SE540159C2 - A system and a method for determining whether it is suitableto operate in a platoon formation - Google Patents

A system and a method for determining whether it is suitableto operate in a platoon formation

Info

Publication number
SE540159C2
SE540159C2 SE1650879A SE1650879A SE540159C2 SE 540159 C2 SE540159 C2 SE 540159C2 SE 1650879 A SE1650879 A SE 1650879A SE 1650879 A SE1650879 A SE 1650879A SE 540159 C2 SE540159 C2 SE 540159C2
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SE
Sweden
Prior art keywords
group
vehicle
vehicles
sensors
platooning
Prior art date
Application number
SE1650879A
Other versions
SE1650879A1 (en
Inventor
Alam Assad
Original Assignee
Scania Cv Ab
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 Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1650879A priority Critical patent/SE540159C2/en
Priority to DE102017005449.5A priority patent/DE102017005449A1/en
Priority to BR102017012456-8A priority patent/BR102017012456A2/en
Publication of SE1650879A1 publication Critical patent/SE1650879A1/en
Publication of SE540159C2 publication Critical patent/SE540159C2/en

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—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
    • 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"
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • 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
    • 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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/005—Moving wireless networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Transportation (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

A system for determining whether it is for safety reason suitable to let a group of motor vehicles operate in a platoon formation comprises on board each vehicle (1) in said group sensors (6-8, 11) configured to detect if the road the vehicle is driving on is suitable for platooning and a wireless interface (4) configured to communicate wirelessly with the wireless interfaces of the other motor vehicles of this group to transmit data collected by the sensors of the vehicle to the other vehicles. A processor unit (12) is arranged on board each vehicle to process data from said sensors (6-8, 11), to determine whether it is for safety reason suitable to let said group of vehicles operate in a platoon formation.

Description

A SYSTEM AND A METHOD FOR DETERMINING WHETHER IT IS SUITABLE TO OPERATE IN A PLATOON FORMATION TECHNICAL FIELD OF THE INVENTION The present invention relates to a system configured to determine whether it is for safety reason suitable to let a group of motor vehicles, operate in a platoon formation.
The invention also relates to a motor vehicle used in such a system and a method for determining whether it is for safety reason suitable to let a group of motor vehicles operate in a platoon formation.
BACKGROUND ART It is known that for motor vehicles in general the air drag of the vehicle is proportional to the square of the vehicle’s velocity, which means that already a smaller speed reduction of the vehicle may reduce the air drag and by that the fuel consumption of the vehicle considerably. Additionally, especially for heavy wheeled motor vehicles, such as trucks or buses, a noticeable reduction of air drag may be obtained by staying close to a preceding such vehicle, but this advantage is there for any motor vehicle and the invention is not restricted to any type of motor vehicle and is also applicable to for instance passenger cars.
Adaptive cruise control (ACC) increasingly available in especially trucks enables both said possibilities for reducing air drag and by that fuel consumption by utilizing radar, lidar and/or camera information of the vehicles to operate in a so-called platoon formation, which is a vehicle train with a number of vehicles travelling much closer to one another than would be possible if a reacting distance for human reaction were needed. Known such systems do already provide for a substantial reduction of the consumption of fuel of the motor vehicles when operating in a platoon formation, but future systems entailing vehicle-to-vehicle communication will enable a more informed and advanced control that in turn will facilitate a smaller inter-vehicle spacing with maintained safety resulting in a possibility to reduce the fuel consumption even more.
However, operating a group of motor vehicles in a platoon formation might not always be suitable due to safety related precautions. The road on which the vehicles in a said group are travelling might be slippery (wet or icy), the vehicles brake system might be worn out and/or the preceding vehicle might behave irrationally, which are a number of reasons for making operation in a platoon formation unsuitable, and all such reasons are here to be interpreted to be covered by the definition “the road the vehicle is driving on is unsuitable for platooning”. Thus, a system configured to determine whether it is for safety reason suitable to let a group of motor vehicles operate in a platoon formation is of great importance to have when it is decided to drive a group of motor vehicles that way.
US 2015/0127189 A1 discloses a system of the type defined in the introduction in which information from cameras and maps is used to decide whether a lead vehicle of a platoon formation is driving in a way violating traffic regulations, and if that is the case the operation in a platoon formation will be interrupted. However, this system does not consider the state of the road, so that platooning may be continued when it is really not suitable.
However, WO2014145918 A1 discloses a system according to the introduction which by having on board each vehicle in the group operating in a platoon formation a processor unit configured to process data from the sensors on board the vehicles of the group to determine whether it is for safety reason suitable to let the group of vehicles operate in a platoon formation it will be possible to ensure that platooning is conducted on roads, i.e. at conditions, suitable for operation in a platoon formation and only then. Thus, the processor unit will thanks to the wireless communication of the motor vehicles of said group with each other consider data from sensors of all the vehicles in said group for determining whether operating in a platoon formation is suitable or not resulting in reliable conclusions made as a basis for said determination.
SUMMARY OF THE INVENTION The object of the present invention is to provide a system of the type defined in the introduction being improved in at least some aspect with respect to such systems already known.
This object is according to the invention obtained by providing such a system with the features listed in the characterizing part of appended patent claim 1.
Thus, said sensors on board the vehicles of said group comprise sensors, such as radar and camera, configured to detect the behaviour of the vehicle in front of the respective vehicle in said platoon i ng formation by detecting whether that vehicle is driving smoothly and in a controlled manner or irrationally as a measure of whether the road the vehicle is driving on is suitable for platooning. This ensures that platooning operation will be interrupted would any of the vehicles of said group start to behave irrationally, such as would one of the drivers not act as supposed to.
According to an embodiment of the invention the system comprises on board each vehicle in said group a member configured to through said wireless interface thereof send out a warning signal to be received by the wireless interface of the other vehicles of said group if the processor unit of any of the vehicles of the group determines that it is for safety reason not suitable to let said group of vehicles operate in a platoon formation. This ensures that platooning is interrupted as soon as there exist any circumstance making platooning unsuitable. It is then advantageous that said member is configured to also convey a warning signal, such as a sound, haptic, displayed signal, etc., to the driver of the vehicle to which the member belongs, which is in accordance with another embodiment of the invention and ensures that operating in a platoon formation is interrupted as soon as deemed unsuitable and every driver of vehicles of the group will be aware thereof.
According to another embodiment of the invention an automatic controller for the platooning operation of said group on board each vehicle of said group is configured to automatically enforce a larger spacing between the vehicles of said group upon receipt of data from said processor unit informing about a determination that it is for safety reason not suitable to let the group of vehicles operate in a platoon formation with the existing spacing but with a said larger spacing. This means that operation in a platoon formation may be continued and fuel be saved in spite of the fact that the processor unit has determined that the platooning carried out is unsuitable but would be suitable by enlarging the spacing between the vehicles.
According to another embodiment of the invention an automatic controller for the platooning operation of said group on board each vehicle of said group is configured to turn into a deactivated state upon receipt of data from said processor unit informing about a determination that it is for safety reason not suitable to let the group of vehicles operate in an automatic platoon formation with any size of spacing between the vehicles so as to interrupt said operation of the group in a platoon formation. Thus, this system ensures that automatic platooning is really interrupted as soon as it is for safety reason not suitable irrespectively of the size of the spacing between the vehicles. This may for instance be the case when a road surface is very slippery and the conditions so that the vehicles have to drive slowly. The driver may, however, still manually control the vehicle to drive at a short distance to a preceding vehicle, although perhaps not recommendable after having received a warning signal that this is not suitable.
According to another embodiment of the invention said sensors on board the vehicles of said group comprises sensors configured to detect whether the surface of the road is suitable for platooning, such as an angular velocity sensor in the tires used to measure slip and a camera used to detect if the road is wet, icy or snowy.
This ensures that platooning operation will not be carried out if the surface of the road is not suitable for platooning.
According to another embodiment of the invention said sensors on board the vehicles of said group comprises sensors configured to, through wireless communication, receive road data in the form of data from a data base, such as map information or information from other vehicles that have travelled over the road segment the vehicles are driving on in the past, or data from a local weather station. Considering such road data when determining whether the road is suitable for operating the vehicles in a platoon formation adds to the reliability of said determination.
A motor vehicle configured to be included in a group of such vehicles operating in a platoon formation according to the present invention is defined in the appended claim directed to such a motor vehicle. Such a motor vehicle may when included in a group of other such vehicles reliably operate in a platoon formation only when this is really suitable.
A method for determining whether it is for safety reason suitable to let a group of motor vehicles operate in a platoon formation is according to the invention provided by the combination of features listed in the appended independent method claim. The advantages of this method and embodiments thereof appear clearly from the above discussion of the system according to the present invention.
The invention also relates to a computer program, a computer program product and an electronic control unit having the features of the claims directed to a computer program, a computer program product and an electronic control unit, respectively.
Other advantageous features as well as advantages of the present invention appear from the description following below.
BRIEF DESCRIPTION OF THE DRAWINGS With reference to the appended drawings, below follows a specific description of embodiments of the invention cited as examples. In the drawings: Fig 1 is a schematic view illustrating a group of trucks operating in a platoon formation to which a system and a method according to the invention may be applied, Fig 2 is a schematic view of a motor vehicle according to the present invention being a part of a system for determining whether it is for safety reasons suitable to let a group of motor vehicles operate in a platoon formation according to the present invention in operation, Fig 3 is a flow chart illustrating the steps carried out in a method according to an embodiment of the invention, and Fig 4 is a schematic view illustrating an electronic control unit for implementing a method according to the invention.
DETAILED DESCRIPTION OF EMBODIMENTS OF THE INVENTION Fig 1 illustrates schematically a number of heavy wheeled motor vehicles 1 in the form of trucks, i.e. heavy wheeled motor vehicles, operating in a platoon formation 2, i.e. a vehicle train, by being driven with a mutual spacing 3 in the order of 5 m - 15 m resulting in a substantial reduction of fuel consumption for each vehicle following upon another vehicle. Embodiments of the present invention will now be described for this type of driving of the vehicles without any intention to restrict the invention thereto.
Fig 2 illustrates schematically one of the vehicles shown in Fig 1, and each of the vehicles operating in the platoon formation has the features now disclosed with reference to Fig 2. Thus, the vehicle has a wireless interface 4 configured to communicate wirelessly with the wireless interfaces of the other motor vehicles, for example through wifi, telecom, Bluetooth or IR. The vehicle has also an automatic controller 5 for the platooning operation of the group of vehicles in question using said wireless interface for controlling the vehicles to maintain the desired mutual spacing.
The vehicle has sensors configured to detect if the road the vehicle is driving on is suitable for platooning, and these sensors includes on one hand sensors configured to detect whether the surface of the road is suitable for platooning, such as an angular velocity sensor 6 in the tires used to measure a slip and a camera 7 used to detect if the road is wet, icy or snowy, and on the other hand sensors 8 configured to, through wireless communication, receive road data from a data base 9, such as map information or information from other vehicles that have travelled over the road segment the vehicles are driving on in the past, or data from a local weather station 10. On board the vehicle are also sensors, such as radar 11 and the camera 7, configured to detect the behaviour of the vehicle in front of the respective vehicle in a said platoon formation for detecting whether that vehicle is driving smoothly and in a controlled manner or irrationally as a measure of whether the road the vehicle is driving on is suitable for platooning.
Data from all these sensors are through said wireless interface 4 wirelessly transmitted between the vehicles of said group so that a processor unit 12 in each vehicle receives all these data and is configured to process these data to determine whether it is for safety reason suitable to let the group of vehicles operate in a platoon formation. The result of such a processing may be that there is no reason to interrupt said operation in a platoon formation, it is not suitable but still acceptable to continue the platooning carried out and the driver may decide whether this shall be done or not, it is not acceptable to continue the platooning carried out but platooning with a larger spacing would be acceptable or platooning is not acceptable at all. In the first of these four alternatives nothing will happen, or a green light may be turned on in the respective vehicle. The second alternative may for instance result in a yellow light signal for making the respective driver aware of the situation. Each vehicle has a member 13 configured to wirelessly to the other vehicles of the group send out a warning signal if the processor unit 12 of any of the vehicles of the group of vehicles determines that it is for safety reason not suitable to let the group of vehicles operate in a platoon formation, which is the case for said third and fourth alternatives. The member may then also convey a warning signal as a sound, haptic, displayed signal or in any other way attracting the attention of the driver of the vehicle.
Simultaneously with the transmitting of the warning signal the automatic controller 5 will in the case of the third alternative automatically enforce a larger spacing between the vehicles of said group, and in case of the fourth alternative turn into a deactivated state so as to interrupt the operation of the group in an automatic platoon formation.
Fig 3 illustrates a flow chart of a method according to an embodiment of the present invention carried out for determining whether it is for safety reason suitable to let a group of motor vehicles operate in a platoon formation. Each step of the method is carried out by each said vehicle of said group, and the method is started with the step Si of detecting if the road the vehicle is driving on is suitable for platooning. It is continued with the step S2of communieating the result of this detection to the other vehicles of said group, whereupon in a step S3the road condition data detected are processed. In a step S4the following question is asked: Is it for safety reason suitable to let the group of vehicles operate in a platoon formation? When the answer to this question is no, the method is continued with the step S5of sending out a warning signal and a step S6of asking the question may platooning be carried out with a larger spacing between the vehicles?. If the answer to this question is yes it is continued with the step S7of automatically enforcing a larger spacing between the vehicles, and if the answer to this question is no, the control of the automatic platooning operation is deactivated in a step S8. The method is carried out continuously since the conditions may change. This is the reason for returning to step S1after reaching step S4, step S7and step S8. It is for instance possible that platooning with a larger spacing is possible but this is then changed because the conditions get worse and step Ss has then to be carried out.
Computer program code for implementing a method according to the invention is with advantage included in a computer program which can be read into the internal memory of a computer, e.g. the internal memory of an electronic control unit of a motor vehicle. Such a computer program is with advantage provided via a computer program product comprising a data storage medium which can be read by a computer and which has the computer program stored on it. Said data storage medium is for example an optical data storage medium in the form of a CD ROM disc, a DVD disc etc., a magnetic data storage medium in the form of a hard disc, a diskette, a cassette tape etc., or a flash memory or a memory of the ROM, PROM, EPROM or EEPROM type. Fig. 4 illustrates very schematically an electronic control unit 14 comprising an execution means 15, e.g. a central processor unit (CPU), for execution of computer software. The execution means 15 communicates with a memory 16, e.g. of the RAM type, via a data bus 17. The control unit 14 comprises also a non-transitory data storage medium 18, e.g. in the form of a flash memory or a memory of the ROM, PROM, EPROM or EEPROM type. The execution means 15 communicates with the data storage medium 18 via the data bus 17. A computer program comprising computer program code for implementing a method according to the invention, e.g. in accordance with the embodiment illustrated in Fig. 3 is stored on the data storage medium 18.
The invention is of course in no way restricted to the embodiments described above, since many possibilities for modifications thereof are likely to be obvious to one skilled in the art without having to derivate from the scope of invention defined in the appended claims.

Claims (12)

Claims
1. A system configured to determine whether it is for safety reason suitable to let a group of motor vehicles (1) operate in a platoon formation (2), the system comprising on board each vehicle in said group: • sensors (6-8, 11) configured to detect if the road the vehicle is driving on is suitable for platooning, • a wireless interface (4) configured to communicate wirelessly with the wireless interfaces of the other motor vehicles of said group to transmit data collected by said sensors of the vehicle to the other vehicles, and • a processor unit (12) configured to process data from said sensors on board the vehicles of said group to determine whether it is for safety reason suitable to let said group of vehicles operate in a platoon formation, characterized in that said sensors on board the vehicles of said group comprise sensors, such as radar (11) and camera (7), configured to detect the behaviour of the vehicle in front of the respective vehicle in said platooning formation by detecting whether that vehicle (1) is driving smoothly and in a controlled manner or irrationally as a measure of whether the road the vehicle is driving on is suitable for platooning.
2. A system according to claim 1, characterized in that it comprises on board each vehicle (1) in said group a member (13) configured to through said wireless interface (4) thereof send out a warning signal to be received by the wireless interface (4) of the other vehicles of said group if said processor unit for safety reason not suitable to let said group of vehicles operate in a platoon formation.
3. A system according to claim 2, characterized in that said member (13) is configured to also convey a warning signal, such as a sound, haptic, displayed signal, etc., to the driver of the vehicle to which the member (13) belongs..
4. A system according to claim 2 or 3, characterized in that an automatic controller (5) for the platooning operation of said group on board each vehicle of said group is configured to automatically enforce a larger spacing (3) between the vehicles (1) of said group upon receipt of data from said processor unit (12) informing about a determination that it is for safety reason not suitable to let the group of vehicles operate in a platoon formation with the existing spacing but with a said larger spacing.
5. A system according to any of claims 2-4, characterized in that an automatic controller (5) for the platooning operation of said group on board each vehicle (1) of said group is configured to turn into a deactivated state upon receipt of data from said processor unit (12) informing about a determination that it is for safety reason not suitable to let the group of vehicles operate in an automatic platoon formation with any size of spacing between the vehicles so as to interrupt said operation of the group in a platoon formation.
6. A system according to any of the preceding claims, characterized in that said sensors on board the vehicles of said group comprises sensors configured to detect whether the surface of the road is suitable for platooning, such as an angular velocity sensor (6) in the tires used to measure slip and a camera (7) used to detect if the road is wet, icy or snowy.
7. A system according to any of the preceding claims, characterized in that said sensors on board the vehicles of said group comprises sensors (8) configured to, through wireless communication, receive road data in the form of data from a data base (9), such as map information or information from other vehicles that have travelled over the road segment the vehicles are driving on in the past, or data from a local weather station (10).
8. A motor vehicle configured to be included in a group of such vehicles (1) operating in a platoon formation (2), the motor vehicle comprising: • sensors (6-8, 11) configured to detect if the road the vehicle is driving on is suitable for platooning, • a wireless interface (4) configured to communicate wirelessly with the wireless interfaces of the other motor vehicles of said group to transmit data collected by said sensors of the vehicle to the other vehicles, and • a processor unit (12) configured to process data from said sensors (6-8, 11) on board vehicles of said group to determine whether it is for safety reason suitable to let said group of vehicles operate in a platoon formation, characterized in that said sensors on board the vehicle comprise sensors, such as radar (11) and camera (7), configured to detect the behaviour of the vehicle in front of the respective vehicle in said platooning formation by detecting whether that vehicle (1) is driving smoothly and in a controlled manner or irrationally as a measure of whether the road the vehicle is driving on is suitable for platooning.
9. A method for determining whether it is for safety reason suitable to let a group of motor vehicles (1) operate in a platoon formation (2) comprising the following steps carried out by each vehicle of said group: a) detecting if the road the vehicle is driving on is suitable for platooning, b) communicating wirelessly with the other vehicles of said group for transmitting road condition data detected to the other vehicles, and c) processing said road condition data detected so as to determine whether it is for safety reason suitable to let said group of vehicles operate in a platoon formation, characterized in that step a) includes detecting the behavior of the vehicle in front of the respective vehicle in said platooning formation by detecting whether that vehicle (1) is driving smoothly and in a controlled manner or irrationally as a measure of whether the road the vehicle is driving on is suitable for platooning.
10. A computer program comprising computer program code for causing a computer to implement a method according to claim 9 when the computer program is executed in the computer.
11. A computer program product comprising a non-transitory data storage medium (18) which can be read by a computer and on which the program code of a computer program according to claim 10 is stored.
12. An electronic control unit (14) of a motor vehicle comprising an execution means (15), a memory (16) connected to the execution means and a non-transitory data storage medium (18) which is connected to the execution means (15) and on which the computer program code of a computer program according to claim 10 is stored.
SE1650879A 2016-06-21 2016-06-21 A system and a method for determining whether it is suitableto operate in a platoon formation SE540159C2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
SE1650879A SE540159C2 (en) 2016-06-21 2016-06-21 A system and a method for determining whether it is suitableto operate in a platoon formation
DE102017005449.5A DE102017005449A1 (en) 2016-06-21 2017-06-07 System for operating a group of motor vehicles
BR102017012456-8A BR102017012456A2 (en) 2016-06-21 2017-06-12 SYSTEM FOR OPERATING A GROUP OF MOTOR VEHICLES

Applications Claiming Priority (1)

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SE1650879A SE540159C2 (en) 2016-06-21 2016-06-21 A system and a method for determining whether it is suitableto operate in a platoon formation

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DE102012208256A1 (en) 2012-05-16 2013-11-21 Continental Teves Ag & Co. Ohg Method and system for autonomously tracking a follower vehicle on the track of a Leader vehicle

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