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WO2016013996A1 - Système de suivi rapproché de véhicule apte à fournir des distances et parcours de véhicule au moyen de diverses variables - Google Patents

Système de suivi rapproché de véhicule apte à fournir des distances et parcours de véhicule au moyen de diverses variables Download PDF

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Publication number
WO2016013996A1
WO2016013996A1 PCT/TR2015/000270 TR2015000270W WO2016013996A1 WO 2016013996 A1 WO2016013996 A1 WO 2016013996A1 TR 2015000270 W TR2015000270 W TR 2015000270W WO 2016013996 A1 WO2016013996 A1 WO 2016013996A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
vehicles
convoy
central computer
distance
Prior art date
Application number
PCT/TR2015/000270
Other languages
English (en)
Inventor
Orhan ALANKUS
Original Assignee
Okan Üni̇versitesi̇
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 Okan Üni̇versitesi̇ filed Critical Okan Üni̇versitesi̇
Publication of WO2016013996A1 publication Critical patent/WO2016013996A1/fr

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Classifications

    • 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
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching
    • 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 following system for the vehicles in a vehicle convoy, which consists of at least two vehicles, to follow each other in close range during course.
  • Said following system allows gathering course and location data regarding the vehicles in the convoy and the variables regarding road and environment, and constantly arranging following distance in accordance with these variables.
  • the close following of the vehicles in traffic as much as possible is advantageous with regard to both the fuel consumption and carbon emission.
  • Another advantage of reducing the following distance is that it provides optimum alignment of the vehicles on the road. This way, the amount of vehicles to be included in the vehicle trails on the road and thus the number of vehicles the road can carry may be increased.
  • a vehicle following the vehicle in front in very close range can cause an accident in the event that the vehicle in front suddenly slows down or stops.
  • a following distance is determined by the traffic rules.
  • the drivers are obliged to keep a distance, which equals to the half of their speed in kilometers per hour in meters, between themselves and the vehicle in front. For example, the following distance of a vehicle going in 90 km/h is 45 meters. The following distance also equals to the distance the following vehicle covers in 2 seconds.
  • Those who drive vehicles in wings and groups are obliged to keep gaps between the vehicles, in which other vehicles can safely travel. The length of these gaps cannot be less than the following distance.
  • the drivers of the vehicles which carry hazardous materials cannot follow other vehicles closer than 50 meters outside residential areas.
  • the theoretically determined following distance may not be enough to provide safe course of two vehicles in different conditions. Especially when it is rainy or cold or when the vehicle is loaded, use of theoretical following distance may pose the risk of an accident.
  • the following distance determined by the traffic rules today regulates the minimum distance that must be kept between the vehicles. No maximum following distance was determined within the scope of the traffic rules in application.
  • the increase of the following distance between the vehicles prevent the vehicles on the road from spreading on the road efficiently and thus it prevents the efficient use of the road.
  • the aerodynamics which is an important part of the design of the vehicle body and which directly affects fuel consumption, maximum speed and noise formation, is very important.
  • the modern vehicles are designed with maximum aerodynamics, in other words, with minimum air resistance .
  • the turbulence formed in the rear section is also very important.
  • a vacuum is formed at the rear of the vehicle in a specific distance, and this is followed by a turbulence. Especially in big vehicles, this vacuum and turbulence may spread to longer distances.
  • WO2007143756 and US20130213829 numbered patent applications can be given as examples for said systems.
  • Said systems generally operate on the basis of controlling the variables of two cruising vehicles and adjusting of the distance in between and course speed by the following vehicle in accordance with the state of the vehicle in front. This causes the cruising vehicles to interact with only the vehicle in front, and in an unexpected event or in the event that the vehicle in front gets involved in an accident, the following vehicle may also be imperiled.
  • the cruise system is not created by taking into account the other vehicles cruising on the road, the road conditions and environmental variables such as weather conditions, not only the safe cruising cannot be achieved but also intended fuel efficiency cannot be achieved due to traffic conditions.
  • the object of the invention is to provide a system which provides calculating optimum speed up and braking curves in accordance with course data and vehicle characteristics previously, calculating theoretical following distances, and calculating the most efficient movement type for both the vehicles that stop in short range stops such as bus rapid transit, and the vehicles that travel longer distances.
  • Another object of the invention is to get prepared by taking command data from the control system of the vehicle leading the convoy and providing an optimum vehicle following distance by comparing this data with the speed curves.
  • Another object of the invention is to provide a system which can conduct dynamic changes in speed curves by receiving and processing data regarding road and air conditions from fixed systems and sensors on the road.
  • Another object of the invention is to provide measuring of the vehicle characteristics and weight changes by sensors and dynamically changing speed profile and following distance. Another object of the invention is to provide a system which provides conducting necessary following distance alterations by measuring the momentary weather conditions and road conditions by the sensors in the vehicle. Another object of the invention is to conduct required brake gas adjustments beforehand predicting possible problems by gathering leading vehicle sensor data and thus, to further reduce the following distance.
  • the invention relates to a vehicle following system in which not only all the criteria about the road on which the vehicle is cruising but also all the variables regarding all the vehicles in which the system is used can be interpreted and route can be planned beforehand .
  • the vehicle following system consists of an in-vehicle communication card placed in the vehicles; a vehicle processor which is interacting with the communication card; vehicle sensors which collect data regarding the vehicle; a central computer which can plan the most suitable route for vehicles by gathering the data created by different vehicles; and measurement stations which measure parameters regarding the route such as precipitation, fog, temperature, humidity, wind and pressure and which transfer these measurements to the vehicles on the road or to the central computer by means of the communication member it comprises .
  • the vehicle sensors mentioned above can be lidar, radar, camera and movement sensors and/or movement detectors capable of detecting location for determining the state between the vehicles.
  • the situation sensors on the vehicle which can detect state data regarding the vehicle such as vehicle weight data, road conditions data and tire state for constantly monitoring criteria of the vehicle are included in said vehicle sensors.
  • in-vehicle communication card can be any type of communication card which can provide long distance communication.
  • this card can be any card having 802.11 protocol.
  • different communication protocols or Bluetooth connection can be used.
  • the vehicle following system operates in accordance with the principle of following a convoy over a leading vehicle.
  • the state data regarding the vehicles included in the convoy are first transmitted to the central computer and/or the control card on the vehicle by means of the sensors on the vehicle.
  • central computer and/or vehicle control card calculates variables such as brake distance, speed up time, following speed in accordance with the characteristics of each vehicle.
  • the characteristics of the vehicle can be vehicle weight data, tire and brake conditions.
  • State data can be defined briefly as road conditions. Parameters regarding the vehicle route such as precipitation, fog, temperature, humidity, wind and pressure gathered by the measurement stations positioned on the vehicle route at certain intervals are measured and transferred to the central computer and/or the customized control and communication card on the vehicle. The central computer or the control card on the vehicle gathers the condition data regarding the vehicle characteristics and the route of the vehicle and the minimum vehicle following distance or the sudden brake distance in case of an emergency are calculated dynamically with a special algorithm by the central computer or the control card on the vehicle. These calculated values are transmitted to the vehicle communication card of every vehicle in the convoy and brake and gas triggering distances are changed.
  • brake and gas triggering distances can be adjusted in a way to be different from each other.
  • the brake distance and gas trigger distance of each vehicle can be arranged in accordance with the characteristics of the vehicle independently from the other vehicles by the central computer or the vehicle control card. For example, the following distance of a vehicle which has shorter brake distance can be increased by the central computer or the vehicle control card, or the brake distance of a vehicle having increased brake capability can be reduced.
  • the vehicles in the convoy follow the convoy leader and ensure convoy order.
  • the variables regarding environmental conditions such as precipitation, fog, temperature, humidity, wind and pressure are gathered from the measurement stations located on the convoy movement route and transferred to the central computer or the vehicle control card.
  • the central computer or the vehicle control card calculates the most suitable speed profile for the convoy leader.
  • the vehicle sensors on the leading vehicle of the convoy gathers data regarding possible dangers momentarily and transfers the data either to the central computer or directly to the following vehicles. This way, the vehicles following the leader in the convoy can take precautions against possible dangers and the vehicles can cruise with the minimum possible following distance. All the vehicles in the convoy comply with the speed profile determined by the leading vehicle and cruise on the route.
  • the in-vehicle sensors comprised in the vehicle constantly and momentarily transmit the distance with the vehicle in front and the speed profile data to the vehicle processor.
  • the brake of the vehicle is activated.
  • the vehicles in the convoy conduct following according to the vehicle in front and basically, move in accordance with the warnings of the convoy leader, indeed, they move in accordance with the route predefined on the system.
  • the vehicle in front goes out of the route
  • the vehicle two vehicles in front is followed.
  • the following vehicle speeds up to catch up with the vehicle two vehicles in front and speeds up until the necessary following distance is achieved.
  • the sensors of the following vehicle will see the vehicle two vehicles in front when the vehicle in front leaves and automatically command for the vehicle to speed up until the following distance with the vehicle in front is achieved. If the speed exceeds the safe limit, the vehicle at the forefront is designated as leader by the central computer.
  • the central computer or the control card of the vehicle designates the vehicle at the back as the convoy leader and in this case, the determinations conducted by the leading vehicle can be conducted by this vehicle.
  • the system according to the invention is used for safely transferring the vehicle to the intended destination without the need for a user by planning the route beforehand. While starting to move on the route, the optimum speed up and brake curves are predetermined by the vehicle processor comprised in the vehicle or the central computer in accordance with the environmental conditions and the vehicle characteristics. The theoretical following distance of the vehicle can be created for this calculation.
  • Calculated theoretical following distance is compared to the data received from the leading vehicle of the first convoy to be joined on route and optimum vehicle following distance is created in accordance with the movement mechanism of the leading vehicle.
  • the calculated optimum vehicle following distance can be changed momentarily. Said alteration can be related to detection of a possible danger by the leading vehicle, a change in the status data of the route, and change regarding the vehicle in the front or at the back.
  • the system according to the invention is suitable for vehicles which move on specific routes and which stop in specific stops when needed.
  • the bus rapid transit used in urban transportation and buses and trucks used in interurban transportation are examples for this type of vehicles.

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

Abstract

Cette invention concerne un système de suivi pour des véhicules dans un convoi de véhicules constitué d'au moins deux véhicules, afin qu'ils puissent se suivre de manière rapprochée pendant le parcours. Ledit système de suivi permet la collecte de données de parcours et d'emplacement concernant les véhicules dans le convoi et des variables concernant la route et l'environnement, ainsi que le réglage et l'amélioration constante de la distance de poursuite en fonction desdites variables.
PCT/TR2015/000270 2014-07-25 2015-07-23 Système de suivi rapproché de véhicule apte à fournir des distances et parcours de véhicule au moyen de diverses variables WO2016013996A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
TR2014/08924 2014-07-25
TR201408924 2014-07-25

Publications (1)

Publication Number Publication Date
WO2016013996A1 true WO2016013996A1 (fr) 2016-01-28

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017184062A1 (fr) * 2016-04-22 2017-10-26 Scania Cv Ab Procédé et système permettant de déterminer des risques pour des véhicules sur le point de quitter un convoi automatisé
US20200192376A1 (en) * 2018-07-13 2020-06-18 Kache.AI System and method for automatically determining to follow a vehicle in a vehicle's autonomous driving mode
CN111356618A (zh) * 2017-12-29 2020-06-30 邦迪克斯商用车系统有限责任公司 车辆列队操作的制动性能监视
US10921821B2 (en) 2017-12-21 2021-02-16 Bendix Commercial Vehicle Systems Llc Determining and using braking capabilities of vehicles for platooning deceleration operations
CN112466128A (zh) * 2019-09-09 2021-03-09 大众汽车股份公司 用于确定队列、交通工具、交通控制实体的最小交通工具间距离的方法、计算机程序和设备
CN114781871A (zh) * 2022-04-22 2022-07-22 岚图汽车科技有限公司 一种跟车经济性的评价方法及系统
CN114987474A (zh) * 2022-07-29 2022-09-02 江苏魔视智能科技有限公司 基于车辆状况大数据的车队跟车距离控制方法
US11450212B2 (en) * 2017-12-22 2022-09-20 Compagnie Generale Des Etablissements Michelin Method for managing a platoon of trucks on the basis of information relating to the tires with which the trucks of said platoon are equipped
US11731633B2 (en) 2017-09-15 2023-08-22 Cummins Inc. Vehicle loss calculation for improved fuel economy

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US5777451A (en) * 1996-03-08 1998-07-07 Nissan Diesel Motor Co., Ltd. Vehicle longitudinal spacing controller
US5781119A (en) * 1995-03-14 1998-07-14 Toyota Jidosha Kabushiki Kaisha Vehicle guiding system
US6526352B1 (en) * 2001-07-19 2003-02-25 Intelligent Technologies International, Inc. Method and arrangement for mapping a road
WO2007143756A2 (fr) 2006-06-09 2007-12-13 Carnegie Mellon University Système et procédé pour le convoi autonome de véhicules
CA2841067A1 (fr) 2011-07-06 2013-01-10 Peloton Technology Inc. Systemes et procedes pour convoyage de vehicules semi-autonome
US20130213829A1 (en) 2012-02-21 2013-08-22 Bonfit America Inc. Retaining disposable shaver blade cartridges in a sealed condition and simultaneously retaining the shaver handle in a condition for immediate shaving use
GB2499901A (en) 2012-02-20 2013-09-04 Jaguar Land Rover Ltd Autonomous cruise control with lead vehicle speed matching
WO2013187834A1 (fr) * 2012-06-14 2013-12-19 Scania Cv Ab Système et procédé de régulation de véhicules dans des trains de véhicules
US20140081505A1 (en) 2012-03-09 2014-03-20 Proxy Technologies Inc. Autonomous vehicle and method for coordinating the paths of multiple autonomous vehicles

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5781119A (en) * 1995-03-14 1998-07-14 Toyota Jidosha Kabushiki Kaisha Vehicle guiding system
US5777451A (en) * 1996-03-08 1998-07-07 Nissan Diesel Motor Co., Ltd. Vehicle longitudinal spacing controller
US6526352B1 (en) * 2001-07-19 2003-02-25 Intelligent Technologies International, Inc. Method and arrangement for mapping a road
WO2007143756A2 (fr) 2006-06-09 2007-12-13 Carnegie Mellon University Système et procédé pour le convoi autonome de véhicules
CA2841067A1 (fr) 2011-07-06 2013-01-10 Peloton Technology Inc. Systemes et procedes pour convoyage de vehicules semi-autonome
GB2499901A (en) 2012-02-20 2013-09-04 Jaguar Land Rover Ltd Autonomous cruise control with lead vehicle speed matching
US20130213829A1 (en) 2012-02-21 2013-08-22 Bonfit America Inc. Retaining disposable shaver blade cartridges in a sealed condition and simultaneously retaining the shaver handle in a condition for immediate shaving use
US20140081505A1 (en) 2012-03-09 2014-03-20 Proxy Technologies Inc. Autonomous vehicle and method for coordinating the paths of multiple autonomous vehicles
WO2013187834A1 (fr) * 2012-06-14 2013-12-19 Scania Cv Ab Système et procédé de régulation de véhicules dans des trains de véhicules

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109070893A (zh) * 2016-04-22 2018-12-21 斯堪尼亚商用车有限公司 用于确定即将离开队列的车辆的风险的方法和系统
WO2017184062A1 (fr) * 2016-04-22 2017-10-26 Scania Cv Ab Procédé et système permettant de déterminer des risques pour des véhicules sur le point de quitter un convoi automatisé
US11731633B2 (en) 2017-09-15 2023-08-22 Cummins Inc. Vehicle loss calculation for improved fuel economy
US10921821B2 (en) 2017-12-21 2021-02-16 Bendix Commercial Vehicle Systems Llc Determining and using braking capabilities of vehicles for platooning deceleration operations
US11450212B2 (en) * 2017-12-22 2022-09-20 Compagnie Generale Des Etablissements Michelin Method for managing a platoon of trucks on the basis of information relating to the tires with which the trucks of said platoon are equipped
CN111356618A (zh) * 2017-12-29 2020-06-30 邦迪克斯商用车系统有限责任公司 车辆列队操作的制动性能监视
CN111356618B (zh) * 2017-12-29 2022-10-21 邦迪克斯商用车系统有限责任公司 车辆列队操作的制动性能监视
US20200192378A1 (en) * 2018-07-13 2020-06-18 Kache.AI System and method for automatically switching a vehicle to follow in a vehicle's autonomous driving mode
US20200192376A1 (en) * 2018-07-13 2020-06-18 Kache.AI System and method for automatically determining to follow a vehicle in a vehicle's autonomous driving mode
CN112466128A (zh) * 2019-09-09 2021-03-09 大众汽车股份公司 用于确定队列、交通工具、交通控制实体的最小交通工具间距离的方法、计算机程序和设备
US11972689B2 (en) 2019-09-09 2024-04-30 Volkswagen Aktiengesellschaft Method, computer program, and apparatus for determining a minimum inter-vehicular distance for a platoon, vehicle, traffic control entity
CN114781871A (zh) * 2022-04-22 2022-07-22 岚图汽车科技有限公司 一种跟车经济性的评价方法及系统
CN114987474A (zh) * 2022-07-29 2022-09-02 江苏魔视智能科技有限公司 基于车辆状况大数据的车队跟车距离控制方法

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