehicle and/or a second vehicle in any embodiment of the system according to the invention, enables the computer or the processor device to carry out any embodiment of the method according to the invention.
  • the present invention further relates to a computer program product comprising said computer program, wherein said computer program product is stored on any kind of computer-readable data storing medium.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Traffic Control Systems (AREA)
  • Mobile Radio Communication Systems (AREA)
EP07462004A 2007-03-26 2007-03-26 System und Verfahren für das Ausbreiten von Verkehrsdaten von Fahrzeug zu Fahrzeug mittels Funkwellen Not-in-force EP1975901B1 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP07462004A EP1975901B1 (de) 2007-03-26 2007-03-26 System und Verfahren für das Ausbreiten von Verkehrsdaten von Fahrzeug zu Fahrzeug mittels Funkwellen
AT07462004T ATE426878T1 (de) 2007-03-26 2007-03-26 System und verfahren fur das ausbreiten von verkehrsdaten von fahrzeug zu fahrzeug mittels funkwellen
DE602007000780T DE602007000780D1 (de) 2007-03-26 2007-03-26 System und Verfahren für das Ausbreiten von Verkehrsdaten von Fahrzeug zu Fahrzeug mittels Funkwellen

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EP07462004A EP1975901B1 (de) 2007-03-26 2007-03-26 System und Verfahren für das Ausbreiten von Verkehrsdaten von Fahrzeug zu Fahrzeug mittels Funkwellen

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EP1975901A1 true EP1975901A1 (de) 2008-10-01
EP1975901B1 EP1975901B1 (de) 2009-03-25

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GB2472632A (en) * 2009-08-13 2011-02-16 Spinnaker Int Ltd Adjusting an operating mode of a security container in response to an unexpected received radio signal
ITVI20100165A1 (it) * 2010-06-11 2011-12-12 St Microelectronics Srl Metodo e sistema basato su mappa perbroadcast in vanet
US9632507B1 (en) 2016-01-29 2017-04-25 Meritor Wabco Vehicle Control Systems System and method for adjusting vehicle platoon distances based on predicted external perturbations
US10369998B2 (en) 2016-08-22 2019-08-06 Peloton Technology, Inc. Dynamic gap control for automated driving
US10474166B2 (en) 2011-07-06 2019-11-12 Peloton Technology, Inc. System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles
US10514706B2 (en) 2011-07-06 2019-12-24 Peloton Technology, Inc. Gap measurement for vehicle convoying
US10520581B2 (en) 2011-07-06 2019-12-31 Peloton Technology, Inc. Sensor fusion for autonomous or partially autonomous vehicle control
US10921822B2 (en) 2016-08-22 2021-02-16 Peloton Technology, Inc. Automated vehicle control system architecture
US11294396B2 (en) 2013-03-15 2022-04-05 Peloton Technology, Inc. System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles

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US8744666B2 (en) 2011-07-06 2014-06-03 Peloton Technology, Inc. Systems and methods for semi-autonomous vehicular convoys
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