WO2014092628A1 - Dispositif et procédé pour la formation de pelotons - Google Patents

Dispositif et procédé pour la formation de pelotons Download PDF

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Publication number
WO2014092628A1
WO2014092628A1 PCT/SE2013/051382 SE2013051382W WO2014092628A1 WO 2014092628 A1 WO2014092628 A1 WO 2014092628A1 SE 2013051382 W SE2013051382 W SE 2013051382W WO 2014092628 A1 WO2014092628 A1 WO 2014092628A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
platoon
formation
well
additional
Prior art date
Application number
PCT/SE2013/051382
Other languages
English (en)
Inventor
Assad ALAM
Kuo-Yun LIANG
Original Assignee
Scania Cv Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to EP13862945.6A priority Critical patent/EP2932487A4/fr
Priority to BR112015013337A priority patent/BR112015013337A2/pt
Publication of WO2014092628A1 publication Critical patent/WO2014092628A1/fr

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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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • 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
    • 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
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling

Definitions

  • the present invention pertains to a method for the evaluation of progress comprising the formation of platoons.
  • the invention also relates to a computer program product, comprising program code for a computer, a server or a mobile phone application, to implement a method according to the invention.
  • the invention also pertains to a device for the evaluation of progress comprising the formation of platoons and a motor vehicle equipped with such device.
  • a platoon may comprise at least two vehicles, which are driven in a formation succeeding one another relatively closely in order to achieve a reduction of fuel consumption compared to if the vehicles were to be driven separately, i.e. with relatively large distances between them.
  • control strategies to control the relative positions of vehicles driven in a platoon. These control strategies are developed in order to reduce fuel consumption in vehicles included in the platoon in various manners.
  • WO2012105889 describes a method to control the formation of platoons.
  • One objective of this invention is to provide a novel and advantageous method for the evaluation of progress comprising platoon formation.
  • Another objective of the invention is to provide a novel and advantageous device, and a novel and advantageous computer program for the evaluation of progress comprising platoon formation.
  • Yet another objective of the invention is to provide a method, a device and a computer program to achieve a more fuel-saving propulsion of a vehicle.
  • a method for the evaluation of progress comprising platoon formation is provided.
  • the method may comprise the steps of:
  • the first vehicle may catch up with a vehicle/platoon ahead.
  • the first vehicle may be advantageous, alternatively, for the first vehicle to decelerate and position itself ahead of an additional vehicle behind it, or first in a platoon behind it.
  • Said first vehicle may be driven separately or in a platoon.
  • the method is applicable where said first vehicle, separately or in a platoon, in certain cases and under certain circumstances catches up with a vehicle ahead or a platoon ahead.
  • the method is applicable where said first vehicle, separately or in a platoon, in certain cases and under certain circumstances slows down and positions itself ahead of a vehicle behind it or a platoon behind it.
  • the method according to said first aspect of the invention may comprise the step to:
  • a method for the evaluation of progress comprising platoon formation.
  • the method comprises the steps to: - , present, to a first vehicle potentially participating in a platoon formation, journey characteristics for at least one additional vehicle potentially participating in said platoon;
  • the method according to said second aspect of the invention may comprise the step to:
  • a first vehicle in a platoon may also reduce its fuel consumption compared to a case where it is driven separately.
  • Said journey characteristics may comprise at least position, route and vehicle speed.
  • One distance between vehicles in a platoon may according to one example be 10 metres.
  • One distance between vehicles in a platoon may according to one example be 5 metres.
  • One distance between vehicles in a platoon may according to one example be 25 metres.
  • One distance between vehicles in a platoon may according to one example be 50 metres.
  • One distance between vehicles in a platoon may according to one example be a suitable distance.
  • the method may comprise the step to establish a vehicle configuration.
  • Said vehicle configuration may comprise information regarding the type of vehicle, frontal area, type of trailer and other information, for example vehicle mass, which is relevant to determine the benefits of participating in a platoon.
  • Said vehicle configuration may relate to one's own vehicle or other vehicles which may potentially participate in a platoon.
  • the method may comprise the step, based on said journey characteristics and said vehicle configuration for said first as well as said additional vehicle, to establish whether formation of and participation in a platoon comprising said first, as well as said additional vehicle, entails a fuel saving compared to said first vehicle travelling on its own.
  • Said time of arrival may be deemed acceptable if said vehicle arrives on time and/or avoid waiting less than a predetermined period of time.
  • Said time of arrival may be deemed acceptable if said first vehicle, as well as said at least one additional vehicle, arrives on time and/or avoid waiting less than a predetermined period of time.
  • Said formation of a platoon may comprise one step where the distance between said first and said additional vehicle is reduced, by reducing the speed of said first vehicle to a speed lower than said additional vehicle's speed, and by increasing it as soon as a predetermined distance between said vehicles prevails.
  • Said formation of a platoon may comprise one step where the distance between said first and said additional vehicle is reduced, by increasing the speed of said first vehicle to a speed higher than said additional vehicle's speed and by reducing it as soon as a predetermined distance between said vehicles prevails.
  • the method may also comprise the step to:
  • - present driving instructions to form said platoon to an operator of said first vehicle.
  • Said instructions may be presented with suitable audiovisual equipment arranged in for example a driver's cabin or a driver's compartment in the first vehicle.
  • the method may also comprise the step to:
  • a user- friendly method is achieved in an advantageous manner, according to one aspect of the present invention.
  • the method may also comprise the step to:
  • the method may also comprise the step to: - determine said fuel saving, based on a determination of fuel consumption during the formation of and participation in said platoon for said first vehicle.
  • the method may also comprise the step to:
  • the step to form and participate in said platoon may relate to a joint route for said vehicles.
  • the method is easy to implement in existing motor vehicles.
  • Software for the evaluation of progress comprising platoon formation according to the invention may e.g. be installed in a control device of the vehicle when manufactured.
  • Software for the evaluation of progress comprising platoon formation according to the invention may e.g. be installed in a fleet management system or an external server. A purchaser of the vehicle may thus be afforded the opportunity to select the performance function as an extra option.
  • software comprising program code to perform the innovative method for evaluation of progress comprising platoon formation may be installed in a control device of the vehicle, when upgraded at a service station. In this case, the software may be uploaded into a memory in the control device. Implementation of the innovative method is also cost effective.
  • a device for the evaluation of progress comprising platoon formation, comprising:
  • - elements adapted to, based on journey characteristics for said first as well as said additional vehicle, establish whether the time of arrival for said first vehicle is acceptable on formation of and participation in a platoon, comprising said first vehicle as well as said additional vehicle;
  • - elements adapted to, based on said journey characteristics for said first as well as said additional vehicle, to establish whether formation of and participation in a platoon, comprising said first as well as said additional vehicle, entails a fuel compared to said first vehicle travelling on its own.
  • the device may comprise:
  • - elements adapted to, based on said journey characteristics for said first as well as said additional vehicle, to establish whether formation of and participation in a platoon, comprising said first as well as said additional vehicle, entails a fuel saving compared to where said first vehicle, as well as said additional vehicle, travelling on their own.
  • a device for the evaluation of progress comprising platoon formation.
  • the device includes: - elements adapted, to present to a first vehicle potentially participating in a platoon formation, journey characteristics for at least one additional vehicle potentially participating in said platoon;
  • - elements adapted to, based on journey characteristics for said first as well as said additional vehicle, to establish whether the time of arrival for said first vehicle is acceptable on formation of and participation in a platoon comprising said first vehicle as well as said additional vehicle; and - elements adapted to, based on said journey characteristics for said first as well as said additional vehicle, to establish whether formation of and participation in a platoon, comprising said first as well as said additional vehicle, entails a fuel saving compared to said first vehicle travelling on its own.
  • said journey characteristics may comprise at least position, route and vehicle speed.
  • said time of arrival may be deemed acceptable if said first vehicle arrives on time and/or avoid waiting less than a predetermined period of time.
  • said time of arrival may be deemed acceptable if said at least one additional vehicle arrives on time and/or avoid waiting less than a predetermined period of time.
  • the device may also comprise:
  • - elements adapted to present driving instructions to form said platoon to an operator of said first vehicle.
  • the device may also comprise:
  • the device may also comprise:
  • - elements adapted automatically to provide control information regarding manner of driving in order to form said platoon to achieve manner of driving in order to form said platoon.
  • the device may also comprise: - elements adapted to determine said fuel saving, based on a determination of fuel consumption during formation of and participation in said platoon for said first vehicle.
  • the device may also comprise:
  • a motor vehicle comprising the device for evaluation of progress comprising platoon formation.
  • the motor vehicle may be a truck, a bus or a car.
  • a computer program for the evaluation of progress comprising platoon formation, wherein said computer program comprises program code stored in a computer-readable medium in order to cause an electronic control device, or another computer connected to the electronic control device, to perform the steps according to any of the patent claims 1 -10.
  • a computer program for the evaluation of progress comprising platoon formation, wherein said computer program comprises program code to cause an electronic control device, or another computer connected to the electronic control device, to perform the steps according to any of the patent claims 1 -10.
  • a computer program product comprising program code stored in a computer-readable medium is provided to perform the method steps according to any of the patent claims 1 -10, when said computer program is run in an electronic control device or in another computer connected to the electronic control device.
  • Figure 1 schematically illustrates a vehicle, according to one embodiment of the invention
  • Figure 2 schematically illustrates a device in the vehicle shown in Figure 1 , according to one embodiment of the invention
  • Figure 3a schematically illustrates a first vehicle formation
  • Figure 3b schematically illustrates a second vehicle formation
  • Figure 4a schematically illustrates a flow diagram of a method, according to one embodiment of the invention
  • Figure 4b schematically illustrates in more detail a flow diagram of a method, according to one embodiment of the invention.
  • Figure 4c schematically illustrates a flow diagram of a method, according to one embodiment of the invention.
  • Figure 4d schematically illustrates in more detail a flow diagram of a method, according to one embodiment of the invention.
  • FIGURES schematically illustrates a computer, according to one embodiment of the invention.
  • a side view of a vehicle 100 is shown with reference to Figure 1.
  • the exemplary vehicle 100 consists of a tractor 1 1 1 and a trailer 1 12.
  • the vehicle may be a heavy goods vehicle, such as a truck or a bus.
  • the vehicle may alternatively be a car or a van.
  • link refers to a communications link, which may be a physical line such as an opto-electronic communication line or a non-physical line such as a wireless connection, for example a radio or microwave link.
  • a device 299 in the vehicle 100 is shown.
  • the device 299 may be arranged in the tractor 1 1 1 .
  • the device 299 may be appropriately arranged in the vehicle 100, comprising both the tractor 1 1 1 and the trailer 1 12.
  • the device 299 comprises a first control device 200.
  • the first control device 200 is arranged to establish journey characteristics C1 for the vehicle 100.
  • Said journey characteristics C1 may according to one embodiment comprise own position P1 , prevailing speed V1 and planned route R1 .
  • An electronic map may be stored in a memory of the first control device 200.
  • a planned route R1 may be provided manually to the first control device 200 with appropriate means for storage in said memory.
  • the first control device 200 is arranged to continuously or intermittently receive signals S2, comprising information regarding journey characteristics C2 for vehicles in a surrounding area of the vehicle 100.
  • Said signals S2 may be received by a communication device 220.
  • the first control device 200 is arranged for communication with said communication device 220 via a link L220.
  • Said signals S2, comprising information regarding journey characteristics C2 in relation to at least one additional vehicle in an surrounding area of the vehicle 100 may be communicated in a suitable manner, for example via satellite 215.
  • Said signals S2 may alternatively be communicated in another suitable manner, for example via a communications network.
  • Said communications network may comprise the Internet or a mobile network.
  • Said signals S2 may comprise journey characteristics C2 in relation to the respective vehicles in said environment.
  • Said journey characteristics C2 may comprise the prevailing position for said respective vehicles, the prevailing speed for said respective vehicles and the planned route for said respective vehicles.
  • Said first control device 200 is arranged to continuously or intermittently send a signal S1 , comprising information regarding said journey characteristics C1 , which may comprise information of own position P1 , prevailing speed V1 and planned route R1 .
  • Said signal S1 may be sent to vehicles in a surrounding area of the vehicle 100.
  • vehicles using the proposed invention may in an efficient manner provide relevant information regarding their own journey characteristics to each other and thus facilitate the performance of the innovative method.
  • the device 299 is arranged to present, to a first vehicle 100 potentially participating in the platoon formation, journey characteristics C2 for at least one additional vehicle potentially participating in said platoon formation.
  • the first control device 200 is arranged according to stored procedures to calculate an arrival time to a destination, such as for example a loading place, airport or harbour, for the vehicle 100. Said destination may be a final destination of the route R1 . This arrival time relates to progress where the vehicle 100 is not included in the formation of and participation in a platoon for at least part of said route R1 .
  • the first control device 200 is arranged, according to stored procedures, to calculate a time of arrival to said destination for the vehicle 100, which time of arrival relates to progress where the vehicle 100 is included in the formation of and participation in a platoon with at least one additional vehicle for at least part of said route R1 .
  • the first control device 200 is arranged, based on the journey characteristics C1 for said vehicle 100 and journey characteristics C2 for at least one additional vehicle, to establish whether the time of arrival for said vehicle 100 is acceptable in the formation of and participation in a platoon comprising said vehicle, as well as said additional vehicle.
  • the first control device 200 is according to one example, arranged to establish that said time of arrival is acceptable if said vehicle 100 arrives on time, for example before a certain unloading time, ferry departure or predetermined time.
  • the first control device 200 is according to one example arranged to establish that said time of arrival is acceptable if said vehicle 100 must wait less than a predetermined period of time, i.e. that the vehicle 100 thus does not arrive too early at the final destination. An early arrival to for example an unloading/loading place may in some circumstances be subject to payment of a fee.
  • the first control device 200 is arranged, according to stored routines, to calculate a total fuel consumption for the vehicle 100 during said route R1 from a prevailing position P1 to a destination, such as for example a loading place, airport or harbour. Said destination may be a final destination of the route R1 .
  • This total fuel consumption relates to progress where the vehicle 100 is not included in the formation of and participation in a platoon for the duration of said route R1 .
  • the first control device 200 is arranged, according to stored procedures, to calculate a total fuel consumption for the vehicle 100 during the formation of a platoon with an additional vehicle and participation in a platoon with this vehicle for the duration of a joint partial route.
  • the first control device 200 is arranged, according to stored procedures, to calculate a total fuel consumption for the vehicle 100, for the duration of said route R1 from a prevailing position P1 to a destination. This total fuel consumption relates to progress where the vehicle 100 is included in the formation of and participation in a platoon with at least one additional vehicle for the duration of at least part of said route R1 .
  • the first control device 200 is arranged, based on said journey characteristics C1 for said vehicle 100 and journey characteristics C2 for said additional vehicle, to establish whether formation of and participation in a platoon comprising said first as well as said additional vehicle, entails a fuel saving compared to said first vehicle travelling on its own.
  • the first control device 200 may be arranged to automatically provide control information with respect to driving manner in order to form said platoon, to achieve a driving manner in order to form said platoon.
  • the first control device 200 may be arranged to control the vehicle's speed based on said provided driving manner.
  • a second control device 210 is arranged for communication with the first control unit 200 via a link L210.
  • the second control device 210 may be detachably connected to the first control device 200.
  • the second control device 210 may be a control unit external to the vehicle 100.
  • the second control device 210 may be arranged to carry out the innovative steps of the method according to the invention.
  • the second control device 210 may be used to transfer software to the first control device 200, in particular software to perform the innovative method.
  • the second control device 210 may be arranged for communication with the first control device 200 via an internal network in the vehicle.
  • the second control device 210 may be arranged to carry out essentially similar functions to the first control device 200, such as for example to establish whether it is appropriate to participate in a platoon with a certain vehicle behind or ahead, based on the received signals comprising journey characteristics C2.
  • a first communications terminal 220 comprising a receiver and sender is signal-connected to the first control device 200 via a link L220.
  • the first control device 200 is arranged to receive signals from the first communications terminal 220 via the link L220.
  • the first control device 200 is arranged to send signals, e. g. to other vehicles, through the communications terminal 220.
  • a second communications terminal 225 comprising a receiver and sender is signal-connected to the first control device 200 via a link L225.
  • Said second communications terminal 225 may be comprised in a central coordinator, which may be arranged to carry out at least part of the innovative method.
  • vehicles may be arranged to continuously establish journey characteristics comprising position, speed and future route and to continuously communicate said journey characteristics to said coordinator.
  • Said coordinator may thus be arranged to automatically establish which vehicles, according to given criteria relating to time and fuel consumption should be included in a platoon, and in what manner the formation of said platoon should be realised.
  • Driver instructions may thus be communicated to the vehicles which may change their manner of driving in order to achieve said platoon.
  • Said second communications terminal 225 may be comprised in at least one server device or computer, which may be arranged to carry out at least a part of the innovative method.
  • vehicles may be arranged to continuously establish journey characteristics comprising position, speed and future route and to continuously communicate said journey characteristics to said at least one server or computer.
  • Said at least one server or computer may thus be arranged to automatically establish which vehicles, according to given criteria relating to time and fuel consumption, should be included in a platoon and in what manner the formation of said platoon should be realised.
  • Driver instructions may thus be communicated to the vehicles which may change their manner of driving in order to achieve said platoon.
  • Said second communications terminal 225 may be implemented in a so-called fleet management system, which may be arranged to carry out at least part of the innovative method.
  • vehicles may be arranged to continuously establish journey characteristics comprising position, speed and future route and to continuously communicate said journey characteristics to said fleet management system.
  • Said fleet management system may thus be arranged to automatically establish which vehicles, according to given criteria relating to time and fuel consumption, should be included in a platoon and in what manner the formation of said platoon should be realised.
  • Driver instructions may thus be communicated to the vehicles which may change their manner of driving in order to achieve said platoon.
  • the innovative method may be implemented as a so-called mobile telephone application. Naturally, electronic devices other than a mobile telephone may be used.
  • Said electronic device may be a hand-held electronic device, such as e. g. a tablet.
  • Said second communications terminal 225 may be implemented in said electronic device, which may be arranged to carry out at least part of the innovative method.
  • vehicles may be arranged to continuously establish journey characteristics comprising position, speed and future route and to continuously communicate said journey characteristics to said electronic device.
  • Said electronic device may thus be arranged to automatically establish which vehicles, according to given criteria relating to time and fuel consumption, should be included in a platoon and in what manner the formation of said platoon should be realised.
  • Driver instructions may thus be communicated to the vehicles which may change their manner of driving in order to achieve said platoon.
  • the electronic device may be a device which is used by the driver of a vehicle that may potentially be included in the formation of and participation in a platoon according to one aspect of the present invention.
  • the second communications terminal 225 may according to one embodiment comprise electronic maps that may be used according to the innovative method. According to one embodiment, information regarding vehicle configuration, vehicle route, etc. may be stored in a memory therein. Further, the second communications terminal 225 may automatically receive information regarding the position, speed and future route of different vehicles, for example via GPS-technology. The innovative method may thus be carried out through the second communications terminal 225, the first control device 200 or through a combination of the communications terminal 225 and the first control device 200.
  • the device 299 comprises a GPS-device 230. Said GPS-device 230 is arranged for communication with the first control device 200 via a link L230.
  • the GPS-device 230 is arranged to continuously send a signal comprising information regarding a prevailing position P1 to the first control device 200 via the link L230.
  • the first control device 200 may according to one embodiment be arranged to establish a prevailing speed V1 for the vehicle 100 based on said received signals from the GPS-device.
  • a vehicle ahead or behind may automatically, with appropriate means, establish information regarding position, speed and probable route for the vehicle 100. Said information may thus be communicated to the first vehicle 100 and/or to at least one additional vehicle and/or to a second communications terminal.
  • a vehicle ahead or behind may automatically, with appropriate means, establish information regarding a vehicle configuration for the vehicle 100. Said information may thus be communicated to the first vehicle 100 and/or to at least one additional vehicle and/or to a second communications terminal.
  • a speed sensor 240 is provided, which speed sensor 240 is arranged to continuously establish a prevailing speed in the vehicle 100.
  • the speed sensor 240 is arranged for communication with the first control device 200 via a link L240.
  • the speed sensor 240 is arranged to continuously send signals comprising information regarding a prevailing speed V1 to the first control device 200 via the link L240.
  • a presentation device 250 is arranged for communication with the first control device 200 via a link L250.
  • the first control device 200 is arranged, through the presentation terminal 250, to present instructions to an operator regarding driving manner in order to form said platoon.
  • Said presentation device 250 may comprise a display screen where driver instructions are presented.
  • a driver instruction may for example read: "Reduce speed by 10 km/h, wait for the vehicle behind, increase speed by 5 km/h and maintain this speed during continued propulsion in platoon.”
  • Said presentation device 250 may comprise means to reproduce driver instructions with a synthesized voice.
  • a driver instruction may for example read: "Increase speed by 10 km/h, catch up with the vehicle ahead, reduce speed by 5 km/h and maintain this speed during continued propulsion in platoon.”
  • the first control device 200 may be arranged to establish a vehicle configuration for the vehicle 100.
  • Said vehicle configuration may comprise information regarding the type of vehicle, frontal area, type of trailer and other information which is relevant to determine the benefits of participating in a platoon. Said information may be fed manually into the first control device 200 with means dedicated to this purpose.
  • Said signals S2 may comprise information regarding a vehicle configuration for an additional vehicles which may potentially be included in a platoon.
  • the first control devise 200 may be arranged, based on said journey characteristics and said vehicle configuration for said first as well as said additional vehicle, to establish whether formation of and participation in a platoon comprising said first, as well as said additional vehicle, entails a fuel saving compared to said first vehicle travelling on its own.
  • a vehicle/platoon behind may potentially be included in a platoon with the vehicle 100. This may be established by the first control device 200 based on said journey characteristics C1 and C2, and said vehicle configuration regarding the vehicle 100, and/or said vehicle/platoon behind.
  • a vehicle/platoon ahead may potentially be included in a platoon with the vehicle 100. This may be established by the first control device 200 based on said journey characteristics C1 and C2, and said vehicle configuration regarding the vehicle 100, and/or said vehicle/platoon behind.
  • the vehicle 100 obtains information regarding other vehicles on the road. With the help of this information, it may be established whether or not it is viable to form a platoon with other vehicles. Viability is considered with respect to duration of the journey and fuel consumption. In one example embodiment it is determined in the vehicle 100/platoon which is ahead, whether it is viable to decelerate to let the vehicle/platoon behind catch up, so that the vehicle/platoon behind obtains a reduced air resistance and a lower fuel consumption. The vehicle 100/platoon ahead must then compare whether it may afford to reduce speed (since it must arrive by a certain time). In this case the following two cost functions are compared: tconst_speed against t n ew — tdeceleration t
  • t C onst_speed is the time cost of arriving with the current speed
  • tdeceleration is the time cost of slowing down
  • tiower_s P eed is the time cost of driving at a lower speed
  • tacceleration is the time cost of returning to the original speed
  • t C onst_speed_new is the time cost of arriving with the new speed after the platoon has pooled together.
  • Jbehind_const_speed_short is the fuel cost for the platoon behind of driving at the current speed until it catches up with the platoon ahead;
  • Jbehind_const_speed_piatoon is the fuel cost for the platoon behind of driving in a larger platoon
  • Jahead_deceieration is the fuel cost for the platoon ahead of reducing speed
  • Jahead_const_iow_speed is the fuel cost for the platoon ahead of maintaining a lower speed
  • Jahead_acceieration is the fuel cost for the platoon ahead of accelerating up to the original speed
  • Jahead_const_s P eed is the fuel cost for the platoon ahead of driving at the original speed
  • Jbehind_const_speed_fuii is the fuel cost for the platoon behind of driving at the current speed the entire distance, while never catching up with the platoon ahead (since it does not decelerate);
  • Jahead_const_speed_fuii is the fuel cost for the platoon ahead of driving at the current speed the entire distance.
  • the vehicle 100/platoon behind determines whether it is viable to increase speed in order to catch up with the vehicle/platoon ahead, so that the vehicle behind obtains a reduced air resistance and a lower fuel consumption.
  • the vehicle 100/platoon behind must then compare whether it may afford to increase speed (since it must not arrive too early and a higher speed entails increased fuel costs). In this case the following two cost functions are compared:
  • the platoon behind may then either maintain its speed where it estimates that catching up does not entail a fuel saving, or catch up and form a larger platoon if this is viable.
  • the comparison of two cost functions is decisive, and these functions are contingent on fuel consumption and time cost.
  • One of the cost functions is the fuel cost to remain at the same speed the entire distance without forming a larger platoon.
  • the second cost consists of the sum of five parts: the cost of increasing speed (acceleration), the cost of maintaining a constant high speed in order to get closer to the platoon ahead, a potential cost of slowing down and adapting speed to the platoon ahead, and finally the lower cost of driving in the larger platoon with a lower air resistance and the time cost of arriving earlier. It is investigated whether the following is fulfilled in order to catch up:
  • Jconst_s P eed is the fuel cost of arriving at the current speed
  • tagreement is the time cost of arriving on time (at the current speed);
  • Jacceleration is the fuel cost of accelerating up to the new speed in order to catch up;
  • Jhigh_const_s P eed is the fuel cost in order to maintain a higher speed
  • Jdeceleration is any potential fuel cost in order to decelerate to the speed of the platoon ahead.
  • tprevious is the time cost of arriving to the destination early, since there is a cost entailed in waiting.
  • the vehicle/platoon ahead may also achieve a reduced fuel consumption when a vehicle 100/platoon behind catches up with it, compared to if the vehicle/platoon ahead were to be driven without said vehicle 100/platoon being connected.
  • the above equations may thus be adapted to also take into consideration said reduction of fuel consumption.
  • the first control device 200 and/or the second communications terminal 225 an/or another suitable device may be arranged to establish said cost functions for time and fuel consumption, respectively, and thus to implement the innovative method.
  • the method according to the invention may, at least partly, be carried out by an at least one so-called electronic road device or electronic traffic device (not displayed).
  • Said at least one road device may be a stationary or mobile road device.
  • Said at least one road device may be placed for example along a road where vehicles are driven.
  • these may be arranged for communications e. g. with each other, said first and said at least one additional vehicle, and said second communications terminal 225.
  • FIG. 3a schematically illustrates a first vehicle formation.
  • the distance between the vehicle 100 and an additional vehicle 1 10 is reduced in connection with the formation of a platoon, by reducing the speed of said vehicle 100 to a speed lower than the speed of said additional vehicle 1 10, and by increasing it as soon as a predetermined distance between said vehicles prevails.
  • the vehicles 100 and 1 10 may communicate via said link L215, satellite 215 and a link L216.
  • journey characteristics C1 and C2 may be communicated between said vehicles 100 and 1 10.
  • the vehicles 100 and 1 10 are arranged to communicate via a communications network comprising one or several server devices, such as for example the second communications terminal 225.
  • journey characteristics C1 and C2 may be communicated between said vehicles 100 and 1 10.
  • the vehicles 100 and 1 10 are arranged to communicate via a wireless communications network comprising one or several server devices.
  • journey characteristics C1 and C2 may be communicated between said vehicles 100 and 1 10.
  • said additional vehicle 1 10 may be included in a platoon with a random suitable number of vehicles.
  • Said vehicles may be arranged, in an appropriate manner, to communicate with each other in order to take measures jointly, such as for example changing the driving style in order to form and participate in a platoon jointly according to one aspect of the invention.
  • vehicles are comprised in a platoon, all vehicles comprised therein will benefit from a fuel saving, including the vehicle which drives at the front of said platoon.
  • Figure 3b schematically illustrates a first vehicle formation.
  • the distance between the vehicle 100 and an additional vehicle 1 10 is reduced in connection with the formation of a platoon, by increasing the speed of said vehicle 100 to a speed higher than the speed of said additional vehicle 1 10 and is reduced as soon as a predetermined distance between said vehicles prevails.
  • the vehicles 100 and 1 10 may communicate via said link L215, satellite 215 and a link L216.
  • journey characteristics C1 and C2 may be communicated between said vehicles 100 and 1 10.
  • the vehicles 100 and 1 10 are arranged to communicate via a communications network comprising one or several server devices, such as for example the second communications terminal 225.
  • journey characteristics C1 and C2 may be communicated between said vehicles 100 and 1 10.
  • the vehicles 100 and 1 10 are arranged to communicate via a wireless communications network comprising one or several server devices.
  • journey characteristics C1 and C2 may be communicated between said vehicles 100 and 1 10.
  • the invention is not limited to only comprising a first vehicle and an additional vehicle for the formation of and participation in a platoon.
  • said first vehicle 100 may be included in a platoon with a random suitable number of vehicles.
  • said additional vehicle 1 10 may be included in a platoon with a random suitable number of vehicles.
  • Said vehicles may be arranged, in an appropriate manner, to communicate with each other in order to take measures jointly, such as for example changing the driving style in order to form and participate in a platoon jointly according to one aspect of the invention. Where vehicles are comprised in a platoon, all vehicles comprised therein will benefit from a fuel saving, including the vehicle which drives at the front of said platoon.
  • FIG. 4a schematically illustrates a flow diagram of a method for the evaluation of progress comprising platoon formation, according to one embodiment of the invention.
  • the method comprises an initial method step of the procedure s401 .
  • Step s401 comprises the steps of: - to present journey characteristics to a first vehicle potentially participating in a platoon formation, for at least one additional vehicle potentially participating in said platoon;
  • FIG. 4b schematically illustrates a flow diagram of a method for the evaluation of progress comprising platoon formation, according to one embodiment of the invention.
  • the method comprises an initial method step of the procedure s410.
  • the method step s410 comprises the step, to present to a vehicle 100 potentially participating in a platoon formation, journey characteristics for at least one additional vehicle 1 10 potentially participating in said platoon.
  • the step s410 may comprise the step of establishing journey characteristics C1 and journey characteristics C2. Following the method step s410, a subsequent method step s420 is completed.
  • the method step s420 comprises the step, based on journey characteristics for said vehicle 100 as well as for said additional vehicle 1 10, to establish whether the time of arrival for said vehicle 100 is acceptable on the formation of and participation in a platoon, comprising said vehicle 100 as well as said additional vehicle 1 10. Said time of arrival may be deemed acceptable if said vehicles arrive on time and/or avoid waiting less than a predetermined period of time. Following the method step s420, a subsequent method step s430 is completed.
  • the method step s430 comprises the step, based on said journey characteristics C1 for said vehicle 100 and the journey characteristics C2 for said additional vehicle 1 10, to establish whether the formation of and participation in a platoon comprising said vehicle 100, as well as said additional vehicle 1 10, entails a fuel saving compared to travelling alone for said vehicle 100.
  • the step s430 may comprise the step, according to a calculation model, to calculate fuel consumption for the vehicle 100 for different phases of the formation of a platoon with said additional vehicle 1 10. Said calculation is described in more detail with reference to Figure 2.
  • the method step s430 may comprise the step, to present instructions regarding driving manner in order to form said platoon to an operator of said vehicle 100.
  • information regarding recommended acceleration and deceleration patterns may be presented in order to facilitate for the vehicle 100's operator to appropriately achieve the formation of a platoon with said additional vehicle 1 10.
  • the method step s430 may comprise the step to automatically provide control information regarding driving manner to a control device in said vehicle 100, in order to form said platoon, to achieve a driving manner in order to form said platoon.
  • the vehicle 100 may automatically form a platoon with said additional vehicle 1 10.
  • FIG. 4c schematically illustrates a flow diagram of a method for the evaluation of progress comprising platoon formation, according to one embodiment of the invention.
  • the method comprises an initial method step s403.
  • Step s403 comprises the steps to:
  • Said method steps may be carried out a suitable number of times during a transport time for said vehicle 100.
  • FIG. 4d schematically illustrates a flow diagram of a method for the evaluation of progress comprising platoon formation, according to one embodiment of the invention.
  • the method comprises a first step s451 .
  • the method step s451 comprises the step to establish journey characteristics for a first vehicle 100 potentially participating in a platoon formation.
  • a subsequent method step s452 is completed.
  • the method step s452 comprises the step to establish journey characteristics for at least one additional vehicle 1 10 potentially participating in said platoon formation.
  • a subsequent method step s453 is completed.
  • the method step s453 comprises the step, based on journey characteristics for said first 100 as well as said additional vehicle 1 10, to establish whether the time of arrival for said first vehicle 100 is acceptable on the formation of and participation in a platoon, comprising said first vehicle 100 as well as said additional vehicle 1 10. Following the method step s453, a subsequent method step s454 is completed.
  • the method step s454 comprises the step, based on said journey characteristics for said first 100 as well as said additional vehicle 1 10, to establish whether formation of and participation in a platoon comprising said first, as well as said additional vehicle , entails a fuel saving compared to said first vehicle 100 travelling on its own.
  • the method step s454 may alternatively comprise the step, based on said journey characteristics for said first 100 as well as said additional vehicle 1 10, to establish whether formation of and participation in a platoon comprising said first, as well as said additional vehicle, entails a fuel saving compared to said first vehicle 100 as well as said additional vehicle travelling on their own.
  • Said method steps S451 -s454 may be carried out a suitable number of times during a transport time for said vehicle 100.
  • step s454 the method is completed.
  • the control units 200 and 210 may in one embodiment comprise the system 500.
  • the unit 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 part 530 wherein a computer program, such as an operative system, is stored to control the function of the unit 500.
  • the unit 500 includes a bus controller, a serial communications port, an I/O device, an A/D converter, a date-time input and transmission unit, an event counter and an interrupt controller (not displayed).
  • the non-volatile memory 520 also has a second memory part 540.
  • a computer program P comprising procedures for evaluation of progress comprising platoon formation according to the innovative method.
  • the computer program P comprises procedures to present to a first vehicle 100 potentially participating in a platoon formation, journey characteristics C2 for at least one additional vehicle 1 10 potentially participating in said platoon.
  • the computer program P comprises procedures to, based on journey characteristics C1 for said first vehicle and journey characteristics C2 for said additional vehicle 1 10, to establish whether the time of arrival for said first vehicle 100 is acceptable on formation of and participation in a platoon comprising said first vehicle 100 as well as said additional vehicle 1 10.
  • the computer program P comprises procedures, based on said journey characteristics C1 for said first vehicle 100 and the journey characteristics C2 for said additional vehicle 1 10, to establish whether the formation of and participation in a platoon comprising said vehicle 100, as well as said additional vehicle 1 10, entails a fuel saving compared to travelling alone for said vehicle 100.
  • the computer program P comprises procedures to establish journey characteristics C1 for the first vehicle 100, where said journey characteristics C1 comprise at least the prevailing position P1 of the vehicle 100, the established future route R1 of the vehicle 100 and the prevailing vehicle speed V1 of the vehicle 100.
  • the computer program P comprises procedures to establish journey characteristics C2 for at least one additional vehicle 1 10, where said journey characteristics C2 comprise at least the prevailing position P2 of the vehicle 1 10, the established future route R2 of the vehicle 1 10 and the prevailing vehicle speed V2 of the vehicle 1 10.
  • the computer program P comprises procedures to establish a time of arrival for the vehicle 100 in the event the vehicle 100 is not travelling in a platoon.
  • the computer program P comprises procedures to establish a time of arrival for the vehicle 100 in the event the vehicle is comprised in the formation of and participation in a platoon with said additional vehicle 1 10.
  • the computer program P comprises procedures to establish if a time of arrival is deemed acceptable, in the event where the vehicle 100 is comprised in the formation of and participation in a platoon, where said time of arrival is deemed acceptable if said vehicle 100 arrives on time and/or avoid waiting less than a predetermined period of time.
  • the computer program P comprises routines to automatically control said first vehicle 100 so that, on the formation of a platoon, the distance between said first vehicle 100 and said additional vehicle 1 10 is reduced, by reducing the speed V1 of said first vehicle 100 to a speed lower than said additional vehicle's speed V2 and by increasing it as soon as a predetermined distance between said vehicles prevails.
  • the computer program P comprises routines to automatically control said first vehicle 100 so that, on the formation of a platoon, the distance between said first vehicle 100 and said additional vehicle 1 10 is reduced, by increasing the speed V1 of said first vehicle 100 to a speed higher than said additional vehicle's 1 10 speed V2 and by reducing it as soon as a predetermined distance between said vehicles prevails.
  • the computer program P comprises procedures to present to an operator of said first vehicle 100 driving instructions to form said platoon.
  • the computer program P comprises procedures, , to automatically provide control information to a control device 200 in said first vehicle 100, regarding driving manner in order to form said platoon, to achieve a driving manner in order to form said platoon.
  • the computer program P comprises procedures to determine a fuel saving for said first vehicle 100, compared to travelling alone, based on a determination of fuel consumption during formation of and participation in said platoon for said first vehicle.
  • the computer program P comprises procedures to determine said fuel saving for said first vehicle 100, as well as said additional vehicle 1 10, during formation of and participation in a platoon comprising said first vehicle 100 as well as said additional vehicle 1 10.
  • the computer program P comprises procedures to calculate the cost functions with regard to time and fuel consumption, in accordance with the description with reference to among others Figure 2.
  • the program P may be stored in an executable manner or in a compressed manner in a memory 560 and/or a read/write memory 550.
  • a statement that the data processing unit 510 performs a certain function means 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 stored in the read/write memory 550.
  • the data processing unit 510 may 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 for communication with the data processing unit 510 via a data bus 51 1 .
  • the read/write memory 550 is arranged for communication with the data processing unit 510 via a data bus 514.
  • the links, e.g., L210, L220, L230, L240, and L250 may be connected to the data port 599 (see Figure 2).
  • signals received in the data port 599 comprise information, journey characteristics C2 for an additional vehicle 1 10.
  • the signals received by the data port 599 may be used by the device 500 in order, based on the journey characteristics C1 for said first vehicle 100 and journey characteristics C2 for said additional vehicle 1 10, to establish whether the formation of and participation in a platoon comprising said vehicle 100, as well as said additional vehicle 1 10, entails a fuel saving compared to travelling alone for said vehicle 100.
  • Parts of the methods described herein may be carried out by the unit 500 with the help of the data processing unit 510, which runs the program stored in the memory 560 or the read/write memory 550.
  • the unit 500 runs the program, the procedures described herein are executed.

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Abstract

L'invention concerne un procédé qui permet d'évaluer l'avancée, tout en comportant la formation de pelotons, et qui comporte les étapes consistant : - à établir (s451) des caractéristiques de parcours pour un premier véhicule (100) participant potentiellement à une formation de peloton; - à établir (s452) des caractéristiques de parcours pour au moins un véhicule supplémentaire (110) participant potentiellement audit peloton; - sur la base des caractéristiques de parcours pour ledit premier véhicule (100), ainsi que pour ledit véhicule supplémentaire (110), à déterminer (s453) si le temps d'arrivée dudit premier véhicule (100) est acceptable ou non pour la formation et la participation à un peloton comportant ledit premier véhicule (100), ainsi que ledit véhicule supplémentaire (110); et - sur la base desdites caractéristiques de parcours pour ledit premier véhicule (100), ainsi que pour ledit véhicule supplémentaire (110), à déterminer (s454) si la formation et la participation à un peloton comportant ledit premier véhicule, ainsi que ledit véhicule supplémentaire, entraînent ou non une économie de carburant par comparaison avec ledit premier véhicule (100) se déplaçant seul. L'invention concerne également un produit programme d'ordinateur comportant un code de programme (P) pour un ordinateur (200; 210) afin de mettre en œuvre un procédé selon l'invention. L'invention concerne également un dispositif et un véhicule à moteur équipé d'un tel dispositif.
PCT/SE2013/051382 2012-12-12 2013-11-25 Dispositif et procédé pour la formation de pelotons WO2014092628A1 (fr)

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EP13862945.6A EP2932487A4 (fr) 2012-12-12 2013-11-25 Dispositif et procédé pour la formation de pelotons
BR112015013337A BR112015013337A2 (pt) 2012-12-12 2013-11-25 dispositivo e método para formação de pelotão

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SE1251407A SE1251407A1 (sv) 2012-12-12 2012-12-12 Anordning och förfarande för utvärdering av framfart inbegripande fordonstågsformering
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