EP1975901B1 - Système et procédé pour la diffusion des données du trafic entre véhicule et véhicule par l'intermédiaire d'ondes radioélectriques. - Google Patents

Système et procédé pour la diffusion des données du trafic entre véhicule et véhicule par l'intermédiaire d'ondes radioélectriques. Download PDF

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Publication number
EP1975901B1
EP1975901B1 EP07462004A EP07462004A EP1975901B1 EP 1975901 B1 EP1975901 B1 EP 1975901B1 EP 07462004 A EP07462004 A EP 07462004A EP 07462004 A EP07462004 A EP 07462004A EP 1975901 B1 EP1975901 B1 EP 1975901B1
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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.)
Not-in-force
Application number
EP07462004A
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German (de)
English (en)
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EP1975901A1 (fr
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
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Application filed by Bay Zoltan Alkalmazott Kutatasi Kozalapitvany filed Critical Bay Zoltan Alkalmazott Kutatasi Kozalapitvany
Priority to AT07462004T priority Critical patent/ATE426878T1/de
Priority to DE602007000780T priority patent/DE602007000780D1/de
Priority to EP07462004A priority patent/EP1975901B1/fr
Publication of EP1975901A1 publication Critical patent/EP1975901A1/fr
Application granted granted Critical
Publication of EP1975901B1 publication Critical patent/EP1975901B1/fr
Not-in-force legal-status Critical Current
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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
  • Document No. DE 199 03 909 A1 discloses a method for dynamically obtaining relevant traffic information and/or for dynamically optimizing a route followed by a first vehicle which belongs to a self-organizing traffic information and/or traffic guidance system to which other vehicles belong as well.
  • the method comprises the steps of generating own data by means of vehicle-mounted sensors and/or other information sources in the first vehicle; transmitting data relevant to the first vehicle or other vehicles; receiving data transmitted by other vehicles; storing data obtained from received and/or own data; generating and transmitting requests regarding data which can possibly be provided by other vehicles; and potential relaying received data by retransmitting said data in processed or unprocessed form.
  • the delay period for emitting at least one of a reply and relaying is set in such a way that vehicles with a better evaluation measure are enabled to transmit earlier.
  • Said evaluation measure is determined in dependence on at least one of the up-to-dateness or a relevance of data already available to the respective vehicle and concerning way segments in question, the number of inquiries which can be answered on the basis of already available data, and the distance of the respective vehicle whose inquiry cannot be answered from the next way segment.
  • 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. 1a 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. 1a 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 retransmission 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)

Claims (14)

  1. Procédé pour diffuser, entre véhicules, des informations de circulation routière sur la base d'ondes radio, dans lequel chacun des véhicules est muni d'un émetteur radio, d'un récepteur radio, d'un dispositif de géopositionnement et d'une minuterie de transmission de messages, ledit procédé comprenant les étapes consistant à :
    reconnaître, par un premier véhicule, un événement de circulation routière qui a eu lieu sur une section de route sur laquelle ledit premier véhicule se déplace (S200),
    générer, par ledit premier véhicule, une partie d'information de circulation routière se rapportant à l'événement de circulation routière (S210),
    générer, par ledit premier véhicule, une première information de description de trajectoire routière comprenant au moins des données pour l'identification de ladite section de route (S220),
    générer, par ledit premier véhicule, un premier message contenant au moins un identificateur unique pour ledit message, ladite partie d'informations de circulation routière, l'emplacement du véhicule envoyant le premier message, ledit emplacement étant déterminé par son dispositif de géopositionnement, et ladite première information de description de trajectoire routière (230),
    transmettre, par ledit premier véhicule, ledit premier message par diffusion d'un message radio (S235),
    recevoir, par au moins un deuxième véhicule, ledit premier message transmis par ledit premier véhicule ou par un autre deuxième véhicule (S240),
    déterminer, par au moins un deuxième véhicule parmi les deuxièmes véhicules recevant le premier message, sur la base de ladite première information de description de trajectoire routière et de l'emplacement dudit deuxième véhicule particulier déterminé par son dispositif de géopositionnement, si le deuxième véhicule particulier se déplace sur ladite section de route (S250),
    caractérisé en ce que le procédé comprend en outre les étapes consistant à :
    déterminer, par au moins un deuxième véhicule parmi les deuxièmes véhicules se déplaçant sur ladite section de route, la distance routière entre ledit deuxième véhicule particulier et le premier ou le deuxième véhicule envoyant le message sur la base de l'emplacement dudit deuxième véhicule particulier déterminé par son dispositif de géopositionnement et par la dite première information de description de trajectoire routière (S260), et régler ensuite la minuterie de transmission de message dudit deuxième véhicule particulier à une valeur définie en fonction de la distance routière entre ledit deuxième véhicule particulier et le premier ou le deuxième véhicule envoyant le message (S270), et
    transmettre, par ledit deuxième véhicule particulier, le premier message par diffusion de messages radio lorsque sa minuterie de transmission de message a expiré (S280).
  2. Procédé selon la revendication 1, caractérisé en ce que la minuterie de transmission de message du deuxième véhicule est réglée à une valeur inversement proportionnelle à la distance routière entre le deuxième véhicule particulier et le premier ou le deuxième véhicule envoyant le message.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que ledit premier message est transmis par ledit deuxième véhicule seulement si aucune transmission du premier message par un autre véhicule n'a été détectée avant l'expiration de sa minuterie de transmission de message.
  4. Procédé selon l'une quelconque des revendications 1 à 13, caractérisé en ce que ledit procédé comprend en outre les étapes consistant à :
    fournir à chacun desdits premier et deuxième véhicules une minuterie de retransmission de message,
    lors de l'envoi du premier message, régler la minuterie de retransmission de message du premier ou du deuxième véhicule envoyant le message à une valeur prédéterminée,
    retransmettre ledit premier message par ledit premier ou deuxième véhicule si aucune transmission du premier message par un deuxième véhicule n'a été détectée avant l'expiration de sa minuterie de retransmission de message.
  5. Procédé selon l'une quelconque des revendications 1 à 4, caractérisé en ce que ledit procédé comprend en outre les étapes consistant à :
    déterminer, par un deuxième véhicule, une zone radio globale couverte par toutes les transmissions précédentes d'un premier message particulier (S300),
    sur la base de la section de route identifiée par l'information de circulation routière du premier message et ladite zone radio globale associée audit premier message particulier, reconnaître, par au moins un deuxième véhicule, qu'une partie de ladite section de route se trouve en dehors de ladite zone radio globale, mais à l'intérieur de la zone radio dudit deuxième véhicule particulier, ladite partie de la section de route constituant une zone critique (S310),
    régler la minuterie de transmission de message d'au moins un deuxième véhicule reconnaissant ladite zone critique à une valeur prédéterminée, ladite valeur étant inférieure à la valeur minimale de la minuterie de transmission de message (S320), et
    transmettre en outre le premier message par ledit deuxième véhicule particulier lorsque sa minuterie de transmission de message a expiré (S330).
  6. Procédé selon la revendication 5, caractérisé en ce que, s'il y a une pluralité de deuxièmes véhicules reconnaissant une zone critique, le premier message sera transmis par un tel deuxième véhicule avec ladite minuterie prédéterminée selon un schéma de priorité, dans lequel le véhicule de distance routière plus grande par rapport au véhicule envoyant le message est autorisé à transmettre le premier message plus tôt.
  7. Procédé selon l'une quelconque des revendications 1 à 6, caractérisé en ce que ledit procédé comprend en outre les étapes consistant à :
    reconnaître, par un deuxième véhicule recevant ledit premier message, une situation dans laquelle ledit deuxième véhicule particulier se déplace sur une section de route non spécifiée par la première information de description de trajectoire routière du premier message, mais raccordée à ladite section de route spécifiée par la première information de description de trajectoire routière (S350),
    générer, par ledit deuxième véhicule particulier, une deuxième information de description de trajectoire routière contenant des données pour l'identification d'une section de route qui coïncide en partie avec la section de route spécifiée par la première information de description de trajectoire routière (S360),
    générer, par ledit deuxième véhicule particulier, un deuxième message contenant au moins l'information de circulation routière du premier message, l'emplacement dudit deuxième véhicule particulier déterminé par son dispositif de géopositionnement et ladite deuxième information de description de trajectoire routière (S370),
    transmettre ledit deuxième message par ledit deuxième véhicule particulier de la même manière que le premier message (S380),
    recevoir ledit deuxième message par au moins un autre deuxième véhicule (S390), et
    transmettre et/ou retransmettre ledit deuxième message, de la même manière que le premier message, par au moins un autre deuxième véhicule se déplaçant sur la section de route spécifiée par la deuxième information de description de trajectoire routière (S395).
  8. Procédé selon l'une quelconque des revendications 1 à 7, caractérisé en ce que ladite première ou ladite deuxième information de description de trajectoire routière sont des identificateurs de ladite section de route obtenus à partir d'une carte numérique ou une partie d'information de description de trajectoire routière recodée durant le déplacement du véhicule.
  9. Système (400) pour diffuser, entre véhicules, des informations sur la circulation routière sur la base d'ondes radio, dans lequel chacun des véhicules est muni d'un émetteur radio (401), d'un récepteur radio (402), d'un dispositif de géopositionnement (403) et d'une minuterie de transmission de message (404), caractérisé en ce que ledit système comprend :
    au moins un premier véhicule (101, 111) équipé des moyens suivants :
    un moyen (410) pour reconnaître un événement de circulation routière sur une section de route sur laquelle il se déplace,
    un moyen (412) pour générer une partie d'information de circulation routière se rapportant à l'événement de circulation routière reconnu,
    un moyen (414) pour générer une première information de description de trajectoire routière comprenant au moins des données pour l'identification de ladite section de route, et
    un moyen (416) pour générer un premier message contenant au moins un identificateur unique dudit message, ladite partie d'informations de circulation routière, l'emplacement du véhicule envoyant le message déterminé par son dispositif de géopositionnement (403) et ladite première information de description de trajectoire routière,
    et au moins un deuxième véhicule (102 à 104, 112 à 114) équipé des moyens suivants :
    un moyen (420) pour reconnaître le déplacement du deuxième véhicule particulier (102 à 104, 112 à 114) sur ladite section de route, sur la base de la première information de description de trajectoire routière et de l'emplacement dudit deuxième véhicule particulier (102 à 104, 112 à 114) déterminé par son dispositif de géopositionnement (403),
    un moyen (422) pour déterminer la distance routière entre ledit deuxième véhicule particulier (102 à 104, 112 à 114) et le premier ou le deuxième véhicule envoyant le message (101 à 104, 111 à 114), sur la base de l'emplacement dudit deuxième véhicule particulier (102 à 104, 112 à 114) déterminé par son dispositif de géopositionnement (403) et la première information de description de trajectoire routière, et
    un moyen (424) pour régler la minuterie de transmission de message (404) dudit deuxième véhicule particulier (102 à 104, 112 à 114) à une valeur dépendant de la distance routière entre ledit deuxième véhicule particulier (102 à 104, 112 à 114) et le premier ou le deuxième véhicule envoyant le message (101 à 104, 111 à 114).
  10. Système selon la revendication 9, caractérisé en ce que la minuterie de transmission de message (404) est réglée à une valeur qui est inversement proportionnelle à la distance routière entre ledit deuxième véhicule particulier (102 à 104, 112 à 114) et le premier ou le deuxième véhicule envoyant le message (101 à 104, 111 à 114).
  11. Système selon la revendication 9 ou 10, caractérisé en ce qu'au moins un deuxième véhicule (112) comprend en outre :
    un moyen pour déterminer une zone radio globale couverte par toutes les transmissions précédentes d'un premier message particulier,
    un moyen pour reconnaître une zone critique, sur la base d'une section de route identifiée par l'information de circulation routière du premier message et de ladite zone radio globale associée audit premier message particulier, dans lequel la zone critique est définie comme étant une partie de ladite section de route en dehors de ladite zone radio globale, mais à l'intérieur de la zone radio dudit deuxième véhicule particulier (112),
    un moyen pour régler la minuterie de transmission de message (404) dudit deuxième véhicule particulier (112) reconnaissant ladite zone critique à une valeur prédéterminée, ladite valeur étant plus petite que la valeur minimale de la minuterie de transmission de message, et
    un moyen pour initier une transmission supplémentaire du premier message indépendamment de la transmission de n'importe quel autre véhicule (101 à 104, 111 à 114) une fois que la minuterie de transmission de message (404) dudit deuxième véhicule particulier (112) a expiré.
  12. Système selon l'une quelconque des revendications 9 à 11, caractérisé en ce qu'au moins un deuxième véhicule recevant ledit premier message comprend en outre :
    un moyen pour reconnaître une situation dans laquelle ledit deuxième véhicule particulier se déplace sur une section de route non spécifiée par la première information de description de trajectoire routière du premier message, mais raccordée à ladite section routière spécifiée par la première information de description de trajectoire routière,
    un moyen pour générer une deuxième information de description de trajectoire routière contenant des données pour l'identification d'une section de route qui coïncide en partie avec la section de route spécifiée par ladite première information de description de trajectoire routière,
    un moyen pour générer un deuxième message contenant au moins l'information de circulation routière dudit premier message, l'emplacement dudit deuxième véhicule particulier déterminé par son dispositif de géopositionnement et ladite deuxième information de description de trajectoire routière, et
    un moyen pour initier la transmission dudit deuxième message par ledit deuxième véhicule particulier de la même manière que ledit premier message.
  13. Système selon l'une quelconque des revendications 9 à 12, caractérisé en ce qu'au moins un deuxième véhicule (102 à 104, 112 à 114) comprend en outre un moyen pour présenter ladite information de circulation routière dudit premier message pour le conducteur dudit véhicule (102 à 104, 112 à 114) de manière visible ou audible.
  14. Programme informatique comprenant des instructions qui, lorsqu'elles sont exécutées par un ordinateur ou un processeur agencé dans un premier et/ou un deuxième véhicule du système selon l'une quelconque des revendications 9 à 13, permet à l'ordinateur ou au processeur d'effectuer le procédé selon l'une quelconque des revendications 1 à 8.
EP07462004A 2007-03-26 2007-03-26 Système et procédé pour la diffusion des données du trafic entre véhicule et véhicule par l'intermédiaire d'ondes radioélectriques. Not-in-force EP1975901B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
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
EP07462004A EP1975901B1 (fr) 2007-03-26 2007-03-26 Système et procédé pour la diffusion des données du trafic entre véhicule et véhicule par l'intermédiaire d'ondes radioélectriques.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP07462004A EP1975901B1 (fr) 2007-03-26 2007-03-26 Système et procédé pour la diffusion des données du trafic entre véhicule et véhicule par l'intermédiaire d'ondes radioélectriques.

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

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US10254764B2 (en) 2016-05-31 2019-04-09 Peloton Technology, Inc. Platoon controller state machine
US10520952B1 (en) 2011-07-06 2019-12-31 Peloton Technology, Inc. Devices, systems, and methods for transmitting vehicle data
US10732645B2 (en) 2011-07-06 2020-08-04 Peloton Technology, Inc. Methods and systems for semi-autonomous vehicular convoys
US10762791B2 (en) 2018-10-29 2020-09-01 Peloton Technology, Inc. Systems and methods for managing communications between vehicles
US10899323B2 (en) 2018-07-08 2021-01-26 Peloton Technology, Inc. Devices, systems, and methods for vehicle braking
US11334092B2 (en) 2011-07-06 2022-05-17 Peloton Technology, Inc. Devices, systems, and methods for transmitting vehicle data
US11360485B2 (en) 2011-07-06 2022-06-14 Peloton Technology, Inc. Gap measurement for vehicle convoying
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US10520581B2 (en) 2011-07-06 2019-12-31 Peloton Technology, Inc. Sensor fusion for autonomous or partially autonomous vehicle control
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
US20180210463A1 (en) 2013-03-15 2018-07-26 Peloton Technology, Inc. System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles
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
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US10234871B2 (en) 2011-07-06 2019-03-19 Peloton Technology, Inc. Distributed safety monitors for automated vehicles
US10520952B1 (en) 2011-07-06 2019-12-31 Peloton Technology, Inc. Devices, systems, and methods for transmitting vehicle data
US10732645B2 (en) 2011-07-06 2020-08-04 Peloton Technology, Inc. Methods and systems for semi-autonomous vehicular convoys
US11334092B2 (en) 2011-07-06 2022-05-17 Peloton Technology, Inc. Devices, systems, and methods for transmitting vehicle data
US11360485B2 (en) 2011-07-06 2022-06-14 Peloton Technology, Inc. Gap measurement for vehicle convoying
US10254764B2 (en) 2016-05-31 2019-04-09 Peloton Technology, Inc. Platoon controller state machine
US10152064B2 (en) 2016-08-22 2018-12-11 Peloton Technology, Inc. Applications for using mass estimations for vehicles
US10899323B2 (en) 2018-07-08 2021-01-26 Peloton Technology, Inc. Devices, systems, and methods for vehicle braking
US10762791B2 (en) 2018-10-29 2020-09-01 Peloton Technology, Inc. Systems and methods for managing communications between vehicles
US11341856B2 (en) 2018-10-29 2022-05-24 Peloton Technology, Inc. Systems and methods for managing communications between vehicles
US11427196B2 (en) 2019-04-15 2022-08-30 Peloton Technology, Inc. Systems and methods for managing tractor-trailers

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DE602007000780D1 (de) 2009-05-07
ATE426878T1 (de) 2009-04-15

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