JP7005526B2 - 隊列走行コントローラの状態マシン - Google Patents
隊列走行コントローラの状態マシン Download PDFInfo
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- JP7005526B2 JP7005526B2 JP2018562534A JP2018562534A JP7005526B2 JP 7005526 B2 JP7005526 B2 JP 7005526B2 JP 2018562534 A JP2018562534 A JP 2018562534A JP 2018562534 A JP2018562534 A JP 2018562534A JP 7005526 B2 JP7005526 B2 JP 7005526B2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
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- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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"
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- 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
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
- B60W2050/0082—Automatic parameter input, automatic initialising or calibrating means for initialising the control system
-
- 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
- B60W2556/65—Data transmitted between 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
- B60W2756/00—Output or target parameters relating to data
- B60W2756/10—Involving external transmission of data to or from the vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9323—Alternative operation using light waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/005—Moving wireless networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Description
本出願は、2016年5月31日に出願された米国仮出願第62/343,819号及び2016年7月15日に出願された米国仮出願第62/363,192号の優先権を主張するものであり、これら米国仮出願各々は、参照により全体が本明細書に組み入れられるものとする。
Claims (10)
- ホスト車両と隊列走行パートナーとの間で隊列走行を開始する方法であって、
前記隊列走行パートナーとの通信を確立するステップと、
前記隊列走行パートナーの隊列走行制御システムが隊列走行の準備は完了しているというメッセージを受信するステップと、
前記ホスト車両の隊列走行コントローラが隊列走行準備完了状態であるか否かを決定する決定ステップであり、前記ホスト車両が隊列走行準備完了状態であることを決定される前に複数の隊列走行必要条件チェックが合致していなければならず、また前記ホスト車両の隊列走行コントローラは前記隊列走行コントローラの状態を決定する状態マシンを備え、前記ホスト車両が後続車両として指定されるときの前記状態マシンの応対可能な状態は、ランデブー状態と、後方システム準備完了状態と、後方隊列走行準備完了状態と、後方隊列走行制御維持状態と、及び後方隊列走行解消状態とを含むものである、該決定ステップと、
前記ホスト車両の前記隊列走行コントローラが隊列走行準備完了状態であることを決定するとき、かつ前記隊列走行パートナーの隊列走行制御システム準備完了メッセージを受信した後にのみ、ホストシステム隊列走行準備完了メッセージを前記隊列走行パートナーに送信するステップと、
前記隊列走行パートナーが隊列走行を同意したことを示す隊列走行パートナー隊列走行準備完了メッセージを受信するステップであり、前記隊列走行パートナー隊列走行準備完了メッセージは、前記ホストシステム隊列走行準備完了メッセージ送信後にのみ受信されるものである、該ステップと、
前記ホスト車両が隊列走行準備完了状態であるという情報を前記ホスト車両の運転者に知らせるステップであり、前記運転者は、前記隊列走行パートナー隊列走行準備完了メッセージを受信した後に前記ホスト車両が隊列走行準備完了状態であるという情報のみを知らされる、該ステップと、
前記運転者からの隊列走行開始コマンドを受信するステップと、
前記隊列走行開始コマンドに応答して前記ホスト車両の少なくとも部分的な自動隊列走行制御を開始するステップと
を備える、方法。 - 請求項1記載の方法において、前記状態マシンは、前記パートナー車両における対応する隊列走行コントローラが前方隊列走行準備完了状態にあるときにのみ、前記後方隊列走行準備完了状態に遷移することができ、前記前方隊列走行準備完了状態は、前記パートナー車両の運転者が隊列走行準備完了であることを肯定的に意思表示することを必要とするものである、方法。
- 請求項1又は2記載の方法において、前記状態マシンは、複数の隊列走行必要条件チェックが合致するときにのみ後方システム準備完了状態に遷移することができる、方法。
- 請求項3記載の方法において、前記隊列走行必要条件チェックは、
現在隊列走行パートナーが隊列走行準備完了状態にあるかを検証するチェックと、
前記隊列走行パートナーが前記ホスト車両の指定レンジ内にあるかを検証するチェックと、
前記ホストと前記隊列走行パートナーとの間の通信が安定しているかを検証するチェックと、及び
前記ホストにおける追跡ユニットが前記隊列走行パートナーの位置決定をしているかを検証するチェックと
を含む、方法。 - 請求項1~4のうちいずれか一項記載の方法において、前記後続車両の運転者は、前記状態マシンを前記後方隊列走行準備完了状態から前記後方隊列走行制御維持状態に遷移させるため、隊列走行準備完了であることを肯定的に意思表示しなければならない、方法。
- 請求項1~5のうちいずれか一項記載の方法において、前記ホスト車両が先行車両として指定されるときの前記状態マシンの応対可能な状態は、
前方ランデブー状態と、
前方システム準備完了状態と、
前方隊列走行準備完了状態と、及び
前方隊列走行制御維持状態と
を含む、方法。 - 請求項1~6のうちいずれか一項記載の方法において、前記隊列走行コントローラは、さらに、前記状態マシンが後方隊列走行制御維持状態にあるとき、複数の隊列走行必要条件チェックを実施するよう構成され、また前記隊列走行必要条件チェックのうちいずれかのチェックが不合格の場合には、前記状態マシンを前記後方隊列走行解消状態に遷移させる、方法。
- 請求項7記載の方法において、前記隊列走行必要条件チェックのうち1つは、前記隊列走行パートナーから受信する通信を監視し、また信頼性のある通信が前記隊列走行パートナーから指定された経時期間にわたり受信されない場合、前記状態マシンを前記後方隊列走行制御維持状態から前記後方隊列走行解消状態に遷移させる、方法。
- 請求項7記載の方法において、前記隊列走行必要条件チェックのうち1つは、懸念車両が前記隊列走行パートナーの前方にいることを認識するとき、前記状態マシンを前記後方隊列走行制御維持状態から前記後方隊列走行解消状態に遷移させる、方法。
- 請求項1~9のうちいずれか一項記載の方法において、前記ホスト車両及び前記隊列走行パートナーは双方ともにトラックである、方法。
Applications Claiming Priority (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201662343819P | 2016-05-31 | 2016-05-31 | |
US62/343,819 | 2016-05-31 | ||
US201662363192P | 2016-07-15 | 2016-07-15 | |
US62/363,192 | 2016-07-15 | ||
US201662377970P | 2016-08-22 | 2016-08-22 | |
US62/377,970 | 2016-08-22 | ||
PCT/US2017/035019 WO2017210200A1 (en) | 2016-05-31 | 2017-05-30 | Platoon controller state machine |
Publications (2)
Publication Number | Publication Date |
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JP2019519039A JP2019519039A (ja) | 2019-07-04 |
JP7005526B2 true JP7005526B2 (ja) | 2022-01-21 |
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Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018562534A Active JP7005526B2 (ja) | 2016-05-31 | 2017-05-30 | 隊列走行コントローラの状態マシン |
Country Status (4)
Country | Link |
---|---|
US (3) | US10254764B2 (ja) |
EP (1) | EP3465371A4 (ja) |
JP (1) | JP7005526B2 (ja) |
WO (1) | WO2017210200A1 (ja) |
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JP2019519039A (ja) | 2019-07-04 |
WO2017210200A1 (en) | 2017-12-07 |
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EP3465371A1 (en) | 2019-04-10 |
EP3465371A4 (en) | 2019-12-18 |
US20190171225A1 (en) | 2019-06-06 |
US10254764B2 (en) | 2019-04-09 |
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