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EP2864975A1 - Support system and method for forming vehicle trains - Google Patents

Support system and method for forming vehicle trains

Info

Publication number
EP2864975A1
EP2864975A1 EP13784573.1A EP13784573A EP2864975A1 EP 2864975 A1 EP2864975 A1 EP 2864975A1 EP 13784573 A EP13784573 A EP 13784573A EP 2864975 A1 EP2864975 A1 EP 2864975A1
Authority
EP
European Patent Office
Prior art keywords
vehicles
vehicle
platoon
unit
analysis
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.)
Withdrawn
Application number
EP13784573.1A
Other languages
German (de)
French (fr)
Other versions
EP2864975A4 (en
Inventor
Tony Sandberg
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.)
Scania CV AB
Original Assignee
Scania CV AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania CV AB filed Critical Scania CV AB
Publication of EP2864975A1 publication Critical patent/EP2864975A1/en
Publication of EP2864975A4 publication Critical patent/EP2864975A4/en
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/017—Detecting movement of traffic to be counted or controlled identifying 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0293—Convoy travelling
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06311—Scheduling, planning or task assignment for a person or group
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G06Q10/0832—Special goods or special handling procedures, e.g. handling of hazardous or fragile goods
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
    • G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • 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

Definitions

  • the present invention concerns a system and a method for forming platoons according to the preamble to the independent claims.
  • the biggest individual expense items for a shipping company are driver salaries and fuel.
  • Driver salaries and fuel each account for roughly 30% of the total expenses for a long-haul vehicle.
  • “Shipping efficiency” refers here to minimizing vehicle fuel consumption deriving from engine efficiency, vehicle aerodynamics and roll resistance, and minimizing the time during which the vehicle is not being used in the active shipping of goods as a result of time spent in queues, driving between driving tasks, and unscheduled repair shop visits.
  • Platoons have long been discussed as a possible means of making goods shipments more efficient. "Platoon” refers here to a number of vehicles that are driven a short distance apart from one another and travel as a unit. It is a well-known fact that fuel consumption decreases dramatically with the distance to the lead vehicle, because the air resistance decreases.
  • one limitation is that distance sensors and cameras require an unobstructed view of their target, which makes it difficult to detect events more than a few vehicles ahead in the queue.
  • Another limitation is that they cannot react proactively, i.e. react to events that have not had any marked effect on the traffic rhythm.
  • communication between vehicles makes it possible to solve these problems, insofar as the lead vehicle in the platoon can
  • ⁇ send information regarding actions that affect the surrounding traffic, e.g. if one vehicle is braking.
  • V2V Vehicle to infrastructure
  • V2I Vehicle to infrastructure
  • US-2010/0256852 concerns a method for controlling a plurality of vehicles that are included in a platoon, wherein a lead vehicle communicates by means of V2 V
  • the communication pertains to the positions of the vehicles included in the platoon, the distances between the vehicles, etc.
  • US-2010/0256836 and DE- 102007024877 concern a method for forming a platoon by, among other things, comparing the routes of the vehicles.
  • US-7894982 describes a method and a system for forming a platoon based on vehicle identification.
  • US-7813843 concerns a system for exchanging information between vehicles in order to control them.
  • Much of the work being done with regard to platoons has to do with technical solutions to create optimally controlled platoons.
  • Another important aspect has to do with the ways in which platoons are to be generated and managed.
  • examples of the ways in which the creation of platoons are initiated are lacking. Goods vehicles can travel at 1 km intervals with no support system for forming a platoon whatsoever.
  • the object of the present invention is thus to provide a system for initiating the formation of platoons.
  • the aforementioned object is achieved according to one aspect by a system for forming a platoon.
  • the system comprises an identifying unit that is adapted so as to identify a first vehicle and a second vehicle for inclusion in a common platoon, and so as to determine vehicle parameters related to said identified vehicles, and so as to generate an identifying signal in dependence thereon.
  • the system further comprises an analysis unit that is adapted so as to receive said identifying signal and determine at least one relationship parameter that describes at least one relationship between said identified vehicles based on said vehicle parameters.
  • the analysis unit is also adapted so as to analyze said relationship parameters with reference to predetermined criteria, and to generate a qualification signal that indicates the results of said analysis.
  • the system further comprises a relaying unit that is adapted so as to receive said qualification signal and relay the results of the analysis in order to form a platoon.
  • a method for forming a platoon which method comprises: A) identifying a first vehicle and a second vehicle for inclusion in a common platoon and B) determining vehicle parameters related to said identified vehicles.
  • the method further comprises the step C) of determining at least one relationship parameter that describes at least one relationship between said identified vehicles based on said vehicle parameters; and D) analyzing said vehicle parameter with reference to predetermined criteria, and E) forming a platoon in dependence upon the results of said analysis.
  • the system and the method it is possible to find vehicles that are suitable for inclusion in a common platoon, including in cases where the vehicles are located at a large distance from one another. A gap of several kilometers between the vehicles is possible when platoon formation is initiated. Nor need the formation be planned in advance, but rather it can be initiated en route.
  • the system can, for example, operate along shipping routes or onramps and thereby induce different vehicles to cooperate in platoons.
  • Plate formation means here that the creation of a platoon is being initiated.
  • the vehicles that are to be included in the platoon need not have the capacity to communicate with one another, which means that the invention will also work for vehicles without such logic, such as older vehicles.
  • the system and the method are exemplified herein with reference to a first and a second vehicle.
  • the invention is applicable to a larger number of vehicles as well. It is also possible to form a plurality of platoons simultaneously.
  • Figure 1 shows a block diagram of the system according to one embodiment of the invention.
  • FIG. 2 illustrates the invention in connection with the use of communication between vehicle and infrastructure according to one embodiment of the invention.
  • FIG. 3 illustrates the invention in connection with the use of communication between vehicle and server according to one embodiment of the invention.
  • FIG. 4 shows a flow diagram for the method according to one embodiment of the invention. Detailed description of preferred embodiments of the invention
  • Figure 1 illustrates the system according to the invention, which will now be described in detail with reference to the figure.
  • the system comprises an identifying unit adapted so as to identify a first vehicle and a second vehicle for inclusion in a common platoon.
  • First vehicle refers to a vehicle that located ahead of the second vehicle along the route.
  • Identifying means here that the identifying unit registers that there is a vehicle in its proximity. Said registration can, for example, occur in that the identifying unit comprises sensing means in the form of, for example, a photosensor, IR sensor, camera etc that can sense or identify that a vehicle is passing.
  • the identifying unit is adapted so as to receive information from vehicles wirelessly.
  • Said information comprises, for example, the position, velocity and planned route of the vehicle, as well as vehicle characteristics such as model and size.
  • the identifying unit can then register that there is a vehicle in proximity to the identifying unit based on its position, and in this way identify the vehicle.
  • the identifying unit can thus be adapted so as to determine the position of the vehicle relative to the identifying unit.
  • the identifying unit is further adapted so as to determine vehicle parameters related to said identified vehicle, and to generate an identifying signal in dependence thereon.
  • Vehicle parameters refers here to, for example, information as noted above such as the positions, velocities and planned routes of the vehicles, vehicle characteristics such as model and size, and time points when the vehicles passed the identifying unit.
  • the identifying unit is advantageously adapted so as to function as a measurement point, and various vehicle parameters can then be determined in relation thereto.
  • the system further comprises an analysis unit that is adapted so as to receive said identifying signal and determine at least one relationship parameter that describes at least one relationship between the identified vehicles based on the determined vehicle parameters.
  • the analysis unit is adapted so as to determine a relationship parameter that comprises a time t between said identified vehicles.
  • the identifying signal then contains, for example, two times that indicate when the identified vehicles passed the identifying unit. The analysis unit can then determine the time t between said vehicles from the two time points.
  • the analysis unit is adapted so as to determine a relationship parameter that comprises a distance d between the identified vehicles.
  • the identifying signal then contains, for example, the velocity of the first vehicle and the time when it passed the identifying unit, plus the time when the second vehicle passed the identifying unit.
  • the analysis unit can then determine the distance d between the first and second vehicle by multiplying the time t between the vehicles by the velocity of the first vehicle.
  • the analysis unit is further adapted so as to analyze the relationship parameter or the relationship parameters with reference to predetermined criteria, and to generate a qualification signal that indicates the results of said analysis.
  • said predetermined criteria comprise ranges for relationship parameters, within which ranges the vehicles are considered to be qualified for inclusion in a common platoon.
  • a relationship parameter is determined that comprises a distance d between the vehicles
  • the analysis unit is adapted so as to compare d to a range for the distance within which the vehicles are considered qualified for inclusion in a common platoon.
  • the distance d is within said range
  • the vehicles are considered to be qualified for inclusion in a common platoon.
  • the analysis unit is adapted so as to compare the time t to a range of times within which the vehicles are considered qualified for inclusion in a common platoon.
  • the system further comprises a relaying unit that is adapted so as to receive said qualification signals and relay the results of said analysis in order for form a platoon.
  • the results can be relayed in various ways, which will be clarified in greater detail below.
  • the identifying unit can also be adapted so as to determine vehicle parameters comprising vehicle characteristics for the respective vehicles, whereupon the identification signals will indicate same.
  • the analysis unit is then adapted so as to analyze whether said vehicles are qualified for inclusion in a platoon, based on criteria for the respective characteristics of the vehicles. Examples of vehicle characteristics include: vehicle model, vehicle size, vehicle weight, load size, load weight. There are various known criteria for determining when two vehicles are suited for inclusion in a common platoon. For example, whether the first vehicle should be a bigger or at least as big a vehicle as the second vehicle in order for it to be profitable to form the platoon.
  • the identifying unit is adapted so as to determine vehicle parameters comprising the respective routes of the vehicles, whereupon the identification signal indicates same.
  • the analysis unit is then adapted so as to analyze whether said vehicles are qualified for inclusion in a platoon, based on criteria for the respective vehicle routes of the vehicles. Such criteria can, for example, consist of whether the vehicles are to drive the same route wholly or in part.
  • the analysis unit is then adapted so as to compare the respective routes of the vehicles to one another. In this way, vehicles that are to drive the same route can be driven in a more economical manner.
  • the analysis unit is adapted so as to take a plurality of different vehicle parameters and criteria for same into account in order to determine a qualification signal.
  • FIG. 2 shows an embodiment of the invention.
  • the vehicle that is marked with “1” is the first vehicle, while the vehicle that is marked with "2” is the second vehicle.
  • the figure shows a roadside unit "PI" which, in this embodiment, comprises the identifying unit according to the invention.
  • the figure includes another roadside unit "P2" which, in this embodiment, comprises the relaying unit.
  • the roadside units “P 1 " and “P2" are adapted so as to communicate wirelessly with vehicles by means of so-called vehicle-to- infrastructure communication.
  • the vehicles that are intended to be included in a platoon must then be adapted so as to be able to communicate in this manner.
  • Vehicle "1" can, for example, be asked to wait for vehicle "2".
  • the results can, for example, be displayed as an automatic message in the form of a text message via a display in the driver instrument panel, which message is communicated by the relaying unit to the vehicle "1" when the vehicle "1" passes or is in proximity to roadside unit "P2".
  • the roadside unit "P2" is then adapted so as to identify that the vehicle "1” is passing or is in proximity to the roadside unit "P2".
  • V2I communication Vehicle communication between vehicle and infrastructure, so-called V2I communication, is a technology that has been developed within a number of global projects involving a number of actors in the automotive industry. Examples of such projects include CVIS (Cooperative Vehicle Infrastructure Systems), Safespot and CoCAR (Cooperative Cars). These systems are based on communication by means of WLAN (Wireless Local Area Network) and GPRS (General Packet Radio Service). The communication comprises two- way communication, i.e. communication from vehicle to infrastructure, or from
  • the roadside units "PI" and “P2" are preferably adapted so as to communicate with one another wirelessly or via cable.
  • the relaying unit is adapted so as to determine a control signal in dependence upon the qualification signal, and to relay the control signal to a control unit in the first vehicle, whereupon the vehicle is regulated in accordance therewith. For example, the set velocity of the vehicle can be reduced so that vehicle "1" will wait for vehicle "2".
  • the relaying unit is then adapted so as to issue a control signal to the vehicle cruise control.
  • the results can also include more information, such as information regarding which vehicle "2" vehicle “1” is being asked to wait for, how far the vehicles are from one another, and/or the anticipated waiting time until vehicle "2" will have caught up to vehicle "!.
  • the identifying unit is adapted so as to identify said vehicles by using a camera unit and/or a radar unit.
  • the identifying unit can then comprise a roadside unit that comprises a camera unit and/or a radar unit that is adapted so to identify said first and second vehicles.
  • the identifying unit comprises said camera unit and/or radar unit.
  • the results of the analysis can then be relayed as described above, via wireless communication to vehicle "1".
  • the relaying unit is adapted so as to relay the results to the first vehicle via a screen that is disposed adjacent to the road on which the vehicles are traveling.
  • the screen can be integrated in a roadside unit, or it can be a freestanding unit.
  • the results can also be relayed to the second vehicle "2" via any of the means described above.
  • the relaying unit can be adapted so as to relay the results via a display in the second vehicle "2".
  • the driver of the second vehicle can then be informed that the vehicle is qualified for inclusion in a platoon, and with which vehicles.
  • the driver can also be instructed, for example, to increase his speed in order to catch up to the first vehicle.
  • One advantage of the embodiment shown in Figure 2 is that the system can be used for many different types of vehicles.
  • FIG 3 shows another embodiment of the invention and, in similarity with the embodiment shown in Figure 2, illustrates a first vehicle “1" and a second vehicle “2".
  • said identifying unit comprises at least one virtual measurement point, which is marked here as "P3" and adapted so as to identify said vehicles.
  • the vehicles are then adapted so as to communicate between vehicle and server (V2S) and comprise positioning equipment.
  • the positioning equipment comprises, for example, GPS (Global Positioning System).
  • the system is preferably also adapted so as to communicate with and retrieve information from a so-called “fleet management system,” i.e. a system that manages a set of various vehicles and information appurtenant thereto.
  • the system is thus adapted so as, via information from GSP and a "fleet management system,” to monitor vehicles and match them up with one or a plurality of virtual measurement points P3, P4.
  • the V2S communication comprises two-way communication, i.e. communication from vehicle to server, or from server to vehicle.
  • the server comprises the system according to the invention, and is adapted so as to generate at least one virtual measurement point P3.
  • the advantage of having a virtual measurement point is, among other things, that the measurement point can be chosen arbitrarily, and requires no roadside units. The cost of having virtual measurement points will then be lower than that of using fixed roadside units as measurement points as described earlier.
  • a virtual measurement point can, for example, be chosen by specifying the coordinates for a point in the system, whereupon measurements are related to said point.
  • the measurement point is arranged at a suitable location along the road, for example on or before an extended stretch of road without exits.
  • Time and/or distance measuring is initiated when the first vehicle "1" passes the virtual measurement point P3.
  • the time and/or distance to the second vehicle "2" is determined and assessed based on said predetermined criteria. In the assessment, consideration is given to whether the vehicles are qualified for inclusion in a common platoon.
  • the system can also assess whether it would be beneficial to cooperate by, for example, determining whether the destinations and routes of the vehicles coincide.
  • the server preferably contains information about the various vehicles that are identified by the identifying unit.
  • the results from the analysis can be relayed thereby to the first or the second vehicle by, for example: sending a message to the shipping company, which can telephone the driver of the first vehicle "1" and ask him to reduce his velocity and wait for vehicle"2", or by sending an automatic message to vehicle “1” urging the driver to reduce his velocity, or by sending a control signal to the cruise control in vehicle "1" indicating that the set velocity of the vehicle is to be reduced, whereupon the vehicle cruise control regulates the vehicle accordingly.
  • the relay occurs at measurement point P4 according to one embodiment.
  • the invention comprises a method for forming a platoon, which is illustrated by means of a flow diagram in Figure 4.
  • the method comprises a first step A) of identifying a first vehicle and a second vehicle for inclusion in a common platoon.
  • vehicle parameters related to said identified vehicles are determined, and in a third step C) at least one relationship parameter that describes at least one relationship between said identified vehicles is determined based on said vehicle parameters.
  • said vehicle parameters are analyzed with reference to predetermined criteria, whereupon a platoon if formed in dependence upon the results of said analysis in a fifth step E).
  • Said relationship parameters can, for example, comprise a distance d and/or time t between said vehicles.
  • the predetermined criteria then preferably comprise ranges for relationship parameters, within which ranges the vehicles are considered qualified for inclusion in a common platoon.
  • step B comprises determining vehicle parameters that comprise vehicle characteristics for respective vehicles.
  • Step D then comprises analyzing whether said vehicles are qualified for inclusion in a platoon, based on criteria for the characteristics of the respective vehicles. In this way the method can take, for example, vehicle size into account in its analysis.
  • said step B comprises determining vehicle parameters comprising the respective vehicle routes.
  • Step D then comprises analyzing whether said vehicles are qualified for inclusion in a platoon based on criteria for the routes of the respective vehicles. In this way the method can take into account whether the vehicles will drive the same route wholly or in part, and whether they have the same destination.
  • step E comprises relaying the results of said analysis to at least one of said vehicles by means of a display, an automatic message, a telephone conversation or a control signal to the vehicle cruise control, whereupon the vehicle is controlled in accordance therewith.
  • the method can utilize various means of communication.
  • the method comprises identifying vehicles by using a camera unit and/or a radar unit. In this way the method can be used to identify vehicles without the vehicles needing to have any built-in communication equipment.
  • the method comprises arranging at least one virtual measurement point in order to identify said vehicles in step A, whereupon said vehicles are arranged so as to communicate between vehicle and server (V2S).
  • V2S vehicle and server
  • the vehicles also have positioning equipment in this embodiment.
  • the method comprises using at least one measurement point in the form of a roadside unit adapted for communication between vehicles and infrastructure in order to identify said vehicles in step A, whereupon said vehicles are adapted so as to communicate between vehicle and infrastructure.
  • Various means of communication have also been clarified in connection with the system, and said means are also applicable to the method.
  • the invention also comprises a computer program product comprising computer program instructions to enable a computer system to perform the steps according to the above method when said computer program instructions are run on said computer system.
  • the invention also concerns a computer program product in which the computer program instructions are stored in a medium that is readable by a computer system.

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Abstract

The invention concerns a system for forming a platoon, which system comprises an identifying unit adapted so as to identify a first vehicle and a second vehicle for inclusion in a common platoon, determine vehicle parameters related to said identified vehicles and generate an identification signal in dependence thereon, and an analysis unit that is adapted so as to receive said identification signals and to determine at least one relationship parameter that describes at least one relationship between said identified vehicles based on said vehicle parameters; said analysis unit is further adapted so as to analyze said relationship parameters with reference to predetermined criteria, and to generate a qualification signal that indicates the results of said analysis; and a relaying unit that is adapted so as to receive said qualification signal and relay the results of said analysis in order to form a platoon.

Description

Support system and method for forming vehicle trains Technical field of the invention
The present invention concerns a system and a method for forming platoons according to the preamble to the independent claims.
Background of the invention
Traffic is heavy on Europe's major roads, and is expected to increase in the future. The demand for energy for goods shipments on these roads is also enormous, and growing. One potential contribution to solving these problems is to enable goods vehicles to be driven in greater proximity to one another in vehicle trains, so-called "platoons." Because the goods vehicles in a platoon travel more closely together, air resistance is decreased considerably, energy demand is reduced, and shipping capacity is utilized more efficiently. Advances in sensor, computer and communication technology have made it possible to design goods vehicles and infrastructures that support the use of platoons.
Requirements in terms of energy-efficient shipments are being imposed by both government authorities and the shipping industry. The reasons for these requirements comprise:
· Environmental aspects, with an explicit aim on the part of the government
authorities to reduce C02 emissions.
• Financial aspects, with increasing fuel costs.
The biggest individual expense items for a shipping company are driver salaries and fuel. Driver salaries and fuel each account for roughly 30% of the total expenses for a long-haul vehicle.
There are consequently major financial gains for the shipping industry if shipping efficiency can be increased. "Shipping efficiency" refers here to minimizing vehicle fuel consumption deriving from engine efficiency, vehicle aerodynamics and roll resistance, and minimizing the time during which the vehicle is not being used in the active shipping of goods as a result of time spent in queues, driving between driving tasks, and unscheduled repair shop visits.
Platoons have long been discussed as a possible means of making goods shipments more efficient. "Platoon" refers here to a number of vehicles that are driven a short distance apart from one another and travel as a unit. It is a well-known fact that fuel consumption decreases dramatically with the distance to the lead vehicle, because the air resistance decreases.
Studies show that fuel use can be reduced by 2-10% for the lead vehicle and by 15-20% for the trailing vehicle, compared to a single vehicle. This is so assuming that the distance between the goods vehicles is 8-16 meters, and that they are traveling at 80 km/h. The reduced fuel use results in a corresponding reduction in C02 emissions.
Drivers are already exploiting this well-known fact today, with reduced traffic safety as a result. One fundamental issue having to do with platoons pertains to how the time gap between vehicles can be reduced from the recommended 3 seconds down to between 0.5 and 1 second without affecting traffic safety. The recommended time gap is currently based on:
• The reaction time of the driver
· Delays in the vehicle brake system
• The stopping distance of the vehicle
Using distance sensors and cameras, the reaction time of the driver can be eliminated; a new type of technology is currently already being used in the form of systems such as ACC (Adaptive Cruise Control) and LKA (Lane Keeping Assistance).
However, one limitation is that distance sensors and cameras require an unobstructed view of their target, which makes it difficult to detect events more than a few vehicles ahead in the queue. Another limitation is that they cannot react proactively, i.e. react to events that have not had any marked effect on the traffic rhythm. However, communication between vehicles makes it possible to solve these problems, insofar as the lead vehicle in the platoon can
• send information regarding the state of the vehicle, i.e. its weight, velocity, engine output and position.
· send information regarding actions that affect the surrounding traffic, e.g. if one vehicle is braking.
• Act as a probe for trailing vehicles by reporting observed traffic events rearward in the platoon. This makes it possible for the platoon to act as a unit, which results in suppression of oscillations in the platoon due to velocity changes. This consequently enables shorter gaps and a better global traffic flow.
Wireless communication between vehicles (V2V) and communication between vehicles and infrastructure (V2I) are technologies that are starting to be realized as a result of standardization efforts. These technologies have been used in international projects to enable driver-warning functions, route planning and route optimization.
US-2010/0256852 concerns a method for controlling a plurality of vehicles that are included in a platoon, wherein a lead vehicle communicates by means of V2 V
communication with the other vehicles in the platoon. The communication pertains to the positions of the vehicles included in the platoon, the distances between the vehicles, etc.
US-2010/0256836 and DE- 102007024877 concern a method for forming a platoon by, among other things, comparing the routes of the vehicles.
US-7894982 describes a method and a system for forming a platoon based on vehicle identification. US-7813843 concerns a system for exchanging information between vehicles in order to control them. As is clear from the foregoing review of the background technology, much of the work being done with regard to platoons has to do with technical solutions to create optimally controlled platoons. Another important aspect has to do with the ways in which platoons are to be generated and managed. However, examples of the ways in which the creation of platoons are initiated are lacking. Goods vehicles can travel at 1 km intervals with no support system for forming a platoon whatsoever.
The object of the present invention is thus to provide a system for initiating the formation of platoons.
Summary of the invention
The aforementioned object is achieved according to one aspect by a system for forming a platoon. The system comprises an identifying unit that is adapted so as to identify a first vehicle and a second vehicle for inclusion in a common platoon, and so as to determine vehicle parameters related to said identified vehicles, and so as to generate an identifying signal in dependence thereon. The system further comprises an analysis unit that is adapted so as to receive said identifying signal and determine at least one relationship parameter that describes at least one relationship between said identified vehicles based on said vehicle parameters. The analysis unit is also adapted so as to analyze said relationship parameters with reference to predetermined criteria, and to generate a qualification signal that indicates the results of said analysis. The system further comprises a relaying unit that is adapted so as to receive said qualification signal and relay the results of the analysis in order to form a platoon. The object is achieved according to another aspect by a method for forming a platoon, which method comprises: A) identifying a first vehicle and a second vehicle for inclusion in a common platoon and B) determining vehicle parameters related to said identified vehicles. The method further comprises the step C) of determining at least one relationship parameter that describes at least one relationship between said identified vehicles based on said vehicle parameters; and D) analyzing said vehicle parameter with reference to predetermined criteria, and E) forming a platoon in dependence upon the results of said analysis. Using the system and the method, it is possible to find vehicles that are suitable for inclusion in a common platoon, including in cases where the vehicles are located at a large distance from one another. A gap of several kilometers between the vehicles is possible when platoon formation is initiated. Nor need the formation be planned in advance, but rather it can be initiated en route. The system can, for example, operate along shipping routes or onramps and thereby induce different vehicles to cooperate in platoons.
"Platoon formation" means here that the creation of a platoon is being initiated.
The vehicles that are to be included in the platoon need not have the capacity to communicate with one another, which means that the invention will also work for vehicles without such logic, such as older vehicles.
The system and the method are exemplified herein with reference to a first and a second vehicle. However, the invention is applicable to a larger number of vehicles as well. It is also possible to form a plurality of platoons simultaneously.
Preferred embodiments are described in the dependent claims, and in the detailed description. Brief description of the accompanying figures
The invention will be described below with reference to the accompanying figures, wherein:
Figure 1 shows a block diagram of the system according to one embodiment of the invention.
Figure 2 illustrates the invention in connection with the use of communication between vehicle and infrastructure according to one embodiment of the invention.
Figure 3 illustrates the invention in connection with the use of communication between vehicle and server according to one embodiment of the invention.
Figure 4 shows a flow diagram for the method according to one embodiment of the invention. Detailed description of preferred embodiments of the invention
Figure 1 illustrates the system according to the invention, which will now be described in detail with reference to the figure. As the figure shows, the system comprises an identifying unit adapted so as to identify a first vehicle and a second vehicle for inclusion in a common platoon. "First vehicle" refers to a vehicle that located ahead of the second vehicle along the route. "Identifying" means here that the identifying unit registers that there is a vehicle in its proximity. Said registration can, for example, occur in that the identifying unit comprises sensing means in the form of, for example, a photosensor, IR sensor, camera etc that can sense or identify that a vehicle is passing. According to another embodiment, the identifying unit is adapted so as to receive information from vehicles wirelessly. Said information comprises, for example, the position, velocity and planned route of the vehicle, as well as vehicle characteristics such as model and size. The identifying unit can then register that there is a vehicle in proximity to the identifying unit based on its position, and in this way identify the vehicle. The identifying unit can thus be adapted so as to determine the position of the vehicle relative to the identifying unit.
The identifying unit is further adapted so as to determine vehicle parameters related to said identified vehicle, and to generate an identifying signal in dependence thereon. "Vehicle parameters" refers here to, for example, information as noted above such as the positions, velocities and planned routes of the vehicles, vehicle characteristics such as model and size, and time points when the vehicles passed the identifying unit. The identifying unit is advantageously adapted so as to function as a measurement point, and various vehicle parameters can then be determined in relation thereto. The system further comprises an analysis unit that is adapted so as to receive said identifying signal and determine at least one relationship parameter that describes at least one relationship between the identified vehicles based on the determined vehicle parameters. According to one embodiment, the analysis unit is adapted so as to determine a relationship parameter that comprises a time t between said identified vehicles. The identifying signal then contains, for example, two times that indicate when the identified vehicles passed the identifying unit. The analysis unit can then determine the time t between said vehicles from the two time points. According to another embodiment, the analysis unit is adapted so as to determine a relationship parameter that comprises a distance d between the identified vehicles. The identifying signal then contains, for example, the velocity of the first vehicle and the time when it passed the identifying unit, plus the time when the second vehicle passed the identifying unit. The analysis unit can then determine the distance d between the first and second vehicle by multiplying the time t between the vehicles by the velocity of the first vehicle.
The analysis unit is further adapted so as to analyze the relationship parameter or the relationship parameters with reference to predetermined criteria, and to generate a qualification signal that indicates the results of said analysis. According to one
embodiment, said predetermined criteria comprise ranges for relationship parameters, within which ranges the vehicles are considered to be qualified for inclusion in a common platoon. In the event that a relationship parameter is determined that comprises a distance d between the vehicles, the analysis unit according to one embodiment is adapted so as to compare d to a range for the distance within which the vehicles are considered qualified for inclusion in a common platoon. In the event that the distance d is within said range, the vehicles are considered to be qualified for inclusion in a common platoon. In the event that a relationship parameter is determined that comprises a time t between the vehicles, the analysis unit according to one embodiment is adapted so as to compare the time t to a range of times within which the vehicles are considered qualified for inclusion in a common platoon. In the event that the time t is within said range, the vehicles are considered qualified for inclusion in a common platoon, as the qualification signal will then indicate. The system further comprises a relaying unit that is adapted so as to receive said qualification signals and relay the results of said analysis in order for form a platoon. The results can be relayed in various ways, which will be clarified in greater detail below.
As described above, the identifying unit can also be adapted so as to determine vehicle parameters comprising vehicle characteristics for the respective vehicles, whereupon the identification signals will indicate same. The analysis unit according to one embodiment is then adapted so as to analyze whether said vehicles are qualified for inclusion in a platoon, based on criteria for the respective characteristics of the vehicles. Examples of vehicle characteristics include: vehicle model, vehicle size, vehicle weight, load size, load weight. There are various known criteria for determining when two vehicles are suited for inclusion in a common platoon. For example, whether the first vehicle should be a bigger or at least as big a vehicle as the second vehicle in order for it to be profitable to form the platoon.
According to one embodiment, the identifying unit is adapted so as to determine vehicle parameters comprising the respective routes of the vehicles, whereupon the identification signal indicates same. The analysis unit is then adapted so as to analyze whether said vehicles are qualified for inclusion in a platoon, based on criteria for the respective vehicle routes of the vehicles. Such criteria can, for example, consist of whether the vehicles are to drive the same route wholly or in part. The analysis unit is then adapted so as to compare the respective routes of the vehicles to one another. In this way, vehicles that are to drive the same route can be driven in a more economical manner.
According to one embodiment, the analysis unit is adapted so as to take a plurality of different vehicle parameters and criteria for same into account in order to determine a qualification signal.
The system will now be clarified with reference to Figure 2, which shows an embodiment of the invention. In the figure, the vehicle that is marked with "1" is the first vehicle, while the vehicle that is marked with "2" is the second vehicle. The figure shows a roadside unit "PI" which, in this embodiment, comprises the identifying unit according to the invention.
The figure includes another roadside unit "P2" which, in this embodiment, comprises the relaying unit. According to one embodiment, the roadside units "P 1 " and "P2" are adapted so as to communicate wirelessly with vehicles by means of so-called vehicle-to- infrastructure communication. The vehicles that are intended to be included in a platoon must then be adapted so as to be able to communicate in this manner. In the event that the results of the performed analysis indicate that vehicle "1" and vehicle "2" are qualified for inclusion in a common platoon, this circumstance can be relayed wirelessly to vehicle "1" by roadside unit "P2". Vehicle "1" can, for example, be asked to wait for vehicle "2". The results can, for example, be displayed as an automatic message in the form of a text message via a display in the driver instrument panel, which message is communicated by the relaying unit to the vehicle "1" when the vehicle "1" passes or is in proximity to roadside unit "P2". The roadside unit "P2" is then adapted so as to identify that the vehicle "1" is passing or is in proximity to the roadside unit "P2".
Vehicle communication between vehicle and infrastructure, so-called V2I communication, is a technology that has been developed within a number of global projects involving a number of actors in the automotive industry. Examples of such projects include CVIS (Cooperative Vehicle Infrastructure Systems), Safespot and CoCAR (Cooperative Cars). These systems are based on communication by means of WLAN (Wireless Local Area Network) and GPRS (General Packet Radio Service). The communication comprises two- way communication, i.e. communication from vehicle to infrastructure, or from
infrastructure to vehicle.
The roadside units "PI" and "P2" are preferably adapted so as to communicate with one another wirelessly or via cable. According to another embodiment, the relaying unit is adapted so as to determine a control signal in dependence upon the qualification signal, and to relay the control signal to a control unit in the first vehicle, whereupon the vehicle is regulated in accordance therewith. For example, the set velocity of the vehicle can be reduced so that vehicle "1" will wait for vehicle "2". The relaying unit is then adapted so as to issue a control signal to the vehicle cruise control.
The results can also include more information, such as information regarding which vehicle "2" vehicle "1" is being asked to wait for, how far the vehicles are from one another, and/or the anticipated waiting time until vehicle "2" will have caught up to vehicle "!". According to another embodiment that is not shown in the figures, the identifying unit is adapted so as to identify said vehicles by using a camera unit and/or a radar unit. The identifying unit can then comprise a roadside unit that comprises a camera unit and/or a radar unit that is adapted so to identify said first and second vehicles. Alternatively, the identifying unit comprises said camera unit and/or radar unit. The results of the analysis can then be relayed as described above, via wireless communication to vehicle "1".
According to yet another embodiment, the relaying unit is adapted so as to relay the results to the first vehicle via a screen that is disposed adjacent to the road on which the vehicles are traveling. The screen can be integrated in a roadside unit, or it can be a freestanding unit.
The results can also be relayed to the second vehicle "2" via any of the means described above. For example, the relaying unit can be adapted so as to relay the results via a display in the second vehicle "2". The driver of the second vehicle can then be informed that the vehicle is qualified for inclusion in a platoon, and with which vehicles. The driver can also be instructed, for example, to increase his speed in order to catch up to the first vehicle.
One advantage of the embodiment shown in Figure 2 is that the system can be used for many different types of vehicles.
Figure 3 shows another embodiment of the invention and, in similarity with the embodiment shown in Figure 2, illustrates a first vehicle "1" and a second vehicle "2". According to the embodiment illustrated in Figure 3, said identifying unit comprises at least one virtual measurement point, which is marked here as "P3" and adapted so as to identify said vehicles. The vehicles are then adapted so as to communicate between vehicle and server (V2S) and comprise positioning equipment. The positioning equipment comprises, for example, GPS (Global Positioning System). The system is preferably also adapted so as to communicate with and retrieve information from a so-called "fleet management system," i.e. a system that manages a set of various vehicles and information appurtenant thereto. The system is thus adapted so as, via information from GSP and a "fleet management system," to monitor vehicles and match them up with one or a plurality of virtual measurement points P3, P4.
The V2S communication comprises two-way communication, i.e. communication from vehicle to server, or from server to vehicle.
According to this embodiment, the server comprises the system according to the invention, and is adapted so as to generate at least one virtual measurement point P3. The advantage of having a virtual measurement point is, among other things, that the measurement point can be chosen arbitrarily, and requires no roadside units. The cost of having virtual measurement points will then be lower than that of using fixed roadside units as measurement points as described earlier. A virtual measurement point can, for example, be chosen by specifying the coordinates for a point in the system, whereupon measurements are related to said point. The measurement point is arranged at a suitable location along the road, for example on or before an extended stretch of road without exits.
Time and/or distance measuring is initiated when the first vehicle "1" passes the virtual measurement point P3. The time and/or distance to the second vehicle "2" is determined and assessed based on said predetermined criteria. In the assessment, consideration is given to whether the vehicles are qualified for inclusion in a common platoon. The system can also assess whether it would be beneficial to cooperate by, for example, determining whether the destinations and routes of the vehicles coincide.
The server preferably contains information about the various vehicles that are identified by the identifying unit. The results from the analysis can be relayed thereby to the first or the second vehicle by, for example: sending a message to the shipping company, which can telephone the driver of the first vehicle "1" and ask him to reduce his velocity and wait for vehicle"2", or by sending an automatic message to vehicle "1" urging the driver to reduce his velocity, or by sending a control signal to the cruise control in vehicle "1" indicating that the set velocity of the vehicle is to be reduced, whereupon the vehicle cruise control regulates the vehicle accordingly. The relay occurs at measurement point P4 according to one embodiment. According to another aspect, the invention comprises a method for forming a platoon, which is illustrated by means of a flow diagram in Figure 4. The method comprises a first step A) of identifying a first vehicle and a second vehicle for inclusion in a common platoon. In a second step B), vehicle parameters related to said identified vehicles are determined, and in a third step C) at least one relationship parameter that describes at least one relationship between said identified vehicles is determined based on said vehicle parameters. In a fourth step D), said vehicle parameters are analyzed with reference to predetermined criteria, whereupon a platoon if formed in dependence upon the results of said analysis in a fifth step E). The various steps described here can be carried out in various ways, as is explained in connection with the system. Said relationship parameters can, for example, comprise a distance d and/or time t between said vehicles. The predetermined criteria then preferably comprise ranges for relationship parameters, within which ranges the vehicles are considered qualified for inclusion in a common platoon.
According to one embodiment, step B comprises determining vehicle parameters that comprise vehicle characteristics for respective vehicles. Step D then comprises analyzing whether said vehicles are qualified for inclusion in a platoon, based on criteria for the characteristics of the respective vehicles. In this way the method can take, for example, vehicle size into account in its analysis.
According to another embodiment, said step B comprises determining vehicle parameters comprising the respective vehicle routes. Step D then comprises analyzing whether said vehicles are qualified for inclusion in a platoon based on criteria for the routes of the respective vehicles. In this way the method can take into account whether the vehicles will drive the same route wholly or in part, and whether they have the same destination.
According to one embodiment, step E comprises relaying the results of said analysis to at least one of said vehicles by means of a display, an automatic message, a telephone conversation or a control signal to the vehicle cruise control, whereupon the vehicle is controlled in accordance therewith. The method can utilize various means of communication. According to one embodiment, the method comprises identifying vehicles by using a camera unit and/or a radar unit. In this way the method can be used to identify vehicles without the vehicles needing to have any built-in communication equipment. According to one embodiment, the method comprises arranging at least one virtual measurement point in order to identify said vehicles in step A, whereupon said vehicles are arranged so as to communicate between vehicle and server (V2S). The vehicles also have positioning equipment in this embodiment. According to another embodiment, the method comprises using at least one measurement point in the form of a roadside unit adapted for communication between vehicles and infrastructure in order to identify said vehicles in step A, whereupon said vehicles are adapted so as to communicate between vehicle and infrastructure. Various means of communication have also been clarified in connection with the system, and said means are also applicable to the method. The invention also comprises a computer program product comprising computer program instructions to enable a computer system to perform the steps according to the above method when said computer program instructions are run on said computer system. The invention also concerns a computer program product in which the computer program instructions are stored in a medium that is readable by a computer system.
The present invention is not limited to the embodiment described above. Various alternatives, modifications and equivalents can be used. Consequently the foregoing embodiments do not limit the scope of the invention, which is defined in the
accompanying claims.

Claims

Claims
1. A system for forming a platoon, which system comprises
- an identifying unit adapted so as to identify a first vehicle and a second vehicle for inclusion in a common platoon, determine vehicle parameters related to said identified vehicles, and generate an identification signal in dependence thereon,
- an analysis unit that is adapted so as to receive said identification signal and determine at least one relationship parameter that describes at least one relationship between said identified vehicles based on said vehicle parameters; the analysis unit is further adapted so as to analyze said relationship parameters with reference to
predetermined criteria, and to generate a qualification signal that indicate the results of said analysis;
- a relaying unit that is adapted so as to receive said qualification signal and relay the results of said analysis in order to form a platoon.
2. A system according to claim 1, wherein said analysis unit is adapted so as to determine a relationship parameter that comprises a distance d between said identified vehicles.
3. A system according to any of claims 1 or 2, wherein said analysis unit is adapted so as to determine a relationship parameter that comprises a time t between said identified vehicles.
4. A system according to any of the preceding claims, wherein said identifying unit is adapted so as to determine vehicle parameters comprising vehicle characteristics for respective vehicles, wherein the identification signal indicates same, and wherein the analysis unit is adapted so as to analyze whether said vehicles are qualified for inclusion in a platoon based on criteria for the characteristics of the respective vehicles.
5. A system according to any of the preceding claims, wherein said identifying unit is adapted so as to determine vehicle parameters comprising the routes of the respective vehicles, wherein the identification signal indicates same, and the analysis unit is adapted so as to analyze whether said vehicles are qualified for inclusion in a platoon based on criteria for the routes of the respective vehicles.
6. A system according to any of the preceding claims, wherein said predetermined criteria comprise ranges for said relationship parameters, within which ranges the vehicles are considered qualified for inclusion in a common platoon.
7. A system according to any of the preceding claims, wherein the relaying unit is adapted so as to relay the results of said analysis to at least one of said vehicles by means of a display, or by means of an automatic message, or is adapted so as to generate a control signal for the vehicle cruise control, whereupon the vehicle is controlled in accordance therewith.
8. A system according to any of the preceding claims, wherein said identifying unit comprises at least one virtual measurement point adapted so as to identify said vehicles, wherein said vehicles are adapted so as to communicate between vehicle and server (V2S) and comprise positioning equipment.
9. A system according to any of the preceding claims, wherein said identifying unit is adapted so as to be comprised by a roadside unit adapted for communication between vehicle and infrastructure so as to identify said vehicles in step A, wherein said vehicles are adapted so as to communicate between vehicle and infrastructure.
10. A system according to any of the preceding claims, wherein said identifying unit is adapted so as to identify said vehicles by using a camera unit and/or a radar unit.
1 1. A method for forming a platoon, which method comprises
A) identifying a first vehicle and a second vehicle for inclusion in a common platoon;
B) determining vehicle parameters related to said identified vehicles;
C) determining at least one relationship parameter that describes at least one relationship between said identified vehicles based on said vehicle parameters;
D) analyzing said relationship parameters with reference to predetermined criteria; E) forming a platoon in dependence upon the results of said analysis.
12. A method according to claim 1 1, wherein said relationship parameter comprises a distance d between said vehicles.
13. A method according to any of claims 1 or 12, wherein said relationship parameter comprises a time t between said vehicles.
14. A method according to any of claims 1 1 to 13, wherein said step B comprises determining vehicle parameters that comprise vehicle characteristics for respective vehicles, and wherein said step D comprises analyzing whether said vehicles are qualified for inclusion in a platoon based on criteria for the respective characteristics of the vehicles.
15. A method according to any of claims 11 to 14, wherein said step B comprises determining vehicle parameters comprising the routes of the respective vehicles, and wherein said step D comprises analyzing whether said vehicles are qualified for inclusion in a platoon based on criteria for the respective routes of the vehicles.
16. A method according to any of claims 1 1 to 15, wherein said predetermined criteria comprise ranges for said relationship parameters, within which ranges the vehicles are considered qualified for inclusion in a common platoon.
17. A method according to any of claims 1 1 to 16, wherein step E comprises relaying the results of said analysis to at least one of said vehicles by means of a display, an automatic message, a telephone conversation or a control signal to the vehicle cruise control, whereupon the vehicle is controlled in accordance therewith.
18. A method according to any of claims 1 1 to 17, which method comprises arranging at least one virtual measurement point in order to identify said vehicles in step
A, wherein said vehicles are adapted to communicate between vehicle and server (V2S), and said vehicles have positioning equipment.
19. A method according to any of claims 1 1 to 18, which method comprises using at least one measurement point in the form of a roadside unit adapted for communication between vehicle and infrastructure to identify said vehicles in step A, wherein said vehicles are adapted so as to communicate between vehicle and
infrastructure.
20. A method according to any of claims 11 to 19, which method comprises identifying said vehicles by using a camera unit and/or a radar unit.
21. A computer program product comprising computer program instructions for enabling a computer system to perform the steps according to the method according to any of claims 1 1 to 20 when the computer program instructions are run on said computer system.
22. A computer program product according to claim 21 , in which product the computer program instructions are stored on a medium that is readable by a computer system.
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