WO2017164792A1

WO2017164792A1 - A method and a system for controlling platooning operation when a vehicle is to leave the platoon

Info

Publication number: WO2017164792A1
Application number: PCT/SE2017/050227
Authority: WO
Inventors: Assad ALAM; Joakim KJELLBERG; Christoffer NORÉN
Original assignee: Scania Cv Ab
Priority date: 2016-03-22
Filing date: 2017-03-09
Publication date: 2017-09-28
Also published as: SE539788C2; DE112017000910T5; SE1650383A1

Abstract

The present invention relates to a method for controlling platooning operation of a platoon (P1) of vehicles (1, 2, 3,4) along a road (R). The method comprises the step of determining (S1) the intention of a vehicle in the platoon (P1) to leave the platoon (P1). The method further comprises the steps of: determining (S2) external characteristics comprising configuration of the road and/or weather conditions; and determining (S3) a suitable position along said road for said vehicle intending to leave the platoon (P1) to leave the platoon (P1) based upon said external characteristics so as to optimize the energy consumption in connection to said vehicle in the platoon (P1) leaving the platoon (P1) and to rearrange said platoon (P1) after said vehicle has left the platoon (P1). The present invention also relates to a system for controlling platooning operation of a platoon (P1) of vehicles along a road (R). The present invention also relates to a platoon (P1). The present invention also relates to a computer program and a computer program product.

Description

A METHOD AND A SYSTEM FOR CONTROLLING PLATOONING OPERATION WHEN A VEHICLE IS TO LEAVE THE PLATOON

TECHNICAL FIELD The invention relates to a method for controlling platooning operation of a platoon of vehicles along a road according to the preamble of claim 1 . The invention also relates to a system for controlling platooning operation of a platoon of vehicles along a road. The invention also relates to a vehicle. The invention in addition relates to a computer program and a computer program product.

BACKGROUND ART

Vehicles such as heavy vehicles are continuously looking at ways to reduce energy consumption to reduce energy costs and also to lower emissions. One way of reducing energy consumption is to operate several vehicles in a chain formation, also known as platooning or operating vehicles in a convoy.

Platooning takes advantage of a reduced air drag by operating with small distances between vehicles in the platoon. Under normal circumstances the air drag of a vehicle is proportional to the square of the velocity of the vehicle. By staying close to a forward vehicle, an effect of reduced air drag can be obtained. Hence, by operating several vehicles in a chain formation, here denoted as platoon or platooning, a substantial fuel reduction can be obtained through automated control systems.

A known problem for platoons is when a vehicle of the platoon wants to the leave the platoon. A member in the platoon leaving the platoon will create a gap between the subsequent and preceding vehicles. To be able to close the gap either the preceding vehicles need to lower their speed or the subsequent vehicles need to increase their speed or a combination of both. The gap will cause the subsequent vehicles to use extra energy due to the increased air drag and even more if they need to increase their speed to catch up with the platoon. This will affect the energy consumption for the platoon and may also affect travelling time and brake wear.

There are known ways to controlling platooning operation where a vehicle leaving the platoon is taken into consideration. WO2015047174 discloses a strategy for recreating a platoon when a vehicle has left the platoon, where parameters affecting the fuel consumption are taken into consideration.

There is however a need for improving controlling platooning operation of a platoon of vehicles along a road.

OBJECTS OF THE INVENTION

An object of the present invention is to provide a method for controlling platooning operation of a platoon of vehicles along a road which facilitates optimizing the total energy consumption of the platoon in connection to a vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon.

Another object of the present invention is to provide a system for controlling platooning operation of a platoon of vehicles along a road which facilitates optimizing the total energy consumption of the platoon in connection to a vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon. SUMMARY OF THE INVENTION

These and other objects, apparent from the following description, are achieved by a method, a system, a vehicle, a computer program and a computer program product, as set out in the appended independent claims. Preferred embodiments of the method and the system are defined in appended dependent claims.

Specifically an object of the invention is achieved by a method for controlling platooning operation of a platoon of vehicles along a road. The method comprises the step of determining the intention of a vehicle in the platoon to leave the platoon. The method further comprises the steps of: determining external characteristics comprising configuration of the road and/or weather conditions; and determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon based upon said external characteristics so as to optimize the energy consumption in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon.

The optimization of the energy consumption in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon is according to an embodiment optimization of the total energy consumption of the platoon in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon. The optimization of the energy consumption in connection to said vehicle in the platoon leaving the platoon could also be for the vehicle leaving the platoon. The determined suitable position along said road for said vehicle intending to leave the platoon to leave the platoon based upon said external characteristics may further be to optimize emissions, i.e. minimize emissions.

The intention of a vehicle in the platoon to leave the platoon may be determined in any suitable way. The intention of a vehicle in the platoon to leave the platoon may be communicated from the vehicle intending to leave the platoon to the other vehicles of the platoon e.g. within a vehicle-to-vehicle communication arrangement. The intention of a vehicle in the platoon to leave the platoon may be communicated from an external source e.g. within an infrastructure-to-vehicle communication arrangement. The intention of a vehicle in the platoon to leave the platoon may be extracted from a planned route of the vehicles of the platoon, the planned route of the vehicle intending to leave the platoon leading to a leaving of the platoon. The intention of a vehicle in the platoon to leave the platoon may be any suitable signal from the vehicle intending to leave.

The step of determining external characteristics thus comprises according to an embodiment the step of determining the configuration of the road along which the platoon is travelling.

The step of determining external characteristics thus comprises according to an embodiment the step of determining the weather conditions in connection to the road along which the platoon is travelling.

The configuration of the road along which the platoon is travelling may comprise one or more of: road exits along the road, the topography of the road comprising uphill slopes and downhill slopes, curves of the road and their trajectory, number of lanes and change of number of lanes, roundabouts along the road, and/or traffic lights and/or stop signs along the road. The configuration of the road along which the platoon is travelling may further comprise road conditions along the road comprising one or more of: ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, said conditions comprising conditions along the road on the lane on which the platoon is travelling and lanes adjacent to the lane along which the platoon is travelling and possible difference of conditions of the lane along which the platoon is travelling and adjacent lanes. The configuration of the road along which the platoon is travelling may comprise temporary obstacles on the road such as road construction, an accident on the road and/or other obstacles affecting driving of the platoon and leaving of the platoon.

Thus determined weather conditions may comprise one or more of: wind conditions comprising wind speed and wind direction, precipitation comprising rain and extent of rain, and/or snow and extent of snow, and/or hail and extent of hail, current temperature, or the like.

A suitable position for the vehicle to leave the platoon may thus depend on such external characteristics resulting in the actual position along the road where the vehicle should leave the platoon and thus the timing when the vehicle should leave the platoon may differ from when the vehicle has decided to leave the platoon/could leave the platoon.

The timing and position along the road where the vehicle should leave the platoon should be where the total energy consumption of the platoon, i.e. the including the energy consumption of the vehicle leaving the platoon, is optimized, i.e. minimized.

If a vehicle of the platoon intends to leave the platoon with the intention to leave the road along which the platoon is travelling via an upcoming road exit the most suitable position for leaving the platoon is likely not in connection to the road exit as exiting the road at the road exit likely will require a reduction of speed of the vehicle of the platoon leaving the platoon, and hence also the platoon should the leaving be performed in connection to the road exit. In such a situation the leaving should take place at a positon along the road prior to the road exit that will not require a reduction of speed for the remaining vehicles of the platoon. If there is a downward slope along the road a certain suitable distance prior to the road exit the downward slope could be a suitable place for leaving the platoon as the down slope could be utilized by the remaining trailing vehicles to close the gap the vehicle/vehicles having had positions in the platoon ahead of the vehicle leaving the platoon. If a vehicle of the platoon intends to leave the platoon with the intention to join another platoon leaving of the platoon needs to be performed taking the platoon which the leaving vehicle is intended to join into consideration.

By thus determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon based upon such external characteristics optimizing the total energy consumption of the platoon in connection to a vehicle in the platoon leaving the platoon and rearranging said platoon after said vehicle has left the platoon is facilitated. Thus energy consumption for all vehicle in the platoon including the vehicle leaving and rearranging the platoon the platoon may hereby be optimized, i.e. minimized.

According to an embodiment the method comprises the step of: determining the character of the leaving of the platoon, wherein the step of determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking the character of the leaving into consideration. By thus taking the character of the leaving of the platoon into consideration the total energy consumption of the platoon may be further optimized in that different characters of leaving may require different suitable positions for leaving and rearranging the platoon in order to optimize total energy consumption for the platoon. The character of the leaving may comprise any character of leaving the platoon. The character of the leaving may comprise one or more of: leaving by entering an exit from the road, leaving due to speed of the platoon being too slow or too fast, and leaving to join another platoon.

According to an embodiment the method comprises the step of determining the position in the platoon of said vehicle intending to leave said platoon, wherein the step of determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking said position in the platoon of said vehicle intending to leave said platoon into consideration. By thus taking the position in the platoon of said vehicle intending to leave said platoon into consideration the total energy consumption of the platoon may be further optimized in that different positions in the platoon may require different suitable positions for leaving and rearranging the platoon in order to optimize total energy consumption for the platoon. There may be a different suitable position if the vehicle intending to leave the platoon is the leading vehicle, an intermediate vehicle or the last vehicle. Depending on external characteristics, the character of the leaving and the planned route of the platoon the leading vehicle may leave at an earlier stage than the intermediate vehicle/vehicles and the last vehicle may leave at a later stage.

According to an embodiment the method comprises the step of determining the characteristics of the different vehicles of the platoon, wherein the step of determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking said characteristics of the different vehicles of the platoon into consideration. Characteristics of a vehicle may comprise weight, dimensions, driveability, type of vehicle or the like. By thus taking the characteristics of the different vehicles of the platoon into consideration the total energy consumption of the platoon may be further optimized in that different characteristics of the vehicles may require different suitable positions for leaving and rearranging the platoon in order to optimize total energy consumption for the platoon.

According to an embodiment the method comprises the step of determining the current position of the platoon, wherein the step of determining the configuration of the road along which the platoon is travelling comprises the step of extracting map information of the extension of the road along which the platoon is travelling as a basis for determining said suitable position along said road for said vehicle intending to leave the platoon to leave the platoon.

Determining the current position of the platoon comprises according to an embodiment using a Global Navigation Satellite System, GNSS, e.g. a global positioning system, GPS, for continuously determining the position of the platoon. The extracted map information of the extension of the road along which the platoon is travelling comprises using any suitable map extracting unit.

The configuration of the road along which the platoon is travelling may comprise road exits along the road, the topography of the road comprising uphill slopes and downhill slopes, curves of the road and their trajectory, number of lanes and change of number of lanes, roundabouts along the road, and/or traffic lights and/or stop signs along the road. By thus determining the position of the platoon and extracting map information, i.e. map data, of information of the configuration of the road along which the platoon is travelling determination of suitable positions for leaving and rearranging the platoon in order to optimize total energy consumption for the platoon is facilitated.

According to an embodiment the method comprises the steps of: communicating relevant information between the vehicles of the platoon and, when desired, other relevant vehicles within a vehicle-to-vehicle communication arrangement, and/or communicating information between vehicles of the platoon and infrastructure within a vehicle-to-infrastructure arrangement, said information being provided for consideration when deciding on suitable position along the road for said vehicle intending to leave the platoon to leave the platoon.

Relevant information may comprise information about road conditions along the road comprising ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, said conditions comprising conditions along the road on the lane on which the platoon is travelling and lanes adjacent to the lane along which the platoon is travelling and possible difference of conditions of the lane along which the platoon is travelling and adjacent lanes. Relevant information may comprise information about temporary obstacles on the road such as road construction, an accident on the road and/or other obstacles affecting driving of the platoon and leaving of the platoon. Relevant information may comprise information about planned route for the respective vehicles. Relevant information may comprise information about intention to leave the platoon from the vehicle intending to leave the platoon. Relevant information may comprise information about character of the leaving of the platoon from the vehicle intending to leave the platoon. Relevant information may comprise information about the characteristics of the respective vehicles of the platoon.

By thus communicating relevant information between the vehicles of the platoon within a vehicle-to-vehicle communication arrangement, said information comprising information about planned route for the respective vehicles and/or information about intention to leave the platoon from the vehicle intending to leave the platoon and/or information about character of the leaving of the platoon from the vehicle intending to leave the platoon, and/or information about the characteristics of the respective vehicles of the platoon, determination of suitable positions for leaving and rearranging the platoon in order to optimize total energy consumption for the platoon is facilitated.

By thus communicating relevant information between the vehicles of the platoon and other relevant vehicles within a vehicle-to-vehicle communication arrangement, said information comprising information about road conditions along the road comprising ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, and/or information about temporary obstacles on the road such as road construction, an accident on the road and/or other obstacles affecting driving of the platoon and leaving of the platoon, determination of suitable positions for leaving and rearranging the platoon in order to optimize total energy consumption for the platoon is facilitated.

By thus communicating relevant information between the vehicles of the platoon and infrastructure within a vehicle-to-infrastructure communication arrangement, said information comprising information about road conditions along the road comprising ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, and/or any relevant weather conditions, and/or information about temporary obstacles on the road such as road construction, an accident on the road and/or other obstacles affecting driving of the platoon and leaving of the platoon, determination of suitable positions for leaving and rearranging the platoon in order to optimize total energy consumption for the platoon is facilitated.

According to an embodiment a thus determined suitable position along said road for said vehicle intending to leave the platoon to leave the platoon is presented to the platoon. Thus, the method comprises according to an embodiment the step of presenting to the platoon suitable position along said road for said vehicle intending to leave the platoon to leave the platoon. The step of presenting a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon is presented to the operator of the vehicle intending to leave the platoon. The step of presenting a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon is presented to the operator of one or more of the other vehicles of the platoon. The step of presenting a suitable position along said road for said vehicle intending to leave the platoon may comprise visual presentation and/or acoustic presentation and/or tactile presentation. The step of presenting a suitable position along said road for said vehicle intending to leave the platoon may be provided by communicating said relevant information between the vehicles of the platoon within the vehicle-to- vehicle communication arrangement, and/or communicating information between vehicles of the platoon and infrastructure within a vehicle-to- infrastructure arrangement.

Specifically an object of the invention is achieved by a system for controlling platooning operation of a platoon of vehicles along a road. The system comprises means for determining the intention of a vehicle in the platoon to leave the platoon. The system further comprises means for determining external characteristics comprising means for determining the configuration of the road and/or means for determining weather conditions; and means for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon based upon said external characteristics so as to optimize the energy consumption in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon.

The means for determining external characteristics thus according to an embodiment comprises means for determining the configuration of the road along which the platoon is travelling.

The means for determining external characteristics thus according to an embodiment comprises means for determining the weather conditions in connection to the road along which the platoon is travelling.

According to an embodiment the system comprises means for determining the character of the leaving of the platoon, wherein the means for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises means for taking the character of the leaving into consideration.

According to an embodiment the system comprises means for determining the position in the platoon of said vehicle intending to leave said platoon, wherein the means for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises means for taking said position in the platoon of said vehicle intending to leave said platoon into consideration. According to an embodiment the system comprises means for determining the characteristics of the different vehicles of the platoon, wherein the means for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises means for taking said characteristics of the different vehicles of the platoon into consideration. According to an embodiment the system comprises means for determining the current position of the platoon, wherein the means for determining the configuration of the road along which the platoon is travelling comprises means for extracting map information of the extension of the road along which the platoon is travelling as a basis for determining said suitable position along said road for said vehicle intending to leave the platoon to leave the platoon.

According to an embodiment the system comprises means for communicating relevant information between the vehicles of the platoon and, when desired, other relevant vehicles within a vehicle-to-vehicle communication arrangement, and/or means for communicating information between vehicles of the platoon and infrastructure within a vehicle-to- infrastructure arrangement, said information being arranged to be provided for consideration when deciding on suitable position along the road for said vehicle intending to leave the platoon to leave the platoon.

According to an embodiment the system comprises means for of presenting to the platoon suitable position along said road for said vehicle intending to leave the platoon to leave the platoon. The means may comprise visual means and/or acoustic means and/or tactile means. The means for presenting to the platoon suitable position along said road for said vehicle intending to leave the platoon to leave the platoon is according to an embodiment comprised in said means for communicating relevant information between the vehicles of the platoon within a vehicle-to-vehicle communication arrangement, and/or said means for communicating information between vehicles of the platoon and infrastructure within a vehicle-to-infrastructure arrangement.

The system for controlling platooning operation of a platoon of vehicles along a road is adapted to perform the methods as set out herein. The system according to the invention has the advantages according to the corresponding method claims.

Specifically an object of the invention is achieved by a vehicle comprising a system as set out herein. Specifically an object of the invention is achieved by a computer program for controlling platooning operation of a platoon of vehicles along a road, said computer program comprising program code which, when run on an electronic control unit or another computer connected to the electronic control unit, causes the electronic control unit to perform methods as set out herein. Specifically an object of the invention is achieved by a computer program product comprising a digital storage medium storing the computer program.

BRIEF DESCRIPTION OF THE DRAWINGS

For a better understanding of the present invention reference is made to the following detailed description when read in conjunction with the accompanying drawings, wherein like reference characters refer to like parts throughout the several views, and in which:

Fig. 1 a-d schematically illustrates a platoon of vehicles travelling along a road according to the present invention; Fig. 2 schematically illustrates a block diagram of a system for controlling platooning operation of a platoon of vehicles along a road according to an embodiment of the present invention;

Fig. 3 schematically illustrates a block diagram of a method for controlling platooning operation of a platoon of vehicles along a road according to an embodiment of the present invention; and Fig. 4 schematically illustrates a computer according to an embodiment of the present invention.

DETAILED DESCRIPTION Hereinafter the term "link" refers to a communication link which may be a physical connector, such as an optoelectronic communication wire, or a non- physical connector such as a wireless connection, for example a radio or microwave link.

Hereinafter the term "energy consumption" refers to the energy consumed by one or more vehicles of the platoon. The term "energy consumption" comprises the energy consumption due to the driving means of the vehicle. The driving means of the vehicle may be an internal combustion engine in which case the energy consumption comprises fuel consumption. The driving means of the vehicle may comprise an electric machine for a hybrid vehicle or an electric vehicle, in which case the energy consumption comprises electric energy consumption.

Fig. 1 a-d schematically illustrates a platoon P1 of vehicles 1 , 2, 3, 4 travelling along a road R according to the present invention. The road R has two lanes L1 , L2 and the platoon P1 travelling in the right lane L1 . The intention of a vehicle in the platoon P1 to leave the platoon P1 is determined. External characteristics comprising configuration of the road and/or weather conditions are also determined. A suitable position along the road R for said vehicle intending to leave the platoon P1 to leave the platoon based upon said external characteristics, e.g. configuration of the road, is determined so as to optimize the total energy consumption of the platoon P1 in connection to said vehicle in the platoon P1 leaving the platoon P1 and to rearrange said platoon P1 after said vehicle has left the platoon P1 . Determining a suitable position along said road R for said vehicle intending to leave the platoon to leave the platoon P1 comprises taking the character of the leaving into consideration. In fig. 1 a-d the vehicle 3 being in an intermediate position is the vehicle intending to leave the platoon P1 .

According to an embodiment the method comprises the step of: determining the character of the leaving of the platoon, the character of the leaving comprising one or more of: leaving by entering an exit from the road, leaving due to speed of the platoon being too slow or too fast, and leaving to join another platoon, wherein the step of determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking the character of the leaving into consideration. By thus taking the character of the leaving of the platoon into consideration the total energy consumption of the platoon may be further optimized in that different characters of leaving may require different suitable positions for leaving and rearranging the platoon in order to optimize total energy consumption for the platoon.

Fig. 1 a schematically illustrates a plan view of a platoon P1 of vehicles 1 , 2, 3, 4 travelling along a road R according to the present invention.

In this example the vehicle 3 is intending to leave and the character of the leaving is leaving by entering the exit Li e from the road. In such a situation the leaving should take place at a positon along the road prior to the road exit that will not require a reduction of speed for the remaining vehicles of the platoon.

Fig. 1 b schematically illustrates a plan view of a platoon P1 of vehicles 1 , 2, 3, 4 travelling along a road R according to the present invention. The platoon P1 is travelling in the right lane L1 and another platoon P2 is approaching and here travelling in the left lane a certain distance behind the platoon P1 . In this example the vehicle 3 is intending to leave and the character of the leaving is to join the other platoon P2. Here the leaving of the platoon P1 needs to be performed taking the platoon P2 which the leaving vehicle is intended to join into consideration. Fig. 1 c schematically illustrates a plan view of a platoon P1 of vehicles 1 , 2, 3, 4 travelling along a road R according to the present invention. The platoon P1 is travelling in the right lane L1 and a certain distance ahead of the platoon P1 the configuration of the road R is such that the right and left lanes L1 , L2 transfer into one lane L1 . In this example the vehicle 3 is intending to leave and the character of the leaving may be the speed of the platoon P1 being too slow or too fast. Here the leaving of the platoon P1 needs to be performed taking the reduction of the lanes L1 , L2 into only one lane L1 into consideration such that the leaving take place prior to the reduction of lanes into only one lane. Fig. 1 d schematically illustrates a side view of a platoon P1 of vehicles 1 , 2, 3, 4 travelling along a road R according to the present invention. Here the platoon P1 is approaching a hill R2 on the road R with an uphill or upward slope and a downhill or downward slope. If such a hill R2 is approaching at a suitable distance ahead of a position where the vehicle intending to leave the platoon could leave the platoon, e.g. a road exit, the downward slope of the hill R2 could be a suitable place for leaving the platoon as the down slope could be utilized by the remaining trailing vehicle 4 to close the gap vehicles 1 , 2 having had positions in the platoon P1 ahead of the vehicle 3 leaving the platoon P1 . Fig. 2 schematically illustrates a system I for controlling platooning operation of a platoon of vehicles along a road.

The system I comprises an electronic control unit 100. The electronic control unit 100 may comprise one or more electronic control units. The electronic control unit 100 may comprise one or more electronic control units in the respective vehicle of the platoon.

The system I comprises means 1 10 for determining the intention of a vehicle in the platoon to leave the platoon. The means 1 10 for determining the intention of a vehicle in the platoon to leave the platoon may be any suitable means. The means 1 10 for determining the intention of a vehicle in the platoon to leave the platoon may be any suitable communication means for communicating from the vehicle intending to leave the platoon to the other vehicles of the platoon, the communication means e.g. being a vehicle-to- vehicle communication arrangement, e.g. the means 180 described below. The means 1 10 for determining the intention of a vehicle in the platoon to leave the platoon may comprise a communication means for communicating within an infrastructure-to-vehicle communication arrangement, e.g. the means 190 described below. The means 1 10 for determining the intention of a vehicle in the platoon to leave the platoon may comprise means for extracting information from a planned route of the vehicles of the platoon, the planned route of the vehicle intending to leave the platoon leading to a leaving of the platoon. The means 1 10 for determining the intention of a vehicle in the platoon to leave the platoon may be any means for providing a suitable signal from the vehicle intending to leave.

The system I comprises means 120 for determining a current position of the platoon.

The means 120 for determining the position of the platoon comprises according to an embodiment a Global Navigation Satellite System, GNSS, e.g. a global positioning system, GPS, for continuously determining the position of the platoon along the road on which it is travelling.

The system I comprises means 130 for determining external characteristics comprising configuration of the road and/or weather conditions. The means 130 for determining external characteristics thus according to an embodiment comprises means 132 for determining the configuration of the road along which the platoon is travelling.

The means 132 for determining the configuration of the road along which the platoon is travelling comprises means 132a for extracting map information of the extension of the road along which the platoon is travelling as a basis for determining said suitable position along said road for said vehicle intending to leave the platoon to leave the platoon. The means 132a for extracting map information of the extension of the road along which the platoon is travelling is used so as to determine suitable positions along said road for said vehicle intending to leave the platoon to leave the platoon.

The means 132a for extracting map information of the extension of the road along which the platoon is travelling so as to determine suitable positions along said road for said vehicle intending to leave the platoon to leave the platoon comprises according to an embodiment a map information unit comprising map data comprising information about the extension of the road along which the platoon is travelling comprising information about suitable positions along said road for said vehicle intending to leave the platoon to leave the platoon. The means 132a for extracting map information of the extension of the road along which the platoon is travelling and thus extracting information about the configuration of the road may be configured to extract information comprising road exits along the road, the topography of the road comprising uphill slopes and downhill slopes, curves of the road and their trajectory, number of lanes and change of number of lanes, roundabouts along the road, and/or traffic lights and/or stop signs along the road.

The means 132 for determining the configuration of the road along which the platoon is travelling comprises communication means 132b for receiving information about road conditions along the road. The communication means 132b may be arranged to receive information about road conditions comprising ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, said conditions comprising conditions along the road on the lane on which the platoon is travelling and lanes adjacent to the lane along which the platoon is travelling and possible difference of conditions of the lane along which the platoon is travelling and adjacent lanes. The communication means 132b may be arranged to receive information about temporary obstacles on the road such as road construction, an accident on the road and/or other obstacles affecting driving of the platoon and leaving of the platoon. The communication means 132b may comprise a communication means for communicating within an infrastructure-to-vehicle communication arrangement, e.g. the means 190 described below. The communication means 132b is according to an embodiment comprised in or comprises the means 190. The means for determining external characteristics thus according to an embodiment comprises means 134 for determining the weather conditions in connection to the road along which the platoon is travelling.

The means 134 for determining the weather conditions in connection to the road along which the platoon is travelling may comprise any suitable means for determining weather conditions.

The means 134 for determining the weather conditions in connection to the road along which the platoon is travelling comprises one or more weather sensor units. The weather sensor units may comprise one or more wind sensor units. The weather sensor units may comprise one or more rain sensor units. The weather sensor units may comprise one or more temperature sensor units.

The means 134 for determining the weather conditions in connection to the road along which the platoon is travelling comprises according to an embodiment means for extracting external weather data from one or more external weather data units comprising any suitable external server unit. The means 134 for determining the weather conditions in connection to the road along which the platoon is travelling comprises one or more external weather data units. The system I comprises means 140 for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon based upon said external characteristics so as to optimize the total energy consumption of the platoon in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon.

The system I comprises means 150 for determining the character of the leaving of the platoon, wherein the means 140 for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking the character of the leaving into consideration.

The character of the leaving may comprise any character of leaving the platoon. The character of the leaving may comprise one or more of: leaving by entering an exit from the road, leaving due to speed of the platoon being too slow or too fast, and leaving to join another platoon. The means 150 for determining the character of the leaving of the platoon comprises according to an embodiment communication means for communicating the character of the leaving to the other vehicle of the platoon and where applicable to another platoon and where applicable to other external receivers such as an external server unit. The communication means may be any suitable communication means for communicating the character of the leaving, the communication means e.g. being a vehicle-to- vehicle communication arrangement, e.g. the means 180 described below. The means 140 for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises means 142 for taking said character of the leaving of the platoon into consideration.

The system I comprises means 160 for determining the position in the platoon of said vehicle intending to leave said platoon. The means 160 for determining the position in the platoon of said vehicle intending to leave said platoon may comprise any suitable means comprising e.g. any suitable detection means arranged on one or more of the vehicles of the platoon such as one or more camera units for detecting the other vehicles of the platoon so as to determine the position in the platoon of the vehicle intending to leave said platoon. The means 160 for determining the position in the platoon of said vehicle intending to leave said platoon may comprise any suitable means comprising means for determining the position of the respective vehicle such as one or more Global Navigation Satellite Systems, GNSS, e.g. global positioning systems, GPS so as to determine the position in the platoon of the vehicle intending to leave said platoon.

The means 140 for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises means 144 for taking said position in the platoon of said vehicle intending to leave said platoon into consideration.

The system I comprises means 170 for determining the characteristics of the different vehicles of the platoon. The means 170 for determining the characteristics of the different vehicles of the platoon may comprise any suitable detection units for detecting characteristics of the vehicle such as weigh detection units for detecting the weight of the different vehicles of the platoon, detecting units such as camera units or Lidar units for detecting the dimensions and/or types of the respective vehicles. The means 170 for determining the characteristics of the different vehicles of the platoon may comprise extracting means for extracting stored data of information about the respective vehicles of the platoon. The system I may thus comprise storage means for storing information about characteristics of the different vehicles of the platoon, the storage means comprising internal storage means arranged in the respective vehicle and/or external storage means.

The means 140 for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises means 146 for taking said characteristics of the different vehicles of the platoon into consideration.

The system I comprises means 180 for communicating relevant information between the vehicles of the platoon and, when desired, other relevant vehicles within a vehicle-to-vehicle communication arrangement V2V, said information being arranged to be provided for consideration when deciding on suitable position along the road for said vehicle intending to leave the platoon to leave the platoon.

The means 180 for communicating relevant information between the vehicles of the platoon and, when desired, other relevant vehicles within a vehicle-to- vehicle communication arrangement V2V comprises means 182 for communicating relevant information between the vehicles of the platoon.

The means 180 for communicating relevant information between the vehicles of the platoon and, when desired, other relevant vehicles within a vehicle-to- vehicle communication arrangement V2V comprises means 184 for communicating relevant information between platoon and other relevant vehicles.

The other vehicle/vehicles may comprise means 200 for receiving and communicating information, e.g. one or more electronic control units or the like.

The system I comprises means 190 for communicating information between vehicles of the platoon and infrastructure within a vehicle-to-infrastructure arrangement V2I, said information being arranged to be provided for consideration when deciding on suitable position along the road for said vehicle intending to leave the platoon to leave the platoon.

The infrastructure may comprise means 300 for receiving and communicating information, e.g. one or more electronic control units, one or more server units or the like.

The electronic control unit 100 is operably connected to the means 1 10 for determining the intention of a vehicle in the platoon to leave the platoon via a link 10. The electronic control unit 100 is via the link 10 arranged to receive a signal from said means 1 10 representing data about a vehicle in the platoon to leave the platoon.

The electronic control unit 100 is operably connected to the means 120 for determining a current position of the platoon via a link 20. The electronic control unit 100 is via the link 20 arranged to receive a signal from said means 120 representing data about current position of the platoon. The electronic control unit 100 is operably connected to the means 130 for determining external characteristics comprising configuration of the road and/or weather conditions via a link 30. The electronic control unit 100 is via the link 30 arranged to receive a signal from said means 130 representing data about external characteristics comprising configuration of the road and/or weather conditions.

The electronic control unit 100 is operably connected to the means 132 for determining the configuration of the road along which the platoon is travelling via a link 32. The electronic control unit 100 is via the link 32 arranged to receive a signal from said means 132 representing data about configuration of the road.

The electronic control unit 100 is operably connected to the means 132a for extracting map information of the extension of the road along which the platoon is travelling via a link 32a. The electronic control unit 100 is via the link 32a arranged to receive a signal from said means 132a representing data about the extension of the road.

The electronic control unit 100 is operably connected to the means 132b for receiving information about road conditions along the road via a link 32b. The electronic control unit 100 is via the link 32b arranged to receive a signal from said means 132b representing data about road conditions along the road.

The electronic control unit 100 is operably connected to the means 134 for determining the weather conditions in connection to the road along which the platoon is travelling via a link 34. The electronic control unit 100 is via the link 34 arranged to receive a signal from said means 134 representing data about weather conditions in connection to the road along which the platoon is travelling.

The electronic control unit 100 is operably connected to the means 140 for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon based upon said external characteristics so as to optimize the energy consumption in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon via a link 40a. The electronic control unit 100 is via the link 40a arranged to send a signal to said means 140 representing data about external characteristics comprising data of configuration of the road and/or data of weather conditions.

The electronic control unit 100 is operably connected to the means 150 for determining the character of the leaving of the platoon via a link 50. The electronic control unit 100 is via the link 50 arranged to receive a signal from said means 150 representing data about the character of the leaving of the platoon.

The electronic control unit 100 is operably connected to the means 160 for determining the position in the platoon of said vehicle intending to leave said platoon via a link 60. The electronic control unit 100 is via the link 60 arranged to receive a signal from said means 160 representing data about the position in the platoon of said vehicle intending to leave said platoon.

The electronic control unit 100 is operably connected to the means 170 for determining the characteristics of the different vehicles of the platoon via a link 70. The electronic control unit 100 is via the link 70 arranged to receive a signal from said means 170 representing data about the characteristics of the different vehicles of the platoon.

The electronic control unit 100 is operably connected to the means 142 for taking the character of the leaving of the platoon into consideration via a link The electronic control unit 100 is via the link 42 arranged to send a signal to said means 142 representing data about character of the leaving of the platoon.

The electronic control unit 100 is operably connected to the means 144 for taking the position in the platoon of said vehicle intending to leave said platoon into consideration via a link 44. The electronic control unit 100 is via the link 44 arranged to send a signal to said means 144 representing data about the position in the platoon of said vehicle intending to leave said platoon.

The electronic control unit 100 is operably connected to the means 146 for taking the characteristics of the different vehicles of the platoon into consideration via a link 46. The electronic control unit 100 is via the link 46 arranged to send a signal to said means 146 representing data about characteristics of the different vehicles of the platoon.

The electronic control unit 100 is operably connected to the means 140 for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon based upon said external characteristics so as to optimize the total energy consumption of the platoon in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon via a link 40b. The electronic control unit 100 is via the link 40b arranged to receive a signal from said means 140 representing data about suitable position along said road for said vehicle intending to leave the platoon to leave the platoon.

The electronic control unit 100 is operably connected to the means 180 for communicating relevant information between the vehicles of the platoon and, when desired, other relevant vehicles within a vehicle-to-vehicle V2V communication arrangement via a link 80. The electronic control unit 100 is via the link 80 arranged to send a signal to said means 180 representing data about planned route for the respective vehicles and/or data about intention to leave the platoon from the vehicle intending to leave the platoon and/or data about character of the leaving of the platoon from the vehicle intending to leave the platoon and/or data about the characteristics of the respective vehicles of the platoon. The electronic control unit 100 is via the link 80 arranged to send a signal to said means 180 representing data about configuration of the road comprising e.g. data about conditions of the road. The electronic control unit 100 is via the link 80 arranged to send a signal to said means 180 representing data about suitable position along said road for said vehicle intending to leave the platoon to leave the platoon.

The electronic control unit 100 is operably connected to the means 180 for communicating relevant information between the vehicles of the platoon and, when desired, other relevant vehicles within a vehicle-to-vehicle V2V communication arrangement via a link 80. The electronic control unit 100 is via the link 80 arranged to receive a signal from said means 180 representing data about planned route for the respective vehicles and/or data about intention to leave the platoon from the vehicle intending to leave the platoon and/or data about character of the leaving of the platoon from the vehicle intending to leave the platoon and/or data about the characteristics of the respective vehicles of the platoon. The electronic control unit 100 is via the link 80 arranged to receive a signal from said means 180 representing data about configuration of the road comprising e.g. data about conditions of the road. The electronic control unit 100 is via the link 80 arranged to receive a signal from said means 180 representing data about suitable position along said road for said vehicle intending to leave the platoon to leave the platoon.

The means 180 for communicating relevant information between the vehicles of the platoon and, when desired, other relevant vehicles within a vehicle-to- vehicle V2V communication arrangement is operably connected to means 200 for communicating, i.e. sending and/or receiving information via links, the means 200 being means for one or more vehicles, such vehicles being external vehicles and/or other vehicles of the platoon. The means 180 is via said link arranged to send and/or receive data representing about suitable position along said road for said vehicle intending to leave the platoon to leave the platoon.

The electronic control unit 100 is operably connected to the means 190 for communicating information between vehicles of the platoon and infrastructure within a vehicle-to-infrastructure arrangement V2I via a link 90. The electronic control unit 100 is via the link 90 arranged to receive a signal from said means 190 representing data about configuration of the road comprising e.g. data about conditions of the road.

The means 190 for communicating information between vehicles of the platoon and infrastructure within a vehicle-to-infrastructure arrangement V2I is operably connected to means 300 for communicating, i.e. sending and/or receiving information via links.

According to an embodiment the system I comprises means for presenting to the platoon suitable position along said road for said vehicle intending to leave the platoon to leave the platoon. The means may comprise visual means and/or acoustic means and/or tactile means. The means for presenting to the platoon suitable position along said road for said vehicle intending to leave the platoon to leave the platoon is according to an embodiment comprised in said means 180 for communicating relevant information between the vehicles of the platoon within a vehicle-to-vehicle communication arrangement V2V, and/or said means 190 for communicating information between vehicles of the platoon and infrastructure within a vehicle-to-infrastructure arrangement V2I. Fig. 3 schematically illustrates a block diagram of a method for controlling platooning operation of a platoon of vehicles along a road according to an embodiment of the present invention.

According to the embodiment the method for controlling platooning operation of a platoon of vehicles along a road comprises a step S1 . In this step the intention of a vehicle in the platoon to leave the platoon is determined.

According to the embodiment the method for controlling platooning operation of a platoon of vehicles along a road comprises a step S2. In this step external characteristics comprising configuration of the road and/or weather conditions are determined. According to the embodiment the method for controlling platooning operation of a platoon of vehicles along a road comprises a step S3. In this step a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon is determined based upon said external characteristics so as to optimize the energy consumption in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon.

The optimization of the energy consumption in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon is according to an embodiment optimization of the total energy consumption of the platoon in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon. The optimization of the energy consumption in connection to said vehicle in the platoon leaving the platoon could also be for the vehicle leaving the platoon. The intention of a vehicle in the platoon to leave the platoon may be determined in any suitable way. The intention of a vehicle in the platoon to leave the platoon may be communicated from the vehicle intending to leave the platoon to the other vehicles of the platoon e.g. within a vehicle-to-vehicle communication arrangement. The intention of a vehicle in the platoon to leave the platoon may be communicated from an external source e.g. within an infrastructure-to-vehicle communication arrangement. The intention of a vehicle in the platoon to leave the platoon may be extracted from a planned route of the vehicles of the platoon, the planned route of the vehicle intending to leave the platoon leading to a leaving of the platoon. The intention of a vehicle in the platoon to leave the platoon may be any suitable signal from the vehicle intending to leave.

The configuration of the road along which the platoon is travelling may comprise one or more of: road exits along the road, the topography of the road comprising uphill slopes and downhill slopes, curves of the road and their trajectory, number of lanes and change of number of lanes, roundabouts along the road, and traffic lights and/or stop signs along the road. The configuration of the road along which the platoon is travelling may further comprise road conditions along the road comprising one or more of: ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, said conditions comprising conditions along the road on the lane on which the platoon is travelling and lanes adjacent to the lane along which the platoon is travelling and possible difference of conditions of the lane along which the platoon is travelling and adjacent lanes. The configuration of the road along which the platoon is travelling may comprise temporary obstacles on the road such as road construction, an accident on the road and/or other obstacles affecting driving of the platoon and leaving of the platoon.

According to an embodiment the method comprises the step of: determining the character of the leaving of the platoon, wherein the step of determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking the character of the leaving into consideration.

The character of the leaving may comprise any character of leaving the platoon. The character of the leaving may comprise one or more of: leaving by entering an exit from the road, leaving due to speed of the platoon being too slow or too fast, and leaving to join another platoon.

According to an embodiment the method comprises the step of determining the position in the platoon of said vehicle intending to leave said platoon, wherein the step of determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking said position in the platoon of said vehicle intending to leave said platoon into consideration. By thus taking the position in the platoon of said vehicle intending to leave said platoon into consideration the total energy consumption of the platoon may be further optimized in that different positions in the platoon may require different suitable positions for leaving and rearranging the platoon in order to optimize total energy consumption for the platoon.

According to an embodiment the method comprises the step of determining the characteristics of the different vehicles of the platoon, wherein the step of determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking said characteristics of the different vehicles of the platoon into consideration. Characteristics of a vehicle may comprise weight, dimensions, driveability, type of vehicle or the like.

With reference to figure 4, a diagram of an apparatus 500 is shown. The control unit 100 described with reference to fig. 2 may according to an embodiment comprise apparatus 500. Apparatus 500 comprises a non- volatile memory 520, a data processing device 510 and a read/write memory 550. Non-volatile memory 520 has a first memory portion 530 wherein a computer program, such as an operating system, is stored for controlling the function of apparatus 500. Further, apparatus 500 comprises a bus controller, a serial communication port, l/O-means, an A/D-converter, a time date entry and transmission unit, an event counter and an interrupt controller (not shown). Non-volatile memory 520 also has a second memory portion 540.

A computer program P is provided comprising routines for controlling platooning operation of a platoon of vehicles along a road. The program P comprises routines for determining the intention of a vehicle in the platoon to leave the platoon. The program P comprises routines for determining external characteristics comprising configuration of the road and/or weather conditions. The program P comprises routines for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon based upon said external characteristics so as to optimize the energy consumption in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon. The program P comprises routines for determining the character of the leaving of the platoon, wherein the step of determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking the character of the leaving into consideration. The program P comprises routines for determining the position in the platoon of said vehicle intending to leave said platoon, wherein the routines for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking said position in the platoon of said vehicle intending to leave said platoon into consideration. The program P comprises routines for determining the characteristics of the different vehicles of the platoon, wherein the routines for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking said characteristics of the different vehicles of the platoon into consideration. The program P comprises routines for determining the current position of the platoon, wherein the routines for determining the configuration of the road along which the platoon is travelling comprises routines for extracting map information of the extension of the road along which the platoon is travelling when determining said suitable position along said road for said vehicle intending to leave the platoon to leave the platoon. The program P comprises routines for communicating relevant information between the vehicles of the platoon and, when desired, other relevant vehicles within a vehicle-to-vehicle communication arrangement, and/or communicating information between vehicles of the platoon and infrastructure within a vehicle-to-infrastructure arrangement, said information being provided for consideration when deciding on suitable position along the road for said vehicle intending to leave the platoon to leave the platoon. The computer program P may be stored in an executable manner or in a compressed condition in a separate memory 560 and/or in read/write memory 550. When it is stated that data processing device 510 performs a certain function it should be understood that data processing device 510 performs a certain part of the program which is stored in separate memory 560, or a certain part of the program which is stored in read/write memory 550. Data processing device 510 may communicate with a data communications port 599 by means of a data bus 515. Non-volatile memory 520 is adapted for communication with data processing device 510 via a data bus 512. Separate memory 560 is adapted for communication with data processing device 510 via a data bus 51 1 . Read/write memory 550 is adapted for communication with data processing device 510 via a data bus 514. To the data communications port 599 e.g. the links connected to the control units 100 may be connected.

When data is received on data port 599 it is temporarily stored in second memory portion 540. When the received input data has been temporarily stored, data processing device 510 is set up to perform execution of code in a manner described above. The signals received on data port 599 can be used by apparatus 500 for determining the intention of a vehicle in the platoon to leave the platoon. The signals received on data port 599 can be used by apparatus 500 for determining external characteristics comprising configuration of the road and/or weather conditions. The signals received on data port 599 can be used by apparatus 500 for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon based upon said external characteristics so as to optimize the energy consumption in connection to said vehicle in the platoon leaving the platoon and to rearrange said platoon after said vehicle has left the platoon. The signals received on data port 599 can be used by apparatus 500 for determining the character of the leaving of the platoon, wherein the signals used for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking the character of the leaving into consideration. The signals received on data port 599 can be used by apparatus 500 for determining the position in the platoon of said vehicle intending to leave said platoon, wherein the signals used for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking said position in the platoon of said vehicle intending to leave said platoon into consideration. The signals received on data port 599 can be used by apparatus 500 for determining the characteristics of the different vehicles of the platoon, wherein the signals used for determining a suitable position along said road for said vehicle intending to leave the platoon to leave the platoon comprises taking said characteristics of the different vehicles of the platoon into consideration. The signals received on data port 599 can be used by apparatus 500 for determining the current position of the platoon, wherein the signals used for determining the configuration of the road along which the platoon is travelling comprises signals used for extracting map information of the extension of the road along which the platoon is travelling when determining said suitable position along said road for said vehicle intending to leave the platoon to leave the platoon. The signals received on data port 599 can be used by apparatus 500 for communicating relevant information between the vehicles of the platoon and, when desired, other relevant vehicles within a vehicle-to-vehicle communication arrangement, and/or communicating information between vehicles of the platoon and infrastructure within a vehicle-to-infrastructure arrangement, said information being provided for consideration when deciding on suitable position along the road for said vehicle intending to leave the platoon to leave the platoon. Parts of the methods described herein can be performed by apparatus 500 by means of data processing device 510 running the program stored in separate memory 560 or read/write memory 550. When apparatus 500 runs the program, parts of the methods described herein are executed.

The foregoing description of the preferred embodiments of the present invention has been provided for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations will be apparent to practitioners skilled in the art. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, thereby enabling others skilled in the art to understand the invention for various embodiments and with the various modifications as are suited to the particular use contemplated.

Claims

1 . A method for controlling platooning operation of a platoon (P1 ) of vehicles (1 , 2, 3, 4) along a road (R), comprising the step of determining (S1 ) the intention of a vehicle in the platoon (P1 ) to leave the platoon (P1 ), characterized by the steps of:

- determining (S2) external characteristics comprising configuration of the road and/or weather conditions; and

- determining (S3) a suitable position along said road for said vehicle intending to leave the platoon (P1 ) to leave the platoon (P1 ) based upon said external characteristics so as to optimize the energy consumption in connection to said vehicle in the platoon (P1 ) leaving the platoon (P1 ) and to rearrange said platoon (P1 ) after said vehicle has left the platoon (P1 ).

2. A method according to claim 1 , comprising the step of: determining the character of the leaving of the platoon (P1 ), wherein the step of determining a suitable position along said road for said vehicle intending to leave the platoon (P1 ) to leave the platoon (P1 ) comprises taking the character of the leaving into consideration.

3. A method according to claim 1 or 2, comprising the step of determining the position in the platoon (P1 ) of said vehicle intending to leave said platoon (P1 ), wherein the step of determining a suitable position along said road for said vehicle intending to leave the platoon (P1 ) to leave the platoon (P1 ) comprises taking said position in the platoon (P1 ) of said vehicle intending to leave said platoon (P1 ) into consideration.

4. A method according to any of claims 1 -3, comprising the step of determining the characteristics of the different vehicles of the platoon (P1 ), wherein the step of determining a suitable position along said road for said vehicle intending to leave the platoon (P1 ) to leave the platoon (P1 ) comprises taking said characteristics of the different vehicles of the platoon (P1 ) into consideration.

5. A method according to any of claims 1 -4, comprising the step of determining the current position of the platoon (P1 ), wherein the step of determining the configuration of the road (R) along which the platoon (P1 ) is travelling comprises the step of extracting map information of the extension of the road (R) along which the platoon (P1 ) is travelling as a basis for determining said suitable position along said road for said vehicle intending to leave the platoon (P1 ) to leave the platoon (P1 ).

6. A method according to any of claims 1 -5, comprising the steps of: communicating relevant information between the vehicles of the platoon (P1 ) and, when desired, other relevant vehicles within a vehicle-to-vehicle communication arrangement (V2V), and/or communicating information between vehicles of the platoon (P1 ) and infrastructure within a vehicle-to- infrastructure arrangement (V2I), said information being provided for consideration when deciding on suitable position along the road for said vehicle intending to leave the platoon (P1 ) to leave the platoon (P1 ).

7. A system for controlling platooning operation of a platoon (P1 ) of vehicles along a road (R), comprising means (1 10) for determining the intention of a vehicle in the platoon (P1 ) to leave the platoon (P1 ), characterized by means (130) for determining external characteristics comprising means (132) for determining the configuration of the road and/or means (134) for determining weather conditions; and means (140) for determining a suitable position along said road for said vehicle intending to leave the platoon (P1 ) to leave the platoon (P1 ) based upon said external characteristics so as to optimize the energy consumption in connection to said vehicle in the platoon (P1 ) leaving the platoon (P1 ) and to rearrange said platoon (P1 ) after said vehicle has left the platoon (P1 ).

8. A system according to claim 7, comprising means (150) for determining the character of the leaving of the platoon (P1 ), wherein the means (140) for determining a suitable position along said road for said vehicle intending to leave the platoon (P1 ) to leave the platoon (P1 ) comprises means (142) for taking the character of the leaving into consideration.

9. A system according to claim 7 or 8, comprising means (160) for determining the position in the platoon (P1 ) of said vehicle intending to leave said platoon (P1 ), wherein the means (140) for determining a suitable position along said road for said vehicle intending to leave the platoon (P1 ) to leave the platoon (P1 ) comprises means (144) for taking said position in the platoon (P1 ) of said vehicle intending to leave said platoon (P1 ) into consideration.

10. A system according to any of claims 7-9, comprising means (170) for determining the characteristics of the different vehicles of the platoon (P1 ), wherein the means (140) for determining a suitable position along said road for said vehicle intending to leave the platoon (P1 ) to leave the platoon (P1 ) comprises means (146) for taking said characteristics of the different vehicles of the platoon (P1 ) into consideration.

1 1 . A system according to any of claims 7-10, comprising means (120) for determining the current position of the platoon (P1 ), wherein the means (132) for determining the configuration of the road (R) along which the platoon (P1 ) is travelling comprises means (132a) for extracting map information of the extension of the road (R) along which the platoon (P1 ) is travelling as a basis for determining said suitable position along said road for said vehicle intending to leave the platoon (P1 ) to leave the platoon (P1 ).

12. A system according to any of claims 7-1 1 , comprising means (180) for communicating relevant information between the vehicles of the platoon (P1 ) and, when desired, other relevant vehicles within a vehicle-to-vehicle communication arrangement (V2V), and/or means (190) for communicating information between vehicles of the platoon (P1 ) and infrastructure within a vehicle-to-infrastructure arrangement (V2I), said information being arranged to be provided for consideration when deciding on suitable position along the road for said vehicle intending to leave the platoon (P1 ) to leave the platoon (P1 ).

13. A platoon (P1 ) of vehicles (1 , 2, 3, 4) comprising a system (I) according to any of claims 7-12.

14. A computer program (P) for controlling platooning operation of a platoon of vehicles along a road, said computer program (P) comprising program code which, when run on an electronic control unit (100) or another computer (500) connected to the electronic control unit (100), causes the electronic control unit to perform the steps according to claim 1 -6.

15. A computer program product comprising a digital storage medium storing the computer program according to claim 14.