EP3555875A4 - Method and control unit for adjusting an inter vehicular distance between vehicles in a vehicle platoon - Google Patents

Method and control unit for adjusting an inter vehicular distance between vehicles in a vehicle platoon Download PDF

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Publication number
EP3555875A4
EP3555875A4 EP17880240.1A EP17880240A EP3555875A4 EP 3555875 A4 EP3555875 A4 EP 3555875A4 EP 17880240 A EP17880240 A EP 17880240A EP 3555875 A4 EP3555875 A4 EP 3555875A4
Authority
EP
European Patent Office
Prior art keywords
vehicles
adjusting
control unit
vehicle platoon
vehicular distance
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.)
Pending
Application number
EP17880240.1A
Other languages
German (de)
French (fr)
Other versions
EP3555875A1 (en
Inventor
Assad ALAM
Christian Bergstrand
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 EP3555875A1 publication Critical patent/EP3555875A1/en
Publication of EP3555875A4 publication Critical patent/EP3555875A4/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • 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
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3697—Output of additional, non-guidance related information, e.g. low fuel level
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • 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
    • G05D1/0297—Fleet control by controlling means in a control room
    • 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
    • G05D1/695—Coordinated control of the position or course of two or more vehicles for maintaining a fixed relative position of the vehicles, e.g. for convoy travelling or formation flight
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/35—Road bumpiness, e.g. potholes
    • 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
    • B60W2554/00—Input parameters relating to objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/406—Traffic density
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • 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
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/005—Moving wireless networks

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
EP17880240.1A 2016-12-16 2017-12-12 Method and control unit for adjusting an inter vehicular distance between vehicles in a vehicle platoon Pending EP3555875A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1651657A SE541478C2 (en) 2016-12-16 2016-12-16 Method and control unit for adjusting an inter vehicular distance between vehicles in a platoon
PCT/SE2017/051249 WO2018111177A1 (en) 2016-12-16 2017-12-12 Method and control unit for adjusting an inter vehicular distance between vehicles in a vehicle platoon

Publications (2)

Publication Number Publication Date
EP3555875A1 EP3555875A1 (en) 2019-10-23
EP3555875A4 true EP3555875A4 (en) 2020-08-12

Family

ID=62559661

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17880240.1A Pending EP3555875A4 (en) 2016-12-16 2017-12-12 Method and control unit for adjusting an inter vehicular distance between vehicles in a vehicle platoon

Country Status (4)

Country Link
EP (1) EP3555875A4 (en)
CN (1) CN110036423B (en)
SE (1) SE541478C2 (en)
WO (1) WO2018111177A1 (en)

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US11334092B2 (en) 2011-07-06 2022-05-17 Peloton Technology, Inc. Devices, systems, and methods for transmitting vehicle data
WO2018039134A1 (en) 2016-08-22 2018-03-01 Peloton Technology, Inc. Automated connected vehicle control system architecture
US9582006B2 (en) 2011-07-06 2017-02-28 Peloton Technology, Inc. Systems and methods for semi-autonomous convoying of vehicles
US10520952B1 (en) 2011-07-06 2019-12-31 Peloton Technology, Inc. Devices, systems, and methods for transmitting vehicle data
US10520581B2 (en) 2011-07-06 2019-12-31 Peloton Technology, Inc. Sensor fusion for autonomous or partially autonomous vehicle control
US20170242443A1 (en) 2015-11-02 2017-08-24 Peloton Technology, Inc. Gap measurement for vehicle convoying
US11294396B2 (en) 2013-03-15 2022-04-05 Peloton Technology, Inc. System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles
US20180210463A1 (en) 2013-03-15 2018-07-26 Peloton Technology, Inc. System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles
WO2017210200A1 (en) 2016-05-31 2017-12-07 Peloton Technology, Inc. Platoon controller state machine
US10369998B2 (en) 2016-08-22 2019-08-06 Peloton Technology, Inc. Dynamic gap control for automated driving
CN108877199A (en) * 2017-05-15 2018-11-23 华为技术有限公司 Control method, equipment and the car networking system of fleet
US10304338B1 (en) 2018-04-26 2019-05-28 At&T Intellectual Property I, L.P. Cooperative intelligent traffic system communication between bicycles
US10899323B2 (en) 2018-07-08 2021-01-26 Peloton Technology, Inc. Devices, systems, and methods for vehicle braking
EP3700108B1 (en) 2019-02-20 2023-08-09 Volkswagen Aktiengesellschaft Method for supporting a first mobile station to predict the channel quality for a planned decentralized wireless communication to a communication partner station und mobile station
KR102506877B1 (en) * 2018-09-03 2023-03-08 현대자동차주식회사 Apparatus for controlling platoon cruising, system having the same and method thereof
US10762791B2 (en) 2018-10-29 2020-09-01 Peloton Technology, Inc. Systems and methods for managing communications between vehicles
US11823576B2 (en) 2019-02-04 2023-11-21 Nec Corporation Vehicle management device, vehicle management method, and storage medium having program stored therein
US11427196B2 (en) 2019-04-15 2022-08-30 Peloton Technology, Inc. Systems and methods for managing tractor-trailers
EP3790296A1 (en) * 2019-09-09 2021-03-10 Volkswagen AG Method, computer program, and apparatus for adapting a speed of vehicles in a platoon, vehicle, traffic control entity
CN112770289A (en) * 2019-11-01 2021-05-07 索尼公司 Electronic device, wireless communication method, and computer-readable storage medium
DE102020207283A1 (en) 2020-06-10 2021-12-16 Volkswagen Aktiengesellschaft Control center, vehicle, method, device and computer program for taking control of a vehicle to be controlled
DE102020129291A1 (en) 2020-11-06 2022-05-12 Man Truck & Bus Se Control device for longitudinal and/or lateral guidance in a vehicle formation
CN113734167B (en) * 2021-09-10 2023-05-30 苏州智加科技有限公司 Vehicle control method, device, terminal and storage medium
CN114495478A (en) * 2021-12-20 2022-05-13 岚图汽车科技有限公司 Fleet control method, fleet control device, fleet control medium and electronic equipment

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US20140129075A1 (en) * 2012-11-05 2014-05-08 Dennis M. Carleton Vehicle Control Using Modeled Swarming Behavior
SE538767C2 (en) * 2015-03-31 2016-11-15 Scania Cv Ab Method and control unit for determining a velocity profile for each vehicle comprised in a platoon of grouped vehicles

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US20140129075A1 (en) * 2012-11-05 2014-05-08 Dennis M. Carleton Vehicle Control Using Modeled Swarming Behavior
SE538767C2 (en) * 2015-03-31 2016-11-15 Scania Cv Ab Method and control unit for determining a velocity profile for each vehicle comprised in a platoon of grouped vehicles

Also Published As

Publication number Publication date
WO2018111177A1 (en) 2018-06-21
SE541478C2 (en) 2019-10-15
CN110036423B (en) 2022-09-09
SE1651657A1 (en) 2018-06-17
CN110036423A (en) 2019-07-19
EP3555875A1 (en) 2019-10-23

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