SE537581C2 - Device and method for controlling vehicle trains for safe travel - Google Patents

Device and method for controlling vehicle trains for safe travel

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Publication number
SE537581C2
SE537581C2 SE1350266A SE1350266A SE537581C2 SE 537581 C2 SE537581 C2 SE 537581C2 SE 1350266 A SE1350266 A SE 1350266A SE 1350266 A SE1350266 A SE 1350266A SE 537581 C2 SE537581 C2 SE 537581C2
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Sweden
Prior art keywords
vehicle
conductor
ambient conditions
basis
control unit
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SE1350266A
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Swedish (sv)
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SE1350266A1 (en
Inventor
Assad Alam
Marek Sokalla
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Scania Cv Ab
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Priority to SE1350266A priority Critical patent/SE537581C2/en
Publication of SE1350266A1 publication Critical patent/SE1350266A1/en
Publication of SE537581C2 publication Critical patent/SE537581C2/en

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Classifications

    • 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
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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"

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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)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

SAMMANDRAG Uppfinningen hanfOr sig till ett fOrfarande fOr styrning av fordonstag for saker framfart innefattande ett ledarfordon jamte atminstone ett ytterligare fordon, 5 dar namnda ledarfordon är avsett aft avkanna omgivningsbetingelser och bestamma framforandekarakteristika hos sagda ledarfordon. Forfarandet innefattar steget aft styra (s401) framfarten hos namnda atminstone ett ytterligare fordon ingaende i fordonstaget pa basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika hos 10 namnda ledarfordon. Uppfinningen avser ocksa en datorprogramprodukt innefattande programkod (P) for en dator (200; 210) for att implementera ett forfarande enligt uppfinningen. Uppfinningen avser ocksa en anordning och ett motorfordon (100) som är utrustat med anordningen. SUMMARY The invention relates to a method for controlling vehicle struts for the progress of things comprising a conductor vehicle and at least one further vehicle, wherein said conductor vehicle is intended for sensing environmental conditions and determining the performance characteristics of said conductor vehicle. The method comprises the step of controlling (s401) the travel of said at least one further vehicle entering the vehicle roof on the basis of said ambient conditions and / or said driving characteristics of said conductor vehicle. The invention also relates to a computer program product comprising program code (P) for a computer (200; 210) for implementing a method according to the invention. The invention also relates to a device and a motor vehicle (100) equipped with the device.

Description

537 581 Anordning och forfarande for styrning av fordonstag for saker framfart TEKNISKT OMRADE Foreliggande uppfinning avser ett forfarande for styrning av fordonstag f6r saker framfart. Uppfinningen avser ocksa en datorprogramprodukt innefattande programkod for en dator for att implementera ett forfarande enligt uppfinningen. Uppfinningen avser ocksa en anordning for styrning av fordonstag for saker framfart samt ett motorfordon som är utrustat med anordningen. TECHNICAL FIELD The present invention relates to a method for controlling vehicle roofs for things moving. The invention also relates to a computer program product comprising program code for a computer for implementing a method according to the invention. The invention also relates to a device for controlling vehicle roofs for moving things and a motor vehicle which is equipped with the device.

BAKGRUND Hos fordon av idag är luftmotstandet vid fard en faktor som paverkar branslekonsumtion, i synnerhet hos t.ex. lastbilar eller andra relativt stora fordon som har en stor frontarea. BACKGROUND In today's vehicles, air resistance when driving is a factor that affects industry consumption, especially in e.g. trucks or other relatively large vehicles that have a large front area.

Luftmotstandet hos ett bakomliggande fordon beror till stor del pa vilket avstand som foreligger till det framforliggande fordonet. I princip kan anges aft ju mindre avstand som foreligger till ett framforvarande fordon, ju mindre luftmotstand och armed kan bransleforbrukning hos det bakomvarande fordonet reduceras. I de fall da tva eller fler fordon ingar i ett sa kallat fordonstag, dvs dá bakomvarande fordon Icor relativt nara framforvarande fordon, kan bransleforbrukningen hos dessa fordon reduceras med exempelvis 5-15%. Aft framfora fordon i fordonstag kan saledes reducera branslekostnader tamligen avsevart. The air resistance of a vehicle behind depends largely on the distance to the vehicle in front. In principle, it can be stated that the smaller the distance that is available to a vehicle in front, the less air resistance and armed fuel consumption of the vehicle behind can be reduced. In cases where two or more vehicles are in a so-called vehicle roof, ie the vehicles behind Icor relatively close to the vehicles in front, the fuel consumption of these vehicles can be reduced by, for example, 5-15%. Driving vehicles in vehicle roofs can thus reduce operating costs quite considerably.

En nackdel med aft framfora fordon tatt efter ett framforliggande fordon är aft sikten hos bakomvarande fordon kan skymmas av eft framforvarande fordon. A disadvantage of aft vehicles taken after a vehicle in front is that the view of vehicles behind can be obscured by vehicles in front.

I det fall ett fordon Icor relativt nara en framforvarande lastbil med tackt slapvagn kan sikten begransas kraftigt. Detta kan orsaka obehag hos en forare i det bakomvarande fordonet. 1 Begransade sikt kan resultera i okad risk for olyckor eftersom varseblivningen hos foraren harvid ar red ucerad. En forare hos ett bakomvarande fordon kan ha en tamligen begransad omvarldsuppfattning och harvid ha svart aft utfora onskvarda manovrar i raft tid. Det finns ett antal olika trafiksituationer som kan medfara Okad risk vid framdrivning av ett bakomvarande fordon i ett fordonstag. In the event that an Icor vehicle is relatively close to a forward-facing truck with a towed trailer, visibility can be severely limited. This can cause discomfort to a driver in the vehicle behind. 1 Limited visibility can result in an increased risk of accidents as the driver's alert is reduced. A driver of a vehicle behind may have a rather limited perception of the world around them and in doing so may have had to perform difficult maneuvers in real time. There are a number of different traffic situations that can pose an increased risk when propelling a vehicle behind in a vehicle roof.

Eftersom fordon i ett fordonstag framdrives med ett relativt kort inbordes avstand, exempelvis 10, 25 eller 50 meter, finns mycket litet utrymme far misstag eller feltolkningar av information av en forare i ett bakomvarande fordon. Det är onskvart aft med fordonst6g 6tnjuta fordelarna med en lagre bransleforbrukning samtidigt som god trafiksakerhet uppratthalls. Dessa tva motstridiga onskemal bar balanseras pa lampligt satt. Since vehicles in a vehicle roof are propelled by a relatively short inboard distance, for example 10, 25 or 50 meters, there is very little room for mistakes or misinterpretations of information by a driver in a vehicle behind. It is advisable to use vehicle trains to enjoy the benefits of lower fuel consumption while maintaining good road safety. These two conflicting wishes should be appropriately balanced.

US 2003182183 beskriver olika aspekter av fordonstAg, exempelvis hur fordonen kan uppratta kommunikation sinsemellan. US 2003182183 describes various aspects of vehicle trains, for example how the vehicles can establish communication with each other.

W02004077378 beskriver eft forfarande for kommunikation av data mellan fordon. WO2004077378 describes a method for communicating data between vehicles.

SAMMANFATTNING AV UPPFINNINGEN Eft syfte med foreliggande uppfinning är aft tillhandahalla ett nytt och fordelaktigt forfarande far styming av fordonstag for saker framfart. SUMMARY OF THE INVENTION The object of the present invention is to provide a new and advantageous method for controlling vehicle roofs for moving things.

Ett annat syfte med uppfinningen är att tillhandahalla en ny och fordelaktig anordning och ett nytt och fordelaktigt datorprogram far styrning av fordonst6g for saker framfart. Another object of the invention is to provide a new and advantageous device and a new and advantageous computer program for controlling vehicle trains for moving things.

Ytterligare eft syfte med uppfinningen är aft tillhandahalla ett forfarande, en anordning och ett datorprogram for att astadkomma en okad eller atminstone uppratth6llen trafiksakerhet. 2 Ytterligare ett syfte med uppfinningen ar aft tillhandahalla ett alternativt forfarande, en alternativ anordning och ett alternativt datorprogram far styrning av fordonstag for saker framfart. A further object of the invention is to provide a method, a device and a computer program for achieving an increased or at least maintained road safety. A further object of the invention is to provide an alternative method, an alternative device and an alternative computer program for controlling vehicle roofs for moving things.

Dessa syften uppnas med ett forfarande for enligt patentkrav 1. These objects are achieved by a method according to claim 1.

Enligt en aspekt av uppfinningen tillhandahalls ett forfarande f6r styrning av fordonstag for saker framfart innefattande ett ledarfordon jamte atminstone ett ytterligare fordon, där namnda ledarfordon är avsett aft avkanna omgivningsbetingelser och bestamma framfOrandekarakteristika hos sagda ledarfordon. Forfarandet inbegriper steget aft: - styra framfarten has namnda atminstone ett ytterligare fordon ingaende i fordonstaget pa basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika hos namnda ledarfordon. According to one aspect of the invention, there is provided a method of controlling vehicle struts for moving objects comprising a conductor vehicle and at least one further vehicle, said conductor vehicle being intended to sense ambient conditions and determine performance characteristics of said conductor vehicle. The method comprises the step of: - controlling the travel has said at least one additional vehicle entering the vehicle roof on the basis of said ambient conditions and / or said driving characteristics of said conductor vehicle.

Harvid kan kollisionsrisk avseende has sagda fordonstag ingaende fordon elimineras, minimeras eller reduceras. Sagda framfart kan inbegripa aft fordon hos fordonstaget hailer ett minsta inb6rdes avstand. Respektive inbordes avstand mellan fordonet behover inte vara lika. In this case, the risk of a collision with regard to the said vehicle roof can be eliminated, minimized or reduced. Said travel may involve a vehicle at the vehicle roof hailer a minimum distance between them. The respective inboard distance between the vehicle need not be the same.

EnkeIt uttryckt kan sensororgan hos sagda ledarfordon fordelaktigt anvandas for aft faststalla ett underlag for styrning av atminstone ett bakomvarande ytterligare fordon. Simply put, the sensor means of said conductor vehicle can be advantageously used to establish a basis for controlling at least one additional vehicle behind.

Enligt en aspekt av fOreliggande uppfinning kan sagda ledarfordon framf6ras med manuell styrning, dvs en forare darav kontrollerar medelst olika medel fordonets hastighet och fardriktning. EfterfOljande fordon ingaende i fordonstaget kan framdrivas automatiskt, dvs medelst en aktiverad s.k. autopilot eller medelst drivrutiner for automatiskt framforande. Sagda drivrutiner kan exempelvis innefatta en automatisk farthallningsfunktion och/eller en automatisk fardriktningsfunktion. Enligt uppfinningen kan saledes sagda efterfoljande fordon i fordonstaget styras automatiskt pa basis av hur 3 ledarfordonet framfOras och/eller pa basis av fOreteelser som detekteras medelst sagda ledarfordon. According to an aspect of the present invention, said guide vehicle can be driven with manual control, i.e. a driver thereof controls by means of various means the speed and direction of travel of the vehicle. Subsequent vehicles entering the vehicle stay can be propelled automatically, ie by means of an activated so-called autopilot or by means of automatic drive drivers. Said drivers may, for example, include an automatic cruise control function and / or an automatic cruise control function. According to the invention, thus said subsequent vehicles in the vehicle roof can be controlled automatically on the basis of how the conductor vehicle is driven and / or on the basis of events detected by means of said conductor vehicle.

Enligt en aspekt av uppfinningen kan sagda efterfoljande fordon i fordonstaget styras automatiskt pa basis av hur ledarfordonet avses framforas. According to one aspect of the invention, said subsequent vehicle in the vehicle roof can be steered automatically on the basis of how the conductor vehicle is intended to be driven.

Enligt en aspekt av uppfinningen tillhandahalls ett forfarande vid fordonstag for saker framfart innefattande ett ledarfordon _Write atminstone ett ytterligare fordon, dar namnda ledarfordon är avsett aft avkanna omgivningsbetingelser och bestamma framforandekarakteristika hos sagda ledarfordon, dar forfarandet inbegriper steget aft: - styra framfarten hos namnda atminstone ett ytterligare fordon ingaende i fordonstaget pa basis av namnda omgivningsbetingelser och/eller namnda 15 framforandekarakteristika hos namnda ledarfordon, eller steget aft: - tillhandahalla en rekommendation for namnda atminstone ett ytterligare fordon ingaende i fordonstaget pa basis av namnda omgivningsbetingelser och/eller namnda framfOrandekarakteristika hos namnda ledarfordon. According to one aspect of the invention, there is provided a vehicle take-off method comprising a leader vehicle - at least one further vehicle, wherein said lead vehicle is intended to sense ambient conditions and determine driving characteristics of said lead vehicle, the method comprising the step of: additional vehicle entry in the vehicle roof based on said ambient conditions and / or said performance characteristics of said conductor vehicle, or the step of: - providing a recommendation for said at least one additional vehicle entry in the vehicle roof based on said ambient conditions and / or said driving characteristics of said conductor vehicle. .

Enligt en aspekt av uppfinningen tillhandahalls ett forfarande for styrning av fordonstag for saker franifart innefattande ett ledarfordon jamte atminstone ett ytterligare fordon, dar namnda ledarfordon är avsett aft avkanna omgivningsbetingelser och bestamma framfarandekarakteristika hos sagda ledarfordon. Forfarandet inbeg riper steget aft: - styra eller rekommendera framfarten hos namnda atminstone ett ytterligare fordon ingaende i fordonstaget pa basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika hos namnda ledarfordon. According to one aspect of the invention, there is provided a method of controlling vehicle struts for off-road items comprising a conductor vehicle and at least one further vehicle, said conductor vehicle being intended to sense ambient conditions and determine process characteristics of said conductor vehicle. The procedure comprises the step of: - controlling or recommending the travel of said at least one further vehicle entering the vehicle roof on the basis of said ambient conditions and / or said driving characteristics of said lead vehicle.

Enligt en aspekt av foreliggande uppfinning kan ett avstand mellan sagda 30 ledarfordon och ett efterfoljande fordon vara storre an avstand mellan sagda efterfOljande fordon och ett ytterligare efterfoljande fordon. Harvid astadkommes fordelaktigt sakert framforande av fordonstag. 4 Harvid kan sensororgan f6r aft avkanna omgivningsbetingelser och organ for aft bestamma framf6randekarakteristika hos sagda ledarfordon p5 ett effektivt satt anvandas far aft styra framfart has namnda atminstone ett ytterligare fordon. Sagda atminstone ett ytterligare fordon 5r ett relativt sagda ledarfordon bakomvarande fordon. According to one aspect of the present invention, a distance between said conductor vehicle and a follower vehicle may be greater than the distance between said follower vehicle and an additional follower vehicle. In doing so, it is advantageously achieved to safely drive vehicles. In this case, sensor means for sensing ambient conditions and means for determining the driving characteristics of said conductor vehicle can be used in an efficient manner to control the progress of said at least one additional vehicle. Said at least one additional vehicle is a relatively said conductor vehicle behind the vehicle.

Forfarandet kan inbegripa steget aft kommunicera namnda omgivningsbetingelser och/eller namnda framtrandekarakteristika frail ledarfordonet till namnda 5tminstone ett ytterligare fordon. Namnda omgivningsbetingelser och/eller namnda framforandekarakteristika kan kommuniceras fra'n ledarfordonet i form av r5data, varvid sagda ledarfordon enbart relaar sagda information till sagda atminstone ett ytterligare fordon. The method may include the step of communicating said ambient conditions and / or said forward characteristics from the conductor vehicle to said at least one additional vehicle. Said ambient conditions and / or said driving characteristics can be communicated from the conductor vehicle in the form of raw data, said conductor vehicle only relaying said information to said at least one further vehicle.

Enligt ett utforingsexempel inbegriper forfarandet steget aft, hos ledarfordonet, p5 basis av namnda omgivningsbetingelser och/eller namnda framf6randekarakteristika, faststalla en yarning och kommunicera namnda yarning till namnda 5tminstone ett ytterligare fordon. Sagda yarning kan inbegripa lamplig information. According to an exemplary embodiment, the method comprises the step of, in the conductor vehicle, on the basis of said ambient conditions and / or said driving characteristics, determining a yarning and communicating said yarning to said at least one further vehicle. Said yarning may include appropriate information.

Forfarandet kan inbegripa steget aft has faststalla lamplig framfart hos namnda atminstone ett ytterligare fordon p5 basis av namnda omgivningsbetingelser och/eller namnda framf6randekarakteristika hos namnda ledarfordon medelst organ tillhandahallna has sagda ledarfordon. The method may comprise the step of determining the lamp progress of said at least one further vehicle on the basis of said ambient conditions and / or said driving characteristics of said conductor vehicle by means provided by said conductor vehicle.

Forfarandet kan inbegripa steget all hos faststalla lamplig framfart hos namnda atminstone ett ytterligare fordon p5 basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika hos namnda ledarfordon medelst organ tillhandahallna has sagda ytterligare fordon. The method may comprise the step of determining the lamp progress of said at least one further vehicle on the basis of said ambient conditions and / or said performance characteristics of said conductor vehicle provided by means provided by said additional vehicle.

Forfarandet kan inbegripa steget aft has faststalla lamplig framfart hos namnda atminstone ett ytterligare fordon p5 basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika hos namnda ledarfordon medelst organ tillhandahAllna externt sagda fordonstAg, exempelvis organ anordnade langs en fardvag fOr sagda fordonstag eller organ hos ett s.k. fleet management centre. The method may comprise the step of determining the lamp travel of said at least one further vehicle on the basis of said ambient conditions and / or said performance characteristics of said conductor vehicle by means provided by any externally said vehicle tag, for example means arranged along a carriageway for said vehicle tag or means. fleet management center.

Forfarandet kan innefatta steget att: - automatiskt styra framfarten hos namnda Atminstone eft ytterligare fordon. Harvid kan en minimering av risk for exempelvis kollision mellan fordon inom sagda fordonstag minimeras. Harvid astadkommes ett anvandarvanligt, robust och kostnadseffektivt forfarande f6r styrning av fordonstag for Rad sakerhet. The method may comprise the step of: - automatically controlling the progress of the said Atminsta after additional vehicles. In this case, a minimization of the risk of, for example, a collision between vehicles within said vehicle struts can be minimized. In this way, a user-friendly, robust and cost-effective procedure for controlling vehicle roofs for rad safety is achieved.

Forfarandet kan innefatta steget att: -faststalla instruktioner for en operator avseende lamplig framfart av sagda Atminstone ett ytterligare fordon pA basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika hos namnda ledarfordon. Detta kan ske hos sagda ledarfordon och/eller hos sagda Atminstone ett ytterligare fordon. The method may comprise the step of: - determining instructions for an operator regarding the light travel of said At least one further vehicle on the basis of said ambient conditions and / or said driving characteristics of said conductor vehicle. This can be done with said conductor vehicle and / or with said At least one additional vehicle.

Forfarandet kan innefatta steget att: - manuellt styra framfarten hos namnda Atminstone eft ytterligare fordon pA basis av sagda instruktioner f6r en operat6r kommunicerade till sagda Atminstone ett ytterligare fordon fran namnda ledarfordon. Harvid Astadkommes ett anvandarvanligt, robust och kostnadseffektivt forfarande for styrning av fordonstAg for okad sakerhet. The method may comprise the step of: - manually controlling the progress of said Atmin at least according to further vehicles on the basis of said instructions for an operator communicating to said Atmin at least one further vehicle from said leader vehicle. Harvid Achieves a user-friendly, robust and cost-effective procedure for controlling vehicle trains for increased safety.

Forfarandet kan innefatta steget aft: - faststalla sagda rekommendationer pa basis av av namnda omgivningsbetingelser och/eller namnda framf6randekarakteristika hos namnda ledarfordon. The procedure may comprise the step of: - establishing said recommendations on the basis of said ambient conditions and / or said driving characteristics of said conductor vehicle.

Forfarandet kan innefatta steget aft: 6 - presentera sagda rekommendationer hos sagda atminstone ett ytterligare fordon. The method may comprise step aft: 6 - presenting said recommendations to said at least one additional vehicle.

Forfarandet kan innefatta steget aft: - manuellt styra framfarten hos namnda atminstone ett ytterligare fordon pa basis av sagda rekommendationer, vilka kommuniceras till sagda atminstone ett ytterligare fordon fran namnda ledarfordon. Harvid astadkommes ett anvandarvanligt, robust och kostnadseffektivt farfarande far styrning av fordonstag far okad sakerhet Forfarandet kan innefatta steget aft: - manuellt styra framfarten hos namnda atminstone ett ytterligare fordon pa basis av sagda instruktioner for en operator faststallda hos namnda atminstone ett ytterligare fordon. Harvid astadkommes ett anvandarvanligt, robust och kostnadseffektivt forfarande for styrning av fordonstag for okad sakerhet. The method may comprise the step of: - manually controlling the progress of said at least one further vehicle on the basis of said recommendations, which are communicated to said at least one further vehicle from said lead vehicle. This provides a user-friendly, robust and cost-effective procedure for controlling vehicle roofs for increased safety. The procedure may comprise the step of: - manually controlling the progress of said at least one additional vehicle on the basis of said instructions for an operator determined by said at least one additional vehicle. This provides a user-friendly, robust and cost-effective procedure for controlling vehicle roofs for increased safety.

Forfarandet kan innefatta steget all: - faststalla sagda instruktioner pa basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika. Sagda faststallande kan ske i realtid, fortlopande eller intermittent. Harvid tillhandahalles ett sakert forfarande for saker framfart hos ett fordonstag. Harvid tillhandahalles ett anvandarvanligt forfarande far saker framfart hos ett fordonstag. Harvid tillhandahalles ett forfarande for saker framfart hos ett fordonstag dar svarstid hos en forare hos sagda atminstone ett ytterligare fordon kan minimeras. The procedure may comprise the step of all: - establishing said instructions on the basis of said ambient conditions and / or said performance characteristics. Said determination can take place in real time, continuously or intermittently. In this case, a safe procedure is provided for the progress of a vehicle stay. In this case, a user-usual procedure is provided for things moving forward on a vehicle stay. In this case a method is provided for the progress of a vehicle tag in which the response time of a driver of said at least one additional vehicle can be minimized.

Namnda omgivningsbetingelser kan inbegripa atminstone nagon av parametrarna trafiksituation inklusive riskmoment, vagbanekarakteristika, klimatkarakteristika och vagmarken. Harvid tillhandahalles ett mangsidigt forfarande dar olika parametrar kan beaktas som underlag far styrning av framfart av sagda atminstone ett ytterligare fordon. 7 Namnda framforandekarakteristika inbegriper atminstone nagon av parametrarna hastighet, hastighetsforandringar, fardriktning och avsedda fardriktningsforandringar. Namnda framforandekarakteristika kan inbegripa atminstone nagon av parametrarna framtida avsedd hastighet och framtida avsedda hastighetsforandringar. Harvid kan sagda atminstone ett ytterligare fordon styras pa basis av uppgift om hur sagda ledarfordon framdrives och/eller kommer att framdrivas inom en viss tidsrymd. Pa sa satt kan en vasentligen bibehallen fordonstagskonfiguration uppratthallas under forandrad framfart hos sagda ledarfordon. Said environmental conditions may include at least some of the parameters traffic situation including risk factors, lane characteristics, climatic characteristics and the land. In this case, a versatile method is provided where different parameters can be taken into account as a basis for controlling the progress of said at least one additional vehicle. Said driving characteristics include at least some of the parameters speed, speed changes, direction of travel and intended changes of direction of travel. Said performance characteristics may include at least some of the parameters future intended speed and future intended speed changes. In this case, said at least one additional vehicle can be steered on the basis of information on how said conductor vehicle is propelled and / or will be propelled within a certain period of time. In this way, a substantially maintained vehicle roof configuration can be maintained during altered driving of said conductor vehicle.

Genom att styra namnda atminstone ett ytterligare fordon pa basis av forekommande accelerationer, retardationer och svangar hos sagda ledarfordon kan ett onskvart uppratthallande av fordonstagets konfiguration astadkommas. By controlling said at least one further vehicle on the basis of occurring accelerations, decelerations and turns of said conductor vehicle, an inadvertent maintenance of the configuration of the vehicle tie can be achieved.

Genom att styra namnda atminstone ett ytterligare fordon pa basis av framtida accelerationer, retardationer och svangar hos sagda ledarfordon kan ett onskvart uppratthallande av fordonstagets konfiguration astadkommas. By controlling said at least one further vehicle on the basis of future accelerations, decelerations and turns of said conductor vehicle, an inadvertent maintenance of the configuration of the vehicle stay can be achieved.

En forare eller operator hos sagda atminstone ett ytterligare fordon kan karma sig trygg da automatiska manovrar hos fordonet utfors. Exempelvis kan det rora sig cm automatiska inbromsningar eller automatiska vaxelval hos en transmission hos det bakomvarande fordonet. A driver or operator of said at least one additional vehicle can secure himself when automatic maneuvers of the vehicle are performed. For example, there may be automatic braking or automatic gear selection of a transmission of the vehicle behind.

Enligt en aspekt av foreliggande uppfinning kan en forbattrad korupplevelse f6r en forare av ett bakomvarande fordon astadkommas. Delia är exempelvis fallet da omgivningskarakteristika detekterat av ett ledarfordon kommuniceras till ett bakomvarande fordon f6r presentation. Exempelvis kan detta ske genom aft i realtid visa omgivningsbilder fran en videokamera hos sagda ledarfordon. Forfarandet kan harvid medfora att en forare far en okad forstaelse av radande trafiksituation tillika okad forstaelse for varfor automatiserade system has fordonet agerar pa ett visst satt. 8 Enligt ett exempel kan fardvagsinformation kommuniceras upp till lkm, varfor forare i bakomvarande fordon kan ansluta sig till tradlos kommunikation i god tid innan det nar fram till ett framforvarande fordon dar sikten framat blir begransad. Vidare kan harvid ett antal bakomliggande fordon inga i ett fordonstag och anda kunna erhalla fardvagsinformation fran ett fordon som ligger forst i sagda fordonstag. Harvid kan ett forsta fordon i fordonstaget kommunicera direkt med ett antal bakomliggande fordon, varvid onOdiga fordrojningar vid overforande av fardvagsinformation undvikes. According to one aspect of the present invention, an improved driving experience for a driver of a vehicle behind can be achieved. Delia is the case, for example, when environmental characteristics detected by a leader vehicle are communicated to a vehicle behind for presentation. For example, this can be done by aft showing real-time images from a video camera of said conductor vehicle in real time. The procedure can thereby lead to a driver gaining an increased understanding of the prevailing traffic situation as well as an increased understanding of why automated systems have the vehicle acting in a certain way. 8 According to an example, van information can be communicated up to lkm, which is why drivers in the vehicle behind can connect to wireless communication in good time before it reaches a vehicle in front where visibility is limited. Furthermore, in a number of vehicles behind, no one in a vehicle roof and spirit can be able to obtain vehicle information from a vehicle which is first in said vehicle roof. In this case, a first vehicle in the vehicle stay can communicate directly with a number of vehicles behind, whereby unnecessary delays in the transmission of vehicle information are avoided.

Forfarandet är f6rknippat med korta fordrojningar vad galler overford information. Forfarandet är aven enkelt och billigt aft installera hos fordon. Enligt ett utforande overfors &en information om en radande position hos framforvarande fordon till ett eller flera bakomliggande fordon. Della kan ske samtidigt som sagda fardvagsinformation overlors fr6n ett framforvarande fordon till ett bakomliggande fordon. Sagda positionsinformation kan overforas fortlopande eller intermittent. Sagda positionsinformation kan faststallas medelst en GPS-enhet. The procedure is associated with short delays as far as overford information is concerned. The procedure is also simple and inexpensive to install in vehicles. According to one embodiment, information about a rowing position of the vehicle in front is transferred to one or more vehicles behind. Della can take place at the same time as the said van information is transferred from a vehicle in front to a vehicle behind. Said position information can be transmitted continuously or intermittently. Said position information can be determined by means of a GPS unit.

Enligt ett utforande overfors aven information om hur framforvarande fordon onskar reglera dess fart till ett eller flera bakomliggande fordon. Detta kan ske samtidigt som sagda detekterade och/eller bestamda information overlOrs fran ett framfOrvarande ledarfordon till atminstone ett bakomliggande fordon. Sagda information kan overforas fortlopande eller intermittent. Harvid kan ett styrsystem hos bakomliggande fordon erhalla information om hur ett framforliggande fordon kommer bete sig i framtiden, vad avser t.ex. retardering eller acceleration. Sagda information kan anvandas f6r aft automatiskt styra framfart hos sagda 6tminstone ett ytterligare fordon. According to one embodiment, information is also transmitted on how forward vehicles wish to regulate its speed to one or more vehicles behind. This can take place at the same time as the said detected and / or determined information is transferred from a leading conductor vehicle to at least one vehicle behind. Said information can be transmitted continuously or intermittently. In this case, a control system of the vehicle behind can obtain information on how a vehicle in front will behave in the future, with regard to e.g. deceleration or acceleration. Said information may be used to automatically control the travel of said at least one additional vehicle.

En fordel med foreliggande uppfinning är aft overlord fardvagsinformation kan inbegripa uppgift om forefintliga vagskyltar, djur i rorelse andra fasta eller rorliga objekt, vagbana, omradet framf6r framforvarande fordon, omraden 9 utanfOr vagbana, vagarbeten, fotgangare, cyklister eller eventuella filbyten utforda av framforvarande fordon. Vid visning av sagda fardvagsinformation kan en forare i ett bakomliggande fordon fa en 6kad forstaelse av en (kande eller kommande trafiksituation. Vidare kan sagda forare fa' en okad forstaelse far automatisk styrning av framfart av det fordon denna hanterar. An advantage of the present invention is that overlord lane information may include information about existing lane signs, animals moving other fixed or moving objects, lane, the area in front of the vehicle in front, areas 9 outside the lane, lane work, pedestrians, cyclists or any lane changes. Upon displaying said vehicle information, a driver in a vehicle behind may gain a clear understanding of a current or upcoming traffic situation. Furthermore, said driver may gain an increased understanding of the automatic control of the progress of the vehicle he is handling.

Enligt en aspekt av foreliggande uppfinning tillhandahalls en anordning far styrning av fordonstag far saker framfart innefattande ett ledarfordon Amite atminstone ett ytterligare fordon, dar namnda ledarfordon inbegriper medel anordnade aft avkanna omgivningsbetingelser hos sagda ledarfordon och medel anordnade aft bestamma framforandekarakteristika hos sagda ledarfordon. Anordningen innefattar: - organ anpassade aft styra framfarten hos namnda atminstone ett ytterligare fordon ingaende i fordonstaget pa basis av namnda omgivningsbetingelser 15 och/eHer namnda framfarandekarakteristika hos namnda ledarfordon. According to one aspect of the present invention, there is provided an apparatus for controlling vehicle struts for advancing means comprising a conductor vehicle Amite at least one further vehicle, said conductor vehicle comprising means provided for sensing ambient conditions of said conductor vehicle and means arranged for determining driving characteristics of said conductor vehicle. The device comprises: - means adapted to control the progress of said at least one further vehicle entering the vehicle roof on the basis of said ambient conditions and / or said process characteristics of said conductor vehicle.

Anordningen kan innefatta: - organ anpassade aft faststalla och presentera rekommendationer avseende sagda framfart lampliga for aft styra framfarten hos namnda atminstone ett ytterligare fordon ingaende i fordonstaget. Sagda rekommendationer kan faststallas pa basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika hos namnda ledarfordon. The device may comprise: - means adapted to establish and present recommendations regarding said travel suitable for controlling the progress of said at least one additional vehicle entering the vehicle stay. Said recommendations can be determined on the basis of said ambient conditions and / or said driving characteristics of said conductor vehicle.

Anordningen kan innefatta organ anpassade aft kommunicera namnda 25 omgivningsbetingelser och/eller namnda framforandekarakteristika fran ledarfordo net till namnda atminstone ett ytterligare fordon; Anordningen kan innefatta organ anpassade aft kommunicera namnda omgivningsbetingelser och/eller namnda framforandekarakteristika fran ledarfordonet till namnda atminstone ett ytterligare fordon; 10 Anordningen kan innefatta organ anpassade aft faststalla lamplig framfart hos namnda atminstone ett ytterligare fordon pa basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika hos namnda ledarfordon. Sagda organ kan vara tillhandahallna hos sagda ledarfordon. The device may comprise means adapted to communicate said ambient conditions and / or said driving characteristics from the conductor vehicle to said at least one further vehicle; The device may comprise means adapted to communicate said ambient conditions and / or said driving characteristics from the conductor vehicle to said at least one further vehicle; The device may comprise means adapted to determine lamp travel of said at least one further vehicle on the basis of said ambient conditions and / or said driving characteristics of said conductor vehicle. Said means may be provided in said conductor vehicle.

Anordningen kan innefatta organ anpassade aft faststalla lamplig framfart hos namnda atminstone ett ytterligare fordon pa basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika hos namnda ledarfordon. Sagda organ kan vara tillhandahallna hos sagda ytterligare fordon. The device may comprise means adapted to determine lamp travel of said at least one further vehicle on the basis of said ambient conditions and / or said driving characteristics of said conductor vehicle. Said means may be provided in said additional vehicles.

Anordningen kan innefatta organ anpassade aft faststalla lamplig framfart hos namnda atminstone ett ytterligare fordon pa basis av namnda omgivningsbetingelser och/eller namnda framf6randekarakteristika hos namnda ledarfordon. Sagda organ kan vara tillhandahallna externt sagda fordonstag. Dessa organ kan exempelvis vara anordnade langs en fardvag far sagda fordonstag eller hos ett s.k. fleet management centre. The device may comprise means adapted to determine the lamp travel of said at least one further vehicle on the basis of said ambient conditions and / or said driving characteristics of said conductor vehicle. Said bodies may be provided externally said vehicle struts. These means can, for example, be arranged along a vehicle-wide vehicle roof or at a so-called fleet management center.

Anordningen kan innefatta: - organ anpassade aft automatiskt styra framfarten hos namnda atminstone ett ytterligare fordon. The device may comprise: - means adapted to automatically control the progress of said at least one further vehicle.

Anordningen kan innefatta: - organ anpassade aft for en operator presentera instruktioner kommunicerade fran namnda ledarfordon for manuell styrning av framfarten hos namnda atminstone ett ytterligare fordon. Sagda presentationsorgan kan inbegripa en visningsskarm. Sagda presentationsorgan kan inbegripa hOgtalare for aft presentera sagda instruktioner i form av ljudsignaler eller syntetiserat tal. The device may comprise: - means adapted for an operator to present instructions communicated from said lead vehicle for manual control of the progress of said at least one further vehicle. Said presentation means may include a display screen. Said presentation means may include speakers for presenting said instructions in the form of audio signals or synthesized speech.

Anordningen kan innefatta: 11 - organ anpassade aft faststalla sagda instruktioner pa basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika Hos anordningen kan namnda omgivningsbetingelser inbegripa atminstone nagon av parametrarna trafiksituation inklusive riskmoment, vagbanekarakteristika, klimatkarakteristika och vagmarken. The device may comprise: 11 - means adapted to establish said instructions on the basis of said environmental conditions and / or said driving characteristics. In the device, said environmental conditions may include at least some of the parameters traffic situation including risk factors, lane characteristics, climatic characteristics and the road surface.

Hos anordningen kan namnda framforandekarakteristika inbegripa atminstone flagon av parametrarna hastighet, hastighetsforandringar, fardriktning och avsedda fardriktningsforandringar. In the device, said driving characteristics may include at least a flag of the parameters speed, speed changes, direction of travel and intended changes of direction of travel.

Sagda ledarfordon och sagda atminstone ett ytterligare fordon kan inga i ett fordonstag. Harvid kan bransleforbrukning hos ett antal fordon fordelaktigt reduceras, vilket naturligtvis leder till lagre driftkostnader och mindre negativ paverkan av miljon. Said conductor vehicle and said at least one additional vehicle can no one in a vehicle stay. In this case, the fuel consumption of a number of vehicles can be advantageously reduced, which of course leads to lower operating costs and less negative impact of millions.

Forfarandet är latt att implementera i existerande motorfordon. Programkod for styrning av fordonstag for saker framfart enligt uppfinningen kan installeras i en styrenhet hos fordonet vid tillverkning av detsamma. En kopare av fordonet kan saledes fa mojlighet aft valja forfarandets funktion som ett tillval. Alternativt kan programkod f6r aft utfora det innovativa farfarandet installeras i en styrenhet hos fordonet vid uppgradering vid en servicestation. I detta fall kan programkoden laddas in i ett minne i en styrenhet hos fordonet. lmplementering av det innovativa forfarandet är alltsa kostnadseffektiv Programkod for aft styra framfarten hos namnda atminstone ett ytterligare fordon pa basis av namnda omgivningsbetingelser och/eller namnda framfOrandekarakteristika hos namnda ledarfordon kan latt uppdateras eller bytas ut. Vidare kan olika delar programkoden bytas ut oberoende av varandra. Denna modulara konfiguration är fordelaktig ur ett underhallsperspektiv. 12 Enligt en aspekt av uppfinningen kan enkel eftermontering av sagda anordning utforas. Befintliga fordon kan saledes pa ett snabbt och relativt billigt satt uppgraderas. Erforderlig programkod kan enkelt installeras i en styrenhet hos fordonet och/eller en barb& dator som är anslutningsbar till ett natverk hos fordonet. The procedure is easy to implement in existing motor vehicles. Program code for controlling vehicle struts for items of progress according to the invention can be installed in a control unit of the vehicle during manufacture thereof. A buyer of the vehicle may thus have the option of choosing the function of the procedure as an option. Alternatively, the program code for performing the innovative procedure can be installed in a control unit of the vehicle when upgrading at a service station. In this case, the program code can be loaded into a memory in a control unit of the vehicle. implementation of the innovative procedure is therefore cost-effective Program code for controlling the progress of said at least one additional vehicle on the basis of said environmental conditions and / or said performance characteristics of said leader vehicle can be easily updated or replaced. Furthermore, different parts of the program code can be exchanged independently of each other. This modular configuration is advantageous from an underpass perspective. According to one aspect of the invention, simple retrofitting of said device can be performed. Existing vehicles can thus be upgraded quickly and relatively cheaply. The required program code can easily be installed in a control unit of the vehicle and / or a barb & computer that can be connected to a network of the vehicle.

Ovanstaende syften uppnas ocksa med ett motorfordon som innefattar den uppfinningsmassiga anordningen for styrning av fordonstag for saker framfart. Motorfordonet kan vara en lastbil, buss eller personbil. The above objects are also achieved with a motor vehicle which comprises the inventive device for controlling vehicle struts for moving things. The motor vehicle can be a truck, bus or car.

Enligt en aspekt av uppfinningen tillhandahalls ett datorprogram far styrning av fordonstag f6r saker framfart, dar namnda datorprogram innefattar programkod lagrad pa ett, av en dator lasbart, medium f6r aft orsaka en elektronisk styrenhet eller en annan dator ansluten till den elektroniska styrenheten aft utfora stegen enligt nagot av patentkraven 1-7. According to one aspect of the invention, there is provided a computer program for controlling vehicle struts for moving things, said computer program comprising program code stored on a computer readable medium for causing an electronic control unit or another computer connected to the electronic control unit to perform the steps of any of claims 1-7.

Enligt en aspekt av uppfinningen tillhandahalls eft datorprogram for styrning av fordonstag far saker framfart, dar namnda datorprogram innefattar programkod for att orsaka en elektronisk styrenhet eller en annan dator ansluten till den elektroniska styrenheten aft utfora stegen enligt nagot av patentkraven 1-7. According to one aspect of the invention, there is provided computer programs for controlling vehicle struts in progress, said computer program comprising program code for causing an electronic control unit or another computer connected to the electronic control unit to perform the steps according to any one of claims 1-7.

Enligt en aspekt av uppfinningen tillhandahalls en datorprogramprodukt innefattande en programkod lagrad pa ett, av en dator lasbart, medium for aft utfora forfarandestegen enligt nagot av patentkraven 1-7, nar namnda programkod kors pa en elektronisk styrenhet eller en annan dator ansluten till den elektroniska styrenheten. According to one aspect of the invention, there is provided a computer program product comprising a program code stored on a computer readable medium for performing the method steps of any of claims 1-7, when said program code is crossed on an electronic control unit or another computer connected to the electronic control unit. .

Ytterligare syften, fOrdelar och nya sardrag hos den foreliggande uppfinningen kommer aft framga for fackmannen av foljande detaljer, liksom via utovning av uppfinningen. Medan uppfinningen är beskriven nedan, bar det framga aft uppfinningen inte är begransad till de specifika beskrivna 13 detaljema. Fackman som har tillgang till larorna hari kommer all karma igen ytterligare applikationer, mod ifieringar och inforlivanden inom andra omraden, vilka är inom omfanget for uppfinningen. Additional objects, advantages and novel features of the present invention will become apparent to those skilled in the art from the following details, as well as the practice of the invention. While the invention has been described below, it will be apparent that the invention is not limited to the specific details described. Those skilled in the art having access to the teachings will appreciate all further applications, modifications and incorporations within other fields which are within the scope of the invention.

OVERSIKTLIG BESKRIVNING AV RITNINGARNA For en mer komplett forstaelse av foreliggande uppfinning och ytterligare syften och fordelar darav, gars nu hanvisning till foljande detaljerade beskrivning som ska lasas tillsammans med de atfoljande ritningarna dar lika hanvisningsbeteckningar avser lika delar i de olika figurerna, och i vilka: Figur 1 schematiskt illustrerar ett fordon, enligt en utforingsform av uppfinningen; Figur 2 schematiskt illustrerar en anordning hos fordonet visat i Figur 1, enligt 15 en utforingsform av uppfinningen; Figur 3 schematiskt illustrerar ett fordonstag; Figur 4a schematiskt illustrerar ett flodesschema over ett forfarande, enligt en utforingsform av uppfinningen; Figur 4b i ytterligare detalj schematiskt illustrerar ett flodesschema Over ett 20 forfarande, enligt en utforingsform av uppfinningen; och Figur 5 schematiskt illustrerar en dator, enligt en utforingsform av uppfinningen. BRIEF DESCRIPTION OF THE DRAWINGS For a more complete understanding of the present invention and further objects and advantages thereof, reference is now made to the following detailed description which is to be read in conjunction with the accompanying drawings in which like reference numerals refer to like parts in the various figures, and in which: 1 schematically illustrates a vehicle, according to an embodiment of the invention; Figure 2 schematically illustrates a device of the vehicle shown in Figure 1, according to an embodiment of the invention; Figure 3 schematically illustrates a vehicle roof; Figure 4a schematically illustrates a flow chart of a process, according to an embodiment of the invention; Figure 4b schematically illustrates in further detail a flow chart of a method, according to an embodiment of the invention; and Figure 5 schematically illustrates a computer, according to an embodiment of the invention.

DETALJERAD BESKRIVNING AV FIGURERNA Med hanvisning till Figur 1 visas en sidovy av ett fordon 100. Det exemplifierade fordonet 100 bestar av en dragbil 110 och en slapvagn 112. Fordonet 100 kan altemativt vara en lastbil eller dragbil utan slap eller pahangsvagn. Fordonet kan vara en lastbil med fler an ett slap. Fordonet kan vara ett godtyckligt tungt fordon, sasom en lastbil eller en buss. Fordonet kan alternativt vara en personbil. Eft antal fordon 100 kan enligt en aspekt av foreliggande uppfinning framdrivas i form av ett fordonstag. 14 Had harlot- sig termen "lank" till en kommunikationslank som kan vara en fysisk ledning, sasom en opto-elektronisk kommunikationsledning, eller en icke-fysisk ledning, sasom en tad& anslutning, till exempel en radio- eller mikrovagslank. Alternativt kan sagda lank inbegripa radarteknologi eller lidarteknologi. DETAILED DESCRIPTION OF THE FIGURES Referring to Figure 1, a side view of a vehicle 100 is shown. The exemplary vehicle 100 consists of a tractor 110 and a trailer 112. The vehicle 100 may alternatively be a truck or tractor without a trailer or trailer. The vehicle can be a truck with more than one slap. The vehicle can be any heavy vehicle, such as a truck or a bus. The vehicle can alternatively be a car. According to one aspect of the present invention, the number of vehicles 100 can be propelled in the form of a vehicle strut. 14 The term "lank" was used to refer to a communication line which may be a physical line, such as an optoelectronic communication line, or a non-physical line, such as a tad & connection, for example a radio or microwave line. Alternatively, said lang may include radar technology or lidar technology.

Had hanfor sig termen "fordonstag" till ett antal fordon, t.ex. lastbilar, som framfores efter varandra med ett inb6rdes avstand som understiger ett forutbestamt varde, t.ex. 75 meter, 50 meter, 25 meter eller 10 meter. Sagda avstand kan vara ett avstand dar en minskad reducering av luftmotstand hos ett bakomvarande fordon kan erhallas. Delia avstand beror bland annat av fordonens storlek och form. Eli fordon som ligger forst i sagda fordonstag benamns hari "ledarfordon". Eli fordonstag kan inbegripa ett lampligt antal fordon, exempelvis 2, 3, 5 eller 10 fordon. Eli fordonstag kan inbegripa fler an 10 fordon. Had he used the term "vehicle struts" for a number of vehicles, e.g. trucks, which are driven one after the other with a mutual distance less than a predetermined value, e.g. 75 meters, 50 meters, 25 meters or 10 meters. Said distance may be a distance where a reduced reduction of air resistance of a vehicle behind can be obtained. Delia distance depends, among other things, on the size and shape of the vehicles. Eli vehicles that are located first in said vehicle roof are called hari "leader vehicles". Eli vehicle roofs may include an appropriate number of vehicles, for example 2, 3, 5 or 10 vehicles. Eli vehicle roofs can include more than 10 vehicles.

Med hanvisning till Figur 2 visas en anordning 299 hos fordonet 100. Referring to Figure 2, a device 299 of the vehicle 100 is shown.

Anordningen 299 kan vara anordnad pa lampligt stalle hos fordonet 100, exempelvis i dragbilen 110. Alternativt kan atminstone nagon enhet hos anordningen 299 vara forefintligt anordnad externt fordonet 100. The device 299 may be arranged in a suitable position of the vehicle 100, for example in the tractor 110. Alternatively, at least some unit of the device 299 may be pre-arranged externally of the vehicle 100.

De fordon som ingar i ett fordonstag kan samtliga vara utrustade med anordningen 299. Ett godtyckligt fordon kan saledes vara ett fordon som kik forst i fordonstaget (ledarfordon) alternativt ett bakomvarande fordon, dvs ett fordon som framfars direkt efterfoljande ledarfordo net eller langre bak i Icon. The vehicles that are part of a vehicle stay can all be equipped with the device 299. An arbitrary vehicle can thus be a vehicle that looks first into the vehicle stay (leader vehicle) or a vehicle behind, ie a vehicle that is driven directly following leader vehicle or further back in Icon .

Anordningen 299 innefattar en styrenhet 200. Styrenheten 200 innefattar elektronik och mjukvara som beskrivs i ytterligare detalj med hanvisning till Figur 5. The device 299 comprises a control unit 200. The control unit 200 comprises electronics and software which are described in further detail with reference to Figure 5.

En styrenhet 200 i ett ledarfordon är anordnad aft medelst lampliga organ avkanna omgivningsbetingelser och bestamma framforandekarakteristika hos sagda ledarfordon. A control unit 200 in a conductor vehicle is arranged to, by means of suitable means, detect ambient conditions and determine the driving characteristics of said conductor vehicle.

Styrenheten 200 är anordnad aft Overfara namnda avkanda omgivningsbetingelser och bestamda framforandekarakteristika via ett for atminstone tva fordon, t.ex. sagda ledarfordon och eft bakomvarande fordon gemensamt tradlast kommunikationsnatverk. Styrenheten 200 hos ett bakomliggande fordon kan vara anordnad aft vidarebefordra sagda overforda information till ett ytterligare bakomvarande fordon. Styrenheten 200 är anpassad aft faststalla lamplig framfart hos namnda atminstone ett ytterligare fordon pa basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika hos namnda ledarfordon. Styrenheten 200 är anpassad aft automatiskt styra framfarten hos namnda atminstone ett fordon 100. Styrenheten 200 är anpassad aft, dar det är tillampligt, automatiskt informera namnda atminstone ett fordon 100. Styrenheten 200 är anpassad aft, dar det är tillampligt, automatiskt varna namnda atminstone eft fordon 100. The control unit 200 is arranged to transmit said known ambient conditions and determined performance characteristics via one for at least two vehicles, e.g. said leader vehicle and eft behind the vehicle common tradlast communication network. The control unit 200 of a vehicle behind may be arranged to transmit said overdrive information to a further vehicle behind. The control unit 200 is adapted to determine lamp performance of said at least one further vehicle on the basis of said ambient conditions and / or said driving characteristics of said conductor vehicle. The control unit 200 is adapted to automatically control the progress of the at least one vehicle 100. The control unit 200 is adapted to, where applicable, automatically inform the at least one vehicle 100. The control unit 200 is adapted to, where applicable, automatically warn the said at least one vehicle. vehicle 100.

En datoranordning 210 är anordnad for kommunikation med den forsta styrenheten 200 via en lank L210. Datoranordningen 210 kan vara lostagbart ansluten till den forsta styrenheten 200. Datoranordningen 210 kan vara anordnad att kraftforsorjas medelst ett hos fordonet redan befintligt batten, sasom t.ex. ett 24 V batten i som ofta är farefintligt anordnat hos tunga fordon av idag. Datoranordningen 210 kan vara en till fordonet 100 extern styrenhet. Datoranordningen 210 kan vara en konventionell barbar. dator. Datoranordningen 210 kan vara anordnad att utfora forfarandesteg enligt uppfinningen. Datoranordningen 210 kan anvandas far aft ladda Over mjukvara till styrenheten 200, i synnerhet mjukvara for aft utfora det innovativa forfarandet. Datoranordningen 210 kan alternativt vara anordnad far kommunikation med den forsta styrenheten 200 via ett internt natverk i fordonet. Datoranordningen 210 kan vara anordnad att utfora vasentligen 16 likadana funktioner som den forsta styrenheten 200, sasom t.ex. att styra framfarten hos fordonet ingaende i fordonstaget pa basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika hos namnda ledarfordon. A computer device 210 is provided for communication with the first control unit 200 via a long L210. The computer device 210 may be releasably connected to the first control unit 200. The computer device 210 may be arranged to be powered by means of a bat already present in the vehicle, such as e.g. a 24 V batten in which is often dangerously arranged in heavy vehicles of today. The computer device 210 may be a control unit external to the vehicle 100. The computer device 210 may be a conventional barbarian. computer. The computer device 210 may be arranged to perform method steps according to the invention. The computer device 210 can be used to load Over software to the control unit 200, in particular software to perform the innovative procedure. The computer device 210 may alternatively be arranged for communication with the first control unit 200 via an internal network in the vehicle. The computer device 210 may be arranged to perform substantially the same functions as the first control unit 200, such as e.g. to control the progress of the vehicle inwardly in the vehicle roof on the basis of said ambient conditions and / or said driving characteristics of said conductor vehicle.

En GPS-enhet 220 är anordnad far kommunikation med styrenheten 200 via en lank L220. GPS-enheten 220 är anordnad aft fortlopande faststalla en radande position f6r fordonet 100. GPS-enheten 220 är anordnad att fortlopande faststalla en radande hastighet hos fordonet 100. GPS-enheten 220 är anordnad att fortlopande skicka signaler S220 inbegripande information om en radande position for fordonet 100 till styrenheten 200 via lanken L220. Sagda GPS-enhet kan inga i ett GNSS (Global Navigation Satellite System). Andra system an GPS kan anvandas, exempelvis GLONASS. A GPS unit 220 is arranged for communication with the control unit 200 via a long L220. The GPS unit 220 is arranged to continuously determine a tracking position for the vehicle 100. The GPS unit 220 is arranged to continuously determine a tracking speed of the vehicle 100. The GPS unit 220 is arranged to continuously send signals S220 including information about a tracking position for the vehicle 100 to the control unit 200 via the line L220. Said GPS device can not exist in a GNSS (Global Navigation Satellite System). Other systems other than GPS can be used, for example GLONASS.

Styrenheten 200 är anordnad att medelst lampliga organ fortlopande faststalla information inbegripande uppgift om far fordonet radande position, hastighet, hastighetsforandringar, fardriktning och/eller fardriktningsforandringar. Styrenheten 200 ar anordnad aft medelst lampliga organ fortlopande faststalla information inbegripande uppgift om far fordonet radande avsedd hastighet, avsedda hastighetsforandringar, avsedd fardriktning och/eller avsedda fardriktningsforandringar. Sagda information benamnda aven framf6randekarakteristika. The control unit 200 is arranged to continuously determine by means of suitable means information, including information on the vehicle's position, speed, changes in speed, direction of travel and / or changes in direction of travel. The control unit 200 is arranged by means of suitable means to continuously determine information, including information on the vehicle's intended speed, intended speed changes, intended direction of travel and / or intended changes of direction of travel. Said information is also called performance characteristics.

Sagda framforandekarakteristika kan automatiskt kommuniceras fran eft ledarfordon till ett bakomvarande fordon. Harvid kan ett styrsystem hos ett bakomvarande fordon erhalla sagda uppgifter och automatiskt styra t.ex. motor, transmission och/eller ett bromssystem pa basis av sagda information. Said performance characteristics can be automatically communicated from behind the leader vehicle to a vehicle behind. In this case, a control system of a vehicle behind can obtain said information and automatically control e.g. engine, transmission and / or a braking system on the basis of said information.

Styrenheten 200 är anordnad att medelst lampliga organ fortlopande faststalla information inbegripande uppgift om omgivningsbetingelser. Sagda omgivningsbetingelser kan inbegripa atminstone nagon av parametrarna 17 trafiksituation inklusive riskmoment, vagbanekarakteristika, klimatkarakteristika och vagmarken. The control unit 200 is arranged to continuously determine information including information on ambient conditions by means of suitable means. Said ambient conditions may include at least some of the parameters 17 traffic situation including risk factors, lane characteristics, climate characteristics and the land.

Sagda omgivningsbetingelser kan automatiskt kommuniceras fran ett ledarfordon till ett bakomvarande fordon. Harvid kan ett styrsystem hos ett bakomvarande fordon erhalla sagda uppgifter och automatiskt styra t.ex. motor, transmission och/eller ett bromssystem pa basis av sagda information. Said ambient conditions can be automatically communicated from a leader vehicle to a vehicle behind. In this case, a control system of a vehicle behind can obtain said information and automatically control e.g. engine, transmission and / or a braking system on the basis of said information.

Sagda framforandekarakteristika och sagda omgivningsbetingelser kan kommuniceras fran ett ledarfordon till ett efterfoljande fordon i fordonstaget vasentligen samtidigt. Said driving characteristics and said ambient conditions can be communicated from a conductor vehicle to a subsequent vehicle in the vehicle roof substantially simultaneously.

Sagda framforandekarakteristika kan automatiskt kommuniceras fran ett fordon hos fordonstaget till ledarfordonet for lamplig anvandning. Said performance characteristics can be automatically communicated from a vehicle of the vehicle stay to the conductor vehicle for suitable use.

Sagda omgivningsbetingelser kan automatiskt kommuniceras fran ett fordon hos fordonstaget till ledarfordonet for lamplig anvandning. Said ambient conditions can be automatically communicated from a vehicle at the vehicle stay to the conductor vehicle for suitable use.

Sagda framforandekarakteristika och sagda omgivningsbetingelser kan kommuniceras fran ett fordon hos fordonstaget till ledarfordonet vasentligen samtidigt. Said performance characteristics and said ambient conditions can be communicated from a vehicle of the vehicle stay to the conductor vehicle substantially simultaneously.

Sagda ledarfordon kan vara anordnat aft kommunicera direkt med fler an ett fordon hos fordonstaget. Sagda ledarfordon kan vara anordnat att kommunicera direkt med fler an ett fordon hos fordonstaget samtidigt. Said conductor vehicle can be arranged to communicate directly with more than one vehicle at the vehicle stay. Said conductor vehicle can be arranged to communicate directly with more than one vehicle at the vehicle stay at the same time.

En sensorkonfiguration 230 är anordnad for kommunikation med styrenheten 200 via en lank L230a. Sensorkonfigurationen 230 är anordnad aft fortlopande avkanna omgivningsbetingelser. Sensorkonfigurationen 230 ar anordnad aft fortlopande bestamma framforandekarakteristika hos fordonet. Sensorkonfigurationen 230 är anordnad aft fortlopande alstra signaler S230 inbegripande sagda omgivningsbetingelser och/eller 18 framforandekarakteristika. Sensorkonfigurationen 230 är anordnad all fortlopande skicka en signal S230 inbegripande sagda information till styrenheten 200 via lanken L230a. Styrenheten 200 är enligt ett exempel anordnad att skicka vidare sagda signal S230 ett 6tminstone ett bakomvarande fordon medelst kommunikationsorgan 250. A sensor configuration 230 is provided for communication with the controller 200 via a long L230a. The sensor configuration 230 is arranged to continuously sense ambient conditions. The sensor configuration 230 is arranged to continuously determine the performance characteristics of the vehicle. The sensor configuration 230 is provided by continuously generating signals S230 including said ambient conditions and / or performance characteristics. The sensor configuration 230 is arranged to continuously send a signal S230 including said information to the control unit 200 via the line L230a. According to an example, the control unit 200 is arranged to send said signal S230 to at least one vehicle behind by means of communication means 250.

Enligt ett utforande är sensorkonfigurationen 230 anordnad att fortlopande skicka en signal S230 inbegripande sagda information till kommunikationsorgan 250 via en lank L230d. Kommunikationsorganen 2 är anordnad att skicka vidare sagda signal S230 till atminstone ett bakomvarande fordon i fordonstaget. According to one embodiment, the sensor configuration 230 is arranged to continuously send a signal S230 including said information to communication means 250 via a line L230d. The communication means 2 are arranged to send said signal S230 to at least one vehicle behind in the vehicle stay.

Enligt ett utforande är sensorkonfigurationen 230 anordnad att fortlopande skicka en signal S230 inbegripande sagda information direkt till ett 15 bakomvarande fordon via en lank L230c. According to one embodiment, the sensor configuration 230 is arranged to continuously send a signal S230 including said information directly to a vehicle behind via a long L230c.

Enligt ett alternativt utforande är sagda sensorkonfiguration 230 anordnad att fran ett ledarfordon i realtid skicka signaler S230 inbegripande sagda information till datorn 210 via en lank L230b. Harvid ar sagda sensorkonfiguration 230 anordnad all i realtid overfora sagda information direkt till sagda dator 210 via lanken L230b. Enligt detta utforande skickas saledes inte signaler S230 inbegripande sagda information direkt till styrenheten 200 far vidarebefordran till atminstone ett bakomliggande fordon. Enligt detta utforande skickas saledes inte signaler S230 inbegripande sagda fardvagsinformation direkt till sagda atminstone ett bakomliggande fordon. According to an alternative embodiment, said sensor configuration 230 is arranged to send signals S230 from a conductor vehicle in real time, including said information, to the computer 210 via a line L230b. In this case, said sensor configuration 230 is arranged to transmit all real-time information directly to said computer 210 via the line L230b. Thus, according to this embodiment, signals S230 including said information are not sent directly to the control unit 200 for transmission to at least one vehicle behind. Thus, according to this embodiment, signals S230 including said vehicle information are not sent directly to said at least one vehicle behind.

Enligt detta utforande är datorn 210 anordnad att vidarebefordra sagda signaler S230 till kommunikationsorganen 250 via en lank L250b. Alternativt är datorn 210 anordnad att vidarebefordra sagda signaler S230 till kommunikationsorgan 250 via en styrenheten 200, dvs via lanken L210 och en lank L250a. 19 Enligt ett alternativt ufforande är sagda sensorkonfiguration 230 anordnad att fran ett ledarfordon i realtid overfora sagda information till ett bakomvarande fordon. Harvid är sagda sensorkonfiguration 230 anordnad aft i realtid overfora sagda information till ett bakomvarande fordon och/eller atminstone ytterligare ett bakomliggande fordon. Enligt detta uffOrande skickas saledes inte signaler S230 inbegripande sagda fardvagsinformation till styrenheten 200 eller sagda dator 210 far vidarebefordran till atminstone ett bakomliggande fordon. According to this embodiment, the computer 210 is arranged to forward said signals S230 to the communication means 250 via a line L250b. Alternatively, the computer 210 is arranged to forward said signals S230 to communication means 250 via a control unit 200, i.e. via the line L210 and a line L250a. According to an alternative embodiment, said sensor configuration 230 is arranged to transfer said information from a conductor vehicle in real time to a vehicle behind. In this case, said sensor configuration 230 is arranged to transmit said information in real time to a vehicle behind and / or at least another vehicle behind. Thus, according to this embodiment, signals S230 including said voyage information are not sent to the control unit 200 or said computer 210 is forwarded to at least one vehicle behind.

Styrenheten 200 är anpassad aft faststalla sagda instruktioner pa basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika. Sagda instruktioner kan saledes faststallas i sagda ledarfordon eller ett bakomliggande fordon i fordonstaget. The control unit 200 is adapted to establish said instructions on the basis of said ambient conditions and / or said driving characteristics. Said instructions can thus be established in said conductor vehicle or an underlying vehicle in the vehicle stay.

Styrenheten 200 är anpassad aft faststalla lamplig framfart hos ett fordon som framfOres efter ledarfordonet i fordonstaget pa basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika hos namnda ledarfordon. Styrenheten 200 är anordnad aft pa lampligt satt kommunicera uppgift cm sagda faststallda lampliga framfart till atminstone ett efterfoljande fordon i fordonstaget. De efterfOljande fordonen kan harvid informeras (rekommenderas) cm lamplig framfart eller styras automatiskt pa basis av sagda faststallda lampliga framfart. Sagda lampliga framfart kan inbegripa hastighet, hastighetsforandringar, fardriktning och/eller fardriktningsforandringar. The control unit 200 is adapted to determine light travel of a vehicle which is driven after the conductor vehicle in the vehicle roof on the basis of said ambient conditions and / or said driving characteristics of said conductor vehicle. The control unit 200 is arranged so as to suitably communicate information about said fixed lamp drive to at least one subsequent vehicle in the vehicle roof. The following vehicles can then be informed (recommended) by suitable driving or be controlled automatically on the basis of the said determined driving. Said light travel may include speed, speed changes, direction of travel and / or changes of direction.

Enligt ett ufforande kan en styrenhet hos atminstone ett fordon utover ledarfordonet hos fordonstaget faststalla och kommunicera relevant information till ledarfordonet, eller till ett framforvarande fordon i fordonstaget som inte är ledarfordonet. Sagda information kan anvandas som underlag for faststallande av lampligt framfart och/eller sagda rekommendationer och/eller sagda instruktioner. Sagda information kan exempelvis inbegripa uppgift om exempelvis maximal radande bromskapacitet eller uppgift om hal vag eller ett systemfel. According to one embodiment, a control unit of at least one vehicle in addition to the leader vehicle of the vehicle stay can determine and communicate relevant information to the leader vehicle, or to a vehicle in front of the vehicle stay that is not the leader vehicle. Said information can be used as a basis for determining light progress and / or said recommendations and / or said instructions. Said information may, for example, include information on, for example, maximum erasing braking capacity or information on slippery or a system fault.

Enligt ett utforande är en styrenhet i ett fordon som framforas bakom sagda ledarfordon i fordonstaget anpassat aft faststalla lamplig framfart hos fordonet pa basis av uppgift om namnda omgivningsbetingelser och/eller namnda framforandekarakteristika. Harvid kan sagda efterfoljande fordon styras automatiskt pa basis av sagda faststallda lampliga framfart. According to one embodiment, a control unit in a vehicle which is driven behind said conductor vehicle in the vehicle strut is adapted to determine lamp travel of the vehicle on the basis of information on said ambient conditions and / or said driving characteristics. In this case, said subsequent vehicle can be steered automatically on the basis of said determined lamp drive.

Sagda sensorkonfiguration 230 kan inbegripa lampliga sensorer. Sagda sensorkonfiguration 230 kan inbegripa lampligt antal sensorer. Sagda sensorkonfiguration 230 kan inbegripa lampligt antal olika sensorer. Sagda sensorkonfiguration kan innefatta en kamera. Sagda sensorkonfiguration 230 kan vara en videokamera. Sagda sensorkonfiguration 230 kan vara en web- kamera. Said sensor configuration 230 may include lamp sensors. Said sensor configuration 230 may include an appropriate number of sensors. Said sensor configuration 230 may include an appropriate number of different sensors. Said sensor configuration may include a camera. Said sensor configuration 230 may be a video camera. Said sensor configuration 230 may be a webcam.

Enligt ett utforande innefattar namnda sensorkonfiguration 230 eft antal kameror, sasom t.ex. videokameror. Sagda flertal kameror kan stallas in sa aft de fortlopande filmar olika synfalt f6r aft avkanna omgivningsbetingelser, vilka omgivningsbetingelser kan overforas till atminstone ett bakomvarande fordon. Sagda synfalt kan vara atminstone delvis overlappande. According to one embodiment, said sensor configuration 230 comprises a number of cameras, such as e.g. camcorders. Said plurality of cameras can be set up so that the continuous films have different views in order to detect ambient conditions, which ambient conditions can be transferred to at least one vehicle behind. Said visual field may be at least partially overlapping.

Enligt ett utforande innefattar namnda sensorkonfiguration 230 en avstandssensor och/eller en hastighetssensor, t.ex. en radarenhet, far aft faststalla forekomst av externa objekt och aril!l forknippat avstand och/eller avstandsforandringar avseende fordonet och sagda objekt. Radarenheten kan vara anordnad aft fortlopande faststalla ett avstand till ett framforvarande fordon. Harvid kan ett avstand till ett framforande fordon automatiskt stallas in, varvid ett styrsystem hos fordonet automatisk kan styra drift av fordonet sa aft ett 6nskat avstand fram till ett framforliggande fordon astadkommes. 21 Enligt ett utfOrande innefattar namnda sensorkonfiguration 230 en ultraljudsenhet f6r aft faststalla forekomst av externa objekt och dartill forknippat avstand och/eller avstandsforandringar avseende fordonet och sagda objekt. Ultraljudsenheten kan vara anordnad all fortlopande faststalla ett avstand till ett framforvarande fordon. According to one embodiment, said sensor configuration 230 comprises a distance sensor and / or a speed sensor, e.g. a radar unit, may also determine the occurrence of external objects and aril! l associated distance and / or distance changes regarding the vehicle and said object. The radar unit may be arranged to continuously determine a distance to a vehicle in front. In this case, a distance to a vehicle in front can be set automatically, whereby a control system of the vehicle can automatically control the operation of the vehicle so that a desired distance to a vehicle in front is achieved. According to one embodiment, said sensor configuration 230 comprises an ultrasonic unit for determining the presence of external objects and associated distance and / or distance changes regarding the vehicle and said object. The ultrasonic unit can be arranged to continuously determine a distance to a vehicle in front.

Enligt ett utforande innefattar namnda sensorkonfiguration 230 en laserljusenhet for all faststalla f6rekomst av externa objekt och dartill forknippat avstand och/eller avstandsforandringar avseende fordonet och sagda objekt. Laserljusenheten kan vara anordnad all fortlopande faststalla ett avstand till ett framforvarande fordon. According to one embodiment, said sensor configuration 230 comprises a laser light unit for all determining the presence of external objects and associated distance and / or distance changes regarding the vehicle and said object. The laser light unit can be arranged to continuously determine a distance to a vehicle in front.

Enligt ett utfi5rande innefattar namnda sensorkonfiguration 230 en IR-kamera for all faststalla forekomst av externa objekt och dartill f6rknippat avstand och/eller avstandsforandringar avseende fordonet och sagda objekt. IR- kameran kan vara anordnad all fortlopande faststalla ett avstand till ett framforvarande fordon. According to one embodiment, said sensor configuration 230 comprises an IR camera for determining any occurrence of external objects and associated distance and / or distance changes regarding the vehicle and said object. The IR camera can be arranged to continuously determine a distance to a vehicle in front.

Styrenheten 200 innefattar ett analysprogram for all faststalla sagda 20 omgivningsbetingelser pa basis av information detekterad av sagda sensorkonfiguration. Sagda analysprogram kan vara ett bildbehandlingsprogram. The control unit 200 comprises an analysis program for all determined said ambient conditions on the basis of information detected by said sensor configuration. Said analysis program can be an image processing program.

Sagda sensorkonfiguration 230 kan inbegripa lampliga sensorer for all faststalla framforandekarakteristika. Exempel pa sadana sensorer kan vara rattvinkelgivare, gasreglagegivare, bromspedalgivare, hastighetssensor, etc. Said sensor configuration 230 may include lamp sensors for all determining performance characteristics. Examples of such sensors can be steering wheel angle sensors, accelerator sensors, brake pedal sensors, speed sensor, etc.

Styrenheten kan pa basis av data detekterad av sagda sensorkonfiguration 230 faststalla sagda omgivningsbetingelser och sagda 30 framforandekarakteristika 22 Presentationsorgan 240 är anordnade for kommunikation med styrenheten 200 via en lank L240. Presentationsorganen 240 kan inbegripa en visningsskarm. Presentationsorganen 240 är anordnade aft fortlopande mottaga overforda signaler S230 inbegripande fardvagsinformation, exempelvis i form av en videostrom. Presentationsorganen 240 kan vara anordnade aft i realtid visa namnda mottagna videostrom i namnda bakomvarande fordon, sa aft atminstone ett synfalt tillgangligt i namnda framforvarande fordon fortlopande Ors tillgangligt i namnda bakomvarande fordon. The control unit can, on the basis of data detected by said sensor configuration 230, determine said ambient conditions and said performance characteristics 22. Presentation means 240 are arranged for communication with the control unit 200 via a long L240. The display means 240 may include a display screen. The display means 240 are arranged to continuously receive transmitted signals S230 including voyage information, for example in the form of a video stream. The display means 240 may be arranged to show in real time said received video streams in said rear vehicle, so that at least one visibly accessible in said front vehicle continuously ors available in said rear vehicle.

Enligt ett utforande kan presentationsorgan 240 vara anordnade aft visa flera videoupptagningar samtidigt, i olika fonster hos visningsskarmen. En forare i ett bakomliggande fordon kan harvid medelst lampliga organ valja vilka videostrommar som denne vill ska visas. Storleken hos fonstren far de respektive mottagna videostrommarna fran respektive synfalt hos sagda framforliggande fordon kan stallas in pa lampligt satt. According to one embodiment, display means 240 may be arranged to display several video recordings simultaneously, in different windows of the display screen. A driver in a vehicle behind can then, by means of suitable means, select which video streams he wants to be shown. The size of the windows allows the respective received video streams from the respective view of said front vehicle to be adjusted in an appropriate manner.

Enligt uppfinningen tillhandahalls visningsanordningen 240, t.ex. placerad pa en instrumentbradan i en hytt hos fordonet. Presentationsorganen 240 är anordnade aft i realtid visa en bildstrom sa aft atminstone ett synfalt tillgangligt i det framfi5rvarande fordonet 100 fortlOpande Ors tillgangligt i det bakomvarande fordonet dar f6raren befinner sig. According to the invention, the display device 240, e.g. placed on an instrument panel in a cab of the vehicle. The display means 240 are arranged to display in real time an image stream so that at least one visually accessible in the vehicle in front of the vehicle 100 is continuously accessible in the vehicle in the rear where the driver is.

Sagda presentationsorgan 240 kan inbegripa en lostagbart ansluten visningsskarm. Skarmen kan vara en pekskarm. Sagda presentationsorgan 240 kan utgora en integrerad komponent hos fordonets instrumentbrada eller reglagesektion. Said display means 240 may include a detachably connected display screen. The screen can be a touch screen. Said display means 240 may form an integral component of the vehicle's instrument panel or control section.

Enligt ett exempel, dar det bakomliggande fordonet framdrives medelst automatisk fartanpassning kan foraren harvid battre forsta varfor styrsystem hos fordonet automatiskt forandrar en radande hastighet och/eller fardriktning hos fordonet. 23 Sagda presentationsorgan 240 kan inbegripa hogtalare f6r att presentera instruktioner avseende fordonets framfart i form av ljudsignaler eller syntetiserat tal. Sagda instruktioner kan faststallas hos eft ledarfordon eller ett bakomliggande fordon i fordonstaget. Sagda instruktioner kan faststallas pa basis av sagda omvarldskarakteristika och/eller sagda framforandekarakteristika. According to one example, where the vehicle behind is propelled by automatic speed adjustment, the driver can thereby better understand why the control system of the vehicle automatically changes a radiating speed and / or direction of travel of the vehicle. Said display means 240 may include loudspeakers for presenting instructions regarding the progress of the vehicle in the form of sound signals or synthesized speech. Said instructions can be determined at eft leader vehicle or an underlying vehicle in the vehicle stay. Said instructions can be determined on the basis of said external characteristics and / or said performance characteristics.

Nedan aterges eft antal exempel pa styrning av ett relativt ett ledarfordon efterfoljande fordon i ett fordonstag. The following are a number of examples of steering a vehicle following a lead vehicle in a vehicle roof.

Exempel 1 For det fall sagda ledarfordon medelst sensorkonfigurationen 230 faststaller omgivningsbetingelser inbegripande en trafiksituation dar ett hinder pa framforvarande vag forefinns, kan sagda ledarefordon exempelvis byta fil. Harvid kan det efterfoljande fordonet automatiskt styras pa sa satt aft det ocksa byter fil pa motsvarande satt for att fordonstagets konfiguration ska kunna vara vasentligen oforandrat efter sagda filbyte. Example 1 In the event that said conductor vehicle by means of the sensor configuration 230 determines ambient conditions including a traffic situation where there is an obstacle on the way ahead, said conductor vehicle can, for example, change lanes. In this case, the subsequent vehicle can be automatically controlled in such a way that it also changes lanes in a corresponding manner so that the configuration of the vehicle stay can be substantially unchanged after said lane change.

Sagda trafiksituation kan innebara ett visst riskmoment, exempelvis da ett vagarbete faststalls paga, dar vagarbetare ror sig pa platsen. Harvid kan det efterfoljande fordonet automatiskt styras pa sa satt aft dess hastighet red uceras till en lamplig hastighet. The said traffic situation may involve a certain element of risk, for example when a road work is established at a time when road workers are moving on the site. In this case, the subsequent vehicle can be automatically controlled in such a way that its speed is reduced to an appropriate speed.

Exempel 2 For det fall sagda ledarfordon medelst sensorkonfigurationen 230 faststaller omgivningsbetingelser inbegripande vagbanekarakteristika inbegripande uppgift om halt underlag kan det efterfoljande fordonet automatiskt styras pa sa satt aft dess hastighet reduceras till en lamplig hastighet. Example 2 In the event that said conductor vehicle by means of the sensor configuration 230 determines ambient conditions including lane characteristics including information on slippery ground, the subsequent vehicle can be automatically controlled so that its speed is reduced to an appropriate speed.

Exempel 3 24 For det fall sagda ledarfordon medelst sensorkonfigurationen 230 faststaller omgivningsbetingelser inbegripande klimatkarakteristika i form av en omgivningstemperatur understigande en fOrutbestamd temperaturniva, eller i form av radande nederbord av ett visst slag, eller vindstyrkor overstigande en viss storlek kan det efterfoljande fordonet automatiskt styras pa sa salt all dess hastighet är en lamplig hastighet under de givna betingelserna. Example 3 24 In the event that said conductor vehicle by means of the sensor configuration 230 determines ambient conditions including climatic characteristics in the form of an ambient temperature below a predetermined temperature level, or in the form of radiating downpours of a certain type, or wind forces exceeding a certain size, the vehicle can be automatically controlled. salt all its speed is an appropriate speed under the given conditions.

Exempel 4 For det fall sagda ledarfordon medelst sensorkonfigurationen 230 faststaller omgivningsbetingelser inbegripande vagmarken eller annan trafikinformation kan det efterfoljande fordonet automatiskt styras pa sa satt all dess hastighet är en lamplig hastighet under de givna betingelserna. Example 4 In the event that said conductor vehicle by means of the sensor configuration 230 determines ambient conditions including the road surface or other traffic information, the subsequent vehicle can be automatically controlled so that all its speed is an appropriate speed under the given conditions.

Exempel Sagda information kan inbegripa uppgift om lampligt inbordes avstand mellan fordon hos fordonstaget. Della lampliga respektive inbordes avstand kan faststallas pa basis av exempelvis radande vagforhallanden. Ojamnheter i hastighet hos for fordonstaget framforande fordon eller halt vaglag b6r leda till ett relativt stort inbordes avstand mellan fordonen i fordonstaget. Harvid kan fordelaktigt ;Rad trafiksakerhet astadkommas. Example Said information may include information on the distance between the vehicle on the drawbar and the light on board. The distance between the lamps and the inboard can be determined on the basis of, for example, radiating carriage conditions. Unevenness in the speed of vehicles moving in front of the vehicle roof or slippery road surface should lead to a relatively large inboard distance between the vehicles in the vehicle roof. Harvid can be advantageous; Rad traffic safety is achieved.

Nedan aterges ett antal exempel pa en talade och/eller visade instruktioner/meddelanden/varningar som kan presenteras enligt olika aspekter av uppfinningen. Below are a number of examples of spoken and / or displayed instructions / messages / warnings that may be presented according to various aspects of the invention.

Exempel 6 En instruktion for presentation for en forare i ett fordon som framfors i ett fordonstag efter ett ledarfordon kan vara: "sank hastigheten till 50 km/h och fortsatt i nuvarande korfalt". 537 581 Exempel 7 En instruktion for presentation for en forare i ett fordon som framfors i ett fordonstag efter ett ledarfordon kan vara: "Det pa* ett vagarbete 100 meter framfOr fordonet, byt fil t hOger och sank hastigheten till 30 km/h. ". Example 6 An instruction for presentation to a driver in a vehicle being driven in a vehicle roof after a conductor vehicle could be: "the speed dropped to 50 km / h and continued in the current chorale". 537 581 Example 7 An instruction for presentation to a driver of a vehicle driven in a vehicle roof after a leader vehicle may be: "It on a wagon work 100 meters in front of the vehicle, change lanes to the right and reduce the speed to 30 km / h." .

Exempel 8 Eft meddelande for presentation for en Ware i ett fordon som framfors i ett 10 fordonstag efter ett ledarfordon kan vara: "Ledarfordonet kommer temporart all sakta ner men sedan aterga till ursprunglig hastighet. Ingen atgard behover vidtagas av er". Example 8 Following the presentation message for a Ware in a vehicle being driven in a vehicle bracket after a conductor vehicle may be: "The conductor vehicle will temporarily all slow down but then return to its original speed. No action needs to be taken by you".

Exempel 9 Eft meddelande for presentation for en forare i ett fordon som framfors i ett fordonstag efter ett ledarfordon kan vara: "Vilda djur pa vagen framfor. Stanna omedelbart fordonet". Example 9 Following the presentation message for a driver of a vehicle driving in a vehicle roof after a lead vehicle may be: "Wild animals on the road ahead. Stop the vehicle immediately".

Slut pa exempel. End of example.

Sagda kommunikationsorgan 250 är anordnade for kommunikation med styrenheten 200 via lanken L250a. Sagda kommunikationsorgan 250 är anordnade att mottaga signalen S230 inbegripande sagda information om omgivningsbetingelser och/eller framf6randekarakteristika. Sagda kommunikationsorgan 250 är anordnade all skicka sagda signal S230 till atminstone ett bakomliggande fordon. Kornmunikationsorganen 250 kan enligt ett exempel vara anordnade far tradlos kommunikation och harvid att sanda sagda information anvandande standarden 802.11 ABGN. Said communication means 250 are arranged for communication with the control unit 200 via the line L250a. Said communication means 250 are arranged to receive the signal S230 including said information on ambient conditions and / or driving characteristics. Said communication means 250 is arranged to send all said signal S230 to at least one vehicle behind. The grain communication means 250 may, according to an example, be arranged for wireless communication and thereby transmit said information using the standard 802.11 ABGN.

Kommunikationsorganen 250 kan enligt ett exempel vara anordnade for tradlos kommunikation enligt 802.11 P. 26 Figur 3 illustrerar schematiskt ett fordonstag 300, inbegripande ett ledarfordon A och ett efterfoljande fordon B. Saval fordonet A som fordonet B utbildas av ett fordon 100 som beskrivs hari. The communication means 250 may, for example, be provided for wireless communication according to 802.11 P. 26 Figure 3 schematically illustrates a vehicle tag 300, including a conductor vehicle A and a subsequent vehicle B. The vehicle A as the vehicle B is formed by a vehicle 100 described herein.

Sagda fordon A och B är anordnade for kommunikation med varandra. Vidare kan sagda fordon A och B vara anordnade for kommunikation med en extern styrenhet 390. Said vehicles A and B are arranged for communication with each other. Furthermore, said vehicles A and B may be arranged for communication with an external control unit 390.

Sagda externa styrenhet 390 kan vara anordnad att mottaga sagda omgivningsbetingelser och/eller framforandekarakteristika fran sagda ledarfordon A. Sagda externa styrenhet 390 kan vara anordnad att faststalla lamplig framfart for fordonet B pa basis av sagda omgivningsbetingelser och/eller framforandekarakteristika. Harvid kan sagda styrenhet 390 vara anordnad aft skicka en signal till sagda efterfoljande fordon B som underlag for styrning av dess framfart enligt en aspekt av foreliggande uppfinning. Said external control unit 390 may be arranged to receive said ambient conditions and / or driving characteristics from said conductor vehicle A. Said external control unit 390 may be arranged to determine suitable travel for the vehicle B on the basis of said ambient conditions and / or driving characteristics. In this case, said control unit 390 can be arranged to send a signal to said subsequent vehicle B as a basis for controlling its progress according to an aspect of the present invention.

Sagda externa styrenhet 390 kan vara en styrenhet anordnad vid en vagstolpe forefintligt anordnad langs en fardvag far fordonstaget. Alternativt kan sagda externa styrenhet 390 forefinnas hos ett s.k. fleet management 20 centre. Said external control unit 390 may be a control unit arranged at a guard post presently arranged along a carriageway leading the vehicle roof. Alternatively, said external control unit 390 may be present in a so-called fleet management 20 center.

Figur 4a illustrerar schematiskt ett flodesschema Over ett forfarande for tillhandahallande av rekommendation avseende lamplig framfart eller styrning av fordonstag for saker framfart innefattande ett ledarfordon jamte atminstone ett ytterligare fordon, dar namnda ledarfordon är avsett aft avkanna omgivningsbetingelser och bestamma framforandekarakteristika hos sagda ledarfordon, enligt en utforingsform av uppfinningen. Forfarandet innefattar ett forsta forfarandesteg s401. Steget s401 inbegriper steget aft: - styra framfarten hos namnda atminstone ett ytterligare fordon ingaende i fordonstaget pa basis av namnda omgivningsbetingelser och/eller namnda framfOrandekarakteristika hos namnda ledarfordon. Efter steget s401 avslutas f6rfarandet. 27 Figur 4b illustrerar schematiskt ett fladesschema over ett farfarande for tillhandahallande av rekommendation avseende lamplig framfart eller styrning av fordonstag far saker framfart innefattande ett ledarfordon jamte atminstone ett ytterligare fordon, dar namnda ledarfordon är avsett att avkanna omgivningsbetingelser och bestamma framfOrandekarakteristika hos sagda ledarfordon, enligt en utforingsform av uppfinningen. Figure 4a schematically illustrates a flow chart of a method for providing a recommendation for light travel or steering of vehicle stays for things driving comprising a conductor vehicle and at least one additional vehicle, wherein said conductor vehicle is intended to sense ambient conditions and determine performance characteristics of said conductor vehicle. of the invention. The process comprises a first process step s401. Step s401 comprises the step of: - controlling the progress of said at least one further vehicle entering the vehicle roof on the basis of said ambient conditions and / or said driving characteristics of said conductor vehicle. After step s401, the procedure is terminated. Figure 4b schematically illustrates a flow chart of a procedure for providing a recommendation for light travel or steering of vehicle roofs for driving things comprising a conductor vehicle and at least one additional vehicle, wherein said conductor vehicle is intended to sense ambient conditions and determine driving characteristics according to said conductor characteristics. embodiment of the invention.

Forfarandet innefattar ett forsta forfarandesteg s410. Forfarandesteget s4 inbegriper steget aft avkanna omgivningsbetingelser. Detta kan utforas medelst sagda sensorkonfiguration 230. Sagda avkanning av omgivningsbetingelser kan ske fortlapande eller intermittent. Sagda omgivningsbetingelser kan inbegripa atminstone nagon av parametrarna trafiksituation inklusive riskmoment, vagbanekarakteristika, klimatkarakteristika och vagmarken. Efter farfarandesteget s410 utfOrs ett efterfoljande forfarandesteg s420. The process includes a first process step s410. The process step s4 includes the step of scanning ambient conditions. This can be done by means of said sensor configuration 230. Said sensing of ambient conditions can take place continuously or intermittently. Said ambient conditions may include at least some of the parameters traffic situation including risk factors, lane characteristics, climate characteristics and the land. After the step step s410, a subsequent step step s420 is performed.

Forfarandesteget s420 inbegriper steget aft bestamma framforandekarakteristika. Detta kan utforas medelst sagda sensorkonfiguration 230. Sagda bestamning av framforandekarakteristika kan ske fortlopande eller intermittent. Sagda framforandekarakteristika kan inbegripa atminstone nagon av parametrarna hastighet, hastighetsforandringar, fardriktning och avsedda fardriktningsforandringar. Efter forfarandesteget s420 utfars ett efterfoljande forfarandesteg s430. The process step s420 includes the step of determining performance characteristics. This can be done by means of said sensor configuration 230. Said determination of performance characteristics can take place continuously or intermittently. Said driving characteristics may include at least some of the parameters speed, speed changes, direction of travel and intended changes of direction of travel. After step s420, a subsequent step s430 is performed.

Forfarandesteget s430 inbegriper steget aft faststalla underlag for aft styra framfart hos atminstone eft ytterligare fordon i sagda fordonstag. Sagda underlag faststalls pa basis av sagda avkanda omgivningsbetingelser och/eller pa basis av sagda bestamda framforandekarakteristika. Enligt ett utforingsexempel inbegriper farfarandet steget aft, hos ledarlordonet, pa basis av namnda omgivningsbetingelser och/eller namnda framfarandekarakteristika, faststalla en yarning och/eller ett meddelande for 28 kommunicering av namnda yarning och/eller meddelande till namnda atminstone ett ytterligare fordon. The step step s430 includes the step of establishing the basis for controlling the progress of at least additional vehicles in said vehicle roof. Said basis is determined on the basis of said known environmental conditions and / or on the basis of said determined performance characteristics. According to an exemplary embodiment, the method comprises the step of, at the conductor vehicle, on the basis of said environmental conditions and / or said process characteristics, determining a yarning and / or a message for communicating said yarning and / or message to said at least one further vehicle.

Enligt ett utforingsexempel inbegriper forfarandet steget att, hos ledarfordonet, pa basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika, faststalla en rekommendation avseende lamplig framfart av atminstone ett ytterligare fordon i fordonstaget for kommunicering av namnda rekommendation till namnda atminstone ett ytterligare fordon. According to an exemplary embodiment, the method comprises the step of, in the case of the lead vehicle, on the basis of said ambient conditions and / or said driving characteristics, establishing a recommendation for light travel of at least one additional vehicle in the vehicle stay for communicating said recommendation to said at least one additional vehicle.

Enligt ett exempel är sagda underlag for att styra framfart hos sagda atminstone ett ytterligare fordon utbildat i form av en instruktion. According to an example, said basis for controlling the progress of said at least one further vehicle is trained in the form of an instruction.

Efter forfarandesteget s430 utfors ett efterfoljande forfarandesteg s440. After the step step s430, a subsequent step s440 is performed.

F6rfarandesteget s440 inbegriper steget att overfora information inbegripande sagda underlag fran sagda ledarfordon till namnda atminstone ett ytterligare fordon hos fordonstaget for att styra framfart hos sagda atminstone ett ytterligare fordon. The method step s440 comprises the step of transferring information including said base from said conductor vehicle to said at least one further vehicle of the vehicle stay to control the travel of said at least one further vehicle.

Enligt ett exempel kan namnda faststallda yarning och/eller meddelande och/eller rekommendation overforas fran sagda ledarfordon till namnda atminstone ett ytterligare fordon. Harvid styrs inte sagda atminstone ett ytterligare fordon automatiskt pa basis av sagda underlag utan en operator hos sagda fordon tillhandahalles sagda overforda information. According to an example, said established yarning and / or message and / or recommendation can be transferred from said lead vehicle to said at least one additional vehicle. In this case, said at least one additional vehicle is not controlled automatically on the basis of said data, but an operator of said vehicle is provided with said overloaded information.

Efter forfarandesteget s440 utfors ett efterfoljande forfarandesteg s450. After the step step s440, a subsequent step step s450 is performed.

Forfarandesteget s450 inbegriper steget att styra framfart hos atminstone ett ytterligare fordon i sagda fordonstag. The process step s450 comprises the step of controlling the travel of at least one further vehicle in said vehicle struts.

Styrning av sagda framfart kan ske automatiskt. Flarvid kan sagda atminstone ett ytterligare fordon styras genom att pa lampligt satt exempelvis 29 accelereras, retarderas, svanga eller sidoforflyttas. Harvid kan sagda atminstone ett ytterligare fordon folja sagda ledarfordon. Alternativt kan fOrdelaktigt en kollision med sagda ledarfordon eller annat fordon i trafiken undvikas enligt en aspekt av uppfinningen. Control of said progress can take place automatically. In this case, said at least one further vehicle can be controlled by suitably accelerating, decelerating, turning or laterally moving, for example. In this case, said at least one additional vehicle can follow said conductor vehicle. Alternatively, a collision with said conductor vehicle or other vehicle in traffic can advantageously be avoided according to an aspect of the invention.

Enligt ett alternativt utf6rande presenteras sagda instruktion for en forare av sagda atminstone ett ytterligare fordon, vilken harvid kan styra sagda fordon manuellt eller semi-automatiskt pa basis av sagda presenterade instruktion. Harvid kan sagda atminstone ett ytterligare fordon foga sagda ledarfordon. According to an alternative embodiment, said instruction is presented to a driver of said at least one further vehicle, which can thereby control said vehicle manually or semi-automatically on the basis of said presented instruction. In this case, said at least one additional vehicle can join said conductor vehicle.

Alternativt kan fordelaktigt en kollision med sagda ledarfordon eller annat fordon i trafiken undvikas enligt en aspekt av uppfinningen. Alternatively, a collision with said conductor vehicle or other vehicle in traffic can advantageously be avoided according to an aspect of the invention.

Efter forfarandesteget s450 avslutas forfarandet. After procedure step s450, the procedure is terminated.

Med hanvisning till Figur 5, visas ett diagram av ett ufforande av en anordning 500. Styrenheterna 200 och 390 som beskrivs med hanvisning till Figur 2 respektive Figur 3 kan i ett ufforande innefatta anordningen 500. Datoranordningen 210 som beskrivs med hanvisning till Figur 2 kan i ett uffOrande innefatta anordningen 500. Anordningen 500 innefattar ett icke- flyktigt minne 520, en databehandlingsenhet 510 och ett las/skriv-minne 550. Det icke-flyktiga minnet 520 har en forsta minnesdel 530 van i ett datorprogram, sa som ett operativsystem, är lagrat for att styra funktionen hos anordningen 500. Vidare innefattar anordningen 500 en buss-controller, en seriell kommunikationsport, I/O-organ, en AID-omvandlare, en tids- och datum inmatnings- och overforingsenhet, en handelseraknare och en avbrytningscontroller (ej visade). Det icke-flyktiga minnet 520 har ocksa en andra minnesdel 540. Referring to Figure 5, a diagram is shown of an embodiment of a device 500. The controllers 200 and 390 described with reference to Figure 2 and Figure 3, respectively, may in one embodiment include the device 500. The computer device 210 described with reference to Figure 2 may in The device 500 includes a non-volatile memory 520, a data processing unit 510 and a read / write memory 550. The non-volatile memory 520 has a first memory portion 530 used in a computer program, such as an operating system, is stored to control the operation of the device 500. Furthermore, the device 500 includes a bus controller, a serial communication port, I / O means, an AID converter, a time and date input and transfer unit, a trade calculator and an interrupt controller (not shown). The non-volatile memory 520 also has a second memory portion 540.

Det tillhandahalles harvid ett datorprogram P som innefattar rutiner for att 30 avkanna omgivningsbetingelser och bestamma framforandekarakteristika hos sagda ledarfordon. Datorprogrammet P innefattar rutiner for att styra framfarten hos narrinda atminstone ett ytterligare fordon ingaende i fordonstaget pa basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika hos namnda ledarfordon. Datorprogrammet P innefattar rutiner far att automatiskt styra framfarten hos namnda atminstone ett ytterligare fordon. Datorprogrammet P innefattar rutiner for att faststalla instruktioner pa basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika. Datorprogrammet P innefattar rutiner for att faststalla underlag for styrning av sagda atminstone ett ytterligare fordon pa basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika. Datorprogrammet P innefattar rutiner far att faststalla instruktioner pa basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika for en forare hos sagda atminstone ett ytterligare fordon. It provides a computer program P which includes routines for sensing ambient conditions and determining driving characteristics of said conductor vehicle. The computer program P comprises routines for controlling the progress of the at least one additional vehicle entering the vehicle roof on the basis of said ambient conditions and / or the said performance characteristics of said conductor vehicle. The computer program P includes routines for automatically controlling the progress of the at least one additional vehicle. The computer program P includes routines for determining instructions on the basis of said environmental conditions and / or said performance characteristics. The computer program P comprises routines for determining the basis for controlling said at least one further vehicle on the basis of said environmental conditions and / or said driving characteristics. The computer program P comprises routines for determining instructions on the basis of said ambient conditions and / or said driving characteristics of a driver of said at least one further vehicle.

Programmet P kan vara lagrat pa ett exekverbart vis eller pa komprimerat vis i ett minne 560 och/eller i ett las/skrivminne 550. The program P can be stored in an executable manner or in a compressed manner in a memory 560 and / or in a read / write memory 550.

Nar det är beskrivet att databehandlingsenheten 510 utfor en viss funktion ska det forstas att databehandlingsenheten 510 utfor en viss del av programmet vilket är lagrat i minnet 560, eller en viss del av programmet som är lagrat i las/skrivminnet 550. When it is described that the data processing unit 510 performs a certain function, it should be understood that the data processing unit 510 performs a certain part of the program which is stored in the memory 560, or a certain part of the program which is stored in the read / write memory 550.

Databehandlingsanordningen 510 kan kommunicera med en dataport 599 via en databuss 515. Det icke-flyktiga minnet 520 är avsett for kommunikation med databehandlingsenheten 510 via en databuss 512. Det separata minnet 560 är avsett att kommunicera med databehandlingsenheten 510 via en databuss 511. Las/skrivminnet 550 är anordnat att kommunicera med databehandlingsenheten 510 via en databuss 514. Till dataporten 599 kan t.ex. lankarna L210, L220, L230a, L230b, L240, L250a och L250b anslutas (se Figur 2). The data processing device 510 can communicate with a data port 599 via a data bus 515. The non-volatile memory 520 is intended for communication with the data processing unit 510 via a data bus 512. The separate memory 560 is intended to communicate with the data processing unit 510 via a data bus 511. Read / write memory 550 is arranged to communicate with the data processing unit 510 via a data bus 514. To the data port 599, e.g. the lanes L210, L220, L230a, L230b, L240, L250a and L250b are connected (see Figure 2).

Nal- data mottages pa dataporten 599 lagras det temporart i den andra minnesdelen 540. Nar mottaget indata temporart har lagrats, ar 31 databehandlingsenheten 510 iordningstalld aft utfora exekvering av kod pa ett vis som beskrivits ovan. Enligt ett utforande innefattar signaler mottagna pa dataporten 599 om omgivningsbetingelser hos sagda ledarfordon. Enligt ett utf6rande innefattar signaler mottagna pa dataporten 599 framfOrandekarakteristika hos sagda ledarfordon. De mottagna signalerna pa dataporten 599 kan anvandas av anordningen 500 for aft styra framfarten hos namnda atminstone ett ytterligare fordon pa basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika hos namnda ledarfordon. Need data is received on the data port 599, it is temporarily stored in the second memory part 540. Once the received input data has been temporarily stored, the data processing unit 510 is ready to perform code execution in a manner described above. According to one embodiment, signals received at the data port 599 include ambient conditions of said conductor vehicle. According to one embodiment, signals received at the data port 599 include performance characteristics of said conductor vehicle. The received signals on the data port 599 may be used by the device 500 to control the travel of said at least one further vehicle on the basis of said ambient conditions and / or said driving characteristics of said conductor vehicle.

Delar av metoderna beskrivna hail kan utforas av anordningen 500 med hjalp av databehandlingsenheten 510 som kor programmet lagrat i minnet 560 eller las/skrivminnet 550. Nar anordningen 500 Icor programmet, exekveras hari beskrivna forfaranden. Parts of the methods described herein may be performed by the device 500 using the data processing unit 510 as the program stored in the memory 560 or the read / write memory 550. When the device 500 runs the program, the methods described are executed.

Den foregaende beskrivningen av de foredragna utforingsformerna av foreliggande uppfinning har tillhandahallits i syftet aft illustrera och beskriva uppfinningen. Det an inte avsett aft vara uttommande eller begransa uppfinningen till de beskrivna varianterna. Uppenbarligen kommer manga modifieringar och variationer aft framga for fackmannen. Utforingsformerna valdes och beskrevs for aft bast forklara principerna av uppfinningen och dess praktiska tillampningar, och darmed mojliggora for fackman att forsta uppfinningen for olika utforingsformer och med de olika mod ifieringarna som är lampliga for det avsedda bruket. 32 The foregoing description of the preferred embodiments of the present invention has been provided for the purpose of illustrating and describing the invention. It is not intended to be exhaustive or to limit the invention to the variants described. Obviously, many modifications and variations will occur to those 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 those skilled in the art to understand the invention for different embodiments and with the various modifications which are appropriate to the intended use. 32

Claims (14)

PATENTKRAVPATENT REQUIREMENTS 1. Forfarande for styrning av fordonstag for saker framfart innefattande ett ledarfordon jamte atminstone ett ytterligare fordon, dar namnda ledarfordon är avsett aft avkanna omgivningsbetingelser och bestamma framforandekarakteristika hos sagda ledarfordon, och dar fordonen Icor nara varandra med kort relativt avst6nd i syfte aft spara bransle, kannetecknat av steget aft: - styra (s401), under uppratth6llande av fordonst6gets konfiguration, det minsta inbordes avstandet mellan ledarfordonet och namnda atminstone ett ytterligare fordon ing6ende i fordonstAget p6 basis av namnda omgivningsbetingelser och/eller framfarandekarakteristika hos namnda ledarfordon.A method for controlling vehicle roofs for moving goods comprising a conductor vehicle or at least one additional vehicle, wherein said conductor vehicle is intended to sense ambient conditions and determine performance characteristics of said conductor vehicle, and where the vehicles approach each other at short relative distances in order to save fuel, characterized by the step aft: - steering (s401), while maintaining the configuration of the vehicle train, the minimum distance between the conductor vehicle and said at least one additional vehicle included in the vehicle train on the basis of said ambient conditions and / or driving characteristics of said conductor vehicle. 2. Forfarande enligt krav 1, innefattande steget aft: - automatiskt styra (s450) framfarten hos namnda ytterligare ett fordon.A method according to claim 1, comprising the step of: - automatically controlling (s450) the progress of said further vehicle. 3. Forfarande enligt n6got av foreg6ende krav, varvid namnda omgivningsbetingelser inbegriper atminstone nagon av parametrarna trafiksituation inklusive riskmoment, vagbanekarakteristika, klimatkarakteristika och vagmarken.A method according to any one of the preceding claims, wherein said ambient conditions include at least some of the parameters traffic situation including risk factors, lane characteristics, climatic characteristics and the land. 4. Forfarande enligt nagot av foregaende krav, varvid namnda framforandekarakteristika inbegriper 6tminstone n6gon av parametrarna hastighet, hastighetsforandringar, fardriktning och avsedda fardriktningsforandringar.A method according to any preceding claim, wherein said driving characteristics include at least some of the parameters speed, speed changes, direction of travel and intended changes of direction of travel. 5. Forfarande enligt n6got av foreg6ende krav, varvid det respektive inbordes avstAndet mellan olika fordon i fordonstaget kan styras individuellt.A method according to any one of the preceding claims, wherein the respective inboard distance between different vehicles in the vehicle roof can be controlled individually. 6. Forfarande enligt nagot av foreg5ende krav, varvid namnda ytterligare fordon kommunicerar information till ledarfordonet och varvid namnda 33 information anvands som underlag for faststallande av namnda minsta inbordes avstand.A method according to any one of the preceding claims, wherein said additional vehicle communicates information to the conductor vehicle and wherein said information is used as a basis for determining the distance of said minimum inboard. 7. Forfarande enligt krav 6, varvid namnda information innefattar uppgift om 5 maximal radande bromskapacitet eller eft systemfel.A method according to claim 6, wherein said information comprises information on maximum radiating braking capacity or after system failure. 8. Anordning far styrning av fordonstag dal- i fordonstaget ingaende fordon kor nara varandra med kort relativt avstand i syfte all spara bransle och for saker framfart av fordonstaget, varvid fordonstaget innefattar ett ledarfordon jamte atminstone ett ytterligare fordon, dar namnda ledarfordon inbegriper medel (230) anordnade aft avkanna omgivningsbetingelser hos sagda ledarfordon och medel anordnade all bestamma framforandekarakteristika hos sagda ledarfordon, Ica nnetecknad av: - organ (200; 210; 390; 500) anpassade aft styra, under uppratthallande av fordonstagets konfiguration, det minsta inbordes avstandet mellan ledarfordonet och namnda atminstone ett ytterligare fordon ingaende i fordonstaget pa basis av namnda omgivningsbetingelser och/eller namnda framforandekarakteristika hos namnda ledarfordon.8. A device for steering vehicle roofs - vehicles entering the vehicle roof coming close to each other at short relative distances in order to save fuel and for things moving the vehicle roof, the vehicle roof comprising a conductor vehicle and at least one additional vehicle, where said conductor vehicle includes means (230 arranged by sensing the ambient conditions of said conductor vehicle and means arranged all certain driving characteristics of said conductor vehicle, Ica characterized by: - means (200; 210; 390; 500) adapted to steer, while maintaining the configuration of the vehicle stay, the minimum inboard distance between conductor vehicles said at least one further vehicle entering the vehicle roof on the basis of said ambient conditions and / or said driving characteristics of said conductor vehicle. 9. Anordning enligt krav 8, innefattande: - organ (200; 210; 500) anpassade all automatiskt styra framfarten hos namnda ytterligare eft fordon.Device according to claim 8, comprising: - means (200; 210; 500) adapted to automatically control the progress of said further aft vehicle. 10. Anordning enligt nagot av krav 8-9, varvid namnda omgivningsbetingelser inbegriper atminstone nagon av parametrarna trafiksituation inklusive riskmoment, vagbanekarakteristika, klimatkarakteristika och vagmarken.Device according to any one of claims 8-9, wherein said ambient conditions include at least some of the parameters traffic situation including risk factors, lane characteristics, climatic characteristics and the land. 11. Anordning enligt nagot av krav 8-10, varvid namnda framforandekarakteristika inbegriper atminstone nagon av parametrarna hastighet, hastighetsforandringar, fardriktning och avsedda fardriktningsforandringar. 34The device of any of claims 8-10, wherein said driving characteristics include at least some of the parameters speed, speed changes, direction of travel and intended changes of direction of travel. 34 12. Fordon (100) innefattande en anordning enligt nagot av krav 8-11.A vehicle (100) comprising a device according to any of claims 8-11. 13. Datorprogram (P) for styrning av fordonstag for saker framfart, dar namnda datorprogram (P) innefattar programkod for aft orsaka en elektronisk styrenhet (200; 500) eller en annan dator (210; 500) ansluten till den elektroniska styrenheten (200; 500) aft utfora stegen enligt nagot av patentkraven 1-7.A computer program (P) for controlling vehicle roofs for moving things, wherein said computer program (P) comprises a program code for causing an electronic control unit (200; 500) or another computer (210; 500) connected to the electronic control unit (200; 500) to perform the steps according to any one of claims 1-7. 14. Datorprogramprodukt innefattande en programkod lagrad pa ett, av en dator lasbart, medium f6r aft utfora forfarandestegen enligt nagot av patentkraven 1-7, nar namnda datorprogram kors pa en elektronisk styrenhet (200; 500) eller en annan dator (210; 500) ansluten till den elektroniska styrenheten (200; 500). 1/4 112A computer program product comprising a program code stored on a computer readable medium for performing the method steps of any of claims 1-7, when said computer program is crossed on an electronic control unit (200; 500) or another computer (210; 500) connected to the electronic control unit (200; 500). 1/4 112
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