TW202022790A - Driving system with average energy consumption from fleet of autonomous cars and method thereof - Google Patents

Driving system with average energy consumption from fleet of autonomous cars and method thereof Download PDF

Info

Publication number
TW202022790A
TW202022790A TW108104924A TW108104924A TW202022790A TW 202022790 A TW202022790 A TW 202022790A TW 108104924 A TW108104924 A TW 108104924A TW 108104924 A TW108104924 A TW 108104924A TW 202022790 A TW202022790 A TW 202022790A
Authority
TW
Taiwan
Prior art keywords
fleet
vehicle
information
driving
rotation
Prior art date
Application number
TW108104924A
Other languages
Chinese (zh)
Other versions
TWI704521B (en
Inventor
曾士坤
Original Assignee
英華達股份有限公司
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 英華達股份有限公司 filed Critical 英華達股份有限公司
Publication of TW202022790A publication Critical patent/TW202022790A/en
Application granted granted Critical
Publication of TWI704521B publication Critical patent/TWI704521B/en

Links

Images

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
    • G05D1/02—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
    • G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
    • 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
    • G05D1/0295—Fleet control by at least one leading vehicle of the fleet

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

A driving system with average energy consumption from fleet of autonomous vehicles includes a vehicle condition detecting unit, a control unit, and a master-slave rotating unit. The vehicle condition detecting unit detects the current location of a fleet, individual current vehicle conditions and destinations of each fleet vehicle in the fleet, and generates a vehicle condition information. The control unit is configured to receive the vehicle condition information to generate rotation planning information. The master-slave rotating unit assigns the plurality of fleet vehicles to one master fleet vehicle and at least one slave fleet vehicle according to a master-slave distribution signal of the rotation planning information. The master-slave rotating unit rotates a time-series signal with a rotation time and a rotation order in the rotation planning information, so that each fleet vehicle performs the rotation following the corresponding rotation schedule. The invention also discloses a method of implementing the system.

Description

自駕車車隊平均能量消耗的駕駛系統及其方法 Driving system and method for average energy consumption of self-driving car fleet

一種車聯網的駕駛系統及其方法，尤指一種自駕車車隊中各車輛平均能量消耗的駕駛系統及其方法。 A driving system and method of a connected car, especially a driving system and method of average energy consumption of each vehicle in a self-driving car fleet.

隨著自動駕駛車的發展，在道路環境相對單純的高速公路可能是首先開放的路段。然而，當車輛在高速行駛時，風阻是對油耗影響的重要因素之一。因此，如何降低汽車行駛中遇到的風阻，進而降低能量耗損便是一個重要的議題。 With the development of autonomous vehicles, highways with relatively pure road environments may be the first sections to open. However, when the vehicle is driving at high speed, wind resistance is one of the important factors affecting fuel consumption. Therefore, how to reduce the wind resistance encountered in the driving of the car and thereby reduce the energy consumption is an important issue.

市面上有一種車輛行駛輔助裝置，其包含：空氣阻力分佈取得部、目標行駛位置決定部、行駛輔助部。空氣阻力分佈取得部取得自身車輛的左右方向以及前後方向上的空氣阻力分佈。目標行駛位置決定部利用空氣阻力分佈來決定相對於前方行駛車輛的自身車輛的目標行駛位置。行駛輔助部引導自身車輛朝向目標行駛位置決定部所決定的目標行駛位置移動。此車輛行駛輔助裝置係根據所偵測到的因前方行駛車輛行駛時所造成的對自身車輛周圍之具有較高空氣動力效果的位置後，將自身車輛向相對應的位置引導，藉此改善自身車輛的能量耗損。然而，畢竟僅以單一車輛單獨進行，因此改善能量耗損的程度有限。 There is a vehicle driving assistance device on the market that includes an air resistance distribution acquisition unit, a target driving position determination unit, and a driving assistance unit. The air resistance distribution acquisition unit acquires the air resistance distribution in the left-right direction and the front-rear direction of the own vehicle. The target traveling position determining unit uses the air resistance distribution to determine the target traveling position of the host vehicle relative to the preceding vehicle. The driving assistance unit guides the host vehicle to move toward the target driving position determined by the target driving position determining unit. This vehicle driving assistance device guides the own vehicle to the corresponding position based on the detected position caused by the driving vehicle in front that has a high aerodynamic effect on the surrounding of the own vehicle, thereby improving itself Energy consumption of the vehicle. However, after all, only a single vehicle is used alone, so the extent of improving energy consumption is limited.

市面上另有一種車輛調度系統，藉由車聯網中，自動駕駛車之車對車之間的通訊技術組織車隊以讓車隊依車輛大小進行排列。透過大車排在前方、小車排在後方的排列方式，讓後方車輛因空氣阻力降低進而降低能量消耗。然而，這樣的車輛調度系統僅可讓後方車輛之能量耗損改善，對於在前方的大台車之能量耗損並沒有改善。以小車排列在大車後方的排列方式會讓後方小車之前方行車視線被大車所完全遮住，再加上車隊行駛係以縮減車輛之間的間距來達到降低能量的耗損，若大車或其前方忽然發生事故，會讓後方之小車無法有足夠的反應時間進行危險排除。 There is another vehicle scheduling system on the market, which uses the vehicle-to-vehicle communication technology in the Internet of Vehicles to organize the fleet so that the fleet can be arranged according to the size of the vehicle. Through the arrangement of large cars in the front and small cars in the rear, the air resistance of the rear vehicles is reduced and energy consumption is reduced. However, such a vehicle dispatching system can only improve the energy consumption of the rear vehicles, and does not improve the energy consumption of the large vehicles in front. Arranging the small cars behind the big cars will make the front of the rear cars completely obscured by the big cars, plus the fleet driving system to reduce the distance between the vehicles to reduce energy consumption, if large Sudden accidents in or in front of the car will prevent the car behind it from having enough reaction time to eliminate the danger.

有鑑於此，本發明揭露一種自駕車車隊平均能量消耗的駕駛系統及其方法，用以平均車隊中各車隊車的能量消耗。本發明自駕車平均能量消耗的駕駛系統係應用於具有複數個車隊車之車隊。駕駛系統包含車況偵測單元、控制單元以及主從輪調單元。此車況偵測單元係設置於至少一輛車隊車中，用以偵測車隊之當前所在位置、當前車輛狀況及目的地並產生車況資訊。控制單元係與車況偵測單元連接，用以接收車況資訊以產生輪調規劃資訊。輪調規劃資訊包括輪調時程和主從分配訊號。主從輪調單元係與控制單元連接。主從輪調單元係根據主從分配訊號將複數輛車隊車進行主從分配，進而將複數輛車隊車分配成一輛主車隊車及至少一輛從車隊車。主從輪調單元根據具有輪調時間及輪調順序的輪調時程訊號，讓各輛車隊車依照所對應的輪調時程進行排列順序上的輪調。 In view of this, the present invention discloses a driving system and method for averaging energy consumption of a self-driving vehicle fleet, which is used to average the energy consumption of vehicles in the fleet. The driving system for the average energy consumption of self-driving cars of the present invention is applied to a fleet of vehicles with multiple fleets. The driving system includes a vehicle condition detection unit, a control unit, and a master-slave wheel adjustment unit. The vehicle condition detection unit is installed in at least one vehicle fleet to detect the current location, current vehicle condition and destination of the vehicle fleet and generate vehicle condition information. The control unit is connected with the vehicle condition detection unit to receive vehicle condition information to generate wheel schedule information. Rotation planning information includes rotation schedule and master-slave allocation signal. The master-slave rotation unit is connected with the control unit. The master-slave rotation unit allocates a plurality of fleet vehicles to a master-slave vehicle based on the master-slave allocation signal, and then allocates the plurality of fleet vehicles into a master fleet vehicle and at least one slave fleet vehicle. The master-slave rotation unit, according to the rotation schedule signal with the rotation time and the rotation sequence, allows the vehicles in the fleet to perform the rotation in the arrangement sequence according to the corresponding rotation schedule.

進一步地，本發明自駕車平均能量消耗的駕駛方法，應用於具有複數輛車隊車之車隊。此駕駛方法包含以下步驟：接收複數輛車隊車 之具有當前所在位置、當前車輛狀況及目的地之車況資訊；根據此車況資訊產生輪調規劃資訊；根據輪調規劃資訊將複數輛車隊車進行主從分配，並讓各輛車隊車依照輪調規劃資訊中所對應的輪調時程進行排列順序上的輪調。 Further, the driving method of the average energy consumption of a self-driving car of the present invention is applied to a vehicle fleet with a plurality of vehicles. This driving method includes the following steps: Receive multiple vehicles Vehicle status information with current location, current vehicle status and destination; generate rotation planning information based on this vehicle status information; according to the rotation planning information, multiple fleet vehicles are assigned master-slave, and each fleet vehicle is rotated according to the The corresponding rotation schedule in the planning information is rotated in the arrangement sequence.

相較於習知技術，本發明之自駕車平均能量消耗的駕駛系統及其方法具有以下優點：1.以車聯網組成車隊。車隊係以串連的方式行駛，得以以最佳化的使用道路面積，進而可縮短車隊車間之間距以降低風阻所造成的能量損耗；2.藉由輪調的機制，讓各輛車隊車適時且適當的輪調到第一台，進而平均每一輛車隊車的能量消耗；3.車隊中各車隊車的能量消耗會比各別車輛自行進行能量節約具有更有效的節約；4.避免僅由大型車輛在前方的行駛方法所帶來的能量消耗不均及駕駛環境危險的情事；5.若車隊中有油量或能量偏低的車隊車，亦可藉由輪調的機制，協助此車延長它的行駛里程以順利達到目的地。 Compared with the prior art, the driving system and method for the average energy consumption of self-driving cars of the present invention have the following advantages: 1. The vehicle fleet is formed by the Internet of Vehicles. The fleet is driven in series to optimize the use of the road area, which can shorten the distance between the fleet and reduce the energy loss caused by wind resistance; 2. Through the rotation mechanism, let the fleets of vehicles be timely And the appropriate rotation to the first one, and then average the energy consumption of each fleet car; 3. The energy consumption of each fleet car in the fleet will be more effective than the energy saving of individual vehicles; 4. Avoid only Uneven energy consumption and dangerous driving environment caused by the driving method of large vehicles in front; 5. If there are vehicles in the fleet with low fuel or energy, the rotation mechanism can also be used to assist this The car extended its mileage to reach its destination smoothly.

11‧‧‧車隊 11‧‧‧Caravan

12‧‧‧車隊車 12‧‧‧Convoy car

13‧‧‧主車隊車 13‧‧‧Main convoy car

14‧‧‧從車隊車 14‧‧‧From the fleet car

15‧‧‧待加入車 15‧‧‧To be added to the car

2‧‧‧駕駛系統 2‧‧‧Driving system

21‧‧‧車況偵測單元 21‧‧‧Car Condition Detection Unit

22‧‧‧控制單元 22‧‧‧Control Unit

23‧‧‧通訊單元 23‧‧‧Communication Unit

24‧‧‧主從輪調單元 24‧‧‧Master-slave rotation unit

25‧‧‧組織車隊單元 25‧‧‧Organizing fleet unit

26‧‧‧環境偵測單元 26‧‧‧Environmental Detection Unit

S111-S233‧‧‧步驟 S111-S233‧‧‧Step

圖1為本發明自駕車平均能量消耗的駕駛系統之一具體實施例之方塊圖。 FIG. 1 is a block diagram of a specific embodiment of a driving system for average energy consumption of a self-driving car according to the present invention.

圖2為本發明自駕車平均能量消耗的駕駛系統之一具體實施例之輪調示意圖。 Fig. 2 is a schematic diagram of a specific embodiment of a driving system for driving average energy consumption of a self-driving car according to the present invention.

圖3為本發明自駕車平均能量消耗的駕駛系統之一具體實施例之示意圖。 Fig. 3 is a schematic diagram of a specific embodiment of a driving system for average energy consumption of a self-driving car according to the present invention.

圖4為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖。 Fig. 4 is a flow chart of a specific embodiment of a driving method with average energy consumption of a self-driving car according to the present invention.

圖5為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖。 Fig. 5 is a flowchart of a specific embodiment of a driving method of average energy consumption of a self-driving car according to the present invention.

圖6為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖。 Fig. 6 is a flowchart of a specific embodiment of a driving method of average energy consumption of a self-driving car according to the present invention.

圖7為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖。 FIG. 7 is a flowchart of a specific embodiment of a driving method of average energy consumption of a self-driving car according to the present invention.

圖8為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖。 Fig. 8 is a flowchart of a specific embodiment of a driving method of average energy consumption of a self-driving car according to the present invention.

圖9為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖。 Fig. 9 is a flowchart of a specific embodiment of a driving method of average energy consumption of a self-driving car according to the present invention.

為了讓本發明的優點，精神與特徵可以更容易且明確地了解，後續將以實施例並參照所附圖式進行詳述與討論。值得注意的是，這些實施例僅為本發明代表性的實施例，其中所舉例的特定方法、裝置、條件等並非用以限定本發明或對應的實施例。 In order to make the advantages, spirit and features of the present invention easier and clearer to understand, the following embodiments will be used for detailed and discussion with reference to the accompanying drawings. It should be noted that these embodiments are only representative embodiments of the present invention, and the specific methods, devices, conditions, etc. exemplified therein are not intended to limit the present invention or the corresponding embodiments.

請參閱圖1至圖3。圖1為本發明自駕車平均能量消耗的駕駛系統2之一具體實施例方塊圖、圖2為本發明自駕車平均能量消耗的駕駛系統2之一具體實施例之輪調示意圖、圖3為本發明自駕車平均能量消耗的駕駛系統2之一具體實施例之示意圖。於一具體實施例中，本發明之駕駛系統2係應用於具有複數個車隊車12之車隊11。駕駛系統2包含車況偵測單元21、控制單元22、通訊單元23以及主從輪調單元24。此車況偵測單元21係設置於至少一車隊車12中，用以偵測車隊11之當前所在位置、當前各車隊車12之車輛狀況及複數個車隊車12的目的地以產生車況資訊。控制單元22係與車況偵測單元21連接，用以接收車況資訊以產生輪調規劃資訊。輪調規劃資訊包括輪調時程和主從分配訊號。通訊單元23係與控制單元22連接，用以接收並發送控制單元22所產生的輪調規劃資訊至各車隊車12。主從輪調單元24係與控制單元22連接。主從輪調單元24係根據主從分配訊號將複數輛車隊車12進行主從分配，進而將複數輛車隊車12分配成一輛主車隊車13及至少一輛從車隊車14。主從輪調單元24根據具有輪調時間及輪調 順序的輪調時程訊號，讓各輛車隊車12依照所對應的輪調時程進行排列順序上的輪調。於另一實施例中，通訊單元23可與主從輪調單元24連接，主從輪調單元24係根據通訊單元23所接收到的輪調規劃資訊執行主從分配及輪調。 Please refer to Figure 1 to Figure 3. Fig. 1 is a block diagram of a specific embodiment of a driving system 2 with average energy consumption of a self-driving car according to the present invention; Fig. 2 is a schematic diagram of a rotation adjustment of a specific embodiment of a driving system 2 with average energy consumption of a self-driving car according to the present invention; A schematic diagram of a specific embodiment of the driving system 2 for inventing the average energy consumption of a self-driving car. In a specific embodiment, the driving system 2 of the present invention is applied to a fleet 11 having a plurality of fleet vehicles 12. The driving system 2 includes a vehicle condition detection unit 21, a control unit 22, a communication unit 23 and a master-slave rotation adjustment unit 24. The vehicle condition detection unit 21 is arranged in at least one vehicle fleet 12 to detect the current location of the vehicle fleet 11, the current vehicle status of each vehicle fleet 12, and the destination of multiple vehicles 12 to generate vehicle condition information. The control unit 22 is connected with the vehicle condition detection unit 21 to receive vehicle condition information to generate wheel schedule information. Rotation planning information includes rotation schedule and master-slave allocation signal. The communication unit 23 is connected with the control unit 22 to receive and send the rotation planning information generated by the control unit 22 to each fleet car 12. The master-slave rotation unit 24 is connected to the control unit 22. The master-slave rotation unit 24 assigns a plurality of fleet cars 12 to a master-slave allocation based on a master-slave allocation signal, and then allocates the plurality of fleet cars 12 into a master fleet car 13 and at least one slave fleet car 14. The master-slave rotation unit 24 has rotation time and rotation The sequential rotation schedule signal allows each fleet vehicle 12 to perform the rotation in the sequence according to the corresponding rotation schedule. In another embodiment, the communication unit 23 may be connected to the master-slave rotation unit 24, and the master-slave rotation unit 24 performs master-slave allocation and rotation according to the rotation planning information received by the communication unit 23.

其中，上述之自駕車平均能量消耗的駕駛系統2之輪調規劃資訊由主車隊車13的控制單元22所產生，經由主車隊車13的通訊單元23接收並發送至各車隊車12的通訊單元23，以通知各車隊車12之控制單元22開始進行輪調。 Among them, the above-mentioned rotation planning information of the driving system 2 for the average energy consumption of self-driving cars is generated by the control unit 22 of the main vehicle fleet 13, received by the communication unit 23 of the main vehicle fleet 13 and sent to the communication unit of each vehicle fleet 12 23. To notify the control unit 22 of each team car 12 to start the rotation.

請再次參閱圖2，於一具體實施例中，一開始車隊11係以一輛主車隊車13在前，且至少一輛從車隊車14在後之順序進行排列。當車輛開始進行輪調時，位於第一輛的主車隊車13變換車道至隔壁車道。組織車隊單元25讓主車隊車13成為從車隊車14，並由車道中當前第一輛車隊車12成為新的主車隊車13。接著，等待後方各輛從車隊車14通過。當後方最後一輛從車隊車14前行至超過在隔壁車道的從車隊車14的位置時，從車隊車14變換車道至車隊11當前位於的車道並追隨最後一輛從車隊車14。 Please refer to FIG. 2 again. In a specific embodiment, at the beginning, the fleet 11 is arranged in the order of one main fleet vehicle 13 in front and at least one secondary fleet vehicle 14 in the back. When the vehicles start to rotate, the main convoy car 13 in the first car changes lanes to the next lane. Organize the fleet unit 25 so that the main fleet car 13 becomes the slave fleet car 14, and the current first fleet car 12 in the lane becomes the new main fleet car 13. Then, wait for each vehicle in the rear to pass by the convoy car 14. When the last vehicle in the rear moves forward from the convoy car 14 to the position of the convoy car 14 in the next lane, the convoy car 14 changes lanes to the lane where the convoy 11 is currently located and follows the last convoy car 14.

請複參閱圖1至圖3，於一具體實施例中，本發明之駕駛系統2更包含有組織車隊單元25及環境偵測單元26。組織車隊單元25係與控制單元22連接，用以產生申請組織資訊或脫離組織資訊。而環境偵測單元26亦與控制單元連接，用以偵測當前四周之行車狀況，並產生環境資訊。除了車隊車12所組成的車隊11外，對於欲加入此車隊11之待加入車15或欲脫離此車隊11之車隊車12亦可藉由此駕駛系統2進行運作。其中待加入車15具有組織車隊單元25、車況偵測單元21及環境偵測單元26。當車隊11之控制單 元22接收到待加入車15所產生之申請組織單元後，車隊11中的控制單元22根據待加入車15當前自身車輛之車況資訊和環境資訊產生同意組織資訊或拒絕組織資訊。待加入車15可根據所接收到的同意組織資訊加入該車隊11中。而待加入車15接收到同意組織資訊並加入車隊11進而成為車隊11之其中一車隊車12後，駕駛系統2根據車隊11當前之車況資訊產生了新的輪調規劃資訊。 Please refer to FIGS. 1 to 3 again. In a specific embodiment, the driving system 2 of the present invention further includes an organized fleet unit 25 and an environment detection unit 26. The organization fleet unit 25 is connected with the control unit 22 to generate application organization information or departure organization information. The environment detection unit 26 is also connected with the control unit to detect current driving conditions around the vehicle and generate environment information. In addition to the fleet 11 formed by the fleet of vehicles 12, the fleet of vehicles 15 to join the fleet 11 or the fleet of vehicles 12 that wish to leave the fleet 11 can also be operated by this driving system 2. The vehicle to be added 15 has an organization fleet unit 25, a vehicle condition detection unit 21, and an environment detection unit 26. When the fleet 11 control sheet After the element 22 receives the application organization unit generated by the vehicle 15 to be added, the control unit 22 in the fleet 11 generates approval organization information or rejection organization information based on the current vehicle condition information and environmental information of the vehicle 15 to be added. The vehicle 15 to be added can join the fleet 11 according to the received consent organization information. After the joining vehicle 15 receives the agreed organization information and joins the fleet 11 to become one of the fleet vehicles 12 of the fleet 11, the driving system 2 generates new rotation planning information based on the current vehicle condition information of the fleet 11.

其中，車隊11之控制單元22所產生的同意組織資訊或拒絕組織資訊係根據以下要素之一或任二以上之組合進行判斷：1.待加入車15之當前車況是否讓當前車隊11之能量消耗增加；2.待加入車15之當前環境是否不易加入車隊11，如：待加入車15當前四周都有其他車輛，造成不易進入車隊11；3.待加入車15加入後是否會使車隊11之車速下降；4.車隊11最終之目的地是否快抵達；5.待加入車15之目的地是否快抵達；6.待加入車15之車型是否符合當前車隊11之需求。 Among them, the approval organization information or rejection organization information generated by the control unit 22 of the fleet 11 is judged based on one of the following elements or a combination of any two or more: 1. Whether the current vehicle condition of the vehicle 15 to be added to the current fleet 11 energy consumption Increase; 2. Is it difficult to join the fleet 11 in the current environment of the car 15 to be added, such as: There are other vehicles around the car 15 to be added, which makes it difficult to enter the fleet 11; 3. Will the car 15 join the fleet 11 after joining the car The vehicle speed drops; 4. Whether the final destination of the fleet 11 arrives soon; 5. Whether the destination of the waiting car 15 arrives soon; 6. Whether the model of the waiting car 15 meets the needs of the current fleet 11.

承前，當有一輛車隊車12產生脫離組織資訊後，此車隊車12之控制單元22根據車隊11當前之環境資訊來提供適當的脫離時機，進而讓此車隊車12脫離所在的車隊11。而當車隊11之控制單元22接收到脫離組織資訊後，車隊11之控制單元22在此車隊車12脫離車隊11後根據排除此脫離的車隊車12之車隊11當前的車況資訊產生新的輪調規劃資訊。 In the past, when a fleet car 12 generates departure organization information, the control unit 22 of the fleet car 12 provides an appropriate departure time according to the current environmental information of the fleet 11, and then allows the fleet car 12 to leave the fleet 11 where it is located. When the control unit 22 of the fleet 11 receives the information about the departure from the organization, the control unit 22 of the fleet 11 generates a new rotation according to the current vehicle condition information of the fleet 11 that excludes the departure from the fleet 11 after the fleet 12 leaves the fleet 11 Planning information.

前述之輪調規劃資訊係以下列之一或任二以上之方法進行規劃輪調時間及輪調順序：1.將目前位置至車隊11中車隊車12所具有之最遠目的地間的距離平均分配給各車隊車12。於一實施例中，一開始的輪調及排列順序係以目的地由近至遠排序，距離最近的排第一輛，而距離最遠 的排最後一輛；2.依當前車隊11中各車隊車12之車輛狀況進行分配。車輛狀況較差的排列至最後，且輪調順序亦為最後一輛或甚至不需加入輪調，由其他車隊車12平均分擔擔任主車隊車13的里程。3.依目的地的不同，除了依目的地的遠近進行輪調及排列順序外，並由最近距離之車隊車12在大於未加入車隊11前之能量消耗的條件下擔當主要里程的主車隊車13。 The aforementioned rotation planning information is based on one or more of the following methods to plan the rotation time and rotation sequence: 1. Average the distance between the current position and the farthest destination of the vehicle 12 in the fleet 11 12 cars assigned to each fleet. In one embodiment, the initial rotation and arrangement sequence are sorted from the closest to the farthest destination, the closest to the first, and the farthest The last car in the row; 2. According to the current vehicle fleet 11 vehicles 12 in the fleet to allocate. Vehicles with poor conditions are arranged to the end, and the rotation sequence is the last one or even no rotation is required. The other vehicles 12 equally share the mileage of the main vehicle 13. 3. Depending on the destination, in addition to the rotation and arrangement according to the distance of the destination, the main fleet car whose main mileage is assumed by the fleet car 12 of the closest distance under the condition of greater than the energy consumption before joining the fleet 11 13.

於一具體實施例中，車隊11之組織車隊單元25更用以產生邀請組織資訊。當車隊11的駕駛系統2發出邀請組織資訊後，待加入車15即可接收邀請組織資訊，並產生上述的申請組織資訊。如此一來，即可由車隊11主動擴編，以更有效率地降低能量的消耗。 In a specific embodiment, the organization fleet unit 25 of the fleet 11 is further used to generate invitation organization information. After the driving system 2 of the fleet 11 sends out the invitation organization information, waiting to join the car 15 can receive the invitation organization information and generate the aforementioned application organization information. In this way, the fleet 11 can be actively expanded to reduce energy consumption more efficiently.

於一具體實施例中，本發明自駕車平均能量消耗的駕駛系統之車況偵測單元包含用以監控車輛運行狀態和回報異常的車上診斷系統(On-Board Diagnostics，OBD)、用以進行車輛定位的全球定位系統(Global Positioning System，GPS)和以目的地進行路徑規劃的導航系統中之至少一者。控制單元、主從輪調單元及組織車隊單元分別或共同包含用以進行資訊接收及運算的電腦處理器、用以進行車與車之間的通訊之專用短程通訊(Dedicated Short-Range Communications，DSRC)、用以分析用路條件之車載通訊系統與嵌入式系統、用以進行自動駕駛之操駕系統中之至少一者。環境偵測系統包含用以偵測車內外環境之先進駕駛輔助系統(Advanced Driver Assistance System，ADAS)。先進駕駛輔助系統包含了不同類型的車用感測器，如：毫米波雷達、超聲波雷達、紅外線雷達、雷射雷達、CCD\CMOS影像感測器及輪速感測器，以及電子控制單元和執行器。 In a specific embodiment, the vehicle condition detection unit of the driving system for the average energy consumption of a self-driving car of the present invention includes an On-Board Diagnostics (OBD) system for monitoring the operating status of the vehicle and reporting abnormalities. At least one of a global positioning system (Global Positioning System, GPS) for positioning and a navigation system for route planning based on a destination. The control unit, the master-slave rotation unit and the organization fleet unit separately or together include a computer processor for information reception and calculation, and dedicated short-range communications (Dedicated Short-Range Communications, DSRC) for vehicle-to-vehicle communication. ). At least one of an in-vehicle communication system and an embedded system for analyzing road conditions, and an operating system for automatic driving. The environment detection system includes the Advanced Driver Assistance System (ADAS) for detecting the environment inside and outside the car. The advanced driver assistance system includes different types of vehicle sensors, such as millimeter wave radar, ultrasonic radar, infrared radar, laser radar, CCD\CMOS image sensor and wheel speed sensor, as well as electronic control unit and Actuator.

請參閱圖4，圖4為本發明自駕車平均能量消耗的駕駛方法之 一具體實施例之流程圖。於一具體實施例中，本發明自駕車平均能量消耗的駕駛方法應用於具有複數個車隊車12的車隊11，其包含以下步驟：S21：接收複數輛車隊車12之具有當前所在位置、當前車輛狀況及目的地之車況資訊；S22：根據車況資訊產生輪調規劃資訊；以及S23：根據輪調規劃資訊將複數輛車隊車12進行主從分配，並讓各輛車隊車12依照輪調規劃資訊中所對應的輪調時程進行排列順序上的輪調；車隊11可持續的重複以上步驟或當有待加入車15加入車隊11或有欲脫離之車隊車12離開車隊11時再重新執行以上步驟。 Please refer to Figure 4, Figure 4 is a self-driving car driving method of the average energy consumption of the present invention A flowchart of a specific embodiment. In a specific embodiment, the driving method of the average energy consumption of a self-driving car of the present invention is applied to a fleet 11 with a plurality of fleet cars 12, which includes the following steps: S21: receiving a plurality of fleet cars 12 with current locations and current vehicles Car condition information of the situation and destination; S22: generate rotation planning information based on the car condition information; and S23: assign a plurality of fleet cars 12 to master and slave according to the rotation planning information, and let each fleet car 12 follow the rotation planning information Carry out the rotation in the sequence according to the corresponding rotation schedule in the middle; the team 11 can continue to repeat the above steps or repeat the above steps when the waiting car 15 joins the team 11 or the team car 12 that wants to leave the team 11 .

請複參閱圖5及圖6，圖5為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖，圖6為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖。當有待加入車15欲加入此車隊11時，於步驟S21前，更包含以下步驟：S121：接收外來欲加入車隊11之待加入車15之申請組織資訊；S122：接收車隊11及待加入車15當前之車況資訊和環境資訊；以及S123：根據車況資訊和環境資訊中至少其一以產生同意組織資訊或拒絕組織資訊；而待加入車15欲加入車隊11時所執行的步驟：S124：產生申請組織資訊、車況資訊及環境資訊；S125：判斷是否接收到車隊11所產生的同意組織資訊；當待加入車15未接收到同意組織資訊，而接收到拒絕組織資訊時，回到步驟S124重新尋找其他車隊11； 當待加入車15接收到同意組織資訊時，則執行步驟S126 S126：加入車隊11，成為此車隊11之其中一輛車隊車12；待加入車15藉由上述步驟以加入車隊11，進而利用本發明之駕駛系統2及其方法達到平均能量的消耗。 Please refer to FIG. 5 and FIG. 6 again. FIG. 5 is a flowchart of a specific embodiment of a driving method with average energy consumption of a self-driving car according to the present invention, and FIG. 6 is a specific embodiment of a driving method with average energy consumption of a self-driving vehicle according to the present invention flow chart. When a waiting car 15 wants to join the fleet 11, before step S21, the following steps are further included: S121: receiving information about the application organization of the waiting car 15 who wants to join the fleet 11; S122: receiving the fleet 11 and waiting car 15 Current vehicle condition information and environmental information; and S123: generate consent organization information or rejection organization information based on at least one of the vehicle condition information and environmental information; and the steps to be performed when the car 15 wants to join the fleet 11 to be added: S124: generate application Organization information, vehicle condition information and environmental information; S125: Determine whether the agreed organization information generated by the fleet 11 is received; when the vehicle to join 15 does not receive the agreed organization information, but receives the rejection organization information, return to step S124 to search again Other teams 11; When the car to join 15 receives the agreed organization information, steps S126 to S126 are executed: join the fleet 11 and become one of the fleet cars 12 of the fleet 11; the car to join 15 joins the fleet 11 through the above steps, and then uses this The invented driving system 2 and its method achieve average energy consumption.

請再次參閱圖5及圖7，圖7為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖。於一具體實施例中，本發明之駕駛方法於步驟S121前更包含以下步驟：S111：車隊11產生邀請組織資訊；而待加入車15亦更包含以下步驟：S112：接收邀請組織資訊；當待加入車15未接收到同意組織資訊，而接收到拒絕組織資訊時，回到步驟S112重新接收其他車隊11的邀請組織資訊；當待加入車15接收到同意組織資訊時，則執行步驟S126。車隊11之擴編不但可以藉由待加入車15之主動加入，亦可由車隊11執行上述步驟達到主動擴編車隊11之車隊車12。當車隊11之車隊車12數量越多，平均能量消耗的效果就越好。 Please refer to FIG. 5 and FIG. 7 again. FIG. 7 is a flowchart of a specific embodiment of a driving method with average energy consumption of a self-driving car according to the present invention. In a specific embodiment, the driving method of the present invention further includes the following steps before step S121: S111: the fleet 11 generates invitation organization information; and the waiting car 15 also includes the following steps: S112: receiving invitation organization information; When the joining car 15 does not receive the consent organization information, but receives the rejection organization information, it returns to step S112 to re-receive the invitation organization information of other fleets 11; when the joining car 15 receives the consent organization information, step S126 is executed. The expansion of the fleet 11 can not only be carried out by the active addition of the waiting car 15, but also by the fleet 11 performing the above steps to automatically expand the fleet 12 of the fleet 11. When the number of vehicles 12 in the fleet 11 is larger, the effect of average energy consumption is better.

請參閱圖8及圖9，圖8為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖，圖9為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖。由於車隊11中每一車隊車12的目的地可能不同，因此當有車隊車12到達所需目的地時則需脫離所在的車隊11。於一具體實施例中，於步驟S21前，更包含以下步驟：S131：接收車隊11中任一車隊車12之脫離組織資訊；以及 S132：產生具有當前車隊11四周之行車狀況之環境資訊；而產生脫離組織資訊之車隊車12將執行以下步驟：S133：產生脫離組織資訊；S134：接收具有當前車隊11四周之行車狀況之環境資訊；以及S135：脫離車隊11；其中，當車隊車12產生脫離組織資訊後，此車隊車12將根據所接收的環境資訊來脫離車隊11，或是進一步的離開目前所在的車道位置。換句話說，欲脫離車隊11之車隊車12會根據所接收具有當前車隊11四周之行車狀況之環境資訊，確認何時適合變換車道。而駕駛方法則在此車隊車12脫離後根據排除脫離的車隊車12後的車隊11執行後續步驟S21。 Please refer to FIGS. 8 and 9. FIG. 8 is a flowchart of a specific embodiment of a driving method with average energy consumption of a self-driving car according to the present invention, and FIG. 9 is a flowchart of a specific embodiment of a driving method with average energy consumption of a self-driving car according to the present invention Figure. Since the destination of each fleet car 12 in the fleet 11 may be different, when a fleet car 12 arrives at a desired destination, it needs to leave the fleet 11 where it is. In a specific embodiment, before step S21, the following steps are further included: S131: receiving information about leaving the organization of any vehicle 12 in the vehicle fleet 11; and S132: Generate environmental information with the driving conditions around the current fleet 11; and the fleet car 12 that generates the out-of-organization information will perform the following steps: S133: Generate out-of-organization information; S134: Receive environmental information with the current driving conditions around the fleet 11 ; And S135: Leaving the convoy 11; wherein, when the convoy car 12 generates departing organization information, the convoy car 12 will leave the convoy 11 according to the received environmental information, or further leave the current lane position. In other words, the fleet car 12 that wants to leave the fleet 11 will determine when it is suitable to change lanes based on the received environmental information with the current driving conditions around the fleet 11. In the driving method, the subsequent step S21 is executed according to the convoy 11 after the convoy car 12 is disengaged.

請複參閱圖4，於一具體實施例中，在步驟S23中，更包含以下子步驟：S231：接收輪調規劃資訊；S232：根據輪調規劃資訊中之主從分配訊息進行複數輛車隊車12的主從分配；以及S233：根據輪調規劃資訊中之輪調時程訊號讓各輛車隊車12依照所對應的輪調時程進行排列順序上的輪調；利用以上步驟，並搭配如圖2所述之輪調方式即可完成輪調。其中於每次輪調時，欲變換車道之車隊車12都會先確認自身四周之行車狀況。在安全的行車狀況下，此車隊車12完成車道之變換。 Please refer to FIG. 4 again. In a specific embodiment, step S23 further includes the following sub-steps: S231: receiving rotation planning information; S232: performing a plurality of fleet vehicles according to the master-slave allocation information in the rotation planning information 12 master-slave allocation; and S233: According to the rotation schedule signal in the rotation planning information, let each fleet car 12 perform the rotation in the arrangement sequence according to the corresponding rotation schedule; use the above steps, and match as The rotation method described in Figure 2 can complete the rotation. In each rotation, the fleet car 12 that wants to change lanes will first confirm the driving conditions around itself. Under safe driving conditions, the fleet of vehicles 12 completes the lane change.

於一具體實施例中，當車隊11位於四周行車狀況不佳的情形下，如：塞車、欲變換之車道目前沒有空間進行變換時，當次輪調時程將 會延長至行車狀況較佳時以進行輪調。而後續之輪調時程將會做對應之調整或維持原輪調時程。 In a specific embodiment, when the vehicle fleet 11 is located around and the driving conditions are not good, such as traffic jams, and there is currently no room to change the lane to be changed, the second round schedule will be It will be extended until the driving conditions are better for rotation. The subsequent rotation schedule will be adjusted accordingly or the original rotation schedule will be maintained.

於一具體實施例中，當車隊11長時間有一輛車跟在後方且嚴重妨礙輪調之進行時，本發明之駕駛系統2將邀請此車輛加入至車隊11中，藉此讓本發明駕駛方法可順利進行。 In a specific embodiment, when there is a car behind the fleet 11 for a long time and seriously hinders the progress of the rotation, the driving system 2 of the present invention will invite this vehicle to join the fleet 11, thereby allowing the driving method of the present invention Can proceed smoothly.

於一具體實施例中，當車隊11在進行輪調期間發生了突然的行車狀況變化而導致已變換車道之車隊車12無***調至車隊11後方，本發明之駕駛系統2將強制讓此車隊車12脫離車隊11。藉此讓駕駛方法順利進行。 In a specific embodiment, when the fleet 11 undergoes a sudden change in driving conditions during the rotation, and the lane-changing fleet 12 cannot be rotated to the rear of the fleet 11, the driving system 2 of the present invention will force this fleet Car 12 leaves the convoy 11. This allows the driving method to proceed smoothly.

相較於習知技術，本發明之自駕車平均能量消耗的駕駛系統2及其方法係由自動駕駛車利用車聯網組成車隊11，並以串聯行駛的方式進行車輛輪調。以串聯行駛係為以最佳化的方式使用道路面積。此駕駛系統2利用車輛的輪調，適時且適當的讓各輛車隊車12輪調到第一台，進而平均每一輛車隊車12的能量消耗。本發明亦改善了習知技術以單一車輛自行進行能量節約之極限，亦避免僅由大型車輛在前方行駛所帶來的能量耗損不均及駕駛環境危險的情事。本發明之駕駛系統2亦能協助車況較不好的車隊車12順利到達目的地。 Compared with the prior art, the driving system 2 and its method for the average energy consumption of self-driving cars of the present invention are composed of self-driving cars using the Internet of Vehicles to form a fleet 11, and the vehicles are rotated in a tandem driving manner. The tandem driving system uses the road area in an optimized way. The driving system 2 utilizes the wheel adjustment of the vehicles to timely and appropriately turn the vehicles 12 of each fleet to the first one, thereby averaging the energy consumption of each vehicle 12 of the fleet. The present invention also improves the limit of the conventional technology to save energy by a single vehicle on its own, and avoids uneven energy consumption and dangerous driving environment caused by only large vehicles driving in front. The driving system 2 of the present invention can also assist the fleet of vehicles 12 with poor vehicle conditions to reach the destination smoothly.

藉由以上具體實施例之詳述，係希望能更加清楚描述本發明之特徵與精神，而並非以上述所揭露的具體實施例來對本發明之範疇加以限制。相反地，其目的是希望能涵蓋各種改變及具相等性的安排於本發明所欲申請之專利範圍的範疇內。 Through the detailed description of the above specific embodiments, it is hoped that the characteristics and spirit of the present invention can be described more clearly, rather than limiting the scope of the present invention by the specific embodiments disclosed above. On the contrary, the purpose is to cover various changes and equivalent arrangements within the scope of the patent scope of the present invention.

2‧‧‧駕駛系統 2‧‧‧Driving system

21‧‧‧車況偵測單元 21‧‧‧Car Condition Detection Unit

22‧‧‧控制單元 22‧‧‧Control Unit

23‧‧‧通訊單元 23‧‧‧Communication Unit

24‧‧‧主從輪調單元 24‧‧‧Master-slave rotation unit

25‧‧‧組織車隊單元 25‧‧‧Organizing fleet unit

26‧‧‧環境偵測單元 26‧‧‧Environmental Detection Unit

Claims (10)

一種自駕車平均能量消耗的駕駛系統，應用於具有複數個車隊車之一車隊，其包含：一車況偵測單元，係設置於至少一該車隊車中，用以偵測該車隊之當前所在位置、當前車輛狀況及目的地，並產生一車況資訊；一控制單元，係與該車況偵測單元連接，用以接受該車況資訊後產生一輪調規劃資訊，該輪調規劃資訊包括一輪調時程訊號和一主從分配訊號；以及一主從輪調單元，係與該控制單元連接，其根據該主從分配訊號將複數該車隊車進行主從分配，進而將複數該車隊車分配成一主車隊車及至少一從車隊車，並根據具有輪調時間及輪調順序之該輪調時程訊號讓各該車隊車依照所對應的輪調時程進行排列順序上的輪調。 A driving system with average energy consumption of a self-driving car, applied to a fleet of vehicles with a plurality of fleets, comprising: a vehicle condition detection unit, which is arranged in at least one of the fleet of vehicles to detect the current position of the fleet , The current vehicle status and destination, and generate a vehicle status information; a control unit is connected with the vehicle status detection unit to generate a round of scheduling information after receiving the vehicle status information, the rotation planning information includes a round of scheduling Signal and a master-slave allocation signal; and a master-slave rotation unit connected to the control unit. According to the master-slave allocation signal, the plurality of vehicles in the fleet are allocated in a master-slave manner, and then the plurality of vehicles in the fleet is allocated into a master fleet Cars and at least one subordinate fleet, and according to the rotation schedule signal having a rotation time and a rotation sequence, each of the fleet cars is rotated in a sequence according to the corresponding rotation schedule. 如申請專利範圍第1項之自駕車平均能量消耗的駕駛系統，其中該輪調規劃資訊由該主車隊車的該控制單元所產生。 For example, the driving system for the average energy consumption of self-driving cars in the first item of the scope of patent application, wherein the rotation planning information is generated by the control unit of the main vehicle fleet. 如申請專利範圍第1項之自駕車平均能量消耗的駕駛系統，其中各該車隊車於該車隊中之排列順序，以該主車隊車在前且該至少一從車隊車在後之順序進行排列。 For example, the driving system for the average energy consumption of self-driving cars in the first item of the scope of patent application, in which the order of the vehicles in the fleet is arranged in the order of the main vehicle in the front and the at least one slave vehicle in the back . 如申請專利範圍第1項之自駕車平均能量消耗的駕駛系統，更包含：一組織車隊單元，係與該控制單元連接，用以產生一申請組織資訊或一脫離組織資訊；以及一環境偵測單元，係與該控制單元連接，用以偵測當前四周之行車 狀況，並產生一環境資訊；其中該控制單元更可接收外來欲加入該車隊之一待加入車之該申請組織資訊，或接收該車隊中欲脫離該車隊之至少一該車隊車之該脫離組織資訊，當該控制單元接收該申請組織資訊後，該控制單元根據該待加入車之該車況資訊和該環境資訊產生一同意組織資訊，而該待加入車接收到該同意組織資訊並加入該車隊進而成為該車隊之其中一該車隊車後，該駕駛系統根據該車隊當前之該車況資訊產生該輪調規劃資訊；當該車隊車產生該脫離組織資訊後，該車隊車之該控制單元根據該車隊當前之該環境資訊脫離該車隊。 For example, the driving system for the average energy consumption of self-driving cars in the first item of the patent application includes: an organization fleet unit connected with the control unit to generate an application organization information or a departure organization information; and an environment detection Unit, which is connected with the control unit to detect the current driving around Status, and generate environmental information; wherein the control unit can also receive information about the application organization of one of the vehicles that want to join the fleet from outside, or the departure organization of at least one vehicle in the fleet that wants to leave the fleet Information, when the control unit receives the application organization information, the control unit generates a consent organization information based on the vehicle condition information and the environmental information of the vehicle to be added, and the vehicle to be added receives the consent organization information and joins the fleet After becoming one of the fleet vehicles of the fleet, the driving system generates the rotation planning information based on the current vehicle condition information of the fleet; when the fleet vehicle generates the de-organization information, the control unit of the fleet vehicle is based on the The current environmental information of the team leaves the team. 如申請專利範圍第4項之自駕車平均能量消耗的駕駛系統，其中該輪調規劃資訊更包含一車輛狀況較差的車隊車不加入輪調。 For example, in the driving system with average energy consumption of self-driving cars in the scope of patent application, the rotation planning information further includes that a fleet of vehicles with poor vehicle conditions will not be included in the rotation. 一種自駕車平均能量消耗的駕駛方法，應用於具有複數個車隊車之一車隊，包含以下步驟：接收複數該車隊車之具有當前所在位置、當前車輛狀況及目的地之一車況資訊；根據該車況資訊產生一輪調規劃資訊；以及根據該輪調規劃資訊將複數該車隊車進行主從分配，並讓各該車隊車依照該輪調規劃資訊中所對應的輪調時程進行排列順序上的輪調。 A driving method with average energy consumption of a self-driving car is applied to a fleet of vehicles with a plurality of fleets, and includes the following steps: receiving information of one of the current location, current vehicle status, and destination of the fleet of vehicles; according to the vehicle status Information generates a round of scheduling information; and according to the rotation planning information, multiple vehicles of the fleet are assigned master and slave, and each vehicle of the fleet is arranged according to the corresponding rotation schedule in the rotation planning information. Tune. 如申請專利範圍第6項之自駕車平均能量消耗的駕駛方法，其中於接收複數該車隊車之具有當前所在位置、當前車輛狀況及目的地之一車況資訊前，更包含以下步驟：接收外來欲加入該車隊之一待加入車之一申請組織資訊； 接收該車隊及該待加入車當前之該些車況資訊和分別具有該車隊及該待加入車四周之行車狀況之複數個環境資訊；以及根據該些車況資訊和該些環境資訊中至少其一以產生一同意組織資訊；其中該待加入車接收該同意組織資訊後加入該車隊並成為其中一該車隊車。 For example, the driving method with average energy consumption of self-driving cars in the scope of patent application, before receiving a plurality of vehicle status information of the current location, current vehicle status, and destination of the vehicle fleet, it further includes the following steps: receiving foreign desires Join one of the fleet and one of the cars waiting to join applies for organization information; Receive the current vehicle status information of the fleet and the vehicle to be added and a plurality of environmental information respectively having the vehicle status around the vehicle fleet and the vehicle to be added; and according to at least one of the vehicle condition information and the environmental information A consent organization information is generated; the vehicle to be joined joins the fleet after receiving the consent organization information and becomes one of the fleet vehicles. 如申請專利範圍第7項之自駕車平均能量消耗的駕駛方法，其中於接收外來欲加入該車隊之該待加入車之該申請組織資訊前，更包含以下步驟：產生一邀請組織資訊；其中該待加入車係根據所接收的該邀請組織資訊產生該申請組織資訊。 For example, the driving method with average energy consumption of self-driving cars in the seventh item of the scope of patent application, before receiving the organization information of the applicants who want to join the fleet, further includes the following steps: generating an invitation organization information; The vehicle to be added generates the application organization information according to the received invitation organization information. 如申請專利範圍第6項之自駕車平均能量消耗的駕駛方法，其中於接收複數該車隊車之具有當前所在位置、當前車輛狀況及目的地之該車況資訊前，更包含以下步驟：接收該車隊中任一該車隊車之一脫離組織資訊；以及產生具有當前該車隊四周之行車狀況之一環境資訊；其中，當該車隊車產生該脫離組織資訊後，該車隊車根據該環境資訊脫離該車隊。 For example, the driving method with average energy consumption of self-driving cars in the scope of patent application, before receiving the vehicle condition information of the plurality of vehicles in the fleet with the current location, current vehicle condition and destination, further includes the following steps: receiving the fleet Any one of the vehicles in the fleet leaves the organization information; and generates environmental information with current driving conditions around the fleet; wherein, when the fleet vehicles generate the leaving organization information, the fleet vehicles leave the fleet according to the environmental information . 如申請專利範圍第6項之自駕車平均能量消耗的駕駛方法，其中該輪調規劃資訊更包含一車輛狀況較差的車隊車不加入輪調。 For example, in the driving method with average energy consumption of self-driving cars in the scope of patent application, the rotation planning information further includes that a fleet of vehicles with poor vehicle conditions are not included in the rotation.
TW108104924A 2018-12-06 2019-02-14 Driving system with average energy consumption from fleet of autonomous cars and method thereof TWI704521B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811487144.9 2018-12-06
CN201811487144.9A CN109597414B (en) 2018-12-06 2018-12-06 Driving system and method for average energy consumption of self-driving vehicle fleet

Publications (2)

Publication Number Publication Date
TW202022790A true TW202022790A (en) 2020-06-16
TWI704521B TWI704521B (en) 2020-09-11

Family

ID=65962166

Family Applications (1)

Application Number Title Priority Date Filing Date
TW108104924A TWI704521B (en) 2018-12-06 2019-02-14 Driving system with average energy consumption from fleet of autonomous cars and method thereof

Country Status (2)

Country Link
CN (1) CN109597414B (en)
TW (1) TWI704521B (en)

Family Cites Families (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1441369B (en) * 2002-02-27 2011-10-19 杨绍鹏 Traffic control system
CN1740747A (en) * 2004-08-23 2006-03-01 英华达股份有限公司 Vehicle running recording integrating system
US8416067B2 (en) * 2008-09-09 2013-04-09 United Parcel Service Of America, Inc. Systems and methods for utilizing telematics data to improve fleet management operations
TWI411979B (en) * 2010-09-10 2013-10-11 Univ Nat Pingtung Sci & Tech Transmission control method of dynamic vehicle
CN102059952B (en) * 2010-12-24 2013-01-02 重庆大学 Array type electric automobile
US10474166B2 (en) * 2011-07-06 2019-11-12 Peloton Technology, Inc. System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles
SE535927C2 (en) * 2011-07-14 2013-02-19 Scania Cv Ab Method and apparatus for determining energy consumption in vehicles
US8706416B2 (en) * 2012-04-03 2014-04-22 Ford Global Technologies, Llc System and method for determining a vehicle route
CN102867411B (en) * 2012-09-21 2014-07-09 博康智能网络科技股份有限公司 Taxi dispatching method and taxi dispatching system on basis of video monitoring system
CN203377915U (en) * 2013-08-13 2014-01-01 北京高迪信科技发展有限公司 A full-voice interaction internet of vehicle system for vehicle security, maintenance and track monitoring
CN103395419B (en) * 2013-08-22 2016-02-24 贵州大学 Based on vehicle platoon drive-control system and the control method thereof of safe spacing strategy
WO2015051684A1 (en) * 2013-10-10 2015-04-16 深圳市掌讯通讯设备有限公司 Vehicle networking communication system and method therefor
EP2881926B1 (en) * 2013-12-04 2021-08-04 Volvo Car Corporation Method and control system for controlling movement of a group of road vehicles
ES2525738B2 (en) * 2014-01-27 2015-04-13 Martín HERRÁIZ HERRÁIZ Procedure for supervision and control of vehicle routes to optimize the use of their load capacities
JP5855163B2 (en) * 2014-05-13 2016-02-09 三菱電機株式会社 Vehicle energy management system
WO2016059122A1 (en) * 2014-10-14 2016-04-21 Osr Enterprises Ag Device, system and method for processing data
CN105109478B (en) * 2015-08-27 2017-11-24 华英汽车集团有限公司 System is organized into groups in a kind of automobile energy-saving emission reduction
FR3040360B1 (en) * 2015-09-01 2018-08-17 Commissariat A L'energie Atomique Et Aux Energies Alternatives METHOD FOR CONTROLLING A ROAD AUTOMOTIVE CONVEY AND ROAD AUTOMOTIVE CONVEY
US20180315149A1 (en) * 2015-10-19 2018-11-01 Daniel Stona Method and System for Facilitating the Movements of a Set of Pedestrians by Means of a Set of Vehicles
CN105197126A (en) * 2015-10-21 2015-12-30 周跃平 Vehicle capable of running in chained mode
US10353387B2 (en) * 2016-04-12 2019-07-16 Here Global B.V. Method, apparatus and computer program product for grouping vehicles into a platoon
US11107018B2 (en) * 2016-07-15 2021-08-31 Cummins Inc. Method and apparatus for platooning of vehicles
CN106225800B (en) * 2016-08-04 2019-07-26 杭州电子科技大学 Environmentally friendly vehicle navigation path construction method based on real-time road condition information
WO2018043753A1 (en) * 2016-09-05 2018-03-08 ナブテスコオートモーティブ 株式会社 Platooning management system
US20180113448A1 (en) * 2016-10-24 2018-04-26 Ford Global Technologies, Llc Vehicle energy reduction
CN106708057B (en) * 2017-02-16 2020-03-20 北理慧动（常熟）车辆科技有限公司 Intelligent vehicle formation driving method
CN106994969B (en) * 2017-03-24 2019-06-14 奇瑞汽车股份有限公司 A kind of fleet's formation control loop and method
CN107089231B (en) * 2017-03-27 2019-05-10 中国第一汽车股份有限公司 A kind of automatic follow the bus drive-control system and its method
JP6601805B2 (en) * 2017-04-28 2019-11-06 株式会社Ｓｕｂａｒｕ vehicle
CN206734296U (en) * 2017-04-28 2017-12-12 深圳市车元素实业有限公司 A kind of fleet drivers' driving behavior security management evaluating apparatus
CN107657809A (en) * 2017-11-22 2018-02-02 重庆长安汽车股份有限公司 Modularization Convoy driving system and the drive manner using the system
CN108053641A (en) * 2017-12-11 2018-05-18 鄂尔多斯市普渡科技有限公司 A kind of combination travelling-crane method of pilotless automobile
CN108845570A (en) * 2018-05-11 2018-11-20 重庆长安汽车股份有限公司 Platooning's control method based on chain structure
CN108873866A (en) * 2018-07-12 2018-11-23 济南浪潮高新科技投资发展有限公司 A kind of transport column oil consumption monitoring method based on OBD equipment

Also Published As

Publication number Publication date
TWI704521B (en) 2020-09-11
CN109597414B (en) 2022-03-18
CN109597414A (en) 2019-04-09

Similar Documents

Publication Publication Date Title
US11409307B2 (en) Apparatus for providing map
US11427196B2 (en) Systems and methods for managing tractor-trailers
US20240094741A1 (en) Control of automated following in vehicle convoys
US10133280B2 (en) Vehicle control device mounted on vehicle and method for controlling the vehicle
KR102043152B1 (en) Vehicle control device mounted on vehicle and method for controlling the vehicle
US20200080853A1 (en) Systems and methods for rendezvousing
US20220155784A1 (en) Detection of Anomalous Trailer Behavior
US11927955B2 (en) Methods for transitioning between autonomous driving modes in large vehicles
US11919516B2 (en) Systems and methods for platooning
US11022981B2 (en) Control architecture for predictive and optimal vehicle operations in a single vehicle environment
US11745761B2 (en) Path providing device and path providing method thereof
JP2019159611A (en) Vehicle control device, vehicle control method, and program
US20230009173A1 (en) Lane change negotiation methods and systems
JP2019028733A (en) Tandem traveling system
JP2022547928A (en) Waypoint information transmission method, device and system for automated driving vehicle platoon
TWI704521B (en) Driving system with average energy consumption from fleet of autonomous cars and method thereof
WO2021021427A1 (en) Methods for transitioning between autonomous driving modes in large vehicles
US11827223B2 (en) Systems and methods for intersection maneuvering by vehicles
US20230025049A1 (en) Multi-modal input-based service provision device and service provision method
US11815983B2 (en) Communication ECU
JP2022099840A (en) Self-driving system, and abnormality determination method
US20210018921A1 (en) Method and system using novel software architecture of integrated motion controls
CN109658717A (en) Method for controlling a vehicle, device, equipment and storage medium
US20240140486A1 (en) Methods and apparatuses for closed-loop evaluation for autonomous vehicles
US20220355790A1 (en) Automated valet parking system and method for controlling automated valet parking system