WO2016128787A1 - Procédé et système de gestion de circulation pour faire fonctionner des véhicules à moteur multiples - Google Patents

Procédé et système de gestion de circulation pour faire fonctionner des véhicules à moteur multiples Download PDF

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Publication number
WO2016128787A1
WO2016128787A1 PCT/IB2015/050975 IB2015050975W WO2016128787A1 WO 2016128787 A1 WO2016128787 A1 WO 2016128787A1 IB 2015050975 W IB2015050975 W IB 2015050975W WO 2016128787 A1 WO2016128787 A1 WO 2016128787A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
motor vehicles
vehicle cluster
cluster
guiding
Prior art date
Application number
PCT/IB2015/050975
Other languages
English (en)
Inventor
Carsten KAUSCH
Original Assignee
Audi Ag
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 Audi Ag filed Critical Audi Ag
Priority to PCT/IB2015/050975 priority Critical patent/WO2016128787A1/fr
Priority to CN201580075801.7A priority patent/CN107209984B/zh
Publication of WO2016128787A1 publication Critical patent/WO2016128787A1/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

Definitions

  • the invention relates to a method and a traffic management system for operating multiple motor vehicles.
  • K 10261195 A discloses a method for controlling a vehicle group formation.
  • This group formation corresponds to the car cluster according to the invention.
  • Different vehicles exchange information about their respective destination. Based on this information, those vehicles having the same destination are combined to a group.
  • the vehicles belonging to the same group are arranged in a line and accelerated or decelerated in the same way.
  • JP 2006300655 A shows a group navigation method. An individual route searched by a navigation device of a vehicle is compared with a master route, which describes a route for a group navigation for a group of cars. Differences between the individual route and the master route can be displayed.
  • JP 2009-250637 A shows a method for controlling the travel of a group of vehicles and prevents the group of vehicles from being separated from each other. Therefore a communication device acquires information about separation points, such as positional information, temporary stops, traffic lights, crossings, information on the changing timing of traffic lights and crossings, traffic information at junctions and intersections. A travel route for the group of vehicles is set on the basis of this information.
  • a route information providing device is configured to provide route information to a plurality of vehicles which belong to a vehicle group travelling to the same destination point.
  • a detection unit detects positions of the vehicles in the vehicle group, respectively.
  • a sensing unit senses a state of the vehicles continuing to stop for a prescribed period or more.
  • a searching unit searches routes for respectively guiding the vehicles in the vehicle group to prescribed points when such a state is sensed that at least one vehicle in the vehicle group continues to stop for the prescribed period or more.
  • a transmitting unit transmits information of the searched routes to the vehicles in the vehicle group, respectively.
  • DE 10 2012 212 339 Al shows a method for grouping several cars to one group of cars travelling along the same route.
  • the different cars can communicate with each other by car2x-communication for identifying cars with similar routes.
  • the focus of the grouping is on energy efficiency.
  • US 2006 0161341 Al shows a navigation method for a group of cars.
  • a central remote navigation server provides the vehicles with a navigation service, wherein the navigation server calculates for each of the slave vehicles route instructions such that the slave vehicles are instructed to follow the master vehicle. The route instructions are transmitted to the slave vehicles via a communication network.
  • the method in particular finds application in large cities, wherein the starting area is preferably preset between two busy traffic junctions such as for example intersections.
  • the determination of those motor vehicles, which are disposed in the preset starting area and have at least one common intermediate destination along their respective navigation routes, can for example be effected by a so-called Car2Car communication or by means of a traffic management system, which obtains corresponding navigation information from the individual motor vehicles.
  • the association of at least a part of the determined motor vehicles, which have at least one common intermediate destination can be effected according to very different criteria.
  • the vehicle cluster is to have not more than two to twenty motor vehicles according to how the traffic situation up to the intermediate destination constitutes.
  • the control of the vehicle cluster, thus of all of the motor vehicles associated with the vehicle cluster is preferably effected such that the motor vehicles are either fully autonomously navigated up to the intermediate destination or at least corresponding navigation indications are displayed in the motor vehicles such that respective drivers of the motor vehicles can keep the junction to the vehicle cluster associated with them as possible.
  • the vehicle cluster is separated. Therein, it can either be provided that the vehicle cluster is for example separated into multiple vehicle clusters, wherein the vehicle clusters then in turn are controlled such that the individual vehicle clusters are navigated up to the intermediate destination. Alternatively, it is also possible that individual motor vehicles are excluded from the vehicle cluster if this should be required to be able to navigate the remaining vehicle cluster to the intermediate destination as fast as possible.
  • a disturbance of the vehicle cluster can for example again be detected by a Car2Car communication between the individual motor vehicles of the vehicle cluster or by means of the traffic management system.
  • step c) those motor vehicles are associated with the vehicle cluster, which satisfy a preset criterion.
  • the preset criterion can for example be that approximately equally powerful vehicles are selected and associated with the vehicle cluster.
  • similar vehicle types such as for example trucks, conventional passenger cars, motorcycles and the like are selected and associated with the vehicle cluster.
  • a further advantageous embodiment of the invention provides that in method step c) a maximum number of vehicles is preset depending on a traffic situation, which are associated with the vehicle cluster.
  • the traffic situation can for example be detected and evaluated along a route up to the intermediate destination, in the starting area or the like. With particularly high traffic density, it can for example be advantageous to combine a lower number of motor vehicles.
  • particularly agile vehicle clusters can be formed, which can be navigated up to the intermediate destination without separation of the vehicle cluster in particularly simple manner.
  • the vehicle cluster is controlled such that overtaking maneuvers within the vehicle cluster are inhibited at least along a partial section up to the intermediate destination.
  • the inhibition of the overtaking maneuvers can be particularly simply effected.
  • corresponding warning indications are displayed within the motor vehicles, which advert the respective drivers not to perform an overtaking maneuver within the vehicle cluster.
  • the vehicle cluster is controlled depending on a detected traffic situation such that the motor vehicles travel in a formation adapted to the detected traffic situation.
  • the respective formations can for example be preset according to different criteria. For example, it can be provided that all of the motor vehicles travel one behind the other as strung in a bead chain one behind the other, thus in single-row manner. Alternatively, it can for example also be provided that the vehicles travel in two-row manner next to each other and strung one behind the other. Moreover, it can be provided that certain preset gaps are preset between the individual motor vehicles within their formation.
  • the formation of the vehicle cluster is selected such that the entire vehicle cluster can be passed though the traffic in particularly undisturbed manner until the vehicle cluster has been navigated up to the intermediate destination.
  • a further advantageous embodiment of the invention provides that during method step e) the vehicle cluster is controlled such that respective distances between the motor vehicles are minimized to a predetermined distance at least along a partial section up to the intermediate destination, in particular if the motor vehicles are in a traffic jam. Thereby, it can in particular be prevented that the vehicle cluster occupies too much space on a lane, which would impair further traffic participants in their advancement in particular in case of a traffic jam or in stagnant traffic.
  • a further advantageous embodiment of the invention provides that during method step e) the vehicle cluster is controlled such that one of the motor vehicles blocks other traffic participants at least at a road branch such that in turning of the remaining motor vehicles into the road branch, influence on these motor vehicles by the blocked traffic participants is prevented. Thereby, it can be ensured that the vehicle cluster can remain together even in turning into a road branch without individual motor vehicles of the vehicle cluster being separated from the vehicle cluster by impediment by other traffic participants.
  • the vehicle cluster is controlled such that a gap for receiving the further traffic participants is established between one of the present motor vehicles of the vehicle cluster.
  • a gap for receiving the further traffic participant is established between the present motor vehicles of the vehicle cluster, the following and joining motor vehicle can be integrated in the existing vehicle cluster in simple manner.
  • a further advantageous embodiment of the invention provides that as soon as it is detected during method step e) that at least one vehicle of the vehicle cluster deviates from a preset way of driving by a preset tolerance amount, this vehicle is excluded from the vehicle cluster.
  • the preset way of driving can for example include a predetermined distance to the preceding vehicle of the vehicle cluster or a predetermined direction of travel or the like.
  • the tolerance amount is preferably preset depending on the speed of the guiding vehicle or for example depending on an average speed of the vehicle cluster. In that individual motor vehicles of the vehicle cluster are excluded from the vehicle cluster with a deviation from the preset way of driving, it can be ensured that the vehicle cluster having the remaining motor vehicles can reach the intermediate destination in particular undisturbed and fast manner.
  • the guiding vehicle is excluded from the vehicle cluster, wherein one of the remaining motor vehicles of the vehicle cluster is set as the new guiding vehicle and the vehicle cluster is controlled such that the new guiding vehicle is navigated to the intermediate destination and the remaining motor vehicles of the vehicle cluster follow the new guiding vehicle.
  • the vehicle cluster can still particularly reliably and fast reach the intermediate destination.
  • that motor vehicle still remaining in the vehicle cluster is set as the new guiding vehicle, which is in the frontmost position viewed in direction of travel after the original guiding vehicle.
  • the vehicle cluster is divided into a first vehicle cluster including the guiding vehicle and a second vehicle cluster, wherein a second guiding vehicle is set for the second vehicle cluster and the second vehicle cluster is controlled such that the second guiding vehicle is navigated to the intermediate destination and the remaining motor vehicles of the second vehicle cluster follow the second guiding vehicle.
  • the traffic management system according to the invention is adapted to operate multiple motor vehicles according to the method according to the invention or according to an advantageous embodiment of the method according to the invention.
  • advantageous configurations of the method according to the invention are to be regarded as advantageous configurations of the traffic management system, wherein the traffic management system in particular has means for performing the method steps.
  • Fig. 1 a schematic illustration of a traffic management system and multiple motor vehicles, wherein some of the motor vehicles are combined to a vehicle cluster and are navigated to a common intermediate destination;
  • Fig. 2 a schematic illustration of a possible formation of the vehicle cluster, wherein the individual motor vehicles travel one behind the other in single-row manner;
  • Fig. 3 a schematic illustration of a further possible formation of the vehicle cluster, wherein the motor vehicles travel one behind the other in two-row manner;
  • Fig. 4 a schematic illustration of a further possible formation of the vehicle cluster, wherein the motor vehicles travel one behind the other in X-shaped manner;
  • Fig. 5 a schematic illustration of a further possible formation of the motor vehicles within the vehicle cluster, wherein the motor vehicles travel one behind the other in two-row manner and laterally offset to each other;
  • Fig. 6 a schematic illustration of an intersection, wherein the vehicles of the vehicle cluster turn right and two of the motor vehicles of the vehicle cluster position themselves within the intersection such that they block further motor vehicles not associated with the vehicle cluster such that the remaining motor vehicles of the vehicle cluster can also turn right without problem;
  • Fig. 7 a schematic illustration of a junction of a road with a road, on which the vehicle cluster travels, wherein three of the motor vehicles of the vehicle cluster are positioned at the junction such that they block the junction.
  • a starting area 12 is preset.
  • the starting area 12 is preferably between two busy traffic junctions here not illustrated in more detail, such as for example intersections, roundabouts or the like within a busy city area.
  • the traffic management system 10 it is determined, which of the motor vehicles 14, 16 disposed in the city area 12 have at least one common intermediate destination along their respective navigation routes 20 to their respectively individual navigation destinations 22. Therein, it can be provided that the individual motor vehicles 14, 16 can communicate with each other via corresponding communication links, wherein it can also be provided that all of the motor vehicles 14, 16 can communicate their individual navigation destinations 22 via corresponding communication links to the traffic management system 10.
  • At least a part of the determined motor vehicles 14, which have a common intermediate destination 18, are combined to a vehicle cluster 24.
  • the traffic management system 10 or alternatively by a communication between the individual motor vehicles 14, it is determined, which of the motor vehicles 14 associated with the vehicle cluster 24 is least distant from the intermediate destination 18, wherein this motor vehicle 14 is set as the guiding vehicle a by the traffic management system 10.
  • the vehicle cluster 24 is controlled by means of the traffic management system 10 such that the guiding vehicle a is navigated to the intermediate destination 18 and the remaining motor vehicles 14 of the vehicle cluster 24 follow the guiding vehicle a, wherein the vehicle cluster 24 is separated if a predetermined disturbance of the vehicle cluster 24 is detected during the navigation.
  • the motor vehicles 14 associated with the vehicle cluster 24 and thus also the guiding vehicle a are controlled by means of the traffic management system 10 such that the motor vehicles 14 and the guiding vehicle a are fully autonomously navigated up to the intermediate destination 18.
  • the drivers of the motor vehicles of the vehicle cluster 24 can also manually control their motor vehicles 14, a, wherein corresponding navigation indications are displayed.
  • those motor vehicles 14 are associated with the vehicle cluster 24, which approximately have the same engine power, or if the motor vehicles 14 each are to be associated with similar vehicle types such as for example trucks, conventional passenger cars, motorcycles or the like.
  • a particularly homogeneous vehicle cluster 24 is provided, which can be navigated up to the intermediate destination 18 in particularly simple and reliable manner without required separation of the vehicle cluster 24.
  • a maximum number of vehicles is preset by the traffic management system 10 depending on a traffic situation in the city area 12 and/or along a route up to the intermediate destination 18, which are associated with the vehicle cluster 24.
  • the vehicle cluster 24 is controlled by means of the traffic management system 10 such that overtaking maneuvers within the vehicle cluster 24 are preferably inhibited up to the intermediate destination.
  • the vehicle cluster 24 is controlled depending on a detected traffic situation such that the motor vehicles a, 14 travel in a formation adapted to the detected traffic situation.
  • a detected traffic situation such that the motor vehicles a, 14 travel in a formation adapted to the detected traffic situation.
  • different possible formations of the vehicle cluster 24 are schematically illustrated.
  • the vehicle cluster 24 is controlled such that the motor vehicles a, 14 travel one behind the other in a single-row line.
  • the vehicle cluster 24 is controlled by means of the traffic management system 10 such that the motor vehicles a, 14 travel in a two-row arrangement.
  • the vehicle cluster 24 is controlled by means of the traffic management system 10 such that the motor vehicles a, 14 travel in a type of X formation.
  • the vehicle cluster 24 is controlled by means of the traffic management system 10 such that the motor vehicles a, 14 again travel in two-row manner, wherein the individual motor vehicles of the respective rows are disposed offset to each other, thus, the vehicle cluster 24 travels in a type of Y formation.
  • the respective formation of the vehicle cluster 24 can be varied adapted to the present traffic situation along the navigation up to the intermediate destination 18 such that the vehicle cluster 24 can be navigated up to the intermediate destination 18 without separation thereof.
  • the vehicle cluster 24 is controlled such that at least along a partial section up to the intermediate destination 18, respective distances between the motor vehicles a, 14 are minimized to a preset distance if the motor vehicles a, 14 should be in a traffic jam or in a stagnant traffic situation.
  • the distances between the motor vehicles a, 14 of the vehicle cluster 24 are reduced to a minimum, for example to few centimeters, half a meter or the like.
  • the vehicle cluster 24 is controlled such that a gap for receiving the further traffic participant is established between one of the present motor vehicles a, 14 of the vehicle cluster 24.
  • a joining motor vehicle which has the same intermediate destination 18 as the other motor vehicles a, 14 of the vehicle cluster 24, can therefore join to the vehicle cluster 24 in simple manner and move into the provided gap.
  • this motor vehicle 14 is excluded from the vehicle cluster 24 so as not to impede the advancement of the remaining motor vehicles a, 14 of the vehicle cluster 24.
  • the guiding vehicle a is then also excluded from the vehicle cluster 24.
  • One of the remaining motor vehicles 14 of the vehicle cluster 24 is set as the new guiding vehicle ⁇ ' by means of the traffic management system 10 and the vehicle cluster 24 is controlled such that the new guiding vehicle ⁇ ' is navigated to the intermediate destination and the remaining motor vehicles 14 of the vehicle cluster 24 follow the new guiding vehicle ⁇ '.
  • the vehicle cluster 24 is divided into a first vehicle cluster 24' including the guiding vehicle a and a second vehicle cluster 24", wherein a second guiding vehicle a" is set for the second vehicle cluster 24" and the second vehicle cluster 24" is controlled such that the second guiding vehicle a" is navigated to the intermediate destination and the remaining motor vehicles 14 of the second vehicle cluster 24" follow the second guiding vehicle a".
  • a road intersection not denoted in more detail is schematically illustrated.
  • the entire vehicle cluster 24 is about to turn right within the intersection.
  • the vehicle cluster 24 is controlled by means of the traffic management system 10 such that at least some of the motor vehicles 14 of the vehicle cluster 24 position themselves within the intersection such that they inhibit turning of further motor vehicles 16 to the same direction as the vehicle cluster 24.
  • some of the motor vehicles 14 of the vehicle cluster 24 are controlled such that they position themselves within the intersection such that they block further motor vehicles 16 as long as the entire vehicle cluster 24 can perform the turning operation in undisturbed manner and without separation of the vehicle cluster.
  • a road junction with a road traveled by the vehicle cluster 24 is schematically illustrated.
  • the vehicle cluster 24 is controlled by means of the traffic management system 10 such that some of the motor vehicles 14, three of the motor vehicles 14 according to the present illustration, position themselves at a junction such that further motor vehicles 16 cannot turn into the same road, on which the vehicle cluster 24 is advanced.
  • the motor vehicles 14 blocking the junction remain in their blocking position until the remaining motor vehicles a, 14 of the vehicle cluster 24 have passed the junction.
  • the further motor vehicles 14, which previously have blocked the junction again join to the vehicle cluster 24.
  • the further motor vehicles 16 can pass the junction without problem and travel the same road as the vehicle cluster 24.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé destiné à faire fonctionner des véhicules à moteur multiples, comprenant les étapes consistant à: a) prédéfinir une zone (12) de départ; b) déterminer ceux des véhicules (14) à moteur, qui sont disposés dans la zone (12) de départ prédéfinie et ont au moins une destination intermédiaire (18) commune le long de leurs itinéraires (20) respectifs de navigation; c) associer au moins une partie des véhicules (14) à moteur déterminés à un groupement (24) de véhicules; d) déterminer lequel des véhicules (14) à moteur associés au groupement (24) de véhicules est le moins éloigné de la destination intermédiaire (18), et spécifier ce véhicule (14) à moteur as un véhicule guide (α); e) commander le groupement de véhicules de telle façon que le véhicule guide (α) fasse l'objet, en particulier de façon autonome, d'une navigation jusqu'à la destination intermédiaire (18), et que les véhicules (14) à moteur restants du groupement (24) de véhicules, en particulier de façon autonome, suivent le véhicule guide (α), le groupement (24) de véhicules étant séparé si une perturbation prédéterminée du groupement (24) de véhicules a été détectée. L'invention concerne en outre un système (10) de gestion de circulation destiné à faire fonctionner des véhicules (14) à moteur multiples.
PCT/IB2015/050975 2015-02-10 2015-02-10 Procédé et système de gestion de circulation pour faire fonctionner des véhicules à moteur multiples WO2016128787A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/IB2015/050975 WO2016128787A1 (fr) 2015-02-10 2015-02-10 Procédé et système de gestion de circulation pour faire fonctionner des véhicules à moteur multiples
CN201580075801.7A CN107209984B (zh) 2015-02-10 2015-02-10 用于操作多个机动车辆的方法和交通管理系统

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2015/050975 WO2016128787A1 (fr) 2015-02-10 2015-02-10 Procédé et système de gestion de circulation pour faire fonctionner des véhicules à moteur multiples

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WO2016128787A1 true WO2016128787A1 (fr) 2016-08-18

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CN112750297B (zh) * 2019-10-31 2022-09-16 广州汽车集团股份有限公司 一种车队控制方法、调度处理系统、车辆及控制系统
CN113119961A (zh) * 2021-05-17 2021-07-16 腾讯科技（深圳）有限公司 编队行驶处理方法、装置、计算机可读介质及电子设备

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JP2006300655A (ja) 2005-04-19 2006-11-02 Denso Corp グループ走行ナビゲーション方法，グループ走行ナビゲーションシステム，ナビゲーション装置および情報センタ
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