EP3445627A1 - Method and system for determining risks for vehicles about to leave a platoon - Google Patents

Method and system for determining risks for vehicles about to leave a platoon

Info

Publication number
EP3445627A1
EP3445627A1 EP17786250.5A EP17786250A EP3445627A1 EP 3445627 A1 EP3445627 A1 EP 3445627A1 EP 17786250 A EP17786250 A EP 17786250A EP 3445627 A1 EP3445627 A1 EP 3445627A1
Authority
EP
European Patent Office
Prior art keywords
platoon
vehicles
vehicle
leave
leaving
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.)
Withdrawn
Application number
EP17786250.5A
Other languages
German (de)
French (fr)
Other versions
EP3445627A4 (en
Inventor
Joakim GIMHOLT
Fredrik STENSON
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.)
Scania CV AB
Original Assignee
Scania CV AB
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 Scania CV AB filed Critical Scania CV AB
Publication of EP3445627A1 publication Critical patent/EP3445627A1/en
Publication of EP3445627A4 publication Critical patent/EP3445627A4/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0293—Convoy travelling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/692—Coordinated control of the position or course of two or more vehicles involving a plurality of disparate vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/80—Arrangements for reacting to or preventing system or operator failure
    • G05D1/81—Handing over between on-board automatic and on-board manual control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/22—Platooning, i.e. convoy of communicating vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Definitions

  • the invention relates to a method for controlling platooning operation of a platoon of vehicles along a road according to the preamble of claim 1 .
  • the invention also relates to a system for controlling platooning operation of a platoon of vehicles along a road.
  • the invention also relates to a vehicle.
  • the invention in addition relates to a computer program and a computer program product.
  • Vehicles such as heavy vehicles are continuously looking at ways to reduce energy consumption to reduce energy costs and also to lower emissions.
  • One way of reducing energy consumption is to operate several vehicles in a chain formation, also known as platooning or operating vehicles in a convoy.
  • Platooning takes advantage of a reduced air drag by operating with small distances between vehicles in the platoon. Under normal circumstances the air drag of a vehicle is proportional to the square of the velocity of the vehicle. By staying close to a forward vehicle, an effect of reduced air drag can be obtained. Hence, by operating several vehicles in a chain formation, here denoted as platoon or platooning, a substantial fuel reduction can be obtained through automated control systems.
  • a known problem for platoons is when a vehicle of the platoon wants to the leave the platoon.
  • a member in the platoon leaving the platoon will create a gap between the subsequent and preceding vehicles.
  • the preceding vehicles need to lower their speed or the subsequent vehicles need to increase their speed or a combination of both.
  • the gap will cause the subsequent vehicles to use extra energy due to the increased air drag and even more if they need to increase their speed to catch up with the platoon. This will affect the energy consumption for the platoon and may also affect travelling time and brake wear.
  • US20140107867 discloses that a vehicle in a platoon may apply for leaving the platoon.
  • Each vehicle of the platoon may detect the situation on the respective side of the respective vehicle, wherein such information may be communicated between the vehicles within a vehicle-to-vehicle communication arrangement. The leading vehicle may then decide if the vehicle can leave the platoon.
  • An object of the present invention is to provide a method for controlling platooning operation of a platoon of vehicles along a road which facilitates safe and efficient drive in connection to a situation where a vehicle in the platoon intends to leave the platoon.
  • Another object of the present invention is to provide a system for controlling platooning operation of a platoon of vehicles along a road which facilitates safe and efficient drive in connection to a situation where a vehicle in the platoon intends to leave the platoon.
  • an object of the invention is achieved by a method for controlling platooning operation of a platoon of vehicles along a road, each vehicle having an operator manually operating the vehicle.
  • the method comprises the step of determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon.
  • the method further comprise the steps of: if a possible reason that may produce a risk to leave the platoon is determined, providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon; and if no possible reason that may produce a risk to leave the platoon is determined, providing information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible.
  • the method comprises the step of determining the intention of a vehicle in the platoon to leave the platoon.
  • the step of providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon is according to an embodiment provided depending on whether it has been determined that a vehicle is intending to leave the platoon.
  • the warning may also according to an embodiment be provided irrespective of whether it has been determined that one or more vehicles intend to leave the platoon.
  • the warning may according to an embodiment be graded depending on the risk of leaving the platoon.
  • the warning may comprise information about the reason that may produce a risk to leave the platoon.
  • the step of providing information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible is according to an embodiment provided depending on whether it has been determined that a vehicle is intending to leave the platoon. Such information may also according to an embodiment be provided irrespective of whether it has been determined that one or more vehicles intend to leave the platoon.
  • the step of providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon may be any suitable warning such as a visual warning e.g. via a display unit such as a display unit in the instrument cluster of the vehicle, an acoustic warning such as an alarm, a voice message or the like and/or a tactile warning such as vibration of the steering wheel or the like.
  • the step of providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon may utilize the existing Human- Machine Interface, HMI, of the respective vehicle thus facilitating optimizing safety in a cost efficient way.
  • the intention of a vehicle in the platoon to leave the platoon may be determined in any suitable way.
  • the intention of a vehicle in the platoon to leave the platoon may be communicated from the vehicle intending to leave the platoon to the other vehicles of the platoon e.g. within a vehicle-to-vehicle communication arrangement.
  • the intention of a vehicle in the platoon to leave the platoon may be communicated from an external source e.g. within an infrastructure-to-vehicle communication arrangement.
  • the intention of a vehicle in the platoon to leave the platoon may be extracted from a planned route of the vehicles of the platoon, the planned route of the vehicle intending to leave the platoon leading to a leaving of the platoon.
  • the intention of a vehicle in the platoon to leave the platoon may be any suitable signal from the vehicle intending to leave.
  • a vehicle intending to leave will be aware of the risk of leaving and can thus avoid leaving or leave taking the situation into consideration which improves safety, and a vehicle leaving the platoon if it is determined to be safe to leave does not need to unnecessarily increase the distance in connection to the leaving which thus facilitates optimizing energy consumption.
  • the step of determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises the step of detecting possible obstacles that may produce such reasons affecting said platoon.
  • Obstacles may comprise any obstacles that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon such as external road users comprising external vehicles, i.e. vehicles not being part of the platoon, pedestrians, animals, objects on the road or the like.
  • Obstacles in the form of external vehicles may be vehicles having stopped in one or more lanes and/or in connection to a road exit. Obstacles may comprise a vehicle of the platoon having left the platoon, e.g. one of the first vehicles of a platoon of many vehicles, and has come to a halt due to e.g. cue at a road exit or the like, wherein another vehicle further back in the platoon intends to leave the platoon.
  • said step of detecting possible obstacles comprises the step of using on-board sensor functions on-board of said one or more vehicles of the platoon.
  • the on-board sensor functions may comprise sensor units with a forward looking field of view for detecting obstacles ahead of the platoon. According to an embodiment at least the leading vehicle is provided with at least one forward looking on-board sensor unit.
  • the step of determining from one or more vehicles in the platoon said possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises the step of considering the length and/or number of vehicles of said platoon. By thus considering the length, e.g. by detecting obstacles on the sides of the platoon, safety is further improved.
  • the step of providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon comprises the step of considering the character of the leaving.
  • the character of the leaving may comprise any character of leaving the platoon.
  • the character of the leaving may comprise leaving by entering an exit from the road.
  • the character of the leaving may comprise leaving due to speed of the platoon being too slow or too fast, wherein the character of leaving may involve change of lane to a lane running on one side of the lane along which the platoon is travelling or a lane running on the opposite side of the lane along which the platoon is travelling.
  • the character of the leaving may comprise leaving to join another platoon.
  • the step of providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon comprising considering the character of the leaving may comprise providing a warning specifying for which character/characters of the leaving it is relevant.
  • the warning may specify that leaving on one side of the platoon constitutes a risk whereas leaving on the opposite side of the platoon is safe.
  • a system for controlling platooning operation of a platoon of vehicles along a road each vehicle having an operator manually operating the vehicle.
  • the system comprises means for determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon.
  • the system further comprises means for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon if a possible reason that may produce a risk to leave the platoon is determined; and means for providing information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined.
  • the means for determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises means for detecting possible obstacles that may produce such reasons affecting said platoon.
  • said means for detecting possible obstacles comprises means for using on-board sensor functions on-board of said one or more vehicles of the platoon.
  • the means for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon comprises means for considering the character of the leaving.
  • the system for controlling platooning operation of a platoon of vehicles along a road is adapted to perform the methods as set out herein.
  • the system according to the invention has the advantages according to the corresponding method claims. Specifically an object of the invention is achieved by a platoon comprising a system as set out herein.
  • a computer program for controlling platooning operation of a platoon of vehicles along a road comprising program code which, when run on an electronic control unit or another computer connected to the electronic control unit, causes the electronic control unit to perform methods as set out herein.
  • a computer program product comprising a digital storage medium storing the computer program.
  • Fig. 1 a-b schematically illustrates a platoon of vehicles travelling along a road according to the present invention
  • Fig. 3 schematically illustrates a block diagram of a method for controlling platooning operation of a platoon of vehicles along a road according to an embodiment of the present invention
  • Fig. 4 schematically illustrates a computer according to an embodiment of the present invention.
  • Fig. 1 a-b schematically illustrates a platoon P1 of vehicles 1 , 2, 3, 4, 5, 6 travelling along a road R according to the present invention.
  • the road R has two lanes L1 , L2 and the platoon P1 travelling in the right lane L1 .
  • the platoon P1 has six vehicles 1 , 2, 3, 4, 5, 6 which are driving at a certain distance from each other in order to optimize energy consumption.
  • the platoon P1 has a certain total length.
  • the platoon P1 comprises/is connected to a system I for controlling platooning operation of the platoon along a road.
  • the platoon P1 is a totally operator operated platoon.
  • the system I comprises means 1 10 for determining from one or more vehicles 1 , 2, 3, 4, 5, 6 in the platoon P1 possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon P1 .
  • the means 1 10 may comprise any suitable sensor unit for determining such reasons.
  • the reasons may comprise an obstacle on the road.
  • the means 1 10 may comprise sensor units arranged to provide a field of view F looking forward.
  • the means 1 10 may comprise sensor units arranged to provide a field of view looking at the sides for detecting external reasons such as objects comprising road users on one or both sides of the platoon, and/or sensor units with a backward looking field of view for detecting behind the platoon.
  • an obstacle O is detected on the road in the lane L2 with a sensor unit of the means 1 10 directed for providing a forward looking field of view F for detecting obstacles ahead of the platoon P1 .
  • the vehicle 5 is intending to leave the platoon P1 where the character of the leaving comprises changing lane to the lane L2 in order to overtake the platoon P1 .
  • a warning to at least the operator of the vehicle 5 intending to leave the platoon P1 for leaving the platoon P1 is provided due to the reason of the object O being present in the lane L2 ahead of the platoon which may produce a risk to leave the platoon P1 .
  • the character of the leaving i.e. that the vehicle 5 intending to leave the platoon P1 intends to leave the platoon P1 such that it will be in colliding course with the thus determined object O is taken into consideration.
  • vehicle 5 is intending to leave the platoon P1 where the character of the leaving comprises entering a road exit Li e ahead of the platoon P1 .
  • a warning to at least the operator of the vehicle 5 intending to leave the platoon P1 for leaving the platoon P1 is provided due to the reason of the que in the road exit Li e ahead of the platoon P1 which may produce a risk to leave the platoon P1 .
  • the character of the leaving i.e. that the vehicle 5 intending to leave the platoon P1 intends to leave the platoon P1 such that it will be entering the road exit Li e is taken into consideration.
  • the length of the platoon P1 and number of vehicles of the platoon is taken into consideration in that a vehicle 5 which is one of the last of a relatively long platoon with relatively many vehicles which facilitates detecting the sides in order to determine possible reasons appearing instantly.
  • the building up of the que may start as the platoon P1 passes the road exit P1 e.
  • the vehicle 5 may still leave the platoon P1 but is aware of the situation and may take proper actions.
  • the system I comprises an electronic control unit 100.
  • the electronic control unit 100 may comprise one or more electronic control units.
  • the electronic control unit 100 may comprise one or more electronic control units in the respective vehicle of the platoon.
  • the means 1 10 for determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises means 1 12 for detecting possible obstacles that may produce such reasons affecting said platoon.
  • the means 1 12 for detecting possible obstacles comprises means for using on-board sensor functions on-board of said one or more vehicles of the platoon.
  • the means 1 10 for determining from one or more vehicles in the platoon said possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises means 1 14 for considering the length of the platoon.
  • the means 1 14 for considering the length of the platoon comprises means for determining the length of the platoon.
  • the means for determining the length of the platoon may comprise means for determining the distance between the respective vehicle of the platoon, which may comprise any suitable distance sensor such as a radar unit, a camera unit and/or a laser scanner unit.
  • the means for determining the length of the platoon may comprise means for determining the length of the respective vehicle of the platoon, which may comprise stored data of the respective vehicle comprising length of the vehicle.
  • the means 1 10 for determining from one or more vehicles in the platoon said possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises means 1 16 for considering the number of vehicles of said platoon.
  • the means 1 16 for considering the number of vehicles of said platoon comprises according to an embodiment means for determining the number of vehicles of the platoon, which may comprise sensor means and/or communication means for communicating between the vehicles.
  • the system comprises means 120 for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon if a possible reason that may produce a risk to leave the platoon is determined.
  • the means 120 for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon if a possible reason that may produce a risk to leave the platoon is determined comprises visual means for visual warning.
  • the visual means for visual warning comprises according to an embodiment one or more display units on e.g. the instrument panel, a head-up-display on the windshield or the like, for displaying said warning comprising information regarding the risk due to the wheel grooves and the current external conditions.
  • the means 120 for providing a warning comprises according to an embodiment sound means for audible warning such as an alarm, a voice message or the like.
  • the means 120 for providing a warning comprises according to an embodiment tactile means such as vibrating/moving the seat of the operator, the steering wheel, the gas pedal, the brake pedal or the like so as to draw attention to the operator of the risk of leaving the platoon.
  • the tactile means may be a complement to the visual means and/or the sound means in order to get the attention of the operator of the vehicle.
  • the means 120 for providing a warning comprises according to an embodiment a vehicle-to-vehicle communication arrangement.
  • the means 120 for providing a warning is according to an embodiment comprised in a vehicle-to-vehicle communication arrangement.
  • the means 120 for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon comprises means 122 for considering the character of the leaving.
  • the means 122 for considering the character of the leaving comprises means 122a for determining the character of the leaving of the platoon.
  • the character of the leaving may comprise any character of leaving the platoon.
  • the character of the leaving may comprise leaving by entering an exit from the road.
  • the character of the leaving may comprise leaving due to speed of the platoon being too slow or too fast, wherein the character of leaving may involve change of lane to a lane running on one side of the lane along which the platoon is travelling or a lane running on the opposite side of the lane along which the platoon is travelling.
  • the character of the leaving may comprise leaving to join another platoon.
  • the means 122a for determining the character of the leaving of the platoon comprises according to an embodiment communication means for communicating the character of the leaving to the other vehicle of the platoon.
  • the communication means may be any suitable communication means for communicating the character of the leaving, the communication means e.g. being a vehicle-to-vehicle communication arrangement, e.g. the means 140 described below.
  • the system comprises means 130 for providing information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined.
  • the means 130 for providing information is according to an embodiment comprised in or comprises the means 120 for providing a warning.
  • the means 130 for providing information may comprise any suitable visual means and/or sound means and/or tactile means.
  • the means 130 for providing information to the operator of one or more vehicles of the platoon for leaving said platoon may constitute the existing Human-Machine Interface, HMI, of the respective vehicle thus facilitating optimizing safety in a cost efficient way.
  • the means 130 for providing information comprises according to an embodiment a vehicle-to-vehicle communication arrangement.
  • the means 130 for providing information is according to an embodiment comprised in a vehicle-to-vehicle communication arrangement.
  • the system I comprises means 140 for communicating relevant information between the vehicles of the platoon within a vehicle-to-vehicle communication arrangement V2V, said information being arranged to be provided for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon if a possible reason that may produce a risk to leave the platoon is determined; and for providing information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined.
  • the other vehicle/vehicles may comprise means 200 for receiving and communicating information, e.g. one or more electronic control units or the like.
  • the electronic control unit 100 is operably connected to the means 1 10 for determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon via a link 10.
  • the electronic control unit 100 is via the link 10 arranged to receive a signal from said means 1 10 representing data for reasons that may produce a risk for a vehicle in the platoon.
  • the electronic control unit 100 is operably connected to the means 1 12 for detecting possible obstacles that may produce such reasons affecting said platoon via a link 12.
  • the electronic control unit 100 is via the link 12 arranged to receive a signal from said means 1 12 representing data for obstacles that may produce such reasons affecting said platoon.
  • the electronic control unit 100 is operably connected to the means 1 16 for considering the number of vehicles of said platoon via a link 16.
  • the electronic control unit 100 is via the link 14 arranged to receive a signal from said means 1 16 representing data for number of vehicles of said platoon.
  • the electronic control unit 100 is operably connected to the means 120 for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon comprises means 120 for considering the character of the leaving via a link 20a.
  • the electronic control unit 100 is via the link 20a arranged to send a signal to said means 120 representing data for reasons that may produce a risk for a vehicle in the platoon to leave the platoon.
  • the electronic control unit 100 is operably connected to the means 120 for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon via a link 20b.
  • the electronic control unit 100 is via the link 20b arranged to receive a signal from said means 120 representing data for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon.
  • the electronic control unit 100 is operably connected to the means 122 for considering the character of the leaving via a link 22.
  • the electronic control unit 100 is via the link 22 arranged to receive a signal from said means 122 representing data for character of the leaving.
  • the electronic control unit 100 is operably connected to the means 130 for providing information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined via a link 30a.
  • the electronic control unit 100 is via the link 30a arranged to send a signal to said means 130 representing data for low risk for a vehicle in the platoon to leave the platoon.
  • the electronic control unit 100 is operably connected to the means 130 for providing information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined via a link 30b.
  • the electronic control unit 100 is via the link 30b arranged to receive a signal from said means 130 representing data of information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible.
  • the electronic control unit 100 is operably connected to the means 140 for communicating relevant information between the vehicles of the platoon within a vehicle-to-vehicle V2V communication arrangement via a link 80.
  • the electronic control unit 100 is via the link 40a arranged to send a signal to said means 140 representing data for warning to the operator of one or more vehicles of the platoon for leaving said platoon if a possible reason that may produce a risk to leave the platoon is determined; and data for information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined.
  • the electronic control unit 100 is operably connected to the means 140 for communicating relevant information between the vehicles of the platoon within a vehicle-to-vehicle V2V communication arrangement via a link 80.
  • the electronic control unit 100 is via the link 40a arranged to receive a signal from said means 140 representing data for a warning to the operator of one or more vehicles of the platoon for leaving said platoon if a possible reason that may produce a risk to leave the platoon is determined; and data for information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined.
  • the means 140 for communicating relevant information between the vehicles of the platoon within a vehicle-to-vehicle V2V communication arrangement is operably connected to the means 200 for communicating, i.e. sending and/or receiving information via links, the means 200 being means for one or more vehicles of the platoon.
  • the means 140 is via said link arranged to send and/or receive a signal from said means 200 representing data for a warning to the operator of one or more vehicles of the platoon for leaving said platoon if a possible reason that may produce a risk to leave the platoon is determined; and data for information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined.
  • Fig. 3 schematically illustrates a block diagram of a method for controlling platooning operation of a platoon of vehicles along a road according to an embodiment of the present invention.
  • the method for controlling platooning operation of a platoon of vehicles along a road comprises a step S1 .
  • this step possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon are determined from one or more vehicles in the platoon.
  • the method for controlling platooning operation of a platoon of vehicles along a road comprises a step S2.
  • a warning is provided to the operator of one or more vehicles of the platoon for leaving said platoon if a possible reason that may produce a risk to leave the platoon is determined.
  • the method for controlling platooning operation of a platoon of vehicles along a road comprises a step S3.
  • step information is provided to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined.
  • the method comprises the step of determining the intention of a vehicle in the platoon to leave the platoon.
  • the step of providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon is according to an embodiment provided depending on whether it has been determined that a vehicle is intending to leave the platoon.
  • the warning may also according to an embodiment be provided irrespective of whether it has been determined that one or more vehicles intend to leave the platoon.
  • the warning may according to an embodiment be graded depending on the risk of leaving the platoon.
  • the warning may comprise information about the reason that may produce a risk to leave the platoon.
  • the step of providing information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible is according to an embodiment provided depending on whether it has been determined that a vehicle is intending to leave the platoon. Such information may also according to an embodiment be provided irrespective of whether it has been determined that one or more vehicles intend to leave the platoon.
  • the step of providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon may be any suitable warning such as a visual warning e.g. via a display unit such as a display unit in the instrument cluster of the vehicle, an acoustic warning such as an alarm, a voice message or the like and/or a tactile warning such as vibration of the steering wheel or the like.
  • a visual warning e.g. via a display unit such as a display unit in the instrument cluster of the vehicle
  • an acoustic warning such as an alarm, a voice message or the like and/or a tactile warning such as vibration of the steering wheel or the like.
  • the step of providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon may utilize the existing Human- Machine Interface, HMI, of the respective vehicle thus facilitating optimizing safety in a cost efficient way.
  • HMI Human- Machine Interface
  • the intention of a vehicle in the platoon to leave the platoon may be determined in any suitable way.
  • the intention of a vehicle in the platoon to leave the platoon may be communicated from the vehicle intending to leave the platoon to the other vehicles of the platoon e.g. within a vehicle-to-vehicle communication arrangement.
  • the intention of a vehicle in the platoon to leave the platoon may be communicated from an external source e.g. within an infrastructure-to-vehicle communication arrangement.
  • the intention of a vehicle in the platoon to leave the platoon may be extracted from a planned route of the vehicles of the platoon, the planned route of the vehicle intending to leave the platoon leading to a leaving of the platoon.
  • the intention of a vehicle in the platoon to leave the platoon may be any suitable signal from the vehicle intending to leave.
  • the step of determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises the step of detecting possible obstacles that may produce such reasons affecting said platoon.
  • Obstacles may comprise any obstacles that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon such as external road users comprising external vehicles, i.e. vehicles not being part of the platoon, pedestrians, animals, objects on the road or the like.
  • Obstacles in the form of external vehicles may be vehicles having stopped in one or more lanes and/or in connection to a road exit. Obstacles may comprise a vehicle of the platoon having left the platoon, e.g. one of the first vehicles of a platoon of many vehicles, and has come to a halt due to e.g. cue at a road exit or the like, wherein another vehicle further back in the platoon intends to leave the platoon.
  • said step of detecting possible obstacles comprises the step of using on-board sensor functions on-board of said one or more vehicles of the platoon.
  • the on-board sensor units may comprise sensor units with a forward looking field of view for detecting obstacles ahead of the platoon. According to an embodiment at least the leading vehicle is provided with at least one forward looking on-board sensor unit.
  • the on-board sensor units may comprise sensor units arranged to provide a field of view looking at the sides for detecting obstacles on one or both sides of the platoon.
  • the on-board sensor units may comprise sensor units with a backward looking field of view for detecting obstacles behind the platoon.
  • at least the last vehicle of the platoon is provided with at least one backward looking on-board sensor unit.
  • the step of determining from one or more vehicles in the platoon said possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises the step of considering the length and/or number of vehicles of said platoon.
  • the step of providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon comprises the step of considering the character of the leaving.
  • the character of the leaving may comprise any character of leaving the platoon.
  • the character of the leaving may comprise leaving by entering an exit from the road.
  • the character of the leaving may comprise leaving due to speed of the platoon being too slow or too fast, wherein the character of leaving may involve change of lane to a lane running on one side of the lane along which the platoon is travelling or a lane running on the opposite side of the lane along which the platoon is travelling.
  • the character of the leaving may comprise leaving to join another platoon.
  • Apparatus 500 comprises a nonvolatile memory 520, a data processing device 510 and a read/write memory 550.
  • Non-volatile memory 520 has a first memory portion 530 wherein a computer program, such as an operating system, is stored for controlling the function of apparatus 500.
  • apparatus 500 comprises a bus controller, a serial communication port, l/O-means, an A/D-converter, a time date entry and transmission unit, an event counter and an interrupt controller (not shown).
  • Non-volatile memory 520 also has a second memory portion 540.
  • a computer program P comprising routines for controlling platooning operation of a platoon of vehicles along a road.
  • the program P comprises routines for determining the intention of a vehicle in the platoon to leave the platoon.
  • the program P comprises routines for determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon.
  • the program P comprises routines for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon if a possible reason that may produce a risk to leave the platoon is determined.
  • the program P comprises routines for providing information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined.
  • the routines for determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises routines for detecting possible obstacles that may produce such reasons affecting said platoon.
  • the routines for detecting possible obstacles comprises routines for using onboard sensor functions on-board of said one or more vehicles of the platoon.
  • the routines for determining from one or more vehicles in the platoon said possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises routines for considering the length and/or number of vehicles of said platoon.
  • the routines for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon comprises routines for considering the character of the leaving.
  • the computer program P may be stored in an executable manner or in a compressed condition in a separate memory 560 and/or in read/write memory 550.
  • data processing device 510 When it is stated that data processing device 510 performs a certain function it should be understood that data processing device 510 performs a certain part of the program which is stored in separate memory 560, or a certain part of the program which is stored in read/write memory 550.
  • Data processing device 510 may communicate with a data communications port 599 by means of a data bus 515.
  • Non-volatile memory 520 is adapted for communication with data processing device 510 via a data bus 512.
  • Separate memory 560 is adapted for communication with data processing device 510 via a data bus 51 1 .
  • Read/write memory 550 is adapted for communication with data processing device 510 via a data bus 514.
  • To the data communications port 599 e.g. the links connected to the control units 100 may be connected.
  • data processing device 510 is set up to perform execution of code in a manner described above.
  • the signals received on data port 599 can be used by apparatus 500 for determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon.
  • the signals received on data port 599 can be used by apparatus 500 providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon if a possible reason that may produce a risk to leave the platoon is determined.
  • the signals received on data port 599 can be used by apparatus 500 for providing information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined.
  • the signals used for determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises signals used for detecting possible obstacles that may produce such reasons affecting said platoon.
  • the signals used for detecting possible obstacles comprise signals for using on-board sensor functions on-board of said one or more vehicles of the platoon.
  • the signals used for determining from one or more vehicles in the platoon said possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises signals used for considering the length and/or number of vehicles of said platoon.
  • the signals used for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon comprises routines for considering the character of the leaving.

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Abstract

The present invention relates to a method for controlling platooning operation of a platoon (P1) of vehicles (1, 2, 3, 4, 5, 6) along a road (R), each vehicle having an operator manually operating the vehicle. The method comprises the step of determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon (P1) if such vehicle would leave the platoon (P1). The method further comprises the steps of: if a possible reason that may produce a risk to leave the platoon (P1) is determined, providing a warning to the operator of one or more vehicles of the platoon (P1) for leaving said platoon (P1); and if no possible reason that may produce a risk to leave the platoon (P1) is determined, providing information to the operator of one or more vehicles of the platoon (P1) that leaving the platoon (P1) safely is possible. The present invention also relates to a system for controlling platooning operation of a platoon of vehicles along a road. The present invention also relates to a platoon. The present invention also relates to a computer program and a computer program product.

Description

Method and system for determining risks for vehicles about to leave a platoon
TECHNICAL FIELD The invention relates to a method for controlling platooning operation of a platoon of vehicles along a road according to the preamble of claim 1 . The invention also relates to a system for controlling platooning operation of a platoon of vehicles along a road. The invention also relates to a vehicle. The invention in addition relates to a computer program and a computer program product.
BACKGROUND ART
Vehicles such as heavy vehicles are continuously looking at ways to reduce energy consumption to reduce energy costs and also to lower emissions. One way of reducing energy consumption is to operate several vehicles in a chain formation, also known as platooning or operating vehicles in a convoy.
Platooning takes advantage of a reduced air drag by operating with small distances between vehicles in the platoon. Under normal circumstances the air drag of a vehicle is proportional to the square of the velocity of the vehicle. By staying close to a forward vehicle, an effect of reduced air drag can be obtained. Hence, by operating several vehicles in a chain formation, here denoted as platoon or platooning, a substantial fuel reduction can be obtained through automated control systems.
A known problem for platoons is when a vehicle of the platoon wants to the leave the platoon. A member in the platoon leaving the platoon will create a gap between the subsequent and preceding vehicles. To be able to close the gap either the preceding vehicles need to lower their speed or the subsequent vehicles need to increase their speed or a combination of both. The gap will cause the subsequent vehicles to use extra energy due to the increased air drag and even more if they need to increase their speed to catch up with the platoon. This will affect the energy consumption for the platoon and may also affect travelling time and brake wear.
There are known ways to controlling platooning operation where a vehicle leaving the platoon is taken into consideration. US20140107867 discloses that a vehicle in a platoon may apply for leaving the platoon. Each vehicle of the platoon may detect the situation on the respective side of the respective vehicle, wherein such information may be communicated between the vehicles within a vehicle-to-vehicle communication arrangement. The leading vehicle may then decide if the vehicle can leave the platoon.
There is however a need for improving controlling platooning operation of a platoon of vehicles along a road.
OBJECTS OF THE INVENTION An object of the present invention is to provide a method for controlling platooning operation of a platoon of vehicles along a road which facilitates safe and efficient drive in connection to a situation where a vehicle in the platoon intends to leave the platoon.
Another object of the present invention is to provide a system for controlling platooning operation of a platoon of vehicles along a road which facilitates safe and efficient drive in connection to a situation where a vehicle in the platoon intends to leave the platoon. SUMMARY OF THE INVENTION
These and other objects, apparent from the following description, are achieved by a method, a system, a vehicle, a computer program and a computer program product, as set out in the appended independent claims. Preferred embodiments of the method and the system are defined in appended dependent claims.
Specifically an object of the invention is achieved by a method for controlling platooning operation of a platoon of vehicles along a road, each vehicle having an operator manually operating the vehicle. The method comprises the step of determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon. The method further comprise the steps of: if a possible reason that may produce a risk to leave the platoon is determined, providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon; and if no possible reason that may produce a risk to leave the platoon is determined, providing information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible.
According to an embodiment the method comprises the step of determining the intention of a vehicle in the platoon to leave the platoon.
The step of providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon is according to an embodiment provided depending on whether it has been determined that a vehicle is intending to leave the platoon. The warning may also according to an embodiment be provided irrespective of whether it has been determined that one or more vehicles intend to leave the platoon. The warning may according to an embodiment be graded depending on the risk of leaving the platoon. The warning may comprise information about the reason that may produce a risk to leave the platoon.
The step of providing information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible is according to an embodiment provided depending on whether it has been determined that a vehicle is intending to leave the platoon. Such information may also according to an embodiment be provided irrespective of whether it has been determined that one or more vehicles intend to leave the platoon. The step of providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon may be any suitable warning such as a visual warning e.g. via a display unit such as a display unit in the instrument cluster of the vehicle, an acoustic warning such as an alarm, a voice message or the like and/or a tactile warning such as vibration of the steering wheel or the like. The step of providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon may utilize the existing Human- Machine Interface, HMI, of the respective vehicle thus facilitating optimizing safety in a cost efficient way.
The intention of a vehicle in the platoon to leave the platoon may be determined in any suitable way. The intention of a vehicle in the platoon to leave the platoon may be communicated from the vehicle intending to leave the platoon to the other vehicles of the platoon e.g. within a vehicle-to-vehicle communication arrangement. The intention of a vehicle in the platoon to leave the platoon may be communicated from an external source e.g. within an infrastructure-to-vehicle communication arrangement. The intention of a vehicle in the platoon to leave the platoon may be extracted from a planned route of the vehicles of the platoon, the planned route of the vehicle intending to leave the platoon leading to a leaving of the platoon. The intention of a vehicle in the platoon to leave the platoon may be any suitable signal from the vehicle intending to leave. By thus providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon if a possible reason that may produce a risk to leave the platoon is determined and providing information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined safe and efficient drive in connection to a situation where a vehicle in the platoon intends to leave the platoon is facilitated. Hereby a vehicle intending to leave will be aware of the risk of leaving and can thus avoid leaving or leave taking the situation into consideration which improves safety, and a vehicle leaving the platoon if it is determined to be safe to leave does not need to unnecessarily increase the distance in connection to the leaving which thus facilitates optimizing energy consumption.
According to an embodiment of the method the step of determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises the step of detecting possible obstacles that may produce such reasons affecting said platoon. Hereby information of reasons in the form of obstacles for not leaving the platoon may be provided quickly and efficiently which further increases safety. Obstacles may comprise any obstacles that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon such as external road users comprising external vehicles, i.e. vehicles not being part of the platoon, pedestrians, animals, objects on the road or the like. Obstacles in the form of external vehicles may be vehicles having stopped in one or more lanes and/or in connection to a road exit. Obstacles may comprise a vehicle of the platoon having left the platoon, e.g. one of the first vehicles of a platoon of many vehicles, and has come to a halt due to e.g. cue at a road exit or the like, wherein another vehicle further back in the platoon intends to leave the platoon. According to an embodiment of the method said step of detecting possible obstacles comprises the step of using on-board sensor functions on-board of said one or more vehicles of the platoon.
The on-board sensor functions may comprise sensor units with a forward looking field of view for detecting obstacles ahead of the platoon. According to an embodiment at least the leading vehicle is provided with at least one forward looking on-board sensor unit.
The on-board sensor functions may comprise sensor units arranged to provide a field of view looking at the sides for detecting obstacles on one or both sides of the platoon. By thus using sensor unit for detecting obstacles on the sides of the platoon safety is further improved, particularly for a platoon of having a longitudinal extension which is relatively long due to e.g. a large number of vehicles in the platoon and/or long vehicles such as trucks with trailers. The on-board sensor functions may comprise sensor units with a backward looking field of view for detecting obstacles behind the platoon. According to an embodiment at least the last vehicle of the platoon is provided with at least one backward looking on-board sensor unit.
According to an embodiment of the method the step of determining from one or more vehicles in the platoon said possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises the step of considering the length and/or number of vehicles of said platoon. By thus considering the length, e.g. by detecting obstacles on the sides of the platoon, safety is further improved. According to an embodiment of the method the step of providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon comprises the step of considering the character of the leaving. The character of the leaving may comprise any character of leaving the platoon. The character of the leaving may comprise leaving by entering an exit from the road. The character of the leaving may comprise leaving due to speed of the platoon being too slow or too fast, wherein the character of leaving may involve change of lane to a lane running on one side of the lane along which the platoon is travelling or a lane running on the opposite side of the lane along which the platoon is travelling. The character of the leaving may comprise leaving to join another platoon.
By thus considering the character of the leaving in connection to providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon safe and efficient drive in connection to a situation where a vehicle in the platoon intends to leave the platoon is further improved in that a certain character, e.g. leaving in order to enter a road exit, may not pose a risk if the reason for not leaving is due to an obstacle that would constitute a risk for leaving on the opposite side of the platoon.
The step of providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon comprising considering the character of the leaving may comprise providing a warning specifying for which character/characters of the leaving it is relevant. Thus the warning may specify that leaving on one side of the platoon constitutes a risk whereas leaving on the opposite side of the platoon is safe.
Hereby a vehicle may safely leave the platoon despite a particular reason for not leaving the platoon if the character of the leaving does not involve that particular reason. Thus platooning of the platoon will be more efficient with maintained safety.
Specifically an object of the invention is achieved by a system for controlling platooning operation of a platoon of vehicles along a road, each vehicle having an operator manually operating the vehicle. The system comprises means for determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon. The system further comprises means for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon if a possible reason that may produce a risk to leave the platoon is determined; and means for providing information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined.
According to an embodiment of the system the means for determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises means for detecting possible obstacles that may produce such reasons affecting said platoon.
According to an embodiment of the system said means for detecting possible obstacles comprises means for using on-board sensor functions on-board of said one or more vehicles of the platoon.
According to an embodiment of the system the means for determining from one or more vehicles in the platoon said possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises means for considering the length and/or means for considering the number of vehicles of said platoon.
According to an embodiment of the system the means for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon comprises means for considering the character of the leaving.
The system for controlling platooning operation of a platoon of vehicles along a road is adapted to perform the methods as set out herein.
The system according to the invention has the advantages according to the corresponding method claims. Specifically an object of the invention is achieved by a platoon comprising a system as set out herein.
Specifically an object of the invention is achieved by a computer program for controlling platooning operation of a platoon of vehicles along a road, said computer program comprising program code which, when run on an electronic control unit or another computer connected to the electronic control unit, causes the electronic control unit to perform methods as set out herein.
Specifically an object of the invention is achieved by a computer program product comprising a digital storage medium storing the computer program.
BRIEF DESCRIPTION OF THE DRAWINGS
For a better understanding of the present invention reference is made to the following detailed description when read in conjunction with the accompanying drawings, wherein like reference characters refer to like parts throughout the several views, and in which:
Fig. 1 a-b schematically illustrates a platoon of vehicles travelling along a road according to the present invention;
Fig. 2 schematically illustrates a block diagram of a system for controlling platooning operation of a platoon of vehicles along a road according to an embodiment of the present invention;
Fig. 3 schematically illustrates a block diagram of a method for controlling platooning operation of a platoon of vehicles along a road according to an embodiment of the present invention; and
Fig. 4 schematically illustrates a computer according to an embodiment of the present invention. DETAILED DESCRIPTION
Hereinafter the term "link" refers to a communication link which may be a physical connector, such as an optoelectronic communication wire, or a non- physical connector such as a wireless connection, for example a radio or microwave link.
Hereinafter the term "energy consumption" refers to the energy consumed by one or more vehicles of the platoon. The term "energy consumption" comprises the energy consumption due to the driving means of the vehicle. The driving means of the vehicle may be an internal combustion engine in which case the energy consumption comprises fuel consumption. The driving means of the vehicle may comprise an electric machine for a hybrid vehicle or an electric vehicle, in which case the energy consumption comprises electric energy consumption.
Fig. 1 a-b schematically illustrates a platoon P1 of vehicles 1 , 2, 3, 4, 5, 6 travelling along a road R according to the present invention. The road R has two lanes L1 , L2 and the platoon P1 travelling in the right lane L1 .
The platoon P1 according to this example has six vehicles 1 , 2, 3, 4, 5, 6 which are driving at a certain distance from each other in order to optimize energy consumption. The platoon P1 has a certain total length. The platoon P1 comprises/is connected to a system I for controlling platooning operation of the platoon along a road.
The platoon P1 is a totally operator operated platoon.
The system I comprises means 1 10 for determining from one or more vehicles 1 , 2, 3, 4, 5, 6 in the platoon P1 possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon P1 .
The means 1 10 may comprise any suitable sensor unit for determining such reasons. The reasons may comprise an obstacle on the road. The means 1 10 may comprise sensor units arranged to provide a field of view F looking forward. The means 1 10 may comprise sensor units arranged to provide a field of view looking at the sides for detecting external reasons such as objects comprising road users on one or both sides of the platoon, and/or sensor units with a backward looking field of view for detecting behind the platoon.
In fig. 2a an obstacle O is detected on the road in the lane L2 with a sensor unit of the means 1 10 directed for providing a forward looking field of view F for detecting obstacles ahead of the platoon P1 . The vehicle 5 is intending to leave the platoon P1 where the character of the leaving comprises changing lane to the lane L2 in order to overtake the platoon P1 .
A warning to at least the operator of the vehicle 5 intending to leave the platoon P1 for leaving the platoon P1 is provided due to the reason of the object O being present in the lane L2 ahead of the platoon which may produce a risk to leave the platoon P1 . Here the character of the leaving, i.e. that the vehicle 5 intending to leave the platoon P1 intends to leave the platoon P1 such that it will be in colliding course with the thus determined object O is taken into consideration. In fig. 2b vehicle 5 is intending to leave the platoon P1 where the character of the leaving comprises entering a road exit Li e ahead of the platoon P1 .
In the road exit Li e vehicles V1 , V2, V3 are building up a que which may constitute a reason for a vehicle of the platoon P1 not to leave the platoon. Sensor units of the means 1 10 of one or more vehicle of the platoon arranged to provide a field of view looking at the right side detects the que situation.
A warning to at least the operator of the vehicle 5 intending to leave the platoon P1 for leaving the platoon P1 is provided due to the reason of the que in the road exit Li e ahead of the platoon P1 which may produce a risk to leave the platoon P1 . Here the character of the leaving, i.e. that the vehicle 5 intending to leave the platoon P1 intends to leave the platoon P1 such that it will be entering the road exit Li e is taken into consideration. Further, the length of the platoon P1 and number of vehicles of the platoon is taken into consideration in that a vehicle 5 which is one of the last of a relatively long platoon with relatively many vehicles which facilitates detecting the sides in order to determine possible reasons appearing instantly. Thus, the building up of the que may start as the platoon P1 passes the road exit P1 e. The vehicle 5 may still leave the platoon P1 but is aware of the situation and may take proper actions.
Fig. 2 schematically illustrates a system I for controlling platooning operation of a platoon of vehicles along a road.
The system I comprises an electronic control unit 100. The electronic control unit 100 may comprise one or more electronic control units. The electronic control unit 100 may comprise one or more electronic control units in the respective vehicle of the platoon.
The system I comprises means 1 10 for determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon.
The means 1 10 for determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises means 1 12 for detecting possible obstacles that may produce such reasons affecting said platoon. The means 1 12 for detecting possible obstacles comprises means for using on-board sensor functions on-board of said one or more vehicles of the platoon. The means 1 10 for determining from one or more vehicles in the platoon said possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises means 1 14 for considering the length of the platoon. The means 1 14 for considering the length of the platoon comprises means for determining the length of the platoon. The means for determining the length of the platoon may comprise means for determining the distance between the respective vehicle of the platoon, which may comprise any suitable distance sensor such as a radar unit, a camera unit and/or a laser scanner unit. The means for determining the length of the platoon may comprise means for determining the length of the respective vehicle of the platoon, which may comprise stored data of the respective vehicle comprising length of the vehicle.
The means 1 10 for determining from one or more vehicles in the platoon said possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises means 1 16 for considering the number of vehicles of said platoon. The means 1 16 for considering the number of vehicles of said platoon comprises according to an embodiment means for determining the number of vehicles of the platoon, which may comprise sensor means and/or communication means for communicating between the vehicles.
The system comprises means 120 for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon if a possible reason that may produce a risk to leave the platoon is determined.
The means 120 for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon if a possible reason that may produce a risk to leave the platoon is determined comprises visual means for visual warning. The visual means for visual warning comprises according to an embodiment one or more display units on e.g. the instrument panel, a head-up-display on the windshield or the like, for displaying said warning comprising information regarding the risk due to the wheel grooves and the current external conditions.
The means 120 for providing a warning comprises according to an embodiment sound means for audible warning such as an alarm, a voice message or the like.
The means 120 for providing a warning comprises according to an embodiment tactile means such as vibrating/moving the seat of the operator, the steering wheel, the gas pedal, the brake pedal or the like so as to draw attention to the operator of the risk of leaving the platoon. The tactile means may be a complement to the visual means and/or the sound means in order to get the attention of the operator of the vehicle.
The means 120 for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon may constitute the existing Human-Machine Interface, HMI, of the respective vehicle thus facilitating optimizing safety in a cost efficient way.
The means 120 for providing a warning comprises according to an embodiment a vehicle-to-vehicle communication arrangement. The means 120 for providing a warning is according to an embodiment comprised in a vehicle-to-vehicle communication arrangement. The means 120 for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon comprises means 122 for considering the character of the leaving. The means 122 for considering the character of the leaving comprises means 122a for determining the character of the leaving of the platoon. The character of the leaving may comprise any character of leaving the platoon. The character of the leaving may comprise leaving by entering an exit from the road. The character of the leaving may comprise leaving due to speed of the platoon being too slow or too fast, wherein the character of leaving may involve change of lane to a lane running on one side of the lane along which the platoon is travelling or a lane running on the opposite side of the lane along which the platoon is travelling. The character of the leaving may comprise leaving to join another platoon. The means 122a for determining the character of the leaving of the platoon comprises according to an embodiment communication means for communicating the character of the leaving to the other vehicle of the platoon. The communication means may be any suitable communication means for communicating the character of the leaving, the communication means e.g. being a vehicle-to-vehicle communication arrangement, e.g. the means 140 described below.
The system comprises means 130 for providing information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined.
The means 130 for providing information is according to an embodiment comprised in or comprises the means 120 for providing a warning.
The means 130 for providing information may comprise any suitable visual means and/or sound means and/or tactile means. The means 130 for providing information to the operator of one or more vehicles of the platoon for leaving said platoon may constitute the existing Human-Machine Interface, HMI, of the respective vehicle thus facilitating optimizing safety in a cost efficient way.
The means 130 for providing information comprises according to an embodiment a vehicle-to-vehicle communication arrangement. The means 130 for providing information is according to an embodiment comprised in a vehicle-to-vehicle communication arrangement. The system I comprises means 140 for communicating relevant information between the vehicles of the platoon within a vehicle-to-vehicle communication arrangement V2V, said information being arranged to be provided for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon if a possible reason that may produce a risk to leave the platoon is determined; and for providing information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined. The other vehicle/vehicles may comprise means 200 for receiving and communicating information, e.g. one or more electronic control units or the like.
The electronic control unit 100 is operably connected to the means 1 10 for determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon via a link 10. The electronic control unit 100 is via the link 10 arranged to receive a signal from said means 1 10 representing data for reasons that may produce a risk for a vehicle in the platoon.
The electronic control unit 100 is operably connected to the means 1 12 for detecting possible obstacles that may produce such reasons affecting said platoon via a link 12. The electronic control unit 100 is via the link 12 arranged to receive a signal from said means 1 12 representing data for obstacles that may produce such reasons affecting said platoon.
The electronic control unit 100 is operably connected to the means 1 16 for considering the number of vehicles of said platoon via a link 16. The electronic control unit 100 is via the link 14 arranged to receive a signal from said means 1 16 representing data for number of vehicles of said platoon.
The electronic control unit 100 is operably connected to the means 120 for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon comprises means 120 for considering the character of the leaving via a link 20a. The electronic control unit 100 is via the link 20a arranged to send a signal to said means 120 representing data for reasons that may produce a risk for a vehicle in the platoon to leave the platoon. The electronic control unit 100 is operably connected to the means 120 for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon via a link 20b. The electronic control unit 100 is via the link 20b arranged to receive a signal from said means 120 representing data for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon.
The electronic control unit 100 is operably connected to the means 122 for considering the character of the leaving via a link 22. The electronic control unit 100 is via the link 22 arranged to receive a signal from said means 122 representing data for character of the leaving. The electronic control unit 100 is operably connected to the means 130 for providing information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined via a link 30a. The electronic control unit 100 is via the link 30a arranged to send a signal to said means 130 representing data for low risk for a vehicle in the platoon to leave the platoon.
The electronic control unit 100 is operably connected to the means 130 for providing information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined via a link 30b. The electronic control unit 100 is via the link 30b arranged to receive a signal from said means 130 representing data of information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible. The electronic control unit 100 is operably connected to the means 140 for communicating relevant information between the vehicles of the platoon within a vehicle-to-vehicle V2V communication arrangement via a link 80. The electronic control unit 100 is via the link 40a arranged to send a signal to said means 140 representing data for warning to the operator of one or more vehicles of the platoon for leaving said platoon if a possible reason that may produce a risk to leave the platoon is determined; and data for information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined.
The electronic control unit 100 is operably connected to the means 140 for communicating relevant information between the vehicles of the platoon within a vehicle-to-vehicle V2V communication arrangement via a link 80. The electronic control unit 100 is via the link 40a arranged to receive a signal from said means 140 representing data for a warning to the operator of one or more vehicles of the platoon for leaving said platoon if a possible reason that may produce a risk to leave the platoon is determined; and data for information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined.
The means 140 for communicating relevant information between the vehicles of the platoon within a vehicle-to-vehicle V2V communication arrangement is operably connected to the means 200 for communicating, i.e. sending and/or receiving information via links, the means 200 being means for one or more vehicles of the platoon. The means 140 is via said link arranged to send and/or receive a signal from said means 200 representing data for a warning to the operator of one or more vehicles of the platoon for leaving said platoon if a possible reason that may produce a risk to leave the platoon is determined; and data for information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined.
Fig. 3 schematically illustrates a block diagram of a method for controlling platooning operation of a platoon of vehicles along a road according to an embodiment of the present invention.
According to the embodiment the method for controlling platooning operation of a platoon of vehicles along a road comprises a step S1 . In this step possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon are determined from one or more vehicles in the platoon.
According to the embodiment the method for controlling platooning operation of a platoon of vehicles along a road comprises a step S2. In this step a warning is provided to the operator of one or more vehicles of the platoon for leaving said platoon if a possible reason that may produce a risk to leave the platoon is determined.
According to the embodiment the method for controlling platooning operation of a platoon of vehicles along a road comprises a step S3. In this step information is provided to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined.
According to an embodiment the method comprises the step of determining the intention of a vehicle in the platoon to leave the platoon.
The step of providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon is according to an embodiment provided depending on whether it has been determined that a vehicle is intending to leave the platoon. The warning may also according to an embodiment be provided irrespective of whether it has been determined that one or more vehicles intend to leave the platoon.
The warning may according to an embodiment be graded depending on the risk of leaving the platoon. The warning may comprise information about the reason that may produce a risk to leave the platoon.
The step of providing information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible is according to an embodiment provided depending on whether it has been determined that a vehicle is intending to leave the platoon. Such information may also according to an embodiment be provided irrespective of whether it has been determined that one or more vehicles intend to leave the platoon.
The step of providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon may be any suitable warning such as a visual warning e.g. via a display unit such as a display unit in the instrument cluster of the vehicle, an acoustic warning such as an alarm, a voice message or the like and/or a tactile warning such as vibration of the steering wheel or the like. The step of providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon may utilize the existing Human- Machine Interface, HMI, of the respective vehicle thus facilitating optimizing safety in a cost efficient way.
The intention of a vehicle in the platoon to leave the platoon may be determined in any suitable way. The intention of a vehicle in the platoon to leave the platoon may be communicated from the vehicle intending to leave the platoon to the other vehicles of the platoon e.g. within a vehicle-to-vehicle communication arrangement. The intention of a vehicle in the platoon to leave the platoon may be communicated from an external source e.g. within an infrastructure-to-vehicle communication arrangement. The intention of a vehicle in the platoon to leave the platoon may be extracted from a planned route of the vehicles of the platoon, the planned route of the vehicle intending to leave the platoon leading to a leaving of the platoon. The intention of a vehicle in the platoon to leave the platoon may be any suitable signal from the vehicle intending to leave. According to an embodiment of the method the step of determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises the step of detecting possible obstacles that may produce such reasons affecting said platoon. Obstacles may comprise any obstacles that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon such as external road users comprising external vehicles, i.e. vehicles not being part of the platoon, pedestrians, animals, objects on the road or the like. Obstacles in the form of external vehicles may be vehicles having stopped in one or more lanes and/or in connection to a road exit. Obstacles may comprise a vehicle of the platoon having left the platoon, e.g. one of the first vehicles of a platoon of many vehicles, and has come to a halt due to e.g. cue at a road exit or the like, wherein another vehicle further back in the platoon intends to leave the platoon. According to an embodiment of the method said step of detecting possible obstacles comprises the step of using on-board sensor functions on-board of said one or more vehicles of the platoon.
The on-board sensor units may comprise sensor units with a forward looking field of view for detecting obstacles ahead of the platoon. According to an embodiment at least the leading vehicle is provided with at least one forward looking on-board sensor unit.
The on-board sensor units may comprise sensor units arranged to provide a field of view looking at the sides for detecting obstacles on one or both sides of the platoon. The on-board sensor units may comprise sensor units with a backward looking field of view for detecting obstacles behind the platoon. According to an embodiment at least the last vehicle of the platoon is provided with at least one backward looking on-board sensor unit. According to an embodiment of the method the step of determining from one or more vehicles in the platoon said possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises the step of considering the length and/or number of vehicles of said platoon.
According to an embodiment of the method the step of providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon comprises the step of considering the character of the leaving.
The character of the leaving may comprise any character of leaving the platoon. The character of the leaving may comprise leaving by entering an exit from the road. The character of the leaving may comprise leaving due to speed of the platoon being too slow or too fast, wherein the character of leaving may involve change of lane to a lane running on one side of the lane along which the platoon is travelling or a lane running on the opposite side of the lane along which the platoon is travelling. The character of the leaving may comprise leaving to join another platoon. The step of providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon comprising considering the character of the leaving may comprise providing a warning specifying for which character/characters of the leaving it is relevant. Thus the warning may specify that leaving on one side of the platoon constitutes a risk whereas leaving on the opposite side of the platoon is safe.
With reference to figure 4, a diagram of an apparatus 500 is shown. The control unit 100 described with reference to fig. 2 may according to an embodiment comprise apparatus 500. Apparatus 500 comprises a nonvolatile memory 520, a data processing device 510 and a read/write memory 550. Non-volatile memory 520 has a first memory portion 530 wherein a computer program, such as an operating system, is stored for controlling the function of apparatus 500. Further, apparatus 500 comprises a bus controller, a serial communication port, l/O-means, an A/D-converter, a time date entry and transmission unit, an event counter and an interrupt controller (not shown). Non-volatile memory 520 also has a second memory portion 540.
A computer program P is provided comprising routines for controlling platooning operation of a platoon of vehicles along a road. The program P comprises routines for determining the intention of a vehicle in the platoon to leave the platoon. The program P comprises routines for determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon. The program P comprises routines for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon if a possible reason that may produce a risk to leave the platoon is determined. The program P comprises routines for providing information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined. The routines for determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises routines for detecting possible obstacles that may produce such reasons affecting said platoon. The routines for detecting possible obstacles comprises routines for using onboard sensor functions on-board of said one or more vehicles of the platoon. The routines for determining from one or more vehicles in the platoon said possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises routines for considering the length and/or number of vehicles of said platoon. The routines for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon comprises routines for considering the character of the leaving. The computer program P may be stored in an executable manner or in a compressed condition in a separate memory 560 and/or in read/write memory 550.
When it is stated that data processing device 510 performs a certain function it should be understood that data processing device 510 performs a certain part of the program which is stored in separate memory 560, or a certain part of the program which is stored in read/write memory 550.
Data processing device 510 may communicate with a data communications port 599 by means of a data bus 515. Non-volatile memory 520 is adapted for communication with data processing device 510 via a data bus 512. Separate memory 560 is adapted for communication with data processing device 510 via a data bus 51 1 . Read/write memory 550 is adapted for communication with data processing device 510 via a data bus 514. To the data communications port 599 e.g. the links connected to the control units 100 may be connected. When data is received on data port 599 it is temporarily stored in second memory portion 540. When the received input data has been temporarily stored, data processing device 510 is set up to perform execution of code in a manner described above. The signals received on data port 599 can be used by apparatus 500 for determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon. The signals received on data port 599 can be used by apparatus 500 providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon if a possible reason that may produce a risk to leave the platoon is determined. The signals received on data port 599 can be used by apparatus 500 for providing information to the operator of one or more vehicles of the platoon that leaving the platoon safely is possible if no possible reason that may produce a risk to leave the platoon is determined. The signals used for determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises signals used for detecting possible obstacles that may produce such reasons affecting said platoon. The signals used for detecting possible obstacles comprise signals for using on-board sensor functions on-board of said one or more vehicles of the platoon. The signals used for determining from one or more vehicles in the platoon said possible reasons that may produce a risk for a vehicle in the platoon if such vehicle would leave the platoon comprises signals used for considering the length and/or number of vehicles of said platoon. The signals used for providing a warning to the operator of one or more vehicles of the platoon for leaving said platoon comprises routines for considering the character of the leaving.
Parts of the methods described herein can be performed by apparatus 500 by means of data processing device 510 running the program stored in separate memory 560 or read/write memory 550. When apparatus 500 runs the program, parts of the methods described herein are executed. The foregoing description of the preferred embodiments of the present invention has been provided for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations will be apparent to practitioners skilled in the art. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, thereby enabling others skilled in the art to understand the invention for various embodiments and with the various modifications as are suited to the particular use contemplated.

Claims

1 . A method for controlling platooning operation of a platoon (P1 ) of vehicles (1 , 2, 3, 4, 5, 6) along a road (R), each vehicle having an operator manually operating the vehicle, comprising the step of determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon (P1 ) if such vehicle would leave the platoon (P1 ), characterized by the steps of:
- if a possible reason that may produce a risk to leave the platoon (P1 ) is determined, providing a warning to the operator of one or more vehicles of the platoon (P1 ) for leaving said platoon (P1 ); and
- if no possible reason that may produce a risk to leave the platoon (P1 ) is determined, providing information to the operator of one or more vehicles of the platoon (P1 ) that leaving the platoon (P1 ) safely is possible.
2. A method according to claim 1 , wherein the step of determining from one or more vehicles (1 , 2, 3, 4, 5, 6) in the platoon (P1 ) possible reasons that may produce a risk for a vehicle in the platoon (P1 ) if such vehicle would leave the platoon (P1 ) comprises the step of detecting possible obstacles that may produce such reasons affecting said platoon (P1 ).
3. A method according to claim 2, wherein said step of detecting possible obstacles comprises the step of using on-board sensor functions on-board of said one or more vehicles of the platoon (P1 ).
4. A method according to any of claims 1 -3, wherein the step of determining from one or more vehicles in the platoon (P1 ) said possible reasons that may produce a risk for a vehicle in the platoon (P1 ) if such vehicle would leave the platoon (P1 ) comprises the step of considering the length and/or number of vehicles of said platoon (P1 ).
5. A method according to any of claims 1 -3, wherein the step of providing a warning to the operator of one or more vehicles of the platoon (P1 ) for leaving said platoon (P1 ) comprises the step of considering the character of the leaving.
6. A system (I) for controlling platooning operation of a platoon (P1 ) of vehicles (1 , 2, 3, 4, 5, 6) along a road (R), each vehicle having an operator manually operating the vehicle, comprising means (1 10) for determining from one or more vehicles in the platoon (P1 ) possible reasons that may produce a risk for a vehicle in the platoon (P1 ) if such vehicle would leave the platoon (P1 ), characterized by means (120) for providing a warning to the operator of one or more vehicles of the platoon (P1 ) for leaving said platoon (P1 ) if a possible reason that may produce a risk to leave the platoon (P1 ) is determined; and means (130) for providing information to the operator of one or more vehicles of the platoon (P1 ) that leaving the platoon (P1 ) safely is possible if no possible reason that may produce a risk to leave the platoon (P1 ) is determined.
7. A system according to claim 6, wherein the means (1 10) for determining from one or more vehicles in the platoon (P1 ) possible reasons that may produce a risk for a vehicle in the platoon (P1 ) if such vehicle would leave the platoon (P1 ) comprises means (1 12) for detecting possible obstacles that may produce such reasons affecting said platoon (P1 ).
8. A system according to claim 7, wherein said means (1 12) for detecting possible obstacles comprises means for using on-board sensor functions onboard of said one or more vehicles of the platoon (P1 ).
9. A system according to any of claims 6-8, wherein the means (1 10) for determining from one or more vehicles in the platoon (P1 ) said possible reasons that may produce a risk for a vehicle in the platoon (P1 ) if such vehicle would leave the platoon (P1 ) comprises means (1 14) for considering the length and/or means (1 16) for considering the number of vehicles of said platoon (P1 ).
10. A system according to any of claims 6-9, wherein the means (120) for providing a warning to the operator of one or more vehicles of the platoon (P1 ) for leaving said platoon (P1 ) comprises means (122) for considering the character of the leaving.
1 1 . A platoon (P1 ) of vehicles (1 , 2, 3, 4, 5, 6) comprising a system (I) according to any of claims 6-10.
12. A computer program (P) for controlling platooning operation of a platoon of vehicles along a road, said computer program (P) comprising program code which, when run on an electronic control unit (100) or another computer (500) connected to the electronic control unit (100), causes the electronic control unit to perform the steps according to claim 1 -5.
13. A computer program product comprising a digital storage medium storing the computer program according to claim 12.
EP17786250.5A 2016-04-22 2017-04-13 Method and system for determining risks for vehicles about to leave a platoon Withdrawn EP3445627A4 (en)

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