SE542694C2

SE542694C2 - Platooning orchestrator

Info

Publication number: SE542694C2
Application number: SE1651160A
Authority: SE
Inventors: Dennis Forsberg; Samuel Wickström
Original assignee: Scania Cv Ab
Priority date: 2016-08-30
Filing date: 2016-08-30
Publication date: 2020-06-30
Also published as: SE1651160A1; DE102017007814A1

Abstract

Method (400) and platooning orchestrator (300), for coordinating arrival of a set of vehicles (100-1, 100-2) to a merging point (200) at a predetermined time period, where the set of vehicles (100-1, 100-2) is planned to form a platoon. The method (400) comprises: detecting (401) a first vehicle (100-1) comprised in the set of vehicles (100-1, 100-2) at a distance (d1, d2) from the merging point (200); collecting (402) data from each of the vehicles (100-1, 100-2); simulating (403) arrival time of each of the respective vehicles (100-1, 100-2), based on the collected (402) data; calculating (404) an appropriate speed for each of the respective vehicles (100-1, 100-2) to keep in order to arrive at the merging point (200) simultaneously at the predetermined time period; and transmitting (405) the calculated (404) respective speed to keep to each of the vehicles (100-1, 100-2), in case it is possible for the vehicles (100-1, 100-2) to arrive at the merging point (200) simultaneously at the predetermined time period without exceeding speed limits; or otherwise transmitting (405) information to the vehicles (100-1, 100-2) that the platoon merge is cancelled.

Description

PLATOONING ORCHESTRATOR TECHNICAL FIELD This document discloses a method and a platooning orchestrator. More particularly, a method and a platooning orchestrator are described, for coordinating arrival of a set of vehicles to a merging point at a predetermined time period, where the set of vehicles is planned to form a platoon.

BACKGROUND Grouping vehicles into platoons is an emerging technology, leading to reduced fuel consumption and increased capacity of the roads. A number of vehicles, e.g. 2-25 or more, may be organised in a platoon or vehicle convoy, wherein the vehicles are driving in coordination after each other with only a small distance between the vehicles, such as some decimetres or some meters, e.g. up to 20 meters or there about. Thereby air resistance is reduced, which is important for reducing energy consumption, in particular for trucks, busses and goods vehicles or other vehicles having a large frontal area, causing high air resistance. In principle, the shorter the distance is between the vehicles, the lower the air resistance becomes, which reduces energy consumption for the vehicle platoon.

The distance between the vehicles in the platoon may be reduced as the vehicles are enabled to communicate wirelessly with each other and thereby coordinate their velocity by e.g. accelerating or braking simultaneously. Thereby the reacting distance needed for human reaction during normal driving is eliminated.

Platooning brings a multitude of advantages, such as improved fuel economy due to reduced air resistance, and also reduced traffic congestion, leading to increased capacity of the roads and enhanced traffic flow. On long distance routes, vehicles could be mostly unattended whilst in following mode, giving the driver an opportunity to rest and be well rested when leaving the platoon for the final destination, which potentially leads to less traffic incidents due to sleepy/ inattentive drivers. Further, it may not be required to stop the vehicle in order for the driver to rest, leading to a reduced transportation time (this may require modified law regulation concerning driving times, breaks and rest periods for drivers of vehicles in a platoon a regular change of the first vehicle in the platoon).

To drive efficiently using platooning as much as possible, a driving plan may be generated before the vehicles take off. Such plan may comprise a specification of desired velocity, driving routes and merging points for all the vehicles included in the plan. A merging point is a geographical point where two or more vehicles are merging into a platoon, this is typically a ramp on to a highway, or a point where two roads merge. To enable a merge of a platoon at the merging point, each vehicle that are supposed to participate in the platoon has to be there at the same time.

However, the chance that all vehicles will drive according to the premade plan the whole time, and thus arrive simultaneously at the merging point is very slim. The reason for this could for example be traffic congestion, accidents, road work or a steep slope where the vehicle cannot keep the desired speed. This leads to different arrival time to the merging points for each vehicle, which makes it impossible to merge in an efficient manner. The first vehicle arriving at the merging point often has no possibility to stop the vehicle and wait for the other vehicle(s), as the merging point typically is situated on a highway or entrance to a highway, where stops are prohibited and may cause a severe accident. Even in case it would be possible to stop and wait, it is typically not desired as it leads to transportation delays. The first arriving vehicle may have yet a deadline to meet, e.g. a ferry to catch, another merging point to reach at a certain time etc.

Document EP2056270 concerns a method and system for determining if it is possible to form a platoon of a number of vehicles. The vehicles communicate with each other by vehicle-tovehicle (V2V) communication. The route plans (road and target arrival time) of a plurality of vehicles are compared. Based thereupon, it is determined if a platoon is to be formed or not. However, there is no mechanism described how to form the platoon and make the vehicles arrive in time to a common merging point; or what to do in case a vehicle is only slightly delayed. Neither is it described how to determine where to form the platoon, i.e. the merging point.

Document WO2014092628 discloses a system and method for forming a platoon comprising a plurality of vehicles. Characteristics of the involved vehicles are collected by one of the vehicles, or interchanged between the vehicles. The method is computing the desired arrival time to the respective target of the involved vehicles and base the formation of the platoon on that information. There is no determination of any merging point where the vehicles are to meet and form the platoon, and / or determining the time to meet at the merging point. The method further concerns vehicles driving on the same road in the same direction, not vehicles arriving at a merging point from different directions. The vehicles would thereby suffer from the same disadvantages as previously mentioned above.

Document WO2012105889 also discloses a system and method for forming a platoon comprising a plurality of vehicles. The document is very similar to the solution provided in the previously described WO2014092628, sharing the same problems. It is not disclosed or described that two vehicles are meeting at a merging point for forming a platoon, but rather one vehicle joins an already formed platoon while driving. It is not described how to determine where and / or when to join the platoon.

Document US2013066511 presents a method and system for forming a platoon. A central node collects information such as current position, destination etc., from a plurality of vehicles and determines if a platoon is to be formed ad hoc by at least some of the vehicles.

In case the central node decides that a platoon is to be formed by the vehicles, the vehicles are instructed to adapt their respective vehicle speed in order to form a platoon. However, no determination of any particular unification point/ merging point is made; instead it is determined based on the direction and speed of the respective vehicles if, how and where they are to form the platoon. The provided solution seems to presuppose that the involved vehicles are situated relatively close to each other, driving on the same road.

Document US20140316671 shows a "platoon Organisation Unit" which decides if vehicles in an already established platoon are to slow down in order to enable another vehicle, driving behind the platoon, to connect to the platoon. The document does not discuss the case where a platoon is created from distinct vehicles arriving at a merging point from different directions.

None of the cited documents discusses how to plan a merging of a platoon at a merge point, wherein each vehicle which will participate in the platoon are synchronised in speed in order to arrive at the merging point at the same time and form the platoon.

To avoid the above stated problems and enable the vehicles planned to be merged into a platoon to arrive about simultaneously, i.e. within a time window, to the agreed merging point, it would be desired to find a solution for coordinating the vehicles in order to achieve the advantages of platoon driving.

SUMMARY It is therefore an object of this invention to solve at least some of the above problems and improve platoon formation.

According to a first aspect of the invention, this objective is achieved by a method in a platooning orchestrator, for coordinating arrival of a set of vehicles to a merging point at a predetermined time period, where the set of vehicles is planned to form a platoon. The method comprises detecting a first vehicle comprised in the set of vehicles at a distance from the merging point. Further, the method also comprises collecting data from each of the vehicles. The method in addition comprises simulating arrival time of each of the respective vehicles, based on the collected data. The method also comprises calculating an appropriate speed for each of the respective vehicles to keep in order to arrive at the merging point simultaneously at the predetermined time period. In further addition, the method also comprises transmitting the calculated respective speed to keep to each of the vehicles, in case it is possible for the vehicles to arrive at the merging point simultaneously at the predetermined time period without exceeding speed limits; or otherwise transmitting information to the vehicles that the platoon merge is cancelled.

According to a second aspect of the invention, this objective is achieved by a platooning orchestrator. The platooning orchestrator aims at coordinating arrival of a set of vehicles to a merging point at a predetermined time period, where the set of vehicles is planned to form a platoon. The platooning orchestrator is configured to detect a first vehicle comprised in the set of vehicles at a distance from the merging point. Further, the platooning orchestrator is configured to collect data from each of the vehicles. The platooning orchestrator is additionally configured to simulate arrival time of each of the respective vehicles, based on the collected data. The platooning orchestrator is also configured to calculate an appropriate speed for each of the respective vehicles to keep in order to arrive at the merging point simultaneously at the predetermined time period. In further addition the platooning orchestrator is furthermore configured to transmit the calculated respective speed to keep to each of the vehicles, in case it is possible for the vehicles to arrive at the merging point simultaneously at the predetermined time period without exceeding speed limits; or otherwise transmitting information to the vehicles that the platoon merge is cancelled.

Thanks to the described aspects, by activating the platooning orchestrator when at least one of the vehicles planned to form a platoon is approaching a merging point at a certain trigger distance, and start collecting data such as current geographical position from the involved vehicles, it is possible to perform a simulation of the arrival time of the respective vehicle to the merging point. Based on the result of such simulation, the platooning orchestrator may calculate which speed each of the respective vehicles has to keep in order to arrive simultaneously at the merging point and provide this information to the respective vehicle. It thereby becomes possible to fine-tune the speed of the respective vehicles in order to form the platoon at the merging point, which increases the possibility to successfully form a platoon. Thereby the various known advantages of platooning may be achieved. Thereby energy consumption of the platoon as a whole is reduced, while maintaining a safe distance between the vehicles in the platoon, thereby avoiding accidents. Thereby, platoon formation is improved.

Other advantages and additional novel features will become apparent from the subsequent detailed description.

FIGURES Embodiments of the invention will now be described in further detail with reference to the accompanying figures, in which: Figure 1 illustrates a vehicle; Figure 2 illustrates vehicles approaching a merging point according to an embodiment of the invention; Figure 3 illustrates a vehicle interior according to an embodiment of the invention; Figure 4 is a flow chart illustrating an embodiment of the method; Figure 5 is an illustration depicting a system according to an embodiment.

DETAILED DESCRIPTION Embodiments of the invention described herein are defined as a method and a platooning orchestrator, which may be put into practice in the embodiments described below. These embodiments may, however, be exemplified and realised in many different forms and are not to be limited to the examples set forth herein; rather, these illustrative examples of embodiments are provided so that this disclosure will be thorough and complete.

Still other objects and features may become apparent from the following detailed description, considered in conjunction with the accompanying drawings. It is to be understood, however, that the drawings are designed solely for purposes of illustration and not as a definition of the limits of the herein disclosed embodiments, for which reference is to be made to the appended claims. Further, the drawings are not necessarily drawn to scale and, unless otherwise indicated, they are merely intended to conceptually illustrate the structures and procedures described herein.

Figure 1 illustrates a scenario with a vehicle 100, driving in a driving direction 105 on a road 110.

The vehicle 100 is planned to participate in a platoon at a merging point, situated further down the road 110.

The vehicle 100 may comprise e.g. a truck, a trailer, a bus, a car, a motorcycle or any similar vehicle or other means of conveyance. The vehicle 100 may be intended to form a platoon with other vehicles of the same, or different types.

The vehicle 100 may be driver controlled or driverless autonomously controlled vehicles in different embodiments. However, for enhanced clarity, the vehicle 100 is subsequently described as having a driver.

Figure 2 illustrates an example of a scenario where a first vehicle 100-1 and a second vehicle 100-2 are driving in the same driving direction 105. The vehicles 100-1, 100-2 are approaching a merging point 200 on different roads leading to the common merging point 200, wherein the first vehicle 100-1 has a first distance d1 to the merging point 200 and the second vehicle 100-2 has a second distance d2 to the merging point 200. The merging point 200 may e.g. be a cross road, an accession to a highway, etc.

To be able to merge the vehicles 100-1, 100-2 at the merging point 200, a respective arrival time of the vehicles 100-1, 100-2 to the merging point 200 is estimated, based on e.g. the distances d1, d2, speed of the vehicles 100-1, 100-2, slope of the road, speed/ capacity limitations of the vehicles 100-1, 100-2, speed limitations of the respective roads, etc. Based thereupon, a simulation may be performed for each of the vehicles 100-1, 100-2. Also other information may be used for estimating the arrival time such as information relating to traffic congestion on the respective routes to the merging point 200, roadworks, temperature and / or weather conditions in the area, traffic accidents, etc., in some embodiments. Thereby further precision in the estimation may be provided.

A respective speed resulting in a common arrival time to the merging point 200 may then be estimated for at least one of the vehicles 100-1, 100-2.

An entity which may be referred to as a platooning orchestrator may perform these computations and be used to control the velocity of the vehicles 100-1, 100-2 when a merge is upcoming, either by sending speed recommendations to the respective drivers, or by controlling the speed of the respective vehicles 100-1, 100-2. The platooning orchestrator may be activated when the first vehicle of the vehicles 100-1, 100-2 intended to form the platoon is arriving at a starting point of the platooning orchestrator. The starting point is a geographical point at some predetermined distance (in length or driving time) to the merging point 200 for at least one of the vehicles 100-1, 100-2. In some embodiments, each vehicle 100-1, 100-2 intended to form the platoon may be associated with a particular respective starting point and the platooning orchestrator may be activated when any of the vehicles 100-1, 100-2 reaches the associated starting point.

The platooning orchestrator, when activated, then has the ability to change the velocity of the vehicles 100-1, 100-2, by direct interaction with the vehicle velocity regulation of the respective vehicle 100-1, 100-2, or by sending a velocity recommendation to the driver of each vehicle 100-1, 100-2, in order to be able to form the platoon at the merging point 200.

The vehicle velocities that can be set or recommended by the platooning orchestrator may have a maximum in order to not exceed the speed limits of the respective road, or speed limits of the respective vehicle 100-1, 100-2; and a minimum value in order to not make the vehicle stop or block the traffic, or to be too late for the next merge or other future target of the respective vehicles 100-1, 100-2.

The platooning orchestrator may in some embodiments operate according to at least some steps of the following algorithm.

Firstly, the platooning orchestrator may start to activate when the first of the vehicles 100-1, 100-2 reaches its associated starting point. The platooning orchestrator may then start to receive various data from the vehicles 100-1, 100-2 intended to form the platoon, such as location, speed, the existence of vehicles ahead, etc. Further, the arrival time of each of the vehicles 100-1, 100-2 to the merging point 200 given this data may be simulated. Simulations with different speeds of the vehicles 100-1, 100-2 may then be performed, in order to find the respective speed, or combination of vehicle speeds, that results in a simultaneous arrival, i.e. arrival within a predetermined or configurable time window, to the merging point 200. In some embodiments it may be possible to adjust the speed of at least one of the vehicles 100-1, 100-2, in order to reach a simultaneous arrival at the merging point 200. Otherwise, in case one or several of the vehicles 100-1, 100-2 is/ are estimated, based on the simulation, not to be able to reach the merging point 200 within the time window simultaneous with the other vehicles 100-1, 100-2 of the platoon to be formed, an exception may be sent to the vehicle 100-1, 100-2, which may result in an abortion of the merge for this (or these) vehicle/-s 100-1, 100-2.

If the merge is not executed within a time limit, or aborted in case no vehicles 100-1, 100-2 are able to reach the merging point 200 within the time window, the platooning orchestrator may continue iterating the above described algorithm according to at least some of the steps after a predetermined or configurable time period.

Figure 3 illustrates an example of how the previously scenario illustrated in Figure 1 and / or Figure 2 may be perceived by the driver of a vehicle 100-1, which is approaching the merging point 200 in order to form a platoon with at least one other vehicle 100-2. Although one of the vehicles 100-1 is illustrated, this is merely a non-limiting example. Any other vehicle 100-1, 100-2 which is to participate the platoon, or some or all of them may be equally or similarly equipped.

The vehicle 100-1 thus drives on the road at a distance d1 from the merging point 200. The vehicle 100-1 is enabled to communicate with a platooning orchestrator 300, situated outside the vehicle 100-1, over a wireless communication interface.

The wireless communication may be e.g. a Vehicle-to-everything (V2X) communication, or any other wireless signal based on, or at least inspired by wireless communication technology such as Wi-Fi, Wireless Local Area Network (WLAN), Ultra Mobile Broadband (UMB), Bluetooth (BT), the communication protocol IEEE 802.11 p, Wireless Access in Vehicular Environments (WAVE) or infrared transmission to name but a few possible examples of wireless communications.

The communication may alternatively be made over a wireless interface comprising, or at least being inspired by radio access technologies such as e.g. 3GPP LTE, LTE-Advanced, E-UTRAN, UMTS, GSM, GSM/ EDGE, WCDMA, Time Division Multiple Access (TDMA) networks, Frequency Division Multiple Access (FDMA) networks, Orthogonal FDMA (OFDMA) networks, Single-Carrier FDMA (SC-FDMA) networks, Worldwide Interoperability for Microwave Access (WiMax), or Ultra Mobile Broadband (UMB), High Speed Packet Access (HSPA) Evolved Universal Terrestrial Radio Access (E-UTRA), Universal Terrestrial Radio Access (UTRA), GSM EDGE Radio Access Network (GERAN), 3GPP2 CDMA technologies, e.g., CDMA2000 1x RTT and High Rate Packet Data (HRPD), Wi-Fi, Wireless Local Area Network (WLAN), Ultra Mobile Broadband (UMB), Bluetooth (BT), or similar, just to mention some few options, via a wireless communication network.

The platooning orchestrator 300 may comprise or be connected to a database 310. The database 310 may comprise information concerning e.g. the vehicles 100-1, 100-2 which are to form a common platoon, the merging point 200 of the platoon, the respective starting point for each vehicle to trigger the platooning orchestrator 300, road map data, information concerning speed limitations, curvature, etc. on the road between the respective starting points and the merging point 200 and / or possibly also other information which may affect the speed of the vehicles 100-1, 100-2.

The vehicle 100-1 may communicate with the platooning orchestrator 300 over a transceiver 370.

Further, the vehicle 100-1 may comprise a positioning unit 330. The positioning unit 330 may be based on a satellite navigation system such as the Navigation Signal Timing and Ranging (Navstar) Global Positioning System (GPS), Differential GPS (DGPS), Galileo, GLONASS, or the like. Thus the positioning unit 330 may comprise a GPS receiver.

The geographical position of the vehicle 100-1 may be determined continuously or at certain predetermined or configurable time intervals according to various embodiments.

Positioning by satellite navigation is based on distance measurement using triangulation from a number of satellites 340-1, 340-2, 340-3, 340-4. The satellites 340-1, 340-2, 340-3, 340-4 continuously transmit information about time and date (for example, in coded form), identity (which satellite 340-1, 340-2, 340-3, 340-4 which broadcasts), status, and where the satellite 340-1, 340-2, 340-3, 340-4 are situated at any given time. GPS satellites 340-1, 340-2, 340-3, 340-4 sends information encoded with different codes, for example, but not necessarily based on Code Division Multiple Access (CDMA). This allows information from an individual satellite 340-1, 340-2, 340-3, 340-4 distinguished from the others' information, based on a unique code for each respective satellite 340-1, 340-2, 340-3, 340-4. This information can then be transmitted to be received by the appropriately adapted positioning unit 330 in the vehicle 100-1 .

Distance measurement can according to some embodiments comprise measuring the difference in the time it takes for each respective satellite signal transmitted by the respective satellites 340-1, 340-2, 340-3, 340-4, to reach the positioning unit 330. As the radio signals travel at the speed of light, the distance to the respective satellite 340-1, 340-2, 340-3, 340-4 may be computed by measuring the signal propagation time.

The positions of the satellites 340-1, 340-2, 340-3, 340-4 are known, as they continuously are monitored by approximately 15-30 ground stations located mainly along and near the earth's equator. Thereby the geographical position, i.e. latitude and longitude, of the vehicle 100-1 may be calculated by determining the distance to at least three satellites 340-1, 340-2, 340-3, 340-4 through triangulation. For determination of altitude, signals from four satellites 340-1, 340-2, 340-3, 340-4 may be used according to some embodiments.

The geographical position of the positioning device 230, (and thereby also of the vehicle 100), as well as time, vehicle speed, heading, etc., may be determined continuously, or at a certain predetermined or configurable time interval according to various embodiments.

The geographical position of the vehicle 100-1 may alternatively be determined, e.g. by having transponders positioned at known positions around the road 110 and a dedicated sensor in the vehicle 100-1, for recognising the transponders and thereby determining the position of the vehicle 100-1 ; by detecting and recognising WiFi networks (WiFi networks along the route may be mapped with certain respective geographical positions in the database 310); by receiving a Bluetooth beaconing signal, associated with a geographical position, or other signal signatures of wireless signals such as e.g. by triangulation of signals emitted by a plurality of fixed base stations with known geographical positions. The position may alternatively be entered by the driver.

Having determined the geographical position of the vehicle 100-1, and also determined the driving direction 105 of the vehicle 100-1 when approaching the merging point 200, this information may be provided to the platooning orchestrator 300 via the wireless communication interface.

The platooning orchestrator 300 may receive the geographical position also of other vehicles 100-2 that are to form the platoon and calculate which speed the vehicle 100-1 is to keep in order to arrive simultaneously at the merging point 200, e.g. based on simulations as previously discussed.

The calculated speed the vehicle 100-1 has to keep may then be provided to the vehicle 100-1, e.g. via the wireless communication interface to the transceiver 370. This information may then be outputted to the driver, in case the vehicle 100-1 has a driver, possibly via a local control unit 350, on an output unit 360. The output unit 360 may comprise a display, a loudspeaker, a projector, a head-up display, a display integrated in the windshield of the vehicle 100-1, a display integrated in the dashboard of the vehicle 100, a tactile device, a portable device of the vehicle driver/ owner such as a cellular mobile telephone, intelligent glasses of the vehicle driver/ owner, a smart contact lens, an augmented reality device, a smart watch etc., or similar device having a user interface and wireless communication ability; or a combination thereof.

Alternatively, the platooning orchestrator 300 may generate a command signal for adjusting the speed of the vehicle 100-1 and transmit the generated speed control signal to the vehicle 100-1 via the wireless communication interface.

The vehicle 100-1 may also in some embodiments comprise one or several sensors for determining various environmental values such as e.g. the presence and / or distance to any ahead vehicle, presence and / or distance to any following vehicle; environmental temperature (freezing degrees may cause the vehicle 100-1 to slow down); detection of road works, etc. Such vehicle mounted sensor may comprise e.g. radar unit, a rangefinder sensor, a stereo camera, an ultrasonic sensor emitting an ultrasonic wave and detecting and analysing the reflections or similar device based on radar, infra-red light or micro waves for detecting any vehicle in front/ behind, and determine the distance.

Also other factors or properties of the vehicles 100-1, 100-2 and / or the road 110 may influence the speed that is possible for the respective vehicle 100-1, 100-2 to keep, such as e.g. altitude difference and load/ engine capacity of the respective vehicle 100-1, 100-2.

The different vehicles 100-1, 100-2 driving towards the merging point 200 may have different weight and / or different weight/ power ratio. Thereby, different vehicles 100-1, 100-2 may be affected differently both in downhill and uphill.

In hilly terrain, perhaps in particular for heavy vehicles such as e.g. trucks when travelling along an incline, the gravitational force has a strong influence. In contrast with a passenger vehicle, heavy vehicles are typically not able to produce a sufficient driving torque to maintain the velocity when travelling along an uphill with a slope greater than approximately 3.5% at 90 km/h, mentioned merely as a non-limiting example. Similarly, when facing a downhill heavy vehicles will typically experience a speed increase if the slope is less than approximately -1 .4% in another non-limiting example. These values may vary considerably between different vehicles 100-1, 100-2 depending on vehicle configuration, engine, vehicle weight, air resistance, roll resistance etc. Hence, the induced gravitational force can act as a positive or negative longitudinal force depending on the incline of the road 110. Further, the road ahead of the respective vehicle 100-1, 100-2 towards the merging point 200 may have different inclination.

Figure 4 illustrates an example of a method 400 in a platooning orchestrator 300, for coordinating arrival of a set of vehicles 100-1, 100-2 to a merging point 200 at a predetermined or configurable time period, such as a time interval, where the set of vehicles 100-1, 100-2 is planned to form a platoon.

The vehicles 100-1, 100-2 may be any arbitrary kind of means for conveyance, such as a truck, a trailer, a bus, a car, etc. The number of vehicles 100-1, 100-2 in the set of vehicles 100-1, 100-2 may be any number exceeding one, such as e.g. 2, 3..., ?. The vehicles 100-1, 100-2 may have been predetermined to form a platoon in some embodiments. However, a platoon may also be formed ad hoc based on positions and destinations of vehicles 100-1, 100-2.

The vehicles 100-1, 100-2 may communicate with the platooning orchestrator 300, and possibly also with other vehicles or entities, via wireless communication signalling, based on e.g. V2X communication or any other wireless communication technology such as Wi-Fi, Wireless Local Area Network (WLAN), Ultra Mobile Broadband (UMB), Bluetooth (BT), or infrared transmission to name but a few possible examples of wireless communications.

In order to correctly be able to coordinate arrival of the vehicles 100-1, 100-2 to the merging point 200, the method 400 may comprise a number of steps 401-406. However, some of these steps 401-406 may be performed solely in some alternative embodiments, like e.g. step 406. Further, the described steps 401-406 may be performed in a somewhat different chronological order than the numbering suggests. In some embodiments, steps 401-405 may be iterated in some embodiments, until an interruption condition for interrupting the iteration is fulfilled. The method 400 may comprise the subsequent steps: Step 401 comprises detecting a first vehicle 100-1 comprised in the set of vehicles 100-1, 100-2 at a distance d1, d2 from the merging point 200.

The position at the distance d1, d2 from the merging point 200 may be referred to as a starting point of the platooning orchestrator 300, and may trigger the performance of the subsequent steps 402-406 by the platooning orchestrator 300.

Thus the platooning orchestrator 300 either keeps track of the geographical positions of the respective vehicles 100-1, 100-2 and trigger the method performance of steps 402-406 when any of the vehicles 100-1, 100-2 are situated at the distance d1, d2 from the merging point 200, or receives a signal from the respective vehicle 100-1, 100-2 when reaching the distance d1, d2 from the merging point 200, in different embodiments.

The distances d1, d2 from the merging point 200 may be set or predetermined for the vehicles 100-1, 100-2 in order to arrive at the merging point at the same time, or within a time window. Thus the respective distances d1, d2 may be different in length units for the different roads, depending on velocity limitations of the respective roads, etc.

Step 402 comprises collecting data from each of the vehicles 100-1, 100-2.

The data collected from the vehicles 100-1, 100-2 may comprise at least geographical position of the respective vehicle 100-1, 100-2. Further the collected data may comprise current speed of the respective vehicle 100-1, 100-2 in some embodiments.

The collected data may in some embodiments comprise information concerning vehicle load, vehicle weight, engine capacity of the respective vehicle 100-1, 100-2, environmental traffic situation e.g. by measuring distance to an ahead/ behind vehicle, etc.

Thereby, by collecting further data that may influence the arrival time of the respective vehicle 100-1, 100-2 to the merging point 200, the estimation of the arrival time may thus be made with higher precision.

Further, in some embodiments, other information that may influence the respective arrival time of the vehicles 100-1, 100-2 may be collected, such as e.g. traffic congestion on the respective routes to the merging point 200, roadworks, temperature and / or weather conditions in the area, traffic accidents, etc., in some embodiments. Thereby further precision in the estimation may be provided.

Step 403 comprises simulating arrival time of each of the respective vehicles 100-1, 100-2, based on the collected 402 data.

The simulation of the arrival time of each of the respective vehicles 100-1, 100-2 may comprise extracting map data of a region between the current geographical position of the respective vehicle 100-1, 100-2 and the merging point 200, in some embodiments.

In some embodiments, the simulation of the arrival time of each of the respective vehicles 100-1, 100-2 further comprises extracting data associated with a road between the current geographical position of the respective vehicle 100-1, 100-2 and the merging point 200.

The simulation may be based on the topography or road inclination of the upcoming road sections for each respective vehicles 100-1, 100-2. The road inclination will typically vary with the geographical position when driving through the upcoming road section, e.g. when driving in a hilly region. The road inclination of the upcoming road section may be extracted from a database. Alternatively, road inclination data may be provided by the respective vehicle 100-1, 100-2, based on e.g. inclinometer measurements in the respective vehicle 100-1, 100-2.

The different road inclination at different geographical positions may influence different vehicles 100-1, 100-2 differently, e.g. depending on different weight, weight/ power ratio and other parameters that may be different and unique to each vehicle 100-1, 100-2.

Step 404 comprises calculating an appropriate speed for each of the respective vehicles 100-1, 100-2 to keep in order to arrive at the merging point 200 simultaneously at the predetermined time period.

Simultaneously may here mean within a time window, wherein it is possible to form the platoon with different vehicles 100-1, 100-2 at different positions in the platoon, or possibly wherein the platoon may be formed a bit further down the road 110, in relation to the merging point 200 by further speed adjustments.

The appropriate speed to keep may be limited e.g. by speed limitations of the respective roads leading to the merging point 200, capacity limitations of the respective vehicles 100-1, 100-2 due to engine capacities, loads, etc. The appropriate speed may also be limited by other time goals of the vehicles 100-1, 100-2 such as destination arrival time, arrival time to a ferry or similar, arrival time to another platoon merging point, etc.

Step 405 comprises transmitting the calculated 404 respective speed to keep to each of the vehicles 100-1, 100-2, in case it is possible for the vehicles 100-1, 100-2 to arrive at the merging point 200 simultaneously at the predetermined time period without exceeding speed limits; or otherwise transmitting information to the vehicles 100-1, 100-2 that the platoon merge is cancelled.

Step 406 which may be performed only in some embodiments, may comprise iterating the method 400 according to the above described steps 402-405 until either the platoon has been formed, or all of the vehicles 100-1, 100-2 has passed the merging point 200.

By iterating the method steps 402-405 after a predetermined or configurable time period, further adjustment of the respective vehicle speed may be made and provided to the vehicles 100-1, 100-2. Thereby further precision in the synchronisation of the arrival of the vehicles 100-1, 100-2 to the merging point 200 may be achieved. Also, adjustment may be made taking recent information into account, such as achieved information concerning traffic jam, an occurred accident etc., which may make it impossible for at least one of the vehicles 100-1, 100-2 to reach the merging point 200 within the determined time window, which may cause abortion of the platoon merge operation.

Further, by iterating the method steps 402-405 for cases where the vehicles 100-1, 100-2 previously has been determined to not be able to arrive at the merging point 200 simultaneously within the predetermined time period, i.e. no merge is scheduled, it may be possible to later form the platoon as a hindrance for at least one of the vehicles 100-1, 100-2 to arrive at the merging point 200 may have been omitted. Thereby, the platoon merge may be performed, based on recent information concerning the vehicles 100-1, 100-2 / road.

Figure 5 illustrates an embodiment of a system 500, comprising a platooning orchestrator 300 for coordinating arrival of a set of vehicles 100-1, 100-2 to a merging point 200 at a predetermined time period, where the set of vehicles 100-1, 100-2 is planned to form a platoon. The platooning orchestrator 300 of the system 500 is configured to perform at least some of the previously described method steps 401-406 according to the method 400, described above and illustrated in Figure 4.

The platooning orchestrator 300 is configured to detect a first vehicle 100-1 comprised in the set of vehicles 100-1, 100-2 at a distance d1, d2 from the merging point 200. Further, the platooning orchestrator 300 is configured to collect data from each of the vehicles 100-1, 100-2. In addition, the platooning orchestrator 300 is also configured to simulate arrival time of each of the respective vehicles 100-1, 100-2, based on the collected data. The platooning orchestrator 300 is furthermore configured to calculate an appropriate speed for each of the respective vehicles 100-1, 100-2 to keep in order to arrive at the merging point 200 simultaneously at the predetermined time period. Also, the platooning orchestrator 300 is configured to transmit the calculated respective speed to keep to each of the vehicles 100-1, 100-2, in case it is possible for the vehicles 100-1, 100-2 to arrive at the merging point 200 simultaneously at the predetermined time period without exceeding speed limits; or otherwise transmitting information to the vehicles 100-1, 100-2 that the platoon merge is cancelled.

In some alternative embodiments, the platooning orchestrator 300 may be further configured to iterate the method 400 according to method steps 402-405 of the method 400 until either the platoon has been formed, or all of the vehicles 100-1, 100-2 has passed the merging point 200.

The platooning orchestrator 300 may be further configured to collect geographical position and current speed of the respective vehicle 100-1, 100-2, in some embodiments.

Further, the platooning orchestrator 300 may also be configured to simulate the arrival time of each of the respective vehicles 100-1, 100-2 based on extracted map data from a region between the current geographical position of the respective vehicle 100-1, 100-2 and the merging point 200.

The platooning orchestrator 300 may be further configured to simulate the arrival time of each of the respective vehicles 100-1, 100-2 further based on extracted data associated with a road between the current geographical position of the respective vehicle 100-1, 100-2 and the merging point 200.

The platooning orchestrator 300 may comprise a receiving circuit 510 configured for receiving wireless and / or wired signals from e.g. vehicles 100-1, 100-2 which are planned to form a platoon and from a database 310. The receiving circuit 510 may also receive information from e.g. a traffic congestion surveillance service, a roadwork surveillance service, a temperature and / or weather reporting service, a traffic accident reporting service, etc., in some embodiments.

The platooning orchestrator 300 may also comprise a processor 520 configured for performing at least some of the calculating or computing of the platooning orchestrator 300. Thus the processor 520 may be configured to perform at least some of the method steps 401-406 of the above described method 400.

Such processor 520 may comprise one or more instances of a processing circuit, i.e. a Central Processing Unit (CPU), a processing unit, a processing circuit, a processor, an Application Specific Integrated Circuit (ASIC), a microprocessor, or other processing logic that may interpret and execute instructions. The herein utilised expression “processor” may thus represent a processing circuitry comprising a plurality of processing circuits, such as, e.g., any, some or all of the ones enumerated above.

Furthermore, the platooning orchestrator 300 may comprise a memory 525 in some embodiments. The optional memory 525 may comprise a physical device utilised to store data or programs, i.e., sequences of instructions, on a temporary or permanent basis. According to some embodiments, the memory 525 may comprise integrated circuits comprising siliconbased transistors. The memory 525 may comprise e.g. a memory card, a flash memory, a USB memory, a hard disc, or another similar volatile or non-volatile storage unit for storing data such as e.g. ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), EEPROM (Electrically Erasable PROM), etc. in different embodiments.

Further, the platooning orchestrator 300 may comprise a signal transmitter 530. The signal transmitter 530 may be configured for transmitting a signal or broadcast wireless signals to the vehicles 100-1, 100-2.

The previously described steps 401-406 to be performed in the platooning orchestrator 300 may be implemented through the one or more processors 520 within the platooning orchestrator 300, together with computer program product for performing at least some of the functions of the steps 401-406. Thus a computer program product, comprising instructions for performing the steps 401-406 in the platooning orchestrator 300 may perform the method 400 comprising at least some of the steps 401-406 for coordinating arrival of a set of vehicles 100-1, 100-2 to a merging point 200 at a predetermined time period.

The computer program mentioned above may be provided for instance in the form of a data carrier carrying computer program code for performing at least some of the step 401-406 according to some embodiments when being loaded into the one or more processors 520 of the platooning orchestrator 300. The data carrier may be, e.g., a hard disk, a CD ROM disc, a memory stick, an optical storage device, a magnetic storage device or any other appropriate medium such as a disk or tape that may hold machine readable data in a non-transitory manner. The computer program may furthermore be provided as computer program code on a server and downloaded to the platooning orchestrator 300 remotely, e.g., over an Internet or an intranet connection.

Additionally, some embodiments may comprise a stationary central node comprising the platooning orchestrator 300 as described above. The stationary central node may comprise e.g. a server, or a cloud service in some embodiments.

The terminology used in the description of the embodiments as illustrated in the accompanying drawings is not intended to be limiting of the described methods 400; the platooning orchestrator 300; the system 500; the computer programs; or the vehicles 100-1, 100-2. Various changes, substitutions or alterations may be made, without departing from invention embodiments as defined by the appended claims.

As used herein, the term "and/ or" comprises any and all combinations of one or more of the associated listed items. The term “or” as used herein, is to be interpreted as a mathematical OR, i.e., as an inclusive disjunction; not as a mathematical exclusive OR (XOR), unless expressly stated otherwise. In addition, the singular forms "a", "an" and "the" are to be interpreted as “at least one”, thus also possibly comprising a plurality of entities of the same kind, unless expressly stated otherwise. It will be further understood that the terms "includes", "comprises", "including" or "comprising", specifies the presence of stated features, actions, integers, steps, operations, elements, or components, but do not preclude the presence or addition of one or more other features, actions, integers, steps, operations, elements, components, or groups thereof. A single unit such as e.g. a processor may fulfil the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. A computer program may be stored/ distributed on a suitable medium, such as an optical storage medium or a solid-state medium supplied together with or as part of other hardware, but may also be distributed in other forms such as via Internet or other wired or wireless communication system.

Claims

PATENT CLAIMS

1. A method (400) in a platooning orchestrator (300), for coordinating arrival of a set of vehicles (100-1, 100-2) to a merging point (200) at a predetermined time period, where the set of vehicles (100-1, 100-2) is planned to form a platoon, wherein the method (400) comprises: detecting (401) a first vehicle (100-1) comprised in the set of vehicles (100-1, 100-2) at a distance (d1, d2) from the merging point (200); collecting (402) data from each of the vehicles (100-1, 100-2); simulating (403) arrival time of each of the respective vehicles (100-1,100-2), based on the collected (402) data; calculating (404) an appropriate speed for each of the respective vehicles (100-1, 100-2) to keep in order to arrive at the merging point (200) simultaneously at the predetermined time period; and transmitting (405) the calculated (404) respective speed to keep to each of the vehicles (100-1, 100-2), in case it is possible for the vehicles (100-1, 100-2) to arrive at the merging point (200) simultaneously at the predetermined time period without exceeding speed limits; or otherwise transmitting (405) information to the vehicles (100-1, 100-2) that the platoon merge is cancelled.

2. The method (400) according to claim 1, further comprising: iterating (406) the method (400) according to steps 402-405 until either the platoon has been formed, or all of the vehicles (100-1, 100-2) has passed the merging point (200).

3. The method (400) according to any of claim 1 or claim 2, wherein the data collected (402) from the vehicles (100-1, 100-2) comprises at least geographical position and current speed of the respective vehicle (100-1, 100-2).

4. The method (400) according to any of claims 1-3, wherein the simulation (403) of the arrival time of each of the respective vehicles (100-1, 100-2) comprises extracting map data of a region between the current geographical position of the respective vehicle (100-1, 100-2) and the merging point (200).

5. The method (400) according to claim 4, wherein the simulation (403) of the arrival time of each of the respective vehicles (100-1, 100-2) further comprises extracting data associated with a road between the current geographical position of the respective vehicle (100-1, 100-2) and the merging point (200).

6. A platooning orchestrator (300), for coordinating arrival of a set of vehicles (100-1, 100-2) to a merging point (200) at a predetermined time period, where the set of vehicles (100-1, 100-2) is planned to form a platoon, wherein the platooning orchestrator (300) is configured to: detect a first vehicle (100-1) comprised in the set of vehicles (100-1, 100-2) at a distance (d1, d2) from the merging point (200); collect data from each of the vehicles (100-1, 100-2); simulate arrival time of each of the respective vehicles (100-1, 100-2), based on the collected data; calculate an appropriate speed for each of the respective vehicles (100-1, 100-2) to keep in order to arrive at the merging point (200) simultaneously at the predetermined time period; transmit the calculated respective speed to keep to each of the vehicles (100-1, 100-2), in case it is possible for the vehicles (100-1, 100-2) to arrive at the merging point (200) simultaneously at the predetermined time period without exceeding speed limits; or otherwise transmitting information to the vehicles (100-1, 100-2) that the platoon merge is cancelled.

7. The platooning orchestrator (300) according to claim 6, further configured to: iterate the method (400) according to steps 402-405 until either the platoon has been formed, or all of the vehicles (100-1, 100-2) has passed the merging point (200).

8. The platooning orchestrator (300) according to any of claim 6 or claim 7, further configured to: collect geographical position and current speed of the respective vehicle (100-1, 100-2).

9. The platooning orchestrator (300) according to any of claims 6-8, further configured to: simulate the arrival time of each of the respective vehicles (100-1, 100-2) based on extracted map data from a region between the current geographical position of the respective vehicle (100-1, 100-2) and the merging point (200).

10. The platooning orchestrator (300) according to claim 9, further configured to: simulate the arrival time of each of the respective vehicles (100-1, 100-2) further based on extracted data associated with a road between the current geographical position of the respective vehicle (100-1, 100-2) and the merging point (200).

11. A computer program comprising program code for performing a method (400) according to any of claims 1-5 when the computer program is executed in the platooning orchestrator (300) according to any of claims 6-10.