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SE1650545A1 - Method and system for controlling platooning operation of a platoon of vehicles along a road - Google Patents

Method and system for controlling platooning operation of a platoon of vehicles along a road

Info

Publication number
SE1650545A1
SE1650545A1 SE1650545A SE1650545A SE1650545A1 SE 1650545 A1 SE1650545 A1 SE 1650545A1 SE 1650545 A SE1650545 A SE 1650545A SE 1650545 A SE1650545 A SE 1650545A SE 1650545 A1 SE1650545 A1 SE 1650545A1
Authority
SE
Sweden
Prior art keywords
platoon
vehicles
road
vehicle
relates
Prior art date
Application number
SE1650545A
Other languages
Swedish (sv)
Other versions
SE540620C2 (en
Inventor
GIMHOLT Joakim
STENSON Fredrik
Original Assignee
Scania Cv Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1650545A priority Critical patent/SE540620C2/en
Priority to EP17786250.5A priority patent/EP3445627A4/en
Priority to CN201780024931.7A priority patent/CN109070893A/en
Priority to PCT/SE2017/050380 priority patent/WO2017184062A1/en
Publication of SE1650545A1 publication Critical patent/SE1650545A1/en
Publication of SE540620C2 publication Critical patent/SE540620C2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0293—Convoy travelling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/692—Coordinated control of the position or course of two or more vehicles involving a plurality of disparate vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/80—Arrangements for reacting to or preventing system or operator failure
    • G05D1/81—Handing over between on-board automatic and on-board manual control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/22—Platooning, i.e. convoy of communicating vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention relates to a method for controlling platooning operation of a platoon (P1) of vehicles (1, 2, 3, 4, 5, 6) along a road (R), each vehicle having an operator manually operating the vehicle. The method comprises the step of determining from one or more vehicles in the platoon possible reasons that may produce a risk for a vehicle in the platoon (P1) if such vehicle would leave the platoon (P1). The method further comprises the steps of: if a possible reason that may produce a risk to leave the platoon (P1) is determined, providing a warning to the operator of one or more vehicles of the platoon (P1) for leaving said platoon (P1); and if no possible reason that may produce a risk to leave the platoon (P1) is determined, providing information to the operator of one or more vehicles of the platoon (P1) that leaving the platoon (P1) safely is possible.The present invention also relates to a system for controlling platooning operation of a platoon of vehicles along a road. The present invention also relates to a platoon. The present invention also relates to a computer program and a computer program product.(Fig. 3)
SE1650545A 2016-04-22 2016-04-22 Method and system for determining risks for vehicles about leaving a platoon SE540620C2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
SE1650545A SE540620C2 (en) 2016-04-22 2016-04-22 Method and system for determining risks for vehicles about leaving a platoon
EP17786250.5A EP3445627A4 (en) 2016-04-22 2017-04-13 Method and system for determining risks for vehicles about to leave a platoon
CN201780024931.7A CN109070893A (en) 2016-04-22 2017-04-13 The method and system of the risk of the vehicle of queue will be left for determination
PCT/SE2017/050380 WO2017184062A1 (en) 2016-04-22 2017-04-13 Method and system for determining risks for vehicles about to leave a platoon

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1650545A SE540620C2 (en) 2016-04-22 2016-04-22 Method and system for determining risks for vehicles about leaving a platoon

Publications (2)

Publication Number Publication Date
SE1650545A1 true SE1650545A1 (en) 2017-10-23
SE540620C2 SE540620C2 (en) 2018-10-02

Family

ID=60116286

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1650545A SE540620C2 (en) 2016-04-22 2016-04-22 Method and system for determining risks for vehicles about leaving a platoon

Country Status (4)

Country Link
EP (1) EP3445627A4 (en)
CN (1) CN109070893A (en)
SE (1) SE540620C2 (en)
WO (1) WO2017184062A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110239542A (en) * 2018-03-07 2019-09-17 本田技研工业株式会社 Controller of vehicle, control method for vehicle and storage medium

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8744666B2 (en) 2011-07-06 2014-06-03 Peloton Technology, Inc. Systems and methods for semi-autonomous vehicular convoys
US10520581B2 (en) 2011-07-06 2019-12-31 Peloton Technology, Inc. Sensor fusion for autonomous or partially autonomous vehicle control
US11334092B2 (en) 2011-07-06 2022-05-17 Peloton Technology, Inc. Devices, systems, and methods for transmitting vehicle data
US10474166B2 (en) 2011-07-06 2019-11-12 Peloton Technology, Inc. System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles
US20170242443A1 (en) 2015-11-02 2017-08-24 Peloton Technology, Inc. Gap measurement for vehicle convoying
US10520952B1 (en) 2011-07-06 2019-12-31 Peloton Technology, Inc. Devices, systems, and methods for transmitting vehicle data
US10254764B2 (en) 2016-05-31 2019-04-09 Peloton Technology, Inc. Platoon controller state machine
US11294396B2 (en) 2013-03-15 2022-04-05 Peloton Technology, Inc. System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles
EP3500940A4 (en) 2016-08-22 2020-03-18 Peloton Technology, Inc. Automated connected vehicle control system architecture
US10369998B2 (en) 2016-08-22 2019-08-06 Peloton Technology, Inc. Dynamic gap control for automated driving
US10899323B2 (en) 2018-07-08 2021-01-26 Peloton Technology, Inc. Devices, systems, and methods for vehicle braking
US10762791B2 (en) 2018-10-29 2020-09-01 Peloton Technology, Inc. Systems and methods for managing communications between vehicles
US11427196B2 (en) 2019-04-15 2022-08-30 Peloton Technology, Inc. Systems and methods for managing tractor-trailers
CN115892009A (en) * 2022-11-22 2023-04-04 梅赛德斯-奔驰集团股份公司 Method for assisting a rear vehicle of a vehicle fleet to overtake and vehicle for carrying out the method

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6615137B2 (en) * 2001-06-26 2003-09-02 Medius, Inc. Method and apparatus for transferring information between vehicles
DE102011009106A1 (en) * 2011-01-21 2012-07-26 Audi Ag Method for operating a driver assistance system of a motor vehicle and motor vehicle issuing a recommendation relating to a passing process
US9187117B2 (en) * 2012-01-17 2015-11-17 Ford Global Technologies, Llc Autonomous lane control system
SE536549C2 (en) 2012-06-14 2014-02-11 Scania Cv Ab System and method for assisting a vehicle in overtaking a vehicle train
JP6015329B2 (en) 2012-10-11 2016-10-26 株式会社デンソー Convoy travel system and convoy travel device
CN103496366B (en) * 2013-09-09 2016-02-24 北京航空航天大学 A kind of initiative lane change collision avoidance control method based on collaborative truck and device
JP6042794B2 (en) * 2013-12-03 2016-12-14 本田技研工業株式会社 Vehicle control method
WO2016013996A1 (en) * 2014-07-25 2016-01-28 Okan Üni̇versitesi̇ A close range vehicle following system which can provide vehicle distances and course by using various variables.
CN104325978A (en) * 2014-10-21 2015-02-04 中国科学技术大学苏州研究院 Safety anti-collision early warning method based on vehicular ad-hoc network

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110239542A (en) * 2018-03-07 2019-09-17 本田技研工业株式会社 Controller of vehicle, control method for vehicle and storage medium

Also Published As

Publication number Publication date
SE540620C2 (en) 2018-10-02
EP3445627A4 (en) 2019-10-09
EP3445627A1 (en) 2019-02-27
CN109070893A (en) 2018-12-21
WO2017184062A1 (en) 2017-10-26

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