EP3494562A1 - Procédé de commande, guidage et contrôle d'un convoi de transport routier et ses dispositifs de mise en oeuvre - Google Patents
Procédé de commande, guidage et contrôle d'un convoi de transport routier et ses dispositifs de mise en oeuvreInfo
- Publication number
- EP3494562A1 EP3494562A1 EP17749191.7A EP17749191A EP3494562A1 EP 3494562 A1 EP3494562 A1 EP 3494562A1 EP 17749191 A EP17749191 A EP 17749191A EP 3494562 A1 EP3494562 A1 EP 3494562A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- route
- convoy
- information
- vehicle
- driver
- 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- Withdrawn
Links
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of 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
- 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
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
Definitions
- the invention relates to a method for controlling, guiding and controlling a road transport convoy and its implementation devices.
- the invention is more particularly suitable for transport in an exceptional convoy, that is to say the length of which is greater than 20 meters, the width greater than 3 meters and the indivisible mass transported greater than 48,000 kilograms and comprising a plurality of vehicles traveling in convoy, each vehicle having a specific function.
- exceptional convoy that is to say the length of which is greater than 20 meters, the width greater than 3 meters and the indivisible mass transported greater than 48,000 kilograms and comprising a plurality of vehicles traveling in convoy, each vehicle having a specific function.
- Examples of such convoys which are particularly addressed to the invention and which largely exceed these values of mass and size, relate to the transport of aeronautical structures, the transport of naval structures, the transport of civil engineering structures or even the transport of power generation plant structures, such as nuclear power plant elements. That is to say very bulky parcels with very high added value, in some cases the cost of transport itself reaching half of this added value.
- convoys The movement of these convoys is subject to strict regulations as to the routes they take, which must be the subject of an administrative authorization, as to the hours of passage, for example limited between 10 pm and 6 am the organization of the convoy, including a so-called protection vehicle and a guide or pilot vehicle and escort vehicles, as well as on the conditions in which they are authorized to circulate, for example, such convoys can not circulate in case of snow or fog.
- the vehicle carrying the indivisible mass is subject to a footprint on the roadway and represents a jig that limits its maneuverability and requires the definition of precise trajectories or maneuvers for particular crossings, such as roundabouts, crossings bridges or tunnels or even just a curve. In the majority of cases, the maneuver must be executed the first time, and it is very difficult to correct a mishandled maneuver.
- the mass transported which may exceed 100,000 kilograms, also leads to strict acceleration and braking conditions before and during maneuvers.
- itinerary book commonly referred to as a "roadbook” which indicates the nature of the crossings and the maneuvers to be made, the distances and the expected travel times between each crossing, and the maneuvering conditions, such as the alignment with respect to the roadway, the radii of gyration etc. relating to each crossing.
- Said itinerary book also includes out-of-the-way points, or waiting zones, adapted for stopping the convoy without hindering traffic.
- This itinerary book is shared by all the actors of the convoy, who act according to their role and the specificities of the route. For example, the escort vehicles must anticipate the arrival at a crossing by possibly blocking the traffic, the guiding vehicle must check that nothing prevents the achievement of the trajectory and if necessary guide the transport vehicle during the maneuvers.
- Such a roadbook currently exceeds 100 pages and has hundreds of crossings.
- the actors of the convoy are in radio or telephone connection with a command post which evaluates the conditions of progression of the convoy and which makes decisions with regard to them.
- the theoretical travel times and transit times defined in the roadbook are subject to hazards and the completion of certain crossings requires that an off-road authority be notified.
- the crossing or borrowing of a portion of the highway requires that the traffic is neutralized during the passage, which at the same time requires a time of preparation, to ensure the safety of the users of the highway, and not can be realized only during a defined niche.
- said authority must be notified of the passage with sufficient advance, but also with a probable time of passage.
- some crossings require that power lines be temporarily disabled or that road signs be dismantled.
- GPS trucks so-called "GPS trucks” allowing from a geolocated mapping and the entry of a template width, height and length, to determine an appropriate route between a departure point and an arrival point, then to provide driver guidance, display on a screen and voice synthesis along this route,
- GPS trucks allowing from a geolocated mapping and the entry of a template width, height and length, to determine an appropriate route between a departure point and an arrival point, then to provide driver guidance, display on a screen and voice synthesis along this route.
- GPS trucks allowing from a geolocated mapping and the entry of a template width, height and length, to determine an appropriate route between a departure point and an arrival point, then to provide driver guidance, display on a screen and voice synthesis along this route.
- These devices are effective for a vehicle traveling alone and not entering the categories of exceptional convoys comprising several vehicles with assigned tasks and specific qualifications of their drivers, crossing in conditions that do not comply with the ordinary rules of the road;
- the document EP 2 555 583 allows several vehicles traveling in line to communicate, that is to say to send messages, via their individual navigation systems and thus to provide, for example, a simultaneous stop said vehicles on a rest area.
- Document US 20166034735 describes a device allowing two vehicles, more particularly heavy goods vehicles, to coordinate along a route in order to follow each other in a close and secure manner so as to save fuel, the follower vehicle benefiting from the effect of aerodynamic suction of the vehicle followed.
- Document US 2006 161341 describes a method and a device allowing several vehicles to follow a master vehicle and to take the path followed by this master vehicle even when the visual contact between the master vehicle and the follower vehicles is lost; Thus, the geolocation of the master vehicle is transmitted to a server and the passing points of the master vehicle are transmitted by said server to the navigation systems of the follower vehicles.
- the invention aims to solve the disadvantages of the prior art by providing a dematerialized roadbook and updated in real time, including hierarchical information for the various actors of the convoy.
- the invention relates to a system for guiding an exceptional convoy comprising a transport vehicle, a pilot vehicle, which follow a planned route from a starting point to a delivery point, and a remote logistics control center. route being organized into a series of critical points, which system comprises: at. means for geolocation of vehicles on the route;
- a computing center comprising a geolocated map and a database comprising geolocated critical points;
- a terminal for each vehicle driver said terminal being connected to the computing center by wireless means;
- each vehicle terminal includes a list of critical points of the route, and associated with each critical point a plurality of information including:
- said information being updated by the computer center according to the geolocation information of the vehicles.
- the progression of each vehicle of the exceptional convoy according to a pre-established route is regulated by the computer center and by the logistics control center.
- the participants of the convoy, drivers and logistics manager have at all times and according to their progress information adapted to the actions they must undertake.
- the system object of the invention delivers crossing information, said information differing from one driver to the other of the convoy.
- the route includes waiting zones, and the computing center determines the estimated time of passage of the convoy for each waiting zone.
- the logistics manager at the control center is able to accurately predict stops and restart the convoy if necessary.
- the invention is advantageously implemented according to the embodiments and variants described below, which are to be considered individually or in any technically operative combination.
- the crossing information relating to a critical point and intended for the transport vehicle comprises an indication among:
- the crossing information for the transport vehicle comprises actions to be performed by the driver comprising an indication one of:
- system object of the invention allows the driver or drivers of the transport vehicle to anticipate the maneuver to achieve.
- the transport vehicle comprises two drivers and each driver has on his terminal information specific to his role in crossing a critical point.
- the two drivers synchronously have information to anticipate the maneuver and thus coordinate more effectively for the realization of said maneuvers.
- step iv transmit the updated data in step iv) to the driver terminals and control center terminal.
- the route implemented by the method which is the subject of the invention is not modified as a function of the conditions for progress of the convoy, only its planning is modified. .
- the method which is the subject of the invention comprises a step of storing the time-stamped data obtained in step iv) in a convoy-specific historical file.
- the historical progression of the convoy is traced and the files thus collected allow, by their analysis, to refine the information contained in the database of the system object of the invention.
- FIG. 1 schematically and comprehensively represents the system that is the subject of the invention
- FIG. 2 shows an exemplary embodiment of the display on the terminal of the transport vehicle
- FIG. 3 is a logic diagram of an exemplary embodiment of the method that is the subject of the invention.
- the system which is the subject of the invention is implemented for guiding an exceptional convoy, comprising a transport vehicle (110), a pilot vehicle (120) and a protective vehicle ( 130).
- the convoy further comprises one or more escort vehicles and one or more assistance vehicles.
- the convoy comprises only a transport vehicle (1 10) and a pilot vehicle (120). These vehicles travel in convoy, that is to say that they follow each other, always in the same order at varying distances depending on the conditions but remaining in visual contact with each other.
- the transport vehicle has at least one of the following characteristics:
- the transport vehicle for example is an articulated vehicle comprising a tractor with a driving position (11 1) and a trailer, also comprising, according to an exemplary implementation, a driving position (1 12).
- the driving position of the trailer particularly when it includes many axles and sophisticated systems for balancing the load carried, allows in particular to control the attitude of the trailer during maneuvers performed by the transport vehicle ( 1 10), or to point certain wheels of the trailer.
- Each driver has a terminal (1100) for example in the form of a tablet PC, or a laptop, mobile or permanently installed in the vehicle, which terminal communicates via a wireless connection (161) and a or more networks (162) with a computer center (150) connected to the internet (163).
- Each terminal comprises memory means, calculation means, radio communication means and communication means with the device. driver.
- These means of communication with the driver are for example constituted, alone or in combination, by a touch screen, a keyboard, a projection system on the windows of the cockpit, a voice synthesis system, a voice recognition system and sound means.
- the wireless communication between the terminals and the computer center is performed directly between each terminal and the Internet via a 3G wireless telecommunication network, 4G LTE, Sigfox® or a satellite communication network.
- one of the vehicles for example the transport vehicle, is equipped with a router able to connect to one or more cellular telephone networks, and the terminals are connected to this router by a type of connection. Wi-Fi®.
- said router comprises several subscriptions (SIM cards) to different telephony operators and automatically selects the best network according to the geographical position of the convoy.
- said router further includes a satellite link facility for communicating with the computing center (150) in geographical areas poorly covered by the cellular networks.
- one of the vehicles comprises means for producing a picocell or a femtocell at the scale of the convoy and relaying the information to one or more telephone operators. cellular.
- the wireless communication is established, in particular in difficult coverage areas such as a tunnel, by means of communication tags placed at the roadside in the sector considered. The router then communicates with these tags via a WiFi® type protocol, and said tags relay the signal to the internet. For example, the signal is relayed by wire means to the outside of the uncovered area, then via cellular communication networks to the internet, or said tags are directly connected to the Internet via a wired network.
- the logistics control center remote or near the computer center (150) is also connected to the internet (163) and is able to interact with said computer center. It comprises for this purpose a control terminal (140), enabling the logistics manager to consult the information relating to the progress of the convoy, to consult the database or databases (151) and the historical files (152) of previous convoys, and to send messages to the terminals (1100) of the drivers.
- the terminal (140) of the logistics control center makes it possible to introduce data or modify existing data in the database or databases (151), to retrieve data according to different filters of this database. (151) or historical files (152), and to export these data in appropriate formats for specific processing, including statistical processing or using artificial intelligence techniques.
- the computing center (150) comprises in its memory means a geolocated map, specifically adapted to the application, and calculation means for calculating a route from this map based on a template.
- the database (151) comprises in practice a plurality of interconnected databases, for example in the SQL format, and comprises:
- the computing center receives from said vehicles of the convoy, via the dialogue with the terminals (1100) of the drivers, information on the progress of the convoy, and uses this information to calculate in real time the probable dates of passage of the convoy at each critical point remaining to be crossed. This updated information is sent back to the terminals (1 100) of the drivers and to the terminal (140) of the control center.
- Said computer center is capable of performing these operations for several exceptional convoys taking place concurrently and sends the relevant information to the appropriate terminals.
- a single logistics manager is able to constantly have an updated vision of the progress of several convoys, as well as all the actors involved in the same convoy have an anticipated vision of the progress of their own. convoy.
- the topological and maneuvering information for each critical point is obtained previously through reconnaissance, tests or simulations and is stored in the database (151) of the computer center.
- the information from the terminals (1 100) of the drivers are stored in a history file (152) at the computing center (150), this information includes for each terminal and for each transport:
- said historical file (152) makes it possible to trace the entire course of the convoy.
- the information thus transmitted and stored includes in addition and in timestamp form, one or more of the following:
- Accelerometry information for example to detect shocks or jolts
- climatic information such as the outside temperature or hygrometry
- the set of these files (152) is also a mine of data allowing, by its analysis, to refine the information contained in the databases (151) of the computer center. For example, to obtain statistics on the crossing times of each critical point depending on the characteristics of the convoy.
- the geolocation information of the vehicles of the convoy is obtained in particular by a GPS positioning (191, 192) of said vehicles, which positioning and collected by the terminal (1100) of the driver and transmitted by it to the computing center (150).
- the system uses a differential GPS positioning for increased precision, the vehicles then being equipped with suitable receivers.
- the positioning is also improved by the identification of the telephony cells, used for the transmission of data between the terminals (1 100) and the computing center (150).
- said terminal collects odometric information relating to the vehicle, which information is either processed at said terminal or at the computing center level, concurrently with the satellite geolocation information in order to refine the position of the vehicle, including filling gaps or inconsistencies of geolocation in poorly covered areas, such as urban areas, mountainous environments, engineering passages where the signal (192) satellites (191) positioning is not captured or is degraded.
- the geolocation is also obtained in areas not covered by the geopositing satellites, such as tunnels, by means of the communication relay beacons installed in these zones.
- the information displayed by the drivers' terminals (1100) is presented in the form of a "roadbook” and differs in this respect from the guidance information currently provided by the GPS guidance systems and from consumer navigation.
- the display is for example limited to the critical points and defined for them, the total mileage (210), the partial mileage (220) separating these critical points and the predetermined passage time (230) at these critical points. More precisely, the display defined in a succinct manner, for example by a pictogram (240), the nature of the actions to be performed at the critical point, and if necessary in detail these actions by written instructions (251) and diagrams (252) allowing the driver to determine its trajectory ..
- the display is indeed dynamic, and can display only the relevant information to the attention of the driver, according to its function in the convoy and depending on the progress of this one. Other information is displayed as the speed (260) expected or allowed when passing the critical point
- a critical point is defined as a geolocated point at which:
- the point is used for a registration or control of the route and its travel time, for example, at a point midway between two remote critical points.
- the particular crossing zones are defined by several critical points, for example, for the driver of the transport vehicle, a first point defining a start of slowdown, a second point a speed to reach or a stop, another point, an alignment by report to the roadway, then another point, a start of turning at a given angle etc. While for the pilot vehicle this same crossing zone is only defined by an entry point and an exit point of said crossing zone. The pilot vehicle arrives before the transport vehicle in the crossing zone. The pilot then controls the absence of obstacles or modification of the places opposing the maneuver.
- the maneuvering instructions transmitted to the driver of the transport vehicle which essentially specify maneuvering actions, are different from the information addressed to the driver of the pilot vehicle, the latter comprising, for example, a representation of the maneuvering trajectory and photographs of the locus for the vehicle. checking the compliance of the premises with what is expected.
- the information provided on the pilot vehicle terminal also includes the consignments that must, or have had, to be carried out by different services, such as the dismantling of road signs or the disconnection of electric or telephone lines, in the form of a list. verification, so that the pilot quickly checks the inventory without neglecting a parameter.
- the information transmitted to the pilot also includes contact information of the actors involved or who may be involved in the crossing in case of difficulty, such as the Direction of the equipment, the town hall, the electricity and telephone services, impounded, the municipal police etc .. so that in case of difficulty they can be contacted without delay.
- the maneuver corresponds to a change of direction on a branch comprising an island (291).
- the island is for example defined in the database of critical points by its distances (292, 293) opposite the borders of the roadway and by its projecting height.
- the crossing information includes, for example, a point (294) of offset relative to the roadway, defined by its geolocalised coordinates and which corresponds to a critical point and a second critical point (295) corresponding to the end of the offset and to the value (296) of this offset, then to the execution of a turn (297) according to an angle or a turning radius.
- Maneuvering information also includes, for example, the number of wheels on the island. In practice only information useful for the maneuver for the driver concerned is displayed on the terminal of this driver.
- All the information relating to the route is loaded into the terminals before the departure of the convoy. They are updated in terms of the planned transit date, according to a defined periodicity, by the dialogue with the computer center.
- the system is also different from the navigation system of the prior art in the sense that the terminals do not include means for calculating the route.
- the route is fixed before the departure of the convoy and the update of the dates of passage is performed by the computer center based on the information it receives which ensures that all terminals have consistent information between them.
- the logistics manager follows the progress of the convoy on its screen, with the possibility of consulting the projected dates of passage of all the critical points. Thus, it is able to anticipate delays or advances and to prevent the administrative services, for example for a motorway crossing or electrical disconnection, with precision, to avoid unnecessary expectations of the convoy or too long consignments.
- the anticipation allowed by the device object of the invention reduces the travel time of the convoy, even when the route is made for the first time.
- the control center terminal offers the logistics manager the opportunity to modify the route planning and to simulate the consequences of this change before validating it and to transmit it to the driver terminals.
- the logistics manager and able to simulate a stop in a given waiting area and estimate the consequences on the delivery date.
- this new planning is taken into account by the computer center and transmitted to the terminals of the drivers, with the identification zone stop in the course and especially the precise time of recovery of the convoy after this stop, for ensure delivery on time.
- Figure 3 according to an exemplary implementation of the method of the invention it comprises a first step (300) for preparing the route.
- This route preparation is necessary for a route taken for the first time by a particular type of convoy. It is carried out by a logistic preparer, in particular by means of the control terminal.
- a first route project is made from the cartographic tools of the computer center and the data available in the database according to the size of the planned convoy.
- the computing center determines from existing data and its mapping one or more possible routes.
- the preparer checks the feasibility of the route (s) in technical and administrative terms. It also verifies the availability of data relating to all identified critical points and eventually completes them, or adds specific critical points or areas of expectation in the route in question, following field searches and, if necessary, tests or simulations.
- the information relating to these identified critical points is recorded in the data center of the computer center.
- the final route is calculated (310).
- the preparer associates each actor of the convoy with a profile: driver, driver of the transport vehicle, driver of the trailer, etc., from the data center of the computer center. and associates said profiles with the convoy and the route concerned.
- the computer center publishes the roadbooks for each of the actors according to their profile and their function in the convoy. Although taking place on the same route, the information contained in each roadbook is different.
- the preparer verifies the relevance of the information contained in said roadbook and validates it or, if necessary, completes it with additional information, for example at destination of the logistics manager, the deadline to inform the motorway authorities of a motorway crossing, for the pilot, information on the inventory of fixtures or the contact details of the authorities to contact in case of difficulty.
- additional information for example at destination of the logistics manager, the deadline to inform the motorway authorities of a motorway crossing, for the pilot, information on the inventory of fixtures or the contact details of the authorities to contact in case of difficulty.
- These data are stored in the data center database and associated with the relevant route.
- These preparatory operations are carried out at the level of the control center.
- the preparer advantageously uses information from previous routes, on a similar route or portion of a route, including historical data of previous convoys recorded in the files to complete this task.
- the frozen route is recorded (340).
- This route includes a relative initial planning assigned to each critical point for each vehicle.
- the preparer at the faculty to specify the technical conditions for the transfer of data between the terminals and the computer center, especially the types of data transmitted, and for each of these types, their transmission frequency.
- the roadbooks of each of the actors are recorded (350) in their respective terminals.
- Said terminals comprise an application making it possible to unwind said roadbook in dialogue with the computer center and to carry out the tasks, in particular transmissions of data at the specified frequencies, for example every second, according to the information specified in the recorded route, as well as as the frequency of updating the dates of passage to the critical points, for example every 10 minutes.
- the actors for example the pilot
- the logistics manager is able to unroll at any time the entire route on his terminal.
- each terminal of the vehicles of the convoy transmits the required information, more particularly its geolocation, to the computing center according to the frequency defined during the preparation of the route. 'route.
- At least one of the actors validates the end of the transport by means of his terminal which has the effect of stopping the transmissions of data between vehicle terminals and the computer center and close the route.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1657610A FR3054917A1 (fr) | 2016-08-05 | 2016-08-05 | Procede de commande, guidage et controle d’un convoi de transport routier et ses dispositifs de mise en oeuvre |
PCT/EP2017/069981 WO2018024918A1 (fr) | 2016-08-05 | 2017-08-07 | Procédé de commande, guidage et contrôle d'un convoi de transport routier et ses dispositifs de mise en oeuvre |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3494562A1 true EP3494562A1 (fr) | 2019-06-12 |
Family
ID=57348865
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17749191.7A Withdrawn EP3494562A1 (fr) | 2016-08-05 | 2017-08-07 | Procédé de commande, guidage et contrôle d'un convoi de transport routier et ses dispositifs de mise en oeuvre |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3494562A1 (fr) |
FR (1) | FR3054917A1 (fr) |
WO (1) | WO2018024918A1 (fr) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109484440A (zh) * | 2018-10-15 | 2019-03-19 | 西北铁道电子股份有限公司 | 一种轨道车自动驾驶系统的进路自动选择方法及系统 |
KR20210025767A (ko) * | 2019-08-27 | 2021-03-10 | 현대자동차주식회사 | 군집 주행 제어 장치, 그를 포함한 시스템 및 그 방법 |
CN111309006B (zh) * | 2020-02-12 | 2021-10-26 | 北京交通大学 | 一种自主导航运输系统 |
US20220244743A1 (en) * | 2021-01-29 | 2022-08-04 | Toyota Motor Engineering & Manufacturing North America, Inc. | System and Methods for Platoon-Leader-as-a-Service |
CN114219276A (zh) * | 2021-12-13 | 2022-03-22 | 锐捷网络股份有限公司 | 一种仓储物流的仿真方法、装置、设备及存储介质 |
DE102022130587A1 (de) * | 2022-11-18 | 2024-05-23 | Helga Sommer | Verfahren zum betätigen wenigstens einer ausgabeeinheit, meldesystem für wenigstens ein begleitfahrzeug, begleitfahrzeug und fahrzeugverband |
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JP2000113400A (ja) * | 1998-09-30 | 2000-04-21 | Honda Motor Co Ltd | 自動追従走行システム |
ATE368916T1 (de) * | 2005-01-14 | 2007-08-15 | Alcatel Lucent | Navigationsdienst |
US9645579B2 (en) * | 2011-07-06 | 2017-05-09 | Peloton Technology, Inc. | Vehicle platooning systems and methods |
EP2555583A3 (fr) * | 2011-07-30 | 2014-11-19 | Johnson Controls Automotive Electronics GmbH | Système de communication entre les véhicules à moteur situés dans une formation de colonne |
US8857720B1 (en) | 2013-10-24 | 2014-10-14 | The Code Corporation | Diffuse bright field illumination system for a barcode reader |
US9141112B1 (en) * | 2013-10-16 | 2015-09-22 | Allstate Insurance Company | Caravan management |
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WO2018024918A1 (fr) | 2018-02-08 |
FR3054917A1 (fr) | 2018-02-09 |
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