[go: up one dir, main page]

WO2018043753A1 - Système de gestion de peloton - Google Patents

Système de gestion de peloton Download PDF

Info

Publication number
WO2018043753A1
WO2018043753A1 PCT/JP2017/031906 JP2017031906W WO2018043753A1 WO 2018043753 A1 WO2018043753 A1 WO 2018043753A1 JP 2017031906 W JP2017031906 W JP 2017031906W WO 2018043753 A1 WO2018043753 A1 WO 2018043753A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
order
vehicles
information
platoon
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2017/031906
Other languages
English (en)
Japanese (ja)
Inventor
裕樹 長谷部
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nabtesco Automotive Corp
Original Assignee
Nabtesco Automotive Corp
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 Nabtesco Automotive Corp filed Critical Nabtesco Automotive Corp
Priority to JP2018537594A priority Critical patent/JP6748213B2/ja
Publication of WO2018043753A1 publication Critical patent/WO2018043753A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

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
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles

Definitions

  • the present invention relates to a convoy travel management system that manages the order of convoy travel vehicles.
  • a system for the purpose of facilitating traffic flow, energy saving, etc., a system has been developed that realizes platooning in which a plurality of vehicles run in a platoon.
  • the vehicles that form the platoon travel so as to maintain a predetermined inter-vehicle distance while communicating with each other at short intervals.
  • a system for electronically connecting a leading truck driven by a driver and an unmanned truck is being studied.
  • the platoon is formed not only by the vehicle type but also by vehicles having different specifications such as the size of the vehicle body, the drive source, the configuration of the brake system, and the like.
  • Patent Document 1 proposes a system that forms a platoon from a vehicle group composed of vehicles with a large projected area and a vehicle group composed of vehicles with a small projected area.
  • the projected area corresponds to a product of the vehicle width and the total height.
  • the inter-vehicle distance assumed for platooning is as short as several meters to about 10 meters, so that even if the leading vehicle brakes suddenly, each subsequent vehicle can safely decelerate or stop. It has been demanded.
  • it is not taken into consideration until the vehicle decelerates safely even when sudden braking is activated.
  • the vehicles are arranged in order of increasing braking distance from the head toward the rear in the formation.
  • the fuel efficiency improvement effect may be reduced.
  • the current situation is that further studies are needed on the formation method when forming formations with vehicles having different specifications.
  • An object of the present invention is to provide a convoy travel management system capable of organizing a convoy in a vehicle order that matches a state predicted when the convoy travels even when the convoy is composed of vehicles having different specifications.
  • the convoy travel management system is a convoy travel management system that manages the order of a plurality of vehicles in the convoy travel, and that obtains prediction information that predicts at least one of time and environment during convoy travel
  • An information acquisition unit a vehicle information acquisition unit that acquires vehicle information including the braking distance of each vehicle that forms a platoon and vehicle body information of the vehicle, and the order of the vehicles according to the acquired prediction information,
  • a first vehicle order in which vehicles are arranged in descending order of the braking distance from the head toward the tail in the platoon, or a vehicle having the highest air resistance among the plurality of vehicles based on the vehicle body information is placed at the head in the platoon
  • a convoy formation unit set to the second vehicle order set to the second vehicle order.
  • the platoon formation unit improves the fuel efficiency by reducing the vehicle order in the platooning, the first vehicle order in which the vehicles are arranged in the platoon in the descending order of the braking distance, or by reducing the air resistance of the following vehicle.
  • the first vehicle sequence for example, when the leading vehicle activates the sudden brake, the vehicles can be prevented from colliding with each other by stopping in order from the rear vehicle.
  • the second vehicle order the air resistance of the following vehicle is reduced by the leading vehicle, so that the fuel efficiency of the entire platoon can be improved.
  • the platooning can be carried out with a high vehicle order.
  • the vehicle learns by relating the total vehicle weight and the braking distance, and the formation unit determines the order of the vehicles based on the braking distance associated with the total vehicle weight of the vehicle. May be.
  • the braking distance tends to increase as the total vehicle weight increases.
  • the braking distance is learned on the vehicle side in association with the total vehicle weight that changes according to the load of the load, and the formation organization unit determines the vehicle order using the braking distance. Therefore, since the braking distance predicted on the vehicle side can be brought close to the actual braking distance, a collision between vehicles can be avoided more reliably.
  • the platoon forming unit arranges the vehicle having the maximum air resistance based on the vehicle body information at the top and sets the other vehicles at the top. May be set in an order in which the braking distances are arranged from the longest toward the rear.
  • the vehicles other than the leading vehicle are arranged in the platoon in order of increasing braking distance. Therefore, while improving the fuel efficiency of the entire platoon, Collisions can be avoided.
  • the formation unit may set the vehicles in an order in which the vehicles are arranged in descending order from the head toward the rear. .
  • the formation unit sets the order of the vehicles to the first vehicle order or the second vehicle order, and then moves from the head vehicle of the formation to the rear vehicle. Each vehicle may be instructed to increase the maximum deceleration.
  • the vehicles are arranged in a line in order of increasing braking distance from the leading vehicle to the trailing vehicle, and the maximum deceleration increases on the vehicle side.
  • the fuel efficiency of the entire platoon is improved by arranging the vehicle having the largest air resistance at the head of the platoon, and the maximum deceleration as it moves from the leading vehicle to the trailing vehicle.
  • the platoon can be formed in a vehicle order that matches a state predicted when the platoon travels.
  • summary of platooning The block diagram explaining schematic structure of a convoy travel system.
  • the vehicle 100 that forms the formation is a truck.
  • a destination is set for the vehicle 100, and the vehicle 100 travels in a predetermined section between the departure point and the destination.
  • the vehicle 100 passes through the hub base 101 for organizing the convoy before arriving at the destination, that is, the hub base 101 that is the starting point of the convoy travel.
  • the hub base 101 is provided, for example, in the vicinity of an entrance / exit of a road capable of platooning such as an expressway or in a service area of an expressway.
  • Each vehicle 100 is driven from the departure place to the hub base 101 by a driver.
  • the vehicle 100 arriving at the hub base 101 communicates with the platoon management device 11.
  • the convoy management device 11 only needs to be able to communicate with the vehicle 100 or the like of the hub base 101 and may be provided at the hub base 101 or may be provided at a place other than the hub base 101. Further, the convoy management device 11 may be provided for each hub base 101, or one convoy management device 11 may be provided corresponding to a plurality of hub bases 101.
  • the vehicle 100 has an authentication code for performing platooning, and the platoon management device 11 authenticates the vehicle 100.
  • the convoy management device 11 collects information on the vehicle 100 and information on the route from the vehicle 100 and the like when authenticating the vehicle 100 that has arrived at the hub base 101.
  • the convoy management device 11 selects the vehicle 100 that forms the convoy based on route information such as information on the route from the departure point to the destination. Since the convoy management device 11 selects the vehicle 100 that forms the convoy according to the destination, etc., the vehicle type of the selected vehicle, the loading amount, the vehicle information such as the vehicle width and the total length, the vehicle gross weight, the configuration of the drive source
  • the structure of the brake system is not necessarily the same, and is often different from each other.
  • the convoy management device 11 determines the order of vehicles in the convoy.
  • the platoon management device 11 transmits information including the identifier of the vehicle 100 that forms the platoon and the vehicle order to each vehicle 100.
  • the vehicle 100 receives these pieces of information, the vehicle 100 forms a row based on the received information and travels on a road that can be driven in a row such as an expressway.
  • the leading vehicle 100 that is the head of the platoon is driven by a driver or monitored by a supervisor, and the vehicles 100 other than the leading vehicle travel in unmanned driving (automatic driving). Note that the leading vehicle may also travel in unmanned operation.
  • the vehicle 100 (front vehicle) that forms the platoon transmits speed and acceleration / deceleration information to subsequent vehicles, for example, every several milliseconds to several tens of milliseconds.
  • the succeeding vehicle is accelerated or decelerated based on the received speed and acceleration / deceleration so that the speed is the same as that of the preceding vehicle, so that the inter-vehicle distance from the preceding vehicle becomes a predetermined distance.
  • the target inter-vehicle distance in the platoon is several meters to several tens of meters (for example, 1 m to 15 m), and the target speed maintained in the platooning is, for example, 60 to 80 km / h.
  • the vehicle 100 that forms the platoon arrives at the hub base 101 that is the end point, it is driven by the driver and heads for the destination. It should be noted that the vehicle 100 that forms the row may leave the row before the hub base 101 when there is a destination before the hub base 101 or the like.
  • the convoy travel management system 10 includes a convoy management device 11 and a convoy travel control system mounted on the vehicle 100.
  • the control system of the vehicle 100 includes a convoy travel control device 20, a vehicle information storage unit 21, and a communication unit 22, which are connected to each other via an in-vehicle network 29.
  • the convoy travel control device 20 includes a calculation unit, a volatile storage unit as a calculation region, and a nonvolatile storage unit.
  • the calculation unit performs various calculations for platooning according to a program stored in the nonvolatile storage unit.
  • the convoy travel control device 20 performs road-to-vehicle communication, vehicle-to-vehicle communication, and the like via the communication unit 22.
  • a speed signal is input from the vehicle speed sensor 23 to the platooning control device 20.
  • the convoy travel control device 20 calculates the speed and acceleration / deceleration of the vehicle 100 based on the speed signal, and transmits information including the speed and acceleration / deceleration to the other vehicle 100 that forms the convoy via the communication unit 22.
  • the vehicle 100 further includes a host vehicle position detection unit 24 and a route guide unit 25.
  • the own vehicle position detection unit 24 is, for example, a GPS sensor, and detects the own vehicle position such as latitude and longitude.
  • the route guide unit 25 searches for a route from the departure place to the destination and generates route information.
  • the route guide unit 25 guides the vehicle 100 to travel along the searched route based on the vehicle position and route information.
  • the vehicle information storage unit 21 stores vehicle information including information on the vehicle body such as the vehicle width and overall height, and the braking distance.
  • the braking distance is information learned by the brake ECU 26 that controls the brake system of the vehicle 100.
  • the braking distance is learned at a predetermined timing such as when the vehicle 100 stops and is recorded in a state associated with the total vehicle weight.
  • the braking distance is a moving distance of the vehicle 100 from when the brake is activated and the vehicle 100 starts decelerating until the vehicle 100 stops.
  • the total vehicle weight is calculated, for example, by adding the loaded weight to the weight of the vehicle without a load.
  • the vehicle weight when there is no load is a fixed value, and the loaded weight can be obtained by, for example, detecting a pressure in a load detection sensor or an air circuit of an air suspension system.
  • the braking distance may be learned in association with at least one of the speed when the vehicle 100 starts decelerating and the brake pressure in addition to the total vehicle weight. By learning the braking distance based on the speed or brake pressure and the total weight of the vehicle, the relationship between the speed or brake pressure and the braking distance can be grasped, so that the braking distance at the maximum deceleration can be calculated accurately. it can.
  • the braking distance is learned in association with at least one of the road surface condition (curvature radius of curvature, slope angle, road surface friction coefficient, road surface temperature, etc.) and vehicle condition (tire pressure, tire temperature, brake shoe temperature, etc.). May be.
  • the road surface state can be acquired from road map data stored in the route guidance unit 25, analysis results of imaging data such as an infrared camera and a visible light camera provided in the vehicle 100, and information received from a roadside communication device. it can.
  • the state of the vehicle 100 can be acquired from a pressure sensor or a temperature sensor provided on the wheel.
  • the convoy travel control device 20 sends vehicle information including the identifier of the vehicle 100, the braking distance, and the total vehicle weight via the communication unit 22 at a predetermined timing, such as when the hub base 101 that is the starting point of the convoy travel is reached. Transmit to the convoy management device 11. In addition, the convoy travel control device 20 manages convoys via the communication unit 22 with respect to the destination and route information acquired from the route guide unit 25 and the scheduled traveling time passing through a predetermined point such as the hub base 101 on the route. Transmit to device 11.
  • Vehicle information and route information may be provided by a delivery management terminal 31 connected to the convoy management device 11 via the network 30.
  • the delivery management terminal 31 is a terminal that manages the travel route, estimated travel time, driver, and the like of each vehicle 100, and has information related to the delivery plan of the vehicle 100.
  • the delivery management terminal 31 can transmit vehicle information and route information to the platoon management device 11 before the date when the vehicle 100 arrives at the hub base 101, for example.
  • the convoy management apparatus 11 can plan the formation of the convoy before the day when the convoy travel is performed.
  • the delivery management terminal 31 includes a delivery management unit 32, a vehicle information storage unit 33, and a route information storage unit 34.
  • the delivery management unit 32 transmits and receives various information via the network 30.
  • vehicle information storage unit 33 vehicle information of each vehicle 100 to be managed by the delivery management terminal 31 is recorded. This vehicle information is information that is common with information stored in the vehicle information storage unit 21 of the vehicle 100.
  • the route information storage unit 34 records route information of each vehicle 100 that is a management target. This route information is information common to the information stored in the vehicle information storage unit 21 of the vehicle 100. Note that the vehicle information and the route information may be stored in the same storage unit.
  • the convoy management device 11 includes a control unit 12, a communication unit 16, and a convoy information storage unit 17.
  • the control unit 12 includes a calculation unit, a volatile storage unit, and a non-volatile storage unit, and performs various operations for formation of the formation and management of the formation in accordance with a program stored in the non-volatile storage unit. Further, the control unit 12 communicates with the communication unit 22 and the delivery management terminal 31 of each vehicle 100 via the communication unit 16. Further, the control unit 12 communicates with an external server that provides various information such as traffic information and weather information via the communication unit 16.
  • the control unit 12 includes a prediction information acquisition unit 13, a vehicle information acquisition unit 14, and a formation organization unit 15.
  • the prediction information acquisition unit 13 uses the external server or the control unit itself to predict prediction information that predicts the state during the platooning from the hub base 101 that is the starting point of the platooning to the hub base 101 that is the ending point of the platooning. Acquired from a storage unit or the like.
  • the prediction information includes information related to the time of arrival at the hub base 101 at the end point, information related to the traveling environment between the hub bases 101, and the like. Examples of information relating to the driving environment include static information that does not change, such as road shape information, and dynamic information such as weather and traffic information.
  • forecast information includes time zones such as daytime and nighttime, weather information such as fine weather and rainy weather, road surface conditions such as the presence or absence of freezing, road information indicating the vertical gradient and curvature of roads, congestion and congestion, roads There is traffic information about the presence or absence of regulations.
  • the vehicle information acquisition unit 14 collects vehicle information from each vehicle 100 gathered at the hub base 101 and the delivery management terminal 31 and records the collected vehicle information in the platoon information storage unit 17. Further, the vehicle information acquisition unit 14 collects the destination, route information, estimated travel time, and the like for each vehicle from each vehicle 100 and the delivery management terminal 31 and records the information in the platoon information storage unit 17.
  • the formation organization unit 15 selects the vehicle 100 that forms the formation based on the route information and the like.
  • the formation organization unit 15 selects a vehicle 100 that is scheduled to start a formation run later than the point in time when the vehicle 100 is selected, among vehicles passing through one hub base 101.
  • the formation unit 15 passes through the same hub base 101 excluding the start point of the formation run and the scheduled time of passing through the hub base 101 based on the destination, route information, scheduled travel time, etc.
  • the vehicle 100 is selected on the condition that it is. A certain number of vehicles may be used to form a convoy, or may be within a predetermined range.
  • the row forming unit 15 may select the vehicle 100 having the same maximum load capacity or the specifications of the brake system and the like. Alternatively, the vehicle 100 and the manufacturer may select the same vehicle 100. In addition, the convoy formation unit 15 may transmit a notification to the effect that the convoy is not formed to the vehicle 100 or the delivery management terminal 31 when the number of candidates for the vehicle 100 is less than the planned number.
  • the formation organization unit 15 determines the vehicle order based on the prediction information acquired by the prediction information acquisition unit 13.
  • a plurality of vehicle order determination criteria are set, and one of them is a criterion in which the vehicles 100 are arranged in descending order of the braking distance from the head of the platoon to the tail.
  • the vehicle order of the platoon is set to the order in which the braking distance is long (first vehicle order). At this time, it is preferable to use the braking distance at the maximum deceleration as the braking distance information.
  • the inter-vehicle distance, speed, and acceleration / deceleration are transmitted and received between the vehicles. Therefore, when the leading vehicle starts decelerating, the other vehicles also follow the leading vehicle and start decelerating.
  • the time difference between the timing at which the leading vehicle begins to decelerate and the timing at which the following vehicle begins to decelerate is very short, so there is a fluctuation in the inter-vehicle distance during normal deceleration for speed adjustment, but the vehicles collide. It does n’t happen.
  • the leading vehicle activates sudden braking
  • the vehicles 100 that form the platoon stop in the order from the rearmost vehicle 100 to the first vehicle 100 in the platoon the vehicle 100 is prevented from colliding with the vehicle 100 in front of it. it can.
  • a method for stopping the vehicle 100 in such an order there is a method of adjusting the pressure of the brake system of each vehicle so that the braking force increases from the first vehicle toward the last vehicle.
  • the safety can be improved only by adjusting the braking force
  • the specification of the braking system of each vehicle 100 is different and the adjustment of the braking force is intended. There is a possibility that it will not be met. Therefore, a mechanism to increase safety is necessary. Therefore, in a state where it is predicted that there is a high possibility that sudden braking will occur, after adjusting the braking force, the vehicle order of the platoon is set in order of increasing braking distance.
  • the braking distance tends to increase as the total vehicle weight increases. Since the total vehicle weight greatly varies depending on whether or not there is a load and the type of the load, for example, the braking distance of the vehicle 100 measured in the absence of the load deviates from the braking distance of the vehicle 100 in the presence of the load. . On the other hand, since the brake characteristics of the vehicle 100 are not reflected only by the total vehicle weight, the braking distance cannot be estimated appropriately. Therefore, the braking distance associated with the total vehicle weight is used to determine the vehicle order.
  • the braking distance that reflects the total weight of the vehicle to determine the vehicle order, even when a platoon is formed by the unloaded vehicle 100 and the loaded vehicle 100, it is possible to Collisions between vehicles can be suppressed.
  • the weather information is rainy, snowfall, fog, etc.
  • the platooning time is at night, or when the road surface is frozen
  • the road undulations of the travel section are large, when the travel section includes a sharp curve, when there are road regulations, etc., it may be other than this.
  • the vehicle 100 is arranged in the platoon so that the fuel efficiency of the entire platoon is improved.
  • the vehicle with the highest air resistance is arranged at the head of the platoon (second vehicle order). Air resistance is proportional to the product of the front projected area of the vehicle and the square of speed.
  • the front projection area is an area when viewed from the front of the vehicle 100 and can be roughly estimated by a product of the vehicle width and the total height.
  • the order of the vehicles other than the leading vehicle is set in order of increasing braking distance.
  • each rear vehicle By organizing the formation in such a vehicle order, the air resistance of each rear vehicle is reduced by the leading vehicle, and the fuel efficiency of each rear vehicle is improved. As a result, the fuel efficiency of the entire formation is improved.
  • the vehicles other than the leading vehicle in the platoon in order of increasing braking distance, even if the leading vehicle suddenly brakes, each vehicle except the leading vehicle stops in order from the rearmost vehicle in the platoon. Can be.
  • all the vehicles 100 that form the platoon may be arranged in the descending order of the front projected area.
  • the formation organization unit 15 calculates the front projection area of each vehicle 100 by multiplying the vehicle width and the total height included in the vehicle information. Then, the vehicle order is set in order of increasing front projection area.
  • the vehicle information may include the front projection area and the magnitude of the air resistance of the vehicle 100. When the magnitude of air resistance is included in the vehicle information, the vehicle order may be set in order of increasing air resistance.
  • the convoy management device 11 determines the vehicles 100 that form the convoy and the order in the convoy, the identifiers and the order of the vehicles 100 that form the convoy, together with the scheduled departure time from the hub base 101, the vehicles 100 Alternatively, it is transmitted to an unspecified number of vehicles 100 at the hub base 101.
  • the convoy management device 11 adjusts the maximum deceleration of each vehicle 100.
  • the platoon management device 11 sets a maximum deceleration for each vehicle 100 that increases from the leading vehicle 100 to the trailing vehicle 100 in the determined vehicle order, and sets the set maximum deceleration to the identifier of the corresponding vehicle 100 and Send it in association.
  • the brake system of the vehicle 100 is a pneumatic brake system that operates a brake using, for example, compressed air, and an air circuit through which the compressed air flows is provided with a valve mechanism and a pressure sensor that adjust the air pressure.
  • the brake ECU 26 of the vehicle 100 stores the pressure of the air circuit and the deceleration in association with each other.
  • the brake ECU 26 targets the deceleration received from the other vehicles 100 that form the platoon, and refers to the information on the pressure associated with the deceleration to associate the air circuit pressure with the target deceleration.
  • the valve mechanism is controlled so as to achieve the set pressure. For example, when an instruction to decelerate at the maximum deceleration is received from another vehicle 100, the vehicle is decelerated at the maximum deceleration received from the platoon management device 11.
  • the procedure of formation of the formation of the formation management device 11 will be described together with its operation.
  • the vehicle 100 that performs the platooning has an authentication code for performing the platooning.
  • the convoy management device authenticates the vehicle 100 when the vehicle 100 arrives at the hub base 101.
  • the vehicle information acquisition unit 14 of the convoy management device 11 acquires vehicle information (step S1).
  • the convoy management apparatus 11 acquires vehicle information by communicating with the vehicles 100 assembled at the hub base 101.
  • the convoy management device 11 acquires vehicle information from the delivery management terminal 31 via the network 30.
  • the vehicle information acquisition unit 14 of the platoon management device 11 acquires route information, a destination, and a scheduled travel time (step S2).
  • the platoon management device 11 acquires route information and the like from the vehicle 100 after authenticating the vehicle 100.
  • the procession management apparatus 11 acquires route information and the like from the delivery management terminal 31 via the network 30.
  • the prediction information acquisition unit 13 of the platoon management device 11 acquires the prediction information from the external server or its own storage unit (step S3).
  • the convoy management device 11 acquires all the prediction information between the hub bases 101 that can be the start point and the end point of the convoy travel.
  • the platoon management device 11 may acquire prediction information between predetermined hub bases.
  • the formation organization unit 15 of the formation management device 11 selects the vehicle 100 that forms the formation (step S4). Based on the route information transmitted from each vehicle 100, the formation organization unit 15 selects the vehicle 100 in which the hub base 101 at the start point and the hub base 101 at the end point are included in the route information as candidates. For example, when the number of selected candidates exceeds a predetermined number range, the vehicles 100 that form a platoon may be further narrowed down based on vehicle information or the like. For example, a platoon is formed from vehicles of the same manufacturer and the same specifications.
  • the row formation unit 15 determines the order of the vehicles in the row based on the prediction information or the like (step S5).
  • the vehicle order is set in descending order of the braking distance based on the vehicle information.
  • the vehicle with the largest front projection area is placed at the top in the platoon, and the vehicles other than the leading vehicle are arranged in order of increasing braking distance. They are arranged or arranged in order of increasing front projection area.
  • the convoy formation unit 15 transmits the information on the identifier and the vehicle order of each vehicle 100 that forms the convoy together with the scheduled departure time of the hub base 101 that is the starting point (step S6).
  • the platoon management device 11 may transmit the information on the identifier and the vehicle order of each vehicle 100 that forms the platoon to each vehicle 100 that arrives at the hub base 101 and plans to form the platoon. Alternatively, it may be transmitted to the delivery management terminal 31.
  • the delivery management terminal 31 uses the received information for each vehicle that is subject to convoy formation. To 100.
  • the vehicle 100 that is the object of formation formation forms the formation in the vehicle order designated by the formation management device 11, and the hub base that is the starting point 101 departs at the scheduled departure time.
  • the convoy management device 11 improves the fuel efficiency by reducing the vehicle resistance in the convoy travel, the first vehicle order in which the vehicles 100 are arranged in the convoy in descending order of the braking distance, or by reducing the air resistance of the following vehicle.
  • the vehicle order In the case of the first vehicle sequence, for example, when the leading vehicle activates a sudden brake, the vehicles 100 can be prevented from colliding with each other by stopping in order from the rear vehicle 100.
  • the air resistance of the following vehicle is reduced by the leading vehicle, so that the fuel efficiency of the entire platoon can be improved.
  • the braking distance is learned on the vehicle side in association with the total vehicle weight that changes according to the load of the load, and the platoon management device 11 determines the vehicle order using the braking distance. Therefore, since the braking distance predicted on the vehicle 100 side can be brought close to the actual braking distance, a collision between the vehicles 100 can be avoided more reliably.
  • the vehicles 100 other than the head vehicle are arranged in a row in the order of increasing braking distance or in descending order of air resistance. If the vehicles 100 are arranged in order of increasing braking distance, it is possible to improve the fuel efficiency of the entire platoon and to avoid collisions between the vehicles 100 when sudden braking occurs. If the vehicles 100 are arranged in the descending order of the air resistance, all the vehicles 100 are arranged in the platoon in the descending order of the air resistance, so that the fuel efficiency improvement effect of the entire platoon can be enhanced.
  • the vehicles 100 are arranged in the row in order of increasing braking distance from the leading vehicle 100 toward the trailing vehicle 100.
  • the vehicle 100 can be prevented from colliding with each other when sudden braking occurs by adjusting the maximum deceleration on the vehicle 100 side.
  • the fuel efficiency of the entire platoon is improved by arranging the vehicle 100 having the maximum air resistance at the head of the platoon, and as the head vehicle 100 moves toward the rear vehicle 100, By making adjustments so that the maximum deceleration is increased, it is possible to avoid collisions between the vehicles 100 when sudden braking occurs. Therefore, it is possible to perform platooning according to a vehicle order that has a high merit in the state at the time, while improving safety when sudden braking occurs.
  • the said embodiment can also be suitably changed and implemented as follows.
  • the vehicle 100 has learned the braking distance in association with the total vehicle weight.
  • the vehicle total weight at that time is calculated by an arithmetic expression for calculating the braking distance at the maximum deceleration based on the braking distance when the vehicle 100 is not loaded (no-loading state) and the total vehicle weight.
  • a braking distance according to the above may be calculated. In this way, the braking distance at the maximum deceleration can be acquired without learning the braking distance.
  • the vehicle order is determined in the first vehicle order or the second vehicle order, and the maximum deceleration is adjusted to increase from the head toward the tail.
  • the maximum deceleration is adjusted to increase from the head toward the tail.
  • the convoy management device 11 is provided in addition to the vehicle 100. Instead, the convoy management device 11 may be provided in the vehicle 100.
  • each vehicle 100 performs inter-vehicle communication to form a platoon, and determines whether to set the vehicle order to the first vehicle order or the second vehicle order based on the prediction information. .
  • the vehicle 100 compares the braking distance of the own vehicle with the braking distance of the other vehicle, and if the braking distance of the own vehicle is shorter than the braking distance of the other vehicle. Others line up behind the vehicle. If this is repeated in sequence, the vehicles 100 are arranged in order of increasing braking distance.
  • the front projection area of the own vehicle and the front projection area of the other vehicle are compared, and the front projection area of the own vehicle is larger than the front projection area of the other vehicle. If it is small, it will line up behind the other vehicle. If this is repeated in sequence, the vehicles 100 are arranged in descending order of the front projection area.
  • the vehicles other than the leading vehicle are compared with the braking distance of the own vehicle and the braking distance of the other vehicle. If the braking distance of the own vehicle is smaller than the braking distance of the other vehicle, the vehicles are arranged behind the other vehicles. May be. In this case, each vehicle 100 may start formation of a convoy while traveling alone.
  • the vehicles 100 gather at the hub base 101 that is the start point, and perform platooning from the hub base 101 that is the start point to the hub base 101 that is the end point.
  • the vehicle 100 that travels alone may communicate with other vehicles 100 and the convoy management device 11 while traveling to form a convoy and a vehicle that share a common route.
  • the vehicle 100 may be newly added to the platoon, or the vehicle 100 may be removed from the platoon. Good.
  • the vehicle order is transmitted to the vehicle 100.
  • the determined vehicle order and the estimated traveling time are output to an output device such as a display or a printer, and the driver drives the vehicle 100 based on the output result, and the vehicle 100 in the designated vehicle order. May be arranged.
  • the vehicle 100 has been described as a truck, but the vehicle 100 may be another cargo vehicle or a passenger car.
  • SYMBOLS 10 Convoy travel management system, 11 ... Convoy management apparatus, 12 ... Control part, 13 ... Prediction information acquisition part, 14 ... Vehicle information acquisition part, 15 ... Convoy formation part, 16 ... Communication part, 17 ... Convoy information storage part, DESCRIPTION OF SYMBOLS 20 ... Convoy travel control apparatus, 21 ... Vehicle information storage part, 22 ... Communication part, 23 ... Vehicle speed sensor, 24 ... Own vehicle position detection part, 25 ... Route guidance part, 26 ... Brake ECU, 31 ... Delivery management terminal.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

La présente invention concerne système de gestion de peloton permettant aux véhicules de former un peloton dans un ordre de véhicule adapté à un état prédit pendant le peloton même lorsque le peloton est formé de véhicules ayant des spécifications différentes. Le système de gestion de peloton est destiné à gérer l'ordre de véhicule pour le peloton et comprend : une partie d'acquisition d'informations de prédiction (13) pour acquérir un état prédit pendant le peloton ; une partie d'acquisition d'informations de véhicule (14) pour acquérir des informations de véhicule comprenant des distances de freinage des véhicules dans un peloton et des informations de corps des véhicules ; et une partie de formation de peloton (15) pour déterminer l'ordre du véhicule, en réponse à l'état acquis, en fonction d'un premier ordre de véhicule dans lequel les véhicules sont agencés de la première position à la dernière position dans l'ordre décroissant de la distance de freinage ou en fonction d'un second ordre de véhicule dans lequel un véhicule ayant une résistance à l'air élevée est réglé en tant que premier véhicule sur la base des informations de véhicule, et pour notifier les véhicules de l'ordre de véhicule déterminé.
PCT/JP2017/031906 2016-09-05 2017-09-05 Système de gestion de peloton Ceased WO2018043753A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2018537594A JP6748213B2 (ja) 2016-09-05 2017-09-05 隊列走行管理システム

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016172469 2016-09-05
JP2016-172469 2016-09-05

Publications (1)

Publication Number Publication Date
WO2018043753A1 true WO2018043753A1 (fr) 2018-03-08

Family

ID=61301781

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/031906 Ceased WO2018043753A1 (fr) 2016-09-05 2017-09-05 Système de gestion de peloton

Country Status (2)

Country Link
JP (2) JP6748213B2 (fr)
WO (1) WO2018043753A1 (fr)

Cited By (43)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10216195B2 (en) 2011-07-06 2019-02-26 Peloton Technology, Inc. Applications for using mass estimations for vehicles
US10254764B2 (en) 2016-05-31 2019-04-09 Peloton Technology, Inc. Platoon controller state machine
CN109597414A (zh) * 2018-12-06 2019-04-09 英华达（上海）科技有限公司 自驾车车队平均能量消耗的驾驶系统及其方法
US10369998B2 (en) 2016-08-22 2019-08-06 Peloton Technology, Inc. Dynamic gap control for automated driving
WO2019189224A1 (fr) * 2018-03-28 2019-10-03 株式会社 東芝 Système d'opération de circulation en peloton et procédé d'opération de circulation en peloton
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
CN110466528A (zh) * 2019-08-30 2019-11-19 广州小鹏汽车科技有限公司 一种剩余停车距离的获取方法、系统及车辆
US10514706B2 (en) 2011-07-06 2019-12-24 Peloton Technology, Inc. Gap measurement for vehicle convoying
US10520952B1 (en) 2011-07-06 2019-12-31 Peloton Technology, Inc. Devices, systems, and methods for transmitting vehicle data
US10520581B2 (en) 2011-07-06 2019-12-31 Peloton Technology, Inc. Sensor fusion for autonomous or partially autonomous vehicle control
JP2020011555A (ja) * 2018-07-17 2020-01-23 先進モビリティ株式会社 隊列走行システム
JP2020052558A (ja) * 2018-09-25 2020-04-02 株式会社Ｓｕｂａｒｕ 隊列走行システム
JP2020064572A (ja) * 2018-10-19 2020-04-23 トヨタ自動車株式会社 車両制御装置、運転支援装置、インフラストラクチャの制御装置、車両用運転制御システム、運転制御方法及び運転制御プログラム
KR102118845B1 (ko) * 2020-03-13 2020-06-29 김근배 플래투닝을 이용하여 물품을 유통하는 방법 및 이를 위한 장치
US10732645B2 (en) 2011-07-06 2020-08-04 Peloton Technology, Inc. Methods and systems for semi-autonomous vehicular convoys
KR20200095360A (ko) * 2019-01-31 2020-08-10 주식회사 스트라드비젼 주행 중에 운전자로부터 추가적인 지시없이, 대상 차량이 군집 주행할 수 있도록 주행 모드를 변경하는 방법 및 장치
CN111583624A (zh) * 2019-02-19 2020-08-25 上海博泰悦臻网络技术服务有限公司 基于信息共享的车队组合方法及系统、共享平台、车辆
US10762791B2 (en) 2018-10-29 2020-09-01 Peloton Technology, Inc. Systems and methods for managing communications between vehicles
CN111627247A (zh) * 2019-02-28 2020-09-04 上海汽车集团股份有限公司 一种多车编队控制方法及装置
CN112016784A (zh) * 2019-05-30 2020-12-01 丰田自动车株式会社 队列编排装置、队列编排方法以及队列编排程序
JP2020204982A (ja) * 2019-06-19 2020-12-24 日野自動車株式会社 車両制御システム
US10899323B2 (en) 2018-07-08 2021-01-26 Peloton Technology, Inc. Devices, systems, and methods for vehicle braking
WO2021019955A1 (fr) * 2019-07-26 2021-02-04 日立オートモティブシステムズ株式会社 Dispositif de commande de véhicule, procédé de commande de véhicule et système de déplacement de suivi de véhicule
JP2021028748A (ja) * 2019-08-09 2021-02-25 本田技研工業株式会社 隊列走行システム
CN112508294A (zh) * 2020-12-16 2021-03-16 交控科技股份有限公司 基于车群信息共享的目标列车控制方法，装置及列车
RU2746046C2 (ru) * 2020-08-18 2021-04-06 Сергей Алексеевич Касай Способ управления движением военной автомобильной техники в составе колонны с учётом состояния опорной поверхности
JP2021075107A (ja) * 2019-11-06 2021-05-20 ナブテスコオートモーティブ株式会社 車両および車両群
JPWO2021181625A1 (fr) * 2020-03-12 2021-09-16
JP2021149203A (ja) * 2020-03-16 2021-09-27 西日本旅客鉄道株式会社 専用車線または専用道路で走行する車両のための車両編成方法、車両編成装置および車両編成システム
KR20210145286A (ko) * 2019-05-29 2021-12-01 베이징 징동 콴시 테크놀로지 코., 엘티디. 배송 로봇의 제어 방법, 장치, 기기, 시스템 및 저장매체
JPWO2022014174A1 (fr) * 2020-07-15 2022-01-20
US11294396B2 (en) 2013-03-15 2022-04-05 Peloton Technology, Inc. System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles
KR102395844B1 (ko) * 2020-10-30 2022-05-06 주식회사 카카오모빌리티 차량의 근접에 따른 군집 합류 안내 방법, 이를 수행하는 장치
US11334092B2 (en) 2011-07-06 2022-05-17 Peloton Technology, Inc. Devices, systems, and methods for transmitting vehicle data
WO2022103392A1 (fr) * 2020-11-12 2022-05-19 Compagnie Generale Des Etablissements Michelin Procédé pour un ordre de peloton de poids lourds sur des routes humides utilisant un pourcentage de vide volumétrique de bande de roulement de pneu
US20220250464A1 (en) * 2019-07-12 2022-08-11 Jaguar Land Rover Limited Active vane control system and method
US11427196B2 (en) 2019-04-15 2022-08-30 Peloton Technology, Inc. Systems and methods for managing tractor-trailers
US11586220B2 (en) 2019-06-04 2023-02-21 Cummins Inc. Vehicle platoon controls providing improved fuel efficiency and vehicle collision mitigation
CN116578082A (zh) * 2023-03-30 2023-08-11 吉林大学 一种面向节能的异构自动驾驶车辆编队方法
JP2023146977A (ja) * 2022-03-29 2023-10-12 トヨタ自動車株式会社 車両用制御装置
JP2024004105A (ja) * 2022-06-28 2024-01-16 株式会社デンソー 隊列走行編成パターンの提案方法、隊列走行編成パターンの提案装置、隊列走行編成パターンの提案システム
JP2024180438A (ja) * 2019-03-29 2024-12-26 いすゞ自動車株式会社 輸送方法及び輸送管理装置
US12235114B2 (en) 2020-02-28 2025-02-25 Mitsubishi Electric Corporation Server for management, routine-run-vehicle control device, and following-vehicle control device

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102262782B1 (ko) * 2020-10-26 2021-06-09 임성빈 차량의 자율 주행 제어 장치의 자율 주행 제어 방법
JP7642792B2 (ja) * 2021-03-30 2025-03-10 株式会社デンソーテン 車両制御装置およびプログラム
JP2023137699A (ja) * 2022-03-18 2023-09-29 トヨタ自動車株式会社 運行管理システム

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10293899A (ja) * 1997-04-21 1998-11-04 Fujitsu Ten Ltd 車両群形成制御装置および方法
JPH11321597A (ja) * 1998-05-15 1999-11-24 Fujitsu Ten Ltd 車両走行制御装置および走行路
JP2002222485A (ja) * 2001-01-26 2002-08-09 Toshiba Corp 車間異常時保安システム及び車間異常時保安方法
WO2014133425A1 (fr) * 2013-02-27 2014-09-04 Volvo Truck Corporation Système et procédé permettant de déterminer une position aérodynamiquement favorable entre deux véhicules se déplaçant au sol
JP2014211715A (ja) * 2013-04-17 2014-11-13 株式会社デンソー 隊列走行システム

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003016575A (ja) * 2001-06-29 2003-01-17 Toshiba Corp 自動走行車両発着用駅
JP4848855B2 (ja) * 2006-06-20 2011-12-28 トヨタ自動車株式会社 車載用隊列編成装置及び車両の隊列編成方法
JP4929980B2 (ja) * 2006-10-27 2012-05-09 トヨタ自動車株式会社 車両走行制御装置
JP4899914B2 (ja) * 2007-02-19 2012-03-21 トヨタ自動車株式会社 隊列走行制御装置
JP4930367B2 (ja) * 2007-12-27 2012-05-16 株式会社エクォス・リサーチ 隊列走行システム
CA2861215C (fr) * 2012-09-12 2015-09-08 Omron Corporation Dispositif de production d'une instruction de regulation de flux de donnees et dispositif de gestion de capteur

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10293899A (ja) * 1997-04-21 1998-11-04 Fujitsu Ten Ltd 車両群形成制御装置および方法
JPH11321597A (ja) * 1998-05-15 1999-11-24 Fujitsu Ten Ltd 車両走行制御装置および走行路
JP2002222485A (ja) * 2001-01-26 2002-08-09 Toshiba Corp 車間異常時保安システム及び車間異常時保安方法
WO2014133425A1 (fr) * 2013-02-27 2014-09-04 Volvo Truck Corporation Système et procédé permettant de déterminer une position aérodynamiquement favorable entre deux véhicules se déplaçant au sol
JP2014211715A (ja) * 2013-04-17 2014-11-13 株式会社デンソー 隊列走行システム

Cited By (77)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
US10520952B1 (en) 2011-07-06 2019-12-31 Peloton Technology, Inc. Devices, systems, and methods for transmitting vehicle data
US11360485B2 (en) 2011-07-06 2022-06-14 Peloton Technology, Inc. Gap measurement for vehicle convoying
US10216195B2 (en) 2011-07-06 2019-02-26 Peloton Technology, Inc. Applications for using mass estimations for vehicles
US11334092B2 (en) 2011-07-06 2022-05-17 Peloton Technology, Inc. Devices, systems, and methods for transmitting vehicle data
US10514706B2 (en) 2011-07-06 2019-12-24 Peloton Technology, Inc. Gap measurement for vehicle convoying
US10234871B2 (en) 2011-07-06 2019-03-19 Peloton Technology, Inc. Distributed safety monitors for automated vehicles
US10520581B2 (en) 2011-07-06 2019-12-31 Peloton Technology, Inc. Sensor fusion for autonomous or partially autonomous vehicle control
US10732645B2 (en) 2011-07-06 2020-08-04 Peloton Technology, Inc. Methods and systems for semi-autonomous vehicular convoys
US11294396B2 (en) 2013-03-15 2022-04-05 Peloton Technology, Inc. System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles
US10254764B2 (en) 2016-05-31 2019-04-09 Peloton Technology, Inc. Platoon controller state machine
US10369998B2 (en) 2016-08-22 2019-08-06 Peloton Technology, Inc. Dynamic gap control for automated driving
US10921822B2 (en) 2016-08-22 2021-02-16 Peloton Technology, Inc. Automated vehicle control system architecture
US10906544B2 (en) 2016-08-22 2021-02-02 Peloton Technology, Inc. Dynamic gap control for automated driving
WO2019189224A1 (fr) * 2018-03-28 2019-10-03 株式会社 東芝 Système d'opération de circulation en peloton et procédé d'opération de circulation en peloton
US10899323B2 (en) 2018-07-08 2021-01-26 Peloton Technology, Inc. Devices, systems, and methods for vehicle braking
JP2020011555A (ja) * 2018-07-17 2020-01-23 先進モビリティ株式会社 隊列走行システム
JP7195035B2 (ja) 2018-07-17 2022-12-23 先進モビリティ株式会社 隊列走行システム
JP2020052558A (ja) * 2018-09-25 2020-04-02 株式会社Ｓｕｂａｒｕ 隊列走行システム
JP2020064572A (ja) * 2018-10-19 2020-04-23 トヨタ自動車株式会社 車両制御装置、運転支援装置、インフラストラクチャの制御装置、車両用運転制御システム、運転制御方法及び運転制御プログラム
JP7230422B2 (ja) 2018-10-19 2023-03-01 トヨタ自動車株式会社 運転支援装置、車両用運転制御システム、運転制御方法及び運転制御プログラム
US10762791B2 (en) 2018-10-29 2020-09-01 Peloton Technology, Inc. Systems and methods for managing communications between vehicles
US11341856B2 (en) 2018-10-29 2022-05-24 Peloton Technology, Inc. Systems and methods for managing communications between vehicles
CN109597414A (zh) * 2018-12-06 2019-04-09 英华达（上海）科技有限公司 自驾车车队平均能量消耗的驾驶系统及其方法
CN109597414B (zh) * 2018-12-06 2022-03-18 英华达（上海）科技有限公司 自驾车车队平均能量消耗的驾驶系统及其方法
KR102321001B1 (ko) 2019-01-31 2021-11-03 주식회사 스트라드비젼 주행 중에 운전자로부터 추가적인 지시없이, 대상 차량이 군집 주행할 수 있도록 주행 모드를 변경하는 방법 및 장치
KR20200095360A (ko) * 2019-01-31 2020-08-10 주식회사 스트라드비젼 주행 중에 운전자로부터 추가적인 지시없이, 대상 차량이 군집 주행할 수 있도록 주행 모드를 변경하는 방법 및 장치
JP2020126620A (ja) * 2019-01-31 2020-08-20 株式会社ストラドビジョンＳｔｒａｄｖｉｓｉｏｎ，Ｉｎｃ． 走行中に運転者からのさらなる指示なしに、対象車両が群集走行し得るように走行モードを変更する方法及び装置｛ｍｅｔｈｏｄ ａｎｄ ｄｅｖｉｃｅ ｆｏｒ ｓｗｉｔｃｈｉｎｇ ｄｒｉｖｉｎｇ ｍｏｄｅｓ ｔｏ ｓｕｐｐｏｒｔ ｓｕｂｊｅｃｔ ｖｅｈｉｃｌｅ ｔｏ ｐｅｒｆｏｒｍ ｐｌａｔｏｏｎ ｄｒｉｖｉｎｇ ｗｉｔｈｏｕｔ ａｄｄｉｔｉｏｎａｌ ｉｎｓｔｒｕｃｔｉｏｎｓ ｆｒｏｍ ｄｒｉｖｅｒ ｄｕｒｉｎｇ ｄｒｉｖｉｎｇ｝
CN111583624A (zh) * 2019-02-19 2020-08-25 上海博泰悦臻网络技术服务有限公司 基于信息共享的车队组合方法及系统、共享平台、车辆
CN111583624B (zh) * 2019-02-19 2022-01-28 上海博泰悦臻网络技术服务有限公司 基于信息共享的车队组合方法及系统、共享平台、车辆
CN111627247A (zh) * 2019-02-28 2020-09-04 上海汽车集团股份有限公司 一种多车编队控制方法及装置
JP2024180438A (ja) * 2019-03-29 2024-12-26 いすゞ自動車株式会社 輸送方法及び輸送管理装置
US12482356B2 (en) 2019-03-29 2025-11-25 Isuzu Motors Limited Transport management device, transport management method, and transport system
US11427196B2 (en) 2019-04-15 2022-08-30 Peloton Technology, Inc. Systems and methods for managing tractor-trailers
KR20210145286A (ko) * 2019-05-29 2021-12-01 베이징 징동 콴시 테크놀로지 코., 엘티디. 배송 로봇의 제어 방법, 장치, 기기, 시스템 및 저장매체
JP2022534653A (ja) * 2019-05-29 2022-08-03 北京京東乾石科技有限公司 配送ロボットの制御方法、装置、デバイス、システム及び記憶媒体
KR102648383B1 (ko) * 2019-05-29 2024-03-14 베이징 징동 콴시 테크놀로지 코., 엘티디. 배송 로봇의 제어 방법, 장치, 기기, 시스템 및 저장매체
JP7353387B2 (ja) 2019-05-29 2023-09-29 北京京東乾石科技有限公司 配送ロボットの制御方法、装置、デバイス、システム及び記憶媒体
CN112016784A (zh) * 2019-05-30 2020-12-01 丰田自动车株式会社 队列编排装置、队列编排方法以及队列编排程序
JP2020194477A (ja) * 2019-05-30 2020-12-03 日野自動車株式会社 隊列編成装置、隊列編成方法及び隊列編成プログラム
JP7290998B2 (ja) 2019-05-30 2023-06-14 日野自動車株式会社 隊列編成装置、隊列編成方法及び隊列編成プログラム
US11586220B2 (en) 2019-06-04 2023-02-21 Cummins Inc. Vehicle platoon controls providing improved fuel efficiency and vehicle collision mitigation
JP7234046B2 (ja) 2019-06-19 2023-03-07 日野自動車株式会社 車両制御システム
JP2020204982A (ja) * 2019-06-19 2020-12-24 日野自動車株式会社 車両制御システム
US20220250464A1 (en) * 2019-07-12 2022-08-11 Jaguar Land Rover Limited Active vane control system and method
US12286008B2 (en) * 2019-07-12 2025-04-29 Jaguar Land Rover Limited Active vane control system and method
US20220250621A1 (en) * 2019-07-26 2022-08-11 Hitachi Astemo, Ltd. Vehicle Control Apparatus, Vehicle Control Method, and Vehicle Following Running System
JP7368975B2 (ja) 2019-07-26 2023-10-25 日立Astemo株式会社 車両制御装置、車両制御方法、及び車両追従走行システム
JP2021020533A (ja) * 2019-07-26 2021-02-18 日立オートモティブシステムズ株式会社 車両制御装置、車両制御方法、及び車両追従走行システム
WO2021019955A1 (fr) * 2019-07-26 2021-02-04 日立オートモティブシステムズ株式会社 Dispositif de commande de véhicule, procédé de commande de véhicule et système de déplacement de suivi de véhicule
JP2021028748A (ja) * 2019-08-09 2021-02-25 本田技研工業株式会社 隊列走行システム
CN112435459A (zh) * 2019-08-09 2021-03-02 本田技研工业株式会社 编队行驶系统
CN112435459B (zh) * 2019-08-09 2023-05-02 本田技研工业株式会社 编队行驶系统
JP7241642B2 (ja) 2019-08-09 2023-03-17 本田技研工業株式会社 隊列走行システム
CN110466528B (zh) * 2019-08-30 2021-06-04 广州小鹏汽车科技有限公司 一种剩余停车距离的获取方法、系统及车辆
CN110466528A (zh) * 2019-08-30 2019-11-19 广州小鹏汽车科技有限公司 一种剩余停车距离的获取方法、系统及车辆
JP2021075107A (ja) * 2019-11-06 2021-05-20 ナブテスコオートモーティブ株式会社 車両および車両群
US12235114B2 (en) 2020-02-28 2025-02-25 Mitsubishi Electric Corporation Server for management, routine-run-vehicle control device, and following-vehicle control device
WO2021181625A1 (fr) * 2020-03-12 2021-09-16 本田技研工業株式会社 Système de suivi adaptatif de véhicule, dispositif de traitement d'informations, procédé de traitement d'informations et programme
JPWO2021181625A1 (fr) * 2020-03-12 2021-09-16
JP7297143B2 (ja) 2020-03-12 2023-06-23 本田技研工業株式会社 車両追従走行システム、情報処理装置、情報処理方法、及びプログラム
CN115210124A (zh) * 2020-03-12 2022-10-18 本田技研工业株式会社 车辆跟随行驶系统、信息处理装置、信息处理方法以及程序
KR102118845B1 (ko) * 2020-03-13 2020-06-29 김근배 플래투닝을 이용하여 물품을 유통하는 방법 및 이를 위한 장치
JP7281746B2 (ja) 2020-03-16 2023-05-26 西日本旅客鉄道株式会社 専用車線または専用道路で走行する車両のための車両編成方法、車両編成装置および車両編成システム
JP2021149203A (ja) * 2020-03-16 2021-09-27 西日本旅客鉄道株式会社 専用車線または専用道路で走行する車両のための車両編成方法、車両編成装置および車両編成システム
JPWO2022014174A1 (fr) * 2020-07-15 2022-01-20
JP7685715B2 (ja) 2020-07-15 2025-05-30 パナソニックＩｐマネジメント株式会社 情報処理方法及び情報処理システム
RU2746046C2 (ru) * 2020-08-18 2021-04-06 Сергей Алексеевич Касай Способ управления движением военной автомобильной техники в составе колонны с учётом состояния опорной поверхности
KR102395844B1 (ko) * 2020-10-30 2022-05-06 주식회사 카카오모빌리티 차량의 근접에 따른 군집 합류 안내 방법, 이를 수행하는 장치
US12462689B2 (en) 2020-11-12 2025-11-04 Compagnie Generale Des Etablissements Michelin Method for heavy truck platooning order on wet roads using tire tread volumetric void percentage
WO2022103392A1 (fr) * 2020-11-12 2022-05-19 Compagnie Generale Des Etablissements Michelin Procédé pour un ordre de peloton de poids lourds sur des routes humides utilisant un pourcentage de vide volumétrique de bande de roulement de pneu
CN112508294B (zh) * 2020-12-16 2024-05-21 交控科技股份有限公司 基于车群信息共享的目标列车控制方法，装置及列车
CN112508294A (zh) * 2020-12-16 2021-03-16 交控科技股份有限公司 基于车群信息共享的目标列车控制方法，装置及列车
US12296825B2 (en) * 2022-03-29 2025-05-13 Toyota Jidosha Kabushiki Kaisha Vehicle control device
JP2023146977A (ja) * 2022-03-29 2023-10-12 トヨタ自動車株式会社 車両用制御装置
JP2024004105A (ja) * 2022-06-28 2024-01-16 株式会社デンソー 隊列走行編成パターンの提案方法、隊列走行編成パターンの提案装置、隊列走行編成パターンの提案システム
CN116578082A (zh) * 2023-03-30 2023-08-11 吉林大学 一种面向节能的异构自动驾驶车辆编队方法

Also Published As

Publication number Publication date
JP7048682B2 (ja) 2022-04-05
JP6748213B2 (ja) 2020-08-26
JPWO2018043753A1 (ja) 2019-06-24
JP2020194566A (ja) 2020-12-03

Similar Documents

Publication Publication Date Title
JP7048682B2 (ja) 隊列走行管理システム、隊列走行管理方法及び隊列走行管理プログラム
US11175673B2 (en) Drive assist apparatus
JP7166958B2 (ja) サーバ、車両支援システム
JP6422812B2 (ja) 運転支援装置および運転支援方法
US8825367B2 (en) Vehicle system and method for controlling vehicle system
US20200020234A1 (en) Safety technologies for connected automated vehicle highway systems
CN101327770B (zh) 行驶控制装置
KR20200118882A (ko) 자율 주행 안전성 평가 방법, 디바이스, 및 시스템
JP5835023B2 (ja) 充電ポイント到達判定システムおよび車両側装置
US20130054049A1 (en) Driving assistance apparatus
CN103718220A (zh) 交通控制系统、车辆控制系统、交通管理系统及交通控制方法
GB2547983A (en) Management of autonomous vehicle lanes
WO2016098361A1 (fr) Dispositif de commande du côté de la route, programme informatique, et procédé de traitement d'informations
CN115158394A (zh) 用于控制车辆系统在行程期间实现不同目标的系统和方法
JP7007879B2 (ja) 渋滞前減速報知装置
JPH10293899A (ja) 車両群形成制御装置および方法
SE537598C2 (sv) Metod och system för organisering av fordonståg
JP2016177638A (ja) 路側制御装置、コンピュータプログラム及び情報処理方法
CN112061125B (zh) 用于动态适配车辆之间的纵向距离的方法
SE1250310A1 (sv) Förfarande och system för avståndsanpassning under färd vidett fordonståg
SE1450598A1 (sv) Förfarande och system för att anpassa ett fordons acceleration vid framförande av fordonet utmed en färdväg
JP2019194871A (ja) 輸送サービス方法および車両隊列運行方法、車両グループ運行システム、連携走行可能な自走式車両、グループ車両誘導機
CN112977458A (zh) 在车道交汇点区域内协同调整车辆运动的系统，车辆，运动控制装置和计算机程序产品
US20230368673A1 (en) Autonomous fleet recovery scenario severity determination and methodology for determining prioritization
US11981330B2 (en) Method for controlling a platoon of vehicles

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17846756

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2018537594

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17846756

Country of ref document: EP

Kind code of ref document: A1