SE1550429A1 - Device and method for classification of road segment - Google Patents
Device and method for classification of road segment Download PDFInfo
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- SE1550429A1 SE1550429A1 SE1550429A SE1550429A SE1550429A1 SE 1550429 A1 SE1550429 A1 SE 1550429A1 SE 1550429 A SE1550429 A SE 1550429A SE 1550429 A SE1550429 A SE 1550429A SE 1550429 A1 SE1550429 A1 SE 1550429A1
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- Prior art keywords
- road
- road segment
- classification
- platooning
- segment
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000011156 evaluation Methods 0.000 claims abstract description 9
- 238000004590 computer program Methods 0.000 claims description 15
- 238000010276 construction Methods 0.000 claims description 8
- 230000036962 time dependent Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 10
- 238000004891 communication Methods 0.000 description 5
- 239000000446 fuel Substances 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000005431 greenhouse gas Substances 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 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
- G05D1/60—Intended control result
- G05D1/69—Coordinated control of the position or course of two or more vehicles
- G05D1/695—Coordinated control of the position or course of two or more vehicles for maintaining a fixed relative position of the vehicles, e.g. for convoy travelling or formation flight
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3469—Fuel consumption; Energy use; Emission aspects
-
- 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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Aviation & Aerospace Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
A device and a method for classification of road segments (1) based on their suitability for platooning. The method comprises determining road data a for at least one road segment (1), wherein the road data a comprises at least one characterizing feature for the road segment (1) and identification data identifying the road segment (1). The method further comprises determining a classification of the road segment (1) indicating the suitability of the road segment (1) for platooning, based on a result of an evaluation of the at least one characterizing feature against a decision criterion. The method further comprises generating a classification signal (3 comprising the classification and the identification data.(Fig. 3)
Description
Device and method for classification of road segment Technical field The present disclosure relates to technology for platooning. ln particular, thedisclosure relates to a device and a method for classification of road segmentsbased on their suitability for platooning. The disclosure also relates to a vehicle comprising the device, a computer program and a computer program product.
BackgroundThe European Union has set a goal of reducing greenhouse gases by 20% by 2020, and heavy vehicles currently account for 17% of the total C02 emissions inEurope. Thus, focus has been given on reducing fuel consumption of inter aliaheavy vehicles to reach the goal and also to save on fuel costs. One way ofreducing fuel consumption is to operate several vehicles in a chain formation, also known as platooning or a convoy.
Platooning take advantage of a reduced air drag by operating with small distancesbetween vehicles. Under normal circumstances the air drag of a vehicle isproportional to the square of the vehicle's velocity. This means that a reduction inspeed from 90 km/h to 80 km/h reduces air drag by around 20 percent. Also, by staying close to a forward vehicle, an effect of reduced air drag can be obtained.
An adaptive cruise control, ACC, enables both of the above mentioned techniquesfor reducing air drag and fuel consumption, namely:o Allowing a lower cruising speed than the preset speed to reduce air dragwhen a forward vehicle is present.o Staying closer to a forward vehicle may reduce air drag due to the aerodynamic effects.
Hence, by operating several vehicles in a chain formation, a substantial fuelreduction can be obtained through automated systems. However, it is difficult toestablish or to maintain a vehicle platoon on certain road types. A road with 2 several highway off- and on-ramps reduces the time a platoon can be maintained.For example, a vehicle might catch up with a preceding vehicle to form a platoon,only to have it turn off the road after a short while. lf platoons are hard to establishor are dissolved just after they have been created, drivers may become morereluctant to form platoons.
Summarylt is thus an object of the disclosure to provide a method that supports the formation of platoons. lt is a further object of the disclosure to provide a methodthat increases the likelihood that a platoon will be maintained. These objects andothers are at least partly achieved by the method and the device for classificationof road segments based on their suitability for platooning according to theindependent claims, and by the embodiments according to the dependent claims.
According to one aspect, the disclosure comprises a device for classification ofroad segments based on their suitability for platooning. The device is configuredto determine road data oi for at least one road segment, wherein the road data oicomprises at least one characterizing feature for the road segment andidentification data identifying the road segment. The device is further configured todetermine a classification of the road segment indicating the suitability of the roadsegment for platooning, based on a result of an evaluation of the at least onecharacterizing feature against a decision criterion. The device is further configuredto generate a classification signal ß comprising the classification and theidentification data.
According to a second aspect, the disclosure comprises a method forclassification of road segments based on their suitability for platooning. Themethod is comprised of determining road data oi for at least one road segment,wherein the road data oi comprises at least one characterizing feature for the roadsegment and identification data identifying the road segment. The method furthercomprises determining a classification of the road segment indicating thesuitability of the road segment for platooning, based on a result of at least one 3 evaluation of the at least one characterizing feature against a decision criterion,and generating a classification signal ß comprising the Classification and theidentification data.
The device and/or method may aid fleet managers or operators to plan thetransport routes more fuel-efficiently. Furthermore, it also aids in the acceptanceof platoons, since by only platooning on the road segments suitable for platooningthe traffic will be undisturbed. After positive experiences with platooning, driversmay continue with platooning to a higher extent than if they have negativeplatooning experiences.
According to one embodiment, the determining of the classification is based onevaluation of a plurality of characterizing features against a decision criterioneach.
According to one embodiment, the characterizing feature is any of: a density ofoff-ramps along the road segment, speed restriction along the road segment,number of lanes along the road segment, road construction, number of previoussuccessful platooning activities along the road segment and current or earliertraffic congestions along the road segment. The decision criterion comprises atleast one limit for the characterizing feature, and the evaluation comprises tocompare the characterizing feature to the at least one limit.
According to one embodiment, the classification is time-dependent.
According to one embodiment, the characterizing features are configured to becontinuously updated.
According to one embodiment, a road segment is any of a road route, apredetermined length of a road, or a length of a road where at least onecharacterizing feature is not changing or is changing within a predetermined interval. 4 According to one embodiment, the device is configured to send the classificationsignal ß to a communication device in a vehicle, whereby the classification andthe identification data is communicated to the driver of the vehicle.
According to a third aspect, the disclosure relates to a vehicle comprising thedevice as disclosed herein.
According to a fourth aspect, the computer program P comprises a computerprogram code to cause a device, or a computer connected to the device, toperform the method according to any step as disclosed herein.
According to a fifth aspect, the computer program product comprising a computerprogram code stored on a computer-readable medium to perform the method asdisclosed herein, when the computer program code is executed by a device or bya computer connected to the device.
Brief description of the drawinqs Fig. 1 illustrates a road network with a plurality of road segments.
Fig. 2 illustrates a device for classification of road segments according to oneembodiment of the disclosure.
Fig. 3 illustrates a method for classification of road segments according to oneembodiment of the disclosure.
Detailed descriptionFig. 1 is illustrating part of a road network with a plurality of interconnecting roads 1. When coordinating platoons, it is advantageous if information about thesuitability of roads intended for performing platooning is available. lf severalroutes are possible, the route with the most suitable roads for platooning may thenbe chosen. lf there is no route with roads suitable for platooning available, then itmay be decided to not platoon on these routes. 5 ln Fig. 2 a device 2 is shown that has been developed in order to determine datathat may be used when coordinating platoons. The device 2 includes a processingunit 3 and a memory unit 4. The processing unit 3 may be made up of one ormore Central Processing Units (CPU). The memory unit 4 may be made up of oneor more memory units. A memory unit may include a volatile and/or a non-volatilememory, such as a flash memory or Random Access Memory (RAM). Thememory unit 4 further includes a computer program P including a computerprogram code to cause the device 2, or a computer connected to the device 2, toperform any of the method steps that will be described in the following. The device2 may be an Electronic Control Unit (ECU), and be arranged in a vehicle (notshown). The device 2 may instead be arranged in an off-board system such as aremote computer or a road-side unit (not shown). The method may be performedwhen the vehicle is on the road, or e.g. on a fleet management portal.
The device 2 is arranged for classification of road segments based on theirsuitability for platooning. A road segment may be defined to be a road route, apredetermined length of a road, or a length of a road where at least onecharacterizing feature is not changing or is changing within a predeterminedinterval. A road route may be defined by geographical positions from a startingposition to a destination position determined e.g. for accomplishing an assignmentof a vehicle. A characterizing feature may be any of: a density of off-ramps alongthe road segment, speed restriction along the road segment, number of lanesalong the road segment, road construction, a number of previously successfulplatooning activities along the road segment and current or earlier traffic congestions along the road segment. ln the flowchart shown in Fig. 3 the method for classification of road segmentsbased on their suitability for platooning according to one embodiment is shown.According to one embodiment, only highways are considered for lowcomputational complexity, i.e. fast computation. As previously described, themethod may be implemented as program code P and saved in the memory unit 4(Fig. 2). The method may thus be implemented with the above described 6 hardware of the device 2. The method comprises determining road data oi for atleast one road segment, wherein the road data oi comprises at least onecharacterizing feature for the road segment and identification data identifying theroad segment (A1). The road data oi may be retrieved from commercial mapdatabases, street maps etc. that may be continuously updated about speedrestrictions, traffic conditions such as road works or traffic congestion, number ordensity of off-ramps, number of lanes etc. Road data oi may also be retrieved froma platooning coordinator system, which may keep track of successful and notsuccessful platooning activities, traffic conditions such as road works or trafficcongestion, etc. Road data oi such as the characterizing features may also bedetermined by the device 2 based on retrieved data such as time and location ofroad works, traffic congestions, platooning activities, location of off-ramps, etc.Identification data may include geographical positions of the road segment, route starting position and destination etc.
The method further comprises determining a classification of the road segmentindicating the suitability of the road segment for platooning, based on a result of atleast one evaluation of the at least one characterizing feature against a decisioncriterion (A2). The determining of the classification may be based on evaluation ofa plurality of characterizing features against a decision criterion each. Thecharacterizing feature may be any of: a density of off-ramps along the roadsegment 1, speed restriction along the road segment 1, number of lanes along theroad segment 1, road construction, number of previously successful platooningactivities along the road segment 1 and number of current or earlier trafficcongestions along the road segment 1. The characterizing features are preferablycontinuously updated. The decision criterion may comprise at least one limit forthe characterizing feature, and the evaluation may comprise comparing thecharacterizing feature to the at least one limit.
The limit for the density of off-ramps may for example be a number of off- rampsper 10 km, e.g. 0, 5, 1, 2, 3 etc. lf there are none off-ramps on the road segment,then the road segment is suitable for platooning. lf there are 10 off-ramps on the 7 road segment, and the road segment is 50 km long, then the road segment is notsuitable for platooning. Based on the length of the road segment and the numberof off-ramps, the density of the road segment may be calculated.
The speed restriction along the road segment may be compared to a velocity limit,as platooning may be more beneficial, thus more fuel-efficient, during high speed.The speed restriction may be e.g. 70 km/h, or 90 km/h. lf the speed restriction islower than 70 km/h, the road segment is not suitable for platooning. lf the speedrestriction is lower than 90 km/h, but at least 70 km/h, then the road segment issuitable for platooning. lf the speed restriction is at least 90 km/h, the roadsegment is even more suitable for platooning. Moreover, a low speed restriction(e.g. below 70km/h) may be a good indication of the expected traffic density, sincemore trafficated roads typically have a lower speed restriction. A road segmentwith high density is thus typically not suitable for platooning.
The number of lanes along the road segment 1 may be compared to a lane limit.For example, if the number of lanes in the same direction of the road segment 1 isless than two (2), the road segment 1 is not suitable for platooning. Platooning ona single lane road may cause annoyance to the other vehicles on the road thatare not platooning, e.g. passenger vehicles.
Road data oi with a characterizing feature about road construction on the roadsegment 1 may be considered to determine if the road segment 1 is suitable forplatooning or not. For example, if the road segment 1 has an ongoing roadconstruction, then the road segment 1 is not suitable for platooning. Thecharacterizing feature about road construction may be indicated as “roadconstruction=yes” in the road data oi if there is a road construction along the roadsegment 1.
The characterizing feature the number of previous successful platooning activitiesalong the road segment 1 may be compared to a lower limit for previouslysuccessful platooning activities along the road segment. For example, the lower 8 limit may be one (1), and if the number of previous successful platooning activitiesis less than one (1), then the road segment 1 is not suitable for platooning. Thecharacterizing feature the number of previous not successful platooning activitiesalong the road segment may be compared to an upper limit for previously notsuccessful platooning activities along the road segment. For example, the upperlimit may be one (1), and if the number of previously not successful platooningactivities is more than one (1), then the road segment 1 is not suitable forplatooning. These characterizing features may also be compared against eachother. For example, if the number of previously successful platooning activitiesalong the road segment 1 is at least 20, and the number of previously notsuccessful platooning activities along the road segment 1 is two (2), then the roadsegment 1 may still be determined to be suitable for platooning. The data ofsuccessful and not successful platooning activities is preferably continuouslyupdated.
The characterizing feature the number of current or earlier traffic congestionsalong the road segment 1 may be compared to an upper limit for current or earliertraffic congestions along the road segment 1. For example, if the tracked numberof earlier traffic congestions is five (5) the last 7 days, then the road segment maybe determined to be not suitable for platooning.
The classification of the road segment 1 may according to one embodiment beeither “highly suitable for platooning” or “not suitable for platooning”. lf any of theavailable characterizing features of the road segment 1 show that the roadsegment 1 is not suitable for platooning, then the road segment 1 may accordingto this embodiment be determined to be “not suitable for platooning”. According toanother embodiment, the classification of the road segment 1 may also include“medium suitable for platooning”. This classification may be determined if onlysome of the available characterizing features of the road segment 1 show that theroad segment 1 is not suitable for platooning, and some of the availablecharacterizing features of the road segment 1 show that the road segment 1 issuitable for platooning, or at least is not “not suitable” for platooning. For example, 9 if there is no road construction along the road segment, but the speed restrictionis 65 km/h, then the road segment may get the Classification “medium suitable for platooning”.
The method further comprises generating a classification signal ß comprising theclassification and the identification data. The classification may thus be any of“highly suitable for platooning”, “medium suitable for platooning” or “not suitablefor platooning”. The classifications may however be expressed in another way,e.g. with numbers or other words or letters.
The classification signal ß may be sent to another entity in the vehicle or remotecomputer, or be used internally in the same device 2. By having the information ofwhich road segments in a road network that are suitable for platooning, aplatooning method may use the information to better choose road segments toplatoon on. The platooning method may choose to only use road segments which are highly suitable for platooning.
The method may be initiated when information is retrieved, e.g. from a platooningcoordination system, that a suitable vehicle for platooning with the own vehicle islocated in front of the own vehicle, e.g. further down along the road. The methodmay also be initiated by the driver. The driver may initiate the method by voiceinput, via a button or lever, via input to a touch screen etc to a system comprisingthe device 2. Activation data may then be generated that is sent to the device 2,whereby the method is executed. The road between the own vehicle and thesuitable vehicle may then be the road segment, and the method may in real timedetermine if the road segment is suitable for platooning or not. This informationmay determine if the own vehicle should platoon with the vehicle in front or not.The device 2 may be configured to send the classification signal to acommunication device (not shown) in the own vehicle, whereby the classificationand the identification data is communicated to the driver of the own vehicle. Thedriver is thereby informed about the suitability of the road segment for platooning.The communicated information to the driver may e.g. be that the road segment is lO “highly suitable for platooning”, “medium suitable for platooning” or “not suitablefor platooning”. lf the road segment is suitable for platooning, the driver of the ownvehicle may initiate a platooning operation to drive up to the suitable vehicle forplatooning The driver may decide to platoon with the vehicle suitable forplatooning further down the road e.g. by giving input to the platooningcoordination system. The input to the platooning coordination system may begiven as voice input, via a button or lever, via input to a touch screen etc.Platooning between the own vehicle and the vehicle suitable for platooning maythen be automatically performed. The driver may instead manually achieveplatooning increasing its velocity to catch up with the vehicle suitable forplatooning.
The classification may be time-dependent. This may mean that the classificationis only valid a certain time of the day. For example may traffic congestion beheavy between 7 and 9 am on the road segment 1 and therefore the roadsegment 1 may not be suitable for platooning during these hours, meanwhile thetraffic conditions during other hours may be better on this road segment 1 suchthat the road segment 1 during the other hours may be suitable for platooning.
The device 2 may be arranged to receive data oi via wireless communication suchas vehicle-to-vehicle communication (V2V), or via infrastructure communication (V2l), depending on where the device 2 is arranged. The wireless communicationmay also be conducted via mobile communication servers, via an application in a communication unit or via a server.
The present invention is not limited to the above-described preferredembodiments. Various alternatives, modifications and equivalents may be used.Therefore, the above embodiments should not be taken as limiting the scope of the invention, which is defined by the appending claims.
Claims (12)
1. ¿ ll
2. Iaims
3. A device (2) for Classification of road segments (1) based on theirsuitability for platooning, ch a ra cte r i zed in that the device (2) isconfigured to: - determine road data oi for at least one road segment (1 ), wherein theroad data oi comprises at least one characterizing feature for the road segment(1) and identification data identifying the road segment (1 ); - determine a classification of the road segment (1) indicating thesuitability of the road segment (1) for platooning, based on a result of anevaluation of the at least one characterizing feature against a decisioncriterion; - generate a classification signal ß comprising the classification andthe identification data.
4. The device (2) according to claim 1, wherein the determining of theclassification is based on evaluation of a plurality of characterizing featuresagainst a decision criterion each.
5. The device (2) according to claim 1 or 2, wherein the characterizingfeature is any of: a density of off-ramps along the road segment (1 ), speedrestriction along the road segment (1 ), number of lanes along the roadsegment (1), road construction, number of previously successful platooningactivities along the road segment (1) and number of current or earlier trafficcongestions along the road segment (1 ).
6. The device (2) according to claim 3, wherein the decision criterioncomprises at least one limit for the characterizing feature, and the evaluationcomprises to compare the characterizing feature to the at least one limit.
7. The device (2) according to any of the preceding claims, wherein theclassification is time-dependent.
8. The device (2) according to any of the preceding claims, wherein thecharacterizing features are configured to be continuously updated.
9. The device (2) according to any of the preceding claims, wherein aroad segment is any of a whole road route, a predetermined length of a road,
10.
11.
12. 12 or a length of a road where at least one characterizing feature is not changingor is changing within a predetermined interval. A device (2) according to any of the preceding claims, wherein thedevice (2) is configured to send the classification signal ß to a communicationdevice in a vehicle, whereby the classification and the identification data iscommunicated to the driver of the vehicle. A vehicle comprising a device (2) according to any of the precedingclaims. A method for classification of road segments (1) based on theirsuitability for platooning, the method comprising: - determining road data oi for at least one road segment, wherein theroad data oi comprises at least one characterizing feature for the road segment(1) and identification data identifying the road segment (1 ); - determining a classification of the road segment (1) indicating thesuitability of the road segment (1) for platooning, based on a result of at leastone evaluation of the at least one characterizing feature against a decisioncriterion; - generating a classification signal ß comprising the classification andthe identification data. A computer program P, wherein said computer program P comprisesa computer program code to cause a device (1 ), or a computer connected tosaid device (1), to perform the method according to claim 10. A computer program product comprising a computer program codestored on a computer-readable medium to perform the method according toclaim 10, when said computer program code is executed by a device (1) or bya computer connected to said device (1).
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1550429A SE540155C2 (en) | 2015-04-10 | 2015-04-10 | Device and method for classification of road segment based on their suitability for platooning |
| DE112016001079.6T DE112016001079B4 (en) | 2015-04-10 | 2016-02-26 | Apparatus and method for classifying road sections based on their suitability for platooning |
| PCT/SE2016/050148 WO2016163929A1 (en) | 2015-04-10 | 2016-02-26 | Device and method for classification of road segments based on their suitability for platooning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1550429A SE540155C2 (en) | 2015-04-10 | 2015-04-10 | Device and method for classification of road segment based on their suitability for platooning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| SE1550429A1 true SE1550429A1 (en) | 2016-10-11 |
| SE540155C2 SE540155C2 (en) | 2018-04-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| SE1550429A SE540155C2 (en) | 2015-04-10 | 2015-04-10 | Device and method for classification of road segment based on their suitability for platooning |
Country Status (3)
| Country | Link |
|---|---|
| DE (1) | DE112016001079B4 (en) |
| SE (1) | SE540155C2 (en) |
| WO (1) | WO2016163929A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018026603A1 (en) | 2016-08-02 | 2018-02-08 | Pcms Holdings, Inc. | System and method for optimizing autonomous vehicle capabilities in route planning |
| EP3552071B1 (en) | 2016-12-08 | 2020-10-21 | PCMS Holdings, Inc. | System and method for routing and reorganization of a vehicle platoon in a smart city |
| CN108877199A (en) * | 2017-05-15 | 2018-11-23 | 华为技术有限公司 | Control method, equipment and the car networking system of fleet |
| DE102018218368B3 (en) | 2018-10-26 | 2019-12-19 | Robert Bosch Gmbh | Method for operating a rail vehicle |
| EP3819187A1 (en) | 2019-11-05 | 2021-05-12 | Robert Bosch GmbH | Method for operating a rail vehicle |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8352112B2 (en) * | 2009-04-06 | 2013-01-08 | GM Global Technology Operations LLC | Autonomous vehicle management |
| US8717192B2 (en) | 2010-10-08 | 2014-05-06 | Navteq B.V. | Method and system for using intersecting electronic horizons |
| DE102011107111A1 (en) * | 2011-07-12 | 2013-01-17 | Continental Automotive Gmbh | A method and communication system for receiving data in wireless vehicle-to-environment communication |
| SE536818C2 (en) | 2012-03-29 | 2014-09-23 | Scania Cv Ab | Procedure and system for distance adjustment during travel widened vehicle train |
| SE1251163A1 (en) * | 2012-10-15 | 2014-04-16 | Scania Cv Ab | System and method in connection with the occurrence of vehicle trains |
| US8930122B2 (en) * | 2013-03-15 | 2015-01-06 | GM Global Technology Operations LLC | Methods and systems for associating vehicles en route to a common destination |
| CA2907452A1 (en) * | 2013-03-15 | 2014-09-18 | Peloton Technology Inc. | Vehicle platooning systems and methods |
| SE537985C2 (en) * | 2013-09-30 | 2016-01-12 | Scania Cv Ab | System and method for regulating vehicle trains with a joint position-based driving strategy |
-
2015
- 2015-04-10 SE SE1550429A patent/SE540155C2/en unknown
-
2016
- 2016-02-26 DE DE112016001079.6T patent/DE112016001079B4/en active Active
- 2016-02-26 WO PCT/SE2016/050148 patent/WO2016163929A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| DE112016001079T5 (en) | 2017-11-23 |
| WO2016163929A1 (en) | 2016-10-13 |
| SE540155C2 (en) | 2018-04-17 |
| DE112016001079B4 (en) | 2023-10-26 |
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