• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Summary Control unit and method for regulating a vehicle fk in a vehicle stay. The method comprises: receiving at least one vehicle parameter p describing a property of the, seen Than vehicle fk, nearest vehicle fk-1 vehicle strut; determining ambient data 13 describing a property of the vehicles' surroundings; predict a behavior of the vehicle in front fk_i based on the vehicle parameter p describing a property of the vehicle fk-1 and ambient data 13 and determine a driving strategy for the vehicle fk based on the predicted behavior of the vehicle in use fk-1; after which the vehicle fk is regulated in accordance with the cross strategy. (Fig. 3)
    公开号:SE1351131A1
    申请号:SE1351131
    申请日:2013-09-30
    公开日:2015-03-31
    发明作者:Assad Alam；Kuo-Yun Liang；Henrik Pettersson；Jonas Mårtensson；Karl Henrik Johansson
    申请人:Scania Cv Ab；
    IPC主号:
    专利说明:

    Field of the Invention The present invention relates to a control unit and a method for regulating a vehicle in a vehicle roof. The vehicle stay comprises at least one conductor vehicle and a further vehicle each having a positioning unit and a unit for wireless communication.
    Background of the Invention The traffic intensity is high on Europe's major roads and is expected to increase in the future. The increased transport of people and goods not only gives rise to traffic problems in the form of cows but also requires more energy, which in the end gives rise to emissions of, for example, greenhouse gases. A possible contribution to solving these problems is that lazy vehicles travel more tatare in so-called vehicle stays (platoons). By vehicle roof is meant a number of vehicles which 'Drivers are already taking advantage of this elusive fact today with a sacred traffic safety as a result. A fundamental question about vehicle stays is how the time slot between 30 vehicles can be reduced by the recommended 3 seconds down to between 0.5 and 1 second without affecting traffic safety. With distance sensors and cameras, the 2 driver's response time can be eliminated, a type of technology already used today by systems such as ACC (Adaptive Cruise Control) and LKA (Lane Keeping Assistance).
    Adaptive cruise control is based on momentarily measuring speed and distance with sensors only in front of (or nearby) vehicles and reaching a desired distance. Distance sensors and cameras, however, require a clear view of the ground, which makes it difficult to detect trades more than a couple of vehicles in the front of the cone. A further limitation is that the cruise control cannot react proactively, i.e. they can not react to actions that take place further in the traffic that will affect the traffic rhythm.
    One way to get vehicles to act proactively is to get vehicles to communicate in order to exchange information around them. A development of the IEEE standard 802.11 for WLAN (Wireless Local Area Networks) called 802.11p enables wireless transmission of information between vehicles, and between vehicles and infrastructure. Different types of information can be sanded to and from the vehicles, such as vehicle parameters and strategies.
    The development of communication technology has thus made it possible to design vehicles and infrastructure that can interact and act proactively. Vehicles can act as a unit and consequently shorter distances and a better global traffic flow are possible.
    WO-2012105889-A1 mentions that it is possible to take into account obstacles further along the road such as traffic lights, speed limits, etc., in order to avoid, for example, unnecessary braking when the obstacle is detected. When a vehicle Icor in a vehicle stay with short distances between each other, the vehicle is greatly affected by how the nearest vehicle in the vehicle stay will behave.
    It is thus an object to provide a method for regulating a vehicle in a vehicle roof in an industry efficient manner. Summary of the Invention According to a first aspect, the object described above is achieved at least in part by a method for controlling a vehicle fk in a vehicle strut, which comprises at least one conductor vehicle and a further vehicle each having a positioning unit and a unit for wireless communication. The method comprises receiving at least one vehicle parameter 9 which describes a property of the, seen Man vehicle fk, nearest vehicle fk_i in the vehicle roof; determining ambient data 13 describing a property of the vehicle environment; predict a behavior for the front vehicle fk_i based on the vehicle parameter 9 which describes a property of the vehicle fk-1 and the ambient data 13 and determine a cross strategy for the vehicle fk based on the predicted behavior for the front vehicle fk-1, after which the vehicle fk is regulated in accordance with the cross strategy. The method achieves an industry level and matters of regulation, since the vehicle fk can be regulated according to the predicted vehicle fk_i's predicted behavior. Consideration can be given to the capacity of the vehicle in front, if it has poor wells, etc. The distance between the vehicles can be regulated according to the vehicle fk_i's predicted behavior so that the safety is not compromised.
    Since information is given about future actions that may affect the vehicle fk, then the vehicle fk can in a better way plan its' corning so that the regulation of the vehicle fk becomes soft and things. The method does not depend on having complete information and data on the entire vehicle stay, and thereby the calculation complexity is reduced and there is a great opportunity to implement the regulation in practice.
    According to a second aspect, the object described above is achieved at least in part by a control unit for controlling a vehicle fk in a vehicle strut which comprises at least one conductor vehicle and a further vehicle each having a positioning unit and a unit for wireless communication. The control unit is configured to: receive at least one vehicle parameter 9 which describes a property of it, seen from the vehicle fk, closest to the vehicle fk-1 present in the vehicle roof; consists of 4 indication data p describing a property of the vehicle indication; predict a behavior of the forward vehicle fk-1 based on the vehicle parameter describing a property of the vehicle fk-1 and the ambient data p; determine a crossover strategy for the vehicle fk based on the predicted behavior of the present vehicle fk-1, to generate a crossover strategy signal indicating the crossover strategy, and regulate the vehicle fk in accordance with the crossover strategy.
    According to a third aspect, the purpose is achieved at least in part by a computer program P in a system, wherein said computer program P comprises program code for causing the system to perform some of the method steps described herein.
    According to a fourth aspect, the object is achieved at least in part by a computer program product comprising a program code stored on a computer readable medium for performing some of the method steps described herein.
    Preferred embodiments are described in the dependent claims and in the detailed description.
    Brief description of the accompanying figures The invention can now be described with reference to the accompanying figures, of which: Fig. 1 illustrates a vehicle roof which ascends a hill.
    Fig. 2 shows an example of a vehicle in the vehicle roof.
    Fig. 3 illustrates a control unit according to an embodiment.
    Fig. 4 shows a flow chart of a method according to an embodiment.
    Detailed Description of Preferred Embodiments of the Invention Definitions LAC (Look-Ahead Cruise Control): A cruise control that uses information about the topography of the oncoming vehicle and calculates an optimal vehicle profile in the form of a speed trajectory for a vehicle. KaIlas is also a predictive speedster.
    LAP (Look-Ahead cruise control for platoons): A cooperative cruise control that uses information about the topography of the oncoming vehicle and calculates an optimal speed trajectory for all vehicles in a vehicle stay. KaIlas is also a predictive cruise control for vehicle roofs. The control strategy is determined, for example, by dynamic programming. vk: the speed of the vehicle fk in the vehicle roof with N vehicle. dk, k + i - the distance between the vehicle fk and the vehicle behind fk + i in the vehicle stay. ak: the slope of the vehicle fk.
    V2V (Vehicle to vehicle) communication: Tracilo's communication between vehicles, also called vehicle-to-vehicle communication.
    V21 (Vehicle to infrastructure) communication: Tracilo's communication between vehicle and infrastructure, such as a vehicle or computer system.
    Fig. 1 shows a vehicle stay with N heavy vehicles fk which travels at small intervals dk, k + 1 between the vehicles up a hill. The vehicles in the vehicle roof are driven with automated steering for speed and / or steering wheel steering. The inclination of the vehicle when the Icor uphill is shown as ak. Each vehicle fk is equipped with a receiver and transmitter for wireless signals, shown partly with an antenna. The vehicles fk in the vehicle stay can thus communicate with each other by V2V communication or other means such as for example through mobile communication units, via an application in a communication unit or via a server, and to infrastructure in the form of V21 communication. The communication can, for example, give Than a vehicle and via a car node to another vehicle. The different vehicles fk have different masses mk. The vehicle roof has a leader vehicle, i.e. the first vehicle fi. Each vehicle fk in the vehicle roof has, for example, a unique vehicle identity, and a vehicle roof identity that is common to the entire vehicle roof, in order to be able to keep track of which vehicles are included in the vehicle roof. Data sent wirelessly between the vehicles in the vehicle stay can be tagged with these identities so that data received can be routed to the raft vehicle. Fig. 2 shows an example of a vehicle fk in the vehicle stay, has the conductor vehicle fi, and how it can be equipped. The vehicle fk is provided with a positioning unit 5 which can determine the position of the vehicle fk. The positioning unit 5 may, for example, be configured to receive signals from a global positioning system such as GNSS (Global Navigation Satellite System) such as GPS (Global Positioning System), GLONASS, Galileo or Compass. Alternatively, the positioning unit 5 may be configured to receive signals Than for example one or more detectors in the vehicle which feed relative distances to for example a car node, vehicles in the vicinity or the like with a known position. Based on the relative distances, the positioning unit 5 can then determine the vehicle fk's own position. A detector can also be configured to detect a signature in, for example, a car node, the signature representing a certain position. The positioning unit 5 can then be configured to determine its position by scanning the signature. The positioning unit 5 may instead be configured to determine the signal strength of one or more signals from a base station or car node with a known position, and thereby determine the position of the vehicle fk by triangulation. In this way, fk's own position can be determined. Of course, the above techniques can also be combined to secure the position of the vehicle fk. The positioning unit 5 is configured to generate a position signal containing the position p of the vehicle fk, and to transmit it to one or more units in the vehicle fk. As already mentioned, the vehicle fk is also equipped with a unit 4 for wireless communication. The unit 4 is configured to act as a receiver and transmitter of wireless signals. The unit 4 can receive wireless signals Than other vehicles and / or wireless signals Than the infrastructure around the vehicle fk, and true wireless signals to other vehicles and / or wireless signals to the infrastructure around the vehicle fk. The wireless signals can include vehicle parameters from other vehicles, for example mass, torque, speed, braking effect and even more complex information such as gallant choir profile, choir strategy, etc. The wireless signals can also contain information about the surroundings, for example the slope a, curve radius r etc. The vehicle fk may also be provided with one or more detectors 7 for sensing the surroundings, for example a radar unit, laser unit, tilt feeder, acceleration feeder, steering wheel angle feeder, a gyro, etc. 7 These detectors are generally marked in Fig. 2 as a detector unit 7, but can thus consists of a number of different detectors placed in different places in the vehicle fk. The detector unit 7 is configured to sense a parameter, for example a relative distance, speed, inclination, lateral acceleration, rotation, steering angle, etc., and to generate a detector signal which contains the parameter.
    The detector unit 7 is further configured to transmit the detector signal to one or more units in the vehicle fk. The vehicle fk can also be equipped with a wagon horizon unit 6 which includes map data 8 (Fig. 3) about the coming wagon. The carriage horizon unit 6 is configured to generate a carriage horizon h which describes the upcoming carriage for the vehicle fk. The wagon horizon h includes properties such as inclination and radius of curvature in positions along the horizon.
    The vehicle fk communicates internally between its various units via, for example, a bus, for example a CAN bus (Controller Area Network) which uses a message-based protocol. Examples of other communication protocols that can be used are TTP (Time-Triggered Protocol), Flexray and others. In this way, signals and data described above can be exchanged between different units in the vehicle fk. Signals and data can, for example, instead be transmitted wirelessly to the various devices.
    In the vehicle fk a control unit 1 can also be arranged, which is illustrated in Fig. 2. The control unit 1 can communicate with the other units 4, 5, 6 and 7 as previously explained, and receive data from them. Alternatively, the control unit 1 may be located in an external unit, and communicate and receive data with the other units 4, 5, 6 and through wireless communication. The vag horizon unit 6 can also be located in an external unit. The control unit's task is to predict how the vehicle fkl in front of the vehicle fk in the vehicle roof will behave on the next road, and adapt the regulation of the vehicle fk_lpa in an industry-optimal way based on the vehicle fk's predicted behavior.
    Fig. 3 shows an example of the control unit 1. The control unit 1 may, for example, be an ECU (Electronic Control Unit). The control unit 1 comprises a processor unit 2 and 8 a memory unit 3 comprising a computer program P. The computer program P comprises program code for causing the control unit 1 to perform some of the method steps which will be described in the following with reference to the flow chart in Fig. 4 and the control unit 1 in Fig. 3. The other units 4, 5, 6, 7 may comprise one or more processor units and one or more memory units. A processor unit can be a CPU (Central Processing Unit). A memory device may include a volatile and / or non-volatile memory, such as flash memory or RAM (Random Access Memory). Fig. 3 also shows an existing cruise control 9 to which a cross-strategy signal can be sanded, which will be explained more in the following.
    The method comprises receiving at least one vehicle parameter p which describes a property of, as seen from the vehicle fk, the nearest forward vehicle fkl in the vehicle roof (A1). This vehicle parameter p can, for example, describe one of vehicle net mass, engine power, braking power, front area, property of the driveline or property of the gearbox. The vehicle parameter cp can for instance be sanded via V2V from the forward vehicle fk_i to the control unit 1 via the unit 4 for wireless communication in the vehicle fk or via a server, car node, mobile communication network or an application in a communication unit. The method further comprises determining ambient data 13 describing a property of the vehicle (13). The ambient data 13 can, for example, describe a property of the vehicles' future vagueness, for example slope, curvature or speed limit. This information can be phased by detecting the inclination or curvature of the carriage with a suitable detector 7. The information can also be phased via wireless communication from another vehicle or infrastructure such as a carriage node or a computer system. For example, a speed plate can indicate its speed limit via wireless communication which can be sent to the vehicle fk. Information about upcoming obstacles such as another vehicle roof further along the road, traffic jams, etc. can be sanded via V2V or V2I to the vehicle fk. According to one embodiment, the control unit 1 has access to a wagon horizon h from the wagon horizon unit 6. The wagon horizon h comprises properties for the future road, and thus ambient data 13. The ambient data 13 may also comprise one or more scenarios for the future road, i.e. several different slopes. curvatures 9 etc. The method further comprises predicting a behavior of the absent vehicle fk-1 based on the vehicle parameter p which describes a property of the vehicle fk_loch ambient data [3. (A3). The prediction can also be based on a number of vehicle parameters or a combination of vehicle parameters. The behavior of the vehicle in front can be predicted, for example, based on a model of the vehicle fk_i. A model that describes the main forces that affect the vehicle fkl can be described according to: dv Mt - Fmotor Fbroms Fluftmotst5nd (V) Frullning (a) Fgravitet (a) dt ttifiltilf vwe, 6) - Fbra ke - -1 CDAapa122 - CrTrtg cos a - mg sin a, (1) rw2 dar a denotes the inclination of the carriage, CD and cr are characteristic coefficients, g denotes the gravitational force, pa is the air density, r is the wheel radius, and it, if, qt, nf are transmission and gear-specific constants. The accelerating vehicle mass mt (mdwie, it, if, qt, depends on the gross mass m, wheel inertia Jw, engine inertia, gearshift gear ratio and efficiency it, qt as well as the final car gear ratio and efficiency if, rip according to an embodiment to determine the speed vk_i for the vehicle fk-i along the future road, since the future road is known through the horizon unit 6 (Fig. 3) and there is a vehicle model of the vehicle fkl, the predicted speed Vk1 for the vehicle fk-1 can also along the vaginal horizon h is determined, given a set speed for the vehicle fkl which it is to hold.Usually the set speed is the same for all vehicles in the vehicle stay and is available in the vehicle fk. On a common LAP strategy, for example, the speed of the vehicle fk-1 can be calculated based on reducing fuel consumption and reducing the time for a choir assignments. An optimization can then be performed based on the vehicle model according to equation (1). The method further comprises determining a crossover strategy for the vehicle fk based on the predicted behavior of the forward vehicle fk-1 (A4). The cross strategy for the vehicle fk can, for example, be determined so that the vehicle fk mainly has a predetermined distance to the forward vehicle fk-1. This running strategy can be determined, for example, by appropriate optimization algorithms such as dynamic programming. The control unit 1 can also be configured to receive a previous crossover strategy for the vehicle fk through, for example, V2V or V2I, and adapt this previous crossover strategy to the behavior of the vehicle fkl to create a specific crossover strategy. The control unit 1 (Fig. 3) is configured to generate a cross strategy signal indicating the determined cross strategy. Thereafter, the vehicle fk is regulated in accordance with the cross strategy (A5). The cross strategy signal may, for example, contain a raven profile with the velocity reference value vref in different positions along the future path. The cross-strategy signal can be sent to an existing cruise control 9 (Fig. 3), which regulates gas and brains to the vehicle fk so that the vehicle fk essentially has the speed Vref.
    The behavior of the vehicle fk-1 may, for example, be that it will have a slightly lower speed than the set speed on an uphill slope due to that it does not have a sufficient vehicle effect to cope with the uphill slope. The vehicle behind fk can then plan its' corning and persist the driving strategy that it will reduce the throttle at a certain position or time along the road so that it will also have the same lower speed as the vehicle fk-1 uphill. The vehicle then does not need to bronze in the uphill slope to be able to maintain a predetermined distance between the vehicles. The control unit 1 can also determine how the vehicle fk is affected by different forces according to equation (1), and calculate which speed or speeds the vehicle fk [Dor regulates according to which positions or times To achieve the vehicle fk-1's predicted speed according to its predicted behavior .
    According to a further example, the control unit 1 can determine the distance between the vehicle fk and fk-1 and / or the speed of the vehicle fk according to predetermined rules for different vehicle parameters 9. In this case, for example, indicates a certain well power etc. for the vehicle fk-1, for example the control unit 1 insist that a certain distance between the vehicles fk and fk-1 be kept to secure the security.
    The present invention is not limited to the embodiments described above. Various alternatives, modifications and equivalents can be used.
    Therefore, the above-mentioned embodiments do not limit the scope of the invention, which is defined by the appended claims. 12
    权利要求:
    Claims (15)
    [1]
    1. receive at least one vehicle parameter cp which describes a property of it, seen from the vehicle fk, nearest vehicle fk_i in the vehicle roof; - determining ambient data 13 which describes a property of the vehicles' surroundings; 2. predict a behavior of the vehicle in front fk_i based on the vehicle parameter 9 which describes a property of the vehicle fk-1 and the ambient data 13; - determine a crossover strategy for the vehicle fk based on the predicted behavior of the vehicle in front fk_i; after which the vehicle fk is regulated in accordance with the cross strategy.
    [2]
    The method according to claim 1, which comprises the ambient data 13 describing a property of the vehicles' frantic vagueness, for example inclination, curvature or speed limitation.
    [3]
    The method according to any of the preceding claims, which comprises predicting the behavior of the forward vehicle fk_i based on a model of the vehicle fk-i.
    [4]
    The method according to any of the preceding claims, wherein the vehicle parameter describes one of the vehicle fk_1's mass, engine power, braking power, front area, property of the driveline or property of the gearbox. 13
    [5]
    The method according to any one of the preceding claims, which comprises determining a driving strategy for the vehicle fk so that the vehicle fk mainly has a predetermined distance to the vehicle in front fk-1.
    [6]
    The method according to any of the preceding claims, wherein predicting a behavior of the vehicle fk-1 comprises determining the speed of the vehicle fkl along the future road.
    [7]
    7. Control unit (1) for controlling a vehicle fk in a vehicle stay comprising at least one conductor vehicle and a further vehicle each having a positioning unit (5) and a unit (4) for wireless communication, can be characterized in that the control unit ( 1) is configured to: 1. receive at least one vehicle parameter p which describes a property of the, seen Than vehicle fk, nearest vehicle fkl in the vehicle roof; 2. determine environmental data 13 describing a property of the vehicle environment; 3. predict a behavior of the absent vehicle fk-1 based on the vehicle parameter p which describes a property of the vehicle fk-1 and the rendering data 6; 4. determine a cross-strategy for the vehicle fk based on the predicted behavior of the forward vehicle fk-1; 5. generate a cross-strategy signal indicating the cross-strategy, and regulate the vehicle fk in accordance with the cross-strategy.
    [8]
    The control unit (1) according to claim 7, wherein the ambient data 13 describes a property of the vehicle's initial wave, for example inclination, curvature or speed limitation.
    [9]
    The control unit (1) according to any one of claims 7 to 8, which is configured to predict the behavior of the vehicle in front fk_i based on a model of the vehicle fk-1. 14
    [10]
    The control unit (1) according to any one of claims 7 to 9, wherein the vehicle parameter p describes one of the vehicle mass, engine power, braking power, front area, property of the driveline or property of the gearbox.
    [11]
    The control unit (1) according to any one of claims 7 to 10, which is configured to determine a driving strategy for the vehicle fk so that the vehicle fk has a predetermined distance to the vehicle in front fk-1.
    [12]
    The control unit (1) according to any one of claims 7 to 11, which is configured to predict a behavior of the vehicle fkl which comprises determining the speed of the vehicle fk-1 along the future road.
    [13]
    The control unit (1) according to any one of claims 7 to 12, which is configured to receive the vehicle parameter cp via wireless communication.
    [14]
    Computer program (P) at a control unit (1), wherein said computer program (P) comprises program code for causing the control unit (1) to perform some of the steps according to claims 1 to 6.
    [15]
    A computer program product comprising a program code stored on a computer readable medium for performing the method steps according to any one of claims 1 to 6.
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    法律状态:
    优先权:
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    SE1351131A|SE537578C2|2013-09-30|2013-09-30|Control unit and method for controlling a vehicle in a vehicle train|SE1351131A| SE537578C2|2013-09-30|2013-09-30|Control unit and method for controlling a vehicle in a vehicle train|
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