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EP2830921A4 - Method and system for spacing adjustment in a moving vehicle train - Google Patents

Method and system for spacing adjustment in a moving vehicle train

Info

Publication number
EP2830921A4
EP2830921A4 EP13768818.0A EP13768818A EP2830921A4 EP 2830921 A4 EP2830921 A4 EP 2830921A4 EP 13768818 A EP13768818 A EP 13768818A EP 2830921 A4 EP2830921 A4 EP 2830921A4
Authority
EP
European Patent Office
Prior art keywords
moving vehicle
spacing adjustment
vehicle train
train
spacing
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Withdrawn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
EP13768818.0A
Other languages
German (de)
French (fr)
Other versions
EP2830921A1 (en
Inventor
Alam Assad Al
Henrik Pettersson
Rickard Lyberger
Anders Johansson
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 EP2830921A1 publication Critical patent/EP2830921A1/en
Publication of EP2830921A4 publication Critical patent/EP2830921A4/en
Withdrawn legal-status Critical Current

Links

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
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/34—Control, warning or like safety means along the route or between vehicles or trains for indicating the distance between vehicles or trains by the transmission of signals therebetween
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0072—Transmission between mobile stations, e.g. anti-collision systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/695—Coordinated control of the position or course of two or more vehicles for maintaining a fixed relative position of the vehicles, e.g. for convoy travelling or formation flight
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/22—Platooning, i.e. convoy of communicating vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/04—Monitoring the functioning of the control system
    • B60W50/045—Monitoring control system parameters
    • B60W2050/046—Monitoring control system parameters involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]
    • B60W2050/048—Monitoring control system parameters involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS] displaying data transmitted between vehicles, e.g. for platooning, control of inter-vehicle distance
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/14—Trucks; Load vehicles, Busses
    • B60Y2200/147—Trailers, e.g. full trailers or caravans
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Traffic Control Systems (AREA)
EP13768818.0A 2012-03-29 2013-03-21 Method and system for spacing adjustment in a moving vehicle train Withdrawn EP2830921A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1250310A SE536818C2 (en) 2012-03-29 2012-03-29 Procedure and system for distance adjustment during travel widened vehicle train
PCT/SE2013/050317 WO2013147684A1 (en) 2012-03-29 2013-03-21 Method and system for spacing adjustment in a moving vehicle train

Publications (2)

Publication Number Publication Date
EP2830921A1 EP2830921A1 (en) 2015-02-04
EP2830921A4 true EP2830921A4 (en) 2016-08-31

Family

ID=49260780

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13768818.0A Withdrawn EP2830921A4 (en) 2012-03-29 2013-03-21 Method and system for spacing adjustment in a moving vehicle train

Country Status (3)

Country Link
EP (1) EP2830921A4 (en)
SE (1) SE536818C2 (en)
WO (1) WO2013147684A1 (en)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016134770A1 (en) 2015-02-26 2016-09-01 Volvo Truck Corporation Method of controlling inter-vehicle gap(s) in a platoon
SE540155C2 (en) * 2015-04-10 2018-04-17 Scania Cv Ab Device and method for classification of road segment based on their suitability for platooning
EP3081447B1 (en) * 2015-04-14 2020-07-01 Honda Research Institute Europe GmbH Intelligent gap setting for adaptive cruise control
SE541385C2 (en) 2016-01-27 2019-09-10 Scania Cv Ab System for keeping distances between vehicles in a group of coordinated vehicles
JP6717156B2 (en) * 2016-10-12 2020-07-01 株式会社ダイフク Transport system
US10073464B2 (en) * 2016-12-30 2018-09-11 Bendix Commercial Vehicle Systems Llc Varying the distance between vehicles in a platoon
US10482767B2 (en) 2016-12-30 2019-11-19 Bendix Commercial Vehicle Systems Llc Detection of extra-platoon vehicle intermediate or adjacent to platoon member vehicles
KR102506858B1 (en) 2017-10-24 2023-03-08 현대자동차주식회사 Apparatus and method for maneuver platooning of vehicle
US10661808B2 (en) * 2018-04-09 2020-05-26 Arnold Chase Dynamic vehicle separation system
DE102018111984A1 (en) * 2018-05-18 2019-11-21 Knorr-Bremse Systeme für Schienenfahrzeuge GmbH Collision avoidance for a vehicle and method for this
ES2774340A1 (en) * 2019-01-18 2020-07-20 Calles Juan Ignacio Arbex Rear anti-harassment and collision system for motorized vehicles (Machine-translation by Google Translate, not legally binding)
DE102021116468A1 (en) * 2021-06-25 2022-12-29 Ford Global Technologies, Llc Method for operating a vehicle platoon with a plurality of motor vehicles
DE102021117207A1 (en) 2021-07-05 2023-01-05 Zf Cv Systems Global Gmbh Method and control unit for distance control of vehicles

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6437688B1 (en) * 1999-03-16 2002-08-20 Honda Giken Kogyo Kabushiki Kaisha Obstruction detection method for vehicle
WO2011013203A1 (en) * 2009-07-28 2011-02-03 トヨタ自動車株式会社 Vehicle control device, vehicle control method, and vehicle control system
WO2011013216A1 (en) * 2009-07-29 2011-02-03 トヨタ自動車株式会社 Vehicle controller, control method for vehicle and control system for vehicle
DE102010028637A1 (en) * 2010-05-05 2011-11-10 Bayerische Motoren Werke Aktiengesellschaft Coupling method for electronically coupling two motor vehicles, involves using vehicle property information for coupling of two vehicles, where vehicle property for one vehicle influences resulting aerodynamic drag for another vehicle
WO2012014040A1 (en) * 2010-07-27 2012-02-02 Toyota Jidosha Kabushiki Kaisha Vehicle control system

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3191621B2 (en) * 1995-03-14 2001-07-23 トヨタ自動車株式会社 Vehicle travel guidance system
JP3633707B2 (en) * 1996-03-08 2005-03-30 日産ディーゼル工業株式会社 Vehicle group running control device
JP3732292B2 (en) * 1996-11-27 2006-01-05 本田技研工業株式会社 Vehicle group running control system
DE10014328A1 (en) * 1999-03-26 2000-09-28 Denso Corp Automatic travel regulation device for automobile e.g. for automatic movement in convoy, uses controlled acceleration or braking for maintaining required relative spacing between successive vehicles
US8352111B2 (en) * 2009-04-06 2013-01-08 GM Global Technology Operations LLC Platoon vehicle management
EP2276012B1 (en) * 2009-06-30 2014-08-06 Autotalks Ltd. Method for transmission power control in vehicle-to-vehicle communication
EP2390744B1 (en) * 2010-05-31 2012-11-14 Volvo Car Corporation Control system for travel in a platoon

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6437688B1 (en) * 1999-03-16 2002-08-20 Honda Giken Kogyo Kabushiki Kaisha Obstruction detection method for vehicle
WO2011013203A1 (en) * 2009-07-28 2011-02-03 トヨタ自動車株式会社 Vehicle control device, vehicle control method, and vehicle control system
WO2011013216A1 (en) * 2009-07-29 2011-02-03 トヨタ自動車株式会社 Vehicle controller, control method for vehicle and control system for vehicle
DE102010028637A1 (en) * 2010-05-05 2011-11-10 Bayerische Motoren Werke Aktiengesellschaft Coupling method for electronically coupling two motor vehicles, involves using vehicle property information for coupling of two vehicles, where vehicle property for one vehicle influences resulting aerodynamic drag for another vehicle
WO2012014040A1 (en) * 2010-07-27 2012-02-02 Toyota Jidosha Kabushiki Kaisha Vehicle control system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2013147684A1 *

Also Published As

Publication number Publication date
SE1250310A1 (en) 2013-09-30
EP2830921A1 (en) 2015-02-04
WO2013147684A1 (en) 2013-10-03
SE536818C2 (en) 2014-09-23

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RIN1 Information on inventor provided before grant (corrected)

Inventor name: AL ALAM, ASSAD

Inventor name: LYBERGER, RICKARD

Inventor name: JOHANSSON, ANDERS

Inventor name: PETTERSSON, HENRIK

DAX Request for extension of the european patent (deleted)
RA4 Supplementary search report drawn up and despatched (corrected)

Effective date: 20160728

RIC1 Information provided on ipc code assigned before grant

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Ipc: G05D 1/02 20060101ALI20160722BHEP

Ipc: G08G 1/00 20060101ALI20160722BHEP

Ipc: G08G 1/095 20060101ALI20160722BHEP

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