JP2019530086A - 一つの集団の後続車両と先行車両の間の動的な車間距離を確定する方法 - Google Patents
一つの集団の後続車両と先行車両の間の動的な車間距離を確定する方法 Download PDFInfo
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- 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
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- 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
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- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W2554/804—Relative longitudinal speed
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- B60W2556/65—Data transmitted between vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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Abstract
Description
Adyn=s+sB(dzMax)
50 無線データ通信
60 VLC光源
70 距離センサー機器
80 制動システム
90 駆動システム
100 集団
Adyn 動的な車間距離
dvRel 相対速度
dzMax 減速差
FF 後続車両
K_FF 後続車両の速度推移
K_VF 先行車両の速度推移
mue_FF 後続車両の摩擦値
mue_VF 先行車両の摩擦値
N 緊急ブレーキ
t 時点
t1 第一の伝送時間(V2V)
t2 第二の伝送時間(VLC)
t3 第三の伝送時間(距離センサー機器)
tA 送信時間
tE 受信時間
tS 応答時間
S1 V2V信号
s 伝送距離
sB 制動距離の差
sB1,sB2,sB3 部分制動距離
sW 警報信号
v_FF 後続車両速度
v_VF 先行車両速度
VB_FF 後続車両制動応答挙動
VB_VF 先行車両制動応答挙動
VF 先行車両
W 天候
w_FF 後続車両制動距離
w_VF 先行車両制動距離
ZB_FF 後続車両ブレーキライニング状態
ZB_VF 先行車両ブレーキライニング状態
z_FF 後続車両減速
zMax_FF 後続車両の最大車両減速
zMax_VF 先行車両の最大車両減速
z_VF 先行車両減速
St0,St1,St2,St3,St4 本方法の工程
Claims (13)
- 一つの集団(100)の後続車両(FF)と先行車両(VF)の間の動的な車間距離(Adyn)を確定する方法であって、後続車両(FF)と先行車両(VF)の間でV2V信号(S1)を無線により伝送することができる方法において、少なくとも、
後続車両(FF)のその時々の最大後続車両減速(zMax_FF)を確定する工程(St1)と、
先行車両(VF)が緊急ブレーキ(N)を始動したとの情報を後続車両(FF)に伝送するためのその時々の伝送時間(t1,t2,t3)を確定する工程(St2)と、
先行車両(VF)のその時々の最大先行車両減速(zMax_VF)を確定する工程(St3)と、
伝送距離(s)と制動距離の差(sB)から動的な車間距離(Adyn)を確定する工程(St4)と、
を有し、
この伝送距離(s)は、先行車両(VF)による緊急ブレーキ(N)の始動と後続車両(FF)による緊急ブレーキ(N)の始動の間に後続車両(FF)が進む距離を表し、この伝送距離(s)が、その時々の伝送時間(t1,t2,t3)に依存し、
この制動距離の差(sB)は、最大先行車両減速(zMax_VF)により与えられる先行車両制動距離(w_VF)と最大後続車両減速(zMax_FF)により与えられる後続車両制動距離(w_FF)の間の差を表す、
方法。 - 前記の制動距離の差(sB)が、その時々の最大先行車両減速(zMax_VF)とその時々の最大後続車両減速(zMax_FF)との間の減速差(dzMax)から得られることを特徴とする請求項1に記載の方法。
- 前記の動的な車間距離(Adyn)が、後続車両(FF)に保存され、確定された伝送距離(s)に関する、減速差(dzMax)と動的な車間距離(Adyn)の間の関係を表す距離曲線(K_Adyn)から得られることを特徴とする請求項2に記載の方法。
- 先行車両(VF)のその時々の最大先行車両減速(zMax_VF)が、V2V信号(S1)により、先行車両(VF)から後続車両(FF)に伝送されることを特徴とする請求項1から3までのいずれか一つに記載の方法。
- その時々の最大先行車両減速(zMax_VF)が先行車両(VF)により確定されることを特徴とする請求項4に記載の方法。
- 先行車両(VF)がV2V信号(S1)により最大先行車両減速(zMax_VF)を伝送して来ないか、その時々にV2V信号(S1)が伝送されて来ない場合に、その時々の最大先行車両減速(zMax_VF)として、先行車両減速(zMax_VF)に関する通常の値又は伝送されて来た最新の最大先行車両減速(zMax_VF)が採用されることを特徴とする請求項1から5までのいずれか一つに記載の方法。
- その時々の伝送時間として、V2V信号(S1)が先行車両(VF)から送信された送信時間(tA)と、V2V信号(S1)が後続車両(FF)で受信された受信時間(tE)とから、第一の伝送時間(t1)が確定されることを特徴とする請求項1から6までのいずれか一つに記載の方法。
- V2V信号(S1)の伝送からの第一の伝送時間(t1)の決定ができない場合に、
その時々の伝送時間として、最新の確定された伝送時間(t1)が採用されるか、
VLC光源(60)から出力される光学警報信号(SW)を生成及び検知するまでの時間を特徴とする第二の伝送時間(t2)が伝送時間として確定されるか、或いは
変化する相対速度(dvRel)を距離センサー機器(70)により検知するまでの時間を特徴とする第三の伝送時間(t3)が伝送時間として確定される、
ことを特徴とする請求項1から7までのいずれか一つに記載の方法。 - 前記の伝送距離(s)を決定するために、前記の伝送時間(t1,t2,t3)の外に、更に、無駄時間(tT)及び応答時間(tS)が考慮されることを特徴とする請求項1から8までのいずれか一つに記載の方法。
- 最大後続車両減速(zMax_FF)が後続車両(FF)により確定されることを特徴とする請求項1から9までのいずれか一つに記載の方法。
- 先行車両(VF)と後続車両(FF)の間の確定された動的な車間距離(Adyn)が、後続車両(FF)のブレーキ及び/又は駆動部の駆動により設定されることを特徴とする請求項1から10までのいずれか一つに記載の方法。
- 特に、請求項1から11までのいずれか一つに記載の方法を実施するのに適した、一つの集団(100)の後続車両(FF)において動的な車間距離(Adyn)を確定するための制御機器(110)。
- 特に、請求項1から11までのいずれか一つに記載の方法を実施するのに適した、請求項12に記載の制御機器(110)を備えた後続車両(20,30,40)、特に、商用車(10,20,30)。
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DE102016011325.1A DE102016011325A1 (de) | 2016-09-21 | 2016-09-21 | Verfahren zum Ermitteln eines dynamischen Fahrzeug-Abstandes zwischen einem Folgefahrzeug und einem Vorderfahrzeug eines Platoons |
DE102016011325.1 | 2016-09-21 | ||
PCT/EP2017/001002 WO2018054520A1 (de) | 2016-09-21 | 2017-08-22 | Verfahren zum ermitteln eines dynamischen fahrzeug-abstandes zwischen einem folgefahrzeug und einem vorderfahrzeug eines platoons |
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EP (1) | EP3516638B1 (ja) |
JP (1) | JP7066687B2 (ja) |
KR (1) | KR20190050792A (ja) |
CN (1) | CN109690642A (ja) |
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DE102016011325A1 (de) | 2018-03-22 |
CN109690642A (zh) | 2019-04-26 |
EP3516638A1 (de) | 2019-07-31 |
US11318940B2 (en) | 2022-05-03 |
US20190232962A1 (en) | 2019-08-01 |
KR20190050792A (ko) | 2019-05-13 |
JP7066687B2 (ja) | 2022-05-13 |
WO2018054520A1 (de) | 2018-03-29 |
EP3516638B1 (de) | 2024-01-24 |
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