VEHICLE CONTROL SYSTEM AND METHOD FOR CONTROLLING THE MOVEMENT OF A GROUP OF VEHICLES

Abstract

A vehicle control system for controlling the movement of a group of vehicles that includes at least a first vehicle, a second vehicle following the first vehicle, and a third vehicle which in turn follows the second vehicle, via vehicle data, present at least within the group of vehicles, for controlling the mutually dependent movement of the vehicles. The vehicle control system includes a control level with multiple control devices that utilize the vehicle data for influencing a state of movement of the vehicles in a first network topology, and a communication level with multiple communication devices that transmit the vehicle data between the vehicles in a second network topology. At least one of the network topologies is set as a function of the other network topologies and/or of a performance of and/or a requirement for the control level and/or communication level, during operation of the vehicles.

Claims

1. A vehicle control system for controlling movement of a group of vehicles that includes at least a first vehicle, a second vehicle following the first vehicle, and a third vehicle which follows the second vehicle, via vehicle data, present at least within the group of vehicles, for controlling the mutually dependent movement of the vehicles, the vehicle control system comprising: a control level with multiple control devices that utilize the vehicle data for influencing at least one state of movement of the vehicles in a first network topology that describes a setup of a data usage, based on a respective vehicle of the vehicles, of the vehicle data of the other vehicles; and a communication level with multiple communication devices configured to transmit the vehicle data between the vehicles in a second network topology that describes a setup of a data link, based on a respective vehicle of the vehicles, with the other vehicles; wherein at least one of the first and second network topologies is set as a function of the other of the first and second network topologies and/or of a performance of and/or a requirement for the control level and/or communication level, at least during operation of the vehicles in the group of vehicles.

2. The vehicle control system as recited in claim 1, wherein the first and/or second network topology is set for a lower dimension than a higher-dimensional first and/or second network topology that is settable for the movement, when a performance of the control level and/or of the communication level falls below a threshold value.

3. The vehicle control system as recited in claim 1, wherein the first and/or second network topology is set for a higher dimension when a performance of the control level and/or of the communication level reaches and exceeds a threshold value.

4. The vehicle control system as recited in claim 1, wherein unidirectional and/or bidirectional connections are implemented in the first and/or second network topology.

5. The vehicle control system as recited in claim 1, wherein the first network topology is set as a function of the second network topology.

6. The vehicle control system as recited in claim 1, wherein the first and/or second network topology is changeable during operation of the vehicle.

7. The vehicle control system as recited in claim 1, wherein the first network topology and second network topology are set equal to one another.

8. A method for controlling movement of a group of vehicles that includes at least a first vehicle, a second vehicle following the first vehicle, and a third vehicle which follows the second vehicle, via a vehicle control system, the vehicle control system including a control level with multiple control devices that utilize the vehicle data for influencing at least one state of movement of the vehicles in a first network topology that describes a setup of a data usage, based on a respective vehicle of the vehicles, of the vehicle data of the other vehicles, and a communication level with multiple communication devices configured to transmit the vehicle data between the vehicles in a second network topology that describes a setup of a data link, based on a respective vehicle of the vehicles, with the other vehicles, the method comprising: setting, during operation of a respective vehicle of the vehicles, at least one of the first and second network topologies as a function of the other of the first and second network topologies and/or of a performance of the control level and/or of the communication level, at least during operation of the vehicle.

9. A machine-readable memory unit on which is stored a computer program including machine-readable instructions for controlling movement of a group of vehicles that includes at least a first vehicle, a second vehicle following the first vehicle, and a third vehicle which follows the second vehicle, via a vehicle control system, the vehicle control system including a control level with multiple control devices that utilize the vehicle data for influencing at least one state of movement of the vehicles in a first network topology that describes a setup of a data usage, based on a respective vehicle of the vehicles, of the vehicle data of the other vehicles, and a communication level with multiple communication devices configured to transmit the vehicle data between the vehicles in a second network topology that describes a setup of a data link, based on a respective vehicle of the vehicles, with the other vehicles, the machine-readable instructions, when executed by a computer, causing the computer to form: setting, during operation of a respective vehicle of the vehicles, at least one of the first and second network topologies as a function of the other of the first and second network topologies and/or of a performance of the control level and/or of the communication level, at least during operation of the vehicle.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention is described in greater detail below with reference to the figures.

[0032] FIG. 1 shows a group of vehicles that includes three vehicles.

[0033] FIG. 2 shows a network topology of a vehicle control system in one particular specific example embodiment of the present invention.

[0034] FIG. 3 shows various network topologies in further specific example embodiments of the present invention.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0035] FIG. 1 shows a group of vehicles 10 that includes three vehicles. Group of vehicles 10 includes a first vehicle 12, a second vehicle 14 following the first vehicle, and a third vehicle 16 in turn following the second vehicle, all of which are traveling on the same route 18. Vehicles 12, 14, 16 of group of vehicles 10 are free of a mechanical connection with one another, and are intended to maintain a predefined distance 20 from one another in order to meet the safety requirements. Predefined distance 20 may be a function of a vehicle speed of vehicles 12, 14, 16.

[0036] Group of vehicles 10 includes a vehicle control system 22, which for example for second vehicle 14 includes a control device 24 and a communication device 26. Control device 24 is configured to process vehicle data of second vehicle 14, for example the vehicle speed of second vehicle 14, an accelerator pedal position, a brake pedal position, a steering angle, a distance 20 from preceding first vehicle 12, and the like, as well as further vehicle data from first and/or third vehicle(s) 12, 16. The vehicle data are used to control the mutually dependent movement of vehicles 12, 14, 16 in order to maintain the most uniform distance 20 possible between vehicles 12, 14, 16.

[0037] Control device 24 is preferably connected to at least one vehicle component that influences the vehicle speed and/or the vehicle acceleration of second vehicle 14, for example connected to a control unit of second vehicle 14 that is able to control a drive element for moving second vehicle 14, for example an internal combustion engine, and/or vehicle brakes. In this way, control device 24 may control the movement of second vehicle 14 via the vehicle data.

[0038] Communication device 26 of second vehicle 14 allows the communication with first and third vehicles 12, 16 for transferring the vehicle data. Communication device 26 may carry out a Car2X communication, preferably a vehicle-to-vehicle (V2V) communication. For short distances, dedicated short-range communication (DSRC) via WLAN may preferably be used between vehicles 12, 14, 16, in particular according to the 802.11p standard, and/or via a mobile radio communications network, for example via a 5G mobile radio communications network.

[0039] In addition, first and third vehicles 12, 16 may have the same type of control device 24 and communication device 26 as for second vehicle 14.

[0040] FIG. 2 shows a network topology of a vehicle control system 22 in one particular specific embodiment of the present invention. Control devices 24 of vehicle control system 22 are associated with a control level 30 having a first network topology 32.

[0041] First network topology 32 describes a setup of data usage 34, based on the respective vehicle, of the vehicle data of the other vehicles. Communication devices 26 of vehicle control system 22 are associated with a communication level 38 having a second network topology 40. Second network topology 40 describes a setup of data link 42, based on the respective vehicle, with the other vehicles.

[0042] Control device 24.2 of the second vehicle is connected to communication device 26.2 of the second vehicle. Communication device 26.2 may obtain and transmit the vehicle data that are output by control device 24.2. In addition, communication device 26.2 may output received vehicle data to control device 24.2. The same setup applies for control device 24.1 and communication device 26.1 of the first vehicle, and control device 24.3 and communication device 26.3 of the third vehicle.

[0043] First network topology 32 is designed as line topology 44 in which control device 24.3 processes vehicle data of control device 24.2, and control device 24.2 processes vehicle data of control device 24.1.

[0044] Second network topology 40 has a design that is dependent on first network topology 32, and is likewise designed as line topology 44. In this way, the performance and the capacity of second network topology 40 may be adapted to the performance and capacity of first network topology 32. Conversely, first network topology 32 may be set as a function of second network topology 40.

[0045] If first network topology 32 is a line topology 44 as depicted here, the individual vehicle, for example the second vehicle with control device 24.2, utilizes the vehicle data of the preceding and/or following vehicle(s), here in particular the vehicle data of control device 24.1 of the preceding first vehicle. If second network topology 40 is designed as line topology 44, the individual vehicle, for example communication device 26.2, is connected to the respective preceding and/or following vehicle(s), here in particular to communication device 26.1 of the preceding first vehicle, for receiving the vehicle data.

[0046] It is preferably provided that first and/or second network topology 32, 40 are/is set as a function of the performance of control level 30 and/or of communication level 38. In this way, the performance and the capacity of control level 30 and/or of communication level 38 may be taken into account in the design of first and/or second network topology 32, 40, and a disadvantageous overload or insufficient capacity utilization may be avoided.

[0047] FIG. 3 shows various network topologies in further specific embodiments of the present invention. The network topologies illustrated here may be used both for the control level and for the communication level. FIG. 3a) depicts a line topology 44 with unidirectional connections 46, i.e., a unidirectional usage of the vehicle data of control devices 24 between the vehicles for the control level, or a unidirectional connection 46 between communication devices 26 of the vehicles for the communication level.

[0048] FIG. 3b) depicts a multidimensional network topology in which the network topology is higher-dimensional. “Higher-dimensional” preferably refers to a setup of the network topology which with regard to a vehicle has more connections with respect to the other vehicles than in the case of the line topology. For example, control device 24.3 or communication device 26.3 of the third vehicle utilizes or receives vehicle data of control device 24.2 or of communication device 26.2 of the preceding second vehicle, and of control device 24.1 or of communication device 26.1 of the first vehicle, which in turn precedes the second vehicle. Control device 24.n or communication device 26.n of the last vehicle of the n vehicles in group of vehicles 10 utilizes or receives the vehicle data of the vehicle immediately preceding it, i.e., the next to last vehicle, and of the first vehicle.

[0049] FIG. 3c) illustrates a line topology 44 as in FIG. 3a), except here with bidirectional connections 48 between the vehicles and a unidirectional connection 46 between the first vehicle and second vehicle.

[0050] FIG. 3d) shows a network topology as in FIG. 3b), which is higher-dimensional and in addition has interlinking bidirectional connections 48, and between the first vehicle and second vehicle has a bidirectional connection 46 as in the network topology from FIG. 3c).

[0051] The network topology shown in FIG. 3e) has a higher-dimensional design in which the respective vehicle, for example control device 24.3 or communication device 26.3 of the third vehicle, utilizes or receives the vehicle data of control device 24.2 or of communication device 26.2 of the preceding second vehicle, and utilizes or receives the vehicle data of control device 24.1 or of communication device 26.1 of the first vehicle, which in turn precedes the second vehicle.

[0052] FIG. 3f) shows a network topology having a higher-dimensional design, and in which the respective vehicle, in an expansion of the setup from FIG. 3e), additionally utilizes or receives the vehicle data of control device 24.1 or of communication device 26.1 of the first vehicle.