[go: up one dir, main page]

WO2018069084A1 - Appareil et procédé de transmission d'informations d'un véhicule suiveur - Google Patents

Appareil et procédé de transmission d'informations d'un véhicule suiveur Download PDF

Info

Publication number
WO2018069084A1
WO2018069084A1 PCT/EP2017/074995 EP2017074995W WO2018069084A1 WO 2018069084 A1 WO2018069084 A1 WO 2018069084A1 EP 2017074995 W EP2017074995 W EP 2017074995W WO 2018069084 A1 WO2018069084 A1 WO 2018069084A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
following
vehicle information
vehicles
following vehicle
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/EP2017/074995
Other languages
English (en)
Inventor
Mark Cund
Martyn LATHBURY
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jaguar Land Rover Ltd
Original Assignee
Jaguar Land Rover Ltd
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 Jaguar Land Rover Ltd filed Critical Jaguar Land Rover Ltd
Priority to DE112017005195.9T priority Critical patent/DE112017005195T5/de
Publication of WO2018069084A1 publication Critical patent/WO2018069084A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes

Definitions

  • aspects of the invention relate to a method, to a module, a system and a vehicle.
  • aspects of the invention relate to a method of determining following vehicle information, a following vehicle information module for a vehicle, a system for determining following vehicle information, a vehicle and computer software.
  • Situational awareness includes information relating to vehicles in a vicinity of a vehicle. Such situational awareness may be provided to traffic infrastructure for example to manage a flow of traffic. The situational awareness may also be used by the vehicles themselves, for example to reduce a likelihood of accidents. The situational awareness may relate to a number or length of vehicles following a vehicle, which may be a lead vehicle i.e. at a head of a train of vehicles, or may be part of the train of vehicles. However it is often difficult for a vehicle to determine information about following vehicles. This may be due, in part, to following vehicles obscuring one-another.
  • a method of determining following vehicle information comprising determining, by one or more sensing means associated with a first vehicle following vehicle information associated with one or more further vehicles following a second vehicle, and transmitting, from first communication means associated with the first vehicle to second communication means associated with the second vehicle, a representation of the following vehicle information.
  • a method comprising determining, by one or more sensing means, following vehicle information associated with one or more vehicles following a first vehicle, and transmitting, from first communication means to second communication means associated with the first vehicle, a representation of the following vehicle information.
  • the first vehicle is provided with information about following vehicles.
  • a method comprising determining, by one or more sensing means associated with a first vehicle, following vehicle information associated with one or more vehicles following a second vehicle, and transmitting, from first communication means associated with the first vehicle to second communication means associated with the second vehicle, a representation of the following vehicle information.
  • the second vehicle is provided with following vehicle information from another source, such as the first vehicle, which reduces a need for the second vehicle to comprise rearward facing sensors and improves a reliability of assessing information about the following vehicles.
  • a method of determining following vehicle information comprising determining, by one or more sensing means associated with a first vehicle, following vehicle information associated with any further vehicles following a second vehicle, and transmitting, from first communication means associated with the first vehicle to second communication means associated with the second vehicle, a representation of the following vehicle information.
  • the sensing means may comprise one or more sensing devices
  • the first communication means may be a communication module or unit; and the second communication means may be communication module or unit.
  • the method comprises transmitting from the second communication means, a request for the following vehicle information.
  • Advantageously computation and communication may be reduced by the following vehicle information only being determined on request.
  • the method may comprise receiving at the first communication means the request for the following vehicle information.
  • the method may be performed in dependence on the request.
  • the request may comprise a representation of existing following vehicle information associated with the second vehicle.
  • the second vehicle provides information about its state of knowledge of following vehicles.
  • the method optionally comprises comparing the received existing following vehicle information with the determined following vehicle information to determine differential following vehicle information.
  • the differential following vehicle information may need to be processed.
  • the transmitting the representation of the following vehicle information may comprise transmitting a representation of the differential following vehicle information to the second communication means associated with the second vehicle.
  • the amount of data to be communicated may be reduced.
  • the method may comprise transmitting the representation of the following vehicle information from the second communication means to a communication means associated with transport infrastructure.
  • the following vehicle information may be provided for use by more than other vehicles.
  • the communication means associated with the transport infrastructure is optionally associated with one or more traffic flow control means.
  • The, or each, traffic flow control means may be one or more traffic lights.
  • vehicle information may be used to improve a flow of traffic.
  • the traffic flow control means may be one or more of: a level crossing, a drawbridge, bascule bridge, swing bridge, vertical lift bridge, for example.
  • the following vehicle information may be used to improve a flow of traffic of two or more different types of vehicle.
  • the following vehicle information may be indicative of a number of vehicles following the second vehicle.
  • the following vehicle information may be indicative of a length of vehicles following the second vehicle.
  • the length of the following vehicles may be used, such as in determining whether a manoeuvre is possible, for example over-taking.
  • the following vehicle information may be indicative of a time for the any further vehicles to pass.
  • the time is a time to pass a stationary point.
  • the time to pass may be of assistance in traffic flow control, such as operating traffic lights according to the time to pass a stationary point.
  • the sensing means associated with the first vehicle may be forward-facing sensing means with respect to the first vehicle.
  • the sensing means may ascertain information about approaching vehicles.
  • the determining the following vehicle information is performed as the second vehicle and the any further vehicles following the second vehicle pass proximal to the first vehicle.
  • the sensing means may only require a short range of operation as the vehicles pass.
  • a following vehicle information module for a vehicle, comprising input means for receiving data from one or more sensing means associated with a first vehicle indicative of a presence of any further vehicles following a second vehicle, control means for determining following vehicle information indicative of the any further vehicles following the second vehicle, and output means for outputting to a communication means a representation of the following vehicle information for wireless transmission.
  • the input means comprises an electrical input for receiving data
  • control means comprises one or more electronic processing devices; and the output means comprises an electrical output for outputting data.
  • control means is arranged to receive via the input means a request for the following vehicle information from the second vehicle.
  • the control means may be arranged to determine the following vehicle information in dependence on the request.
  • the request may comprises a representation of existing following vehicle information associated with the second vehicle.
  • the control means may be arranged to compare the received existing following vehicle information with the determined following vehicle information to determine differential following vehicle information.
  • the control means is optionally arranged to output via output means a representation of the differential following vehicle information for wireless transmission.
  • the following vehicle information may be indicative of a number of vehicles following the second vehicle.
  • the following vehicle information may be indicative of a length of vehicles following the second vehicle.
  • the following vehicle information may be indicative of a time for the following vehicles to pass.
  • the time may be a time to pass a stationary point.
  • a system for determining following vehicle information comprising one or more sensing means for outputting data indicative of a presence of a vehicle, and a following vehicle information module arranged to receive the data from the sensing means and to determine following vehicle information indicative of any vehicles following a vehicle and to output a representation of the following vehicle information.
  • the one or more sensing means comprise one or more sensing devices; and the vehicle information module comprises one or more electronic processing devices.
  • the one or more sensing means may comprise an acoustic, radiation or optical sensing means for determining a distance to an object.
  • the one or more sensing means may comprise an imaging device for outputting image data.
  • a vehicle comprising one or more sensing means for outputting data indicative of a presence of a vehicle, a following vehicle information module arranged to receive the data from the sensing means and to determine following vehicle information indicative of any further vehicles following a vehicle and to output a representation of the following vehicle information, and communication means arranged to receive the representation from the following vehicle information module and to wirelessly transmit the representation.
  • the one or more sensing means comprise one or more sensing devices
  • the vehicle information module comprises one or more electronic processing devices
  • the communication means comprises a communication module or unit.
  • the sensing means are associated with a first vehicle, the sensing means are forward-facing sensing means with respect to the first vehicle.
  • computer software which, when executed by a computer, is arranged to perform a method according to an aspect of the invention.
  • the computer software is stored on a computer- readable medium.
  • the computer software may be tangibly stored on the computer- readable medium.
  • the computer-readable may be non-transitory.
  • a vehicle arranged to perform a method according to aspect of the invention, or comprising a module or system according to an aspect of the invention.
  • Figure 1 illustrates example vehicular situations
  • Figure 2 shows a vehicle and apparatus according to an embodiment of the invention
  • Figure 3 shows a method according to an embodiment of the invention
  • Figure 4 shows a method according to another embodiment of the invention.
  • Figure 1 illustrates example vehicle situations where a first vehicle 1 10 is in proximity to a second vehicle 120.
  • Embodiments of the present invention provide the second vehicle 120 with improved situational awareness as will be explained.
  • the first vehicle 1 10 is moving in a generally opposing direction to the second vehicle 120, as indicated by respective arrows 1 1 1 , 121 . It will be appreciated that it is not necessary for the first vehicle 1 10 to be in motion and it may alternatively be stationary. At some point in time, the second vehicle 120 passes alongside the first vehicle 1 10. In Figure 1 (a) the first vehicle 1 10 is generally facing the oncoming second vehicle 120.
  • the first vehicle 1 10 is generally perpendicular to the second vehicle 120 as it passes in front of the first vehicle 1 10.
  • the first vehicle 1 10 may be waiting at a junction or intersection as illustrated.
  • sensing means associated with the first vehicle 1 10 is able to asses a situation of the second vehicle 120 whilst the two vehicles 1 10, 120 are proximal.
  • forward-facing sensing means of the first vehicle 1 10 are able to assess the situation of the second vehicle 120.
  • the first vehicle 1 10 may alternatively or additionally have sensing means arranged to assess the second vehicle 120, and other vehicles, passing a side of the first vehicle 1 10.
  • one or more further vehicles 130, 140 are following the second vehicle 120. Although two following vehicles 130, 140 are illustrated it will be appreciated that this is merely an example. In other examples, there may be more vehicles or no vehicles following the second vehicle 120. It is desired for the second vehicle 120 to obtain situational awareness regarding whether there are vehicles following the second vehicle 120 and, if so, information about the following vehicle(s) 130, 140.
  • the situational awareness may comprise following vehicle information indicative of the one or more vehicles 130, 140 following the second vehicle 120. In embodiments of the invention the following vehicle information is provided by the first vehicle 1 10.
  • the following vehicle information is determined by sensing means associated with the first vehicle 1 10 whilst the vehicles are in proximity, such as in the situations illustrated in Figures 1 (a) and (b) with arrow 1 15 indicative of sensing of the vehicles 120, 130, 140.
  • the following vehicle information is information about the one or more vehicles 130, 140 following the second vehicle 120.
  • the following vehicle information is indicative of one or more of a number of vehicles following the second vehicle 120, a total length of vehicles 130, 140 following the second vehicle 120, and a time for the vehicles 130, 140 following the second vehicle 120 to pass.
  • the time may be a time for the vehicles 130, 140 following the second vehicle 120 to pass a stationary point i.e. a roadside point.
  • FIG 2 illustrates a vehicle 1 10 according to an embodiment of the invention.
  • the vehicle 1 10 may be the first vehicle 1 10 illustrated in Figure 1 .
  • the vehicle shown may also be the second vehicle 120.
  • the vehicle 1 10 comprises a following vehicle information (FVI) means in the form of an FVI module 200 according to an embodiment of the invention.
  • the FVI module 200 is arranged to determine and to provide following vehicle information.
  • the following vehicle information may be provided to another vehicle such as, as described above, the second vehicle 120.
  • the FVI module 200 comprises a control means 210 which may comprise one or more processing devices.
  • the one or more processing devices may, in use, execute computer instructions in the form of computer software.
  • the FVI module 200 comprises memory means 220 which may comprise one or more electronic memory devices communicably coupled to the one or more processing devices.
  • the memory device(s) may store the computer software operably executed by the processing device(s) and may store data during execution of the computer software, such as data relating to the FVI of the second vehicle 120.
  • the vehicle 1 10 comprises one or more sensing means 230, 240.
  • the sensing means are suitable for determining information about other vehicles proximal to the vehicle 1 10.
  • the one or more sensing means 230, 240 illustrated in Figure 2 are forward-facing, although it will be realised that use of otherwise directed sensing means may be envisaged.
  • one or more sensing means may be arranged to determine information about other vehicles generally alongside the vehicle 1 10 i.e. side-sensing means.
  • the sensing means 230, 240 comprises one or more sensing devices 230, 240 for determining one or more attributes of an environment proximal to the vehicle 1 10.
  • the environment may be that within a predetermined distance of the vehicle, such as within 500m or 250m of the vehicle, although it will be realised that other distances may be envisaged and that each respective sensing means 230, 240 may be associated with a respective i.e. different sensing distance.
  • the sensing means 230, 240 may be existing sensing means of the vehicle 1 10 i.e. used for other purposes such as safety or vehicle driving purposes. At least some of the one or more sensing means 230, 240 may be arranged at a front of the vehicle 1 10, such as one or more being mounted behind a grille at a front of the vehicle 1 10 or in a region of a windscreen of the vehicle 1 10. It will be appreciated that where a plurality of sensing means 230, 240 are used they do not need to be collocated.
  • the sensing means 230, 240 may also be associated with one or more of an emergency vehicle braking system of the vehicle 1 10, or a cruise control system of the vehicle, for example.
  • a first sensing means 230 may be a first device 230 such as a radar or laser device for determining a distance to an object, such as another vehicle, generally in front of the vehicle 1 10. It will be understood that generally in front of the vehicle 1 10 may also encompass objects in front of the vehicle 1 10 i.e. forward of, but in a different lane of a multi-lane road or highway, such as the second vehicle 120.
  • the first device 230 is arranged, in use, to emit radiation and to receive radiation reflected from the object or vehicle to firstly allow an existence of the object or vehicle to be determined, and secondly to determine a distance thereto.
  • a second sensing means 240 may be a second device 240 such as an imaging device 240.
  • the imaging device 240 may be arranged to determine image data, for example comprising a series of images which may form video data, of a region of the environment proximal to the vehicle 1 10.
  • the image data provided by the imaging device 240 may be used, for example, to determine road signs such as speed limit information and to determine an existence of humans i.e. pedestrians in a path of the vehicle 1 10, although it will be realised that other uses of the imaging device 240 are envisaged.
  • the vehicle 1 10 comprises a communication means 250.
  • the communication means allows wireless communication of a representation of the following vehicle information to another vehicle, such as the second vehicle 120.
  • the communication means 250 does not necessarily need to communicate directly with a communication means of the second vehicle 120.
  • the communication means 250 may operatively communicate with one or more intermediary communication systems, networks or computer systems.
  • the communication means 250 of the vehicle 1 10 may be arranged, in use, to communicate with a communication means associated with transport infrastructure, which may comprise one or more server computers arranged to control the transport infrastructure including one or more traffic flow control means.
  • the traffic flow control means may be one or more traffic lights, although it will be realised that other traffic flow control means may be used including the server computers being arranged to provide instructions to vehicles within a predetermined region or zone regarding how those vehicles should move through the zone i.e. a speed of travel etc. of those vehicles.
  • arrow 180 is indicative of communication of information from second vehicle 120 to infrastructure which is, in this case, traffic lights 190. Further description of said communication will be provided below.
  • the communication means 250 will be described as operatively communicating directly with a corresponding communication means of another vehicle, although it will be appreciated from the foregoing that this is not essential.
  • the communication means 250 may operate according to a wireless communication protocol.
  • the wireless communication protocol may be Wi-Fi or a protocol based thereon.
  • the communication means may operate according to a vehicle-to-vehicle (V2V) protocol which may be a form of vehicular ad hoc networking (VANET).
  • V2V vehicle-to-vehicle
  • VANET vehicular ad hoc networking
  • the wireless communication protocol may be IEEE 802.1 1 p or a standard based thereon. Whilst some specific protocols are identified it will be appreciated that these are merely for illustration and that the communication means 250 may operate according to another protocol.
  • the communication means 250 may be formed by a communication module or unit of the vehicle associated with one or more antennas mounted about the vehicle 1 10 for wireless communication.
  • the one or more sensing devices 230, 240 and communication unit 250 are communicably coupled to the FVI module 200.
  • the coupling may be achieved by a communication bus (not shown) of the vehicle 1 10.
  • the communication bus of the vehicle may be an IP-based communication bus wherein components and systems of the vehicle 1 10 represent nodes on a local area network (LAN) of the vehicle to allow data communication there-between.
  • the communication bus of the vehicle may be Ethernet-based although it will be realised that the bus may be based on other LAN protocols.
  • the FVI module 200 is arranged to receive data from the one or more sensing devices 230, 240 indicative of one or more attributes of the environment proximal to the vehicle. From the received data, the FVI module 200 is arranged to determine following vehicle information associated with one or more further vehicles 130, 140 following another vehicle, such as the second vehicle 120 illustrated in Figure 1 . The FVI module 200 is further arranged to communicate via the communication unit 250 of the vehicle 1 10 a representation of the following vehicle information. The representation is communicated to the another vehicle, such as the second vehicle 120, either directly or indirectly, as described above. The representation may be communicated in response to a request received from the second vehicle 120 for the following vehicle information.
  • Figure 3 illustrates a method 300 according to an embodiment of the invention.
  • the method 300 is a method of determining following vehicle information according to an embodiment of the invention.
  • the method 300 comprises a step 310 of determining the following vehicle information (FVI). Step 310 is performed when the first vehicle 1 10 is within a sensing distance of the second vehicle 120. It will be understood that the sensing distance refers to a distance over which sensing means are capable of sensing the existence or presence of the second vehicle 120 and any following vehicle(s).
  • the FVI module 200 of the first vehicle 1 10 is arranged to determine the FVI relating to the one or more vehicles 130, 140 following the second vehicle 120.
  • the FVI module 200 of the first vehicle 1 10 is arranged to determine the FVI as the second vehicle 120 and following vehicles 130, 140 move toward and then pass the first vehicle 1 10 as indicated by arrow 1 15.
  • the FVI module 200 receives data from the one or more sensing devices 230, 240 indicative of the one or more following vehicles 130, 140. From the data provided by the sensing means 230, 240 the FVI module 200 may determine an existence of one or more vehicles following the second vehicle 120 i.e. that there are following vehicles 130, 140. In some embodiments the FVI module 200 may determine a number of vehicles following the second vehicle 120. The number of vehicles may be determined based on an existence of gaps between each of the following vehicles 130, 140 data indicative of which may be provided by, for example, the radar or laser device 230, or the imaging device 240. In some embodiments, the FVI module 200 may determine the total length of the following vehicles 130, 140 i.e.
  • step 320 the representation of the FVI is communicated from the first vehicle 1 10.
  • the representation may be communicated from the first vehicle 1 10 via the communication unit 250 from the FVI module 200.
  • the representation may be a message comprising the FVI.
  • the message may comprise information indicative of one or more of the number of vehicles 130, 140 following the second vehicle 120, a total length of following vehicles 130, 140 and a time for the vehicles 130, 140 following the second vehicle 120 to pass.
  • the time may be a time for the vehicles 130, 140 following the second vehicle 120 to pass a stationary point i.e. a roadside point.
  • Step 320 may be performed when the first vehicle 1 10 is in communication range of the second vehicle 120 i.e. within a distance at which direct wireless communication there-between is effective. However, in some embodiments where indirect communication is utilised, step 320 may be performed following step 310 i.e. without the first and second vehicles 1 10, 120 being capable or direct communication using one or more intermediary communication systems.
  • the second vehicle 120 is provided with information about any following vehicle(s).
  • the second vehicle 120 may utilise this information itself.
  • the second vehicle may determine a driving performance based on the FVI, such as determining a braking force to apply dependent on the number of following vehicles.
  • the second vehicle 120 may also provide the FVI to a transport infrastructure system.
  • the second vehicle 120 may transmit via connection 180 the FVI to a receiving device associated with traffic infrastructure 190.
  • the traffic infrastructure may comprise one or more traffic flow control means such as traffic lights 190 as illustrated.
  • the FVI may inform the infrastructure 190 how many following vehicle(s) 130, 140 there are or how long it will take the following vehicles 130, 140 to pass.
  • the traffic infrastructure may adapt according to the FVI.
  • the traffic lights may change state based on the received FVI. The change in state may be to determine a period on green to allow the following vehicles 130, 140 to pass through the traffic lights 190.
  • Figure 4 illustrates a method 400 according to an embodiment of the invention.
  • the method 400 is a method of determining following vehicle information according to an embodiment of the invention.
  • the method 400 comprises a step 410 in which a request is transmitted.
  • the request is transmitted in response to a desire for improved situational awareness.
  • the request may be transmitted from a vehicle, in particular from the second vehicle 120.
  • the request is transmitted from a wireless communication unit of the vehicle 120.
  • the request is for following vehicle information (FVI).
  • the request may, in some embodiments, include a representation of existing or currently held following vehicle information (cFVI).
  • the cFVI may be obtained from a memory associated with the vehicle 120, such as the memory 220 of the VFI module 200.
  • the cFVI provides information about currently following vehicles accessible to the vehicle 120. For example, the cFVI may identify a number of vehicles believed to be following the vehicle 120.
  • the cFVI may be outdated having been previously obtained, such as received, by the second vehicle 120. Therefore the FVI module 200 of the second vehicle 120 may seek to update the FVI.
  • the request may also comprise information identifying the second vehicle 120 in order that updated FVI may be provided for the second vehicle 120.
  • the request is received.
  • the request may be received in step 420 at the first vehicle 1 10.
  • the request may be indirectly received from the second vehicle 120 having been through one or more intermediary communication networks or systems and then transmitted to the first vehicle 1 10.
  • the first vehicle 1 10 receives the request via the communication unit 250 and the request is provided to the FVI module 200.
  • the FVI module 200 may identify from which vehicle the request originated from information contained in the request.
  • the first vehicle 1 10 determines FVI for the second vehicle 120 as described above.
  • the FVI module 200 of the first vehicle 1 10 may determine the existence of any following vehicles, such as one or more vehicles 130, 140 following the second vehicle 120 i.e. that there are following vehicles 130, 140.
  • the FVI module 200 may determine that there are no vehicles following the second vehicle.
  • the FVI module 200 may determine the number of vehicles following the second vehicle 120. In some embodiments, the FVI module 200 of the first vehicle 1 10 may determine the total length of the following vehicles 130 i.e. the distance from a front of the first of the following vehicles 130 to the rear of a last of the following vehicles 140, or a time to for the following vehicles 130, 140 to pass a stationary point i.e. the time taken in seconds for the following vehicles 130, 140 to pass the stationary point. As described above the FVI module 200 determines the FVI based on data received from one or more sensing devices 230, 240 associated with the first vehicle 1 10. In step 440 it is determined whether the newly determined FVI, as determined in step 430, matches, i.e.
  • the method 400 may end as the second vehicle 120 has correct or current FVI.
  • the FVI module 200 of the first vehicle 1 10 may communicate a confirmation to the second vehicle 120 indicative of the cFVI being correct or up-to-date. If the newly determined FVI is not the same as or equal to the cFVI received in step 420 the method moves to step 450.
  • step 450 the FVI module 200 of the first vehicle 1 10 determines differential following vehicle information (dFVI).
  • the dFVI represents a difference between the newly FVI determined in step 430 and the received cFVI from step 420.
  • the c!FVI is communicated from the FVI module 200 to the communication unit 250 of the first vehicle 1 10 and transmitted to the second vehicle 120. In this way, the second vehicle is provided with information to update the existing FVI held by the second vehicle 120 i.e.
  • the second vehicle 120 may provide the FVI to one or more receiving devices such as a receiving device associated with traffic infrastructure 190, for example traffic lights 190, as described above. It will be appreciated that embodiments of the present invention allow improved situational awareness of vehicles to be obtained, in particular information about following vehicles, which may be used by the vehicles or traffic infrastructure.
  • traffic infrastructure is intended to cover both on-road infrastructure (as described herein) but also infrastructure for controlling traffic flow of other vehicle types, for example off-road or waterborne vehicle.
  • embodiments of the present invention can be realised in the form of hardware, software or a combination of hardware and software. Any such software may be stored in the form of volatile or non-volatile storage such as, for example, a storage device like a ROM, whether erasable or rewritable or not, or in the form of memory such as, for example, RAM, memory chips, device or integrated circuits or on an optically or magnetically readable medium such as, for example, a CD, DVD, magnetic disk or magnetic tape. It will be appreciated that the storage devices and storage media are embodiments of machine-readable storage that are suitable for storing a program or programs that, when executed, implement embodiments of the present invention.
  • embodiments provide a program comprising code for implementing a system or method as claimed in any preceding claim and a machine readable storage storing such a program. Still further, embodiments of the present invention may be conveyed electronically via any medium such as a communication signal carried over a wired or wireless connection and embodiments suitably encompass the same. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and/or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and/or steps are mutually exclusive.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

Des modes de réalisation de l'invention concernent un procédé (300, 400) permettant de déterminer les informations d'un véhicule suiveur, ledit procédé consistant à : déterminer (310, 430), par le biais d'un ou de plusieurs moyens de détection (230, 240) associés à un premier véhicule (110), des informations de véhicule suiveur associées à n'importe quel autre véhicule (130, 140) suivant un second véhicule (120) ; et transmettre (320, 450), du premier moyen de communication (250) associé au premier véhicule (110) à un second moyen de communication (250) associé au second véhicule (120), une représentation des informations du véhicule suiveur.
PCT/EP2017/074995 2016-10-13 2017-10-02 Appareil et procédé de transmission d'informations d'un véhicule suiveur Ceased WO2018069084A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112017005195.9T DE112017005195T5 (de) 2016-10-13 2017-10-02 Vorrichtung und Verfahren zum Bestimmen von folgenden Fahrzeuginformationen

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB1617356.9A GB2554901B (en) 2016-10-13 2016-10-13 Apparatus and method for determining following vehicle information
GB1617356.9 2016-10-13

Publications (1)

Publication Number Publication Date
WO2018069084A1 true WO2018069084A1 (fr) 2018-04-19

Family

ID=57680801

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2017/074995 Ceased WO2018069084A1 (fr) 2016-10-13 2017-10-02 Appareil et procédé de transmission d'informations d'un véhicule suiveur

Country Status (3)

Country Link
DE (1) DE112017005195T5 (fr)
GB (1) GB2554901B (fr)
WO (1) WO2018069084A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113299096B (zh) * 2017-12-28 2023-06-13 北京百度网讯科技有限公司 合作式交叉路口通行控制方法、装置及设备

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150310739A1 (en) * 2014-04-29 2015-10-29 Here Global B.V. Method and apparatus for notifying device users of a bottleneck status
US20160210853A1 (en) * 2015-01-15 2016-07-21 Magna Electronics Inc. Vehicle vision system with traffic monitoring and alert

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5760708A (en) * 1989-11-21 1998-06-02 Seith; Nancy Signaling means
GB2265744A (en) * 1992-03-30 1993-10-06 Leonard Lloyd Jones A motor vehicle blind-spot indicator and warning system
JPH0644498A (ja) * 1992-07-23 1994-02-18 Mazda Motor Corp 車両の情報伝達装置
US6618672B2 (en) * 1998-10-21 2003-09-09 Yazaki Corporation Vehicle-applied rear-and-side monitoring system
DE102005013335B4 (de) * 2005-03-23 2025-06-12 Bayerische Motoren Werke Aktiengesellschaft Auffahr-Warnsystem
JP6238018B2 (ja) * 2014-12-02 2017-11-29 マツダ株式会社 車両用運転支援装置
JP6238017B2 (ja) * 2014-12-02 2017-11-29 マツダ株式会社 車両用運転支援装置
KR20160115448A (ko) * 2015-03-27 2016-10-06 주식회사 만도 차량의 운전 보조 시스템 및 운전 보조 방법

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150310739A1 (en) * 2014-04-29 2015-10-29 Here Global B.V. Method and apparatus for notifying device users of a bottleneck status
US20160210853A1 (en) * 2015-01-15 2016-07-21 Magna Electronics Inc. Vehicle vision system with traffic monitoring and alert

Also Published As

Publication number Publication date
DE112017005195T5 (de) 2019-07-04
GB2554901B (en) 2021-03-24
GB201617356D0 (en) 2016-11-30
GB2554901A (en) 2018-04-18

Similar Documents

Publication Publication Date Title
US10486701B2 (en) Driving control device, driving control method and vehicle-to-vehicle communication system
CN108834434B (zh) 用于开始或者执行协同驾驶机动动作的方法和装置
US9922565B2 (en) Sensor fusion of camera and V2V data for vehicles
US10621869B2 (en) Driving control device, driving control method, and vehicle-to-vehicle communication system
JP6755959B2 (ja) 自動運転方法、自動運転スケジューリング方法、制御装置及びネットワーク・デバイス
US9830814B2 (en) System and method for transmitting detected object attributes over a dedicated short range communication system
JP6556939B2 (ja) 車両制御装置
US11508161B2 (en) Driving support system and server device
KR20210111890A (ko) Hd 지도의 생성 및 사용
CN110198875B (zh) 对驾驶员辅助系统的改进或与之相关的改进
JP2018534692A (ja) 車両用の運転意図を決定する方法および車両通信システム
WO2010110109A1 (fr) Dispositif de fourniture d'informations pour véhicule
US20200204969A1 (en) Detection of non-v2v vehicles
JP2017084367A (ja) 自動車の制御
KR20210086773A (ko) 차량 및 그 제어방법
KR20200038139A (ko) 차량의 군집 관리 장치 및 방법
KR20250088548A (ko) 원격 차량 지원을 위한 궤적들의 안내된 생성
CN115762121A (zh) 用于运行多个基础设施系统的方法、系统和存储介质
CN108154712A (zh) 用于运行车辆的方法和设备
WO2018069084A1 (fr) Appareil et procédé de transmission d'informations d'un véhicule suiveur
GB2566098A (en) Apparatus and method for determining following vehicle information
US11979805B2 (en) Control method, communication terminal, and communication system
KR20230100591A (ko) 지역특성지도의 반영이 용이한 자율주행 시스템 및 자율주행 지원 방법
US20220410904A1 (en) Information processing device, information processing system and information processing method
KR102290568B1 (ko) 차량의 군집 주행 방법

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17784595

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 17784595

Country of ref document: EP

Kind code of ref document: A1