EP3685367A1 - Verfahren und vorrichtung zum betreiben von wenigstens zwei automatisierten fahrzeugen - Google Patents
Verfahren und vorrichtung zum betreiben von wenigstens zwei automatisierten fahrzeugenInfo
- Publication number
- EP3685367A1 EP3685367A1 EP18765056.9A EP18765056A EP3685367A1 EP 3685367 A1 EP3685367 A1 EP 3685367A1 EP 18765056 A EP18765056 A EP 18765056A EP 3685367 A1 EP3685367 A1 EP 3685367A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- automated vehicles
- automated
- driving strategy
- localization
- vehicles
- 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.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000004807 localization Effects 0.000 claims abstract description 52
- 230000001419 dependent effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 4
- 239000003344 environmental pollutant Substances 0.000 description 3
- 231100000719 pollutant Toxicity 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- 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
- G08G1/096716—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 where the received information does not 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
- G08G1/096733—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
- G08G1/09—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
- G08G1/096775—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 a central station
-
- 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
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
Definitions
- the present invention relates to a method and a device for operating at least two automated vehicles with a step of detecting signals, a step of reading in a map, depending on the signals, a step of determining a common driving strategy for the at least two automated vehicles in that a location potential of the at least two automated vehicles based on the map and dependent on the signals is optimized, and a step of providing the common driving strategy for operating the at least two automated vehicles.
- the present invention further relates to a vehicle device for operating an automated
- the method according to the invention for operating at least two automated vehicles comprises a step of detecting signals respectively transmitted from the at least two automated vehicles and a step of reading in a map depending on the signals.
- the inventive method further comprises a step of determining a common
- a map is meant, for example, a digital map, which is designed, for example, in connection with a navigation system and / or a control device of the automated vehicle and / or in conjunction with a smartphone, which is connected to the automated vehicle or from this is to locate the automated vehicle and / or perform a driving function, depending on the location, etc.
- a signal is meant, for example, a digital message comprising at least one start and / or destination of the automated vehicle and / or indications (size, weight, load, height, maximum speed, etc.) of the automated vehicle.
- a driving strategy is, for example, a specification for a trajectory of the automated vehicle and / or corresponding control commands for controlling a lateral and / or longitudinal control of the automated vehicle along the trajectory. Furthermore, the driving strategy includes, for example, a
- a localization potential is to be understood, for example, the accuracy with which an automated vehicle determines its own position, for example by means of GNSS coordinates.
- accuracy means the blur with which this highly accurate position can actually be determined. The smaller the blur, the greater the accuracy and the greater the localization potential.
- the inventive method advantageously solves the problem that often many (automated) vehicles are traveling at the same time, which thus leads to a high traffic density. This often means longer trips and higher ones Pollutant emissions as absolutely necessary.
- the method solves this problem by forming a so-called association between at least two automated vehicles, which saves space on the road, for example (smaller distances between the at least two automated vehicles results in a lower traffic density overall) and, for example, because of the lower traffic density - leads to shorter journeys.
- This in turn increases the satisfaction of the occupants or all operators of an automated vehicle (delivery services, etc.) and also often saves money and reduces the
- the inventive method solves the problem that automated vehicles are operated safely, for which a high
- Localization potential is essential and which is increased by the method.
- a high localization potential also leads to distances to other road users and / or other sources of danger (limitation of a
- Traffic route, construction sites, railroad crossings, etc. are recognized in good time and / or determined and thus a corresponding driving strategy or avoidance maneuvers, etc.
- the common driving strategy comprises a respective trajectory for each of the at least two automated vehicles, and the at least two automated vehicles are operated along the respective trajectory.
- the card comprises at least one location feature.
- the at least one localization feature is, for example, a traffic sign and / or a building and / or a lane marking and / or
- Street lighting devices and / or localization devices - which are specially designed, for example, from an environment sensor of a
- the localization feature is stored, for example, with a highly accurate position in the map.
- a highly accurate position is to be understood as meaning a position which is so accurate within a given coordinate system, for example GNSS coordinates, that this position does not exceed a maximum permissible fuzziness.
- the maximum blur may depend on the environment of the automated vehicle.
- the maximum blur may for example depend on whether the automated vehicle is partially, fully or fully automated operated.
- the maximum blur is so low that a safe operation of the automated vehicle is guaranteed.
- the maximum blur is for example in one
- the localization potential of the at least two automated vehicles is optimized by the common driving strategy comprising the respective trajectory for each of the at least two automated vehicles such that the at least one localization feature of each of the at least two automated vehicles is detected during operation by means of an environmental sensor system.
- the highly accurate position is determined, for example, by detecting the location feature and determining a relative position of the automated vehicle. This is done for example by means of a direction vector and a distance between the localization feature and the automated vehicle.
- the highly accurate position of the automated vehicle can be determined, for example by means of vector addition.
- the localization potential of the at least two automated vehicles is optimized by the common driving strategy comprising the respective trajectory for each of the at least two automated vehicles such that the at least one localization feature is detected by at least one of the at least two automated vehicles by means of environmental sensors, and that at least a localization feature and / or a location indication of the at least one location feature is transmitted to each of the at least two automated vehicles by means of a transmission device.
- the environmental sensor system is understood to mean at least one video and / or at least one radar and / or at least one lidar and / or at least one ultrasound and / or at least one further sensor which is designed to have one
- the signals represent at least one location and one destination of the at least two automated vehicles and / or
- Under state variables are, for example, sizes of the vehicles and / or
- Air resistance and / or descriptions of the respective environment sensors and / or urgency wishes (how quickly or urgently an automated vehicle has to be understood in each case from its starting location to its destination), etc.
- the inventive device for operating at least two automated vehicles comprises a transmitting and receiving unit for detecting signals which are respectively transmitted from the at least two automated vehicles, and for providing the common driving strategy for operating the at least two automated vehicles.
- the device according to the invention Further comprises a read-in unit for reading in a map, depending on the signals, and a computing unit for determining a common driving strategy for the at least two automated vehicles such that optimizes a localization potential of the at least two automated vehicles based on the map and on the signals becomes.
- the transmitting and receiving unit and / or the read-in unit and / or the arithmetic unit are designed to carry out a method according to at least one of the method claims.
- the vehicle device for operating an automated vehicle comprises a transmitting and receiving device for transmitting a signal to an external server and for receiving a driving strategy from the external server, an environmental sensor system for detecting at least one localization feature, wherein the detection of the at least one localization feature at least depends on the driving strategy, and a control device for operating the automated vehicle, depending on the driving strategy and depending on the at least one localization feature.
- the driving strategy is determined according to at least one of the method claims.
- Figure 1 shows an embodiment of the device according to the invention
- FIG. 2 shows an embodiment of the vehicle device according to the invention
- Figure 3 shows an embodiment of the method according to the invention
- Figure 4 shows an embodiment of the method according to the invention in the form of a flow chart.
- FIG. 1 shows an arithmetic unit 100, which is shown by way of example, which has a
- Device 1 10 for operating at least two automated vehicles 200, 210 comprises.
- a computing unit 100 is meant, for example, a server.
- a computing unit 100 is to be understood as meaning a cloud-that is, a composite of at least two electrical data processing systems-which exchange data, for example, via the Internet.
- a cloud-that is, a composite of at least two electrical data processing systems-which exchange data, for example, via the Internet.
- Embodiment corresponds to the computing unit 100 of the device 1 10.
- the device 110 comprises a transmitting and receiving unit 11 1 for detecting 310 signals, which in each case starting from the at least two automated
- the device 110 further comprises a computing unit 13 for determining 330 a common driving strategy for the at least two automated vehicles 200, 210 such that a localization potential of the at least two automated vehicles 200, 210 is optimized based on the map and on the signals becomes.
- the transmitting and receiving unit 1 1 1 and / or the read-in unit 1 12 and / or the arithmetic unit 1 13 can - depending on the particular embodiment of the
- Arithmetic unit 100 - be designed differently. If the computing unit 100 is designed as a server, the transmitting and receiving unit 1 1 1 and / or the read-in unit 1 12 and / or the arithmetic unit 1 13 - based on the location of the device 1 10 - located at the same location.
- the transmitting and receiving unit 1 1 1 and / or the read-in unit 1 12 and / or the arithmetic unit 1 13 can be located at different locations, for example in different cities and / or in different countries a connection - such as the Internet - for the exchange of (electronic) data between the transmitting and receiving unit 1 1 1 and / or the read-in unit 1 12 and / or the computing unit 1 13 is formed.
- the transmitting and receiving unit 1 1 1 is adapted to a common
- the transmitting and receiving unit 1 1 1 is further adapted to receive signals, which are respectively transmitted from the at least two automated vehicles 200, 210 to receive.
- the transmitting and receiving unit 1 1 1 transmit and receive data.
- the transmitting and receiving unit 1 1 1 is designed such that it with a - starting from the device 1 10 - externally arranged transmitting and / or receiving unit 122, connected by means of a cable and / or wireless connection 121 is.
- the transmitting and receiving unit 1 1 for example, electronic
- Data processing elements such as a processor, memory and a hard disk, which are adapted to process the received signals and / or the provided common driving strategy - in the form of data values - to perform, for example, a change and / or adaptation of the data format and then to the at least two automated vehicles 200, 210 to transfer.
- the transmitting and receiving unit 1 1 1 is designed to transmit or receive all data - without data processing elements.
- the device comprises a read-in unit 12 for reading 320 a card, depending on the signals.
- the read-in unit 12 comprises 12 electronic
- the read-in unit 1 12 is designed such that the card is requested and / or received in the form of data values from a card providing service.
- the read-in unit 1 12 is designed in such a way that it is connected to a transmitting and / or receiving unit 122 arranged externally, starting from the device 110, by means of a cable and / or wireless connection 121, so that the Card is requested and / or received by a card delivery service.
- the read-in unit 1 12 is identical to the transmitting and / or receiving unit 1 1 1.
- the device 1 10 comprises a computing unit 1 13 for determining 330 a common driving strategy for the at least two automated vehicles 200, 210 such that a localization potential of the at least two automated vehicles
- the computing unit 1 comprises 13 electronic data processing elements
- the arithmetic unit 1 13 includes a corresponding software, which is designed to determine a driving strategy according to the inventive method 300.
- the driving strategy includes, for example, a respective trajectory 201, 21 1 for each of the at least two automated vehicles 200, 210 or a common trajectory, along which the least two automated vehicles 200, 210 are operated. Furthermore, the driving strategy includes, for example, a distance specification between the at least two automated vehicles 200, 210 and / or one
- Vehicles 200, 210 detected a localization feature by means of environment sensors 202, 212.
- the driving strategy provides for data exchange between at least some of the at least two vehicles 200, 210.
- the driving strategy is provided such that a location indication of the at least one location feature 220 is transmitted from an automated vehicle 200 to at least one further automated vehicle 210.
- the driving strategy becomes, for example, in particular with respect to the respective trajectory
- FIG. 2 shows an automated vehicle 200 that includes a vehicle device 400 for operating the automated vehicle 200.
- the automated vehicle 200 is designed here as an example as a car. In other embodiments, the automated vehicle 200 is configured, for example, as a truck or as a two-wheeled vehicle.
- the vehicle device 400 comprises a transmitting and receiving device 203 for transmitting a signal to an external server 100 and for receiving a driving strategy from the external server 100, an environmental sensor 202 for detecting at least one localization feature 220, wherein the detection of the at least one localization feature 220 is at least dependent from the driving strategy, and a controller 401 for operating the automated vehicle 200, depending on the driving strategy and depending on the at least one locating feature 220.
- the transmitting and receiving device 203 is configured to receive a driving strategy in the form of data values and a signal in the form of data values to the external server 100 to transfer.
- the transmitting and receiving device 203 is designed such that it is connected to a transmitting and / or receiving unit arranged externally, starting from the vehicle device 400, by means of a cable and / or wireless connection (for example, Bluetooth) , This may be, for example, a navigation system and / or a smartphone, which is included in the automated vehicle 200 act.
- the transmitting and receiving device 203 is configured to forward the received driving strategy to the control unit 401 for operating the automated vehicle 200.
- Receiving device 203 electronic data processing elements, such as a processor, memory and a hard disk, which are adapted to process the received driving strategy, for example, to carry out a change and / or adjustment of the data format, and then forward to the control unit 401.
- electronic data processing elements such as a processor, memory and a hard disk, which are adapted to process the received driving strategy, for example, to carry out a change and / or adjustment of the data format, and then forward to the control unit 401.
- the automated vehicle 200 includes an environment sensor 202. This includes at least one own sensor and / or is already with the environment sensor 202.
- Automated vehicle 200 includes sensors connected.
- the surroundings sensor 202 comprises, for example, a computing unit (processor,
- Main memory hard disk
- suitable software which is designed to detect the localization feature 220 detected by means of the at least one sensor, for example by means of object recognition.
- the environment sensor 202 is designed such that the at least one localization feature 220 in shape of data values is forwarded to the controller 401 for operating the automated vehicle 200.
- the vehicle device 400 comprises a control device 401 for operating the automated vehicle 200.
- the automated vehicle 200 comprises a control device 401 for operating the automated vehicle 200.
- a transverse and / or a longitudinal control of the automated vehicle 200 is controlled.
- safety-relevant functions airbag, emergency braking, etc.
- FIG. 3 shows an embodiment of the method 300 according to the invention.
- Each of the at least two automated vehicles 200, 210 transmits by means of a transmission and
- the external server 100 or the device 1 10 receive the signals. Then, depending on the signals, a card is read. By means of a computing unit 13, the device determines a common driving strategy for operating the at least two automated vehicles 200, 210 such that a localization potential of the at least two automated vehicles 200, 210 is optimized based on the map and on the signals.
- a trajectory 201, 21 1 for each of the at least two automated vehicles 200, 210 is determined such that the at least two automated vehicles 200, 210 drive offset within the traffic lane, so that each of the at least two automated vehicles 200, 210 at least one localization feature 220 can detect by means of environment sensors 202, 212.
- the common driving strategy is determined in such a way, for example is that one of the at least two automated vehicles 200, 210 the
- At least one location feature 220 is detected and all other of the at least two automated vehicles 200, 210 are operated relative to the one of the at least two automated vehicles 200, 210 so as to locate therefrom. This is done, for example, by the at least one
- FIG. 4 shows an exemplary embodiment of a method 300 for operating
- At least two automated vehicles 200, 210 are at least two automated vehicles 200, 210.
- step 301 the method 300 starts.
- step 310 signals transmitted respectively from the at least two automated vehicles 200, 210 are received.
- step 320 a map is read in, depending on the signals.
- step 330 a common driving strategy for the at least two
- automated vehicles 200, 210 are determined such that a localization potential of the at least two automated vehicles 200, 210, based on the map and depending on the signals, is optimized. For example, that will
- Localization potential is optimized by determining the common driving strategy such that the at least two automated vehicles 200, 210 do not mutually obscure a localization feature 220 needed, for example, to operate (locate) each of the at least two automated vehicles 200, 210.
- the common driving strategy for operating the at least two automated vehicles 200, 210 is provided.
- step 350 method 300 ends.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017216603.7A DE102017216603A1 (de) | 2017-09-19 | 2017-09-19 | Verfahren und Vorrichtung zum Betreiben von wenigstens zwei automatisierten Fahrzeugen |
PCT/EP2018/073035 WO2019057447A1 (de) | 2017-09-19 | 2018-08-27 | Verfahren und vorrichtung zum betreiben von wenigstens zwei automatisierten fahrzeugen |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3685367A1 true EP3685367A1 (de) | 2020-07-29 |
Family
ID=63490434
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18765056.9A Withdrawn EP3685367A1 (de) | 2017-09-19 | 2018-08-27 | Verfahren und vorrichtung zum betreiben von wenigstens zwei automatisierten fahrzeugen |
Country Status (5)
Country | Link |
---|---|
US (1) | US11429102B2 (de) |
EP (1) | EP3685367A1 (de) |
CN (1) | CN111108537B (de) |
DE (1) | DE102017216603A1 (de) |
WO (1) | WO2019057447A1 (de) |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8630795B2 (en) * | 1999-03-11 | 2014-01-14 | American Vehicular Sciences Llc | Vehicle speed control method and arrangement |
CN101823486A (zh) * | 2010-04-30 | 2010-09-08 | 奇瑞汽车股份有限公司 | 一种自动驾驶*** |
DE102012219850A1 (de) * | 2012-10-30 | 2014-04-30 | Robert Bosch Gmbh | Datenverarbeitungseinrichtung und Verfahren für eine solche Datenverarbeitungseinrichtung |
DE102012222869A1 (de) * | 2012-12-12 | 2014-06-12 | Robert Bosch Gmbh | Verfahren zum Ermitteln einer gemeinsamen Fahrstrategie, Recheneinheit und Computerprogrammpunkt |
DE102012024859B3 (de) | 2012-12-19 | 2014-01-09 | Audi Ag | Verfahren zum Bereitstellen einer Betriebsstrategie für ein Kraftfahrzeug |
DE102014224099A1 (de) * | 2014-11-26 | 2016-06-02 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben von mehreren Fahrzeugen |
JP6437629B2 (ja) * | 2015-03-03 | 2018-12-12 | パイオニア株式会社 | 経路探索装置、制御方法、プログラム及び記憶媒体 |
DE102015003124A1 (de) * | 2015-03-12 | 2016-09-15 | Daimler Ag | Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs |
JP6428493B2 (ja) * | 2015-06-05 | 2018-11-28 | 株式会社デンソー | 自動走行制御装置、自動走行用車載装置、自動走行制御方法 |
DE102015008353A1 (de) * | 2015-06-27 | 2016-02-25 | Daimler Ag | Autonom fahrendes Fahrzeug und Verfahren zum Organisieren von Kolonnenfahrten |
DE102015220360A1 (de) * | 2015-10-20 | 2017-04-20 | Robert Bosch Gmbh | Verfahren zur Auswahl einer optimierten Trajektorie |
DE102015220449A1 (de) | 2015-10-20 | 2017-04-20 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben wenigstens eines teil- oder hochautomatisierten Fahrzeugs |
US9916703B2 (en) * | 2015-11-04 | 2018-03-13 | Zoox, Inc. | Calibration for autonomous vehicle operation |
DE102015016758A1 (de) * | 2015-12-23 | 2017-06-29 | Daimler Ag | Verfahren zum Bewegen, insbesondere zum Steuern oder Regeln, einer Fahrzeugkolonne |
US20170213459A1 (en) | 2016-01-22 | 2017-07-27 | Flex Ltd. | System and method of identifying a vehicle and determining the location and the velocity of the vehicle by sound |
CN206056604U (zh) | 2016-06-22 | 2017-03-29 | 西安工业大学 | 一种基于车况和路况的智能车辆路径规划*** |
US11388627B2 (en) * | 2020-08-10 | 2022-07-12 | Toyota Motor Engineering & Manufacturing North America, Inc. | Vehicular micro cloud transmission control protocol |
-
2017
- 2017-09-19 DE DE102017216603.7A patent/DE102017216603A1/de active Pending
-
2018
- 2018-08-27 CN CN201880060723.7A patent/CN111108537B/zh active Active
- 2018-08-27 WO PCT/EP2018/073035 patent/WO2019057447A1/de unknown
- 2018-08-27 EP EP18765056.9A patent/EP3685367A1/de not_active Withdrawn
- 2018-08-27 US US16/645,961 patent/US11429102B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US11429102B2 (en) | 2022-08-30 |
DE102017216603A1 (de) | 2019-03-21 |
WO2019057447A1 (de) | 2019-03-28 |
CN111108537B (zh) | 2023-02-14 |
CN111108537A (zh) | 2020-05-05 |
US20200201327A1 (en) | 2020-06-25 |
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