WO2014133425A1 - Système et procédé permettant de déterminer une position aérodynamiquement favorable entre deux véhicules se déplaçant au sol - Google Patents

Système et procédé permettant de déterminer une position aérodynamiquement favorable entre deux véhicules se déplaçant au sol Download PDF

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Publication number
WO2014133425A1
WO2014133425A1 PCT/SE2013/000030 SE2013000030W WO2014133425A1 WO 2014133425 A1 WO2014133425 A1 WO 2014133425A1 SE 2013000030 W SE2013000030 W SE 2013000030W WO 2014133425 A1 WO2014133425 A1 WO 2014133425A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
leading
measuring unit
determining
following
Prior art date
Application number
PCT/SE2013/000030
Other languages
English (en)
Inventor
Daniel LEXÉN
Lasse RYDÉN
Original Assignee
Volvo Truck Corporation
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 Volvo Truck Corporation filed Critical Volvo Truck Corporation
Priority to PCT/SE2013/000030 priority Critical patent/WO2014133425A1/fr
Publication of WO2014133425A1 publication Critical patent/WO2014133425A1/fr

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Classifications

    • 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
    • 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
    • G05D1/0293—Convoy travelling
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance

Definitions

  • the present invention relates to the field of vehicle aerodynamics, and especially to a method and a system for determining aerodynamically favorable positions between a leading ground traveling vehicle and a following vehicle.
  • the invention also relates to a ground traveling vehicle comprising the system for determining aerodynamically favorable positions.
  • Air resistance generates unfavorable forces on traveling vehicles, leading to reduced speed and higher fuel consumption.
  • an area located behind a vertical surface such as the area behind a vehicle is especially exposed to air resistance.
  • high air turbulence is present together with a low air pressure, which generate a so called “drag force" on the vehicle.
  • the zone with modified or abnormal aerodynamic conditions behind a vehicle may be referred to as a “wake”.
  • this particular low-pressure zone generates a drag- force on a leading vehicle, it reduces the air resistance for a following vehicle.
  • “Processional driving” is a known technique where a following vehicle may be positioned behind a leading vehicle to take benefit from the reduced air resistance. In practice, several vehicles can be positioned one after the other to benefit from this effect.
  • “Platooning” is a more recently developed and controlled form of processional driving, where the vehicles may be provided with automatic steering systems, comprising synchronized acceleration and deceleration in order to position the vehicles within the smallest possible distance from each other.
  • An example of a control system and method for traveling in a platoon is disclosed in WO2011/151274.
  • the system may automatically operate several vehicles where only the leading vehicle needs to be operated by a "real driver", as the following vehicles may be automatically operated by the system and positioned in relation to the leading vehicle.
  • the inter-vehicle distances between a leading and a following vehicle are determined by the weight and braking capacities of each vehicle in order to respect safety requirements.
  • a first aspect of the present invention relates to a method for determining an aerodynamically favorable relative position between at least one leading ground traveling vehicle and at least one following ground traveling vehicle, the method comprising the following steps: - measuring movement of airborne particles behind the leading vehicle,
  • the present invention is based on the realization that variations in the aerodynamic conditions behind a vehicle can be measured from the movements of airborne particles.
  • the aerodynamic conditions around the vehicle such as the direction of the wind flows and airflow characteristics in terms of laminar and turbulent flow regimes can be determined.
  • the measurement of the movement of airborne particles includes the speed and the direction of the airborne particles in the airflow. Additionally, the measurement may also include other parameters, such as air pressure, air density and temperature.
  • the airborne particles typically consist of aerosols, as for instance water droplets, fog, smoke or various pollution particles, which follow the movements of the air.
  • the airborne particles are therefore suitable to be used as trace elements for aerodynamic conditions.
  • Advantages with the present invention include that a vehicle may be positioned in an aerodynamically optimized and favorable position behind a leading vehicle, while respecting safe inter-vehicle distances.
  • the terms “leading” and “following vehicle”, refer to the relative positioning of vehicles in the same driving direction. The following vehicle is thus positioned after the leading vehicle in the driving direction.
  • the first vehicle in the travel direction may be defined as the "first leading vehicle”
  • the second vehicle in the travel direction may be defined as a leading vehicle in relation to the third vehicle.
  • a leading vehicle is not necessarily the first vehicle in a procession or a platoon, but a vehicle which has at least one following vehicle thereafter.
  • first leading vehicle there can be only one "first leading vehicle” in a group of vehicles viewed as a procession or a platoon, while there may be many leading and following vehicles, depending on which vehicle in the platoon or the procession is used as reference.
  • the term "behind” means any position behind the leading vehicle in relation to the travel path/road. Consequently, the term behind for a following vehicle means straight behind or at an angle behind in relation to the first vehicle.
  • the vehicles described as first leading, leading and following may be any consistent or diverse combination of vehicles types, such as on-highway trucks, cars, busses, utility vehicles, etc.
  • the measurement is performed by a measuring unit provided on the following vehicle, and wherein the measuring unit is configured to measure the aerodynamic conditions forward of the following vehicle, as seen in the travel direction of the following vehicle.
  • the measurement is performed by a measuring unit provided on the leading vehicle, and wherein the measuring unit is configured to measure the aerodynamic conditions behind the leading vehicle, as seen in the travel direction of the leading vehicle.
  • the step of determining the aerodynamic conditions behind the leading vehicle comprises determining airflow characteristics and/or variations in air resistance.
  • the airflow characteristics are determined in terms of laminar and turbulent flow regimes.
  • the measured variations may be used for determining the geometrical shape and aerodynamic variations in the wake.
  • an additional calculation may be performed to provide for additional data reliability and determine the air resistance and drag forces on the vehicle.
  • the measurement is performed by Radar or Lidar.
  • measurements by Radar or Lidar enable high-accuracy measurements of aerodynamic conditions in three dimensions.
  • the Radar and the Lidar measuring units measure the speed and the direction of the wind by tracing the movements of airborne particles.
  • the airborne particles receive a transmitted signal from the Radar or the Lidar arrangement, they reflect the received signal by altering certain modulated frequencies of backscattered signals.
  • the backscattered signal may be analyzed in wind vectors, which give the speed and the direction of the wind.
  • the measuring unit comprises a pulsed Lidar arrangement or a pulsed Doppler- Lidar arrangement.
  • the measuring unit comprises a pulsed Radar arrangement or a pulsed Doppler-Radar arrangement.
  • the method further comprises communicating the aerodynamically favorable relative position to a driver or a central vehicle control system.
  • the system may either provide information required for a processional driving mode or a platoon driving mode.
  • the method is further comprising the step of automatically positioning the following vehicle in the aerodynamically favorable relative position by consulting the vehicle's central control system.
  • automatically positioning the vehicles an accurate inter- vehicle distance may be achieved and constantly maintained. Additionally, by automatically positioning the vehicle, the distances between the leading and the following vehicle may be shortened while still ensuring a safe distance.
  • the reactivity provided by an automatic system is higher than the reactivity for a driver.
  • a still further advantage is that it enhances the operator comfort, as it reduces the manual tasks associated with the inter-vehicle positioning.
  • the step of automatically positioning the vehicle may be performed by an inter-vehicle communication system.
  • the purpose of an inter-vehicle system is to coordinate and synchronize the movements of the vehicles in a platoon.
  • a following vehicle is informed about the operating parameters and changes in commands of the leading vehicle in real-time.
  • An advantage with an inter- vehicle system is that it ensures that the inter-vehicle distances are correct.
  • the inter-vehicle communication system uses a common time base to synchronize the commands, whereby operation and performance parameters may be transferred between the vehicles, where commands like acceleration, braking, turning of a leading vehicle are communicated in realtime, such that required action may be anticipated by the following vehicle.
  • the step of automatically positioning the following vehicle may be performed by continuously measuring the inter-vehicle distance by the Radar or Lidar measuring unit. If the distance to the leading vehicle is incorrect, a command with corrective action may be sent to the central vehicle control system, which either accelerates or decelerates the speed of the following vehicle. This may be an advantage if the inter-vehicle communication capability is limited, as for instance if the vehicles don't have matching systems to communicate any operating parameters and commands in real-time.
  • the step of determining a favorable relative position includes:
  • fuel savings may be small for one truck in a platoon, but with several vehicles in the platoon, the benefits may be higher.
  • the total platooning benefit may thus be calculated as a combined fuel savings for a group of vehicles in a platoon.
  • information regarding fuel consumption is particularly important in order to decide on whether to prioritize fuel economy or a faster arrival at destination.
  • the step of determining a favorable relative position further includes:
  • the vehicles may be positioned such that fuel savings are achieved, while ensuring that safety distances are respected.
  • a system for determining an aerodynamically favorable relative position between at least one leading ground traveling vehicle and at least one following ground traveling vehicle comprising:
  • At least one measuring unit configured to measure airflow characteristics and/or variations in air resistance
  • control unit configured to receive input data from said measuring unit and generate output data comprising an indication of at least one aerodynamically favorable relative position of vehicles, and wherein the measuring unit measures airflow characteristics and/or variations in air resistance by measuring the movement of airborne particles behind the leading vehicle.
  • Advantages with the second aspect of the present invention are substantially analogous with the advantages of the first aspect of the present invention and include that aerodynamic conditions around a vehicle may be measured in three spatial directions and that at least one favorable relative position of the vehicles can be determined.
  • the at least one measuring unit comprises a Radar arrangement or a Doppler-Radar arrangement.
  • the at least one measuring unit comprises a Lidar or a Doppler-Lidar arrangement.
  • the Radar and the Lidar measuring units include no exposed parts in direct contact with the air to be measured. Therefore, these systems are designed to endure the typically harsh environment around a vehicle, accommodating dirt, oil and corrosion.
  • the measuring unit comprises a pulsed Lidar arrangement or a pulsed Doppler- Lidar arrangement.
  • the measuring unit comprises a pulsed Radar arrangement or a pulsed Doppler-Radar arrangement.
  • the system comprises at least two measuring units. With two measuring units in the system, crosschecks of the measurement data from the two measuring units may limit the risk of measurement errors.
  • the at least one measuring unit is directed such that it measures airflow characteristics and/or variations in air resistance behind the vehicle it is provided at.
  • This provides for an alternative system, where aerodynamically favorable positions may be determined by a leading vehicle and communicated to one or several following vehicles. Moreover, this may be beneficial in case the following vehicle is not equipped with the inventive measuring system.
  • a ground traveling vehicle comprising a system for determining an aerodynamically favorable relative position, wherein the at least one measuring unit is directed such that it measures airflow characteristics and/or variations in air resistance forward of the vehicle it is provided at.
  • Advantages include that by arranging the measuring unit on a following vehicle, flexibility for the following vehicle is achieved, as it can seek favorable positions behind any leading vehicle, independently if the leading vehicle is equipped with the system or not.
  • Fig. 1 is a schematic side view of a leading and two following vehicles.
  • Fig. 2 is a schematic top view of a vehicle entering a processional or platooning driving configuration
  • Fig. 3 is a flowchart of a method for improving the favorable aerodynamic conditions around at least one leading and at least one following vehicle.
  • Fig. 1 shows a first leading vehicle 100 and two following vehicles 200, 300 in a platoon driving configuration. Behind a rear vertical surface 102 of the first vehicle 100, a wake Wi is formed.
  • the wake ⁇ N ⁇ is characterized as a zone with low air resistance, and discloses variations in geometry and air resistance after the first vehicle 100.
  • the effect of reduced air resistance in the wake Wi periodically decreases as a function of the distance Xi after the first vehicle.
  • the turbulence after the vehicle 100 geometrically influences the shape of the wake Wi, whereby the wake Wi presents maximums A and minimums B in terms of the air resistance and drag forces. Consequently, an aerodynamically favorable position Pi is correlated to the aerodynamic and geometric variations of the wake ⁇ N ⁇ .
  • the following vehicle 200 is equipped with at least one signal emitting measuring unit 206, adapted to measure the speed and direction of airborne particles. Moreover, the measuring unit 206 is capable of measuring variations in airflow characteristics and air pressure as a function of the distance to the rear surface 102 of the leading vehicle 100, in order to determine at least one aerodynamically favorable position Pi located at a distance Xi behind the first vehicle 100.
  • the measuring unit 206 is adapted to transmit the measuring data to a control unit 208.
  • the control unit 208 is adapted to perform further calculations from the measurement data, in order to determine turbulence levels and air resistance, favorable vehicle positions and to generate aerodynamic output data.
  • the signal emitting measuring unit 206 may comprise a Lidar arrangement, emitting infrared laser light signals, or a Radar arrangement, emitting electromagnetic reference signals.
  • the reference signal may also be transmitted horizontally or at an angle ⁇ in relation to the horizontal plane and in relation to the travel direction of the following vehicle 200.
  • Both the Radar and the Lidar systems are based on the principle that an emitted reference signal 210 is reflected on airborne particles. The movement of these airborne particles alters a certain reflected signal, which can be received by a detector and receiver unit in the measuring unit 206.
  • a processing circuitry in the measuring unit is arranged to further analyze the received signal, whereby the wind speed and direction can be measured.
  • the measuring unit 206 may be mounted on the front of a vehicle. Alternatively, the measuring unit may be mounted inside the cab, with the signal emitting unit directed through the front windshield and arranged to measure forward in the travel direction.
  • the measuring unit's processing circuitry and the control unit 208 may be arranged in a central and easily accessible location, such as inside the cab or in an engine compartment.
  • the leading vehicle 100 may also be provided with the inventive measuring system.
  • the measuring unit 106 is arranged such that it measures behind the leading vehicle 100 and communicates the measurement data to a control unit 108.
  • the control unit may determine the aerodynamically favorable positions for the following vehicles 200, 300, as well as calculating the total fuel savings and performance data for the platoon, comprising all vehicles 100, 200, 300 included.
  • the leading vehicle 100 may communicate favorable positions, fuel savings and performance data which may be used in a processional driving configuration to the following vehicles 200, 300.
  • Fig. 2 depicts an exemplary measurement setup and a positioning example of a following vehicle 200 or 300.
  • a leading vehicle 100 and two following vehicles 200, 300 are driving on a roadway 150.
  • a following vehicle 200 or 300 which is about to enter a processional or platoon driving configuration may be located behind a leading vehicle 100 in the same traffic lane or sideways behind the leading vehicle 100.
  • the measuring unit 206 of a following vehicle 200 emits a reference signal 210 and captures data within the range of an angle a in relation to the travel direction of the following vehicle 200.
  • the purpose of the measuring range a is that the measuring system is capable of measuring the aerodynamic conditions behind a leading vehicle 100 from a wide range.
  • the wake can be measured from any position located behind or at an angle behind the leading vehicle 100.
  • the vehicle 300 is located sideways behind the leading vehicle 100, whereby an emitted reference signal 310 from a measuring unit 306 is directed at an angle a in relation to the travel direction of the following vehicle 300 such that the aerodynamic characteristics of the wake W-i are determined behind the leading vehicle 100.
  • the measuring system may include functionalities required for automatic positioning of the vehicles or the vehicles may be equipped with a specific purpose-built positioning system.
  • a first step S1 the measuring system is activated.
  • the activation may be performed automatically, when the signal emitting measuring unit detects a moving vehicle in front.
  • the measuring system may be manually activated by a vehicle driver.
  • the detection of a leading vehicle in front may be performed by an independent measuring unit or sensor.
  • a processing circuitry In a second step S2, the measuring unit measures the relative speed and direction of airborne particles in the air surrounding the vehicle, whereby a processing circuitry generates measurement values in three spatial coordinates x, y, z. Alternatively, the measuring unit performs at least two consecutive measurement series within a short time interval as a consistency in order to validate the measurement data.
  • wake characteristics comprising the measurement data is communicated to the control unit, which determines the characteristics of the wake Wi in terms of geometric and aerodynamic variations.
  • the control unit determines aerodynamically favorable positions based on the wake characteristics.
  • safety distances are determined and validated based on a predetermined set of rules.
  • the predetermined rules for safety distances are linked to actual and variable vehicle operating parameters, such as operating weight, braking capacity, road conditions, speed and acceleration. However, if the vehicles are equipped with an inter- vehicle communication system, the required safety distances between the leading and the following vehicle may be further decreased. Following, in step S6, an aerodynamically favorable position, complying with safety distances is validated. In the next step S7, fuel savings and performance data are determined. The fuel savings may be calculated in estimates of fuel consumption (liters/hour) or total fuel consumption (in liters) if the processional/platooning distance is known, the performance information may include estimated arrival time, etc. Based on the estimated fuel savings and performance data, a recommended position is generated in a step S8.
  • the generated recommendation may include a recommendation whether or not to enter a procession/platoon and information of the favorable position.
  • the information may thereafter be transmitted to an operator through any suitable interface, such as a visual display or an audible signal, whereby the operator may take corrective action.
  • the system may provide an additional step S9, whereby the vehicle is automatically guided and maintained in an aerodynamically favorable position.

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

Abstract

L'objet de la présente invention est de réduire la résistance de l'air subie par un véhicule suiveur dans un convoi ou un peloton, et concerne un procédé et un système permettant de déterminer des positions aérodynamiquement favorables entre un véhicule meneur se déplaçant au sol (100) et un véhicule suiveur (200). Les mouvements des particules dans l'air sont mesurés de manière à déterminer les variations des conditions aérodynamiques dans le sillage (Wi) d'un véhicule meneur (100). Plus spécifiquement, des mesures de conditions aérodynamiques telles que les caractéristiques de flux d'air, de pression d'air et de densité d'air peuvent être effectuées par un radar ou un lidar. La présente invention concerne également un véhicule meneur se déplaçant au sol (100) et comprenant le système de la présente invention.
PCT/SE2013/000030 2013-02-27 2013-02-27 Système et procédé permettant de déterminer une position aérodynamiquement favorable entre deux véhicules se déplaçant au sol WO2014133425A1 (fr)

Priority Applications (1)

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PCT/SE2013/000030 WO2014133425A1 (fr) 2013-02-27 2013-02-27 Système et procédé permettant de déterminer une position aérodynamiquement favorable entre deux véhicules se déplaçant au sol

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PCT/SE2013/000030 WO2014133425A1 (fr) 2013-02-27 2013-02-27 Système et procédé permettant de déterminer une position aérodynamiquement favorable entre deux véhicules se déplaçant au sol

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